version: 66.06
glider: 139
mission: 7
dive: 124
start: 4 26 110 10 51 41
data:
$ID,139
$MISSION,7
$DIVE,124
$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,-2122919.5
$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
$GPS1,104601,2101.221,-15757.815,90,1.6,96,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-68.8
$GPS2,105050,2101.178,-15757.901,31,1.8,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.176,-0.052
$KALMAN_X,-27728.6,-130.0,166.2,6768.9,-2746.7
$KALMAN_Y,-17681.5,-143.9,-77.6,12585.4,-1149.2
$MHEAD_RNG_PITCHd_Wd,96.6,15161,-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,-58.83,0.000,6,0.000,0.000,423,1880,3368,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.7,-6.4,11,92,10.75,0.00,0.00,0.000,6,0.139,0.000,2406,1881,3370,0,0,0,0,0,0
$GC,286,-1.29,-77.9,44.6,-15.0,40,288,0.12,0.00,0.00,0.000,6,0.116,0.000,2430,1881,3372,0,0,0,0,0,0
$GC,539,-1.25,-77.9,79.5,-12.4,64,544,0.00,2.40,0.00,0.000,4,0.000,0.045,2431,491,3372,0,0,0,0,0,0
$GC,574,-1.15,-77.9,84.3,-14.8,67,579,0.15,2.33,0.00,0.000,6,0.104,0.020,2460,1940,3373,0,0,0,0,0,0
$GC,836,-1.23,-77.9,114.2,-10.9,91,841,0.00,2.50,0.00,0.000,4,0.000,0.044,2460,491,3373,0,0,0,0,0,0
$GC,905,-1.29,-77.9,122.7,-12.2,98,910,0.12,2.28,0.00,0.000,6,0.064,0.020,2419,1907,3374,0,0,0,0,0,0
$GC,1166,-1.29,-77.9,157.6,-12.6,122,1170,0.00,2.42,0.00,0.000,4,0.000,0.044,2418,487,3375,0,0,0,0,0,0
$GC,1183,-1.29,-77.9,160.3,-14.0,123,1189,0.00,2.28,0.00,0.000,6,0.000,0.020,2419,1906,3375,0,0,0,0,0,0
$GC,1445,-1.29,-77.9,191.1,-10.6,148,1449,0.00,2.42,0.00,0.000,4,0.000,0.046,2419,491,3376,0,0,0,0,0,0
$GC,1489,-1.29,-77.9,196.2,-10.5,152,1496,0.00,2.28,0.00,0.000,6,0.000,0.021,2419,1885,3376,0,0,0,0,0,0
$GC,1745,-1.33,-77.9,220.4,-9.3,167,1749,0.00,2.40,0.00,0.000,4,0.000,0.046,2419,495,3376,0,0,0,0,0,0
$GC,1794,-1.33,-77.9,225.5,-9.9,169,1799,0.00,2.25,0.00,0.000,6,0.000,0.021,2419,1903,3376,0,0,0,0,0,0
$GC,2115,-1.39,-77.9,252.8,-11.0,185,2119,0.00,2.45,0.00,0.000,4,0.000,0.046,2418,488,3376,0,0,0,0,0,0
$GC,2197,-1.39,-77.9,264.1,-13.5,188,2204,0.00,2.30,0.00,0.000,6,0.000,0.022,2419,1894,3376,0,0,0,0,0,0
$GC,2512,-1.46,-77.9,299.7,-10.7,204,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1897,3376,0,0,0,0,0,0
$GC,2818,-1.53,-77.9,320.1,-6.0,212,2823,0.17,2.45,0.00,0.000,4,0.055,0.050,2367,496,3375,0,0,0,0,0,0
$GC,2846,-1.44,-77.9,323.0,-10.9,212,2851,0.15,2.28,0.00,0.000,6,0.097,0.025,2399,1893,3376,0,0,0,0,0,0
$GC,3182,-1.48,-77.9,355.0,-9.4,221,3186,0.00,2.45,0.00,0.000,4,0.000,0.052,2398,490,3374,0,0,0,0,0,0
$GC,3270,-1.48,-77.9,364.3,-10.8,223,3275,0.00,2.33,0.00,0.000,6,0.000,0.026,2398,1902,3373,0,0,0,0,0,0
$GC,3597,-1.54,-77.9,394.7,-9.4,231,3601,0.00,2.45,0.00,0.000,4,0.000,0.054,2398,497,3372,0,0,0,0,0,0
$GC,3643,-1.54,-77.9,399.4,-10.2,232,3647,0.00,2.33,0.00,0.000,6,0.000,0.028,2399,1900,3372,0,0,0,0,0,0
$GC,3966,-1.73,-77.9,422.7,-5.9,240,3971,0.25,2.50,0.00,0.000,4,0.047,0.057,2326,497,3370,0,0,0,0,0,0
$STATE,4100,end dive,NO_VERTICAL_VELOCITY
$STATE,4100,begin apogee
$GC,4107,-0.31,0.0,422.7,0.0,243,4176,1.45,0.00,65.35,0.858,6,0.054,0.000,2650,2047,3049,0,0,0,0,0,0
$STATE,4176,end apogee,CONTROL_FINISHED_OK
$STATE,4177,begin climb
$GC,4178,1.40,77.9,422.5,0.0,244,4253,1.60,2.62,64.80,0.837,4,0.032,0.055,3023,630,2732,0,0,0,0,0,0
$GC,4517,1.58,196.2,422.3,-0.1,251,4627,0.15,2.40,100.75,0.850,6,0.061,0.031,3064,2040,2250,0,0,0,0,0,0
$GC,4951,1.37,196.2,361.0,18.0,262,4956,0.25,2.55,0.00,0.000,4,0.112,0.054,3013,625,2240,0,0,0,0,0,0
$GC,5220,1.18,196.2,321.2,13.4,267,5226,0.22,2.40,0.00,0.000,6,0.113,0.030,2973,2040,2233,0,0,0,0,0,0
$GC,5531,1.18,196.2,289.5,9.7,278,5535,0.00,2.50,0.00,0.000,4,0.000,0.055,2973,628,2233,0,0,0,0,0,0
$GC,5608,1.10,196.2,280.6,12.0,281,5612,0.00,2.38,0.00,0.000,6,0.000,0.029,2973,2037,2230,0,0,0,0,0,0
$GC,5923,1.13,219.4,254.4,6.4,296,5947,0.00,2.55,18.38,0.739,4,0.000,0.052,2973,623,2155,0,0,0,0,0,0
$GC,6031,1.06,219.4,244.0,11.8,300,6036,0.15,2.38,0.00,0.000,6,0.124,0.028,2947,2041,2150,0,0,0,0,0,0
$GC,6348,1.11,219.4,205.4,11.2,315,6352,0.00,2.47,0.00,0.000,4,0.000,0.051,2947,626,2149,0,0,0,0,0,0
$GC,6509,1.11,219.4,190.1,9.1,329,6513,0.00,2.38,0.00,0.000,6,0.000,0.026,2947,2049,2146,0,0,0,0,0,0
$GC,6772,1.18,219.4,170.2,8.3,353,6777,0.10,2.47,0.00,0.000,4,0.085,0.048,2974,618,2146,0,0,0,0,0,0
$GC,6873,1.12,219.4,158.4,12.4,363,6879,0.00,2.33,0.00,0.000,6,0.000,0.025,2975,2037,2145,0,0,0,0,0,0
$GC,7134,1.12,219.4,130.9,9.5,388,7138,0.00,2.45,0.00,0.000,4,0.000,0.045,2975,626,2145,0,0,0,0,0,0
$GC,7158,1.09,219.4,128.8,9.6,390,7163,0.12,2.33,0.00,0.000,6,0.122,0.024,2954,2038,2145,0,0,0,0,0,0
$GC,7418,1.18,219.4,108.2,8.1,414,7422,0.00,2.33,0.00,0.000,4,0.000,0.032,2954,3430,2145,0,0,0,0,0,0
$GC,7445,1.29,219.4,105.9,8.5,416,7452,0.17,2.38,0.00,0.000,6,0.035,0.031,3003,2031,2145,0,0,0,0,0,0
$GC,7708,1.29,220.5,82.3,7.9,441,7712,0.00,2.38,0.00,0.000,4,0.000,0.044,3006,630,2145,0,0,0,0,0,0
$GC,7850,1.22,220.5,69.5,9.5,456,7855,0.12,2.28,0.00,0.000,6,0.111,0.021,2982,2046,2145,0,0,0,0,0,0
$GC,8113,1.26,220.5,47.4,8.5,480,8114,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2051,2145,0,0,0,0,0,0
$GC,8368,1.30,220.5,23.3,10.0,510,8374,0.00,2.45,0.00,0.000,4,0.000,0.043,2981,631,2145,0,0,0,0,0,0
$GC,8407,1.26,220.5,19.0,11.1,518,8413,0.00,2.30,0.00,0.000,6,0.000,0.021,2981,2042,2145,0,0,0,0,0,0
$STATE,8565,end climb,SURFACE_DEPTH_REACHED
$STATE,8565,begin surface coast
$FINISH,0.4,1.010206
$STATE,8598,end surface coast,CONTROL_FINISHED_OK
$STATE,8598,begin surface
$SM_CCo,8617,40.03,0.518,0,0,1826,300.00
$SM_GC,1.52,0.00,0.00,40.03,0.000,0.000,0.518,424,1895,1826,-10.53,-0.14,300.00
$IRIDIUM_FIX,2057.14,-15748.75,210799,080810
$TT8_MAMPS,0.029146
$HUMID,43.26
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,11.961
$10V_AH,10.0,11.183
$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,27.025,96.250,249.275,40.025,0.000,24.586,32.013,123.052,0.000,0.000,32.034,1085.162,5426.602,342.224,1778.363,319.276,33.349,1096.715,0.000,1751.321,0.000,0.537,0.000
$DEVICE_MAMPS,138.827,56.758,857.506,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,374.048,360.901,825.250,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,31800,553
$CAP_FILE_SIZE,100901,0
$CFSIZE,260165632,251387904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260410,131730,2100.421,-15758.268,56,1.7,56,9.8