version: 66.06
glider: 139
mission: 7
dive: 72
start: 4 20 110 5 15 16
data:
$ID,139
$MISSION,7
$DIVE,72
$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,-2121211.2
$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
$GPS1,050225,2059.379,-15748.261,94,1.8,94,9.8
$_CALLS,3
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.3
$GPS2,051459,2059.367,-15748.347,14,2.8,33,9.8
$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,28.3,15184,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-54.95,0.000,2,0.000,0.000,423,1882,3254,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.3,-6.0,10,94,10.77,2.40,-2.28,0.000,4,0.140,0.038,2403,3322,3369,0,0,0,0,0,0
$GC,323,-1.40,-77.9,44.6,-14.3,55,327,0.00,2.40,0.00,0.000,6,0.000,0.032,2403,1899,3370,0,0,0,0,0,0
$GC,586,-1.32,-77.9,83.5,-16.2,79,590,0.10,2.42,0.00,0.000,4,0.120,0.047,2422,494,3371,0,0,0,0,0,0
$GC,637,-1.24,-77.9,91.3,-14.4,84,641,0.00,2.30,0.00,0.000,6,0.000,0.021,2422,1933,3371,0,0,0,0,0,0
$GC,897,-1.24,-77.9,123.0,-10.5,108,901,0.00,2.50,0.00,0.000,4,0.000,0.045,2422,490,3372,0,0,0,0,0,0
$GC,993,-1.24,-77.9,133.8,-11.3,118,997,0.00,2.25,0.00,0.000,6,0.000,0.021,2422,1896,3372,0,0,0,0,0,0
$GC,1254,-1.27,-77.9,163.7,-12.0,142,1258,0.00,2.30,0.00,0.000,4,0.000,0.029,2421,3289,3373,0,0,0,0,0,0
$GC,1272,-1.33,-77.9,165.9,-10.9,143,1277,0.00,2.30,0.00,0.000,6,0.000,0.028,2422,1895,3372,0,0,0,0,0,0
$GC,1533,-1.36,-77.9,195.7,-11.6,168,1537,0.00,2.40,0.00,0.000,4,0.000,0.046,2422,496,3373,0,0,0,0,0,0
$GC,1592,-1.36,-77.9,202.9,-12.1,172,1598,0.00,2.28,0.00,0.000,6,0.000,0.021,2422,1894,3373,0,0,0,0,0,0
$GC,1907,-1.42,-77.9,234.1,-9.9,188,1911,0.00,2.40,0.00,0.000,4,0.000,0.048,2422,499,3373,0,0,0,0,0,0
$GC,2003,-1.46,-77.9,243.2,-7.5,192,2008,0.12,2.28,0.00,0.000,6,0.067,0.022,2385,1906,3373,0,0,0,0,0,0
$GC,2327,-1.46,-77.9,271.8,-9.0,208,2332,0.00,2.42,0.00,0.000,4,0.000,0.048,2384,494,3373,0,0,0,0,0,0
$GC,2373,-1.46,-77.9,276.9,-11.4,210,2377,0.00,2.30,0.00,0.000,6,0.000,0.023,2384,1903,3373,0,0,0,0,0,0
$GC,2715,-1.46,-77.9,315.6,-11.2,224,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1908,3373,0,0,0,0,0,0
$GC,3040,-1.46,-77.9,345.3,-8.2,232,3044,0.00,2.45,0.00,0.000,4,0.000,0.051,2384,492,3372,0,0,0,0,0,0
$GC,3072,-1.41,-77.9,348.2,-9.4,232,3077,0.00,2.30,0.00,0.000,6,0.000,0.027,2384,1903,3371,0,0,0,0,0,0
$GC,3402,-1.41,-77.9,378.3,-9.8,240,3407,0.00,2.47,0.00,0.000,4,0.000,0.054,2385,498,3369,0,0,0,0,0,0
$GC,3491,-1.41,-77.9,389.1,-12.9,242,3495,0.00,2.33,0.00,0.000,6,0.000,0.028,2384,1898,3369,0,0,0,0,0,0
$GC,3817,-1.41,-77.9,422.8,-10.1,250,3821,0.00,2.47,0.00,0.000,4,0.000,0.056,2384,494,3367,0,0,0,0,0,0
$GC,3918,-1.41,-77.9,434.7,-12.0,252,3923,0.00,2.33,0.00,0.000,6,0.000,0.029,2384,1907,3366,0,0,0,0,0,0
$STATE,4107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4107,begin apogee
$GC,4112,-0.31,0.0,452.5,9.5,257,4181,1.23,0.00,64.60,0.881,6,0.079,0.000,2643,2054,3050,0,0,0,0,0,0
$STATE,4181,end apogee,CONTROL_FINISHED_OK
$STATE,4181,begin climb
$GC,4183,1.40,77.9,453.3,0.0,258,4257,1.65,2.45,64.72,0.863,4,0.036,0.045,3024,3409,2731,0,0,0,0,0,0
$GC,4318,1.26,147.0,454.2,3.3,261,4384,0.20,2.38,59.00,0.858,6,0.120,0.037,2988,2030,2450,0,0,0,0,0,0
$GC,4725,1.15,147.0,407.9,12.5,271,4730,0.15,2.50,0.00,0.000,4,0.126,0.056,2962,625,2441,0,0,0,0,0,0
$GC,4758,1.01,147.0,404.0,11.2,271,4763,0.15,2.35,0.00,0.000,6,0.131,0.030,2936,2020,2438,0,0,0,0,0,0
$GC,5088,1.01,147.0,374.7,8.7,279,5092,0.00,2.47,0.00,0.000,4,0.000,0.055,2936,631,2437,0,0,0,0,0,0
$GC,5143,0.95,147.0,369.4,9.5,280,5147,0.00,2.38,0.00,0.000,6,0.000,0.031,2936,2037,2435,0,0,0,0,0,0
$GC,5456,0.95,147.0,343.7,8.5,288,5460,0.00,2.50,0.00,0.000,4,0.000,0.055,2936,632,2434,0,0,0,0,0,0
$GC,5724,0.91,147.0,320.2,8.8,293,5730,0.15,2.35,0.00,0.000,6,0.124,0.031,2909,2036,2431,0,0,0,0,0,0
$GC,6054,1.01,175.5,298.5,6.1,302,6085,0.10,2.45,22.45,0.787,4,0.093,0.041,2933,3436,2334,0,0,0,0,0,0
$GC,6094,1.05,181.6,295.5,7.6,303,6107,0.00,2.45,7.18,0.659,6,0.000,0.037,2933,2032,2309,0,0,0,0,0,0
$GC,6432,1.10,181.6,264.7,9.6,320,6437,0.00,2.47,0.00,0.000,4,0.000,0.054,2933,630,2303,0,0,0,0,0,0
$GC,6557,1.10,181.6,253.2,8.7,325,6561,0.00,2.38,0.00,0.000,6,0.000,0.029,2933,2041,2300,0,0,0,0,0,0
$GC,6872,1.21,224.9,232.7,5.0,340,6916,0.20,2.45,38.05,0.752,4,0.067,0.037,2980,3438,2132,0,0,0,0,0,0
$GC,6931,1.23,236.7,229.0,7.2,342,6949,0.00,2.42,12.32,0.680,6,0.000,0.037,2980,2034,2083,0,0,0,0,0,0
$GC,7265,1.23,236.7,197.1,9.7,359,7269,0.00,2.45,0.00,0.000,4,0.000,0.051,2980,628,2076,0,0,0,0,0,0
$GC,7475,1.17,236.7,170.9,11.1,381,7480,0.00,2.35,0.00,0.000,6,0.000,0.025,2980,2040,2072,0,0,0,0,0,0
$GC,7736,1.17,236.7,142.3,11.0,406,7740,0.00,2.47,0.00,0.000,4,0.000,0.048,2980,627,2072,0,0,0,0,0,0
$GC,7903,1.17,236.7,120.0,12.9,424,7908,0.00,2.30,0.00,0.000,6,0.000,0.024,2980,2040,2070,0,0,0,0,0,0
$GC,8165,1.21,236.7,91.6,9.9,448,8169,0.00,2.47,0.00,0.000,4,0.000,0.046,2980,616,2070,0,0,0,0,0,0
$GC,8217,1.21,236.7,85.7,13.1,453,8221,0.00,2.30,0.00,0.000,6,0.000,0.023,2980,2036,2070,0,0,0,0,0,0
$GC,8479,1.25,236.7,62.6,8.3,477,8484,0.00,2.42,0.00,0.000,4,0.000,0.045,2980,621,2070,0,0,0,0,0,0
$GC,8495,1.25,236.7,61.1,8.7,478,8500,0.00,2.30,0.00,0.000,6,0.000,0.022,2980,2046,2070,0,0,0,0,0,0
$GC,8760,1.29,236.7,38.7,8.3,502,8764,0.00,2.45,0.00,0.000,4,0.000,0.044,2980,623,2070,0,0,0,0,0,0
$GC,8775,1.29,236.7,36.8,10.1,503,8779,0.00,2.30,0.00,0.000,6,0.000,0.021,2980,2048,2071,0,0,0,0,0,0
$GC,9044,1.34,236.7,11.9,11.3,545,9051,0.10,2.47,0.00,0.000,4,0.080,0.044,3008,621,2071,0,0,0,0,0,0
$GC,9088,1.25,236.7,5.7,15.7,554,9096,0.10,2.30,0.00,0.000,6,0.089,0.021,2986,2023,2071,0,0,0,0,0,0
$STATE,9107,end climb,SURFACE_DEPTH_REACHED
$STATE,9107,begin surface coast
$FINISH,0.6,1.023866
$STATE,9130,end surface coast,CONTROL_FINISHED_OK
$STATE,9130,begin surface
$SM_CCo,9149,32.10,0.525,0,0,1826,300.00
$SM_GC,1.54,0.00,0.00,32.10,0.000,0.000,0.525,427,1869,1826,-10.51,-0.90,300.00
$IRIDIUM_FIX,2052.52,-15747.49,150799,050511
$TT8_MAMPS,0.029913
$HUMID,43.89
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.4,7.719
$10V_AH,10.0,7.016
$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,26.025,110.300,268.325,32.100,0.000,71.722,91.922,331.385,0.000,0.000,34.948,1099.108,6052.289,346.522,1778.964,660.079,0.000,1114.727,0.000,1750.221,0.000,0.539,0.000
$DEVICE_MAMPS,140.361,58.292,880.516,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,379.747,359.655,824.908,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,31793,561
$CAP_FILE_SIZE,111794,0
$CFSIZE,260165632,254308352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200410,075007,2059.492,-15748.276,74,1.6,74,9.8