version: 66.06
glider: 139
mission: 7
dive: 62
start: 4 19 110 0 26 24
data:
$ID,139
$MISSION,7
$DIVE,62
$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,2
$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,-2120783
$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,2712
$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
$PITCH_ADJ_DBAND,0
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$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
$GPS1,002053,2057.302,-15750.049,30,4.2,49,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-70.0
$GPS2,002607,2057.264,-15750.089,65,0.9,65,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.177,0.048
$KALMAN_X,-10622.7,142.5,584.3,29179.9,-1774.9
$KALMAN_Y,-1714.3,205.2,435.2,-12797.6,-689.5
$MHEAD_RNG_PITCHd_Wd,28.2,20105,-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,-77.9,0.0,0.0,0,78,0.00,0.00,-59.05,0.000,6,0.000,0.000,431,1887,3368,0,0,0,0,0,0
$GC,80,-1.40,-77.9,4.1,-7.8,11,98,10.73,2.42,0.00,0.000,4,0.140,0.028,2403,3317,3370,0,0,0,0,0,0
$GC,118,-1.40,-77.9,17.5,-33.3,18,124,0.00,2.42,0.00,0.000,6,0.000,0.031,2403,1900,3371,0,0,0,0,0,0
$GC,318,-1.40,-77.9,51.1,-16.7,43,322,0.00,2.42,0.00,0.000,4,0.000,0.047,2403,490,3371,0,0,0,0,0,0
$GC,360,-1.40,-77.9,59.0,-18.9,47,364,0.00,2.33,0.00,0.000,6,0.000,0.021,2403,1924,3372,0,0,0,0,0,0
$GC,621,-1.40,-77.9,102.7,-15.6,71,625,0.00,2.47,0.00,0.000,4,0.000,0.045,2403,485,3373,0,0,0,0,0,0
$GC,646,-1.40,-77.9,106.8,-16.8,73,650,0.00,2.28,0.00,0.000,6,0.000,0.021,2403,1902,3373,0,0,0,0,0,0
$GC,908,-1.40,-77.9,142.3,-12.6,97,912,0.00,2.30,0.00,0.000,4,0.000,0.030,2403,3291,3374,0,0,0,0,0,0
$GC,958,-1.40,-77.9,148.6,-12.2,102,962,0.00,2.33,0.00,0.000,6,0.000,0.032,2403,1898,3374,0,0,0,0,0,0
$GC,1219,-1.40,-77.9,179.2,-12.1,126,1223,0.00,2.42,0.00,0.000,4,0.000,0.046,2403,488,3375,0,0,0,0,0,0
$GC,1300,-1.40,-77.9,190.4,-13.1,134,1306,0.00,2.30,0.00,0.000,6,0.000,0.021,2403,1897,3376,0,0,0,0,0,0
$GC,1566,-1.40,-77.9,221.4,-11.8,151,1571,0.00,2.40,0.00,0.000,4,0.000,0.046,2403,497,3376,0,0,0,0,0,0
$GC,1610,-1.40,-77.9,226.9,-12.6,153,1614,0.00,2.28,0.00,0.000,6,0.000,0.022,2403,1908,3376,0,0,0,0,0,0
$GC,1939,-1.40,-77.9,258.1,-8.4,169,1944,0.00,2.42,0.00,0.000,4,0.000,0.048,2403,497,3376,0,0,0,0,0,0
$GC,1998,-1.40,-77.9,264.1,-9.8,171,2004,0.00,2.30,0.00,0.000,6,0.000,0.023,2403,1910,3376,0,0,0,0,0,0
$GC,2315,-1.40,-77.9,293.5,-10.0,187,2319,0.00,2.47,0.00,0.000,4,0.000,0.050,2403,492,3376,0,0,0,0,0,0
$GC,2429,-1.40,-77.9,306.0,-10.9,191,2433,0.00,2.30,0.00,0.000,6,0.000,0.025,2403,1896,3376,0,0,0,0,0,0
$GC,2768,-1.40,-77.9,338.9,-9.8,200,2773,0.00,2.45,0.00,0.000,4,0.000,0.053,2403,490,3375,0,0,0,0,0,0
$GC,2810,-1.40,-77.9,343.0,-9.2,201,2815,0.00,2.33,0.00,0.000,6,0.000,0.027,2403,1900,3375,0,0,0,0,0,0
$GC,3138,-1.40,-77.9,371.4,-8.2,209,3142,0.00,2.45,0.00,0.000,4,0.000,0.054,2403,498,3374,0,0,0,0,0,0
$GC,3226,-1.40,-77.9,379.4,-8.8,211,3230,0.00,2.33,0.00,0.000,6,0.000,0.028,2403,1909,3373,0,0,0,0,0,0
$GC,3558,-1.40,-77.9,405.3,-7.5,219,3562,0.00,2.50,0.00,0.000,4,0.000,0.056,2403,498,3371,0,0,0,0,0,0
$GC,3637,-1.40,-77.9,412.3,-8.7,220,3642,0.00,2.30,0.00,0.000,6,0.000,0.030,2403,1896,3370,0,0,0,0,0,0
$GC,3967,-1.40,-77.9,441.6,-9.4,228,3972,0.00,2.50,0.00,0.000,4,0.000,0.058,2403,492,3368,0,0,0,0,0,0
$STATE,4058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4058,begin apogee
$GC,4065,-0.31,0.0,450.2,9.2,230,4134,1.10,0.00,64.88,0.884,6,0.082,0.000,2638,2033,3050,0,0,0,0,0,0
$STATE,4134,end apogee,CONTROL_FINISHED_OK
$STATE,4134,begin climb
$GC,4136,1.40,77.9,451.3,0.0,231,4211,1.67,2.53,64.93,0.862,4,0.037,0.044,3023,3432,2732,0,0,0,0,0,0
$GC,4308,1.46,126.7,448.8,4.7,234,4357,0.00,2.42,42.12,0.852,6,0.000,0.038,3023,2036,2532,0,0,0,0,0,0
$GC,4683,1.46,126.7,413.5,10.1,244,4688,0.00,2.53,0.00,0.000,4,0.000,0.057,3023,626,2525,0,0,0,0,0,0
$GC,4701,1.46,126.7,411.4,10.8,244,4706,0.00,2.38,0.00,0.000,6,0.000,0.030,3023,2040,2524,0,0,0,0,0,0
$GC,5045,1.46,126.7,376.3,9.5,253,5050,0.00,2.50,0.00,0.000,4,0.000,0.056,3023,632,2523,0,0,0,0,0,0
$GC,5192,1.46,126.7,360.4,10.9,256,5197,0.00,2.35,0.00,0.000,6,0.000,0.031,3023,2037,2521,0,0,0,0,0,0
$GC,5505,1.46,126.7,332.2,8.5,264,5509,0.00,2.50,0.00,0.000,4,0.000,0.054,3023,632,2520,0,0,0,0,0,0
$GC,5514,1.46,126.7,331.3,8.6,264,5518,0.00,2.38,0.00,0.000,6,0.000,0.031,3023,2039,2519,0,0,0,0,0,0
$GC,5826,1.46,126.7,305.6,8.1,272,5830,0.00,2.38,0.00,0.000,4,0.000,0.043,3023,3432,2518,0,0,0,0,0,0
$GC,5900,1.49,155.4,300.3,6.0,273,5928,0.00,2.40,23.30,0.787,6,0.000,0.037,3023,2036,2415,0,0,0,0,0,0
$GC,6244,1.49,155.4,269.3,9.8,290,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2035,2411,0,0,0,0,0,0
$GC,6553,1.49,155.4,241.0,10.1,305,6558,0.00,2.47,0.00,0.000,4,0.000,0.053,3023,629,2409,0,0,0,0,0,0
$GC,6580,1.49,155.4,237.3,13.3,306,6585,0.00,2.38,0.00,0.000,6,0.000,0.028,3023,2050,2408,0,0,0,0,0,0
$GC,6900,1.49,155.4,204.4,10.0,322,6901,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2055,2408,0,0,0,0,0,0
$GC,7218,1.51,172.0,181.6,6.9,349,7238,0.00,2.35,14.55,0.672,4,0.000,0.033,3023,3431,2347,0,0,0,0,0,0
$GC,7252,1.53,183.1,178.8,7.3,352,7270,0.00,2.42,11.25,0.640,6,0.000,0.033,3023,2032,2302,0,0,0,0,0,0
$GC,7532,1.53,183.1,151.2,9.6,379,7536,0.00,2.42,0.00,0.000,4,0.000,0.046,3023,630,2299,0,0,0,0,0,0
$GC,7612,1.53,183.1,142.4,11.2,387,7618,0.00,2.30,0.00,0.000,6,0.000,0.025,3023,2037,2297,0,0,0,0,0,0
$GC,7872,1.53,183.1,115.1,12.2,412,7877,0.00,2.33,0.00,0.000,4,0.000,0.033,3023,3436,2297,0,0,0,0,0,0
$GC,7942,1.53,183.1,106.7,12.0,419,7947,0.00,2.35,0.00,0.000,6,0.000,0.030,3023,2028,2297,0,0,0,0,0,0
$GC,8204,1.53,183.1,81.6,9.5,443,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2028,2297,0,0,0,0,0,0
$GC,8459,1.55,203.3,60.5,6.6,467,8483,0.12,2.42,18.20,0.568,4,0.069,0.044,3060,628,2220,0,0,0,0,0,0
$GC,8494,1.55,203.3,57.2,9.7,470,8499,0.00,2.33,0.00,0.000,6,0.000,0.022,3060,2049,2218,0,0,0,0,0,0
$GC,8757,1.55,203.3,31.7,10.4,494,8761,0.00,2.45,0.00,0.000,4,0.000,0.043,3061,631,2218,0,0,0,0,0,0
$GC,8806,1.55,203.3,25.6,13.0,503,8813,0.00,2.33,0.00,0.000,6,0.000,0.022,3060,2037,2216,0,0,0,0,0,0
$GC,9006,1.55,203.3,5.7,9.0,540,9013,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2043,2216,0,0,0,0,0,0
$STATE,9028,end climb,SURFACE_DEPTH_REACHED
$STATE,9028,begin surface coast
$FINISH,0.4,1.003628
$STATE,9051,end surface coast,CONTROL_FINISHED_OK
$STATE,9051,begin surface
$SM_CCo,9071,49.83,0.532,0,0,1827,300.00
$SM_GC,0.93,0.00,0.00,49.83,0.000,0.000,0.532,432,1882,1827,-10.49,-0.51,300.00
$IRIDIUM_FIX,2047.91,-15752.63,130799,212113
$TT8_MAMPS,0.029146
$HUMID,43.10
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.3,6.854
$10V_AH,9.9,6.210
$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,25.000,110.475,239.225,49.825,0.000,29.488,27.400,115.092,0.000,0.000,65.555,1048.811,6041.972,341.785,1705.006,301.862,0.000,1080.412,0.000,1646.333,0.000,0.537,0.000
$DEVICE_MAMPS,140.361,58.292,884.351,531.531,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,370.340,349.731,782.728,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,31736,548
$CAP_FILE_SIZE,97614,0
$CFSIZE,260165632,254889984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190410,030037,2057.621,-15749.813,92,1.2,97,9.8