version: 66.06
glider: 139
mission: 7
dive: 106
start: 4 24 110 7 17 44
data:
$ID,139
$MISSION,7
$DIVE,106
$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,-2122362.5
$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,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,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
$GPS1,070908,2109.348,-15756.203,27,1.7,27,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.1
$GPS2,071652,2109.327,-15756.233,14,2.1,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.183,0.019
$KALMAN_X,-18570.6,200.4,501.6,-176.4,-420.4
$KALMAN_Y,-15727.1,94.8,273.8,25120.1,-666.9
$MHEAD_RNG_PITCHd_Wd,266.2,10239,-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,-58.40,0.000,6,0.000,0.000,430,1907,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,4.0,-7.2,11,98,10.75,2.40,0.00,0.000,4,0.140,0.028,2406,3322,3370,0,0,0,0,0,0
$GC,337,-1.40,-77.9,51.6,-15.3,54,341,0.00,2.42,0.00,0.000,6,0.000,0.031,2407,1891,3371,0,0,0,0,0,0
$GC,599,-1.28,-77.9,97.6,-18.4,78,603,0.15,2.42,0.00,0.000,4,0.104,0.047,2437,494,3372,0,0,0,0,0,0
$GC,634,-1.16,-77.9,103.7,-17.4,81,639,0.12,2.30,0.00,0.000,6,0.107,0.020,2461,1939,3372,0,0,0,0,0,0
$GC,897,-1.25,-77.9,129.6,-8.4,105,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1943,3374,0,0,0,0,0,0
$GC,1150,-1.36,-77.9,151.1,-8.3,129,1155,0.20,2.50,0.00,0.000,4,0.049,0.043,2402,492,3374,0,0,0,0,0,0
$GC,1184,-1.28,-77.9,154.8,-11.5,132,1189,0.15,2.22,0.00,0.000,6,0.097,0.021,2433,1887,3375,0,0,0,0,0,0
$GC,1444,-1.33,-77.9,182.1,-10.8,156,1448,0.00,2.40,0.00,0.000,4,0.000,0.044,2433,493,3375,0,0,0,0,0,0
$GC,1485,-1.33,-77.9,186.7,-11.3,160,1489,0.00,2.28,0.00,0.000,6,0.000,0.021,2433,1906,3376,0,0,0,0,0,0
$GC,1748,-1.40,-77.9,213.7,-10.6,179,1753,0.10,2.47,0.00,0.000,4,0.077,0.046,2399,485,3375,0,0,0,0,0,0
$GC,1792,-1.35,-77.9,219.1,-13.4,181,1797,0.10,2.30,0.00,0.000,6,0.113,0.021,2419,1911,3375,0,0,0,0,0,0
$GC,2124,-1.39,-77.9,254.0,-9.9,197,2128,0.00,2.45,0.00,0.000,4,0.000,0.047,2418,494,3375,0,0,0,0,0,0
$GC,2174,-1.39,-77.9,259.5,-10.2,199,2178,0.00,2.28,0.00,0.000,6,0.000,0.022,2419,1896,3375,0,0,0,0,0,0
$GC,2495,-1.46,-77.9,286.2,-7.8,215,2500,0.12,2.42,0.00,0.000,4,0.068,0.049,2378,495,3375,0,0,0,0,0,0
$GC,2510,-1.46,-77.9,287.7,-8.0,215,2515,0.00,2.28,0.00,0.000,6,0.000,0.024,2381,1904,3375,0,0,0,0,0,0
$GC,2822,-1.46,-77.9,318.3,-10.5,227,2826,0.00,2.47,0.00,0.000,4,0.000,0.050,2377,487,3374,0,0,0,0,0,0
$GC,2845,-1.41,-77.9,321.2,-12.7,227,2850,0.12,2.30,0.00,0.000,6,0.105,0.025,2406,1902,3374,0,0,0,0,0,0
$GC,3186,-1.47,-77.9,352.2,-8.6,236,3190,0.00,2.47,0.00,0.000,4,0.000,0.052,2405,494,3372,0,0,0,0,0,0
$GC,3231,-1.47,-77.9,356.5,-9.4,237,3235,0.00,2.30,0.00,0.000,6,0.000,0.026,2405,1900,3372,0,0,0,0,0,0
$GC,3554,-1.53,-77.9,381.7,-8.0,245,3559,0.12,2.50,0.00,0.000,4,0.071,0.054,2370,494,3370,0,0,0,0,0,0
$GC,3633,-1.47,-77.9,391.0,-12.0,246,3638,0.10,2.33,0.00,0.000,6,0.117,0.028,2390,1899,3370,0,0,0,0,0,0
$GC,3964,-1.51,-77.9,420.8,-8.3,254,3968,0.00,2.50,0.00,0.000,4,0.000,0.057,2390,490,3368,0,0,0,0,0,0
$GC,4028,-1.51,-77.9,426.8,-8.8,255,4032,0.00,2.33,0.00,0.000,6,0.000,0.028,2390,1901,3368,0,0,0,0,0,0
$STATE,4329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4329,begin apogee
$GC,4334,-0.31,0.0,453.0,8.6,263,4403,1.20,0.00,64.82,0.886,6,0.079,0.000,2644,2060,3050,0,0,0,0,0,0
$STATE,4404,end apogee,CONTROL_FINISHED_OK
$STATE,4404,begin climb
$GC,4406,1.40,77.9,453.8,0.0,264,4480,1.65,2.45,65.10,0.865,4,0.035,0.047,3023,3404,2732,0,0,0,0,0,0
$GC,4744,1.22,114.3,443.3,5.5,271,4781,0.22,2.38,31.10,0.852,6,0.118,0.038,2983,2026,2584,0,0,0,0,0,0
$GC,5094,1.10,114.3,416.4,8.3,280,5099,0.15,2.42,0.00,0.000,4,0.121,0.041,2957,3411,2578,0,0,0,0,0,0
$GC,5363,1.07,130.7,396.8,6.9,285,5384,0.00,2.40,14.23,0.802,6,0.000,0.038,2958,2026,2516,0,0,0,0,0,0
$GC,5699,1.03,140.2,372.9,7.4,294,5715,0.00,2.50,9.27,0.747,4,0.000,0.054,2956,627,2477,0,0,0,0,0,0
$GC,5830,0.93,140.2,360.4,10.1,296,5837,0.22,2.35,0.00,0.000,6,0.116,0.030,2916,2017,2475,0,0,0,0,0,0
$GC,6161,1.02,171.3,340.2,5.9,305,6194,0.00,2.53,27.80,0.819,4,0.000,0.056,2916,629,2351,0,0,0,0,0,0
$GC,6213,1.02,171.3,336.2,8.6,306,6217,0.00,2.40,0.00,0.000,6,0.000,0.031,2915,2044,2347,0,0,0,0,0,0
$GC,6526,1.09,171.3,309.9,8.2,314,6531,0.17,2.55,0.00,0.000,4,0.068,0.054,2956,625,2345,0,0,0,0,0,0
$GC,6605,1.02,171.3,302.7,9.8,315,6609,0.00,2.40,0.00,0.000,6,0.000,0.030,2956,2044,2343,0,0,0,0,0,0
$GC,6920,1.02,171.3,274.5,9.4,329,6925,0.00,2.53,0.00,0.000,4,0.000,0.053,2956,619,2342,0,0,0,0,0,0
$GC,6948,0.94,171.3,271.7,9.7,330,6953,0.20,2.40,0.00,0.000,6,0.111,0.029,2920,2046,2341,0,0,0,0,0,0
$GC,7270,1.06,197.2,251.0,6.2,346,7300,0.12,2.60,22.77,0.751,4,0.079,0.051,2949,629,2244,0,0,0,0,0,0
$GC,7361,1.06,197.2,241.9,11.3,350,7365,0.00,2.38,0.00,0.000,6,0.000,0.028,2950,2036,2240,0,0,0,0,0,0
$GC,7690,1.10,197.2,212.1,8.5,366,7694,0.00,2.47,0.00,0.000,4,0.000,0.050,2949,628,2240,0,0,0,0,0,0
$GC,7825,1.10,197.2,200.2,9.5,372,7829,0.00,2.38,0.00,0.000,6,0.000,0.027,2949,2049,2237,0,0,0,0,0,0
$GC,8152,1.15,197.2,170.1,9.5,402,8156,0.00,2.47,0.00,0.000,4,0.000,0.048,2949,619,2236,0,0,0,0,0,0
$GC,8259,1.15,197.2,158.4,12.3,413,8263,0.00,2.35,0.00,0.000,6,0.000,0.025,2949,2040,2236,0,0,0,0,0,0
$GC,8522,1.20,197.2,134.1,9.6,437,8527,0.12,2.45,0.00,0.000,4,0.075,0.046,2982,626,2236,0,0,0,0,0,0
$GC,8575,1.12,197.2,127.7,13.1,442,8580,0.12,2.30,0.00,0.000,6,0.117,0.024,2960,2038,2236,0,0,0,0,0,0
$GC,8836,1.18,197.2,105.5,9.9,466,8840,0.00,2.42,0.00,0.000,4,0.000,0.045,2961,625,2236,0,0,0,0,0,0
$GC,8852,1.22,197.2,104.1,9.7,467,8856,0.00,2.30,0.00,0.000,6,0.000,0.024,2960,2039,2236,0,0,0,0,0,0
$GC,9115,1.36,250.5,87.7,4.4,491,9169,0.22,0.00,46.15,0.608,6,0.052,0.000,3020,2044,2027,0,0,0,0,0,0
$GC,9424,1.33,250.5,54.9,11.8,521,9429,0.00,2.47,0.00,0.000,4,0.000,0.044,3019,616,2023,0,0,0,0,0,0
$GC,9460,1.22,250.5,50.2,13.7,524,9467,0.17,2.35,0.00,0.000,6,0.082,0.021,2982,2038,2021,0,0,0,0,0,0
$GC,9723,1.28,250.5,21.6,13.3,555,9730,0.00,2.47,0.00,0.000,4,0.000,0.044,2981,619,2021,0,0,0,0,0,0
$GC,9847,1.28,250.5,8.0,10.8,583,9854,0.00,2.33,0.00,0.000,6,0.000,0.021,2981,2028,2020,0,0,0,0,0,0
$STATE,9891,end climb,SURFACE_DEPTH_REACHED
$STATE,9891,begin surface coast
$FINISH,0.4,1.020298
$STATE,9919,end surface coast,CONTROL_FINISHED_OK
$STATE,9919,begin surface
$SM_CCo,9938,26.98,0.522,0,0,1827,300.00
$SM_GC,1.05,0.00,0.00,26.98,0.000,0.000,0.522,430,1871,1827,-10.51,-0.82,300.00
$IRIDIUM_FIX,2101.76,-15758.18,190799,070720
$TT8_MAMPS,0.029146
$HUMID,44.01
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.4,10.564
$10V_AH,10.0,9.741
$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,27.700,115.825,281.250,26.975,0.000,50.974,55.202,176.192,0.000,0.000,35.681,1179.439,6551.460,357.942,1893.480,450.627,33.357,1184.174,0.000,1863.312,0.000,0.537,0.000
$DEVICE_MAMPS,140.361,56.758,885.885,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.464,376.281,834.935,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,31756,596
$CAP_FILE_SIZE,118191,0
$CFSIZE,260165632,252391424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240410,100527,2109.540,-15757.308,42,2.6,61,9.8