version: 66.06
glider: 139
mission: 7
dive: 71
start: 4 20 110 2 24 33
data:
$ID,139
$MISSION,7
$DIVE,71
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,550
$D_NO_BLEED,90
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,187
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51995
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2121175.5
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2712
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2035
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,3050
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,-6.8056469e+38
$FG_AHR_24V,-6.8056469e+38
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.231706
$PRESSURE_SLOPE,0.000116328
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8272314
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,020851,2059.322,-15748.232,56,2.2,75,9.8
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-67.8
$GPS2,022414,2059.237,-15748.345,18,1.3,18,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.177,0.048
$KALMAN_X,-10622.7,142.5,584.3,29179.9,-1774.9
$KALMAN_Y,-1714.3,205.2,435.2,-12797.6,-689.5
$MHEAD_RNG_PITCHd_Wd,27.8,15371,-20.8,-8.021
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,78,0.00,0.00,-58.55,0.000,6,0.000,0.000,424,1889,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.9,-7.6,11,99,10.80,2.42,0.00,0.000,4,0.141,0.028,2402,3317,3370,0,0,0,0,0,0
$GC,106,-0.04,-77.9,14.0,-31.5,15,113,1.38,2.42,0.00,0.000,6,0.084,0.031,2697,1904,3370,0,0,0,0,0,0
$GC,307,-0.72,-77.9,27.0,-8.2,52,314,0.62,2.42,0.00,0.000,4,0.045,0.041,2546,492,3371,0,0,0,0,0,0
$GC,382,-0.94,-77.9,31.7,-5.0,65,387,0.17,2.33,0.00,0.000,6,0.052,0.021,2492,1937,3371,0,0,0,0,0,0
$GC,644,-1.06,-77.9,55.0,-9.7,89,648,0.00,2.50,0.00,0.000,4,0.000,0.046,2492,491,3372,0,0,0,0,0,0
$GC,715,-1.16,-77.9,62.0,-9.2,96,722,0.12,2.30,0.00,0.000,6,0.033,0.021,2445,1903,3372,0,0,0,0,0,0
$GC,977,-1.16,-77.9,88.0,-10.1,121,981,0.00,2.42,0.00,0.000,4,0.000,0.047,2445,494,3372,0,0,0,0,0,0
$GC,1027,-1.16,-77.9,93.3,-10.3,126,1031,0.00,2.25,0.00,0.000,6,0.000,0.021,2445,1901,3372,0,0,0,0,0,0
$GC,1288,-1.21,-77.9,116.9,-11.0,150,1293,0.00,2.45,0.00,0.000,4,0.000,0.045,2445,486,3373,0,0,0,0,0,0
$GC,1358,-1.21,-77.9,125.9,-12.8,157,1362,0.00,2.28,0.00,0.000,6,0.000,0.021,2445,1906,3373,0,0,0,0,0,0
$GC,1621,-1.29,-77.9,154.9,-9.6,181,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1911,3374,0,0,0,0,0,0
$GC,1874,-1.38,-77.9,177.4,-8.4,205,1879,0.15,2.47,0.00,0.000,4,0.058,0.047,2398,487,3374,0,0,0,0,0,0
$GC,1912,-1.33,-77.9,181.6,-10.6,208,1919,0.08,2.30,0.00,0.000,6,0.083,0.022,2418,1894,3375,0,0,0,0,0,0
$GC,2182,-1.33,-77.9,205.5,-11.0,232,2186,0.00,2.42,0.00,0.000,4,0.000,0.048,2417,491,3375,0,0,0,0,0,0
$GC,2250,-1.33,-77.9,214.0,-11.5,235,2254,0.00,2.30,0.00,0.000,6,0.000,0.022,2418,1906,3374,0,0,0,0,0,0
$GC,2579,-1.37,-77.9,245.2,-9.8,251,2584,0.00,2.28,0.00,0.000,4,0.000,0.031,2416,3292,3375,0,0,0,0,0,0
$GC,2625,-1.49,-77.9,249.4,-9.4,253,2629,0.12,2.33,0.00,0.000,6,0.068,0.032,2379,1899,3374,0,0,0,0,0,0
$GC,2955,-1.49,-77.9,281.0,-9.0,269,2959,0.00,2.40,0.00,0.000,4,0.000,0.049,2378,496,3374,0,0,0,0,0,0
$GC,3051,-1.44,-77.9,290.8,-9.9,273,3056,0.10,2.30,0.00,0.000,6,0.114,0.024,2397,1907,3374,0,0,0,0,0,0
$GC,3368,-1.47,-77.9,318.1,-8.2,284,3372,0.00,2.45,0.00,0.000,4,0.000,0.051,2398,493,3373,0,0,0,0,0,0
$GC,3422,-1.47,-77.9,323.2,-8.7,285,3427,0.00,2.30,0.00,0.000,6,0.000,0.025,2397,1899,3373,0,0,0,0,0,0
$GC,3736,-1.51,-77.9,348.2,-7.7,293,3740,0.00,2.47,0.00,0.000,4,0.000,0.053,2398,490,3372,0,0,0,0,0,0
$GC,3846,-1.51,-77.9,357.9,-8.9,295,3850,0.00,2.33,0.00,0.000,6,0.000,0.027,2398,1903,3371,0,0,0,0,0,0
$GC,4190,-1.55,-77.9,391.5,-10.6,304,4192,0.12,0.00,0.00,0.000,6,0.074,0.000,2363,1908,3368,0,0,0,0,0,0
$GC,4515,-1.55,-77.9,428.8,-11.0,312,4519,0.00,2.50,0.00,0.000,4,0.000,0.057,2363,494,3367,0,0,0,0,0,0
$GC,4604,-1.50,-77.9,438.2,-10.6,314,4609,0.10,2.33,0.00,0.000,6,0.123,0.029,2382,1903,3366,0,0,0,0,0,0
$STATE,4726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4726,begin apogee
$GC,4731,-0.31,0.0,450.8,9.8,317,4799,1.23,0.00,64.70,0.881,6,0.081,0.000,2640,2060,3050,0,0,0,0,0,0
$STATE,4800,end apogee,CONTROL_FINISHED_OK
$STATE,4800,begin climb
$GC,4802,1.40,77.9,452.0,0.0,318,4877,1.65,2.45,64.88,0.860,4,0.036,0.044,3022,3413,2731,0,0,0,0,0,0
$GC,4887,1.32,193.8,452.8,0.1,320,4994,0.10,2.42,99.43,0.858,6,0.135,0.038,3005,2028,2258,0,0,0,0,0,0
$GC,5303,1.22,193.8,398.6,15.0,331,5308,0.15,2.50,0.00,0.000,4,0.124,0.058,2979,630,2248,0,0,0,0,0,0
$GC,5354,1.10,193.8,390.6,14.7,332,5359,0.15,2.35,0.00,0.000,6,0.127,0.031,2953,2023,2245,0,0,0,0,0,0
$GC,5672,1.10,193.8,354.5,10.6,340,5677,0.00,2.50,0.00,0.000,4,0.000,0.057,2953,624,2244,0,0,0,0,0,0
$GC,5732,1.05,193.8,347.4,11.1,341,5736,0.00,2.38,0.00,0.000,6,0.000,0.031,2953,2037,2241,0,0,0,0,0,0
$GC,6081,1.05,193.8,308.9,11.3,350,6085,0.00,2.53,0.00,0.000,4,0.000,0.056,2952,624,2241,0,0,0,0,0,0
$GC,6287,1.01,193.8,281.5,14.3,357,6292,0.00,2.40,0.00,0.000,6,0.000,0.031,2953,2045,2238,0,0,0,0,0,0
$GC,6612,1.01,193.8,248.2,8.6,373,6617,0.00,2.53,0.00,0.000,4,0.000,0.054,2953,619,2237,0,0,0,0,0,0
$GC,6702,1.01,193.8,239.9,9.3,377,6706,0.00,2.38,0.00,0.000,6,0.000,0.029,2953,2045,2236,0,0,0,0,0,0
$GC,7031,1.02,199.3,214.1,7.6,393,7036,0.00,2.38,0.00,0.000,4,0.000,0.038,2953,3443,2235,0,0,0,0,0,0
$GC,7068,1.07,199.3,211.0,8.1,394,7075,0.00,2.42,0.00,0.000,6,0.000,0.036,2953,2038,2235,0,0,0,0,0,0
$GC,7389,1.11,199.3,181.2,10.6,418,7393,0.00,2.45,0.00,0.000,4,0.000,0.049,2953,627,2235,0,0,0,0,0,0
$GC,7621,1.11,199.3,153.6,12.2,443,7626,0.00,2.33,0.00,0.000,6,0.000,0.025,2953,2049,2233,0,0,0,0,0,0
$GC,7884,1.18,199.3,130.7,8.8,467,7888,0.00,2.47,0.00,0.000,4,0.000,0.048,2953,626,2233,0,0,0,0,0,0
$GC,7916,1.18,199.3,127.3,9.8,470,7921,0.00,2.30,0.00,0.000,6,0.000,0.025,2953,2039,2233,0,0,0,0,0,0
$GC,8184,1.26,209.8,104.5,7.3,495,8204,0.15,2.50,10.43,0.575,4,0.070,0.046,2992,631,2193,0,0,0,0,0,0
$GC,8382,1.21,209.8,83.6,12.4,516,8388,0.00,2.33,0.00,0.000,6,0.000,0.023,2991,2034,2191,0,0,0,0,0,0
$GC,8644,1.21,209.8,56.2,9.8,541,8648,0.00,2.42,0.00,0.000,4,0.000,0.044,2991,615,2191,0,0,0,0,0,0
$GC,8662,1.17,209.8,54.1,11.1,542,8669,0.10,2.35,0.00,0.000,6,0.093,0.023,2970,2043,2190,0,0,0,0,0,0
$GC,8925,1.24,219.3,32.0,7.4,567,8940,0.00,2.47,9.68,0.507,4,0.000,0.045,2969,618,2155,0,0,0,0,0,0
$GC,8981,1.26,229.4,27.8,7.3,575,8999,0.00,2.33,10.55,0.508,6,0.000,0.021,2969,2030,2113,0,0,0,0,0,0
$GC,9194,1.34,242.6,11.1,7.1,614,9213,0.15,2.45,12.68,0.506,4,0.064,0.045,3009,627,2060,0,0,0,0,0,0
$GC,9233,1.29,242.6,6.9,11.3,621,9239,0.00,2.33,0.00,0.000,6,0.000,0.021,3009,2032,2057,0,0,0,0,0,0
$STATE,9266,end climb,SURFACE_DEPTH_REACHED
$STATE,9266,begin surface coast
$FINISH,0.7,1.023843
$STATE,9288,end surface coast,CONTROL_FINISHED_OK
$STATE,9288,begin surface
$SM_CCo,9307,35.53,0.529,0,0,1827,300.00
$SM_GC,1.51,0.00,0.00,35.53,0.000,0.000,0.529,423,1881,1827,-10.52,-0.54,300.00
$IRIDIUM_FIX,2052.52,-15749.62,150799,020201
$TT8_MAMPS,0.029146
$HUMID,43.26
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.4,7.624
$10V_AH,10.0,6.937
$FG_AHR_24Vo,-680564693277057719623408366969033850880.000
$FG_AHR_10Vo,-680564693277057719623408366969033850880.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,28.725,115.350,272.325,35.525,0.000,118.213,139.958,374.890,0.000,0.000,18.528,1199.903,5998.266,362.111,1920.798,789.087,0.000,1181.023,0.000,1904.443,0.000,0.539,0.000
$DEVICE_MAMPS,141.128,58.292,880.516,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.048,413.378,979.260,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,34849,631
$CAP_FILE_SIZE,118507,0
$CFSIZE,260165632,254357504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200410,050225,2059.379,-15748.261,94,1.8,94,9.8