version: 66.06
glider: 139
mission: 7
dive: 84
start: 4 21 110 15 6 40
data:
$ID,139
$MISSION,7
$DIVE,84
$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,-2121491.8
$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
$GPS1,150020,2103.123,-15745.438,88,2.2,107,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.5
$GPS2,150622,2103.139,-15745.476,12,2.8,31,9.8
$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,31.9,6638,-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,-77.9,0.0,0.0,0,77,0.00,0.00,-58.88,0.000,6,0.000,0.000,428,1884,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.7,-6.8,11,98,10.75,2.42,0.00,0.000,4,0.140,0.027,2403,3320,3371,0,0,0,0,0,0
$GC,130,-1.30,-77.9,20.4,-22.1,21,137,0.08,2.45,0.00,0.000,6,0.081,0.032,2422,1899,3371,0,0,0,0,0,0
$GC,338,-1.24,-77.9,54.0,-15.4,45,343,0.00,2.40,0.00,0.000,4,0.000,0.044,2423,494,3372,0,0,0,0,0,0
$GC,354,-1.16,-77.9,56.4,-14.8,46,359,0.17,2.33,0.00,0.000,6,0.101,0.021,2456,1935,3372,0,0,0,0,0,0
$GC,616,-1.20,-77.9,88.9,-11.4,70,620,0.00,2.47,0.00,0.000,4,0.000,0.045,2458,494,3373,0,0,0,0,0,0
$GC,661,-1.20,-77.9,94.6,-11.7,74,667,0.00,2.28,0.00,0.000,6,0.000,0.021,2457,1891,3373,0,0,0,0,0,0
$GC,923,-1.26,-77.9,120.5,-9.3,99,927,0.00,2.40,0.00,0.000,4,0.000,0.045,2458,492,3373,0,0,0,0,0,0
$GC,961,-1.30,-77.9,125.0,-11.5,102,968,0.10,2.30,0.00,0.000,6,0.038,0.020,2418,1899,3374,0,0,0,0,0,0
$GC,1223,-1.30,-77.9,158.0,-12.9,127,1227,0.00,2.40,0.00,0.000,4,0.000,0.044,2418,494,3375,0,0,0,0,0,0
$GC,1273,-1.30,-77.9,165.2,-13.8,132,1277,0.00,2.25,0.00,0.000,6,0.000,0.021,2417,1900,3375,0,0,0,0,0,0
$GC,1534,-1.33,-77.9,196.9,-13.5,156,1539,0.00,2.42,0.00,0.000,4,0.000,0.045,2418,485,3375,0,0,0,0,0,0
$GC,1593,-1.33,-77.9,205.4,-14.5,159,1598,0.00,2.28,0.00,0.000,6,0.000,0.021,2418,1897,3375,0,0,0,0,0,0
$GC,1910,-1.39,-77.9,241.5,-10.8,175,1914,0.00,2.40,0.00,0.000,4,0.000,0.046,2418,495,3376,0,0,0,0,0,0
$GC,1974,-1.39,-77.9,248.9,-10.8,178,1978,0.00,2.28,0.00,0.000,6,0.000,0.022,2419,1902,3376,0,0,0,0,0,0
$GC,2307,-1.44,-77.9,282.4,-9.8,194,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1906,3376,0,0,0,0,0,0
$GC,2614,-1.50,-77.9,311.2,-8.4,206,2619,0.15,2.45,0.00,0.000,4,0.061,0.050,2376,495,3375,0,0,0,0,0,0
$GC,2708,-1.43,-77.9,321.5,-11.3,208,2713,0.10,2.28,0.00,0.000,6,0.114,0.024,2396,1898,3376,0,0,0,0,0,0
$GC,3031,-1.43,-77.9,350.7,-8.5,216,3035,0.00,2.42,0.00,0.000,4,0.000,0.051,2396,496,3374,0,0,0,0,0,0
$GC,3049,-1.43,-77.9,352.5,-9.4,216,3053,0.00,2.30,0.00,0.000,6,0.000,0.026,2396,1903,3374,0,0,0,0,0,0
$GC,3393,-1.48,-77.9,386.8,-10.3,225,3398,0.00,2.45,0.00,0.000,4,0.000,0.053,2396,494,3373,0,0,0,0,0,0
$GC,3411,-1.48,-77.9,388.9,-10.6,225,3416,0.00,2.33,0.00,0.000,6,0.000,0.027,2396,1902,3374,0,0,0,0,0,0
$GC,3756,-1.53,-77.9,422.7,-9.8,234,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1908,3371,0,0,0,0,0,0
$STATE,4079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4079,begin apogee
$GC,4084,-0.31,0.0,450.7,7.7,242,4153,1.15,0.00,65.45,0.882,6,0.076,0.000,2642,2063,3050,0,0,0,0,0,0
$STATE,4154,end apogee,CONTROL_FINISHED_OK
$STATE,4154,begin climb
$GC,4155,1.40,77.9,451.1,0.0,243,4230,1.65,2.45,65.22,0.861,4,0.036,0.046,3023,3408,2731,0,0,0,0,0,0
$GC,4425,1.25,132.7,442.9,4.3,249,4478,0.20,2.38,46.85,0.858,6,0.121,0.038,2986,2030,2507,0,0,0,0,0,0
$GC,4796,1.13,132.7,412.8,8.8,258,4801,0.15,2.40,0.00,0.000,4,0.126,0.042,2961,3409,2500,0,0,0,0,0,0
$GC,4806,1.02,132.7,411.7,9.5,258,4811,0.12,2.38,0.00,0.000,6,0.123,0.040,2938,2036,2500,0,0,0,0,0,0
$GC,5120,1.03,140.2,387.0,7.5,266,5128,0.00,0.00,6.05,0.670,6,0.000,0.000,2939,2036,2478,0,0,0,0,0,0
$GC,5444,1.03,140.2,362.1,8.2,274,5448,0.00,2.38,0.00,0.000,4,0.000,0.041,2938,3415,2476,0,0,0,0,0,0
$GC,5499,1.03,140.2,356.9,9.4,275,5503,0.00,2.40,0.00,0.000,6,0.000,0.038,2939,2030,2476,0,0,0,0,0,0
$GC,5812,1.05,152.4,333.1,7.2,283,5825,0.00,0.00,11.55,0.766,6,0.000,0.000,2939,2030,2428,0,0,0,0,0,0
$GC,6136,1.07,165.4,310.3,7.1,291,6156,0.00,2.53,12.48,0.761,4,0.000,0.054,2938,619,2374,0,0,0,0,0,0
$GC,6273,1.03,165.4,298.6,9.0,294,6277,0.00,2.35,0.00,0.000,6,0.000,0.028,2938,2017,2370,0,0,0,0,0,0
$GC,6601,1.03,168.4,272.4,7.8,310,6606,0.00,2.45,0.00,0.000,4,0.000,0.051,2938,629,2370,0,0,0,0,0,0
$GC,6621,1.03,168.4,270.6,9.0,311,6626,0.00,2.38,0.00,0.000,6,0.000,0.028,2938,2044,2368,0,0,0,0,0,0
$GC,6952,1.08,168.4,239.1,9.9,327,6956,0.00,2.38,0.00,0.000,4,0.000,0.038,2938,3434,2368,0,0,0,0,0,0
$GC,7043,1.15,182.7,231.5,7.0,331,7064,0.10,2.38,15.32,0.721,6,0.088,0.034,2964,2028,2304,0,0,0,0,0,0
$GC,7393,1.15,182.7,204.2,8.7,348,7397,0.00,2.45,0.00,0.000,4,0.000,0.049,2963,621,2302,0,0,0,0,0,0
$GC,7510,1.11,182.7,193.0,10.8,357,7514,0.00,2.35,0.00,0.000,6,0.000,0.025,2963,2038,2299,0,0,0,0,0,0
$GC,7773,1.11,182.7,166.9,8.6,381,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2043,2299,0,0,0,0,0,0
$GC,8027,1.17,207.8,149.0,6.3,405,8055,0.00,2.50,22.65,0.658,4,0.000,0.044,2962,630,2203,0,0,0,0,0,0
$GC,8139,1.17,207.8,140.5,8.7,417,8143,0.00,2.35,0.00,0.000,6,0.000,0.023,2962,2047,2198,0,0,0,0,0,0
$GC,8401,1.24,207.8,118.1,9.9,441,8405,0.00,2.47,0.00,0.000,4,0.000,0.045,2963,625,2198,0,0,0,0,0,0
$GC,8444,1.24,207.8,113.3,10.6,445,8448,0.00,2.33,0.00,0.000,6,0.000,0.022,2963,2045,2196,0,0,0,0,0,0
$GC,8706,1.30,207.8,88.0,9.7,469,8711,0.15,2.45,0.00,0.000,4,0.065,0.044,3003,627,2196,0,0,0,0,0,0
$GC,8887,1.23,207.8,67.1,11.6,488,8894,0.10,2.33,0.00,0.000,6,0.088,0.021,2980,2036,2196,0,0,0,0,0,0
$GC,9150,1.28,217.1,46.3,7.4,513,9162,0.00,0.00,8.95,0.511,6,0.000,0.000,2981,2041,2165,0,0,0,0,0,0
$GC,9418,1.32,217.1,23.8,10.3,543,9424,0.00,2.45,0.00,0.000,4,0.000,0.043,2981,629,2165,0,0,0,0,0,0
$GC,9490,1.32,217.1,15.8,11.5,559,9497,0.00,2.33,0.00,0.000,6,0.000,0.021,2980,2044,2163,0,0,0,0,0,0
$STATE,9624,end climb,SURFACE_DEPTH_REACHED
$STATE,9624,begin surface coast
$FINISH,0.7,1.023824
$STATE,9659,end surface coast,CONTROL_FINISHED_OK
$STATE,9659,begin surface
$SM_CCo,9678,42.47,0.529,0,0,1826,300.00
$SM_GC,1.46,0.00,0.00,42.47,0.000,0.000,0.529,427,1887,1826,-10.52,-0.40,300.00
$IRIDIUM_FIX,2057.14,-15744.48,160799,121214
$TT8_MAMPS,0.029146
$HUMID,42.55
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,8.735
$10V_AH,10.0,7.963
$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,25.925,100.575,254.525,42.475,0.000,27.224,34.614,180.395,0.000,0.000,32.565,1121.744,6476.059,355.255,1736.699,396.499,0.000,1095.821,0.000,1711.844,0.000,0.537,0.000
$DEVICE_MAMPS,140.361,53.690,882.050,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.124,375.351,845.261,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,31704,590
$CAP_FILE_SIZE,103728,0
$CFSIZE,260165632,253648896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210410,175122,2103.585,-15745.836,106,2.4,125,9.8