version: 66.06
glider: 139
mission: 7
dive: 78
start: 4 20 110 21 46 37
data:
$ID,139
$MISSION,7
$DIVE,78
$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,-2121346
$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
$GPS1,213824,2059.336,-15747.896,123,1.9,140,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-67.6
$GPS2,214619,2059.336,-15747.899,14,1.8,14,9.8
$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,25.9,14766,-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,-58.92,0.000,6,0.000,0.000,430,1870,3368,0,0,0,0,0,0
$GC,81,-1.40,-77.9,3.9,-6.7,11,94,10.75,0.00,0.00,0.000,6,0.140,0.000,2404,1871,3369,0,0,0,0,0,0
$GC,288,-1.30,-77.9,46.6,-16.8,40,290,0.12,0.00,0.00,0.000,6,0.110,0.000,2429,1873,3371,0,0,0,0,0,0
$GC,540,-1.30,-77.9,83.6,-13.8,64,544,0.00,2.40,0.00,0.000,4,0.000,0.046,2429,485,3372,0,0,0,0,0,0
$GC,610,-1.25,-77.9,94.1,-15.5,71,615,0.00,2.33,0.00,0.000,6,0.000,0.021,2428,1932,3372,0,0,0,0,0,0
$GC,873,-1.29,-77.9,124.0,-11.1,95,877,0.00,2.47,0.00,0.000,4,0.000,0.044,2429,488,3373,0,0,0,0,0,0
$GC,923,-1.29,-77.9,129.7,-10.5,100,927,0.00,2.28,0.00,0.000,6,0.000,0.021,2429,1912,3373,0,0,0,0,0,0
$GC,1184,-1.32,-77.9,158.5,-11.9,124,1189,0.00,2.42,0.00,0.000,4,0.000,0.044,2430,494,3374,0,0,0,0,0,0
$GC,1219,-1.29,-77.9,162.5,-12.6,127,1223,0.00,2.25,0.00,0.000,6,0.000,0.021,2429,1900,3374,0,0,0,0,0,0
$GC,1481,-1.33,-77.9,189.5,-9.3,151,1485,0.00,2.42,0.00,0.000,4,0.000,0.045,2429,494,3374,0,0,0,0,0,0
$GC,1571,-1.33,-77.9,199.3,-10.3,160,1578,0.00,2.30,0.00,0.000,6,0.000,0.021,2429,1901,3375,0,0,0,0,0,0
$GC,1835,-1.40,-77.9,224.6,-9.5,174,1839,0.00,2.42,0.00,0.000,4,0.000,0.046,2428,494,3375,0,0,0,0,0,0
$GC,1876,-1.40,-77.9,228.8,-9.5,176,1881,0.00,2.28,0.00,0.000,6,0.000,0.022,2429,1901,3375,0,0,0,0,0,0
$GC,2205,-1.49,-77.9,254.8,-7.9,192,2210,0.17,2.45,0.00,0.000,4,0.055,0.048,2379,493,3375,0,0,0,0,0,0
$GC,2295,-1.43,-77.9,266.1,-14.1,196,2300,0.10,2.28,0.00,0.000,6,0.114,0.023,2399,1902,3375,0,0,0,0,0,0
$GC,2625,-1.48,-77.9,299.5,-9.5,212,2629,0.00,2.33,0.00,0.000,4,0.000,0.035,2399,3291,3374,0,0,0,0,0,0
$GC,2699,-1.57,-77.9,307.6,-11.2,214,2704,0.12,2.35,0.00,0.000,6,0.070,0.035,2362,1894,3374,0,0,0,0,0,0
$GC,3035,-1.54,-77.9,345.5,-11.0,223,3039,0.00,2.38,0.00,0.000,4,0.000,0.036,2362,3294,3373,0,0,0,0,0,0
$GC,3103,-1.54,-77.9,352.6,-9.5,224,3107,0.00,2.35,0.00,0.000,6,0.000,0.037,2362,1899,3373,0,0,0,0,0,0
$GC,3443,-1.54,-77.9,378.9,-7.1,233,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1899,3371,0,0,0,0,0,0
$GC,3768,-1.54,-77.9,407.8,-9.9,241,3772,0.00,2.47,0.00,0.000,4,0.000,0.058,2362,495,3368,0,0,0,0,0,0
$GC,3828,-1.47,-77.9,414.2,-11.1,242,3833,0.15,2.30,0.00,0.000,6,0.106,0.029,2391,1887,3368,0,0,0,0,0,0
$GC,4177,-1.52,-77.9,446.2,-9.3,251,4181,0.00,2.40,0.00,0.000,4,0.000,0.042,2391,3299,3365,0,0,0,0,0,0
$STATE,4222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4222,begin apogee
$GC,4229,-0.31,0.0,450.2,8.5,252,4297,1.20,0.00,64.70,0.888,6,0.081,0.000,2645,2031,3050,0,0,0,0,0,0
$STATE,4298,end apogee,CONTROL_FINISHED_OK
$STATE,4298,begin climb
$GC,4300,1.40,77.9,451.4,0.0,253,4374,1.62,2.53,65.45,0.864,4,0.035,0.046,3022,3441,2732,0,0,0,0,0,0
$GC,4486,1.20,102.4,447.6,6.3,257,4516,0.25,2.45,21.80,0.833,6,0.116,0.041,2976,2034,2631,0,0,0,0,0,0
$GC,4848,1.08,102.4,419.6,8.1,266,4850,0.15,0.00,0.00,0.000,6,0.127,0.000,2950,2034,2626,0,0,0,0,0,0
$GC,5172,1.05,123.7,396.0,6.6,274,5196,0.00,2.53,17.88,0.823,4,0.000,0.043,2950,3429,2545,0,0,0,0,0,0
$GC,5206,1.04,163.2,394.0,5.3,274,5247,0.00,2.45,35.65,0.840,6,0.000,0.038,2951,2029,2384,0,0,0,0,0,0
$GC,5577,1.04,163.2,362.2,8.9,284,5582,0.00,2.50,0.00,0.000,4,0.000,0.057,2950,629,2376,0,0,0,0,0,0
$GC,5675,0.96,163.2,352.7,9.6,286,5679,0.15,2.38,0.00,0.000,6,0.127,0.030,2924,2036,2373,0,0,0,0,0,0
$GC,5993,1.01,164.1,328.8,8.0,294,5997,0.00,2.53,0.00,0.000,4,0.000,0.056,2924,623,2372,0,0,0,0,0,0
$GC,6040,1.01,164.1,323.5,11.7,295,6045,0.00,2.40,0.00,0.000,6,0.000,0.030,2924,2041,2370,0,0,0,0,0,0
$GC,6367,1.07,164.1,291.8,9.9,305,6371,0.00,2.53,0.00,0.000,4,0.000,0.054,2923,621,2370,0,0,0,0,0,0
$GC,6431,1.07,164.1,285.6,9.2,308,6435,0.00,2.40,0.00,0.000,6,0.000,0.030,2923,2044,2368,0,0,0,0,0,0
$GC,6765,1.20,217.8,265.6,4.3,324,6820,0.22,2.62,46.58,0.792,4,0.065,0.054,2975,626,2160,0,0,0,0,0,0
$GC,6900,1.12,217.8,253.4,11.8,330,6904,0.00,2.38,0.00,0.000,6,0.000,0.029,2975,2036,2154,0,0,0,0,0,0
$GC,7229,1.12,217.8,219.1,10.1,346,7233,0.00,2.50,0.00,0.000,4,0.000,0.053,2975,626,2151,0,0,0,0,0,0
$GC,7444,1.07,217.8,190.9,12.4,360,7449,0.17,2.35,0.00,0.000,6,0.117,0.027,2944,2042,2148,0,0,0,0,0,0
$GC,7705,1.15,217.8,165.2,10.1,384,7709,0.00,2.50,0.00,0.000,4,0.000,0.049,2944,619,2148,0,0,0,0,0,0
$GC,7891,1.18,217.8,143.3,12.7,404,7896,0.12,2.35,0.00,0.000,6,0.077,0.025,2975,2038,2146,0,0,0,0,0,0
$GC,8150,1.18,217.8,112.6,10.9,428,8155,0.00,2.45,0.00,0.000,4,0.000,0.047,2975,627,2146,0,0,0,0,0,0
$GC,8231,1.18,217.8,103.2,12.4,436,8238,0.00,2.35,0.00,0.000,6,0.000,0.024,2974,2044,2146,0,0,0,0,0,0
$GC,8493,1.18,217.8,78.8,9.7,461,8497,0.00,2.45,0.00,0.000,4,0.000,0.045,2975,627,2146,0,0,0,0,0,0
$GC,8509,1.18,217.8,76.9,11.0,462,8513,0.00,2.30,0.00,0.000,6,0.000,0.023,2975,2047,2145,0,0,0,0,0,0
$GC,8776,1.23,217.8,46.2,12.1,487,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2052,2146,0,0,0,0,0,0
$GC,9031,1.29,217.8,22.4,8.2,519,9037,0.00,2.47,0.00,0.000,4,0.000,0.044,2974,624,2145,0,0,0,0,0,0
$GC,9103,1.29,217.8,15.8,9.7,535,9110,0.00,2.33,0.00,0.000,6,0.000,0.021,2974,2034,2146,0,0,0,0,0,0
$STATE,9228,end climb,SURFACE_DEPTH_REACHED
$STATE,9229,begin surface coast
$FINISH,0.5,1.023842
$STATE,9251,end surface coast,CONTROL_FINISHED_OK
$STATE,9251,begin surface
$SM_CCo,9270,41.00,0.537,0,0,1826,300.00
$SM_GC,1.17,0.00,0.00,41.00,0.000,0.000,0.537,430,1886,1826,-10.50,-0.40,300.00
$IRIDIUM_FIX,2052.52,-15745.35,150799,212131
$TT8_MAMPS,0.029146
$HUMID,44.72
$INTERNAL_PRESSURE,9.64535
$TCM_TEMP,20.90
$XPDR_PINGS,0
$24V_AH,23.4,8.218
$10V_AH,10.0,7.481
$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,26.300,101.050,252.050,41.000,0.000,45.699,60.567,208.900,0.000,0.000,14.389,1095.850,6183.012,340.946,1702.299,468.054,0.000,1084.597,0.000,1695.344,0.000,0.539,0.000
$DEVICE_MAMPS,140.361,57.525,888.186,536.900,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,381.409,356.620,797.730,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,31790,562
$CAP_FILE_SIZE,105629,0
$CFSIZE,260165632,253984768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210410,002406,2059.666,-15747.197,97,1.8,102,9.8