version: 66.06
glider: 139
mission: 7
dive: 150
start: 4 29 110 9 44 4
data:
$ID,139
$MISSION,7
$DIVE,150
$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,2
$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,637.77997
$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,-2123661.8
$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,2714
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$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
$GPS1,092319,2104.596,-15800.332,56,1.8,67,9.8
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.1
$GPS2,094346,2104.512,-15800.423,13,2.9,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.168,-0.074
$KALMAN_X,-59222.4,-485.3,-363.1,40755.3,-1141.0
$KALMAN_Y,-23432.7,-223.8,-84.1,19158.6,421.6
$MHEAD_RNG_PITCHd_Wd,328.4,7626,-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,12,begin dive
$GC,14,-1.40,-77.9,0.0,0.0,0,77,0.00,0.00,-58.45,0.000,6,0.000,0.000,428,1873,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.6,-6.3,11,98,10.73,2.45,0.00,0.000,4,0.140,0.026,2404,3326,3370,0,0,0,0,0,0
$GC,180,-1.40,-77.9,26.4,-13.7,33,186,0.00,2.45,0.00,0.000,6,0.000,0.031,2405,1900,3372,0,0,0,0,0,0
$GC,385,-1.28,-77.9,60.7,-16.9,54,390,0.15,2.42,0.00,0.000,4,0.106,0.045,2434,492,3372,0,0,0,0,0,0
$GC,411,-1.15,-77.9,65.4,-19.1,56,416,0.15,2.33,0.00,0.000,6,0.104,0.020,2463,1932,3371,0,0,0,0,0,0
$GC,673,-1.21,-77.9,99.5,-11.8,80,679,0.00,2.47,0.00,0.000,4,0.000,0.044,2463,494,3372,0,0,0,0,0,0
$GC,759,-1.27,-77.9,110.2,-12.0,89,764,0.12,2.28,0.00,0.000,6,0.064,0.020,2421,1905,3372,0,0,0,0,0,0
$GC,1021,-1.27,-77.9,140.7,-10.9,113,1026,0.00,2.42,0.00,0.000,4,0.000,0.044,2421,487,3373,0,0,0,0,0,0
$GC,1065,-1.22,-77.9,146.0,-11.9,117,1070,0.12,2.28,0.00,0.000,6,0.100,0.020,2447,1898,3373,0,0,0,0,0,0
$GC,1327,-1.29,-77.9,167.8,-7.1,141,1331,0.00,2.40,0.00,0.000,4,0.000,0.044,2446,493,3373,0,0,0,0,0,0
$GC,1379,-1.33,-77.9,171.5,-7.4,146,1384,0.12,2.28,0.00,0.000,6,0.064,0.021,2406,1903,3373,0,0,0,0,0,0
$GC,1639,-1.33,-77.9,197.9,-11.9,170,1643,0.00,2.42,0.00,0.000,4,0.000,0.043,2405,491,3374,0,0,0,0,0,0
$GC,1672,-1.26,-77.9,202.0,-12.9,172,1677,0.15,2.28,0.00,0.000,6,0.096,0.021,2437,1903,3374,0,0,0,0,0,0
$GC,1990,-1.34,-77.9,231.5,-7.5,187,1994,0.00,2.42,0.00,0.000,4,0.000,0.045,2437,494,3373,0,0,0,0,0,0
$GC,2073,-1.40,-77.9,240.1,-11.2,190,2080,0.10,2.30,0.00,0.000,6,0.038,0.022,2396,1899,3373,0,0,0,0,0,0
$GC,2388,-1.40,-77.9,274.9,-10.0,206,2392,0.00,2.42,0.00,0.000,4,0.000,0.047,2396,495,3373,0,0,0,0,0,0
$GC,2410,-1.35,-77.9,277.2,-10.6,207,2415,0.12,2.28,0.00,0.000,6,0.101,0.023,2422,1902,3373,0,0,0,0,0,0
$GC,2756,-1.42,-77.9,303.5,-8.3,223,2760,0.00,2.45,0.00,0.000,4,0.000,0.048,2421,488,3372,0,0,0,0,0,0
$GC,2853,-1.46,-77.9,312.0,-9.5,225,2858,0.12,2.30,0.00,0.000,6,0.067,0.025,2384,1904,3372,0,0,0,0,0,0
$GC,3171,-1.46,-77.9,344.3,-9.9,233,3176,0.00,2.47,0.00,0.000,4,0.000,0.051,2384,489,3371,0,0,0,0,0,0
$GC,3194,-1.41,-77.9,346.8,-11.0,233,3199,0.10,2.33,0.00,0.000,6,0.114,0.026,2404,1906,3370,0,0,0,0,0,0
$GC,3537,-1.46,-77.9,381.2,-11.2,242,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1911,3368,0,0,0,0,0,0
$GC,3860,-1.50,-77.9,412.1,-8.7,250,3864,0.00,2.47,0.00,0.000,4,0.000,0.054,2401,492,3366,0,0,0,0,0,0
$GC,3906,-1.50,-77.9,415.8,-7.9,251,3910,0.00,2.33,0.00,0.000,6,0.000,0.028,2402,1896,3366,0,0,0,0,0,0
$GC,4229,-1.56,-77.9,435.8,-6.1,259,4233,0.15,2.50,0.00,0.000,4,0.064,0.056,2361,492,3363,0,0,0,0,0,0
$GC,4257,-1.47,-77.9,438.1,-8.7,259,4262,0.15,2.33,0.00,0.000,6,0.103,0.029,2391,1899,3363,0,0,0,0,0,0
$STATE,4428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4428,begin apogee
$GC,4433,-0.31,0.0,452.6,8.4,264,4501,1.17,0.00,64.03,0.890,6,0.077,0.000,2642,2060,3050,0,0,0,0,0,0
$STATE,4502,end apogee,CONTROL_FINISHED_OK
$STATE,4502,begin climb
$GC,4504,1.40,77.9,453.5,0.0,265,4579,1.65,2.47,65.15,0.865,4,0.034,0.047,3026,3411,2731,0,0,0,0,0,0
$GC,4617,1.23,138.5,452.7,3.9,268,4675,0.22,2.40,51.90,0.858,6,0.120,0.038,2985,2032,2485,0,0,0,0,0,0
$GC,5000,1.13,138.5,420.7,8.8,277,5002,0.12,0.00,0.00,0.000,6,0.127,0.000,2964,2032,2477,0,0,0,0,0,0
$GC,5325,1.08,138.5,390.5,9.5,285,5329,0.00,2.40,0.00,0.000,4,0.000,0.043,2965,3408,2474,0,0,0,0,0,0
$GC,5380,1.03,138.5,385.3,9.5,286,5385,0.15,2.40,0.00,0.000,6,0.117,0.038,2938,2026,2474,0,0,0,0,0,0
$GC,5694,1.05,152.5,362.0,7.1,294,5710,0.00,2.47,10.95,0.769,4,0.000,0.042,2938,3408,2427,0,0,0,0,0,0
$GC,5720,1.06,166.1,360.0,7.1,294,5738,0.00,2.40,13.50,0.778,6,0.000,0.038,2938,2033,2373,0,0,0,0,0,0
$GC,6062,1.08,179.5,335.3,7.1,303,6082,0.00,2.53,12.73,0.770,4,0.000,0.054,2937,632,2316,0,0,0,0,0,0
$GC,6124,1.04,179.5,330.1,9.0,304,6128,0.00,2.35,0.00,0.000,6,0.000,0.030,2937,2019,2314,0,0,0,0,0,0
$GC,6473,1.08,179.5,297.1,10.6,313,6477,0.00,2.47,0.00,0.000,4,0.000,0.054,2937,629,2312,0,0,0,0,0,0
$GC,6665,1.08,179.5,276.6,10.7,321,6670,0.00,2.35,0.00,0.000,6,0.000,0.029,2937,2038,2310,0,0,0,0,0,0
$GC,6981,1.14,197.1,253.1,6.8,336,7005,0.12,2.58,15.62,0.737,4,0.079,0.052,2968,629,2246,0,0,0,0,0,0
$GC,7125,1.06,197.1,238.6,10.9,342,7130,0.12,2.38,0.00,0.000,6,0.126,0.028,2946,2041,2242,0,0,0,0,0,0
$GC,7451,1.14,222.2,214.0,6.3,358,7481,0.00,2.58,22.98,0.722,4,0.000,0.051,2946,633,2143,0,0,0,0,0,0
$GC,7591,1.14,222.2,202.5,9.3,364,7595,0.00,2.35,0.00,0.000,6,0.000,0.028,2946,2042,2139,0,0,0,0,0,0
$GC,7924,1.21,222.2,170.9,10.8,394,7929,0.15,2.47,0.00,0.000,4,0.068,0.049,2985,630,2139,0,0,0,0,0,0
$GC,8003,1.13,222.2,161.0,13.0,402,8008,0.12,2.35,0.00,0.000,6,0.120,0.025,2962,2043,2135,0,0,0,0,0,0
$GC,8263,1.16,222.2,130.1,10.4,426,8267,0.00,2.45,0.00,0.000,4,0.000,0.047,2962,627,2135,0,0,0,0,0,0
$GC,8370,1.16,222.2,118.0,11.9,437,8375,0.00,2.33,0.00,0.000,6,0.000,0.024,2962,2039,2135,0,0,0,0,0,0
$GC,8633,1.22,222.2,94.4,8.1,461,8634,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2044,2135,0,0,0,0,0,0
$GC,8887,1.30,222.2,69.5,9.9,485,8892,0.15,2.42,0.00,0.000,4,0.064,0.045,3003,628,2135,0,0,0,0,0,0
$GC,9048,1.22,222.2,50.1,12.0,502,9056,0.08,2.33,0.00,0.000,6,0.089,0.022,2985,2037,2135,0,0,0,0,0,0
$GC,9311,1.25,222.2,25.9,8.7,531,9317,0.00,2.45,0.00,0.000,4,0.000,0.044,2985,628,2135,0,0,0,0,0,0
$GC,9448,1.21,222.2,13.0,8.7,562,9454,0.00,2.33,0.00,0.000,6,0.000,0.021,2985,2044,2135,0,0,0,0,0,0
$STATE,9551,end climb,SURFACE_DEPTH_REACHED
$STATE,9551,begin surface coast
$FINISH,0.5,1.023896
$STATE,9580,end surface coast,CONTROL_FINISHED_OK
$STATE,9580,begin surface
$SM_CCo,9599,214.95,0.527,0,0,450,637.78
$SM_GC,0.99,0.00,0.00,214.95,0.000,0.000,0.527,429,1881,450,-10.51,-0.54,637.78
$IRIDIUM_FIX,2057.14,-15802.06,240799,090934
$TT8_MAMPS,0.029146
$HUMID,42.36
$INTERNAL_PRESSURE,9.54769
$TCM_TEMP,21.10
$XPDR_PINGS,1
$24V_AH,23.4,14.170
$10V_AH,10.1,13.163
$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,27.350,110.775,256.850,214.950,0.000,147.816,173.586,502.927,4.750,0.000,33.293,1150.498,6571.133,529.826,1764.601,1028.431,0.000,1294.146,0.000,1732.789,0.000,29.257,0.000
$DEVICE_MAMPS,139.594,55.991,889.720,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.057,375.283,834.892,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,31812,586
$CAP_FILE_SIZE,128826,0
$CFSIZE,260165632,249978880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290410,122924,2105.394,-15801.636,53,1.6,70,9.8