version: 66.06
glider: 139
mission: 7
dive: 92
start: 4 22 110 14 31 22
data:
$ID,139
$MISSION,7
$DIVE,92
$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,-2121836
$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
$GPS1,142427,2105.042,-15744.231,46,2.1,65,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.0
$GPS2,143031,2105.049,-15744.228,74,1.5,74,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.159,0.092
$KALMAN_X,-5454.1,-0.6,106.1,8060.2,-1445.0
$KALMAN_Y,-3599.6,93.8,-46.8,5395.6,-823.6
$MHEAD_RNG_PITCHd_Wd,50.1,2670,-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,-59.20,0.000,6,0.000,0.000,426,1884,3368,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.8,-7.1,11,98,10.70,2.42,0.00,0.000,4,0.138,0.028,2404,3314,3371,0,0,0,0,0,0
$GC,164,-1.40,-77.9,25.9,-17.0,29,170,0.00,2.42,0.00,0.000,6,0.000,0.032,2405,1901,3372,0,0,0,0,0,0
$GC,369,-1.32,-77.9,60.1,-14.9,50,373,0.00,2.42,0.00,0.000,4,0.000,0.047,2404,485,3373,0,0,0,0,0,0
$GC,403,-1.16,-77.9,65.8,-18.0,53,408,0.25,2.33,0.00,0.000,6,0.091,0.021,2456,1932,3372,0,0,0,0,0,0
$GC,665,-1.22,-77.9,97.1,-10.1,77,669,0.00,2.50,0.00,0.000,4,0.000,0.046,2456,492,3373,0,0,0,0,0,0
$GC,710,-1.25,-77.9,102.3,-10.4,81,716,0.00,2.25,0.00,0.000,6,0.000,0.021,2455,1902,3374,0,0,0,0,0,0
$GC,972,-1.34,-77.9,125.5,-7.8,106,977,0.15,2.45,0.00,0.000,4,0.057,0.045,2408,485,3374,0,0,0,0,0,0
$GC,1007,-1.26,-77.9,129.1,-11.9,109,1012,0.15,2.30,0.00,0.000,6,0.095,0.021,2439,1905,3374,0,0,0,0,0,0
$GC,1269,-1.31,-77.9,153.2,-8.2,133,1273,0.00,2.42,0.00,0.000,4,0.000,0.045,2440,490,3375,0,0,0,0,0,0
$GC,1349,-1.34,-77.9,161.5,-11.7,141,1353,0.00,2.28,0.00,0.000,6,0.000,0.021,2440,1899,3375,0,0,0,0,0,0
$GC,1612,-1.43,-77.9,190.4,-11.6,165,1617,0.17,2.45,0.00,0.000,4,0.054,0.046,2387,492,3376,0,0,0,0,0,0
$GC,1657,-1.34,-77.9,196.8,-14.6,169,1661,0.15,2.25,0.00,0.000,6,0.097,0.021,2417,1899,3376,0,0,0,0,0,0
$GC,1910,-1.38,-77.9,225.4,-10.2,182,1914,0.00,2.40,0.00,0.000,4,0.000,0.045,2417,494,3376,0,0,0,0,0,0
$GC,1931,-1.38,-77.9,227.2,-10.0,183,1935,0.00,2.28,0.00,0.000,6,0.000,0.022,2418,1900,3376,0,0,0,0,0,0
$GC,2261,-1.44,-77.9,253.8,-7.7,199,2265,0.00,2.42,0.00,0.000,4,0.000,0.047,2416,489,3376,0,0,0,0,0,0
$GC,2315,-1.44,-77.9,258.9,-9.3,201,2319,0.00,2.30,0.00,0.000,6,0.000,0.023,2418,1905,3376,0,0,0,0,0,0
$GC,2630,-1.51,-77.9,286.3,-9.0,216,2632,0.15,0.00,0.00,0.000,6,0.061,0.000,2374,1909,3376,0,0,0,0,0,0
$GC,2937,-1.51,-77.9,320.7,-11.6,227,2941,0.00,2.47,0.00,0.000,4,0.000,0.051,2373,490,3375,0,0,0,0,0,0
$GC,2973,-1.45,-77.9,325.4,-11.9,227,2980,0.10,2.30,0.00,0.000,6,0.114,0.026,2394,1894,3375,0,0,0,0,0,0
$GC,3304,-1.48,-77.9,360.0,-10.3,236,3308,0.00,2.45,0.00,0.000,4,0.000,0.053,2393,497,3374,0,0,0,0,0,0
$GC,3331,-1.48,-77.9,363.4,-12.6,236,3335,0.00,2.30,0.00,0.000,6,0.000,0.027,2392,1896,3373,0,0,0,0,0,0
$GC,3671,-1.52,-77.9,402.6,-11.2,245,3675,0.00,2.47,0.00,0.000,4,0.000,0.056,2393,497,3372,0,0,0,0,0,0
$GC,3707,-1.52,-77.9,406.4,-10.2,245,3711,0.00,2.33,0.00,0.000,6,0.000,0.028,2393,1899,3372,0,0,0,0,0,0
$GC,4038,-1.57,-77.9,431.8,-7.0,253,4042,0.00,2.47,0.00,0.000,4,0.000,0.057,2393,490,3370,0,0,0,0,0,0
$GC,4093,-1.57,-77.9,436.1,-7.3,254,4098,0.10,2.35,0.00,0.000,6,0.081,0.029,2364,1899,3370,0,0,0,0,0,0
$STATE,4283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4283,begin apogee
$GC,4288,-0.31,0.0,451.4,8.1,259,4357,1.33,0.00,65.45,0.883,6,0.079,0.000,2644,2059,3050,0,0,0,0,0,0
$STATE,4358,end apogee,CONTROL_FINISHED_OK
$STATE,4358,begin climb
$GC,4360,1.40,77.9,451.8,0.0,260,4434,1.62,2.45,65.05,0.864,4,0.033,0.047,3022,3405,2731,0,0,0,0,0,0
$GC,4555,1.22,117.1,446.3,5.3,264,4596,0.22,2.40,33.72,0.848,6,0.116,0.039,2982,2033,2572,0,0,0,0,0,0
$GC,4909,1.11,117.1,418.2,8.3,273,4914,0.15,2.50,0.00,0.000,4,0.121,0.058,2955,630,2566,0,0,0,0,0,0
$GC,4929,0.99,117.8,416.7,8.0,273,4934,0.15,2.35,0.00,0.000,6,0.122,0.030,2929,2016,2565,0,0,0,0,0,0
$GC,5274,1.05,167.3,398.9,4.6,282,5323,0.00,2.58,43.17,0.852,4,0.000,0.058,2929,636,2366,0,0,0,0,0,0
$GC,5420,1.05,167.3,387.6,9.0,285,5424,0.00,2.38,0.00,0.000,6,0.000,0.031,2929,2040,2360,0,0,0,0,0,0
$GC,5733,1.08,167.3,361.8,8.5,293,5737,0.00,2.50,0.00,0.000,4,0.000,0.057,2928,630,2358,0,0,0,0,0,0
$GC,5825,1.08,167.3,352.6,10.3,295,5829,0.00,2.38,0.00,0.000,6,0.000,0.031,2929,2039,2356,0,0,0,0,0,0
$GC,6147,1.13,167.3,322.1,9.5,303,6152,0.12,2.50,0.00,0.000,4,0.078,0.054,2959,627,2355,0,0,0,0,0,0
$GC,6198,1.04,167.3,316.6,11.4,304,6203,0.00,2.40,0.00,0.000,6,0.000,0.030,2959,2044,2354,0,0,0,0,0,0
$GC,6519,1.04,167.3,285.7,8.9,315,6523,0.00,2.50,0.00,0.000,4,0.000,0.054,2960,623,2354,0,0,0,0,0,0
$GC,6680,0.97,167.3,269.4,9.3,322,6685,0.17,2.40,0.00,0.000,6,0.115,0.029,2927,2046,2351,0,0,0,0,0,0
$GC,7007,1.08,200.3,249.5,5.8,338,7040,0.00,2.60,27.55,0.758,4,0.000,0.052,2928,631,2232,0,0,0,0,0,0
$GC,7156,1.11,200.3,237.1,9.3,344,7160,0.12,2.38,0.00,0.000,6,0.074,0.028,2958,2043,2227,0,0,0,0,0,0
$GC,7472,1.11,200.3,205.5,9.8,359,7473,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2048,2227,0,0,0,0,0,0
$GC,7788,1.14,200.3,173.1,10.3,386,7792,0.00,2.47,0.00,0.000,4,0.000,0.048,2958,619,2225,0,0,0,0,0,0
$GC,7956,1.14,200.3,154.0,11.4,404,7960,0.00,2.38,0.00,0.000,6,0.000,0.025,2958,2050,2222,0,0,0,0,0,0
$GC,8217,1.22,223.4,133.0,6.4,428,8246,0.00,2.58,20.20,0.643,4,0.000,0.047,2958,623,2137,0,0,0,0,0,0
$GC,8396,1.22,223.4,117.4,8.8,447,8402,0.00,2.35,0.00,0.000,6,0.000,0.024,2958,2044,2134,0,0,0,0,0,0
$GC,8658,1.32,243.1,99.6,6.7,472,8687,0.17,2.50,18.52,0.602,4,0.059,0.044,3005,619,2056,0,0,0,0,0,0
$GC,8698,1.25,243.1,95.9,9.6,476,8703,0.10,2.33,0.00,0.000,6,0.120,0.023,2988,2041,2054,0,0,0,0,0,0
$GC,8959,1.26,246.6,74.5,7.8,500,8970,0.00,2.50,4.00,0.390,4,0.000,0.046,2987,630,2044,0,0,0,0,0,0
$GC,9099,1.22,246.6,60.5,9.8,515,9105,0.00,2.33,0.00,0.000,6,0.000,0.021,2988,2040,2042,0,0,0,0,0,0
$GC,9361,1.26,246.6,36.7,10.1,540,9363,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2045,2041,0,0,0,0,0,0
$GC,9619,1.30,246.6,11.1,10.8,582,9626,0.00,2.45,0.00,0.000,4,0.000,0.043,2987,631,2042,0,0,0,0,0,0
$STATE,9681,end climb,SURFACE_DEPTH_REACHED
$STATE,9682,begin surface coast
$FINISH,1.4,1.023817
$STATE,9691,end surface coast,CONTROL_FINISHED_OK
$STATE,9692,begin surface
$SM_CCo,9712,29.12,0.525,0,0,1826,300.00
$SM_GC,1.34,0.00,0.00,29.12,0.000,0.000,0.525,430,1941,1826,-10.50,1.16,300.00
$IRIDIUM_FIX,2057.14,-15743.60,170799,111147
$TT8_MAMPS,0.029913
$HUMID,43.73
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,9.422
$10V_AH,10.0,8.614
$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,27.100,115.525,277.675,29.125,0.000,29.785,34.797,147.142,0.000,0.000,74.606,1154.643,6363.288,363.490,1860.757,366.772,33.343,1157.234,0.000,1796.400,0.000,0.538,0.000
$DEVICE_MAMPS,138.060,57.525,882.817,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.400,388.888,847.751,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,31853,598
$CAP_FILE_SIZE,110560,0
$CFSIZE,260165632,253190144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220410,171522,2105.042,-15744.040,43,2.4,62,9.8