version: 66.06
glider: 139
mission: 7
dive: 158
start: 4 30 110 9 0 23
data:
$ID,139
$MISSION,7
$DIVE,158
$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,-2123925.8
$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
$GPS1,085455,2108.150,-15800.774,46,1.6,51,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.1
$GPS2,085931,2108.160,-15800.806,10,1.5,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,-0.035
$KALMAN_X,-5330.3,101.4,246.0,9444.0,-1313.0
$KALMAN_Y,1360.4,-88.4,-130.3,-421.1,289.4
$MHEAD_RNG_PITCHd_Wd,91.1,31211,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-54.88,0.000,2,0.000,0.000,430,1938,3259,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.3,-5.9,10,94,10.70,2.50,-2.17,0.000,4,0.139,0.052,2405,488,3368,0,0,0,0,0,0
$GC,110,-0.47,-77.9,14.9,-31.2,16,117,0.95,2.38,0.00,0.000,6,0.095,0.021,2605,1936,3370,0,0,0,0,0,0
$GC,313,-0.85,-77.9,27.6,-4.4,53,320,0.32,2.50,0.00,0.000,4,0.050,0.042,2525,493,3370,0,0,0,0,0,0
$GC,382,-0.99,-77.9,33.1,-8.8,64,388,0.00,2.28,0.00,0.000,6,0.000,0.020,2515,1895,3371,0,0,0,0,0,0
$GC,644,-1.16,-77.9,55.4,-8.6,89,649,0.25,2.42,0.00,0.000,4,0.043,0.043,2447,484,3372,0,0,0,0,0,0
$GC,707,-1.16,-77.9,63.6,-12.6,95,714,0.00,2.30,0.00,0.000,6,0.000,0.021,2445,1895,3372,0,0,0,0,0,0
$GC,967,-1.16,-77.9,95.4,-12.0,120,971,0.00,2.28,0.00,0.000,4,0.000,0.028,2446,3290,3373,0,0,0,0,0,0
$GC,994,-1.22,-77.9,98.6,-11.0,122,1001,0.00,2.35,0.00,0.000,6,0.000,0.029,2447,1897,3373,0,0,0,0,0,0
$GC,1258,-1.29,-77.9,120.8,-10.0,147,1262,0.00,2.40,0.00,0.000,4,0.000,0.044,2447,494,3375,0,0,0,0,0,0
$GC,1373,-1.29,-77.9,133.9,-11.8,159,1377,0.00,2.28,0.00,0.000,6,0.000,0.020,2445,1910,3375,0,0,0,0,0,0
$GC,1636,-1.36,-77.9,158.2,-8.8,183,1641,0.12,2.42,0.00,0.000,4,0.064,0.044,2404,497,3375,0,0,0,0,0,0
$GC,1706,-1.30,-77.9,166.6,-12.4,190,1711,0.12,2.25,0.00,0.000,6,0.100,0.021,2428,1893,3375,0,0,0,0,0,0
$GC,1966,-1.34,-77.9,191.7,-8.8,214,1970,0.00,2.38,0.00,0.000,4,0.000,0.044,2429,497,3375,0,0,0,0,0,0
$GC,1989,-1.34,-77.9,193.9,-10.0,216,1994,0.00,2.25,0.00,0.000,6,0.000,0.021,2426,1910,3376,0,0,0,0,0,0
$GC,2256,-1.41,-77.9,213.5,-6.5,232,2260,0.00,2.42,0.00,0.000,4,0.000,0.045,2429,492,3376,0,0,0,0,0,0
$GC,2339,-1.44,-77.9,219.7,-7.7,235,2346,0.15,2.28,0.00,0.000,6,0.059,0.021,2384,1905,3376,0,0,0,0,0,0
$GC,2656,-1.41,-77.9,250.8,-11.2,251,2661,0.12,2.45,0.00,0.000,4,0.104,0.047,2409,496,3376,0,0,0,0,0,0
$GC,2707,-1.41,-77.9,257.3,-11.7,253,2711,0.00,2.25,0.00,0.000,6,0.000,0.023,2409,1897,3376,0,0,0,0,0,0
$GC,3030,-1.45,-77.9,291.4,-9.9,269,3034,0.00,2.42,0.00,0.000,4,0.000,0.048,2409,497,3376,0,0,0,0,0,0
$GC,3080,-1.45,-77.9,296.9,-10.2,271,3084,0.00,2.28,0.00,0.000,6,0.000,0.024,2409,1906,3376,0,0,0,0,0,0
$GC,3417,-1.50,-77.9,322.1,-6.1,281,3421,0.00,2.45,0.00,0.000,4,0.000,0.049,2409,496,3375,0,0,0,0,0,0
$GC,3449,-1.50,-77.9,324.6,-7.6,281,3453,0.00,2.30,0.00,0.000,6,0.000,0.025,2409,1901,3375,0,0,0,0,0,0
$GC,3781,-1.55,-77.9,350.4,-7.8,289,3786,0.15,2.45,0.00,0.000,4,0.061,0.053,2366,499,3374,0,0,0,0,0,0
$GC,3871,-1.45,-77.9,360.7,-12.5,291,3876,0.15,2.30,0.00,0.000,6,0.100,0.027,2396,1895,3373,0,0,0,0,0,0
$GC,4200,-1.49,-77.9,397.0,-10.0,299,4204,0.00,2.45,0.00,0.000,4,0.000,0.054,2395,500,3371,0,0,0,0,0,0
$GC,4217,-1.49,-77.9,399.2,-10.1,299,4222,0.00,2.30,0.00,0.000,6,0.000,0.028,2396,1903,3371,0,0,0,0,0,0
$GC,4561,-1.52,-77.9,436.0,-10.8,308,4565,0.00,2.47,0.00,0.000,4,0.000,0.056,2396,500,3369,0,0,0,0,0,0
$GC,4588,-1.52,-77.9,439.0,-10.7,308,4593,0.00,2.33,0.00,0.000,6,0.000,0.028,2396,1900,3369,0,0,0,0,0,0
$STATE,4718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4718,begin apogee
$GC,4723,-0.31,0.0,450.7,9.0,312,4792,1.17,0.00,65.35,0.876,6,0.076,0.000,2647,2063,3050,0,0,0,0,0,0
$STATE,4793,end apogee,CONTROL_FINISHED_OK
$STATE,4793,begin climb
$GC,4795,1.40,77.9,451.4,0.0,313,4869,1.62,2.45,64.70,0.856,4,0.032,0.047,3027,3409,2733,0,0,0,0,0,0
$GC,4930,1.20,108.6,449.4,5.9,316,4963,0.25,2.40,27.00,0.829,6,0.115,0.036,2979,2027,2607,0,0,0,0,0,0
$GC,5295,1.09,108.6,418.6,9.0,325,5300,0.15,2.40,0.00,0.000,4,0.121,0.040,2955,3406,2601,0,0,0,0,0,0
$GC,5361,1.04,110.0,412.9,7.9,326,5365,0.00,2.38,0.00,0.000,6,0.000,0.036,2954,2031,2601,0,0,0,0,0,0
$GC,5705,1.02,134.6,388.9,6.3,335,5734,0.00,2.55,21.80,0.821,4,0.000,0.053,2953,634,2500,0,0,0,0,0,0
$GC,5826,0.92,134.6,378.5,9.6,337,5831,0.20,2.33,0.00,0.000,6,0.117,0.028,2918,2013,2497,0,0,0,0,0,0
$GC,6163,0.97,148.0,355.7,7.1,346,6180,0.00,2.50,12.18,0.770,4,0.000,0.052,2915,629,2445,0,0,0,0,0,0
$GC,6212,0.97,148.0,351.8,8.5,347,6216,0.00,2.35,0.00,0.000,6,0.000,0.028,2918,2036,2443,0,0,0,0,0,0
$GC,6530,1.03,149.6,326.6,7.9,355,6534,0.00,2.47,0.00,0.000,4,0.000,0.052,2916,628,2442,0,0,0,0,0,0
$GC,6797,1.08,186.0,304.6,5.5,360,6839,0.12,2.38,33.60,0.798,6,0.074,0.028,2950,2049,2291,0,0,0,0,0,0
$GC,7153,1.08,186.0,274.8,8.8,376,7157,0.00,2.50,0.00,0.000,4,0.000,0.051,2948,631,2285,0,0,0,0,0,0
$GC,7298,1.03,186.0,259.7,11.2,382,7303,0.00,2.33,0.00,0.000,6,0.000,0.028,2950,2034,2281,0,0,0,0,0,0
$GC,7614,1.03,186.0,227.6,9.9,397,7618,0.00,2.47,0.00,0.000,4,0.000,0.050,2949,628,2281,0,0,0,0,0,0
$GC,7680,1.00,186.0,220.2,11.1,400,7684,0.00,2.35,0.00,0.000,6,0.000,0.026,2950,2038,2280,0,0,0,0,0,0
$GC,8001,1.07,220.9,197.1,5.6,418,8038,0.00,2.55,30.05,0.713,4,0.000,0.048,2950,623,2148,0,0,0,0,0,0
$GC,8142,1.09,231.0,186.8,7.3,433,8157,0.00,2.38,9.65,0.629,6,0.000,0.025,2951,2046,2108,0,0,0,0,0,0
$GC,8412,1.14,231.0,162.2,9.9,459,8413,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2046,2105,0,0,0,0,0,0
$GC,8667,1.19,231.0,135.4,11.1,483,8672,0.10,2.47,0.00,0.000,4,0.084,0.047,2978,625,2105,0,0,0,0,0,0
$GC,8823,1.13,231.0,114.9,13.1,499,8828,0.00,2.30,0.00,0.000,6,0.000,0.024,2978,2043,2102,0,0,0,0,0,0
$GC,9084,1.16,231.0,88.5,10.8,524,9088,0.00,2.45,0.00,0.000,4,0.000,0.044,2978,629,2102,0,0,0,0,0,0
$GC,9345,1.16,231.0,54.6,12.0,552,9352,0.00,2.33,0.00,0.000,6,0.000,0.022,2978,2036,2101,0,0,0,0,0,0
$GC,9608,1.21,231.0,28.2,9.2,578,9615,0.00,2.45,0.00,0.000,4,0.000,0.044,2978,629,2101,0,0,0,0,0,0
$GC,9758,1.21,231.0,12.3,10.8,612,9764,0.00,2.33,0.00,0.000,6,0.000,0.021,2978,2046,2101,0,0,0,0,0,0
$STATE,9861,end climb,SURFACE_DEPTH_REACHED
$STATE,9861,begin surface coast
$FINISH,0.4,1.013945
$STATE,9895,end surface coast,CONTROL_FINISHED_OK
$STATE,9895,begin surface
$SM_CCo,9914,34.78,0.531,0,0,1826,300.00
$SM_GC,1.63,0.00,0.00,34.78,0.000,0.000,0.531,425,1885,1826,-10.53,-0.42,300.00
$IRIDIUM_FIX,2101.76,-15803.33,250799,060622
$TT8_MAMPS,0.029146
$HUMID,45.23
$INTERNAL_PRESSURE,9.64535
$TCM_TEMP,20.90
$XPDR_PINGS,0
$24V_AH,23.4,14.808
$10V_AH,10.1,13.816
$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,27.675,119.675,264.325,34.775,0.000,24.689,29.203,125.921,4.500,0.000,15.204,1247.614,6294.528,361.237,1982.540,342.221,33.350,1206.730,0.000,1961.144,0.000,30.086,0.000
$DEVICE_MAMPS,138.827,55.991,875.914,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.034,411.426,952.746,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,34919,637
$CAP_FILE_SIZE,117716,0
$CFSIZE,260165632,249540608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300410,114800,2107.752,-15800.228,57,1.5,73,9.8