version: 66.06
glider: 139
mission: 7
dive: 128
start: 4 27 110 1 43 23
data:
$ID,139
$MISSION,7
$DIVE,128
$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,-2123032
$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
$GPS1,013406,2059.957,-15758.875,266,1.6,266,9.8
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,2
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-60.3
$GPS2,014232,2059.973,-15759.027,13,1.6,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.160,0.091
$KALMAN_X,-38056.1,274.5,711.9,14193.9,-2732.8
$KALMAN_Y,-20802.2,321.1,214.1,12697.2,-792.4
$MHEAD_RNG_PITCHd_Wd,50.7,16304,-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,-77.9,0.0,0.0,0,127,0.00,0.00,-108.43,0.000,2,0.000,0.000,429,1893,3347,0,0,0,0,0,0
$GC,129,-1.40,-77.9,3.7,-8.3,20,148,10.80,2.42,-0.43,0.000,4,0.142,0.041,2405,3319,3370,0,0,0,0,0,0
$GC,167,-0.77,-77.9,17.2,-33.1,27,175,0.60,2.45,0.00,0.000,6,0.076,0.035,2542,1905,3371,0,0,0,0,0,0
$GC,371,-0.97,-77.9,35.7,-8.4,58,376,0.17,2.45,0.00,0.000,4,0.054,0.047,2489,492,3371,0,0,0,0,0,0
$GC,416,-1.03,-77.9,41.2,-12.4,62,422,0.00,2.35,0.00,0.000,6,0.000,0.021,2489,1925,3372,0,0,0,0,0,0
$GC,678,-1.12,-77.9,73.4,-12.7,87,683,0.00,2.50,0.00,0.000,4,0.000,0.045,2488,488,3373,0,0,0,0,0,0
$GC,774,-1.17,-77.9,86.2,-12.1,97,779,0.15,2.30,0.00,0.000,6,0.058,0.021,2442,1909,3373,0,0,0,0,0,0
$GC,1037,-1.20,-77.9,117.8,-9.6,121,1041,0.00,2.42,0.00,0.000,4,0.000,0.044,2443,493,3373,0,0,0,0,0,0
$GC,1087,-1.20,-77.9,123.0,-8.9,126,1091,0.00,2.25,0.00,0.000,6,0.000,0.020,2442,1900,3373,0,0,0,0,0,0
$GC,1349,-1.26,-77.9,143.9,-7.8,150,1353,0.00,2.28,0.00,0.000,4,0.000,0.028,2441,3293,3374,0,0,0,0,0,0
$GC,1376,-1.39,-77.9,145.6,-5.7,152,1384,0.10,2.38,0.00,0.000,6,0.035,0.031,2399,1893,3374,0,0,0,0,0,0
$GC,1638,-1.39,-77.9,175.3,-14.9,177,1643,0.00,2.38,0.00,0.000,4,0.000,0.044,2399,494,3375,0,0,0,0,0,0
$GC,1689,-1.35,-77.9,184.4,-17.8,182,1694,0.10,2.28,0.00,0.000,6,0.112,0.021,2418,1900,3376,0,0,0,0,0,0
$GC,1957,-1.39,-77.9,232.0,-17.3,199,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,1906,3376,0,0,0,0,0,0
$GC,2265,-1.44,-77.9,267.3,-6.5,214,2269,0.00,2.42,0.00,0.000,4,0.000,0.046,2421,495,3376,0,0,0,0,0,0
$GC,2315,-1.44,-77.9,270.6,-6.2,216,2319,0.00,2.28,0.00,0.000,6,0.000,0.022,2420,1905,3376,0,0,0,0,0,0
$GC,2635,-1.50,-77.9,290.5,-7.0,232,2640,0.15,2.47,0.00,0.000,4,0.059,0.048,2375,487,3376,0,0,0,0,0,0
$GC,2657,-1.47,-77.9,292.4,-9.2,233,2661,0.00,2.33,0.00,0.000,6,0.000,0.024,2375,1910,3376,0,0,0,0,0,0
$GC,2981,-1.47,-77.9,336.4,-15.1,243,2985,0.00,2.45,0.00,0.000,4,0.000,0.050,2374,495,3375,0,0,0,0,0,0
$GC,3061,-1.41,-77.9,348.4,-14.4,244,3066,0.15,2.30,0.00,0.000,6,0.097,0.025,2406,1897,3375,0,0,0,0,0,0
$GC,3391,-1.47,-77.9,382.7,-9.3,252,3395,0.00,2.40,0.00,0.000,4,0.000,0.038,2407,3301,3374,0,0,0,0,0,0
$GC,3419,-1.57,-77.9,385.4,-10.0,252,3423,0.15,2.38,0.00,0.000,6,0.062,0.038,2363,1899,3373,0,0,0,0,0,0
$GC,3759,-1.52,-77.9,428.0,-13.8,261,3763,0.00,2.47,0.00,0.000,4,0.000,0.054,2363,488,3372,0,0,0,0,0,0
$GC,3773,-1.43,-77.9,429.8,-12.0,261,3778,0.17,2.33,0.00,0.000,6,0.097,0.027,2398,1895,3372,0,0,0,0,0,0
$STATE,3999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3999,begin apogee
$GC,4004,-0.31,0.0,453.9,10.2,267,4073,1.15,0.00,66.15,0.870,6,0.076,0.000,2645,2048,3050,0,0,0,0,0,0
$STATE,4074,end apogee,CONTROL_FINISHED_OK
$STATE,4074,begin climb
$GC,4076,1.40,77.9,455.1,0.0,268,4146,1.65,0.00,65.78,0.855,6,0.034,0.000,3026,2048,2732,0,0,0,0,0,0
$GC,4444,1.22,111.3,437.6,5.7,277,4480,0.25,2.42,28.55,0.836,4,0.111,0.045,2977,3414,2595,0,0,0,0,0,0
$GC,4656,1.15,117.1,421.0,7.6,281,4670,0.00,2.38,6.22,0.664,6,0.000,0.038,2977,2033,2571,0,0,0,0,0,0
$GC,4995,1.02,117.1,392.3,8.3,290,5000,0.20,2.42,0.00,0.000,4,0.116,0.044,2940,3420,2567,0,0,0,0,0,0
$GC,5056,0.97,117.1,386.5,9.6,291,5060,0.00,2.40,0.00,0.000,6,0.000,0.039,2941,2035,2566,0,0,0,0,0,0
$GC,5405,0.93,128.3,362.5,7.3,300,5417,0.12,0.00,9.48,0.745,6,0.128,0.000,2919,2036,2527,0,0,0,0,0,0
$GC,5730,0.98,138.3,336.5,7.3,308,5746,0.00,2.55,9.98,0.740,4,0.000,0.053,2918,631,2485,0,0,0,0,0,0
$GC,5876,0.99,143.4,326.1,7.7,311,5888,0.00,2.33,5.93,0.639,6,0.000,0.029,2918,2024,2464,0,0,0,0,0,0
$GC,6197,1.04,143.4,298.1,10.8,319,6202,0.10,2.50,0.00,0.000,4,0.087,0.053,2942,629,2462,0,0,0,0,0,0
$GC,6280,1.00,143.4,284.8,16.2,322,6287,0.00,2.38,0.00,0.000,6,0.000,0.029,2943,2031,2461,0,0,0,0,0,0
$GC,6595,1.03,169.3,256.0,6.2,338,6625,0.00,2.58,23.12,0.754,4,0.000,0.051,2942,630,2358,0,0,0,0,0,0
$GC,6710,1.05,179.7,248.7,7.3,343,6726,0.00,2.38,10.15,0.680,6,0.000,0.028,2943,2043,2316,0,0,0,0,0,0
$GC,7044,1.14,227.9,233.0,4.7,359,7094,0.00,2.60,43.30,0.740,4,0.000,0.051,2942,628,2119,0,0,0,0,0,0
$GC,7213,1.14,227.9,217.6,11.9,366,7218,0.00,2.35,0.00,0.000,6,0.000,0.026,2943,2037,2112,0,0,0,0,0,0
$GC,7534,1.21,227.9,186.0,11.0,387,7539,0.15,2.47,0.00,0.000,4,0.069,0.050,2980,630,2111,0,0,0,0,0,0
$GC,7617,1.13,227.9,174.6,14.0,395,7622,0.00,2.35,0.00,0.000,6,0.000,0.025,2981,2040,2108,0,0,0,0,0,0
$GC,7878,1.13,227.9,144.4,11.0,420,7882,0.00,2.45,0.00,0.000,4,0.000,0.048,2980,630,2108,0,0,0,0,0,0
$GC,7912,1.04,227.9,140.6,11.7,423,7917,0.20,2.33,0.00,0.000,6,0.110,0.025,2945,2041,2107,0,0,0,0,0,0
$GC,8174,1.15,248.4,120.5,6.6,447,8197,0.00,2.53,17.00,0.617,4,0.000,0.048,2944,629,2036,0,0,0,0,0,0
$GC,8268,1.18,248.4,112.5,8.9,457,8273,0.12,2.33,0.00,0.000,6,0.073,0.023,2976,2047,2033,0,0,0,0,0,0
$GC,8530,1.24,259.3,92.2,7.3,481,8550,0.00,2.55,10.90,0.562,4,0.000,0.047,2976,624,1991,0,0,0,0,0,0
$GC,8671,1.24,259.3,77.1,12.4,496,8675,0.00,2.30,0.00,0.000,6,0.000,0.022,2976,2040,1987,0,0,0,0,0,0
$GC,8934,1.30,259.3,45.3,11.2,520,8938,0.00,2.45,0.00,0.000,4,0.000,0.044,2976,628,1987,0,0,0,0,0,0
$GC,9023,1.30,259.3,33.6,12.7,529,9029,0.00,2.33,0.00,0.000,6,0.000,0.021,2976,2037,1987,0,0,0,0,0,0
$GC,9287,1.35,259.3,4.2,11.7,575,9294,0.15,2.50,0.00,0.000,4,0.061,0.048,3018,626,1986,0,0,0,0,0,0
$STATE,9299,end climb,SURFACE_DEPTH_REACHED
$STATE,9299,begin surface coast
$FINISH,0.5,1.023787
$STATE,9314,end surface coast,CONTROL_FINISHED_OK
$STATE,9314,begin surface
$SM_CCo,9335,27.92,0.529,0,0,1827,300.00
$SM_GC,1.23,0.00,0.00,27.92,0.000,0.000,0.529,431,1918,1827,-10.50,0.51,300.00
$IRIDIUM_FIX,2052.52,-15756.91,210799,181807
$TT8_MAMPS,0.029146
$HUMID,43.54
$INTERNAL_PRESSURE,9.64535
$TCM_TEMP,20.90
$XPDR_PINGS,0
$24V_AH,23.3,12.365
$10V_AH,10.0,11.499
$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,27.800,110.425,296.550,27.925,0.000,25.704,27.317,297.955,0.000,0.000,32.226,1110.935,6065.029,411.230,1747.272,516.701,33.361,1188.967,0.000,1720.136,0.000,0.536,0.000
$DEVICE_MAMPS,141.895,54.457,869.778,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.109,374.681,845.344,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,31765,580
$CAP_FILE_SIZE,112248,0
$CFSIZE,260165632,251162624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270410,042131,2100.191,-15759.032,90,1.6,90,9.8