version: 66.06
glider: 139
mission: 7
dive: 93
start: 4 22 110 17 21 27
data:
$ID,139
$MISSION,7
$DIVE,93
$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,-2121875
$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
$GPS1,171522,2105.042,-15744.040,43,2.4,62,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.8
$GPS2,172036,2105.034,-15744.093,22,1.2,38,9.8
$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,-7082.0,82.3,100.8,9844.5,-1892.1
$KALMAN_Y,-4776.8,157.3,5.2,6432.9,-1189.9
$MHEAD_RNG_PITCHd_Wd,48.3,2491,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-54.22,0.000,2,0.000,0.000,430,1940,3216,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.0,-5.0,10,93,10.68,2.30,-3.10,0.000,4,0.138,0.040,2406,3319,3369,0,0,0,0,0,0
$GC,134,-1.40,-77.9,17.9,-18.2,22,140,0.00,2.45,0.00,0.000,6,0.000,0.034,2405,1898,3369,0,0,0,0,0,0
$GC,340,-1.28,-77.9,50.9,-16.1,48,342,0.15,0.00,0.00,0.000,6,0.107,0.000,2434,1897,3370,0,0,0,0,0,0
$GC,592,-1.28,-77.9,83.2,-12.1,72,596,0.00,2.40,0.00,0.000,4,0.000,0.046,2435,492,3371,0,0,0,0,0,0
$GC,619,-1.19,-77.9,87.0,-14.3,74,625,0.00,2.35,0.00,0.000,6,0.000,0.021,2434,1932,3371,0,0,0,0,0,0
$GC,880,-1.19,-77.9,118.6,-11.1,99,885,0.00,2.47,0.00,0.000,4,0.000,0.044,2435,488,3372,0,0,0,0,0,0
$GC,941,-1.19,-77.9,125.2,-11.2,105,946,0.00,2.28,0.00,0.000,6,0.000,0.021,2434,1906,3372,0,0,0,0,0,0
$GC,1204,-1.23,-77.9,149.2,-9.2,129,1208,0.00,2.42,0.00,0.000,4,0.000,0.043,2435,484,3373,0,0,0,0,0,0
$GC,1258,-1.23,-77.9,155.4,-11.1,134,1265,0.00,2.33,0.00,0.000,6,0.000,0.021,2434,1906,3373,0,0,0,0,0,0
$GC,1520,-1.29,-77.9,180.5,-9.2,159,1524,0.00,2.42,0.00,0.000,4,0.000,0.045,2435,490,3374,0,0,0,0,0,0
$GC,1582,-1.34,-77.9,186.9,-11.1,165,1586,0.00,2.30,0.00,0.000,6,0.000,0.021,2435,1910,3374,0,0,0,0,0,0
$GC,1849,-1.41,-77.9,211.8,-8.8,184,1854,0.15,2.47,0.00,0.000,4,0.059,0.046,2389,488,3374,0,0,0,0,0,0
$GC,1893,-1.34,-77.9,217.1,-13.7,186,1897,0.15,2.30,0.00,0.000,6,0.097,0.021,2419,1906,3374,0,0,0,0,0,0
$GC,2223,-1.40,-77.9,249.9,-8.8,202,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1911,3375,0,0,0,0,0,0
$GC,2533,-1.47,-77.9,279.7,-10.3,217,2538,0.12,2.45,0.00,0.000,4,0.067,0.049,2380,494,3375,0,0,0,0,0,0
$GC,2561,-1.41,-77.9,283.5,-13.9,218,2566,0.10,2.30,0.00,0.000,6,0.113,0.024,2401,1898,3375,0,0,0,0,0,0
$GC,2878,-1.41,-77.9,316.8,-10.1,230,2882,0.00,2.42,0.00,0.000,4,0.000,0.050,2400,495,3374,0,0,0,0,0,0
$GC,2920,-1.41,-77.9,320.9,-10.0,231,2924,0.00,2.30,0.00,0.000,6,0.000,0.025,2401,1899,3374,0,0,0,0,0,0
$GC,3248,-1.45,-77.9,352.0,-8.7,239,3252,0.00,2.45,0.00,0.000,4,0.000,0.051,2399,487,3372,0,0,0,0,0,0
$GC,3298,-1.45,-77.9,357.1,-10.1,240,3303,0.00,2.33,0.00,0.000,6,0.000,0.026,2399,1901,3372,0,0,0,0,0,0
$GC,3616,-1.52,-77.9,387.7,-10.0,248,3620,0.00,2.45,0.00,0.000,4,0.000,0.054,2400,497,3371,0,0,0,0,0,0
$GC,3671,-1.55,-77.9,393.7,-10.2,249,3676,0.12,2.30,0.00,0.000,6,0.071,0.028,2365,1899,3370,0,0,0,0,0,0
$GC,3985,-1.55,-77.9,428.6,-11.1,257,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1903,3368,0,0,0,0,0,0
$STATE,4226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4227,begin apogee
$GC,4231,-0.31,0.0,453.6,9.9,263,4300,1.33,0.00,65.38,0.884,6,0.079,0.000,2645,2057,3050,0,0,0,0,0,0
$STATE,4301,end apogee,CONTROL_FINISHED_OK
$STATE,4301,begin climb
$GC,4303,1.40,77.9,454.5,0.0,264,4377,1.62,2.45,65.05,0.864,4,0.033,0.047,3024,3406,2731,0,0,0,0,0,0
$GC,4452,1.22,122.7,452.7,4.9,267,4497,0.25,2.38,38.80,0.850,6,0.114,0.038,2981,2035,2548,0,0,0,0,0,0
$GC,4806,1.11,125.3,423.9,7.8,276,4808,0.15,0.00,0.00,0.000,6,0.122,0.000,2954,2035,2542,0,0,0,0,0,0
$GC,5131,1.10,164.0,404.9,5.4,284,5171,0.00,0.00,35.67,0.850,6,0.000,0.000,2954,2035,2380,0,0,0,0,0,0
$GC,5496,1.10,164.0,375.6,8.5,293,5500,0.00,2.50,0.00,0.000,4,0.000,0.057,2953,621,2373,0,0,0,0,0,0
$GC,5556,1.02,164.0,369.1,10.9,294,5560,0.00,2.38,0.00,0.000,6,0.000,0.031,2953,2023,2371,0,0,0,0,0,0
$GC,5904,1.02,164.0,331.3,11.1,303,5908,0.00,2.47,0.00,0.000,4,0.000,0.054,2953,630,2369,0,0,0,0,0,0
$GC,5936,0.94,164.0,327.7,10.7,303,5942,0.20,2.38,0.00,0.000,6,0.118,0.030,2917,2039,2368,0,0,0,0,0,0
$GC,6267,1.02,168.8,300.6,7.7,311,6271,0.00,2.50,0.00,0.000,4,0.000,0.054,2917,629,2367,0,0,0,0,0,0
$GC,6481,1.02,168.8,282.1,8.6,319,6486,0.00,2.38,0.00,0.000,6,0.000,0.029,2917,2041,2365,0,0,0,0,0,0
$GC,6797,1.12,183.3,259.3,7.0,334,6818,0.17,0.00,15.75,0.746,6,0.067,0.000,2959,2045,2302,0,0,0,0,0,0
$GC,7126,1.12,183.3,231.7,8.1,350,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2045,2297,0,0,0,0,0,0
$GC,7437,1.12,184.7,206.7,7.9,365,7441,0.00,2.47,0.00,0.000,4,0.000,0.050,2959,620,2297,0,0,0,0,0,0
$GC,7547,1.08,184.7,196.3,9.1,371,7552,0.00,2.35,0.00,0.000,6,0.000,0.027,2959,2038,2295,0,0,0,0,0,0
$GC,7808,1.09,189.9,176.7,7.7,396,7819,0.00,2.47,6.40,0.574,4,0.000,0.048,2959,627,2274,0,0,0,0,0,0
$GC,7895,1.05,189.9,169.3,9.1,405,7899,0.00,2.35,0.00,0.000,6,0.000,0.025,2959,2042,2273,0,0,0,0,0,0
$GC,8158,1.10,207.8,150.2,6.8,429,8180,0.00,2.50,17.33,0.649,4,0.000,0.048,2959,628,2202,0,0,0,0,0,0
$GC,8335,1.10,207.8,133.8,8.6,448,8340,0.00,2.33,0.00,0.000,6,0.000,0.024,2959,2039,2197,0,0,0,0,0,0
$GC,8597,1.17,207.8,111.7,8.6,472,8601,0.00,2.45,0.00,0.000,4,0.000,0.045,2959,626,2197,0,0,0,0,0,0
$GC,8660,1.17,207.8,105.9,8.6,478,8667,0.00,2.33,0.00,0.000,6,0.000,0.023,2959,2034,2196,0,0,0,0,0,0
$GC,8922,1.28,227.7,87.6,6.7,503,8950,0.15,2.50,18.45,0.588,4,0.062,0.043,3000,615,2119,0,0,0,0,0,0
$GC,9033,1.22,227.7,77.7,9.7,515,9038,0.12,2.30,0.00,0.000,6,0.110,0.022,2977,2034,2116,0,0,0,0,0,0
$GC,9296,1.27,227.7,55.3,8.4,539,9297,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2039,2116,0,0,0,0,0,0
$GC,9550,1.33,227.7,32.5,9.7,563,9554,0.10,2.45,0.00,0.000,4,0.077,0.043,3009,621,2116,0,0,0,0,0,0
$GC,9600,1.25,227.7,26.5,12.5,571,9607,0.10,2.33,0.00,0.000,6,0.082,0.021,2986,2043,2116,0,0,0,0,0,0
$GC,9800,1.25,227.7,5.2,10.8,608,9807,0.00,2.47,0.00,0.000,4,0.000,0.044,2985,619,2116,0,0,0,0,0,0
$STATE,9820,end climb,SURFACE_DEPTH_REACHED
$STATE,9821,begin surface coast
$FINISH,0.5,1.023826
$STATE,9851,end surface coast,CONTROL_FINISHED_OK
$STATE,9852,begin surface
$SM_CCo,9872,37.15,0.525,0,0,1826,300.00
$SM_GC,1.63,0.00,0.00,37.15,0.000,0.000,0.525,425,1880,1826,-10.52,-0.57,300.00
$IRIDIUM_FIX,2054.83,-15736.31,170799,141446
$TT8_MAMPS,0.029146
$HUMID,42.63
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,9.500
$10V_AH,10.0,8.692
$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,26.625,100.525,262.825,37.150,0.000,29.601,29.403,138.804,0.000,0.000,38.333,1161.742,6587.998,371.004,1769.587,336.811,33.342,1111.043,0.000,1740.078,0.000,0.537,0.000
$DEVICE_MAMPS,138.060,56.758,884.351,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.704,399.576,887.309,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,34992,619
$CAP_FILE_SIZE,104622,0
$CFSIZE,260165632,253132800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220410,201136,2104.969,-15744.399,259,1.6,264,9.8