version: 66.06
glider: 139
mission: 7
dive: 79
start: 4 21 110 0 36 48
data:
$ID,139
$MISSION,7
$DIVE,79
$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,-2121379
$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
$GPS1,002406,2059.666,-15747.197,97,1.8,102,9.8
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-70.9
$GPS2,003631,2059.667,-15747.238,21,2.0,31,9.8
$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,23.5,13614,-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,-58.28,0.000,6,0.000,0.000,428,1887,3369,0,0,0,0,0,0
$GC,81,-1.40,-77.9,4.1,-7.4,11,100,10.75,2.42,0.00,0.000,4,0.140,0.029,2405,3315,3370,0,0,0,0,0,0
$GC,144,-1.36,-77.9,22.3,-16.8,24,151,0.00,2.45,0.00,0.000,6,0.000,0.033,2406,1896,3372,0,0,0,0,0,0
$GC,344,-1.29,-77.9,53.5,-14.9,47,349,0.12,2.42,0.00,0.000,4,0.109,0.047,2430,492,3372,0,0,0,0,0,0
$GC,397,-1.24,-77.9,61.5,-14.9,52,401,0.00,2.33,0.00,0.000,6,0.000,0.021,2430,1926,3372,0,0,0,0,0,0
$GC,657,-1.24,-77.9,95.8,-12.8,76,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1931,3372,0,0,0,0,0,0
$GC,912,-1.24,-77.9,129.6,-13.7,100,916,0.00,2.45,0.00,0.000,4,0.000,0.044,2429,494,3374,0,0,0,0,0,0
$GC,939,-1.20,-77.9,133.5,-14.9,102,946,0.00,2.30,0.00,0.000,6,0.000,0.021,2429,1909,3373,0,0,0,0,0,0
$GC,1201,-1.24,-77.9,166.2,-12.3,127,1206,0.00,2.42,0.00,0.000,4,0.000,0.045,2429,494,3374,0,0,0,0,0,0
$GC,1262,-1.24,-77.9,174.0,-12.0,133,1267,0.00,2.28,0.00,0.000,6,0.000,0.021,2429,1898,3374,0,0,0,0,0,0
$GC,1525,-1.29,-77.9,199.1,-8.3,157,1529,0.00,2.40,0.00,0.000,4,0.000,0.045,2429,493,3375,0,0,0,0,0,0
$GC,1566,-1.29,-77.9,202.8,-8.6,160,1570,0.00,2.25,0.00,0.000,6,0.000,0.021,2429,1900,3375,0,0,0,0,0,0
$GC,1895,-1.35,-77.9,226.0,-7.0,176,1899,0.00,2.42,0.00,0.000,4,0.000,0.046,2429,487,3375,0,0,0,0,0,0
$GC,1966,-1.39,-77.9,232.1,-8.7,179,1970,0.00,2.30,0.00,0.000,6,0.000,0.022,2429,1908,3375,0,0,0,0,0,0
$GC,2296,-1.48,-77.9,256.4,-8.1,195,2298,0.17,0.00,0.00,0.000,6,0.055,0.000,2379,1912,3375,0,0,0,0,0,0
$GC,2604,-1.48,-77.9,289.7,-10.5,210,2608,0.00,2.45,0.00,0.000,4,0.000,0.048,2379,495,3375,0,0,0,0,0,0
$GC,2749,-1.44,-77.9,306.1,-9.9,216,2753,0.00,2.28,0.00,0.000,6,0.000,0.024,2378,1902,3375,0,0,0,0,0,0
$GC,3062,-1.44,-77.9,334.7,-9.4,224,3066,0.00,2.47,0.00,0.000,4,0.000,0.051,2379,488,3374,0,0,0,0,0,0
$GC,3163,-1.44,-77.9,346.1,-11.3,226,3167,0.00,2.30,0.00,0.000,6,0.000,0.026,2379,1906,3374,0,0,0,0,0,0
$GC,3475,-1.44,-77.9,378.3,-10.3,234,3480,0.00,2.47,0.00,0.000,4,0.000,0.054,2378,488,3372,0,0,0,0,0,0
$GC,3525,-1.44,-77.9,383.6,-9.9,235,3530,0.00,2.33,0.00,0.000,6,0.000,0.028,2379,1897,3372,0,0,0,0,0,0
$GC,3843,-1.44,-77.9,413.3,-9.4,243,3847,0.00,2.45,0.00,0.000,4,0.000,0.055,2379,498,3370,0,0,0,0,0,0
$GC,3875,-1.40,-77.9,416.5,-9.7,243,3880,0.12,2.35,0.00,0.000,6,0.107,0.029,2404,1908,3370,0,0,0,0,0,0
$GC,4206,-1.48,-77.9,441.8,-7.4,251,4210,0.00,2.50,0.00,0.000,4,0.000,0.058,2404,498,3368,0,0,0,0,0,0
$GC,4266,-1.54,-77.9,447.4,-8.3,252,4271,0.12,2.33,0.00,0.000,6,0.074,0.031,2370,1904,3367,0,0,0,0,0,0
$STATE,4329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4329,begin apogee
$GC,4334,-0.31,0.0,453.3,9.2,254,4403,1.30,0.00,65.28,0.890,6,0.081,0.000,2644,2060,3050,0,0,0,0,0,0
$STATE,4404,end apogee,CONTROL_FINISHED_OK
$STATE,4404,begin climb
$GC,4406,1.40,77.9,454.0,0.0,255,4480,1.65,2.45,65.25,0.869,4,0.037,0.048,3023,3406,2732,0,0,0,0,0,0
$GC,4744,1.22,118.9,441.4,5.2,262,4785,0.22,2.35,34.92,0.857,6,0.121,0.038,2982,2034,2565,0,0,0,0,0,0
$GC,5094,1.11,118.9,411.9,8.7,271,5099,0.15,2.42,0.00,0.000,4,0.126,0.044,2957,3420,2560,0,0,0,0,0,0
$GC,5122,1.05,118.9,409.2,8.8,271,5126,0.00,2.42,0.00,0.000,6,0.000,0.041,2957,2032,2560,0,0,0,0,0,0
$GC,5457,1.00,123.4,382.7,7.7,280,5469,0.15,2.53,4.22,0.569,4,0.127,0.058,2930,630,2545,0,0,0,0,0,0
$GC,5475,0.98,141.2,381.5,6.8,280,5500,0.00,2.35,16.73,0.815,6,0.000,0.031,2930,2025,2474,0,0,0,0,0,0
$GC,5824,1.02,167.7,359.9,6.2,289,5853,0.00,2.58,23.75,0.828,4,0.000,0.058,2930,625,2366,0,0,0,0,0,0
$GC,5951,0.99,171.7,350.3,7.7,291,5960,0.00,2.40,4.43,0.559,6,0.000,0.030,2930,2036,2349,0,0,0,0,0,0
$GC,6285,1.05,183.3,325.7,7.2,300,6302,0.00,2.55,11.60,0.763,4,0.000,0.057,2930,630,2301,0,0,0,0,0,0
$GC,6413,1.05,183.3,311.0,11.5,302,6418,0.00,2.38,0.00,0.000,6,0.000,0.031,2930,2040,2298,0,0,0,0,0,0
$GC,6727,1.10,183.3,281.7,9.4,315,6731,0.00,2.50,0.00,0.000,4,0.000,0.056,2930,629,2297,0,0,0,0,0,0
$GC,6874,1.10,183.3,265.2,11.3,321,6878,0.00,2.38,0.00,0.000,6,0.000,0.029,2931,2038,2294,0,0,0,0,0,0
$GC,7190,1.19,192.0,236.2,7.4,336,7203,0.20,2.50,7.97,0.667,4,0.067,0.052,2978,629,2267,0,0,0,0,0,0
$GC,7394,1.11,192.0,218.0,8.6,345,7399,0.12,2.38,0.00,0.000,6,0.126,0.028,2957,2044,2264,0,0,0,0,0,0
$GC,7718,1.11,192.0,189.0,9.3,365,7722,0.00,2.47,0.00,0.000,4,0.000,0.050,2956,623,2263,0,0,0,0,0,0
$GC,7854,1.11,192.0,175.5,8.2,379,7860,0.00,2.35,0.00,0.000,6,0.000,0.025,2956,2039,2262,0,0,0,0,0,0
$GC,8115,1.18,209.8,157.5,6.8,404,8134,0.00,0.00,16.73,0.658,6,0.000,0.000,2956,2044,2194,0,0,0,0,0,0
$GC,8390,1.24,209.8,137.3,8.1,430,8395,0.12,2.50,0.00,0.000,4,0.075,0.047,2989,618,2192,0,0,0,0,0,0
$GC,8491,1.18,209.8,127.0,10.5,440,8497,0.00,2.35,0.00,0.000,6,0.000,0.024,2989,2032,2190,0,0,0,0,0,0
$GC,8752,1.18,209.8,100.9,10.5,465,8756,0.00,2.35,0.00,0.000,4,0.000,0.031,2988,3440,2190,0,0,0,0,0,0
$GC,8803,1.22,209.8,95.0,11.9,470,8807,0.00,2.38,0.00,0.000,6,0.000,0.031,2989,2029,2189,0,0,0,0,0,0
$GC,9065,1.22,209.8,67.9,9.1,494,9069,0.00,2.40,0.00,0.000,4,0.000,0.044,2988,628,2190,0,0,0,0,0,0
$GC,9090,1.18,209.8,65.5,9.9,496,9094,0.00,2.30,0.00,0.000,6,0.000,0.021,2989,2052,2190,0,0,0,0,0,0
$GC,9352,1.18,209.8,44.1,8.2,520,9356,0.00,2.42,0.00,0.000,4,0.000,0.043,2987,629,2190,0,0,0,0,0,0
$GC,9431,1.14,209.8,36.1,9.7,528,9439,0.12,2.30,0.00,0.000,6,0.091,0.021,2961,2031,2190,0,0,0,0,0,0
$GC,9694,1.24,229.4,16.9,6.7,569,9718,0.00,2.35,18.65,0.532,4,0.000,0.027,2958,3439,2113,0,0,0,0,0,0
$GC,9738,1.33,229.4,13.3,8.7,577,9745,0.15,2.40,0.00,0.000,6,0.036,0.028,2999,2030,2113,0,0,0,0,0,0
$STATE,9847,end climb,SURFACE_DEPTH_REACHED
$STATE,9847,begin surface coast
$FINISH,0.4,1.023763
$STATE,9874,end surface coast,CONTROL_FINISHED_OK
$STATE,9874,begin surface
$SM_CCo,9893,37.03,0.527,0,0,1826,300.00
$SM_GC,1.39,0.00,0.00,37.03,0.000,0.000,0.527,425,1868,1826,-10.52,-0.90,300.00
$IRIDIUM_FIX,2052.52,-15747.49,160799,000034
$TT8_MAMPS,0.029146
$HUMID,43.14
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,8.312
$10V_AH,10.0,7.565
$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,26.700,115.525,269.525,37.025,0.000,85.870,100.430,312.895,0.000,0.000,32.133,1187.864,6537.337,364.395,1934.680,654.085,0.000,1199.807,0.000,1899.071,0.000,0.538,0.000
$DEVICE_MAMPS,140.361,58.292,890.487,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.114,382.210,870.298,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,34938,602
$CAP_FILE_SIZE,120469,0
$CFSIZE,260165632,253915136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210410,032507,2100.490,-15746.688,133,1.8,133,9.8