version: 66.06
glider: 139
mission: 7
dive: 90
start: 4 22 110 8 35 26
data:
$ID,139
$MISSION,7
$DIVE,90
$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,-2121727
$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
$GPS1,082458,2104.737,-15744.643,36,2.3,55,9.8
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.4
$GPS2,083436,2104.707,-15744.747,49,1.1,49,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.151,0.105
$KALMAN_X,-2181.6,-348.3,-315.1,4674.2,-517.4
$KALMAN_Y,-1547.3,-290.3,-79.7,3137.6,-410.5
$MHEAD_RNG_PITCHd_Wd,45.5,3767,-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,-55.35,0.000,2,0.000,0.000,425,1883,3278,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.3,-5.3,10,94,10.68,2.40,-1.80,0.000,4,0.137,0.039,2405,3325,3369,0,0,0,0,0,0
$GC,229,-1.40,-77.9,31.8,-14.5,43,234,0.00,2.40,0.00,0.000,6,0.000,0.031,2405,1896,3370,0,0,0,0,0,0
$GC,492,-1.30,-77.9,77.0,-18.0,67,494,0.12,0.00,0.00,0.000,6,0.110,0.000,2430,1896,3370,0,0,0,0,0,0
$GC,745,-1.30,-77.9,112.8,-11.9,91,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1896,3371,0,0,0,0,0,0
$GC,1000,-1.30,-77.9,141.0,-10.2,115,1004,0.00,2.38,0.00,0.000,4,0.000,0.044,2429,496,3372,0,0,0,0,0,0
$GC,1050,-1.30,-77.9,146.9,-12.3,120,1054,0.00,2.33,0.00,0.000,6,0.000,0.021,2428,1927,3373,0,0,0,0,0,0
$GC,1312,-1.34,-77.9,173.5,-9.0,144,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,1931,3373,0,0,0,0,0,0
$GC,1566,-1.40,-77.9,195.0,-7.9,168,1570,0.00,2.45,0.00,0.000,4,0.000,0.045,2429,496,3373,0,0,0,0,0,0
$GC,1647,-1.40,-77.9,201.9,-8.4,175,1653,0.00,2.25,0.00,0.000,6,0.000,0.021,2429,1911,3373,0,0,0,0,0,0
$GC,1963,-1.46,-77.9,226.5,-8.7,191,1968,0.15,2.45,0.00,0.000,4,0.059,0.047,2384,492,3373,0,0,0,0,0,0
$GC,1987,-1.41,-77.9,229.4,-11.1,192,1992,0.10,2.28,0.00,0.000,6,0.111,0.022,2404,1889,3374,0,0,0,0,0,0
$GC,2311,-1.41,-77.9,264.9,-11.0,208,2316,0.00,2.40,0.00,0.000,4,0.000,0.047,2404,492,3373,0,0,0,0,0,0
$GC,2366,-1.41,-77.9,271.2,-11.2,210,2370,0.00,2.30,0.00,0.000,6,0.000,0.023,2404,1900,3373,0,0,0,0,0,0
$GC,2701,-1.45,-77.9,303.3,-8.2,225,2705,0.00,2.45,0.00,0.000,4,0.000,0.048,2403,493,3373,0,0,0,0,0,0
$GC,2760,-1.45,-77.9,308.4,-8.7,226,2764,0.00,2.28,0.00,0.000,6,0.000,0.025,2404,1897,3373,0,0,0,0,0,0
$GC,3110,-1.50,-77.9,329.2,-5.4,235,3114,0.00,2.45,0.00,0.000,4,0.000,0.051,2403,497,3371,0,0,0,0,0,0
$GC,3188,-1.50,-77.9,334.6,-7.0,236,3192,0.00,2.33,0.00,0.000,6,0.000,0.027,2402,1903,3371,0,0,0,0,0,0
$GC,3519,-1.56,-77.9,358.7,-8.0,244,3524,0.15,2.47,0.00,0.000,4,0.064,0.054,2364,495,3369,0,0,0,0,0,0
$GC,3552,-1.46,-77.9,362.3,-11.5,244,3557,0.15,2.30,0.00,0.000,6,0.104,0.028,2394,1897,3368,0,0,0,0,0,0
$GC,3884,-1.51,-77.9,394.9,-10.6,252,3888,0.00,2.45,0.00,0.000,4,0.000,0.055,2392,498,3367,0,0,0,0,0,0
$GC,3953,-1.51,-77.9,403.9,-12.7,253,3957,0.00,2.33,0.00,0.000,6,0.000,0.029,2393,1910,3366,0,0,0,0,0,0
$GC,4293,-1.55,-77.9,439.9,-10.0,262,4297,0.00,2.53,0.00,0.000,4,0.000,0.058,2393,491,3364,0,0,0,0,0,0
$GC,4338,-1.55,-77.9,444.5,-9.5,263,4343,0.00,2.35,0.00,0.000,6,0.000,0.030,2393,1901,3363,0,0,0,0,0,0
$STATE,4415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4415,begin apogee
$GC,4419,-0.31,0.0,450.7,8.0,265,4488,1.17,0.00,64.50,0.887,6,0.079,0.000,2643,2060,3050,0,0,0,0,0,0
$STATE,4488,end apogee,CONTROL_FINISHED_OK
$STATE,4488,begin climb
$GC,4490,1.40,77.9,451.1,0.0,266,4565,1.65,2.45,64.82,0.867,4,0.036,0.046,3024,3411,2732,0,0,0,0,0,0
$GC,4825,1.19,89.9,432.5,7.2,274,4842,0.28,2.40,10.88,0.774,6,0.115,0.039,2974,2035,2683,0,0,0,0,0,0
$GC,5183,1.12,123.8,411.3,5.7,283,5220,0.00,2.45,29.27,0.845,4,0.000,0.041,2974,3419,2544,0,0,0,0,0,0
$GC,5258,1.03,123.8,405.8,8.5,284,5263,0.20,2.42,0.00,0.000,6,0.114,0.041,2938,2031,2543,0,0,0,0,0,0
$GC,5594,1.03,123.9,378.6,8.0,293,5598,0.00,2.50,0.00,0.000,4,0.000,0.058,2936,630,2539,0,0,0,0,0,0
$GC,5636,0.96,123.9,375.0,8.2,294,5640,0.00,2.33,0.00,0.000,6,0.000,0.030,2937,2018,2537,0,0,0,0,0,0
$GC,5963,0.98,138.1,351.1,7.0,302,5980,0.00,2.53,12.23,0.779,4,0.000,0.055,2937,630,2486,0,0,0,0,0,0
$GC,5995,0.93,144.5,348.6,7.6,302,6007,0.12,2.38,7.35,0.694,6,0.126,0.031,2916,2034,2460,0,0,0,0,0,0
$GC,6336,1.00,155.6,323.8,7.3,311,6348,0.00,0.00,10.77,0.754,6,0.000,0.000,2916,2039,2415,0,0,0,0,0,0
$GC,6641,1.07,155.6,298.3,8.6,319,6646,0.12,2.53,0.00,0.000,4,0.081,0.056,2946,629,2411,0,0,0,0,0,0
$GC,6812,1.01,155.6,279.2,11.3,326,6816,0.00,2.38,0.00,0.000,6,0.000,0.030,2945,2034,2409,0,0,0,0,0,0
$GC,7128,1.01,155.6,249.2,9.1,341,7132,0.00,2.50,0.00,0.000,4,0.000,0.054,2946,629,2409,0,0,0,0,0,0
$GC,7395,0.97,162.1,226.3,7.6,352,7406,0.10,2.40,5.78,0.603,6,0.100,0.028,2924,2046,2389,0,0,0,0,0,0
$GC,7732,1.06,179.8,200.3,6.8,369,7755,0.00,2.53,17.30,0.716,4,0.000,0.050,2924,629,2315,0,0,0,0,0,0
$GC,7925,1.06,181.3,184.7,7.9,389,7929,0.00,2.35,0.00,0.000,6,0.000,0.027,2924,2036,2310,0,0,0,0,0,0
$GC,8187,1.16,186.9,165.6,7.6,413,8200,0.17,2.42,6.65,0.584,4,0.065,0.037,2966,3427,2288,0,0,0,0,0,0
$GC,8209,1.19,186.9,163.6,8.1,415,8215,0.00,2.38,0.00,0.000,6,0.000,0.033,2966,2031,2288,0,0,0,0,0,0
$GC,8470,1.19,186.9,139.6,10.1,440,8472,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2031,2288,0,0,0,0,0,0
$GC,8724,1.19,186.9,116.0,8.6,464,8729,0.00,2.42,0.00,0.000,4,0.000,0.047,2965,628,2287,0,0,0,0,0,0
$GC,8812,1.19,186.9,108.2,8.5,473,8816,0.00,2.30,0.00,0.000,6,0.000,0.024,2965,2039,2286,0,0,0,0,0,0
$GC,9075,1.27,214.2,93.4,6.1,497,9106,0.10,2.53,25.20,0.616,4,0.082,0.046,2995,625,2176,0,0,0,0,0,0
$GC,9186,1.21,214.2,81.7,11.7,509,9190,0.00,2.33,0.00,0.000,6,0.000,0.022,2995,2048,2171,0,0,0,0,0,0
$GC,9448,1.21,215.2,58.5,8.0,533,9449,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2053,2172,0,0,0,0,0,0
$GC,9702,1.21,215.2,36.6,9.4,557,9707,0.00,2.45,0.00,0.000,4,0.000,0.044,2994,630,2171,0,0,0,0,0,0
$GC,9753,1.15,215.2,30.4,13.8,562,9758,0.17,2.28,0.00,0.000,6,0.105,0.021,2962,2038,2171,0,0,0,0,0,0
$GC,10019,1.23,215.2,5.6,10.4,610,10026,0.00,2.45,0.00,0.000,4,0.000,0.045,2961,633,2171,0,0,0,0,0,0
$STATE,10043,end climb,SURFACE_DEPTH_REACHED
$STATE,10044,begin surface coast
$FINISH,0.4,1.023869
$STATE,10074,end surface coast,CONTROL_FINISHED_OK
$STATE,10074,begin surface
$SM_CCo,10095,43.50,0.532,0,0,1827,300.00
$SM_GC,1.05,0.00,0.00,43.50,0.000,0.000,0.532,427,1930,1827,-10.51,0.82,300.00
$IRIDIUM_FIX,2057.14,-15748.75,170799,080806
$TT8_MAMPS,0.029146
$HUMID,43.50
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,9.253
$10V_AH,10.0,8.452
$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,26.400,105.500,254.750,43.500,0.000,54.281,59.407,271.279,0.000,0.000,49.146,1206.644,6701.625,354.258,1925.727,532.427,32.355,1154.261,0.000,1880.397,0.000,0.538,0.000
$DEVICE_MAMPS,136.526,58.292,887.419,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.815,397.243,885.238,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,34964,622
$CAP_FILE_SIZE,115884,0
$CFSIZE,260165632,253292544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220410,112638,2104.842,-15744.574,97,1.7,97,9.8