version: 66.06
glider: 139
mission: 7
dive: 109
start: 4 24 110 15 55 58
data:
$ID,139
$MISSION,7
$DIVE,109
$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,-2122468.8
$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
$GPS1,155005,2109.175,-15758.923,63,1.6,78,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.0
$GPS2,155507,2109.164,-15758.906,16,1.8,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.182,-0.025
$KALMAN_X,-16466.7,52.1,70.2,-6315.3,1048.1
$KALMAN_Y,-15362.4,146.7,-119.3,24801.4,1.0
$MHEAD_RNG_PITCHd_Wd,252.3,5668,-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,-58.75,0.000,6,0.000,0.000,431,1934,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.6,-6.6,11,97,10.70,2.33,0.00,0.000,4,0.139,0.027,2404,3317,3372,0,0,0,0,0,0
$GC,295,-1.40,-77.9,43.6,-14.1,49,301,0.00,2.42,0.00,0.000,6,0.000,0.033,2406,1903,3372,0,0,0,0,0,0
$GC,556,-1.30,-77.9,87.9,-16.6,74,561,0.12,2.42,0.00,0.000,4,0.109,0.046,2430,494,3373,0,0,0,0,0,0
$GC,618,-1.23,-77.9,98.4,-16.3,80,623,0.00,2.33,0.00,0.000,6,0.000,0.020,2429,1930,3373,0,0,0,0,0,0
$GC,879,-1.23,-77.9,133.6,-11.9,104,883,0.00,2.22,0.00,0.000,4,0.000,0.027,2427,3296,3374,0,0,0,0,0,0
$GC,897,-1.28,-77.9,135.9,-11.8,105,902,0.00,2.35,0.00,0.000,6,0.000,0.030,2429,1892,3374,0,0,0,0,0,0
$GC,1157,-1.28,-77.9,161.7,-8.6,130,1161,0.00,2.38,0.00,0.000,4,0.000,0.044,2428,488,3375,0,0,0,0,0,0
$GC,1210,-1.28,-77.9,166.4,-8.4,135,1216,0.00,2.28,0.00,0.000,6,0.000,0.020,2429,1907,3375,0,0,0,0,0,0
$GC,1472,-1.33,-77.9,187.3,-8.2,160,1476,0.00,2.45,0.00,0.000,4,0.000,0.044,2429,485,3376,0,0,0,0,0,0
$GC,1506,-1.33,-77.9,190.5,-10.4,163,1510,0.00,2.28,0.00,0.000,6,0.000,0.021,2429,1899,3376,0,0,0,0,0,0
$GC,1762,-1.39,-77.9,214.5,-9.7,180,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,1903,3376,0,0,0,0,0,0
$GC,2072,-1.47,-77.9,241.1,-8.5,195,2077,0.15,2.45,0.00,0.000,4,0.059,0.046,2381,491,3377,0,0,0,0,0,0
$GC,2096,-1.41,-77.9,243.6,-10.6,196,2101,0.12,2.28,0.00,0.000,6,0.103,0.022,2407,1897,3377,0,0,0,0,0,0
$GC,2422,-1.46,-77.9,274.2,-8.7,212,2426,0.00,2.42,0.00,0.000,4,0.000,0.048,2407,491,3376,0,0,0,0,0,0
$GC,2490,-1.46,-77.9,281.0,-9.9,215,2494,0.00,2.28,0.00,0.000,6,0.000,0.023,2409,1899,3376,0,0,0,0,0,0
$GC,2812,-1.51,-77.9,315.2,-11.6,228,2817,0.10,2.45,0.00,0.000,4,0.079,0.050,2375,488,3375,0,0,0,0,0,0
$GC,2947,-1.48,-77.9,334.3,-13.0,231,2952,0.00,2.30,0.00,0.000,6,0.000,0.025,2377,1896,3375,0,0,0,0,0,0
$GC,3274,-1.48,-77.9,370.3,-10.5,239,3278,0.00,2.45,0.00,0.000,4,0.000,0.052,2372,497,3374,0,0,0,0,0,0
$GC,3306,-1.42,-77.9,373.8,-11.3,239,3311,0.12,2.33,0.00,0.000,6,0.104,0.027,2402,1906,3373,0,0,0,0,0,0
$GC,3637,-1.47,-77.9,399.7,-7.7,247,3641,0.00,2.50,0.00,0.000,4,0.000,0.056,2399,489,3371,0,0,0,0,0,0
$GC,3679,-1.47,-77.9,403.6,-8.5,248,3683,0.00,2.33,0.00,0.000,6,0.000,0.028,2402,1897,3372,0,0,0,0,0,0
$GC,4006,-1.65,-77.9,425.7,-5.5,256,4011,0.22,2.47,0.00,0.000,4,0.050,0.054,2340,497,3369,0,0,0,0,0,0
$STATE,4140,end dive,NO_VERTICAL_VELOCITY
$STATE,4140,begin apogee
$GC,4147,-0.31,0.0,425.7,0.0,259,4216,1.38,0.00,65.07,0.862,6,0.056,0.000,2646,2048,3050,0,0,0,0,0,0
$STATE,4217,end apogee,CONTROL_FINISHED_OK
$STATE,4217,begin climb
$GC,4219,1.40,77.9,425.5,0.0,260,4293,1.65,2.50,64.55,0.841,4,0.041,0.048,3021,3426,2731,0,0,0,0,0,0
$GC,4557,1.22,104.8,412.9,6.2,267,4586,0.15,2.40,23.27,0.814,6,0.127,0.038,2979,2032,2622,0,0,0,0,0,0
$GC,4909,1.08,117.9,388.3,7.1,276,4926,0.15,2.47,11.57,0.761,4,0.125,0.044,2970,3431,2569,0,0,0,0,0,0
$GC,5005,1.01,117.9,380.6,8.5,278,5010,0.17,2.42,0.00,0.000,6,0.115,0.038,2937,2036,2568,0,0,0,0,0,0
$GC,5323,1.03,129.3,357.7,7.2,286,5339,0.00,2.58,10.73,0.752,4,0.000,0.057,2937,629,2521,0,0,0,0,0,0
$GC,5400,0.96,129.3,351.4,8.5,287,5404,0.00,2.38,0.00,0.000,6,0.000,0.030,2938,2038,2519,0,0,0,0,0,0
$GC,5736,1.01,163.5,330.3,5.7,296,5772,0.00,2.60,30.27,0.806,4,0.000,0.055,2937,634,2382,0,0,0,0,0,0
$GC,5873,1.01,163.5,319.6,9.5,299,5877,0.00,2.38,0.00,0.000,6,0.000,0.030,2938,2040,2377,0,0,0,0,0,0
$GC,6204,1.04,163.5,290.7,9.5,309,6208,0.00,2.53,0.00,0.000,4,0.000,0.054,2938,627,2375,0,0,0,0,0,0
$GC,6470,1.04,163.5,264.0,9.2,320,6477,0.00,2.40,0.00,0.000,6,0.000,0.028,2938,2035,2372,0,0,0,0,0,0
$GC,6785,1.09,172.8,240.0,7.4,336,6798,0.00,2.53,7.62,0.649,4,0.000,0.052,2938,626,2345,0,0,0,0,0,0
$GC,6839,1.09,172.8,235.2,9.6,338,6844,0.00,2.38,0.00,0.000,6,0.000,0.028,2938,2038,2343,0,0,0,0,0,0
$GC,7159,1.14,172.8,206.2,8.9,354,7164,0.12,2.38,0.00,0.000,4,0.077,0.038,2969,3430,2342,0,0,0,0,0,0
$GC,7276,1.14,172.8,195.0,9.7,363,7280,0.00,2.40,0.00,0.000,6,0.000,0.035,2970,2023,2342,0,0,0,0,0,0
$GC,7539,1.14,172.9,172.7,8.0,387,7540,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2023,2342,0,0,0,0,0,0
$GC,7793,1.17,194.8,154.6,6.5,411,7820,0.00,2.47,20.17,0.663,4,0.000,0.034,2969,3430,2255,0,0,0,0,0,0
$GC,7851,1.21,197.8,150.5,7.8,417,7861,0.00,2.40,4.25,0.455,6,0.000,0.033,2967,2029,2243,0,0,0,0,0,0
$GC,8115,1.21,197.8,128.6,8.1,442,8119,0.00,2.42,0.00,0.000,4,0.000,0.047,2969,629,2242,0,0,0,0,0,0
$GC,8214,1.21,197.8,119.3,10.6,452,8221,0.00,2.35,0.00,0.000,6,0.000,0.023,2968,2042,2238,0,0,0,0,0,0
$GC,8477,1.29,237.9,101.1,5.3,477,8522,0.12,2.50,35.62,0.619,4,0.070,0.042,3004,628,2078,0,0,0,0,0,0
$GC,8528,1.24,237.9,96.3,10.4,482,8535,0.00,2.35,0.00,0.000,6,0.000,0.023,3003,2036,2076,0,0,0,0,0,0
$GC,8791,1.24,237.9,67.9,10.8,507,8795,0.00,2.42,0.00,0.000,4,0.000,0.044,3004,626,2075,0,0,0,0,0,0
$GC,8809,1.20,237.9,65.5,11.3,508,8816,0.12,2.33,0.00,0.000,6,0.085,0.022,2977,2033,2072,0,0,0,0,0,0
$GC,9070,1.25,237.9,39.0,10.8,533,9075,0.00,2.42,0.00,0.000,4,0.000,0.042,2976,626,2072,0,0,0,0,0,0
$GC,9158,1.25,237.9,29.2,11.5,542,9165,0.00,2.30,0.00,0.000,6,0.000,0.021,2977,2031,2072,0,0,0,0,0,0
$GC,9359,1.32,237.9,9.8,10.2,579,9366,0.10,2.42,0.00,0.000,4,0.077,0.044,3007,633,2072,0,0,0,0,0,0
$STATE,9414,end climb,SURFACE_DEPTH_REACHED
$STATE,9414,begin surface coast
$FINISH,0.4,1.023860
$STATE,9437,end surface coast,CONTROL_FINISHED_OK
$STATE,9437,begin surface
$SM_CCo,9458,33.78,0.525,0,0,1825,300.00
$SM_GC,1.83,0.00,0.00,33.78,0.000,0.000,0.525,425,1905,1825,-10.53,0.14,300.00
$IRIDIUM_FIX,2101.76,-15756.04,190799,131320
$TT8_MAMPS,0.029146
$HUMID,43.66
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.00
$XPDR_PINGS,0
$24V_AH,23.4,10.793
$10V_AH,10.0,9.979
$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,26.675,115.125,273.150,33.775,0.000,31.264,26.497,132.816,0.000,0.000,33.020,1170.554,6005.966,365.623,1920.285,335.300,33.357,1194.924,0.000,1886.339,0.000,0.537,0.000
$DEVICE_MAMPS,138.827,56.758,862.108,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.679,383.466,857.426,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,31831,596
$CAP_FILE_SIZE,111651,0
$CFSIZE,260165632,252223488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240410,183651,2109.117,-15759.324,105,2.5,124,9.8