version: 66.06
glider: 139
mission: 7
dive: 123
start: 4 26 110 8 11 49
data:
$ID,139
$MISSION,7
$DIVE,123
$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,-2122886.8
$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
$GPS1,080451,2101.564,-15757.719,72,3.9,91,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.6
$GPS2,081058,2101.499,-15757.787,42,4.7,61,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.170,0.070
$KALMAN_X,-26039.8,-150.1,590.3,4874.4,-2531.0
$KALMAN_Y,-16176.4,-183.0,-140.0,11773.3,-485.5
$MHEAD_RNG_PITCHd_Wd,57.7,15228,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-55.33,0.000,2,0.000,0.000,425,1883,3293,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.5,-6.2,10,94,10.70,2.40,-1.45,0.000,4,0.137,0.053,2407,490,3369,0,0,0,0,0,0
$GC,148,-1.22,-77.9,24.2,-20.8,25,155,0.15,2.38,0.00,0.000,6,0.080,0.023,2442,1916,3370,0,0,0,0,0,0
$GC,350,-1.19,-77.9,55.9,-14.6,46,354,0.00,2.45,0.00,0.000,4,0.000,0.046,2441,495,3370,0,0,0,0,0,0
$GC,393,-1.09,-77.9,63.3,-17.6,50,398,0.15,2.30,0.00,0.000,6,0.100,0.021,2473,1922,3370,0,0,0,0,0,0
$GC,654,-1.16,-77.9,93.7,-10.4,74,659,0.00,2.45,0.00,0.000,4,0.000,0.045,2471,494,3372,0,0,0,0,0,0
$GC,736,-1.21,-77.9,101.8,-8.4,82,743,0.08,2.28,0.00,0.000,6,0.040,0.020,2437,1894,3372,0,0,0,0,0,0
$GC,998,-1.25,-77.9,127.1,-11.7,107,1002,0.00,2.40,0.00,0.000,4,0.000,0.044,2436,488,3373,0,0,0,0,0,0
$GC,1062,-1.29,-77.9,135.1,-11.6,113,1067,0.00,2.25,0.00,0.000,6,0.000,0.020,2437,1897,3373,0,0,0,0,0,0
$GC,1323,-1.34,-77.9,159.1,-8.6,138,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,1901,3373,0,0,0,0,0,0
$GC,1577,-1.41,-77.9,178.8,-9.2,162,1582,0.12,2.45,0.00,0.000,4,0.066,0.046,2396,489,3374,0,0,0,0,0,0
$GC,1710,-1.33,-77.9,196.3,-14.4,176,1715,0.12,2.28,0.00,0.000,6,0.102,0.021,2422,1903,3374,0,0,0,0,0,0
$GC,1975,-1.38,-77.9,224.6,-9.6,190,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,1908,3375,0,0,0,0,0,0
$GC,2285,-1.44,-77.9,252.0,-9.4,205,2289,0.00,2.45,0.00,0.000,4,0.000,0.046,2422,486,3375,0,0,0,0,0,0
$GC,2322,-1.47,-77.9,255.3,-8.3,206,2329,0.10,2.30,0.00,0.000,6,0.037,0.023,2383,1894,3375,0,0,0,0,0,0
$GC,2636,-1.47,-77.9,287.2,-10.1,222,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1898,3374,0,0,0,0,0,0
$GC,2963,-1.47,-77.9,321.8,-10.7,233,2967,0.00,2.42,0.00,0.000,4,0.000,0.051,2382,494,3374,0,0,0,0,0,0
$GC,3032,-1.43,-77.9,329.5,-11.0,234,3037,0.00,2.30,0.00,0.000,6,0.000,0.025,2383,1900,3374,0,0,0,0,0,0
$GC,3372,-1.43,-77.9,366.9,-11.1,243,3376,0.00,2.47,0.00,0.000,4,0.000,0.052,2382,490,3372,0,0,0,0,0,0
$GC,3418,-1.40,-77.9,372.5,-12.4,244,3423,0.12,2.33,0.00,0.000,6,0.104,0.027,2406,1899,3372,0,0,0,0,0,0
$GC,3741,-1.46,-77.9,404.2,-9.1,252,3745,0.00,2.45,0.00,0.000,4,0.000,0.054,2407,497,3370,0,0,0,0,0,0
$GC,3768,-1.46,-77.9,407.0,-10.6,252,3772,0.00,2.33,0.00,0.000,6,0.000,0.028,2407,1900,3370,0,0,0,0,0,0
$STATE,4060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4060,begin apogee
$GC,4065,-0.31,0.0,450.3,16.7,260,4134,1.10,0.00,65.05,0.871,6,0.074,0.000,2643,2062,3050,0,0,0,0,0,0
$STATE,4135,end apogee,CONTROL_FINISHED_OK
$STATE,4135,begin climb
$GC,4136,1.40,77.9,448.3,0.0,261,4211,1.62,2.45,64.72,0.847,4,0.031,0.046,3025,3410,2732,0,0,0,0,0,0
$GC,4331,1.15,77.9,420.8,12.6,265,4337,0.30,2.38,0.00,0.000,6,0.111,0.035,2966,2029,2729,0,0,0,0,0,0
$GC,4682,1.16,171.8,405.5,1.6,274,4768,0.00,2.55,79.53,0.842,4,0.000,0.057,2967,632,2348,0,0,0,0,0,0
$GC,4885,1.05,171.8,391.3,11.4,278,4890,0.15,2.33,0.00,0.000,6,0.123,0.030,2941,2013,2340,0,0,0,0,0,0
$GC,5220,1.05,171.8,362.6,8.6,287,5225,0.00,2.45,0.00,0.000,4,0.000,0.056,2942,633,2337,0,0,0,0,0,0
$GC,5294,1.00,171.8,355.3,10.1,288,5298,0.00,2.38,0.00,0.000,6,0.000,0.030,2942,2036,2335,0,0,0,0,0,0
$GC,5629,1.00,171.8,325.4,9.0,297,5633,0.00,2.50,0.00,0.000,4,0.000,0.054,2942,632,2334,0,0,0,0,0,0
$GC,5754,0.95,171.8,311.6,9.9,299,5758,0.00,2.35,0.00,0.000,6,0.000,0.030,2942,2036,2332,0,0,0,0,0,0
$GC,6067,0.96,174.0,286.8,7.9,310,6071,0.00,2.50,0.00,0.000,4,0.000,0.053,2942,625,2331,0,0,0,0,0,0
$GC,6149,0.92,174.0,280.1,8.1,313,6156,0.15,2.38,0.00,0.000,6,0.119,0.028,2915,2041,2329,0,0,0,0,0,0
$GC,6466,1.06,208.0,263.0,5.7,329,6503,0.12,2.55,29.67,0.765,4,0.078,0.051,2946,629,2200,0,0,0,0,0,0
$GC,6723,1.06,208.0,237.3,12.1,340,6727,0.00,2.35,0.00,0.000,6,0.000,0.028,2946,2039,2193,0,0,0,0,0,0
$GC,7043,1.12,208.0,204.4,9.8,356,7047,0.00,2.45,0.00,0.000,4,0.000,0.050,2947,632,2192,0,0,0,0,0,0
$GC,7063,1.12,208.0,202.7,8.6,357,7067,0.00,2.33,0.00,0.000,6,0.000,0.027,2946,2041,2191,0,0,0,0,0,0
$GC,7390,1.18,210.4,179.4,7.9,386,7395,0.12,2.50,0.00,0.000,4,0.074,0.048,2978,624,2191,0,0,0,0,0,0
$GC,7563,1.11,210.4,158.0,13.4,404,7570,0.10,2.35,0.00,0.000,6,0.094,0.025,2957,2030,2190,0,0,0,0,0,0
$GC,7825,1.17,210.4,128.5,9.7,429,7829,0.00,2.45,0.00,0.000,4,0.000,0.046,2956,631,2190,0,0,0,0,0,0
$GC,7858,1.17,210.4,125.2,9.2,432,7862,0.00,2.33,0.00,0.000,6,0.000,0.024,2957,2048,2190,0,0,0,0,0,0
$GC,8125,1.28,235.4,103.5,6.3,457,8156,0.17,2.55,23.48,0.613,4,0.061,0.044,3003,628,2089,0,0,0,0,0,0
$GC,8271,1.22,235.4,90.2,10.6,473,8276,0.12,2.30,0.00,0.000,6,0.113,0.022,2981,2037,2085,0,0,0,0,0,0
$GC,8534,1.27,235.4,62.3,10.5,497,8538,0.00,2.45,0.00,0.000,4,0.000,0.044,2980,623,2084,0,0,0,0,0,0
$GC,8640,1.27,235.4,49.2,13.3,508,8647,0.00,2.33,0.00,0.000,6,0.000,0.021,2980,2037,2084,0,0,0,0,0,0
$GC,8904,1.32,235.4,19.7,11.6,541,8911,0.00,2.45,0.00,0.000,4,0.000,0.044,2980,630,2083,0,0,0,0,0,0
$GC,8985,1.32,235.4,9.2,12.5,559,8992,0.00,2.30,0.00,0.000,6,0.000,0.021,2980,2041,2084,0,0,0,0,0,0
$STATE,9040,end climb,SURFACE_DEPTH_REACHED
$STATE,9040,begin surface coast
$FINISH,0.5,1.005321
$STATE,9068,end surface coast,CONTROL_FINISHED_OK
$STATE,9068,begin surface
$SM_CCo,9088,32.53,0.521,0,0,1826,300.00
$SM_GC,1.60,0.00,0.00,32.53,0.000,0.000,0.521,424,1879,1826,-10.53,-0.59,300.00
$IRIDIUM_FIX,2052.52,-15759.92,210799,050508
$TT8_MAMPS,0.029146
$HUMID,44.29
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.4,11.886
$10V_AH,10.0,11.109
$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,26.475,101.050,262.450,32.525,0.000,27.699,36.326,159.909,0.000,0.000,62.500,1103.644,5881.411,345.907,1789.459,369.722,33.359,1103.453,0.000,1734.803,0.000,0.537,0.000
$DEVICE_MAMPS,137.293,56.758,871.312,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,388.318,372.411,814.937,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,31803,574
$CAP_FILE_SIZE,103616,0
$CFSIZE,260165632,251437056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260410,104601,2101.221,-15757.815,90,1.6,96,9.8