version: 66.06
glider: 139
mission: 7
dive: 74
start: 4 20 110 10 44 56
data:
$ID,139
$MISSION,7
$DIVE,74
$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,-2121245.5
$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
$GPS1,103554,2059.622,-15748.195,69,1.3,69,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-66.3
$GPS2,104438,2059.639,-15748.234,18,1.9,18,9.8
$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,29.0,14669,-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,-59.15,0.000,6,0.000,0.000,426,1880,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.8,-6.6,11,99,10.80,2.45,0.00,0.000,4,0.141,0.030,2405,3318,3370,0,0,0,0,0,0
$GC,114,-0.55,-77.9,15.6,-34.4,17,121,0.82,2.45,0.00,0.000,6,0.077,0.032,2590,1894,3372,0,0,0,0,0,0
$GC,316,-0.88,-77.9,28.6,-5.7,54,323,0.30,2.45,0.00,0.000,4,0.042,0.046,2508,496,3372,0,0,0,0,0,0
$GC,409,-1.02,-77.9,38.1,-9.7,66,414,0.00,2.33,0.00,0.000,6,0.000,0.021,2508,1931,3372,0,0,0,0,0,0
$GC,672,-1.18,-77.9,62.7,-8.9,90,677,0.25,2.50,0.00,0.000,4,0.044,0.045,2432,492,3373,0,0,0,0,0,0
$GC,699,-1.11,-77.9,66.5,-14.0,92,706,0.15,2.30,0.00,0.000,6,0.075,0.021,2468,1900,3373,0,0,0,0,0,0
$GC,962,-1.19,-77.9,96.3,-10.0,117,966,0.00,2.45,0.00,0.000,4,0.000,0.045,2468,488,3374,0,0,0,0,0,0
$GC,1053,-1.27,-77.9,106.5,-9.9,126,1060,0.12,2.30,0.00,0.000,6,0.034,0.021,2421,1897,3374,0,0,0,0,0,0
$GC,1315,-1.27,-77.9,133.6,-10.5,151,1319,0.00,2.40,0.00,0.000,4,0.000,0.044,2420,492,3375,0,0,0,0,0,0
$GC,1365,-1.24,-77.9,139.6,-11.5,156,1370,0.00,2.28,0.00,0.000,6,0.000,0.021,2420,1903,3375,0,0,0,0,0,0
$GC,1627,-1.27,-77.9,168.3,-9.7,180,1631,0.00,2.45,0.00,0.000,4,0.000,0.046,2421,487,3376,0,0,0,0,0,0
$GC,1661,-1.27,-77.9,171.9,-10.6,183,1665,0.00,2.30,0.00,0.000,6,0.000,0.021,2421,1905,3376,0,0,0,0,0,0
$GC,1923,-1.33,-77.9,195.4,-8.7,207,1927,0.00,2.42,0.00,0.000,4,0.000,0.045,2421,488,3376,0,0,0,0,0,0
$GC,1977,-1.33,-77.9,201.3,-10.5,212,1981,0.00,2.30,0.00,0.000,6,0.000,0.021,2421,1907,3376,0,0,0,0,0,0
$GC,2294,-1.38,-77.9,232.0,-9.1,227,2298,0.00,2.45,0.00,0.000,4,0.000,0.049,2420,487,3376,0,0,0,0,0,0
$GC,2371,-1.38,-77.9,239.3,-8.9,230,2375,0.00,2.28,0.00,0.000,6,0.000,0.023,2420,1897,3376,0,0,0,0,0,0
$GC,2688,-1.47,-77.9,255.1,-5.3,245,2690,0.15,0.00,0.00,0.000,6,0.060,0.000,2375,1902,3376,0,0,0,0,0,0
$GC,2995,-1.47,-77.9,288.7,-12.9,260,2999,0.00,2.42,0.00,0.000,4,0.000,0.050,2374,496,3375,0,0,0,0,0,0
$GC,3015,-1.42,-77.9,291.5,-14.6,261,3020,0.12,2.30,0.00,0.000,6,0.104,0.025,2399,1899,3376,0,0,0,0,0,0
$GC,3341,-1.47,-77.9,324.9,-9.1,271,3345,0.00,2.45,0.00,0.000,4,0.000,0.052,2399,497,3374,0,0,0,0,0,0
$GC,3373,-1.47,-77.9,327.9,-9.3,271,3377,0.00,2.30,0.00,0.000,6,0.000,0.027,2400,1902,3374,0,0,0,0,0,0
$GC,3704,-1.53,-77.9,354.6,-7.7,279,3708,0.00,2.47,0.00,0.000,4,0.000,0.054,2399,492,3372,0,0,0,0,0,0
$GC,3777,-1.53,-77.9,360.6,-8.1,280,3781,0.00,2.33,0.00,0.000,6,0.000,0.028,2399,1899,3372,0,0,0,0,0,0
$GC,4112,-1.59,-77.9,387.2,-7.6,289,4117,0.15,2.47,0.00,0.000,4,0.067,0.056,2359,497,3370,0,0,0,0,0,0
$GC,4132,-1.55,-77.9,388.9,-7.8,289,4136,0.00,2.35,0.00,0.000,6,0.000,0.029,2359,1908,3369,0,0,0,0,0,0
$GC,4476,-1.55,-77.9,425.7,-11.5,298,4477,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1912,3367,0,0,0,0,0,0
$STATE,4718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4718,begin apogee
$GC,4723,-0.31,0.0,453.1,11.2,304,4791,1.35,0.00,64.70,0.897,6,0.083,0.000,2643,2050,3050,0,0,0,0,0,0
$STATE,4792,end apogee,CONTROL_FINISHED_OK
$STATE,4792,begin climb
$GC,4794,1.40,77.9,454.6,0.0,305,4868,1.65,2.47,64.78,0.874,4,0.036,0.047,3022,3409,2731,0,0,0,0,0,0
$GC,4879,1.32,204.8,456.8,-0.7,307,4996,0.12,2.42,108.62,0.871,6,0.131,0.038,3002,2027,2215,0,0,0,0,0,0
$GC,5327,1.21,204.8,401.4,14.1,318,5332,0.12,2.53,0.00,0.000,4,0.130,0.060,2979,622,2204,0,0,0,0,0,0
$GC,5365,1.09,204.8,395.2,15.4,318,5371,0.15,2.40,0.00,0.000,6,0.130,0.031,2953,2026,2201,0,0,0,0,0,0
$GC,5695,1.09,204.8,357.9,10.9,327,5699,0.00,2.50,0.00,0.000,4,0.000,0.058,2953,626,2199,0,0,0,0,0,0
$GC,5822,1.03,204.8,343.5,11.9,329,5826,0.00,2.38,0.00,0.000,6,0.000,0.031,2953,2035,2196,0,0,0,0,0,0
$GC,6152,1.03,204.8,314.7,8.2,337,6156,0.00,2.50,0.00,0.000,4,0.000,0.056,2953,629,2196,0,0,0,0,0,0
$GC,6199,0.98,204.8,310.1,10.3,338,6204,0.15,2.38,0.00,0.000,6,0.127,0.032,2927,2038,2193,0,0,0,0,0,0
$GC,6528,1.06,204.8,275.9,12.4,351,6532,0.00,2.50,0.00,0.000,4,0.000,0.055,2927,630,2193,0,0,0,0,0,0
$GC,6716,1.06,204.8,251.3,11.7,359,6720,0.00,2.38,0.00,0.000,6,0.000,0.030,2927,2037,2190,0,0,0,0,0,0
$GC,7037,1.13,206.8,224.8,7.9,375,7042,0.15,2.45,0.00,0.000,4,0.074,0.052,2962,629,2190,0,0,0,0,0,0
$GC,7103,1.08,206.8,218.3,10.4,378,7107,0.00,2.35,0.00,0.000,6,0.000,0.028,2962,2044,2189,0,0,0,0,0,0
$GC,7427,1.08,206.8,187.7,10.2,399,7431,0.00,2.47,0.00,0.000,4,0.000,0.048,2962,628,2189,0,0,0,0,0,0
$GC,7689,1.08,206.8,160.6,11.7,427,7695,0.00,2.33,0.00,0.000,6,0.000,0.026,2962,2037,2188,0,0,0,0,0,0
$GC,7951,1.12,206.8,130.6,11.6,452,7955,0.00,2.45,0.00,0.000,4,0.000,0.048,2962,627,2188,0,0,0,0,0,0
$GC,8167,1.12,206.8,104.8,11.0,475,8172,0.00,2.33,0.00,0.000,6,0.000,0.024,2962,2041,2188,0,0,0,0,0,0
$GC,8429,1.20,223.8,85.1,6.9,500,8447,0.00,0.00,13.05,0.583,6,0.000,0.000,2962,2045,2137,0,0,0,0,0,0
$GC,8705,1.27,223.8,63.7,8.0,526,8710,0.12,2.45,0.00,0.000,4,0.072,0.045,2996,626,2136,0,0,0,0,0,0
$GC,8801,1.21,223.8,53.6,11.5,536,8805,0.00,2.30,0.00,0.000,6,0.000,0.022,2996,2047,2134,0,0,0,0,0,0
$GC,9064,1.21,223.8,27.0,11.3,562,9070,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2052,2134,0,0,0,0,0,0
$GC,9266,1.21,223.8,8.1,9.1,599,9272,0.00,2.47,0.00,0.000,4,0.000,0.042,2995,618,2134,0,0,0,0,0,0
$GC,9309,1.15,223.8,3.2,12.7,608,9316,0.15,2.33,0.00,0.000,6,0.094,0.023,2965,2024,2134,0,0,0,0,0,0
$STATE,9323,end climb,SURFACE_DEPTH_REACHED
$STATE,9323,begin surface coast
$FINISH,0.5,1.002506
$STATE,9345,end surface coast,CONTROL_FINISHED_OK
$STATE,9345,begin surface
$SM_CCo,9365,39.08,0.534,0,0,1826,300.00
$SM_GC,1.52,0.00,0.00,39.08,0.000,0.000,0.534,427,1875,1826,-10.51,-0.71,300.00
$IRIDIUM_FIX,2050.21,-15749.62,150799,101016
$TT8_MAMPS,0.029146
$HUMID,43.66
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,23.3,7.881
$10V_AH,10.0,7.172
$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,27.650,105.975,251.150,39.075,0.000,62.096,76.332,219.570,0.000,0.000,18.573,1163.649,6086.344,355.764,1817.448,508.729,0.000,1122.880,0.000,1800.750,0.000,0.538,0.000
$DEVICE_MAMPS,141.128,59.826,896.623,533.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.765,398.898,935.278,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,34903,614
$CAP_FILE_SIZE,109464,0
$CFSIZE,260165632,254197760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200410,132355,2059.856,-15747.978,100,1.3,100,9.8