version: 66.06
glider: 139
mission: 7
dive: 155
start: 4 30 110 0 23 26
data:
$ID,139
$MISSION,7
$DIVE,155
$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,-2123847.8
$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
$GPS1,001558,2108.398,-15802.003,32,5.0,51,9.8
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.6
$GPS2,002237,2108.373,-15802.124,36,1.1,36,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,-0.028
$KALMAN_X,-777.3,-465.0,-158.9,3610.7,-173.0
$KALMAN_Y,251.5,152.4,48.2,653.6,48.0
$MHEAD_RNG_PITCHd_Wd,89.0,33522,-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,-77.9,0.0,0.0,0,72,0.00,0.00,-54.28,0.000,2,0.000,0.000,431,1880,3235,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.1,-5.1,10,92,10.62,0.00,-2.67,0.000,6,0.136,0.000,2404,1880,3368,0,0,0,0,0,0
$GC,288,-1.29,-77.9,43.9,-16.2,41,293,0.15,2.42,0.00,0.000,4,0.104,0.046,2435,491,3370,0,0,0,0,0,0
$GC,315,-1.15,-77.9,49.0,-16.8,43,322,0.12,2.35,0.00,0.000,6,0.084,0.021,2461,1927,3370,0,0,0,0,0,0
$GC,578,-1.23,-77.9,77.3,-8.4,68,582,0.00,2.47,0.00,0.000,4,0.000,0.044,2464,494,3371,0,0,0,0,0,0
$GC,613,-1.27,-77.9,81.3,-10.5,71,619,0.00,2.28,0.00,0.000,6,0.000,0.020,2458,1907,3371,0,0,0,0,0,0
$GC,875,-1.36,-77.9,103.2,-7.8,96,880,0.20,2.42,0.00,0.000,4,0.049,0.042,2406,494,3372,0,0,0,0,0,0
$GC,957,-1.27,-77.9,113.4,-13.4,104,965,0.17,2.28,0.00,0.000,6,0.074,0.020,2438,1895,3373,0,0,0,0,0,0
$GC,1221,-1.34,-77.9,134.3,-6.7,129,1225,0.00,2.42,0.00,0.000,4,0.000,0.044,2447,490,3373,0,0,0,0,0,0
$GC,1275,-1.34,-77.9,139.0,-8.2,134,1282,0.00,2.30,0.00,0.000,6,0.000,0.021,2439,1899,3373,0,0,0,0,0,0
$GC,1538,-1.43,-77.9,161.0,-8.4,159,1543,0.20,2.42,0.00,0.000,4,0.049,0.043,2388,485,3374,0,0,0,0,0,0
$GC,1612,-1.35,-77.9,170.3,-12.7,166,1619,0.12,2.30,0.00,0.000,6,0.077,0.021,2416,1892,3374,0,0,0,0,0,0
$GC,1873,-1.35,-77.9,198.4,-12.3,191,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1897,3374,0,0,0,0,0,0
$GC,2122,-1.40,-77.9,225.8,-9.4,204,2126,0.00,2.40,0.00,0.000,4,0.000,0.044,2418,487,3374,0,0,0,0,0,0
$GC,2181,-1.40,-77.9,231.8,-9.5,206,2188,0.00,2.30,0.00,0.000,6,0.000,0.022,2419,1894,3374,0,0,0,0,0,0
$GC,2496,-1.46,-77.9,257.9,-8.3,222,2501,0.10,2.42,0.00,0.000,4,0.077,0.048,2386,493,3374,0,0,0,0,0,0
$GC,2591,-1.40,-77.9,268.3,-11.9,226,2596,0.10,2.28,0.00,0.000,6,0.113,0.023,2406,1903,3374,0,0,0,0,0,0
$GC,2916,-1.45,-77.9,304.4,-10.7,241,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1909,3374,0,0,0,0,0,0
$GC,3241,-1.50,-77.9,335.1,-9.2,249,3245,0.00,2.45,0.00,0.000,4,0.000,0.051,2406,491,3373,0,0,0,0,0,0
$GC,3342,-1.50,-77.9,345.7,-10.0,251,3347,0.00,2.33,0.00,0.000,6,0.000,0.025,2406,1903,3373,0,0,0,0,0,0
$GC,3655,-1.56,-77.9,375.7,-9.7,259,3660,0.15,2.47,0.00,0.000,4,0.063,0.053,2364,491,3371,0,0,0,0,0,0
$GC,3716,-1.48,-77.9,383.3,-12.9,260,3721,0.12,2.33,0.00,0.000,6,0.107,0.028,2389,1907,3370,0,0,0,0,0,0
$GC,4066,-1.48,-77.9,421.9,-10.7,269,4071,0.00,2.47,0.00,0.000,4,0.000,0.054,2388,492,3368,0,0,0,0,0,0
$GC,4126,-1.48,-77.9,427.7,-9.7,270,4130,0.00,2.33,0.00,0.000,6,0.000,0.028,2389,1905,3368,0,0,0,0,0,0
$STATE,4473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4473,begin apogee
$GC,4478,-0.31,0.0,452.8,7.0,279,4547,1.20,0.00,64.85,0.881,6,0.077,0.000,2644,2060,3049,0,0,0,0,0,0
$STATE,4548,end apogee,CONTROL_FINISHED_OK
$STATE,4548,begin climb
$GC,4549,1.40,77.9,452.9,0.0,280,4624,1.62,2.45,65.12,0.859,4,0.034,0.048,3024,3405,2732,0,0,0,0,0,0
$GC,4726,1.19,93.7,446.3,6.9,284,4748,0.25,2.38,14.93,0.799,6,0.113,0.038,2973,2028,2666,0,0,0,0,0,0
$GC,5062,1.08,105.9,421.7,7.2,293,5079,0.15,2.47,10.62,0.770,4,0.268,0.043,2951,3405,2618,0,0,0,0,0,0
$GC,5274,1.04,114.6,407.4,7.4,297,5291,0.00,2.35,8.70,0.742,6,0.000,0.038,2952,2036,2581,0,0,0,0,0,0
$GC,5616,1.02,128.2,383.8,7.1,306,5636,0.00,2.53,12.57,0.788,4,0.000,0.054,2950,628,2526,0,0,0,0,0,0
$GC,5650,0.93,130.3,381.1,7.9,306,5655,0.17,2.38,0.00,0.000,6,0.117,0.030,2920,2023,2524,0,0,0,0,0,0
$GC,5981,0.94,138.8,357.3,7.4,314,5997,0.00,2.55,10.23,0.759,4,0.000,0.054,2920,631,2482,0,0,0,0,0,0
$GC,6260,0.94,138.8,329.3,8.8,320,6264,0.00,2.38,0.00,0.000,6,0.000,0.031,2919,2041,2479,0,0,0,0,0,0
$GC,6587,1.03,170.4,307.3,5.9,328,6622,0.00,2.58,28.17,0.804,4,0.000,0.052,2919,629,2353,0,0,0,0,0,0
$GC,6807,1.03,171.3,290.4,8.0,334,6814,0.00,2.40,0.00,0.000,6,0.000,0.030,2920,2029,2347,0,0,0,0,0,0
$GC,7122,1.12,187.2,268.8,6.9,350,7146,0.17,2.55,15.12,0.743,4,0.067,0.052,2961,635,2285,0,0,0,0,0,0
$GC,7207,1.06,187.2,260.2,11.6,353,7212,0.00,2.38,0.00,0.000,6,0.000,0.029,2961,2043,2281,0,0,0,0,0,0
$GC,7522,1.06,187.2,231.4,8.2,368,7526,0.00,2.50,0.00,0.000,4,0.000,0.051,2960,629,2280,0,0,0,0,0,0
$GC,7614,1.00,187.2,223.2,8.4,372,7619,0.15,2.35,0.00,0.000,6,0.120,0.028,2934,2044,2279,0,0,0,0,0,0
$GC,7942,1.09,202.4,197.6,7.0,389,7962,0.00,2.53,14.02,0.686,4,0.000,0.048,2933,628,2223,0,0,0,0,0,0
$GC,8094,1.12,202.4,183.5,9.5,405,8100,0.10,2.33,0.00,0.000,6,0.084,0.026,2960,2037,2218,0,0,0,0,0,0
$GC,8356,1.15,202.4,161.2,8.2,430,8360,0.00,2.47,0.00,0.000,4,0.000,0.048,2961,626,2218,0,0,0,0,0,0
$GC,8517,1.15,202.4,146.5,8.2,447,8523,0.00,2.35,0.00,0.000,6,0.000,0.025,2960,2046,2217,0,0,0,0,0,0
$GC,8779,1.20,208.2,127.4,7.6,472,8791,0.00,2.47,5.78,0.517,4,0.000,0.045,2960,629,2200,0,0,0,0,0,0
$GC,8892,1.20,208.2,117.7,8.8,484,8896,0.00,2.33,0.00,0.000,6,0.000,0.023,2960,2041,2199,0,0,0,0,0,0
$GC,9154,1.27,215.3,97.2,7.5,508,9168,0.12,2.50,7.78,0.539,4,0.071,0.044,2995,630,2172,0,0,0,0,0,0
$GC,9323,1.21,215.3,79.1,9.6,526,9329,0.00,2.33,0.00,0.000,6,0.000,0.022,2995,2035,2170,0,0,0,0,0,0
$GC,9584,1.21,215.3,56.6,9.2,551,9588,0.00,2.42,0.00,0.000,4,0.000,0.043,2994,627,2169,0,0,0,0,0,0
$GC,9652,1.15,215.3,49.5,11.1,558,9657,0.15,2.30,0.00,0.000,6,0.107,0.021,2967,2041,2169,0,0,0,0,0,0
$GC,9916,1.22,215.9,26.3,8.0,586,9922,0.00,2.45,0.00,0.000,4,0.000,0.043,2967,630,2169,0,0,0,0,0,0
$GC,9946,1.22,215.9,23.9,8.3,592,9953,0.00,2.30,0.00,0.000,6,0.000,0.021,2967,2033,2169,0,0,0,0,0,0
$GC,10147,1.30,216.7,7.7,8.0,629,10154,0.12,2.35,0.00,0.000,4,0.068,0.030,3004,3428,2169,0,0,0,0,0,0
$GC,10191,1.30,216.7,3.3,10.7,638,10197,0.00,2.35,0.00,0.000,6,0.000,0.027,3002,2027,2169,0,0,0,0,0,0
$STATE,10203,end climb,SURFACE_DEPTH_REACHED
$STATE,10203,begin surface coast
$FINISH,0.4,1.023717
$STATE,10232,end surface coast,CONTROL_FINISHED_OK
$STATE,10232,begin surface
$SM_CCo,10251,43.92,0.527,0,0,1826,300.00
$SM_GC,1.55,0.00,0.00,43.92,0.000,0.000,0.527,427,1889,1826,-10.52,-0.34,300.00
$IRIDIUM_FIX,2101.76,-15805.48,240799,212127
$TT8_MAMPS,0.029146
$HUMID,44.40
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.10
$XPDR_PINGS,1
$24V_AH,23.4,14.572
$10V_AH,10.0,13.578
$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,27.350,115.550,257.900,43.925,0.000,30.341,28.941,223.576,4.750,0.000,36.701,1272.197,6531.907,373.091,2073.575,445.670,31.428,1255.968,0.000,2031.143,0.000,29.237,0.000
$DEVICE_MAMPS,267.683,62.127,881.283,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.151,418.042,927.425,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,34951,645
$CAP_FILE_SIZE,123510,0
$CFSIZE,260165632,249704448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300410,031727,2108.522,-15801.982,90,3.1,109,9.8