version: 66.06
glider: 139
mission: 7
dive: 73
start: 4 20 110 7 54 49
data:
$ID,139
$MISSION,7
$DIVE,73
$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,-2121226.2
$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
$GPS1,075007,2059.492,-15748.276,74,1.6,74,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.9
$GPS2,075431,2059.486,-15748.320,14,1.9,14,9.8
$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,28.7,14983,-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,-77.9,0.0,0.0,0,78,0.00,0.00,-59.03,0.000,6,0.000,0.000,427,1872,3370,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.8,-7.0,11,99,10.70,2.45,0.00,0.000,4,0.139,0.026,2404,3319,3371,0,0,0,0,0,0
$GC,143,-1.40,-77.9,20.6,-16.1,24,150,0.00,2.45,0.00,0.000,6,0.000,0.033,2403,1896,3372,0,0,0,0,0,0
$GC,350,-1.32,-77.9,55.6,-16.4,48,355,0.10,2.40,0.00,0.000,4,0.122,0.027,2418,3324,3373,0,0,0,0,0,0
$GC,375,-1.32,-77.9,59.8,-16.4,50,379,0.00,2.40,0.00,0.000,6,0.000,0.032,2418,1897,3372,0,0,0,0,0,0
$GC,635,-1.32,-77.9,100.7,-14.9,74,639,0.00,2.40,0.00,0.000,4,0.000,0.045,2422,490,3373,0,0,0,0,0,0
$GC,680,-1.27,-77.9,108.0,-16.6,78,687,0.00,2.35,0.00,0.000,6,0.000,0.021,2423,1929,3374,0,0,0,0,0,0
$GC,942,-1.27,-77.9,143.4,-12.7,103,946,0.00,2.50,0.00,0.000,4,0.000,0.045,2422,487,3374,0,0,0,0,0,0
$GC,1021,-1.27,-77.9,152.6,-11.6,111,1025,0.00,2.30,0.00,0.000,6,0.000,0.021,2422,1910,3374,0,0,0,0,0,0
$GC,1283,-1.27,-77.9,178.7,-10.6,135,1287,0.00,2.45,0.00,0.000,4,0.000,0.045,2423,491,3375,0,0,0,0,0,0
$GC,1316,-1.23,-77.9,182.6,-10.7,138,1320,0.10,2.28,0.00,0.000,6,0.114,0.021,2443,1907,3375,0,0,0,0,0,0
$GC,1580,-1.31,-77.9,205.9,-9.3,160,1584,0.00,2.42,0.00,0.000,4,0.000,0.046,2443,495,3376,0,0,0,0,0,0
$GC,1607,-1.34,-77.9,209.1,-11.5,161,1612,0.10,2.25,0.00,0.000,6,0.077,0.021,2409,1902,3377,0,0,0,0,0,0
$GC,1930,-1.38,-77.9,247.2,-12.6,177,1934,0.00,2.42,0.00,0.000,4,0.000,0.047,2408,488,3376,0,0,0,0,0,0
$GC,1966,-1.38,-77.9,251.7,-11.7,178,1973,0.00,2.30,0.00,0.000,6,0.000,0.022,2408,1894,3376,0,0,0,0,0,0
$GC,2281,-1.45,-77.9,279.0,-8.5,194,2285,0.00,2.42,0.00,0.000,4,0.000,0.048,2408,492,3377,0,0,0,0,0,0
$GC,2340,-1.45,-77.9,284.7,-9.4,196,2346,0.00,2.33,0.00,0.000,6,0.000,0.024,2409,1905,3377,0,0,0,0,0,0
$GC,2653,-1.51,-77.9,313.3,-9.4,209,2658,0.12,2.47,0.00,0.000,4,0.070,0.051,2372,497,3376,0,0,0,0,0,0
$GC,2715,-1.46,-77.9,320.4,-11.1,210,2719,0.00,2.28,0.00,0.000,6,0.000,0.025,2372,1896,3376,0,0,0,0,0,0
$GC,3064,-1.46,-77.9,357.1,-10.9,219,3068,0.00,2.45,0.00,0.000,4,0.000,0.053,2372,498,3374,0,0,0,0,0,0
$GC,3088,-1.40,-77.9,360.1,-13.3,219,3093,0.15,2.30,0.00,0.000,6,0.100,0.028,2403,1902,3374,0,0,0,0,0,0
$GC,3428,-1.47,-77.9,399.5,-12.1,228,3433,0.00,2.47,0.00,0.000,4,0.000,0.055,2402,498,3373,0,0,0,0,0,0
$GC,3511,-1.50,-77.9,409.8,-11.4,229,3517,0.00,2.33,0.00,0.000,6,0.000,0.029,2402,1902,3372,0,0,0,0,0,0
$GC,3842,-1.57,-77.9,437.8,-8.0,238,3847,0.15,2.50,0.00,0.000,4,0.067,0.058,2363,491,3370,0,0,0,0,0,0
$GC,3861,-1.57,-77.9,439.5,-8.8,238,3865,0.00,2.35,0.00,0.000,6,0.000,0.029,2363,1900,3370,0,0,0,0,0,0
$STATE,4000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4000,begin apogee
$GC,4004,-0.31,0.0,452.5,9.3,242,4074,1.33,0.00,65.40,0.884,6,0.080,0.000,2643,2055,3050,0,0,0,0,0,0
$STATE,4074,end apogee,CONTROL_FINISHED_OK
$STATE,4074,begin climb
$GC,4076,1.40,77.9,453.2,0.0,243,4150,1.65,2.45,65.20,0.861,4,0.036,0.045,3024,3408,2731,0,0,0,0,0,0
$GC,4209,1.20,109.6,449.7,5.8,246,4243,0.28,2.40,27.62,0.837,6,0.117,0.038,2974,2029,2603,0,0,0,0,0,0
$GC,4575,1.10,111.5,421.4,7.9,255,4580,0.12,2.42,0.00,0.000,4,0.130,0.041,2953,3422,2597,0,0,0,0,0,0
$GC,4599,1.04,114.6,419.3,7.8,255,4610,0.00,2.42,4.90,0.610,6,0.000,0.038,2953,2027,2582,0,0,0,0,0,0
$GC,4942,1.00,128.0,394.6,7.1,264,4962,0.12,2.45,12.55,0.790,4,0.132,0.040,2932,3412,2527,0,0,0,0,0,0
$GC,5091,1.00,132.4,382.2,7.7,267,5102,0.00,2.38,5.05,0.619,6,0.000,0.039,2932,2033,2510,0,0,0,0,0,0
$GC,5447,1.01,136.4,353.8,7.7,276,5459,0.00,2.50,5.00,0.616,4,0.000,0.056,2932,629,2492,0,0,0,0,0,0
$GC,5626,0.96,136.4,334.4,11.7,279,5631,0.00,2.35,0.00,0.000,6,0.000,0.030,2931,2019,2490,0,0,0,0,0,0
$GC,5956,0.96,136.4,304.4,8.8,288,5960,0.00,2.47,0.00,0.000,4,0.000,0.054,2931,626,2489,0,0,0,0,0,0
$GC,6081,0.92,137.5,294.5,7.9,291,6085,0.00,2.35,0.00,0.000,6,0.000,0.031,2932,2034,2488,0,0,0,0,0,0
$GC,6396,0.97,180.6,279.4,5.1,306,6440,0.00,2.45,38.65,0.796,4,0.000,0.039,2932,3438,2312,0,0,0,0,0,0
$GC,6483,1.05,180.6,272.4,9.0,309,6488,0.00,2.45,0.00,0.000,6,0.000,0.039,2932,2035,2311,0,0,0,0,0,0
$GC,6799,1.12,192.8,246.7,7.2,325,6816,0.10,2.53,10.85,0.708,4,0.093,0.053,2955,625,2264,0,0,0,0,0,0
$GC,6951,1.07,192.8,230.9,9.5,331,6955,0.00,2.38,0.00,0.000,6,0.000,0.029,2955,2039,2260,0,0,0,0,0,0
$GC,7265,1.07,192.8,206.8,9.7,346,7269,0.00,2.50,0.00,0.000,4,0.000,0.053,2954,628,2259,0,0,0,0,0,0
$GC,7348,1.04,192.8,198.5,9.8,349,7353,0.00,2.35,0.00,0.000,6,0.000,0.028,2955,2044,2257,0,0,0,0,0,0
$GC,7672,1.08,192.8,170.3,9.5,380,7676,0.00,2.50,0.00,0.000,4,0.000,0.050,2955,619,2257,0,0,0,0,0,0
$GC,7907,1.08,192.8,147.7,8.1,405,7912,0.00,2.35,0.00,0.000,6,0.000,0.025,2955,2038,2255,0,0,0,0,0,0
$GC,8169,1.17,221.2,131.2,6.1,430,8200,0.00,2.58,24.90,0.650,4,0.000,0.048,2955,625,2147,0,0,0,0,0,0
$GC,8381,1.20,221.2,109.3,13.4,453,8385,0.00,2.33,0.00,0.000,6,0.000,0.024,2955,2042,2141,0,0,0,0,0,0
$GC,8643,1.29,221.2,79.3,9.1,477,8648,0.17,2.47,0.00,0.000,4,0.062,0.046,3000,624,2142,0,0,0,0,0,0
$GC,8722,1.22,221.2,71.3,10.1,485,8727,0.12,2.33,0.00,0.000,6,0.115,0.022,2978,2045,2141,0,0,0,0,0,0
$GC,8983,1.25,221.2,50.1,8.5,509,8987,0.00,2.45,0.00,0.000,4,0.000,0.043,2977,623,2141,0,0,0,0,0,0
$GC,9018,1.25,221.2,46.5,9.4,512,9025,0.00,2.33,0.00,0.000,6,0.000,0.021,2977,2054,2141,0,0,0,0,0,0
$GC,9281,1.31,221.2,23.2,9.3,543,9287,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2055,2141,0,0,0,0,0,0
$STATE,9474,end climb,SURFACE_DEPTH_REACHED
$STATE,9474,begin surface coast
$FINISH,0.3,1.011810
$STATE,9502,end surface coast,CONTROL_FINISHED_OK
$STATE,9502,begin surface
$SM_CCo,9521,39.62,0.531,0,0,1827,300.00
$SM_GC,1.36,0.00,0.00,39.62,0.000,0.000,0.531,427,1877,1827,-10.51,-0.65,300.00
$IRIDIUM_FIX,2054.83,-15749.62,150799,050535
$TT8_MAMPS,0.029146
$HUMID,43.34
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.4,7.795
$10V_AH,10.0,7.091
$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,26.225,115.925,260.125,39.625,0.000,25.465,28.055,116.695,0.000,0.000,14.182,1141.457,6212.380,363.802,1802.632,308.815,0.000,1158.696,0.000,1787.695,0.000,0.537,0.000
$DEVICE_MAMPS,138.827,58.292,884.351,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.134,370.828,835.240,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,31802,584
$CAP_FILE_SIZE,108636,0
$CFSIZE,260165632,254259200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200410,103554,2059.622,-15748.195,69,1.3,69,9.8