version: 66.06
glider: 139
mission: 7
dive: 75
start: 4 20 110 13 35 13
data:
$ID,139
$MISSION,7
$DIVE,75
$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,-2121266
$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
$GPS1,132355,2059.856,-15747.978,100,1.3,100,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-67.6
$GPS2,133456,2059.856,-15748.011,19,1.7,19,9.8
$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,28.8,14113,-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,-77.9,0.0,0.0,0,79,0.00,0.00,-59.15,0.000,6,0.000,0.000,426,1876,3368,0,0,0,0,0,0
$GC,81,-1.40,-77.9,3.8,-6.5,11,100,10.73,2.45,0.00,0.000,4,0.140,0.027,2403,3326,3370,0,0,0,0,0,0
$GC,169,-1.40,-77.9,24.6,-15.4,30,176,0.00,2.42,0.00,0.000,6,0.000,0.031,2402,1906,3371,0,0,0,0,0,0
$GC,374,-1.32,-77.9,56.7,-14.4,52,376,0.10,0.00,0.00,0.000,6,0.119,0.000,2422,1905,3372,0,0,0,0,0,0
$GC,628,-1.32,-77.9,89.1,-13.1,76,632,0.00,2.42,0.00,0.000,4,0.000,0.046,2422,488,3372,0,0,0,0,0,0
$GC,681,-1.32,-77.9,96.3,-12.8,81,687,0.00,2.33,0.00,0.000,6,0.000,0.021,2421,1933,3372,0,0,0,0,0,0
$GC,941,-1.32,-77.9,125.3,-10.3,106,946,0.00,2.50,0.00,0.000,4,0.000,0.044,2422,490,3373,0,0,0,0,0,0
$GC,1023,-1.28,-77.9,134.9,-12.1,114,1030,0.00,2.30,0.00,0.000,6,0.000,0.021,2421,1902,3373,0,0,0,0,0,0
$GC,1284,-1.28,-77.9,164.4,-12.6,139,1288,0.00,2.45,0.00,0.000,4,0.000,0.046,2421,488,3374,0,0,0,0,0,0
$GC,1356,-1.28,-77.9,175.4,-14.9,146,1363,0.00,2.30,0.00,0.000,6,0.000,0.021,2422,1896,3374,0,0,0,0,0,0
$GC,1628,-1.33,-77.9,207.6,-11.7,169,1632,0.00,2.42,0.00,0.000,4,0.000,0.046,2421,492,3374,0,0,0,0,0,0
$GC,1647,-1.33,-77.9,210.1,-11.5,170,1651,0.00,2.28,0.00,0.000,6,0.000,0.022,2422,1902,3375,0,0,0,0,0,0
$GC,1975,-1.38,-77.9,244.4,-9.2,186,1979,0.00,2.45,0.00,0.000,4,0.000,0.048,2422,490,3375,0,0,0,0,0,0
$GC,2154,-1.43,-77.9,261.6,-9.8,194,2159,0.00,2.25,0.00,0.000,6,0.000,0.023,2422,1895,3375,0,0,0,0,0,0
$GC,2483,-1.49,-77.9,290.5,-8.1,210,2488,0.17,2.42,0.00,0.000,4,0.058,0.048,2374,495,3375,0,0,0,0,0,0
$GC,2516,-1.42,-77.9,294.1,-10.9,211,2521,0.12,2.30,0.00,0.000,6,0.104,0.025,2400,1899,3374,0,0,0,0,0,0
$GC,2827,-1.45,-77.9,327.9,-11.3,220,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1905,3374,0,0,0,0,0,0
$GC,3152,-1.50,-77.9,372.9,-13.9,228,3156,0.00,2.45,0.00,0.000,4,0.000,0.053,2400,496,3372,0,0,0,0,0,0
$GC,3216,-1.50,-77.9,381.6,-12.2,229,3220,0.00,2.33,0.00,0.000,6,0.000,0.027,2400,1903,3372,0,0,0,0,0,0
$GC,3560,-1.57,-77.9,415.2,-8.7,238,3565,0.15,2.50,0.00,0.000,4,0.067,0.056,2359,498,3370,0,0,0,0,0,0
$GC,3651,-1.50,-77.9,422.8,-9.2,240,3656,0.12,2.33,0.00,0.000,6,0.113,0.029,2384,1908,3370,0,0,0,0,0,0
$GC,3978,-1.50,-77.9,446.5,-7.4,248,3982,0.00,2.47,0.00,0.000,4,0.000,0.058,2383,498,3368,0,0,0,0,0,0
$GC,4015,-1.50,-77.9,449.7,-9.0,248,4020,0.00,2.35,0.00,0.000,6,0.000,0.030,2384,1905,3367,0,0,0,0,0,0
$STATE,4059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4059,begin apogee
$GC,4063,-0.31,0.0,453.3,8.1,250,4132,1.23,0.00,64.68,0.884,6,0.077,0.000,2644,2060,3049,0,0,0,0,0,0
$STATE,4132,end apogee,CONTROL_FINISHED_OK
$STATE,4133,begin climb
$GC,4134,1.40,77.9,454.0,0.0,251,4209,1.62,2.45,64.68,0.861,4,0.035,0.047,3021,3407,2732,0,0,0,0,0,0
$GC,4260,1.24,135.5,452.6,4.1,253,4318,0.20,2.38,49.42,0.854,6,0.117,0.039,2985,2032,2497,0,0,0,0,0,0
$GC,4635,1.14,143.7,424.6,7.5,263,4648,0.12,2.55,7.10,0.702,4,0.129,0.059,2962,630,2463,0,0,0,0,0,0
$GC,4710,1.01,143.7,418.9,8.0,264,4715,0.15,2.38,0.00,0.000,6,0.129,0.031,2937,2021,2462,0,0,0,0,0,0
$GC,5050,1.03,159.0,397.6,7.0,273,5070,0.00,2.58,14.10,0.801,4,0.000,0.058,2936,634,2401,0,0,0,0,0,0
$GC,5209,0.98,159.0,380.9,10.6,276,5213,0.00,2.38,0.00,0.000,6,0.000,0.031,2937,2041,2397,0,0,0,0,0,0
$GC,5553,1.01,180.2,353.6,6.6,285,5578,0.00,2.55,18.92,0.812,4,0.000,0.055,2936,630,2315,0,0,0,0,0,0
$GC,5657,0.97,180.2,346.3,8.6,287,5662,0.00,2.38,0.00,0.000,6,0.000,0.031,2937,2037,2310,0,0,0,0,0,0
$GC,5971,1.06,218.5,327.4,5.4,295,6013,0.00,2.60,34.67,0.818,4,0.000,0.056,2937,636,2158,0,0,0,0,0,0
$GC,6106,1.06,218.5,315.2,11.7,298,6110,0.00,2.38,0.00,0.000,6,0.000,0.031,2937,2043,2151,0,0,0,0,0,0
$GC,6435,1.13,218.5,276.0,15.9,310,6440,0.00,2.53,0.00,0.000,4,0.000,0.054,2937,628,2150,0,0,0,0,0,0
$GC,6501,1.13,218.5,265.3,16.6,313,6506,0.00,2.35,0.00,0.000,6,0.000,0.029,2937,2040,2148,0,0,0,0,0,0
$GC,6832,1.21,218.5,224.5,9.4,329,6837,0.17,2.50,0.00,0.000,4,0.068,0.053,2978,627,2147,0,0,0,0,0,0
$GC,7099,1.16,218.5,199.4,9.1,340,7106,0.00,2.38,0.00,0.000,6,0.000,0.027,2979,2034,2144,0,0,0,0,0,0
$GC,7424,1.16,218.5,165.2,12.7,371,7429,0.00,2.45,0.00,0.000,4,0.000,0.048,2978,619,2144,0,0,0,0,0,0
$GC,7603,1.12,218.5,139.6,15.9,390,7608,0.12,2.33,0.00,0.000,6,0.122,0.025,2957,2045,2144,0,0,0,0,0,0
$GC,7863,1.19,218.5,103.4,13.0,414,7868,0.00,2.47,0.00,0.000,4,0.000,0.046,2957,618,2144,0,0,0,0,0,0
$GC,7880,1.23,218.5,101.4,12.7,415,7885,0.10,2.30,0.00,0.000,6,0.088,0.024,2983,2037,2144,0,0,0,0,0,0
$GC,8143,1.25,234.7,78.5,6.9,439,8162,0.00,0.00,13.40,0.571,6,0.000,0.000,2983,2042,2092,0,0,0,0,0,0
$GC,8417,1.32,262.5,59.4,6.1,465,8448,0.00,2.50,25.52,0.574,4,0.000,0.044,2983,621,1978,0,0,0,0,0,0
$GC,8540,1.32,262.5,47.2,12.0,478,8544,0.00,2.30,0.00,0.000,6,0.000,0.021,2983,2040,1974,0,0,0,0,0,0
$GC,8804,1.36,262.5,18.4,10.8,511,8811,0.10,2.50,0.00,0.000,4,0.081,0.044,3012,622,1974,0,0,0,0,0,0
$GC,8886,1.25,262.5,6.8,16.4,529,8893,0.10,2.33,0.00,0.000,6,0.090,0.021,2989,2024,1972,0,0,0,0,0,0
$STATE,8919,end climb,SURFACE_DEPTH_REACHED
$STATE,8919,begin surface coast
$FINISH,0.5,1.023884
$STATE,8942,end surface coast,CONTROL_FINISHED_OK
$STATE,8942,begin surface
$SM_CCo,8962,20.83,0.521,0,0,1827,300.00
$SM_GC,0.88,0.00,0.00,20.83,0.000,0.000,0.521,430,1880,1827,-10.50,-0.57,300.00
$IRIDIUM_FIX,2052.52,-15749.62,150799,131349
$TT8_MAMPS,0.029913
$HUMID,43.77
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.20
$XPDR_PINGS,1
$24V_AH,23.4,7.974
$10V_AH,10.0,7.248
$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,26.300,101.675,292.500,20.825,0.000,80.122,139.746,217.990,0.250,0.000,19.763,1066.386,5904.116,357.201,1739.382,579.846,0.000,1130.778,0.000,1721.773,0.000,0.539,0.000
$DEVICE_MAMPS,139.594,59.059,883.584,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,364.168,338.570,779.920,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355452
$DATA_FILE_SIZE,28653,539
$CAP_FILE_SIZE,107746,0
$CFSIZE,260165632,254152704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200410,160720,2059.653,-15748.035,96,1.6,109,9.8