version: 66.06
glider: 139
mission: 7
dive: 82
start: 4 21 110 9 16 1
data:
$ID,139
$MISSION,7
$DIVE,82
$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,-2121444
$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
$GPS1,090832,2101.836,-15746.024,48,1.8,48,9.8
$_CALLS,1
$_XMS_NAKs,41
$_XMS_TOUTs,1
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-68.3
$GPS2,091543,2101.888,-15746.056,11,1.3,11,9.8
$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,26.9,9069,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-55.55,0.000,2,0.000,0.000,424,1933,3293,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.4,-6.6,10,94,10.75,2.33,-1.48,0.000,4,0.139,0.041,2404,3323,3368,0,0,0,0,0,0
$GC,127,-1.32,-77.9,18.5,-21.7,20,134,0.00,2.45,0.00,0.000,6,0.000,0.035,2405,1905,3369,0,0,0,0,0,0
$GC,328,-1.19,-77.9,51.7,-17.3,45,330,0.22,0.00,0.00,0.000,6,0.100,0.000,2449,1904,3369,0,0,0,0,0,0
$GC,581,-1.19,-77.9,84.1,-11.7,69,585,0.00,2.45,0.00,0.000,4,0.000,0.046,2450,485,3370,0,0,0,0,0,0
$GC,651,-1.19,-77.9,92.9,-11.9,76,655,0.00,2.35,0.00,0.000,6,0.000,0.021,2449,1933,3371,0,0,0,0,0,0
$GC,912,-1.25,-77.9,120.2,-10.0,100,916,0.00,2.50,0.00,0.000,4,0.000,0.044,2449,489,3371,0,0,0,0,0,0
$GC,1002,-1.30,-77.9,130.9,-11.6,109,1008,0.00,2.30,0.00,0.000,6,0.000,0.021,2449,1908,3372,0,0,0,0,0,0
$GC,1264,-1.39,-77.9,157.0,-9.6,134,1266,0.17,0.00,0.00,0.000,6,0.054,0.000,2397,1912,3373,0,0,0,0,0,0
$GC,1517,-1.39,-77.9,186.7,-10.9,158,1522,0.00,2.42,0.00,0.000,4,0.000,0.044,2396,488,3373,0,0,0,0,0,0
$GC,1559,-1.33,-77.9,191.5,-11.7,162,1564,0.12,2.30,0.00,0.000,6,0.104,0.021,2422,1911,3374,0,0,0,0,0,0
$GC,1816,-1.37,-77.9,214.7,-9.1,178,1820,0.00,2.45,0.00,0.000,4,0.000,0.045,2421,484,3374,0,0,0,0,0,0
$GC,1911,-1.37,-77.9,224.4,-10.1,182,1915,0.00,2.30,0.00,0.000,6,0.000,0.021,2422,1905,3374,0,0,0,0,0,0
$GC,2231,-1.44,-77.9,253.7,-8.8,198,2236,0.12,2.45,0.00,0.000,4,0.069,0.048,2384,492,3373,0,0,0,0,0,0
$GC,2252,-1.44,-77.9,256.0,-11.2,199,2256,0.00,2.30,0.00,0.000,6,0.000,0.023,2385,1905,3374,0,0,0,0,0,0
$GC,2582,-1.44,-77.9,288.2,-8.2,215,2586,0.00,2.30,0.00,0.000,4,0.000,0.034,2385,3295,3373,0,0,0,0,0,0
$GC,2604,-1.49,-77.9,290.2,-8.1,216,2608,0.00,2.35,0.00,0.000,6,0.000,0.034,2384,1895,3373,0,0,0,0,0,0
$GC,2925,-1.49,-77.9,317.4,-8.3,227,2929,0.00,2.42,0.00,0.000,4,0.000,0.051,2385,496,3373,0,0,0,0,0,0
$GC,3031,-1.49,-77.9,329.3,-10.3,229,3035,0.00,2.30,0.00,0.000,6,0.000,0.025,2385,1896,3373,0,0,0,0,0,0
$GC,3379,-1.49,-77.9,361.3,-8.8,238,3383,0.00,2.45,0.00,0.000,4,0.000,0.053,2385,497,3370,0,0,0,0,0,0
$GC,3444,-1.49,-77.9,367.6,-10.1,239,3448,0.00,2.30,0.00,0.000,6,0.000,0.028,2384,1899,3370,0,0,0,0,0,0
$GC,3788,-1.49,-77.9,398.3,-9.0,248,3792,0.00,2.47,0.00,0.000,4,0.000,0.054,2384,497,3368,0,0,0,0,0,0
$GC,3847,-1.49,-77.9,404.8,-11.6,249,3851,0.00,2.30,0.00,0.000,6,0.000,0.029,2385,1897,3367,0,0,0,0,0,0
$GC,4196,-1.52,-77.9,436.1,-8.7,258,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1901,3365,0,0,0,0,0,0
$STATE,4356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4356,begin apogee
$GC,4361,-0.31,0.0,450.6,9.0,262,4429,1.23,0.00,64.55,0.894,6,0.083,0.000,2642,2056,3050,0,0,0,0,0,0
$STATE,4430,end apogee,CONTROL_FINISHED_OK
$STATE,4430,begin climb
$GC,4432,1.40,77.9,451.9,0.0,263,4502,1.65,0.00,65.55,0.873,6,0.038,0.000,3019,2056,2732,0,0,0,0,0,0
$GC,4805,1.24,112.8,437.5,5.6,273,4842,0.20,2.47,29.75,0.855,4,0.120,0.046,2984,3412,2589,0,0,0,0,0,0
$GC,5010,1.13,121.0,423.2,7.5,277,5023,0.12,2.40,8.18,0.739,6,0.127,0.039,2963,2036,2555,0,0,0,0,0,0
$GC,5354,1.07,121.0,396.3,8.3,286,5359,0.00,2.50,0.00,0.000,4,0.000,0.056,2960,629,2552,0,0,0,0,0,0
$GC,5382,0.91,121.8,393.9,8.0,286,5388,0.28,2.35,0.00,0.000,6,0.115,0.031,2911,2019,2551,0,0,0,0,0,0
$GC,5719,0.97,136.4,370.1,7.0,295,5739,0.00,2.53,13.55,0.802,4,0.000,0.056,2911,617,2493,0,0,0,0,0,0
$GC,5799,0.97,136.4,363.4,8.7,296,5804,0.00,2.40,0.00,0.000,6,0.000,0.031,2911,2035,2490,0,0,0,0,0,0
$GC,6130,1.03,136.4,337.5,8.0,304,6135,0.10,2.53,0.00,0.000,4,0.094,0.055,2935,619,2489,0,0,0,0,0,0
$GC,6252,0.97,136.4,327.8,8.2,306,6256,0.00,2.40,0.00,0.000,6,0.000,0.031,2935,2037,2487,0,0,0,0,0,0
$GC,6587,0.99,155.2,306.7,6.7,315,6611,0.00,2.55,16.65,0.794,4,0.000,0.054,2935,626,2416,0,0,0,0,0,0
$GC,6657,0.95,155.2,300.4,9.2,316,6661,0.00,2.40,0.00,0.000,6,0.000,0.031,2935,2035,2413,0,0,0,0,0,0
$GC,6981,0.95,155.2,273.8,8.8,332,6985,0.00,2.50,0.00,0.000,4,0.000,0.055,2935,619,2412,0,0,0,0,0,0
$GC,7110,0.92,161.1,263.0,7.6,337,7123,0.12,2.38,5.65,0.624,6,0.127,0.030,2914,2037,2393,0,0,0,0,0,0
$GC,7447,1.03,178.6,238.9,6.8,354,7472,0.10,2.55,17.20,0.746,4,0.091,0.051,2938,621,2319,0,0,0,0,0,0
$GC,7605,1.03,179.6,226.0,8.0,360,7611,0.00,2.40,0.00,0.000,6,0.000,0.029,2938,2030,2315,0,0,0,0,0,0
$GC,7920,1.10,186.1,204.4,7.6,376,7932,0.00,2.50,7.03,0.621,4,0.000,0.051,2938,623,2291,0,0,0,0,0,0
$GC,7965,1.10,186.1,200.3,9.7,378,7969,0.00,2.38,0.00,0.000,6,0.000,0.028,2938,2043,2289,0,0,0,0,0,0
$GC,8297,1.18,186.1,169.9,8.6,408,8302,0.15,2.50,0.00,0.000,4,0.071,0.050,2975,628,2289,0,0,0,0,0,0
$GC,8334,1.11,186.1,166.2,10.2,411,8340,0.12,2.33,0.00,0.000,6,0.123,0.026,2954,2039,2287,0,0,0,0,0,0
$GC,8596,1.18,206.4,149.4,6.6,436,8624,0.00,2.55,19.27,0.664,4,0.000,0.048,2953,629,2207,0,0,0,0,0,0
$GC,8663,1.18,206.4,144.1,9.3,443,8667,0.00,2.33,0.00,0.000,6,0.000,0.025,2954,2035,2203,0,0,0,0,0,0
$GC,8926,1.25,206.4,121.0,9.8,467,8930,0.12,2.45,0.00,0.000,4,0.075,0.047,2987,628,2203,0,0,0,0,0,0
$GC,9080,1.19,206.4,103.8,10.6,483,9084,0.00,2.30,0.00,0.000,6,0.000,0.023,2987,2040,2202,0,0,0,0,0,0
$GC,9342,1.19,206.4,80.0,8.7,507,9347,0.00,2.45,0.00,0.000,4,0.000,0.044,2987,626,2202,0,0,0,0,0,0
$GC,9376,1.15,206.4,76.6,9.6,510,9381,0.12,2.30,0.00,0.000,6,0.117,0.022,2965,2037,2202,0,0,0,0,0,0
$GC,9638,1.22,206.4,55.1,8.3,534,9642,0.00,2.45,0.00,0.000,4,0.000,0.044,2964,618,2202,0,0,0,0,0,0
$GC,9737,1.22,207.7,46.7,7.9,544,9743,0.00,2.33,0.00,0.000,6,0.000,0.021,2964,2037,2202,0,0,0,0,0,0
$GC,10000,1.29,210.1,28.6,7.9,570,10013,0.12,2.47,4.18,0.385,4,0.071,0.043,2999,626,2192,0,0,0,0,0,0
$GC,10020,1.29,210.1,26.5,8.6,573,10027,0.00,2.33,0.00,0.000,6,0.000,0.021,2999,2036,2192,0,0,0,0,0,0
$GC,10221,1.29,210.1,8.0,9.0,610,10228,0.00,2.45,0.00,0.000,4,0.000,0.042,2999,625,2192,0,0,0,0,0,0
$GC,10261,1.22,210.1,4.5,9.2,618,10268,0.08,2.33,0.00,0.000,6,0.094,0.021,2982,2039,2192,0,0,0,0,0,0
$STATE,10273,end climb,SURFACE_DEPTH_REACHED
$STATE,10273,begin surface coast
$FINISH,0.4,1.000409
$STATE,10302,end surface coast,CONTROL_FINISHED_OK
$STATE,10302,begin surface
$SM_CCo,10321,46.10,0.534,0,0,1826,300.00
$SM_GC,0.97,0.00,0.00,46.10,0.000,0.000,0.534,426,1865,1826,-10.52,-0.99,300.00
$IRIDIUM_FIX,2052.52,-15749.62,160799,060604
$TT8_MAMPS,0.029146
$HUMID,43.22
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,8.575
$10V_AH,10.0,7.807
$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,26.925,120.725,251.550,46.100,0.000,27.842,28.845,285.654,0.000,0.000,11.248,1214.417,6848.879,375.770,1861.751,502.496,0.000,1187.861,0.000,1861.244,0.000,0.538,0.000
$DEVICE_MAMPS,138.827,55.991,894.322,533.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.280,398.670,892.762,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,34967,625
$CAP_FILE_SIZE,119118,0
$CFSIZE,260165632,253743104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210410,121057,2102.571,-15745.519,73,2.4,92,9.8