version: 66.06
glider: 139
mission: 7
dive: 107
start: 4 24 110 10 11 46
data:
$ID,139
$MISSION,7
$DIVE,107
$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,-2122419.5
$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
$GPS1,100527,2109.540,-15757.308,42,2.6,61,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.4
$GPS2,101055,2109.526,-15757.336,56,0.9,56,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.184,-0.005
$KALMAN_X,-17862.0,185.3,-34.8,-2235.5,42.2
$KALMAN_Y,-15489.6,97.0,194.6,25325.1,-493.1
$MHEAD_RNG_PITCHd_Wd,258.8,8461,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.40,-77.9,0.0,0.0,0,77,0.00,0.00,-58.83,0.000,6,0.000,0.000,430,1875,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.7,-6.6,11,97,10.70,2.40,0.00,0.000,4,0.138,0.035,2406,484,3371,0,0,0,0,0,0
$GC,302,-1.25,-77.9,50.5,-17.8,49,307,0.17,2.33,0.00,0.000,6,0.099,0.021,2442,1929,3372,0,0,0,0,0,0
$GC,565,-1.25,-77.9,87.5,-12.6,73,569,0.00,2.50,0.00,0.000,4,0.000,0.044,2441,487,3373,0,0,0,0,0,0
$GC,590,-1.15,-77.9,91.4,-15.0,75,595,0.10,2.28,0.00,0.000,6,0.120,0.020,2460,1913,3373,0,0,0,0,0,0
$GC,853,-1.23,-77.9,118.6,-7.2,99,857,0.00,2.45,0.00,0.000,4,0.000,0.044,2460,493,3374,0,0,0,0,0,0
$GC,878,-1.26,-77.9,120.8,-8.6,101,882,0.00,2.28,0.00,0.000,6,0.000,0.020,2460,1905,3374,0,0,0,0,0,0
$GC,1141,-1.35,-77.9,145.0,-9.5,125,1143,0.17,0.00,0.00,0.000,6,0.053,0.000,2408,1910,3375,0,0,0,0,0,0
$GC,1394,-1.35,-77.9,174.4,-11.2,149,1398,0.00,2.42,0.00,0.000,4,0.000,0.044,2407,487,3376,0,0,0,0,0,0
$GC,1457,-1.31,-77.9,182.4,-12.2,155,1463,0.00,2.28,0.00,0.000,6,0.000,0.021,2408,1902,3376,0,0,0,0,0,0
$GC,1725,-1.31,-77.9,211.1,-10.9,176,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,1906,3376,0,0,0,0,0,0
$GC,2036,-1.34,-77.9,240.5,-8.7,191,2040,0.00,2.42,0.00,0.000,4,0.000,0.045,2405,495,3377,0,0,0,0,0,0
$GC,2146,-1.34,-77.9,251.0,-8.7,196,2150,0.00,2.28,0.00,0.000,6,0.000,0.022,2408,1897,3377,0,0,0,0,0,0
$GC,2475,-1.39,-77.9,281.5,-8.7,212,2479,0.00,2.45,0.00,0.000,4,0.000,0.048,2406,487,3377,0,0,0,0,0,0
$GC,2499,-1.39,-77.9,283.7,-9.9,213,2503,0.00,2.30,0.00,0.000,6,0.000,0.024,2408,1911,3376,0,0,0,0,0,0
$GC,2850,-1.44,-77.9,315.7,-9.2,226,2855,0.00,2.47,0.00,0.000,4,0.000,0.050,2407,492,3376,0,0,0,0,0,0
$GC,2900,-1.44,-77.9,320.8,-10.4,227,2905,0.00,2.30,0.00,0.000,6,0.000,0.025,2407,1902,3376,0,0,0,0,0,0
$GC,3218,-1.50,-77.9,349.8,-9.5,235,3223,0.00,2.45,0.00,0.000,4,0.000,0.052,2407,496,3374,0,0,0,0,0,0
$GC,3273,-1.50,-77.9,355.3,-9.4,236,3277,0.00,2.30,0.00,0.000,6,0.000,0.026,2408,1896,3374,0,0,0,0,0,0
$GC,3586,-1.56,-77.9,382.7,-8.9,244,3588,0.15,0.00,0.00,0.000,6,0.063,0.000,2366,1899,3373,0,0,0,0,0,0
$GC,3911,-1.56,-77.9,418.1,-10.9,252,3915,0.00,2.45,0.00,0.000,4,0.000,0.056,2366,497,3371,0,0,0,0,0,0
$GC,3980,-1.52,-77.9,426.4,-12.1,253,3984,0.00,2.33,0.00,0.000,6,0.000,0.028,2364,1893,3370,0,0,0,0,0,0
$STATE,4236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4236,begin apogee
$GC,4241,-0.31,0.0,453.4,10.3,260,4310,1.33,0.00,65.43,0.882,6,0.077,0.000,2647,2067,3049,0,0,0,0,0,0
$STATE,4311,end apogee,CONTROL_FINISHED_OK
$STATE,4311,begin climb
$GC,4313,1.40,77.9,454.0,0.0,261,4387,1.62,2.42,64.97,0.861,4,0.033,0.047,3026,3399,2732,0,0,0,0,0,0
$GC,4651,1.19,88.9,440.2,7.3,268,4668,0.28,2.40,10.20,0.770,6,0.115,0.041,2975,2028,2686,0,0,0,0,0,0
$GC,5000,1.08,90.7,412.9,7.9,277,5005,0.12,2.50,0.00,0.000,4,0.128,0.058,2953,629,2683,0,0,0,0,0,0
$GC,5033,0.94,90.7,410.0,8.2,277,5038,0.17,2.33,0.00,0.000,6,0.123,0.031,2922,2014,2682,0,0,0,0,0,0
$GC,5364,0.99,128.4,390.8,5.4,285,5406,0.00,2.55,33.35,0.848,4,0.000,0.056,2922,626,2524,0,0,0,0,0,0
$GC,5517,0.96,140.2,380.5,7.2,288,5533,0.00,2.38,11.10,0.767,6,0.000,0.031,2922,2036,2478,0,0,0,0,0,0
$GC,5869,1.02,152.2,356.4,7.2,297,5884,0.00,0.00,11.35,0.768,6,0.000,0.000,2922,2039,2429,0,0,0,0,0,0
$GC,6198,1.10,180.9,333.9,6.0,305,6231,0.15,2.60,26.12,0.816,4,0.073,0.055,2957,632,2311,0,0,0,0,0,0
$GC,6246,1.03,180.9,330.2,8.5,306,6250,0.00,2.38,0.00,0.000,6,0.000,0.031,2957,2032,2308,0,0,0,0,0,0
$GC,6567,1.03,180.9,299.3,9.9,314,6572,0.00,2.47,0.00,0.000,4,0.000,0.054,2957,628,2305,0,0,0,0,0,0
$GC,6636,0.96,180.9,292.7,9.6,317,6641,0.17,2.40,0.00,0.000,6,0.119,0.030,2926,2045,2303,0,0,0,0,0,0
$GC,6964,1.03,180.9,268.6,8.5,333,6968,0.00,2.50,0.00,0.000,4,0.000,0.052,2926,629,2302,0,0,0,0,0,0
$GC,7041,1.03,180.9,260.9,9.6,336,7045,0.00,2.35,0.00,0.000,6,0.000,0.028,2926,2039,2300,0,0,0,0,0,0
$GC,7358,1.12,189.1,237.1,7.5,351,7370,0.15,2.55,6.60,0.627,4,0.071,0.051,2962,629,2278,0,0,0,0,0,0
$GC,7601,1.08,189.1,211.2,10.9,361,7605,0.00,2.35,0.00,0.000,6,0.000,0.027,2962,2047,2275,0,0,0,0,0,0
$GC,7923,1.08,189.1,183.1,8.9,385,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2052,2276,0,0,0,0,0,0
$GC,8177,1.08,189.1,160.3,9.0,409,8181,0.00,2.47,0.00,0.000,4,0.000,0.047,2961,621,2276,0,0,0,0,0,0
$GC,8257,1.04,189.1,153.0,9.2,417,8261,0.00,2.35,0.00,0.000,6,0.000,0.025,2962,2045,2275,0,0,0,0,0,0
$GC,8520,1.11,217.4,136.0,6.1,441,8551,0.00,2.50,26.20,0.648,4,0.000,0.045,2961,627,2162,0,0,0,0,0,0
$GC,8574,1.11,217.4,131.8,8.7,446,8581,0.00,2.38,0.00,0.000,6,0.000,0.024,2961,2041,2158,0,0,0,0,0,0
$GC,8837,1.18,217.4,109.7,9.6,471,8841,0.00,2.47,0.00,0.000,4,0.000,0.044,2961,617,2158,0,0,0,0,0,0
$GC,9100,1.18,217.4,79.5,8.7,499,9106,0.00,2.35,0.00,0.000,6,0.000,0.022,2962,2037,2155,0,0,0,0,0,0
$GC,9362,1.27,217.4,59.0,8.4,524,9367,0.12,2.42,0.00,0.000,4,0.069,0.044,2998,619,2155,0,0,0,0,0,0
$GC,9557,1.22,217.4,38.9,9.8,545,9564,0.00,2.33,0.00,0.000,6,0.000,0.021,2998,2046,2155,0,0,0,0,0,0
$GC,9819,1.22,217.4,15.5,9.1,585,9826,0.00,2.47,0.00,0.000,4,0.000,0.043,2998,619,2155,0,0,0,0,0,0
$STATE,9933,end climb,SURFACE_DEPTH_REACHED
$STATE,9933,begin surface coast
$FINISH,0.4,1.023829
$STATE,9955,end surface coast,CONTROL_FINISHED_OK
$STATE,9956,begin surface
$SM_CCo,9976,41.95,0.524,0,0,1826,300.00
$SM_GC,1.46,0.00,0.00,41.95,0.000,0.000,0.524,429,1910,1826,-10.51,0.31,300.00
$IRIDIUM_FIX,2101.76,-15753.03,190799,070710
$TT8_MAMPS,0.029146
$HUMID,42.79
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,10.640
$10V_AH,10.0,9.822
$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,26.450,100.925,255.325,41.950,0.000,27.181,32.975,132.317,0.000,0.000,56.177,1193.292,6515.286,353.841,1955.415,331.126,33.361,1164.033,0.000,1897.467,0.000,0.537,0.000
$DEVICE_MAMPS,138.060,58.292,882.050,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.493,392.698,887.745,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,34974,616
$CAP_FILE_SIZE,108165,0
$CFSIZE,260165632,252338176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240410,130007,2109.577,-15758.481,42,1.4,47,9.8