version: 66.06
glider: 139
mission: 7
dive: 157
start: 4 30 110 6 8 23
data:
$ID,139
$MISSION,7
$DIVE,157
$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,-2123909.8
$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
$GPS1,060206,2108.448,-15801.742,55,1.4,66,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-71.8
$GPS2,060731,2108.469,-15801.816,13,1.6,30,9.8
$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,-4370.1,-141.3,-173.1,7419.2,-1322.0
$KALMAN_Y,1234.9,27.7,35.6,-9.3,304.8
$MHEAD_RNG_PITCHd_Wd,91.7,33022,-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,-77.9,0.0,0.0,0,76,0.00,0.00,-58.70,0.000,6,0.000,0.000,428,1883,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.8,-6.5,11,92,10.73,0.00,0.00,0.000,6,0.140,0.000,2404,1883,3371,0,0,0,0,0,0
$GC,287,-1.27,-77.9,46.0,-17.3,40,292,0.17,2.42,0.00,0.000,4,0.102,0.047,2438,487,3372,0,0,0,0,0,0
$GC,313,-1.12,-77.9,50.7,-17.2,42,318,0.17,2.33,0.00,0.000,6,0.103,0.021,2470,1934,3372,0,0,0,0,0,0
$GC,577,-1.17,-77.9,79.3,-9.4,66,581,0.00,2.50,0.00,0.000,4,0.000,0.044,2472,490,3372,0,0,0,0,0,0
$GC,612,-1.17,-77.9,83.1,-9.5,69,618,0.00,2.28,0.00,0.000,6,0.000,0.020,2470,1901,3373,0,0,0,0,0,0
$GC,874,-1.27,-77.9,104.0,-7.6,94,879,0.15,2.45,0.00,0.000,4,0.058,0.044,2425,492,3374,0,0,0,0,0,0
$GC,956,-1.23,-77.9,112.9,-10.8,102,964,0.10,2.28,0.00,0.000,6,0.074,0.020,2444,1896,3374,0,0,0,0,0,0
$GC,1218,-1.29,-77.9,136.7,-9.6,127,1222,0.00,2.40,0.00,0.000,4,0.000,0.044,2450,492,3375,0,0,0,0,0,0
$GC,1244,-1.29,-77.9,139.8,-11.3,129,1253,0.00,2.25,0.00,0.000,6,0.000,0.021,2446,1908,3375,0,0,0,0,0,0
$GC,1506,-1.37,-77.9,167.8,-10.5,154,1511,0.15,2.45,0.00,0.000,4,0.059,0.045,2404,494,3375,0,0,0,0,0,0
$GC,1552,-1.30,-77.9,173.8,-12.9,158,1559,0.10,2.28,0.00,0.000,6,0.077,0.021,2410,1892,3376,0,0,0,0,0,0
$GC,1814,-1.33,-77.9,200.4,-10.4,183,1819,0.00,2.40,0.00,0.000,4,0.000,0.045,2429,494,3376,0,0,0,0,0,0
$GC,1859,-1.33,-77.9,205.1,-10.8,185,1863,0.00,2.25,0.00,0.000,6,0.000,0.021,2418,1900,3376,0,0,0,0,0,0
$GC,2191,-1.39,-77.9,241.5,-9.7,201,2195,0.00,2.42,0.00,0.000,4,0.000,0.045,2428,494,3376,0,0,0,0,0,0
$GC,2234,-1.39,-77.9,245.7,-9.1,203,2238,0.00,2.25,0.00,0.000,6,0.000,0.021,2429,1902,3376,0,0,0,0,0,0
$GC,2565,-1.46,-77.9,271.1,-7.4,219,2570,0.15,2.45,0.00,0.000,4,0.059,0.048,2382,495,3376,0,0,0,0,0,0
$GC,2616,-1.40,-77.9,277.3,-12.5,221,2621,0.12,2.28,0.00,0.000,6,0.102,0.023,2409,1896,3376,0,0,0,0,0,0
$GC,2936,-1.44,-77.9,308.5,-9.4,235,2940,0.00,2.42,0.00,0.000,4,0.000,0.048,2409,494,3375,0,0,0,0,0,0
$GC,2963,-1.44,-77.9,311.5,-11.3,235,2967,0.00,2.30,0.00,0.000,6,0.000,0.024,2409,1903,3376,0,0,0,0,0,0
$GC,3298,-1.49,-77.9,339.8,-7.9,244,3303,0.00,2.40,0.00,0.000,4,0.000,0.049,2409,499,3375,0,0,0,0,0,0
$GC,3386,-1.49,-77.9,347.9,-10.1,245,3392,0.00,2.30,0.00,0.000,6,0.000,0.025,2409,1903,3375,0,0,0,0,0,0
$GC,3717,-1.56,-77.9,376.5,-8.7,254,3722,0.15,2.50,0.00,0.000,4,0.062,0.053,2366,489,3373,0,0,0,0,0,0
$GC,3754,-1.48,-77.9,380.8,-12.0,254,3760,0.12,2.33,0.00,0.000,6,0.106,0.027,2391,1903,3373,0,0,0,0,0,0
$GC,4084,-1.48,-77.9,412.9,-9.7,263,4088,0.00,2.47,0.00,0.000,4,0.000,0.054,2391,498,3371,0,0,0,0,0,0
$GC,4126,-1.48,-77.9,417.1,-10.5,264,4130,0.00,2.33,0.00,0.000,6,0.000,0.028,2391,1898,3371,0,0,0,0,0,0
$GC,4453,-1.51,-77.9,445.0,-8.1,272,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1904,3368,0,0,0,0,0,0
$STATE,4532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4532,begin apogee
$GC,4537,-0.31,0.0,452.2,8.7,274,4605,1.17,0.00,65.28,0.880,6,0.077,0.000,2642,2060,3050,0,0,0,0,0,0
$STATE,4606,end apogee,CONTROL_FINISHED_OK
$STATE,4606,begin climb
$GC,4608,1.40,77.9,453.3,0.0,275,4683,1.65,2.45,65.00,0.859,4,0.035,0.047,3025,3405,2732,0,0,0,0,0,0
$GC,4846,1.23,117.5,448.4,5.3,280,4887,0.20,2.38,34.20,0.843,6,0.115,0.038,2985,2026,2570,0,0,0,0,0,0
$GC,5205,1.10,117.5,416.7,10.1,289,5210,0.17,2.42,0.00,0.000,4,0.118,0.044,2958,3408,2565,0,0,0,0,0,0
$GC,5357,1.07,136.8,404.9,6.7,292,5383,0.00,2.35,16.58,0.805,6,0.000,0.037,2958,2033,2492,0,0,0,0,0,0
$GC,5707,1.03,136.8,377.9,8.1,301,5711,0.00,2.47,0.00,0.000,4,0.000,0.053,2956,631,2488,0,0,0,0,0,0
$GC,5767,0.91,136.8,372.5,9.0,302,5772,0.22,2.35,0.00,0.000,6,0.116,0.030,2915,2020,2486,0,0,0,0,0,0
$GC,6117,0.99,163.2,348.7,6.2,311,6145,0.00,2.55,23.30,0.812,4,0.000,0.055,2914,629,2383,0,0,0,0,0,0
$GC,6208,1.00,176.0,342.7,7.1,313,6225,0.00,2.38,12.25,0.756,6,0.000,0.031,2914,2040,2332,0,0,0,0,0,0
$GC,6535,1.09,186.1,318.3,7.3,321,6551,0.17,2.58,9.80,0.727,4,0.066,0.052,2956,628,2291,0,0,0,0,0,0
$GC,6630,1.03,186.1,308.2,10.6,323,6634,0.00,2.38,0.00,0.000,6,0.000,0.030,2956,2044,2287,0,0,0,0,0,0
$GC,6954,1.03,186.1,276.3,10.2,336,6959,0.00,2.53,0.00,0.000,4,0.000,0.053,2955,621,2286,0,0,0,0,0,0
$GC,7061,0.98,186.1,264.9,10.2,340,7068,0.12,2.40,0.00,0.000,6,0.099,0.029,2931,2038,2283,0,0,0,0,0,0
$GC,7376,1.08,219.8,244.7,5.7,356,7414,0.00,2.53,30.30,0.749,4,0.000,0.050,2929,630,2152,0,0,0,0,0,0
$GC,7589,1.08,219.8,226.1,9.1,365,7593,0.00,2.35,0.00,0.000,6,0.000,0.027,2930,2044,2145,0,0,0,0,0,0
$GC,7909,1.17,219.8,200.0,8.3,381,7914,0.17,2.47,0.00,0.000,4,0.064,0.049,2974,623,2145,0,0,0,0,0,0
$GC,8003,1.10,219.8,190.3,10.6,390,8010,0.08,2.38,0.00,0.000,6,0.100,0.026,2958,2040,2143,0,0,0,0,0,0
$GC,8266,1.14,219.8,162.9,12.4,415,8270,0.00,2.45,0.00,0.000,4,0.000,0.048,2957,629,2142,0,0,0,0,0,0
$GC,8338,1.14,219.8,153.0,14.5,422,8344,0.00,2.35,0.00,0.000,6,0.000,0.025,2957,2038,2142,0,0,0,0,0,0
$GC,8601,1.19,220.9,127.8,7.9,447,8605,0.00,2.45,0.00,0.000,4,0.000,0.046,2957,628,2142,0,0,0,0,0,0
$GC,8680,1.19,220.9,120.7,9.1,455,8685,0.00,2.30,0.00,0.000,6,0.000,0.024,2957,2039,2141,0,0,0,0,0,0
$GC,8944,1.27,241.4,102.4,6.6,479,8972,0.15,2.47,18.65,0.603,4,0.064,0.045,2998,629,2065,0,0,0,0,0,0
$GC,9165,1.22,241.4,74.4,13.8,503,9169,0.00,2.33,0.00,0.000,6,0.000,0.022,2997,2041,2060,0,0,0,0,0,0
$GC,9427,1.22,241.4,45.5,10.4,527,9431,0.00,2.42,0.00,0.000,4,0.000,0.044,2998,627,2059,0,0,0,0,0,0
$GC,9544,1.17,241.4,31.6,12.2,539,9552,0.10,2.33,0.00,0.000,6,0.085,0.021,2975,2039,2059,0,0,0,0,0,0
$GC,9809,1.22,241.4,5.8,9.7,587,9816,0.00,2.45,0.00,0.000,4,0.000,0.043,2975,630,2059,0,0,0,0,0,0
$STATE,9838,end climb,SURFACE_DEPTH_REACHED
$STATE,9838,begin surface coast
$FINISH,1.1,1.023745
$STATE,9852,end surface coast,CONTROL_FINISHED_OK
$STATE,9852,begin surface
$SM_CCo,9873,32.03,0.528,0,0,1826,300.00
$SM_GC,1.61,0.00,0.00,32.03,0.000,0.000,0.528,430,1939,1826,-10.51,1.10,300.00
$IRIDIUM_FIX,2059.45,-15803.33,250799,030339
$TT8_MAMPS,0.029146
$HUMID,44.76
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,23.4,14.730
$10V_AH,10.0,13.733
$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,27.250,119.500,275.350,32.025,0.000,31.419,28.209,156.040,4.500,0.000,30.323,1188.322,6396.955,373.453,1902.411,373.681,33.348,1203.848,0.000,1864.817,0.000,29.253,0.000
$DEVICE_MAMPS,139.594,55.224,879.749,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.132,378.595,834.284,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,31869,596
$CAP_FILE_SIZE,117412,0
$CFSIZE,260165632,249602048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300410,085455,2108.150,-15800.774,46,1.6,51,9.8