version: 66.06
glider: 139
mission: 7
dive: 88
start: 4 22 110 2 46 30
data:
$ID,139
$MISSION,7
$DIVE,88
$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,1
$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,-2121633.2
$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
$GPS1,023655,2104.293,-15745.117,53,1.7,53,9.8
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.5
$GPS2,024543,2104.266,-15745.118,14,1.6,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.145,0.113
$KALMAN_X,-134.8,-134.8,-134.8,1590.2,-62.4
$KALMAN_Y,-180.0,-180.0,-180.0,950.5,-83.4
$MHEAD_RNG_PITCHd_Wd,42.4,4762,-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,-55.12,0.000,2,0.000,0.000,429,1884,3282,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.3,-5.3,10,94,10.70,2.38,-1.70,0.000,4,0.139,0.036,2402,3325,3369,0,0,0,0,0,0
$GC,131,-1.34,-77.9,18.8,-19.2,21,137,0.00,2.45,0.00,0.000,6,0.000,0.033,2402,1897,3370,0,0,0,0,0,0
$GC,331,-1.24,-77.9,49.7,-15.3,46,333,0.17,0.00,0.00,0.000,6,0.103,0.000,2436,1897,3370,0,0,0,0,0,0
$GC,585,-1.24,-77.9,82.8,-12.5,70,589,0.00,2.40,0.00,0.000,4,0.000,0.045,2436,494,3371,0,0,0,0,0,0
$GC,655,-1.21,-77.9,91.9,-12.9,77,659,0.00,2.30,0.00,0.000,6,0.000,0.021,2435,1929,3371,0,0,0,0,0,0
$GC,916,-1.21,-77.9,124.1,-11.4,101,921,0.00,2.50,0.00,0.000,4,0.000,0.044,2436,485,3372,0,0,0,0,0,0
$GC,988,-1.21,-77.9,132.3,-10.3,108,995,0.00,2.33,0.00,0.000,6,0.000,0.020,2436,1909,3373,0,0,0,0,0,0
$GC,1251,-1.25,-77.9,162.1,-12.2,133,1255,0.00,2.42,0.00,0.000,4,0.000,0.045,2435,492,3373,0,0,0,0,0,0
$GC,1294,-1.25,-77.9,167.6,-11.4,137,1298,0.00,2.25,0.00,0.000,6,0.000,0.021,2436,1905,3374,0,0,0,0,0,0
$GC,1556,-1.34,-77.9,197.3,-12.4,161,1561,0.00,2.45,0.00,0.000,4,0.000,0.045,2436,488,3373,0,0,0,0,0,0
$GC,1648,-1.40,-77.9,208.7,-11.5,166,1653,0.12,2.25,0.00,0.000,6,0.065,0.021,2396,1899,3374,0,0,0,0,0,0
$GC,1972,-1.40,-77.9,245.0,-9.9,182,1976,0.00,2.30,0.00,0.000,4,0.000,0.031,2395,3289,3374,0,0,0,0,0,0
$GC,1999,-1.45,-77.9,247.5,-9.1,183,2003,0.00,2.33,0.00,0.000,6,0.000,0.032,2395,1899,3374,0,0,0,0,0,0
$GC,2324,-1.45,-77.9,275.4,-9.5,199,2328,0.00,2.42,0.00,0.000,4,0.000,0.048,2383,494,3374,0,0,0,0,0,0
$GC,2438,-1.45,-77.9,288.4,-11.0,204,2442,0.00,2.25,0.00,0.000,6,0.000,0.024,2395,1890,3374,0,0,0,0,0,0
$GC,2780,-1.49,-77.9,322.3,-9.9,216,2784,0.00,2.35,0.00,0.000,4,0.000,0.035,2395,3292,3373,0,0,0,0,0,0
$GC,2812,-1.56,-77.9,325.2,-8.5,216,2817,0.10,2.35,0.00,0.000,6,0.081,0.035,2365,1899,3373,0,0,0,0,0,0
$GC,3142,-1.56,-77.9,356.3,-9.6,224,3146,0.00,2.42,0.00,0.000,4,0.000,0.053,2366,497,3371,0,0,0,0,0,0
$GC,3220,-1.49,-77.9,364.5,-11.0,225,3225,0.10,2.33,0.00,0.000,6,0.117,0.026,2385,1905,3371,0,0,0,0,0,0
$GC,3550,-1.49,-77.9,395.6,-9.6,233,3555,0.00,2.47,0.00,0.000,4,0.000,0.054,2385,489,3369,0,0,0,0,0,0
$GC,3568,-1.49,-77.9,397.6,-10.8,233,3572,0.00,2.33,0.00,0.000,6,0.000,0.028,2384,1907,3369,0,0,0,0,0,0
$GC,3913,-1.53,-77.9,429.6,-9.0,242,3917,0.00,2.50,0.00,0.000,4,0.000,0.058,2385,497,3366,0,0,0,0,0,0
$GC,4001,-1.53,-77.9,437.2,-7.7,244,4005,0.00,2.33,0.00,0.000,6,0.000,0.029,2385,1907,3366,0,0,0,0,0,0
$STATE,4204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4204,begin apogee
$GC,4209,-0.31,0.0,451.8,7.1,249,4277,1.20,0.00,64.43,0.890,6,0.078,0.000,2641,2053,3050,0,0,0,0,0,0
$STATE,4278,end apogee,CONTROL_FINISHED_OK
$STATE,4278,begin climb
$GC,4279,1.40,77.9,452.3,0.0,250,4354,1.65,2.45,64.70,0.867,4,0.035,0.045,3023,3405,2732,0,0,0,0,0,0
$GC,4618,1.17,77.9,436.0,8.0,257,4623,0.28,2.40,0.00,0.000,6,0.115,0.038,2968,2026,2729,0,0,0,0,0,0
$GC,4963,1.12,138.7,420.5,3.8,266,5017,0.00,0.00,51.67,0.867,6,0.000,0.000,2968,2026,2484,0,0,0,0,0,0
$GC,5328,1.05,138.7,388.7,8.8,275,5333,0.15,2.50,0.00,0.000,4,0.123,0.058,2944,627,2477,0,0,0,0,0,0
$GC,5342,0.97,138.7,387.2,9.3,275,5347,0.12,2.35,0.00,0.000,6,0.130,0.031,2923,2022,2476,0,0,0,0,0,0
$GC,5693,1.01,146.4,361.3,7.5,284,5705,0.00,2.55,6.30,0.680,4,0.000,0.056,2924,630,2453,0,0,0,0,0,0
$GC,5839,1.01,146.4,347.4,9.4,287,5843,0.00,2.38,0.00,0.000,6,0.000,0.031,2924,2045,2451,0,0,0,0,0,0
$GC,6156,1.07,164.9,324.7,6.7,295,6181,0.00,2.58,17.35,0.796,4,0.000,0.053,2924,628,2376,0,0,0,0,0,0
$GC,6375,1.09,182.2,308.0,6.8,299,6397,0.12,2.40,15.93,0.774,6,0.077,0.029,2955,2047,2307,0,0,0,0,0,0
$GC,6715,1.09,182.2,277.7,9.7,313,6720,0.00,2.38,0.00,0.000,4,0.000,0.041,2956,3437,2303,0,0,0,0,0,0
$GC,6754,1.13,182.2,273.6,9.9,314,6760,0.00,2.45,0.00,0.000,6,0.000,0.039,2955,2036,2303,0,0,0,0,0,0
$GC,7068,1.13,182.2,245.7,8.1,330,7072,0.00,2.45,0.00,0.000,4,0.000,0.051,2955,629,2301,0,0,0,0,0,0
$GC,7164,1.09,182.2,236.7,8.7,334,7168,0.00,2.38,0.00,0.000,6,0.000,0.028,2955,2043,2299,0,0,0,0,0,0
$GC,7487,1.09,182.2,208.5,8.4,350,7492,0.00,2.47,0.00,0.000,4,0.000,0.049,2955,619,2298,0,0,0,0,0,0
$GC,7515,1.05,182.2,206.0,8.8,351,7519,0.00,2.33,0.00,0.000,6,0.000,0.027,2954,2037,2297,0,0,0,0,0,0
$GC,7844,1.11,200.7,178.6,6.8,379,7869,0.00,2.50,16.35,0.681,4,0.000,0.048,2955,628,2229,0,0,0,0,0,0
$GC,7881,1.11,201.8,175.8,7.9,383,7885,0.00,2.38,0.00,0.000,6,0.000,0.025,2954,2043,2228,0,0,0,0,0,0
$GC,8143,1.16,201.8,156.2,8.9,407,8148,0.00,2.47,0.00,0.000,4,0.000,0.047,2955,627,2227,0,0,0,0,0,0
$GC,8161,1.16,201.8,154.1,9.4,408,8168,0.00,2.35,0.00,0.000,6,0.000,0.025,2954,2036,2226,0,0,0,0,0,0
$GC,8425,1.22,201.8,130.1,10.9,433,8430,0.10,2.47,0.00,0.000,4,0.085,0.046,2983,623,2225,0,0,0,0,0,0
$GC,8587,1.17,201.8,109.8,14.1,450,8591,0.00,2.33,0.00,0.000,6,0.000,0.023,2982,2041,2225,0,0,0,0,0,0
$GC,8849,1.20,228.0,90.7,6.2,474,8880,0.00,2.55,24.38,0.608,4,0.000,0.044,2983,627,2119,0,0,0,0,0,0
$GC,8976,1.20,228.0,80.1,9.1,488,8980,0.00,2.30,0.00,0.000,6,0.000,0.022,2983,2042,2115,0,0,0,0,0,0
$GC,9239,1.24,228.0,56.8,9.0,512,9243,0.00,2.42,0.00,0.000,4,0.000,0.044,2982,625,2115,0,0,0,0,0,0
$GC,9360,1.24,228.0,44.5,11.2,525,9364,0.00,2.28,0.00,0.000,6,0.000,0.021,2983,2038,2114,0,0,0,0,0,0
$GC,9628,1.24,228.0,18.9,9.6,560,9634,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2043,2114,0,0,0,0,0,0
$STATE,9806,end climb,SURFACE_DEPTH_REACHED
$STATE,9806,begin surface coast
$FINISH,0.4,1.023835
$STATE,9833,end surface coast,CONTROL_FINISHED_OK
$STATE,9833,begin surface
$SM_CCo,9852,44.12,0.533,0,0,1826,300.00
$SM_GC,1.42,0.00,0.00,44.12,0.000,0.000,0.533,426,1872,1826,-10.52,-0.79,300.00
$IRIDIUM_FIX,2057.14,-15746.61,160799,232313
$TT8_MAMPS,0.029146
$HUMID,43.38
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,9.089
$10V_AH,10.0,8.287
$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,25.975,110.625,261.100,44.125,0.000,57.082,109.746,191.060,0.000,0.000,31.622,1168.188,6510.554,375.751,1876.822,494.898,30.187,1171.878,0.000,1842.996,0.000,0.538,0.000
$DEVICE_MAMPS,138.827,58.292,890.487,533.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.921,377.765,855.241,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,31723,598
$CAP_FILE_SIZE,110187,0
$CFSIZE,260165632,253419520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220410,053425,2104.644,-15744.774,143,1.5,143,9.8