version: 66.06
glider: 139
mission: 7
dive: 89
start: 4 22 110 5 40 50
data:
$ID,139
$MISSION,7
$DIVE,89
$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,-2121677
$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
$GPS1,053425,2104.644,-15744.774,143,1.5,143,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.7
$GPS2,054001,2104.614,-15744.841,42,1.4,42,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.156,0.097
$KALMAN_X,-767.6,-448.8,-174.1,3060.0,-248.1
$KALMAN_Y,-609.5,-384.0,-92.6,2132.7,-83.2
$MHEAD_RNG_PITCHd_Wd,48.3,3997,-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,-77.9,0.0,0.0,0,77,0.00,0.00,-58.05,0.000,6,0.000,0.000,426,1873,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,4.1,-7.4,11,98,10.73,2.40,0.00,0.000,4,0.139,0.035,2403,485,3371,0,0,0,0,0,0
$GC,135,-1.14,-77.9,22.2,-21.9,22,142,0.25,2.38,0.00,0.000,6,0.078,0.021,2459,1929,3372,0,0,0,0,0,0
$GC,343,-1.14,-77.9,46.7,-11.3,46,344,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1934,3372,0,0,0,0,0,0
$GC,596,-1.19,-77.9,73.2,-10.7,70,600,0.00,2.50,0.00,0.000,4,0.000,0.045,2459,489,3373,0,0,0,0,0,0
$GC,709,-1.19,-77.9,85.9,-11.3,82,713,0.00,2.30,0.00,0.000,6,0.000,0.020,2459,1908,3373,0,0,0,0,0,0
$GC,971,-1.27,-77.9,114.5,-10.3,106,975,0.00,2.45,0.00,0.000,4,0.000,0.043,2459,487,3374,0,0,0,0,0,0
$GC,1005,-1.32,-77.9,118.2,-11.2,109,1010,0.15,2.30,0.00,0.000,6,0.058,0.020,2413,1912,3374,0,0,0,0,0,0
$GC,1266,-1.32,-77.9,149.6,-12.4,133,1271,0.00,2.42,0.00,0.000,4,0.000,0.044,2413,492,3375,0,0,0,0,0,0
$GC,1346,-1.32,-77.9,160.3,-13.3,141,1350,0.00,2.28,0.00,0.000,6,0.000,0.021,2413,1902,3375,0,0,0,0,0,0
$GC,1608,-1.32,-77.9,188.3,-9.6,165,1612,0.00,2.42,0.00,0.000,4,0.000,0.044,2412,494,3375,0,0,0,0,0,0
$GC,1652,-1.32,-77.9,193.6,-11.3,169,1657,0.00,2.28,0.00,0.000,6,0.000,0.021,2412,1902,3376,0,0,0,0,0,0
$GC,1908,-1.36,-77.9,221.7,-10.3,185,1912,0.00,2.42,0.00,0.000,4,0.000,0.045,2412,495,3376,0,0,0,0,0,0
$GC,1936,-1.32,-77.9,224.9,-11.2,186,1940,0.00,2.28,0.00,0.000,6,0.000,0.021,2413,1902,3376,0,0,0,0,0,0
$GC,2255,-1.37,-77.9,253.4,-8.5,202,2259,0.00,2.30,0.00,0.000,4,0.000,0.031,2408,3296,3376,0,0,0,0,0,0
$GC,2273,-1.45,-77.9,255.0,-8.5,202,2279,0.00,2.38,0.00,0.000,6,0.000,0.031,2411,1899,3376,0,0,0,0,0,0
$GC,2588,-1.51,-77.9,280.5,-8.1,218,2593,0.12,2.42,0.00,0.000,4,0.068,0.049,2373,494,3376,0,0,0,0,0,0
$GC,2662,-1.45,-77.9,288.7,-10.9,221,2667,0.12,2.30,0.00,0.000,6,0.104,0.024,2397,1899,3376,0,0,0,0,0,0
$GC,3000,-1.49,-77.9,318.8,-9.0,233,3004,0.00,2.45,0.00,0.000,4,0.000,0.050,2400,495,3374,0,0,0,0,0,0
$GC,3059,-1.49,-77.9,325.4,-10.8,234,3063,0.00,2.30,0.00,0.000,6,0.000,0.025,2396,1899,3374,0,0,0,0,0,0
$GC,3408,-1.53,-77.9,363.5,-11.0,243,3412,0.00,2.45,0.00,0.000,4,0.000,0.052,2400,491,3373,0,0,0,0,0,0
$GC,3472,-1.53,-77.9,371.1,-11.2,244,3477,0.00,2.33,0.00,0.000,6,0.000,0.027,2399,1906,3372,0,0,0,0,0,0
$GC,3817,-1.58,-77.9,409.1,-11.3,253,3819,0.15,0.00,0.00,0.000,6,0.067,0.000,2359,1911,3370,0,0,0,0,0,0
$STATE,4140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4140,begin apogee
$GC,4145,-0.31,0.0,453.4,13.1,261,4214,1.35,0.00,65.22,0.881,6,0.081,0.000,2644,2052,3050,0,0,0,0,0,0
$STATE,4215,end apogee,CONTROL_FINISHED_OK
$STATE,4215,begin climb
$GC,4216,1.40,77.9,455.6,0.0,262,4291,1.62,2.45,64.75,0.864,4,0.035,0.045,3024,3406,2732,0,0,0,0,0,0
$GC,4555,1.19,88.2,443.2,7.3,269,4572,0.28,2.40,9.68,0.755,6,0.114,0.039,2974,2028,2689,0,0,0,0,0,0
$GC,4904,1.09,88.2,415.3,8.0,278,4909,0.12,2.50,0.00,0.000,4,0.129,0.057,2951,623,2686,0,0,0,0,0,0
$GC,4937,0.98,109.4,413.0,6.6,278,4962,0.15,2.35,18.40,0.822,6,0.127,0.029,2925,2020,2603,0,0,0,0,0,0
$GC,5275,1.04,161.7,397.0,4.4,287,5326,0.00,2.58,46.03,0.851,4,0.000,0.057,2925,620,2389,0,0,0,0,0,0
$GC,5340,1.06,173.8,393.1,7.2,288,5358,0.00,2.42,11.75,0.759,6,0.000,0.030,2925,2036,2341,0,0,0,0,0,0
$GC,5683,1.10,173.8,361.1,10.0,297,5688,0.12,2.53,0.00,0.000,4,0.080,0.056,2956,623,2335,0,0,0,0,0,0
$GC,5750,1.03,173.8,352.3,13.9,298,5754,0.00,2.38,0.00,0.000,6,0.000,0.030,2955,2034,2331,0,0,0,0,0,0
$GC,6094,1.03,173.8,312.6,11.4,307,6098,0.00,2.50,0.00,0.000,4,0.000,0.054,2955,628,2330,0,0,0,0,0,0
$GC,6252,0.96,173.8,295.0,10.8,311,6257,0.17,2.38,0.00,0.000,6,0.119,0.030,2924,2036,2328,0,0,0,0,0,0
$GC,6584,1.04,182.9,269.2,7.4,327,6597,0.00,2.55,6.93,0.653,4,0.000,0.054,2924,633,2304,0,0,0,0,0,0
$GC,6749,1.07,184.2,254.5,7.9,334,6753,0.00,2.38,0.00,0.000,6,0.000,0.029,2924,2049,2302,0,0,0,0,0,0
$GC,7073,1.15,184.2,229.1,8.5,350,7075,0.17,0.00,0.00,0.000,6,0.067,0.000,2965,2053,2302,0,0,0,0,0,0
$GC,7383,1.15,184.2,201.6,8.5,365,7387,0.00,2.47,0.00,0.000,4,0.000,0.051,2965,626,2301,0,0,0,0,0,0
$GC,7403,1.11,184.2,199.6,9.7,366,7409,0.00,2.38,0.00,0.000,6,0.000,0.027,2965,2042,2300,0,0,0,0,0,0
$GC,7665,1.11,184.2,174.8,9.1,391,7669,0.00,2.50,0.00,0.000,4,0.000,0.050,2965,616,2299,0,0,0,0,0,0
$GC,7836,1.06,189.9,160.6,7.6,409,7849,0.12,2.35,7.12,0.585,6,0.123,0.025,2943,2036,2274,0,0,0,0,0,0
$GC,8112,1.14,190.0,139.0,8.0,435,8116,0.00,2.45,0.00,0.000,4,0.000,0.047,2943,617,2274,0,0,0,0,0,0
$GC,8227,1.14,190.0,129.1,8.8,447,8232,0.00,2.35,0.00,0.000,6,0.000,0.024,2942,2045,2273,0,0,0,0,0,0
$GC,8490,1.24,198.4,110.6,7.4,471,8510,0.17,2.47,9.07,0.567,4,0.062,0.044,2988,619,2240,0,0,0,0,0,0
$GC,8749,1.18,198.4,85.2,8.1,499,8753,0.00,2.30,0.00,0.000,6,0.000,0.023,2988,2037,2238,0,0,0,0,0,0
$GC,9012,1.20,218.8,67.1,6.6,523,9033,0.00,0.00,19.00,0.575,6,0.000,0.000,2988,2042,2158,0,0,0,0,0,0
$GC,9287,1.20,218.8,42.1,10.0,549,9291,0.00,2.45,0.00,0.000,4,0.000,0.043,2988,618,2156,0,0,0,0,0,0
$GC,9304,1.20,218.8,40.0,10.2,550,9311,0.00,2.33,0.00,0.000,6,0.000,0.021,2988,2034,2154,0,0,0,0,0,0
$GC,9567,1.24,218.8,14.0,10.9,589,9574,0.00,2.45,0.00,0.000,4,0.000,0.044,2988,629,2155,0,0,0,0,0,0
$GC,9615,1.19,218.8,9.1,11.1,599,9621,0.00,2.30,0.00,0.000,6,0.000,0.021,2988,2031,2154,0,0,0,0,0,0
$STATE,9669,end climb,SURFACE_DEPTH_REACHED
$STATE,9669,begin surface coast
$FINISH,0.5,1.010821
$STATE,9697,end surface coast,CONTROL_FINISHED_OK
$STATE,9697,begin surface
$SM_CCo,9716,40.70,0.528,0,0,1826,300.00
$SM_GC,1.10,0.00,0.00,40.70,0.000,0.000,0.528,425,1882,1826,-10.52,-0.51,300.00
$IRIDIUM_FIX,2057.14,-15743.60,170799,020258
$TT8_MAMPS,0.029146
$HUMID,43.03
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,9.167
$10V_AH,10.1,8.369
$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,26.800,105.950,257.950,40.700,0.000,28.130,30.197,156.025,0.000,0.000,42.920,1177.160,6317.366,371.820,1867.012,363.172,31.425,1151.630,0.000,1831.629,0.000,0.538,0.000
$DEVICE_MAMPS,138.827,56.758,880.516,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.533,397.568,895.279,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,35035,614
$CAP_FILE_SIZE,107724,0
$CFSIZE,260165632,253353984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220410,082458,2104.737,-15744.643,36,2.3,55,9.8