version: 66.06
glider: 139
mission: 7
dive: 121
start: 4 26 110 2 32 52
data:
$ID,139
$MISSION,7
$DIVE,121
$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,-2122810.2
$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
$GPS1,022627,2102.583,-15758.573,60,2.2,79,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-68.5
$GPS2,023200,2102.579,-15758.660,39,1.4,39,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,-0.029
$KALMAN_X,-22415.5,27.7,-614.1,775.9,-1004.4
$KALMAN_Y,-14546.2,-236.4,-66.8,12122.6,-260.3
$MHEAD_RNG_PITCHd_Wd,89.3,17496,-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,-77.9,0.0,0.0,0,76,0.00,0.00,-58.90,0.000,6,0.000,0.000,424,1875,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.8,-6.9,11,97,10.73,2.40,0.00,0.000,4,0.139,0.037,2404,488,3370,0,0,0,0,0,0
$GC,151,-1.23,-77.9,24.1,-17.8,26,158,0.15,2.38,0.00,0.000,6,0.086,0.020,2439,1936,3372,0,0,0,0,0,0
$GC,357,-1.20,-77.9,54.8,-15.1,48,361,0.00,2.47,0.00,0.000,4,0.000,0.045,2439,494,3372,0,0,0,0,0,0
$GC,382,-1.09,-77.9,59.0,-16.7,50,387,0.17,2.28,0.00,0.000,6,0.100,0.020,2473,1913,3372,0,0,0,0,0,0
$GC,643,-1.15,-77.9,88.6,-10.8,74,647,0.00,2.45,0.00,0.000,4,0.000,0.043,2473,494,3373,0,0,0,0,0,0
$GC,677,-1.20,-77.9,92.0,-10.9,77,681,0.00,2.28,0.00,0.000,6,0.000,0.020,2473,1905,3373,0,0,0,0,0,0
$GC,939,-1.32,-77.9,117.3,-8.7,101,944,0.22,2.45,0.00,0.000,4,0.046,0.043,2408,491,3374,0,0,0,0,0,0
$GC,1013,-1.25,-77.9,125.7,-11.3,108,1020,0.12,2.28,0.00,0.000,6,0.073,0.020,2439,1894,3374,0,0,0,0,0,0
$GC,1275,-1.31,-77.9,150.8,-9.4,133,1279,0.00,2.42,0.00,0.000,4,0.000,0.044,2439,488,3375,0,0,0,0,0,0
$GC,1336,-1.35,-77.9,157.5,-10.4,139,1340,0.00,2.28,0.00,0.000,6,0.000,0.021,2439,1899,3375,0,0,0,0,0,0
$GC,1599,-1.42,-77.9,185.6,-11.1,163,1604,0.15,2.45,0.00,0.000,4,0.058,0.045,2393,490,3376,0,0,0,0,0,0
$GC,1645,-1.34,-77.9,192.3,-14.4,167,1651,0.12,2.28,0.00,0.000,6,0.103,0.021,2418,1899,3375,0,0,0,0,0,0
$GC,1901,-1.38,-77.9,224.1,-12.6,183,1905,0.00,2.42,0.00,0.000,4,0.000,0.045,2418,494,3376,0,0,0,0,0,0
$GC,1946,-1.38,-77.9,231.0,-14.1,185,1950,0.00,2.25,0.00,0.000,6,0.000,0.021,2419,1910,3376,0,0,0,0,0,0
$GC,2272,-1.45,-77.9,263.7,-9.4,201,2276,0.00,2.42,0.00,0.000,4,0.000,0.046,2419,494,3376,0,0,0,0,0,0
$GC,2345,-1.48,-77.9,270.9,-9.1,204,2350,0.12,2.28,0.00,0.000,6,0.066,0.022,2380,1896,3376,0,0,0,0,0,0
$GC,2665,-1.48,-77.9,301.8,-9.0,220,2669,0.00,2.42,0.00,0.000,4,0.000,0.048,2379,495,3376,0,0,0,0,0,0
$GC,2701,-1.42,-77.9,305.6,-10.5,220,2706,0.12,2.28,0.00,0.000,6,0.103,0.024,2405,1905,3375,0,0,0,0,0,0
$GC,3032,-1.46,-77.9,335.0,-9.4,228,3036,0.00,2.45,0.00,0.000,4,0.000,0.050,2403,496,3375,0,0,0,0,0,0
$GC,3096,-1.46,-77.9,342.2,-10.5,229,3100,0.00,2.28,0.00,0.000,6,0.000,0.025,2405,1895,3374,0,0,0,0,0,0
$GC,3445,-1.52,-77.9,377.4,-10.3,238,3449,0.00,2.45,0.00,0.000,4,0.000,0.052,2404,496,3373,0,0,0,0,0,0
$GC,3509,-1.52,-77.9,384.5,-10.5,239,3514,0.00,2.30,0.00,0.000,6,0.000,0.027,2404,1898,3373,0,0,0,0,0,0
$GC,3854,-1.58,-77.9,419.4,-9.7,248,3859,0.17,2.47,0.00,0.000,4,0.059,0.055,2355,494,3370,0,0,0,0,0,0
$GC,3910,-1.51,-77.9,426.3,-12.3,249,3915,0.15,2.33,0.00,0.000,6,0.103,0.028,2386,1897,3370,0,0,0,0,0,0
$STATE,4140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4141,begin apogee
$GC,4145,-0.31,0.0,450.5,10.3,255,4214,1.20,0.00,65.15,0.874,6,0.077,0.000,2642,2060,3050,0,0,0,0,0,0
$STATE,4215,end apogee,CONTROL_FINISHED_OK
$STATE,4215,begin climb
$GC,4217,1.40,77.9,452.5,0.0,256,4292,1.65,2.45,64.32,0.856,4,0.035,0.047,3025,3405,2732,0,0,0,0,0,0
$GC,4551,1.24,130.1,449.5,4.4,263,4603,0.20,2.40,44.15,0.851,6,0.118,0.038,2988,2025,2519,0,0,0,0,0,0
$GC,4944,1.14,140.6,421.4,7.3,273,4960,0.15,2.55,9.60,0.748,4,0.123,0.057,2960,633,2476,0,0,0,0,0,0
$GC,5019,1.02,140.6,415.8,8.1,274,5024,0.12,2.33,0.00,0.000,6,0.130,0.030,2940,2012,2473,0,0,0,0,0,0
$GC,5359,1.04,151.2,390.6,7.3,283,5375,0.00,2.55,9.90,0.753,4,0.000,0.054,2940,629,2433,0,0,0,0,0,0
$GC,5442,0.97,151.2,383.5,8.9,284,5446,0.00,2.38,0.00,0.000,6,0.000,0.030,2940,2040,2430,0,0,0,0,0,0
$GC,5772,1.01,180.2,361.0,6.0,292,5800,0.00,0.00,26.05,0.817,6,0.000,0.000,2940,2044,2315,0,0,0,0,0,0
$GC,6136,1.02,185.3,333.4,7.7,301,6148,0.00,2.55,5.32,0.614,4,0.000,0.053,2940,619,2293,0,0,0,0,0,0
$GC,6209,0.98,185.3,326.6,10.0,302,6213,0.00,2.38,0.00,0.000,6,0.000,0.029,2940,2038,2291,0,0,0,0,0,0
$GC,6530,1.02,185.3,296.7,9.3,311,6534,0.00,2.47,0.00,0.000,4,0.000,0.053,2940,629,2291,0,0,0,0,0,0
$GC,6669,1.02,185.3,282.7,10.0,317,6673,0.00,2.38,0.00,0.000,6,0.000,0.028,2940,2042,2288,0,0,0,0,0,0
$GC,6996,1.06,185.3,256.2,8.2,333,7000,0.00,2.50,0.00,0.000,4,0.000,0.051,2940,628,2288,0,0,0,0,0,0
$GC,7139,1.07,186.3,243.7,8.0,339,7143,0.00,2.33,0.00,0.000,6,0.000,0.028,2940,2036,2286,0,0,0,0,0,0
$GC,7459,1.12,186.3,211.3,10.4,355,7464,0.00,2.47,0.00,0.000,4,0.000,0.050,2940,625,2286,0,0,0,0,0,0
$GC,7693,1.14,200.9,189.3,7.0,374,7714,0.10,2.33,13.70,0.671,6,0.086,0.026,2966,2044,2231,0,0,0,0,0,0
$GC,7967,1.14,202.8,168.4,7.9,400,7971,0.00,2.47,0.00,0.000,4,0.000,0.048,2966,627,2229,0,0,0,0,0,0
$GC,8049,1.10,202.8,160.8,9.8,408,8055,0.00,2.35,0.00,0.000,6,0.000,0.025,2967,2032,2227,0,0,0,0,0,0
$GC,8311,1.10,202.8,130.9,12.7,433,8312,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2037,2227,0,0,0,0,0,0
$GC,8566,1.14,202.8,103.3,8.7,457,8570,0.00,2.45,0.00,0.000,4,0.000,0.045,2967,618,2227,0,0,0,0,0,0
$GC,8590,1.14,202.8,100.8,10.5,459,8595,0.00,2.30,0.00,0.000,6,0.000,0.023,2967,2044,2227,0,0,0,0,0,0
$GC,8853,1.24,235.5,78.3,5.8,483,8893,0.00,2.55,31.17,0.596,4,0.000,0.044,2967,623,2087,0,0,0,0,0,0
$GC,9089,1.24,235.5,59.5,9.6,509,9094,0.00,2.30,0.00,0.000,6,0.000,0.021,2966,2044,2082,0,0,0,0,0,0
$GC,9357,1.32,235.5,35.9,8.7,534,9362,0.15,2.45,0.00,0.000,4,0.062,0.044,3009,625,2082,0,0,0,0,0,0
$GC,9430,1.25,235.5,27.4,12.3,544,9437,0.08,2.30,0.00,0.000,6,0.087,0.021,2990,2028,2082,0,0,0,0,0,0
$GC,9632,1.30,235.5,6.6,10.1,581,9639,0.00,2.45,0.00,0.000,4,0.000,0.047,2989,632,2082,0,0,0,0,0,0
$STATE,9669,end climb,SURFACE_DEPTH_REACHED
$STATE,9669,begin surface coast
$FINISH,0.6,1.023828
$STATE,9700,end surface coast,CONTROL_FINISHED_OK
$STATE,9700,begin surface
$SM_CCo,9721,33.12,0.521,0,0,1825,300.00
$SM_GC,1.53,0.00,0.00,33.12,0.000,0.000,0.521,425,1921,1825,-10.53,0.62,300.00
$IRIDIUM_FIX,2054.83,-15802.06,200799,232341
$TT8_MAMPS,0.029146
$HUMID,44.01
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,23.4,11.730
$10V_AH,10.0,10.957
$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,26.975,114.700,269.375,33.125,0.000,30.569,28.935,154.075,0.000,0.000,39.426,1172.349,6302.160,356.213,1895.101,365.311,33.361,1174.933,0.000,1852.867,0.000,0.538,0.000
$DEVICE_MAMPS,138.827,56.758,873.613,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.278,379.203,859.603,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,31807,596
$CAP_FILE_SIZE,112425,0
$CFSIZE,260165632,251539456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260410,051643,2102.077,-15758.225,35,2.0,41,9.8