version: 66.06
glider: 139
mission: 7
dive: 162
start: 4 30 110 20 29 28
data:
$ID,139
$MISSION,7
$DIVE,162
$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,-2124052
$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
$GPS1,202330,2107.774,-15800.975,57,1.6,57,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.1
$GPS2,202837,2107.743,-15801.087,28,2.0,28,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,-0.002
$KALMAN_X,-13581.2,-211.9,137.4,17639.0,-2244.5
$KALMAN_Y,1491.8,43.2,72.1,-1662.1,46.4
$MHEAD_RNG_PITCHd_Wd,80.9,31596,-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,-77.9,0.0,0.0,0,77,0.00,0.00,-58.70,0.000,6,0.000,0.000,421,1917,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,4.0,-7.6,11,98,10.77,2.47,0.00,0.000,4,0.140,0.038,2403,491,3371,0,0,0,0,0,0
$GC,114,-0.45,-77.9,16.7,-36.7,17,121,0.98,2.35,0.00,0.000,6,0.089,0.021,2613,1923,3371,0,0,0,0,0,0
$GC,316,-0.84,-77.9,29.8,-4.6,54,323,0.35,2.47,0.00,0.000,4,0.050,0.042,2526,491,3372,0,0,0,0,0,0
$GC,385,-0.99,-77.9,35.6,-9.6,62,390,0.12,2.25,0.00,0.000,6,0.063,0.020,2481,1903,3372,0,0,0,0,0,0
$GC,649,-1.08,-77.9,65.0,-10.7,86,653,0.00,2.45,0.00,0.000,4,0.000,0.044,2482,487,3373,0,0,0,0,0,0
$GC,693,-1.14,-77.9,70.7,-12.1,90,699,0.00,2.30,0.00,0.000,6,0.000,0.020,2481,1897,3373,0,0,0,0,0,0
$GC,956,-1.24,-77.9,97.2,-9.9,115,960,0.17,2.45,0.00,0.000,4,0.052,0.044,2427,489,3374,0,0,0,0,0,0
$GC,1039,-1.18,-77.9,109.1,-14.3,123,1046,0.15,2.28,0.00,0.000,6,0.095,0.020,2459,1906,3375,0,0,0,0,0,0
$GC,1300,-1.28,-77.9,138.7,-10.2,148,1305,0.12,2.42,0.00,0.000,4,0.064,0.045,2416,494,3376,0,0,0,0,0,0
$GC,1338,-1.24,-77.9,143.7,-13.0,151,1344,0.12,2.25,0.00,0.000,6,0.100,0.020,2442,1905,3376,0,0,0,0,0,0
$GC,1599,-1.30,-77.9,171.7,-10.3,176,1603,0.00,2.42,0.00,0.000,4,0.000,0.044,2442,494,3377,0,0,0,0,0,0
$GC,1642,-1.33,-77.9,176.4,-10.3,180,1646,0.00,2.28,0.00,0.000,6,0.000,0.021,2442,1905,3377,0,0,0,0,0,0
$GC,1902,-1.42,-77.9,204.8,-9.5,202,1907,0.17,2.42,0.00,0.000,4,0.052,0.045,2389,494,3377,0,0,0,0,0,0
$GC,2004,-1.35,-77.9,217.4,-12.4,206,2009,0.15,2.28,0.00,0.000,6,0.095,0.021,2420,1905,3377,0,0,0,0,0,0
$GC,2322,-1.40,-77.9,241.7,-6.3,221,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1911,3377,0,0,0,0,0,0
$GC,2630,-1.47,-77.9,266.2,-8.8,236,2635,0.12,2.45,0.00,0.000,4,0.066,0.048,2381,488,3377,0,0,0,0,0,0
$GC,2737,-1.40,-77.9,279.0,-13.0,240,2744,0.10,2.33,0.00,0.000,6,0.077,0.024,2406,1900,3377,0,0,0,0,0,0
$GC,3050,-1.45,-77.9,314.4,-10.6,253,3054,0.00,2.42,0.00,0.000,4,0.000,0.048,2406,493,3376,0,0,0,0,0,0
$GC,3138,-1.45,-77.9,324.7,-11.9,255,3142,0.00,2.28,0.00,0.000,6,0.000,0.025,2407,1900,3376,0,0,0,0,0,0
$GC,3465,-1.51,-77.9,358.1,-9.9,263,3469,0.00,2.47,0.00,0.000,4,0.000,0.052,2407,488,3375,0,0,0,0,0,0
$GC,3538,-1.51,-77.9,365.7,-10.0,264,3542,0.00,2.33,0.00,0.000,6,0.000,0.026,2407,1900,3374,0,0,0,0,0,0
$GC,3880,-1.57,-77.9,396.8,-9.3,273,3881,0.17,0.00,0.00,0.000,6,0.058,0.000,2359,1906,3372,0,0,0,0,0,0
$GC,4204,-1.53,-77.9,435.4,-12.2,281,4209,0.10,2.50,0.00,0.000,4,0.118,0.055,2378,494,3370,0,0,0,0,0,0
$GC,4233,-1.47,-77.9,438.8,-10.8,281,4237,0.00,2.30,0.00,0.000,6,0.000,0.028,2378,1896,3370,0,0,0,0,0,0
$STATE,4367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4367,begin apogee
$GC,4372,-0.31,0.0,452.2,9.8,285,4441,1.25,0.00,65.45,0.875,6,0.077,0.000,2644,2060,3050,0,0,0,0,0,0
$STATE,4442,end apogee,CONTROL_FINISHED_OK
$STATE,4442,begin climb
$GC,4444,1.40,77.9,453.2,0.0,286,4518,1.65,2.45,65.18,0.854,4,0.034,0.047,3026,3408,2732,0,0,0,0,0,0
$GC,4783,1.20,103.1,439.4,6.3,293,4812,0.22,2.38,22.00,0.825,6,0.118,0.036,2981,2022,2628,0,0,0,0,0,0
$GC,5135,1.10,129.4,416.8,6.2,302,5163,0.15,2.45,22.77,0.828,4,0.123,0.042,2960,3404,2521,0,0,0,0,0,0
$GC,5335,1.05,129.4,398.9,9.4,306,5339,0.00,2.38,0.00,0.000,6,0.000,0.038,2960,2031,2519,0,0,0,0,0,0
$GC,5684,1.00,133.2,369.4,7.8,315,5694,0.15,2.50,3.95,0.530,4,0.123,0.053,2928,627,2506,0,0,0,0,0,0
$GC,5704,0.96,138.2,367.7,7.7,315,5716,0.00,2.35,6.20,0.664,6,0.000,0.030,2932,2016,2485,0,0,0,0,0,0
$GC,6051,1.01,176.1,347.0,5.4,324,6093,0.00,2.55,33.92,0.823,4,0.000,0.054,2931,634,2330,0,0,0,0,0,0
$GC,6148,1.01,176.1,339.7,9.4,326,6153,0.00,2.38,0.00,0.000,6,0.000,0.031,2932,2031,2326,0,0,0,0,0,0
$GC,6466,1.04,176.1,312.1,9.0,334,6470,0.00,2.50,0.00,0.000,4,0.000,0.054,2932,629,2324,0,0,0,0,0,0
$GC,6626,1.04,176.1,293.9,10.3,338,6631,0.00,2.40,0.00,0.000,6,0.000,0.030,2932,2048,2321,0,0,0,0,0,0
$GC,6951,1.09,176.1,266.1,8.3,354,6955,0.00,2.50,0.00,0.000,4,0.000,0.052,2931,623,2321,0,0,0,0,0,0
$GC,7143,1.09,176.1,247.1,9.6,362,7147,0.00,2.38,0.00,0.000,6,0.000,0.028,2933,2037,2319,0,0,0,0,0,0
$GC,7459,1.17,191.4,222.0,7.0,377,7481,0.17,2.42,12.82,0.700,4,0.067,0.038,2976,3435,2268,0,0,0,0,0,0
$GC,7553,1.17,191.4,214.7,8.2,381,7558,0.00,2.40,0.00,0.000,6,0.000,0.035,2976,2026,2268,0,0,0,0,0,0
$GC,7878,1.17,191.4,184.3,9.8,403,7882,0.00,2.42,0.00,0.000,4,0.000,0.048,2974,630,2266,0,0,0,0,0,0
$GC,7947,1.10,191.4,176.8,10.2,410,7952,0.12,2.35,0.00,0.000,6,0.125,0.026,2953,2043,2264,0,0,0,0,0,0
$GC,8207,1.13,191.4,153.6,8.7,434,8211,0.00,2.47,0.00,0.000,4,0.000,0.047,2953,622,2264,0,0,0,0,0,0
$GC,8393,1.13,191.4,136.1,9.1,454,8397,0.00,2.33,0.00,0.000,6,0.000,0.024,2954,2048,2263,0,0,0,0,0,0
$GC,8655,1.20,211.2,116.7,6.7,478,8683,0.10,2.50,18.00,0.617,4,0.084,0.045,2983,625,2188,0,0,0,0,0,0
$GC,8832,1.15,211.2,101.1,9.7,497,8836,0.00,2.33,0.00,0.000,6,0.000,0.023,2981,2036,2184,0,0,0,0,0,0
$GC,9095,1.16,220.7,80.5,7.4,521,9114,0.00,2.45,9.57,0.542,4,0.000,0.042,2982,624,2148,0,0,0,0,0,0
$GC,9214,1.13,220.7,69.5,9.5,534,9219,0.10,2.30,0.00,0.000,6,0.120,0.022,2963,2039,2146,0,0,0,0,0,0
$GC,9476,1.19,220.7,45.2,9.4,558,9480,0.00,2.45,0.00,0.000,4,0.000,0.043,2964,618,2146,0,0,0,0,0,0
$GC,9626,1.19,220.7,29.7,9.7,574,9633,0.00,2.33,0.00,0.000,6,0.000,0.021,2965,2038,2146,0,0,0,0,0,0
$GC,9892,1.28,220.7,7.7,8.9,623,9899,0.12,2.47,0.00,0.000,4,0.067,0.044,3001,627,2145,0,0,0,0,0,0
$STATE,9934,end climb,SURFACE_DEPTH_REACHED
$STATE,9934,begin surface coast
$FINISH,0.7,1.023634
$STATE,9965,end surface coast,CONTROL_FINISHED_OK
$STATE,9966,begin surface
$SM_CCo,9987,40.08,0.525,0,0,1826,300.00
$SM_GC,1.46,0.00,0.00,40.08,0.000,0.000,0.525,425,1903,1826,-10.53,0.08,300.00
$IRIDIUM_FIX,2101.76,-15803.33,250799,171705
$TT8_MAMPS,0.029146
$HUMID,43.81
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,15.116
$10V_AH,10.1,14.142
$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,28.775,114.900,259.875,40.075,0.000,25.974,31.727,141.278,4.500,0.000,28.461,1269.870,6246.724,369.558,2095.127,356.114,33.347,1249.126,0.000,2051.656,0.000,29.237,0.000
$DEVICE_MAMPS,139.594,55.224,875.147,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.340,411.847,957.130,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,34918,639
$CAP_FILE_SIZE,120426,0
$CFSIZE,260165632,249307136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300410,231754,2107.547,-15800.569,33,1.8,44,9.8