version: 66.06
glider: 139
mission: 7
dive: 156
start: 4 30 110 3 23 0
data:
$ID,139
$MISSION,7
$DIVE,156
$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,-2123878.8
$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
$GPS1,031727,2108.522,-15801.982,90,3.1,109,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-71.2
$GPS2,032210,2108.560,-15802.076,10,3.9,29,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.180,-0.037
$KALMAN_X,-2430.6,-364.2,-364.7,5456.7,-557.8
$KALMAN_Y,807.3,120.0,116.5,405.3,193.8
$MHEAD_RNG_PITCHd_Wd,91.9,33491,-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,-77.9,0.0,0.0,0,76,0.00,0.00,-58.53,0.000,6,0.000,0.000,427,1888,3368,0,0,0,0,0,0
$GC,79,-1.40,-77.9,4.0,-7.2,11,97,10.68,2.42,0.00,0.000,4,0.137,0.025,2405,3326,3371,0,0,0,0,0,0
$GC,167,-1.36,-77.9,25.4,-14.9,30,174,0.00,2.45,0.00,0.000,6,0.000,0.030,2405,1894,3372,0,0,0,0,0,0
$GC,368,-1.25,-77.9,59.0,-16.2,51,370,0.17,0.00,0.00,0.000,6,0.102,0.000,2440,1894,3372,0,0,0,0,0,0
$GC,622,-1.25,-77.9,93.8,-13.2,75,626,0.00,2.38,0.00,0.000,4,0.000,0.044,2438,495,3373,0,0,0,0,0,0
$GC,647,-1.20,-77.9,96.9,-12.8,77,651,0.00,2.30,0.00,0.000,6,0.000,0.020,2439,1934,3373,0,0,0,0,0,0
$GC,910,-1.23,-77.9,124.5,-10.6,101,914,0.00,2.45,0.00,0.000,4,0.000,0.042,2439,495,3374,0,0,0,0,0,0
$GC,946,-1.23,-77.9,128.5,-9.8,104,953,0.00,2.28,0.00,0.000,6,0.000,0.020,2439,1890,3374,0,0,0,0,0,0
$GC,1209,-1.28,-77.9,153.9,-9.9,129,1213,0.00,2.40,0.00,0.000,4,0.000,0.044,2439,496,3375,0,0,0,0,0,0
$GC,1289,-1.28,-77.9,162.2,-9.1,137,1293,0.00,2.25,0.00,0.000,6,0.000,0.020,2436,1907,3376,0,0,0,0,0,0
$GC,1553,-1.36,-77.9,186.0,-9.8,161,1557,0.00,2.42,0.00,0.000,4,0.000,0.045,2439,490,3376,0,0,0,0,0,0
$GC,1625,-1.41,-77.9,193.5,-9.8,168,1632,0.10,2.30,0.00,0.000,6,0.035,0.021,2390,1899,3376,0,0,0,0,0,0
$GC,1882,-1.41,-77.9,221.2,-11.1,184,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1905,3377,0,0,0,0,0,0
$GC,2191,-1.41,-77.9,258.5,-11.6,199,2195,0.00,2.40,0.00,0.000,4,0.000,0.046,2398,497,3376,0,0,0,0,0,0
$GC,2251,-1.41,-77.9,265.6,-11.5,201,2256,0.00,2.28,0.00,0.000,6,0.000,0.023,2398,1903,3377,0,0,0,0,0,0
$GC,2568,-1.41,-77.9,300.7,-11.9,217,2572,0.00,2.42,0.00,0.000,4,0.000,0.048,2398,494,3376,0,0,0,0,0,0
$GC,2651,-1.41,-77.9,310.0,-10.0,218,2657,0.00,2.28,0.00,0.000,6,0.000,0.024,2398,1899,3376,0,0,0,0,0,0
$GC,2982,-1.41,-77.9,337.1,-8.1,227,2986,0.00,2.45,0.00,0.000,4,0.000,0.050,2398,495,3375,0,0,0,0,0,0
$GC,3078,-1.41,-77.9,346.7,-10.7,229,3082,0.00,2.30,0.00,0.000,6,0.000,0.025,2398,1897,3374,0,0,0,0,0,0
$GC,3396,-1.45,-77.9,381.2,-11.2,237,3400,0.00,2.42,0.00,0.000,4,0.000,0.051,2398,498,3373,0,0,0,0,0,0
$GC,3414,-1.45,-77.9,383.5,-10.9,237,3418,0.00,2.33,0.00,0.000,6,0.000,0.027,2398,1907,3373,0,0,0,0,0,0
$GC,3758,-1.49,-77.9,419.2,-10.0,246,3763,0.00,2.47,0.00,0.000,4,0.000,0.054,2398,499,3371,0,0,0,0,0,0
$GC,3800,-1.49,-77.9,423.5,-10.7,247,3805,0.00,2.33,0.00,0.000,6,0.000,0.028,2398,1899,3370,0,0,0,0,0,0
$STATE,4127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4127,begin apogee
$GC,4132,-0.31,0.0,452.4,8.4,255,4201,1.15,0.00,65.22,0.880,6,0.076,0.000,2643,2059,3050,0,0,0,0,0,0
$STATE,4201,end apogee,CONTROL_FINISHED_OK
$STATE,4202,begin climb
$GC,4203,1.40,77.9,453.3,0.0,256,4278,1.65,2.45,64.95,0.864,4,0.035,0.047,3026,3404,2731,0,0,0,0,0,0
$GC,4325,1.24,137.2,452.8,3.9,258,4382,0.20,2.38,50.95,0.851,6,0.117,0.037,2986,2025,2490,0,0,0,0,0,0
$GC,4705,1.12,137.2,416.0,10.3,268,4709,0.15,2.45,0.00,0.000,4,0.123,0.044,2964,3412,2483,0,0,0,0,0,0
$GC,4737,1.07,137.2,412.7,8.8,268,4742,0.00,2.40,0.00,0.000,6,0.000,0.040,2963,2034,2483,0,0,0,0,0,0
$GC,5073,1.01,137.2,382.8,9.2,277,5075,0.15,0.00,0.00,0.000,6,0.121,0.000,2937,2033,2479,0,0,0,0,0,0
$GC,5397,1.01,137.2,354.3,8.6,285,5401,0.00,2.47,0.00,0.000,4,0.000,0.055,2936,625,2477,0,0,0,0,0,0
$GC,5500,0.96,139.2,345.4,7.9,287,5504,0.00,2.33,0.00,0.000,6,0.000,0.030,2935,2016,2475,0,0,0,0,0,0
$GC,5813,1.02,187.8,329.1,4.7,295,5862,0.00,2.55,42.25,0.818,4,0.000,0.054,2935,635,2284,0,0,0,0,0,0
$GC,5973,1.02,187.8,317.3,8.6,298,5977,0.00,2.38,0.00,0.000,6,0.000,0.031,2935,2033,2277,0,0,0,0,0,0
$GC,6294,1.07,196.8,293.9,7.4,308,6307,0.00,2.55,8.18,0.688,4,0.000,0.052,2935,619,2246,0,0,0,0,0,0
$GC,6329,1.07,196.8,290.5,9.3,309,6335,0.00,2.40,0.00,0.000,6,0.000,0.030,2936,2045,2244,0,0,0,0,0,0
$GC,6646,1.13,196.8,262.0,9.5,325,6651,0.10,2.53,0.00,0.000,4,0.089,0.052,2959,629,2243,0,0,0,0,0,0
$GC,6725,1.08,196.8,252.4,12.1,328,6729,0.00,2.35,0.00,0.000,6,0.000,0.028,2960,2040,2241,0,0,0,0,0,0
$GC,7041,1.08,196.8,220.4,9.5,343,7045,0.00,2.47,0.00,0.000,4,0.000,0.050,2959,621,2241,0,0,0,0,0,0
$GC,7137,1.04,196.8,211.3,8.9,347,7141,0.00,2.35,0.00,0.000,6,0.000,0.027,2960,2043,2239,0,0,0,0,0,0
$GC,7462,1.04,196.8,186.8,8.6,370,7466,0.00,2.47,0.00,0.000,4,0.000,0.048,2960,628,2238,0,0,0,0,0,0
$GC,7605,1.00,196.8,173.3,9.9,385,7610,0.15,2.33,0.00,0.000,6,0.117,0.025,2933,2044,2238,0,0,0,0,0,0
$GC,7869,1.13,235.8,156.4,5.3,409,7910,0.12,2.58,34.20,0.668,4,0.074,0.047,2965,627,2088,0,0,0,0,0,0
$GC,8026,1.13,235.8,142.2,10.8,426,8030,0.00,2.33,0.00,0.000,6,0.000,0.024,2965,2044,2082,0,0,0,0,0,0
$GC,8287,1.18,235.8,114.6,11.1,450,8291,0.00,2.47,0.00,0.000,4,0.000,0.045,2965,625,2082,0,0,0,0,0,0
$GC,8365,1.18,235.8,104.1,13.6,458,8369,0.00,2.30,0.00,0.000,6,0.000,0.022,2965,2041,2081,0,0,0,0,0,0
$GC,8627,1.25,235.8,76.6,11.4,482,8631,0.00,2.42,0.00,0.000,4,0.000,0.044,2965,627,2080,0,0,0,0,0,0
$GC,8830,1.25,235.8,54.1,11.3,504,8836,0.00,2.33,0.00,0.000,6,0.000,0.021,2965,2036,2080,0,0,0,0,0,0
$GC,9093,1.32,235.8,32.4,8.4,529,9098,0.17,2.40,0.00,0.000,4,0.057,0.044,3013,626,2079,0,0,0,0,0,0
$GC,9192,1.23,235.8,20.7,12.3,548,9199,0.12,2.30,0.00,0.000,6,0.084,0.021,2985,2031,2080,0,0,0,0,0,0
$STATE,9366,end climb,SURFACE_DEPTH_REACHED
$STATE,9366,begin surface coast
$FINISH,0.5,1.012880
$STATE,9393,end surface coast,CONTROL_FINISHED_OK
$STATE,9394,begin surface
$SM_CCo,9413,32.22,0.520,0,0,1827,300.00
$SM_GC,1.60,0.00,0.00,32.22,0.000,0.000,0.520,428,1882,1827,-10.52,-0.51,300.00
$IRIDIUM_FIX,2101.76,-15801.19,250799,000015
$TT8_MAMPS,0.029146
$HUMID,44.52
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.4,14.649
$10V_AH,10.0,13.654
$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,25.825,105.725,265.750,32.225,0.000,25.640,25.949,119.441,4.500,0.000,30.344,1132.050,6146.509,349.210,1773.293,327.311,32.355,1114.418,0.000,1747.221,0.000,29.233,0.000
$DEVICE_MAMPS,137.293,55.224,879.749,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.769,378.494,834.885,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,31755,585
$CAP_FILE_SIZE,105498,0
$CFSIZE,260165632,249667584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300410,060206,2108.448,-15801.742,55,1.4,66,9.8