version: 66.06
glider: 139
mission: 7
dive: 154
start: 4 29 110 21 22 24
data:
$ID,139
$MISSION,7
$DIVE,154
$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,-2123810.2
$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
$GPS1,211556,2108.379,-15802.662,44,4.7,63,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.9
$GPS2,212136,2108.361,-15802.696,13,1.1,29,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,-0.027
$KALMAN_X,-164.4,-164.4,-164.4,1714.8,-76.2
$KALMAN_Y,58.3,58.3,58.3,908.1,27.0
$MHEAD_RNG_PITCHd_Wd,88.5,34498,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,74,0.00,0.00,-55.12,0.000,2,0.000,0.000,425,1885,3273,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.2,-5.1,10,95,10.70,2.40,-1.92,0.000,4,0.137,0.050,2406,482,3369,0,0,0,0,0,0
$GC,162,-1.22,-77.9,23.9,-17.7,28,169,0.17,2.38,0.00,0.000,6,0.081,0.021,2444,1924,3370,0,0,0,0,0,0
$GC,362,-1.22,-77.9,51.9,-12.7,50,366,0.00,2.47,0.00,0.000,4,0.000,0.044,2446,490,3371,0,0,0,0,0,0
$GC,411,-1.16,-77.9,59.4,-15.0,55,418,0.00,2.30,0.00,0.000,6,0.000,0.020,2434,1904,3372,0,0,0,0,0,0
$GC,671,-1.16,-77.9,93.6,-11.2,80,675,0.00,2.42,0.00,0.000,4,0.000,0.044,2446,488,3372,0,0,0,0,0,0
$GC,730,-1.16,-77.9,100.5,-11.3,86,735,0.00,2.28,0.00,0.000,6,0.000,0.020,2445,1904,3373,0,0,0,0,0,0
$GC,991,-1.16,-77.9,126.8,-9.6,110,995,0.00,2.42,0.00,0.000,4,0.000,0.043,2446,494,3373,0,0,0,0,0,0
$GC,1008,-1.16,-77.9,128.4,-9.6,111,1013,0.00,2.25,0.00,0.000,6,0.000,0.020,2444,1911,3373,0,0,0,0,0,0
$GC,1272,-1.23,-77.9,150.8,-8.6,135,1276,0.00,2.42,0.00,0.000,4,0.000,0.044,2445,491,3374,0,0,0,0,0,0
$GC,1351,-1.23,-77.9,158.6,-9.2,143,1355,0.00,2.25,0.00,0.000,6,0.000,0.021,2443,1902,3374,0,0,0,0,0,0
$GC,1615,-1.31,-77.9,183.5,-9.8,167,1620,0.00,2.40,0.00,0.000,4,0.000,0.044,2443,494,3374,0,0,0,0,0,0
$GC,1696,-1.36,-77.9,192.0,-10.0,175,1701,0.12,2.28,0.00,0.000,6,0.064,0.021,2401,1903,3375,0,0,0,0,0,0
$GC,1963,-1.36,-77.9,219.8,-10.3,191,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1909,3375,0,0,0,0,0,0
$GC,2270,-1.36,-77.9,250.2,-10.2,206,2274,0.00,2.45,0.00,0.000,4,0.000,0.046,2404,487,3375,0,0,0,0,0,0
$GC,2336,-1.36,-77.9,257.2,-11.2,209,2341,0.00,2.30,0.00,0.000,6,0.000,0.022,2405,1904,3375,0,0,0,0,0,0
$GC,2666,-1.36,-77.9,286.3,-8.7,225,2671,0.00,2.42,0.00,0.000,4,0.000,0.048,2405,492,3374,0,0,0,0,0,0
$GC,2762,-1.36,-77.9,297.6,-11.9,229,2767,0.00,2.30,0.00,0.000,6,0.000,0.024,2405,1906,3375,0,0,0,0,0,0
$GC,3077,-1.40,-77.9,327.2,-8.6,238,3082,0.00,2.47,0.00,0.000,4,0.000,0.049,2404,486,3373,0,0,0,0,0,0
$GC,3114,-1.40,-77.9,331.0,-10.0,238,3120,0.00,2.30,0.00,0.000,6,0.000,0.025,2404,1903,3373,0,0,0,0,0,0
$GC,3446,-1.46,-77.9,360.2,-8.6,247,3451,0.00,2.45,0.00,0.000,4,0.000,0.051,2404,491,3372,0,0,0,0,0,0
$GC,3520,-1.46,-77.9,367.4,-9.5,248,3524,0.00,2.30,0.00,0.000,6,0.000,0.026,2404,1900,3371,0,0,0,0,0,0
$GC,3861,-1.51,-77.9,395.1,-7.1,257,3865,0.00,2.47,0.00,0.000,4,0.000,0.053,2404,493,3370,0,0,0,0,0,0
$GC,3944,-1.51,-77.9,399.9,-5.0,258,3950,0.00,2.33,0.00,0.000,6,0.000,0.028,2404,1899,3369,0,0,0,0,0,0
$GC,4275,-1.57,-77.9,419.5,-6.7,267,4277,0.15,0.00,0.00,0.000,6,0.065,0.000,2365,1903,3366,0,0,0,0,0,0
$STATE,4597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4597,begin apogee
$GC,4602,-0.31,0.0,450.5,9.8,275,4671,1.33,0.00,64.80,0.883,6,0.080,0.000,2645,2056,3049,0,0,0,0,0,0
$STATE,4672,end apogee,CONTROL_FINISHED_OK
$STATE,4672,begin climb
$GC,4673,1.40,77.9,452.2,0.0,276,4748,1.62,2.47,65.05,0.863,4,0.034,0.048,3023,3412,2732,0,0,0,0,0,0
$GC,5013,1.21,105.2,441.7,6.1,283,5042,0.22,2.40,23.50,0.838,6,0.116,0.038,2981,2031,2621,0,0,0,0,0,0
$GC,5361,1.13,135.5,420.5,5.9,292,5394,0.00,2.50,26.67,0.843,4,0.000,0.044,2981,3405,2497,0,0,0,0,0,0
$GC,5658,1.04,135.5,394.4,10.7,298,5663,0.22,2.38,0.00,0.000,6,0.113,0.038,2941,2036,2493,0,0,0,0,0,0
$GC,6003,1.04,135.5,363.5,8.4,307,6007,0.00,2.50,0.00,0.000,4,0.000,0.054,2940,625,2489,0,0,0,0,0,0
$GC,6073,0.97,136.2,357.9,8.0,308,6077,0.00,2.33,0.00,0.000,6,0.000,0.031,2940,2015,2488,0,0,0,0,0,0
$GC,6413,1.01,165.5,335.6,6.0,317,6445,0.00,2.55,25.42,0.818,4,0.000,0.053,2940,633,2375,0,0,0,0,0,0
$GC,6514,0.96,165.5,328.0,8.5,319,6519,0.00,2.40,0.00,0.000,6,0.000,0.031,2940,2041,2370,0,0,0,0,0,0
$GC,6827,0.96,165.5,303.6,8.2,327,6832,0.00,2.50,0.00,0.000,4,0.000,0.053,2940,622,2369,0,0,0,0,0,0
$GC,6916,0.96,165.5,295.3,9.5,330,6920,0.00,2.40,0.00,0.000,6,0.000,0.030,2940,2041,2367,0,0,0,0,0,0
$GC,7244,0.96,165.5,267.7,9.3,346,7248,0.00,2.47,0.00,0.000,4,0.000,0.052,2940,631,2366,0,0,0,0,0,0
$GC,7281,0.92,165.5,263.7,10.1,347,7287,0.12,2.38,0.00,0.000,6,0.122,0.029,2918,2044,2365,0,0,0,0,0,0
$GC,7597,1.01,165.5,238.0,8.2,363,7601,0.00,2.50,0.00,0.000,4,0.000,0.051,2917,625,2365,0,0,0,0,0,0
$GC,7714,1.05,172.5,228.7,7.5,368,7727,0.12,2.35,5.90,0.601,6,0.074,0.028,2950,2049,2346,0,0,0,0,0,0
$GC,8043,1.09,172.5,202.2,9.1,384,8047,0.00,2.47,0.00,0.000,4,0.000,0.049,2950,621,2345,0,0,0,0,0,0
$GC,8277,1.09,172.5,179.3,9.7,407,8281,0.00,2.35,0.00,0.000,6,0.000,0.026,2951,2039,2343,0,0,0,0,0,0
$GC,8540,1.19,210.9,160.1,5.4,431,8581,0.10,2.55,34.55,0.683,4,0.085,0.047,2977,632,2190,0,0,0,0,0,0
$GC,8743,1.13,210.9,142.2,9.5,453,8747,0.00,2.30,0.00,0.000,6,0.000,0.025,2977,2037,2183,0,0,0,0,0,0
$GC,9006,1.13,215.4,122.4,7.7,477,9013,0.00,0.00,4.32,0.444,6,0.000,0.000,2977,2042,2172,0,0,0,0,0,0
$GC,9268,1.13,215.4,99.8,8.7,502,9272,0.00,2.42,0.00,0.000,4,0.000,0.044,2977,627,2172,0,0,0,0,0,0
$GC,9411,1.10,215.4,85.6,9.9,517,9416,0.12,2.33,0.00,0.000,6,0.117,0.022,2955,2047,2170,0,0,0,0,0,0
$GC,9675,1.23,246.7,67.5,5.9,541,9715,0.12,2.50,28.77,0.582,4,0.072,0.042,2989,627,2042,0,0,0,0,0,0
$GC,9815,1.18,246.7,53.1,11.8,556,9820,0.00,2.30,0.00,0.000,6,0.000,0.021,2990,2045,2038,0,0,0,0,0,0
$GC,10079,1.21,246.7,23.1,11.2,585,10085,0.00,2.47,0.00,0.000,4,0.000,0.043,2989,628,2038,0,0,0,0,0,0
$GC,10195,1.17,246.7,9.5,13.3,611,10203,0.08,2.30,0.00,0.000,6,0.090,0.021,2972,2024,2036,0,0,0,0,0,0
$STATE,10251,end climb,SURFACE_DEPTH_REACHED
$STATE,10251,begin surface coast
$FINISH,0.5,1.023749
$STATE,10280,end surface coast,CONTROL_FINISHED_OK
$STATE,10280,begin surface
$SM_CCo,10300,27.52,0.515,0,0,1827,300.00
$SM_GC,1.43,0.00,0.00,27.52,0.000,0.000,0.515,432,1880,1827,-10.50,-0.57,300.00
$IRIDIUM_FIX,2057.14,-15806.34,240799,181834
$TT8_MAMPS,0.029146
$HUMID,44.60
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.00
$XPDR_PINGS,0
$24V_AH,23.4,14.489
$10V_AH,10.0,13.492
$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,26.175,110.625,279.000,27.525,0.000,28.555,42.178,158.321,4.500,0.000,29.523,1231.792,6666.791,353.651,2002.941,413.906,30.188,1215.804,0.000,1973.707,0.000,29.242,0.000
$DEVICE_MAMPS,137.293,54.457,882.817,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.642,401.193,880.273,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34879,626
$CAP_FILE_SIZE,115901,0
$CFSIZE,260165632,249769984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300410,001558,2108.398,-15802.003,32,5.0,51,9.8