version: 66.06
glider: 139
mission: 7
dive: 64
start: 4 19 110 6 5 53
data:
$ID,139
$MISSION,7
$DIVE,64
$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,-2120875.5
$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,0.029999999
$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,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
$GPS1,055606,2057.808,-15749.572,36,1.2,36,9.8
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.9
$GPS2,060536,2057.756,-15749.631,75,1.2,75,9.8
$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,28.1,18901,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,78,0.00,0.00,-59.45,0.000,6,0.000,0.000,426,1888,3369,0,0,0,0,0,0
$GC,81,-1.40,-77.9,3.3,-5.1,11,99,10.73,2.45,0.00,0.000,4,0.140,0.042,2402,492,3371,0,0,0,0,0,0
$GC,127,-1.03,-77.9,19.9,-29.7,20,134,0.35,2.35,0.00,0.000,6,0.087,0.021,2485,1927,3371,0,0,0,0,0,0
$GC,335,-1.11,-77.9,41.3,-10.0,47,339,0.00,2.50,0.00,0.000,4,0.000,0.046,2484,494,3372,0,0,0,0,0,0
$GC,377,-1.14,-77.9,46.2,-11.4,51,382,0.00,2.28,0.00,0.000,6,0.000,0.021,2485,1899,3372,0,0,0,0,0,0
$GC,640,-1.25,-77.9,70.6,-9.7,75,645,0.20,2.45,0.00,0.000,4,0.051,0.044,2426,490,3373,0,0,0,0,0,0
$GC,720,-1.20,-77.9,82.2,-14.6,83,726,0.12,2.28,0.00,0.000,6,0.102,0.021,2452,1899,3373,0,0,0,0,0,0
$GC,981,-1.24,-77.9,113.8,-12.1,108,986,0.00,2.42,0.00,0.000,4,0.000,0.045,2452,495,3373,0,0,0,0,0,0
$GC,1015,-1.24,-77.9,118.2,-13.8,111,1019,0.00,2.25,0.00,0.000,6,0.000,0.021,2453,1905,3374,0,0,0,0,0,0
$GC,1278,-1.32,-77.9,146.5,-9.9,135,1283,0.12,2.47,0.00,0.000,4,0.066,0.047,2411,487,3374,0,0,0,0,0,0
$GC,1377,-1.29,-77.9,157.4,-10.5,145,1381,0.00,2.25,0.00,0.000,6,0.000,0.021,2411,1899,3375,0,0,0,0,0,0
$GC,1639,-1.29,-77.9,184.6,-12.8,169,1644,0.00,2.40,0.00,0.000,4,0.000,0.045,2411,494,3376,0,0,0,0,0,0
$GC,1676,-1.25,-77.9,190.0,-13.6,172,1683,0.10,2.28,0.00,0.000,6,0.074,0.021,2437,1886,3375,0,0,0,0,0,0
$GC,1933,-1.33,-77.9,217.9,-9.9,189,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,1891,3376,0,0,0,0,0,0
$GC,2241,-1.42,-77.9,245.9,-7.9,204,2246,0.15,2.42,0.00,0.000,4,0.060,0.048,2390,487,3375,0,0,0,0,0,0
$GC,2331,-1.38,-77.9,255.6,-11.3,208,2335,0.00,2.28,0.00,0.000,6,0.000,0.024,2389,1896,3375,0,0,0,0,0,0
$GC,2660,-1.38,-77.9,287.4,-9.6,224,2664,0.00,2.45,0.00,0.000,4,0.000,0.050,2390,488,3376,0,0,0,0,0,0
$GC,2727,-1.35,-77.9,294.0,-10.2,227,2732,0.12,2.30,0.00,0.000,6,0.104,0.025,2415,1903,3375,0,0,0,0,0,0
$GC,3053,-1.42,-77.9,318.9,-6.5,237,3056,0.00,2.45,0.00,0.000,4,0.000,0.051,2415,494,3374,0,0,0,0,0,0
$GC,3117,-1.46,-77.9,323.1,-6.3,238,3121,0.00,2.30,0.00,0.000,6,0.000,0.026,2415,1898,3374,0,0,0,0,0,0
$GC,3466,-1.54,-77.9,342.9,-5.4,247,3468,0.17,0.00,0.00,0.000,6,0.058,0.000,2366,1902,3372,0,0,0,0,0,0
$GC,3791,-1.54,-77.9,370.9,-9.0,255,3795,0.00,2.47,0.00,0.000,4,0.000,0.055,2366,497,3370,0,0,0,0,0,0
$GC,3823,-1.46,-77.9,374.0,-9.5,255,3828,0.12,2.33,0.00,0.000,6,0.109,0.029,2392,1906,3370,0,0,0,0,0,0
$GC,4154,-1.49,-77.9,397.9,-7.3,263,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1911,3368,0,0,0,0,0,0
$GC,4479,-1.53,-77.9,427.0,-9.5,271,4483,0.00,2.50,0.00,0.000,4,0.000,0.058,2392,498,3366,0,0,0,0,0,0
$GC,4593,-1.53,-77.9,439.0,-10.4,273,4598,0.00,2.33,0.00,0.000,6,0.000,0.031,2392,1907,3365,0,0,0,0,0,0
$STATE,4728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4728,begin apogee
$GC,4733,-0.31,0.0,451.4,9.1,277,4801,1.17,0.00,64.60,0.894,6,0.081,0.000,2640,2050,3050,0,0,0,0,0,0
$STATE,4802,end apogee,CONTROL_FINISHED_OK
$STATE,4802,begin climb
$GC,4804,1.40,77.9,452.5,0.0,278,4878,1.65,2.47,65.22,0.871,4,0.035,0.045,3021,3414,2731,0,0,0,0,0,0
$GC,4966,1.24,135.7,451.9,4.0,281,5024,0.20,2.42,49.85,0.866,6,0.116,0.039,2986,2026,2496,0,0,0,0,0,0
$GC,5351,1.13,136.9,422.6,7.9,291,5356,0.15,2.53,0.00,0.000,4,0.121,0.059,2959,628,2487,0,0,0,0,0,0
$GC,5473,1.02,136.9,411.4,9.4,293,5478,0.15,2.35,0.00,0.000,6,0.128,0.031,2933,2022,2485,0,0,0,0,0,0
$GC,5809,1.03,150.9,387.1,7.1,302,5828,0.00,2.53,12.48,0.792,4,0.000,0.056,2933,626,2433,0,0,0,0,0,0
$GC,5838,1.05,162.0,384.7,7.3,302,5854,0.00,2.40,11.32,0.772,6,0.000,0.031,2933,2044,2389,0,0,0,0,0,0
$GC,6182,1.05,162.0,355.6,8.8,311,6186,0.00,2.53,0.00,0.000,4,0.000,0.058,2933,625,2384,0,0,0,0,0,0
$GC,6232,1.01,162.0,349.7,11.9,312,6237,0.00,2.40,0.00,0.000,6,0.000,0.031,2932,2042,2382,0,0,0,0,0,0
$GC,6549,1.01,162.0,314.5,10.8,320,6554,0.00,2.53,0.00,0.000,4,0.000,0.057,2932,630,2381,0,0,0,0,0,0
$GC,6766,1.01,167.3,294.2,7.7,325,6776,0.00,2.35,4.53,0.568,6,0.000,0.031,2933,2040,2367,0,0,0,0,0,0
$GC,7088,1.07,185.5,272.4,6.8,341,7112,0.00,2.62,17.55,0.765,4,0.000,0.054,2933,623,2292,0,0,0,0,0,0
$GC,7236,1.07,185.5,258.5,9.6,347,7240,0.00,2.38,0.00,0.000,6,0.000,0.029,2933,2038,2288,0,0,0,0,0,0
$GC,7551,1.13,185.5,230.5,9.9,362,7556,0.12,2.53,0.00,0.000,4,0.082,0.054,2961,629,2288,0,0,0,0,0,0
$GC,7579,1.07,185.5,226.7,13.5,363,7583,0.00,2.38,0.00,0.000,6,0.000,0.029,2961,2040,2287,0,0,0,0,0,0
$GC,7900,1.07,185.5,192.5,9.2,382,7904,0.00,2.47,0.00,0.000,4,0.000,0.052,2962,628,2287,0,0,0,0,0,0
$GC,7971,1.03,185.5,186.3,8.1,389,7976,0.12,2.33,0.00,0.000,6,0.126,0.028,2940,2036,2285,0,0,0,0,0,0
$GC,8234,1.15,232.7,172.9,4.8,413,8282,0.10,2.58,41.35,0.703,4,0.088,0.050,2964,630,2101,0,0,0,0,0,0
$GC,8328,1.11,232.7,165.0,10.8,423,8334,0.00,2.35,0.00,0.000,6,0.000,0.027,2964,2043,2096,0,0,0,0,0,0
$GC,8590,1.16,232.7,138.0,10.5,448,8594,0.00,2.50,0.00,0.000,4,0.000,0.049,2964,623,2095,0,0,0,0,0,0
$GC,8742,1.16,232.7,117.3,17.2,464,8749,0.00,2.35,0.00,0.000,6,0.000,0.025,2964,2030,2093,0,0,0,0,0,0
$GC,9006,1.24,232.7,85.7,10.0,489,9010,0.00,2.42,0.00,0.000,4,0.000,0.048,2964,627,2092,0,0,0,0,0,0
$GC,9131,1.24,232.7,72.2,10.5,502,9137,0.00,2.35,0.00,0.000,6,0.000,0.023,2965,2043,2091,0,0,0,0,0,0
$GC,9394,1.37,259.7,50.9,6.2,527,9425,0.20,2.50,23.55,0.573,4,0.058,0.046,3017,627,1990,0,0,0,0,0,0
$GC,9447,1.27,259.7,44.9,13.3,532,9454,0.10,2.35,0.00,0.000,6,0.088,0.022,2994,2044,1988,0,0,0,0,0,0
$GC,9712,1.27,259.7,13.5,12.1,569,9719,0.00,2.47,0.00,0.000,4,0.000,0.044,2993,630,1987,0,0,0,0,0,0
$STATE,9787,end climb,SURFACE_DEPTH_REACHED
$STATE,9787,begin surface coast
$FINISH,1.7,1.023846
$STATE,9797,end surface coast,CONTROL_FINISHED_OK
$STATE,9797,begin surface
$SM_CCo,9818,22.52,0.525,0,0,1827,300.00
$SM_GC,1.38,0.00,0.00,22.52,0.000,0.000,0.525,431,1900,1827,-10.49,0.00,300.00
$IRIDIUM_FIX,2052.52,-15749.62,140799,060615
$TT8_MAMPS,0.029146
$HUMID,43.34
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.00
$XPDR_PINGS,1
$24V_AH,23.3,7.029
$10V_AH,10.0,6.370
$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,27.325,115.550,290.450,22.525,0.000,50.464,60.126,239.649,0.250,0.000,75.359,1144.227,6525.242,363.453,1880.163,500.468,0.000,1169.538,0.000,1808.117,0.000,0.539,0.000
$DEVICE_MAMPS,139.594,59.059,894.322,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.292,369.883,839.661,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355476
$DATA_FILE_SIZE,31747,588
$CAP_FILE_SIZE,116333,0
$CFSIZE,260165632,254763008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190410,085146,2058.274,-15749.306,57,2.1,76,9.8