version: 66.06
glider: 139
mission: 7
dive: 94
start: 4 22 110 20 17 4
data:
$ID,139
$MISSION,7
$DIVE,94
$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,-2121886
$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
$GPS1,201136,2104.969,-15744.399,259,1.6,264,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.1
$GPS2,201613,2104.959,-15744.439,10,1.5,10,9.8
$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,-9209.6,121.4,-173.0,11610.1,-2117.0
$KALMAN_Y,-6000.5,155.0,-1.5,7523.9,-1427.9
$MHEAD_RNG_PITCHd_Wd,45.5,3069,-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,-55.42,0.000,2,0.000,0.000,424,1880,3268,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.1,-4.8,10,94,10.65,2.40,-1.98,0.000,4,0.136,0.037,2404,3328,3368,0,0,0,0,0,0
$GC,181,-1.40,-77.9,24.5,-13.8,33,188,0.00,2.42,0.00,0.000,6,0.000,0.031,2401,1906,3369,0,0,0,0,0,0
$GC,381,-1.29,-77.9,56.7,-16.6,55,386,0.15,2.45,0.00,0.000,4,0.105,0.048,2433,494,3370,0,0,0,0,0,0
$GC,400,-1.16,-77.9,60.2,-16.7,56,407,0.10,2.35,0.00,0.000,6,0.086,0.020,2457,1941,3369,0,0,0,0,0,0
$GC,662,-1.20,-77.9,92.3,-11.4,81,667,0.00,2.50,0.00,0.000,4,0.000,0.045,2457,488,3370,0,0,0,0,0,0
$GC,705,-1.20,-77.9,98.4,-14.3,85,709,0.00,2.25,0.00,0.000,6,0.000,0.020,2457,1897,3370,0,0,0,0,0,0
$GC,968,-1.28,-77.9,128.1,-11.3,109,972,0.10,2.42,0.00,0.000,4,0.076,0.047,2421,494,3371,0,0,0,0,0,0
$GC,1032,-1.23,-77.9,137.6,-14.3,115,1038,0.10,2.28,0.00,0.000,6,0.110,0.021,2442,1907,3371,0,0,0,0,0,0
$GC,1293,-1.30,-77.9,164.3,-9.0,140,1297,0.00,2.45,0.00,0.000,4,0.000,0.045,2442,488,3372,0,0,0,0,0,0
$GC,1393,-1.30,-77.9,174.0,-10.1,150,1399,0.00,2.30,0.00,0.000,6,0.000,0.021,2442,1901,3372,0,0,0,0,0,0
$GC,1655,-1.37,-77.9,198.8,-10.5,175,1660,0.12,2.45,0.00,0.000,4,0.066,0.046,2401,491,3373,0,0,0,0,0,0
$GC,1684,-1.30,-77.9,202.9,-14.3,177,1688,0.15,2.28,0.00,0.000,6,0.096,0.021,2432,1905,3373,0,0,0,0,0,0
$GC,2005,-1.38,-77.9,234.7,-8.6,193,2009,0.00,2.45,0.00,0.000,4,0.000,0.046,2432,488,3373,0,0,0,0,0,0
$GC,2055,-1.43,-77.9,239.2,-8.2,195,2060,0.15,2.28,0.00,0.000,6,0.059,0.021,2387,1900,3373,0,0,0,0,0,0
$GC,2376,-1.43,-77.9,271.4,-11.0,211,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1905,3373,0,0,0,0,0,0
$GC,2683,-1.43,-77.9,310.7,-13.0,224,2687,0.00,2.45,0.00,0.000,4,0.000,0.048,2384,492,3373,0,0,0,0,0,0
$GC,2706,-1.38,-77.9,313.8,-13.9,224,2710,0.12,2.30,0.00,0.000,6,0.103,0.024,2411,1904,3373,0,0,0,0,0,0
$GC,3052,-1.45,-77.9,347.4,-8.6,233,3056,0.00,2.45,0.00,0.000,4,0.000,0.051,2411,492,3372,0,0,0,0,0,0
$GC,3121,-1.50,-77.9,353.5,-8.5,234,3125,0.00,2.30,0.00,0.000,6,0.000,0.025,2408,1895,3372,0,0,0,0,0,0
$GC,3461,-1.57,-77.9,378.6,-7.1,243,3466,0.20,2.35,0.00,0.000,4,0.055,0.036,2357,3298,3370,0,0,0,0,0,0
$GC,3480,-1.61,-77.9,380.3,-8.0,243,3485,0.00,2.38,0.00,0.000,6,0.000,0.039,2356,1902,3370,0,0,0,0,0,0
$GC,3825,-1.57,-77.9,415.4,-10.6,252,3829,0.00,2.45,0.00,0.000,4,0.000,0.057,2357,495,3367,0,0,0,0,0,0
$GC,3867,-1.49,-77.9,419.9,-10.3,253,3872,0.15,2.30,0.00,0.000,6,0.106,0.028,2386,1895,3367,0,0,0,0,0,0
$GC,4195,-1.53,-77.9,447.2,-8.1,261,4199,0.00,2.50,0.00,0.000,4,0.000,0.058,2386,490,3365,0,0,0,0,0,0
$STATE,4225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4225,begin apogee
$GC,4233,-0.31,0.0,450.2,9.0,261,4301,1.20,0.00,64.68,0.881,6,0.087,0.000,2640,2034,3050,0,0,0,0,0,0
$STATE,4302,end apogee,CONTROL_FINISHED_OK
$STATE,4302,begin climb
$GC,4304,1.40,77.9,451.2,0.0,263,4378,1.65,2.53,65.03,0.862,4,0.036,0.047,3020,3429,2731,0,0,0,0,0,0
$GC,4439,1.24,132.2,450.0,4.3,266,4492,0.20,2.42,46.50,0.854,6,0.117,0.038,2985,2025,2509,0,0,0,0,0,0
$GC,4806,1.14,134.5,421.5,7.9,275,4811,0.12,2.53,0.00,0.000,4,0.128,0.058,2963,618,2502,0,0,0,0,0,0
$GC,4918,1.01,135.9,412.4,7.9,277,4924,0.17,2.42,0.00,0.000,6,0.123,0.030,2932,2044,2499,0,0,0,0,0,0
$GC,5264,1.02,146.7,388.7,7.3,286,5281,0.00,2.58,11.77,0.782,4,0.000,0.057,2932,629,2450,0,0,0,0,0,0
$GC,5356,0.97,146.7,380.4,9.9,288,5360,0.00,2.38,0.00,0.000,6,0.000,0.031,2932,2039,2448,0,0,0,0,0,0
$GC,5678,0.98,148.5,353.6,7.9,296,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2044,2447,0,0,0,0,0,0
$GC,6003,0.98,150.2,327.1,7.9,304,6007,0.00,2.50,0.00,0.000,4,0.000,0.054,2932,619,2445,0,0,0,0,0,0
$GC,6049,0.94,150.2,323.2,8.8,305,6053,0.00,2.40,0.00,0.000,6,0.000,0.030,2932,2041,2443,0,0,0,0,0,0
$GC,6371,0.94,150.2,295.9,8.5,314,6375,0.00,2.50,0.00,0.000,4,0.000,0.053,2932,628,2443,0,0,0,0,0,0
$GC,6591,0.97,170.6,279.4,6.6,323,6618,0.00,2.38,20.55,0.771,6,0.000,0.028,2932,2050,2353,0,0,0,0,0,0
$GC,6927,1.04,182.4,256.5,7.2,340,6943,0.00,2.58,11.18,0.709,4,0.000,0.052,2932,621,2306,0,0,0,0,0,0
$GC,6980,1.04,182.4,251.5,9.6,342,6984,0.00,2.38,0.00,0.000,6,0.000,0.028,2932,2041,2303,0,0,0,0,0,0
$GC,7300,1.11,190.7,225.6,7.5,358,7316,0.10,2.53,8.62,0.657,4,0.088,0.051,2957,617,2271,0,0,0,0,0,0
$GC,7398,1.07,190.7,216.6,10.6,362,7402,0.00,2.38,0.00,0.000,6,0.000,0.027,2956,2039,2268,0,0,0,0,0,0
$GC,7724,1.10,190.7,188.2,8.1,385,7728,0.00,2.47,0.00,0.000,4,0.000,0.050,2957,617,2268,0,0,0,0,0,0
$GC,7777,1.10,190.7,182.2,11.1,390,7785,0.00,2.38,0.00,0.000,6,0.000,0.026,2956,2031,2266,0,0,0,0,0,0
$GC,8041,1.15,199.1,160.9,7.4,415,8054,0.00,2.38,8.15,0.598,4,0.000,0.035,2956,3432,2238,0,0,0,0,0,0
$GC,8111,1.21,199.1,155.1,8.4,422,8115,0.00,2.40,0.00,0.000,6,0.000,0.033,2957,2025,2238,0,0,0,0,0,0
$GC,8372,1.25,199.1,133.3,8.8,446,8377,0.12,2.42,0.00,0.000,4,0.074,0.047,2989,619,2238,0,0,0,0,0,0
$GC,8515,1.18,199.1,116.3,12.5,461,8520,0.00,2.33,0.00,0.000,6,0.000,0.023,2989,2047,2235,0,0,0,0,0,0
$GC,8778,1.20,212.2,94.8,7.1,485,8797,0.00,0.00,13.20,0.582,6,0.000,0.000,2990,2052,2183,0,0,0,0,0,0
$GC,9053,1.20,216.4,75.0,7.7,511,9064,0.00,2.47,5.30,0.459,4,0.000,0.043,2989,621,2166,0,0,0,0,0,0
$GC,9120,1.16,216.4,69.3,10.0,518,9125,0.12,2.33,0.00,0.000,6,0.114,0.021,2967,2047,2164,0,0,0,0,0,0
$GC,9382,1.22,216.4,48.7,8.0,542,9386,0.00,2.45,0.00,0.000,4,0.000,0.043,2966,619,2164,0,0,0,0,0,0
$GC,9408,1.22,216.4,45.9,9.8,544,9415,0.00,2.33,0.00,0.000,6,0.000,0.021,2967,2037,2164,0,0,0,0,0,0
$GC,9671,1.30,216.4,22.6,9.0,576,9678,0.12,2.47,0.00,0.000,4,0.069,0.044,3003,627,2164,0,0,0,0,0,0
$GC,9744,1.24,216.4,14.0,13.1,592,9751,0.08,2.30,0.00,0.000,6,0.088,0.021,2985,2031,2164,0,0,0,0,0,0
$STATE,9842,end climb,SURFACE_DEPTH_REACHED
$STATE,9842,begin surface coast
$FINISH,0.4,1.023777
$STATE,9869,end surface coast,CONTROL_FINISHED_OK
$STATE,9869,begin surface
$SM_CCo,9888,48.00,0.531,0,0,1827,300.00
$SM_GC,1.66,0.00,0.00,48.00,0.000,0.000,0.531,424,1872,1827,-10.52,-0.79,300.00
$IRIDIUM_FIX,2057.14,-15746.61,170799,171737
$TT8_MAMPS,0.029146
$HUMID,42.91
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,9.576
$10V_AH,10.0,8.775
$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,26.875,120.800,254.975,48.000,0.000,28.149,29.130,130.194,0.000,0.000,10.154,1189.075,6505.042,368.992,1815.061,339.396,33.352,1162.987,0.000,1808.808,0.000,0.539,0.000
$DEVICE_MAMPS,135.759,58.292,881.283,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.044,393.901,882.438,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,34952,615
$CAP_FILE_SIZE,113334,0
$CFSIZE,260165632,253071360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220410,230355,2104.865,-15744.733,38,2.0,39,9.8