version: 66.06
glider: 139
mission: 7
dive: 126
start: 4 26 110 15 58 1
data:
$ID,139
$MISSION,7
$DIVE,126
$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,-2122966.2
$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
$GPS1,155159,2100.645,-15758.896,57,2.0,67,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.3
$GPS2,155711,2100.637,-15758.944,14,6.2,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,-0.034
$KALMAN_X,-32764.3,145.8,-319.1,10215.6,-2682.2
$KALMAN_Y,-19866.5,-14.0,111.3,13441.0,-1537.9
$MHEAD_RNG_PITCHd_Wd,91.0,16497,-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,-54.90,0.000,2,0.000,0.000,425,1875,3251,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.2,-4.7,10,94,10.65,2.38,-2.38,0.000,4,0.136,0.052,2404,492,3370,0,0,0,0,0,0
$GC,161,-1.23,-77.9,24.2,-18.2,28,168,0.15,2.35,0.00,0.000,6,0.087,0.021,2438,1924,3371,0,0,0,0,0,0
$GC,365,-1.23,-77.9,54.7,-12.5,50,370,0.00,2.47,0.00,0.000,4,0.000,0.044,2438,487,3371,0,0,0,0,0,0
$GC,408,-1.17,-77.9,60.4,-13.9,54,413,0.10,2.28,0.00,0.000,6,0.119,0.020,2457,1910,3372,0,0,0,0,0,0
$GC,670,-1.22,-77.9,87.5,-11.0,78,674,0.00,2.42,0.00,0.000,4,0.000,0.044,2456,494,3373,0,0,0,0,0,0
$GC,730,-1.25,-77.9,94.8,-11.9,84,734,0.00,2.25,0.00,0.000,6,0.000,0.020,2456,1896,3373,0,0,0,0,0,0
$GC,991,-1.34,-77.9,120.8,-10.0,108,996,0.17,2.40,0.00,0.000,4,0.052,0.045,2403,494,3374,0,0,0,0,0,0
$GC,1092,-1.30,-77.9,134.6,-13.0,118,1099,0.10,2.30,0.00,0.000,6,0.075,0.020,2428,1905,3374,0,0,0,0,0,0
$GC,1354,-1.34,-77.9,160.1,-8.5,143,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,1910,3374,0,0,0,0,0,0
$GC,1610,-1.38,-77.9,178.1,-5.5,167,1614,0.00,2.42,0.00,0.000,4,0.000,0.044,2429,485,3375,0,0,0,0,0,0
$GC,1663,-1.38,-77.9,181.4,-5.8,172,1667,0.00,2.28,0.00,0.000,6,0.000,0.021,2429,1908,3375,0,0,0,0,0,0
$GC,1925,-1.43,-77.9,196.0,-6.5,196,1930,0.12,2.45,0.00,0.000,4,0.066,0.046,2389,494,3375,0,0,0,0,0,0
$GC,1993,-1.35,-77.9,202.9,-11.5,202,1998,0.15,2.25,0.00,0.000,6,0.097,0.021,2419,1898,3375,0,0,0,0,0,0
$GC,2319,-1.41,-77.9,240.4,-12.3,218,2324,0.00,2.42,0.00,0.000,4,0.000,0.046,2419,494,3375,0,0,0,0,0,0
$GC,2387,-1.41,-77.9,249.4,-13.8,221,2391,0.00,2.28,0.00,0.000,6,0.000,0.022,2419,1908,3375,0,0,0,0,0,0
$GC,2717,-1.47,-77.9,290.6,-11.5,237,2722,0.12,2.45,0.00,0.000,4,0.066,0.048,2380,492,3374,0,0,0,0,0,0
$GC,2731,-1.47,-77.9,292.7,-11.7,237,2737,0.00,2.28,0.00,0.000,6,0.000,0.024,2380,1904,3374,0,0,0,0,0,0
$GC,3042,-1.47,-77.9,326.8,-9.6,247,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1909,3374,0,0,0,0,0,0
$GC,3367,-1.47,-77.9,351.9,-7.8,255,3372,0.00,2.47,0.00,0.000,4,0.000,0.051,2380,489,3373,0,0,0,0,0,0
$GC,3456,-1.44,-77.9,360.3,-9.6,257,3461,0.00,2.30,0.00,0.000,6,0.000,0.026,2380,1900,3373,0,0,0,0,0,0
$GC,3783,-1.44,-77.9,392.2,-9.9,265,3787,0.00,2.42,0.00,0.000,4,0.000,0.051,2379,496,3371,0,0,0,0,0,0
$GC,3820,-1.48,-77.9,395.5,-8.9,265,3825,0.00,2.30,0.00,0.000,6,0.000,0.027,2379,1903,3371,0,0,0,0,0,0
$STATE,4026,end dive,NO_VERTICAL_VELOCITY
$STATE,4027,begin apogee
$GC,4031,-0.31,0.0,395.8,0.0,271,4100,1.17,0.00,64.78,0.831,6,0.049,0.000,2649,2053,3050,0,0,0,0,0,0
$STATE,4100,end apogee,CONTROL_FINISHED_OK
$STATE,4101,begin climb
$GC,4102,1.40,77.9,395.6,0.0,272,4177,1.62,2.60,64.00,0.811,4,0.035,0.050,3024,629,2730,0,0,0,0,0,0
$GC,4441,1.14,103.4,383.2,6.3,279,4470,0.32,2.33,21.85,0.786,6,0.110,0.028,2965,2020,2627,0,0,0,0,0,0
$GC,4793,1.11,135.9,360.6,5.8,288,4826,0.00,2.53,27.35,0.796,4,0.000,0.051,2965,628,2496,0,0,0,0,0,0
$GC,5089,0.99,135.9,332.6,9.0,294,5094,0.20,2.38,0.00,0.000,6,0.119,0.029,2930,2037,2490,0,0,0,0,0,0
$GC,5429,1.01,151.0,309.0,7.0,303,5450,0.00,2.53,13.25,0.739,4,0.000,0.051,2930,626,2433,0,0,0,0,0,0
$GC,5637,1.01,151.0,289.9,10.5,309,5641,0.00,2.38,0.00,0.000,6,0.000,0.029,2930,2037,2430,0,0,0,0,0,0
$GC,5967,1.07,165.4,262.9,7.0,325,5989,0.00,2.53,13.25,0.718,4,0.000,0.051,2930,620,2373,0,0,0,0,0,0
$GC,6027,1.07,165.4,257.8,9.0,327,6031,0.00,2.40,0.00,0.000,6,0.000,0.028,2930,2040,2371,0,0,0,0,0,0
$GC,6342,1.13,165.9,233.2,8.0,342,6347,0.12,2.53,0.00,0.000,4,0.077,0.051,2960,618,2370,0,0,0,0,0,0
$GC,6457,1.06,165.9,221.9,10.2,347,6461,0.00,2.35,0.00,0.000,6,0.000,0.028,2960,2038,2369,0,0,0,0,0,0
$GC,6776,1.09,187.6,198.5,6.5,363,6804,0.00,2.55,19.50,0.697,4,0.000,0.048,2958,632,2284,0,0,0,0,0,0
$GC,6935,1.04,187.6,182.3,11.1,380,6943,0.00,2.38,0.00,0.000,6,0.000,0.026,2960,2037,2280,0,0,0,0,0,0
$GC,7197,1.04,187.6,156.9,9.8,405,7202,0.00,2.47,0.00,0.000,4,0.000,0.047,2959,618,2279,0,0,0,0,0,0
$GC,7241,1.00,187.6,152.2,11.2,409,7246,0.15,2.35,0.00,0.000,6,0.118,0.025,2934,2043,2278,0,0,0,0,0,0
$GC,7504,1.08,187.6,128.3,8.5,433,7508,0.00,2.47,0.00,0.000,4,0.000,0.046,2933,619,2278,0,0,0,0,0,0
$GC,7529,1.12,187.6,125.9,9.4,435,7534,0.12,2.33,0.00,0.000,6,0.073,0.024,2966,2044,2278,0,0,0,0,0,0
$GC,7791,1.17,187.6,103.4,8.4,459,7796,0.00,2.45,0.00,0.000,4,0.000,0.044,2966,625,2278,0,0,0,0,0,0
$GC,7828,1.17,187.6,100.1,8.3,462,7834,0.00,2.35,0.00,0.000,6,0.000,0.023,2966,2043,2277,0,0,0,0,0,0
$GC,8091,1.24,210.4,83.3,6.5,487,8119,0.00,2.53,20.10,0.590,4,0.000,0.044,2966,630,2191,0,0,0,0,0,0
$GC,8264,1.24,210.4,67.4,10.8,506,8268,0.00,2.30,0.00,0.000,6,0.000,0.021,2966,2037,2187,0,0,0,0,0,0
$GC,8527,1.32,213.0,41.6,7.8,530,8532,0.15,2.45,0.00,0.000,4,0.062,0.044,3008,626,2187,0,0,0,0,0,0
$GC,8627,1.26,213.0,31.1,11.8,540,8635,0.00,2.33,0.00,0.000,6,0.000,0.021,3008,2037,2187,0,0,0,0,0,0
$GC,8891,1.26,213.0,4.3,10.7,588,8898,0.00,2.45,0.00,0.000,4,0.000,0.043,3008,627,2187,0,0,0,0,0,0
$STATE,8904,end climb,SURFACE_DEPTH_REACHED
$STATE,8904,begin surface coast
$FINISH,0.5,1.023806
$STATE,8935,end surface coast,CONTROL_FINISHED_OK
$STATE,8935,begin surface
$SM_CCo,8956,44.92,0.527,0,0,1826,300.00
$SM_GC,1.44,0.00,0.00,44.92,0.000,0.000,0.527,430,1939,1826,-10.51,1.13,300.00
$IRIDIUM_FIX,2054.83,-15759.05,210799,131323
$TT8_MAMPS,0.029146
$HUMID,43.58
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,12.120
$10V_AH,10.0,11.340
$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,26.600,105.375,244.075,44.925,0.000,29.950,33.858,132.203,0.000,0.000,34.143,1159.481,5562.411,353.596,1890.516,352.164,33.346,1148.122,0.000,1862.366,0.000,0.538,0.000
$DEVICE_MAMPS,135.759,55.991,830.661,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.663,390.472,887.409,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,31865,597
$CAP_FILE_SIZE,106804,0
$CFSIZE,260165632,251281408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260410,183000,2100.021,-15758.852,82,1.4,82,9.8