version: 66.06
glider: 139
mission: 7
dive: 129
start: 4 27 110 4 27 53
data:
$ID,139
$MISSION,7
$DIVE,129
$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,-2123074.8
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$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
$GPS1,042131,2100.191,-15759.032,90,1.6,90,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.7
$GPS2,042701,2100.193,-15759.088,41,1.0,41,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.179,0.040
$KALMAN_X,-38968.1,310.3,-310.0,15992.4,-1421.1
$KALMAN_Y,-21090.3,389.0,-164.4,13715.2,-609.4
$MHEAD_RNG_PITCHd_Wd,67.5,16505,-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,-55.62,0.000,2,0.000,0.000,430,1917,3266,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.3,-5.5,10,95,10.70,2.33,-2.08,0.000,4,0.138,0.036,2406,3326,3369,0,0,0,0,0,0
$GC,114,-0.80,-77.9,14.6,-28.4,17,122,0.55,2.47,0.00,0.000,6,0.075,0.035,2535,1896,3370,0,0,0,0,0,0
$GC,322,-1.00,-77.9,33.8,-7.7,51,327,0.17,2.42,0.00,0.000,4,0.052,0.045,2480,489,3371,0,0,0,0,0,0
$GC,374,-1.03,-77.9,39.7,-12.3,56,378,0.00,2.33,0.00,0.000,6,0.000,0.021,2480,1932,3371,0,0,0,0,0,0
$GC,636,-1.13,-77.9,71.9,-12.6,80,641,0.00,2.50,0.00,0.000,4,0.000,0.045,2480,488,3372,0,0,0,0,0,0
$GC,713,-1.20,-77.9,82.8,-13.6,88,717,0.12,2.25,0.00,0.000,6,0.064,0.020,2439,1900,3372,0,0,0,0,0,0
$GC,974,-1.24,-77.9,116.5,-12.5,112,978,0.00,2.45,0.00,0.000,4,0.000,0.044,2438,484,3373,0,0,0,0,0,0
$GC,997,-1.24,-77.9,119.8,-12.9,114,1004,0.00,2.28,0.00,0.000,6,0.000,0.020,2439,1910,3373,0,0,0,0,0,0
$GC,1268,-1.29,-77.9,145.3,-8.4,139,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,1914,3374,0,0,0,0,0,0
$GC,1521,-1.35,-77.9,167.7,-8.4,163,1525,0.00,2.45,0.00,0.000,4,0.000,0.045,2438,491,3374,0,0,0,0,0,0
$GC,1546,-1.35,-77.9,170.0,-9.3,165,1550,0.00,2.28,0.00,0.000,6,0.000,0.021,2438,1902,3375,0,0,0,0,0,0
$GC,1808,-1.43,-77.9,197.2,-12.9,189,1813,0.15,2.45,0.00,0.000,4,0.058,0.047,2390,485,3375,0,0,0,0,0,0
$GC,1864,-1.36,-77.9,206.5,-17.7,192,1869,0.15,2.30,0.00,0.000,6,0.097,0.021,2417,1907,3375,0,0,0,0,0,0
$GC,2181,-1.42,-77.9,251.6,-13.9,207,2186,0.00,2.45,0.00,0.000,4,0.000,0.048,2421,492,3375,0,0,0,0,0,0
$GC,2246,-1.42,-77.9,260.5,-12.9,210,2250,0.00,2.28,0.00,0.000,6,0.000,0.022,2421,1905,3375,0,0,0,0,0,0
$GC,2575,-1.48,-77.9,290.3,-8.5,226,2580,0.15,2.45,0.00,0.000,4,0.060,0.048,2377,493,3375,0,0,0,0,0,0
$GC,2608,-1.39,-77.9,294.3,-12.7,227,2613,0.17,2.30,0.00,0.000,6,0.091,0.024,2412,1903,3375,0,0,0,0,0,0
$GC,2939,-1.46,-77.9,329.1,-9.3,236,2944,0.00,2.45,0.00,0.000,4,0.000,0.049,2411,485,3374,0,0,0,0,0,0
$GC,3004,-1.46,-77.9,335.3,-9.3,237,3008,0.00,2.33,0.00,0.000,6,0.000,0.025,2413,1902,3374,0,0,0,0,0,0
$GC,3349,-1.53,-77.9,361.1,-7.2,246,3351,0.15,0.00,0.00,0.000,6,0.061,0.000,2370,1908,3372,0,0,0,0,0,0
$GC,3673,-1.53,-77.9,391.1,-9.3,254,3677,0.00,2.47,0.00,0.000,4,0.000,0.054,2369,494,3370,0,0,0,0,0,0
$GC,3723,-1.46,-77.9,397.1,-13.4,255,3728,0.12,2.30,0.00,0.000,6,0.107,0.028,2394,1898,3370,0,0,0,0,0,0
$STATE,3837,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3837,begin apogee
$GC,3842,-0.31,0.0,409.2,10.1,258,3910,1.17,0.00,64.88,0.845,6,0.074,0.000,2646,2052,3050,0,0,0,0,0,0
$STATE,3911,end apogee,CONTROL_FINISHED_OK
$STATE,3911,begin climb
$GC,3913,1.40,77.9,412.3,0.0,259,3987,1.60,2.60,64.18,0.829,4,0.027,0.051,3027,632,2731,0,0,0,0,0,0
$GC,4085,1.21,155.8,412.6,2.7,263,4159,0.25,2.38,66.15,0.823,6,0.116,0.028,2984,2038,2414,0,0,0,0,0,0
$GC,4504,1.35,267.7,407.6,0.3,274,4610,0.10,2.62,96.65,0.838,4,0.087,0.060,3009,636,1958,0,0,0,0,0,0
$GC,4629,1.12,267.7,390.6,22.6,277,4635,0.28,2.40,0.00,0.000,6,0.112,0.031,2961,2028,1953,0,0,0,0,0,0
$GC,4957,1.12,267.7,330.4,18.8,285,4961,0.00,2.53,0.00,0.000,4,0.000,0.057,2960,627,1946,0,0,0,0,0,0
$GC,5201,1.08,267.7,287.0,16.8,291,5206,0.00,2.40,0.00,0.000,6,0.000,0.029,2961,2046,1941,0,0,0,0,0,0
$GC,5517,1.08,267.7,239.2,14.7,307,5521,0.00,2.53,0.00,0.000,4,0.000,0.055,2960,627,1941,0,0,0,0,0,0
$GC,5687,1.04,267.7,211.1,18.6,314,5692,0.00,2.38,0.00,0.000,6,0.000,0.028,2961,2041,1938,0,0,0,0,0,0
$GC,6010,1.07,267.7,166.5,11.7,340,6014,0.00,2.50,0.00,0.000,4,0.000,0.051,2959,627,1938,0,0,0,0,0,0
$GC,6151,1.07,267.7,150.2,12.7,355,6156,0.00,2.33,0.00,0.000,6,0.000,0.025,2961,2037,1936,0,0,0,0,0,0
$GC,6415,1.11,267.7,118.2,14.2,379,6419,0.00,2.45,0.00,0.000,4,0.000,0.049,2958,626,1935,0,0,0,0,0,0
$GC,6476,1.11,267.7,108.7,14.5,385,6480,0.00,2.33,0.00,0.000,6,0.000,0.024,2961,2048,1935,0,0,0,0,0,0
$GC,6738,1.19,267.7,73.8,9.6,409,6743,0.00,2.47,0.00,0.000,4,0.000,0.048,2961,625,1935,0,0,0,0,0,0
$GC,6818,1.23,267.7,64.3,11.7,417,6825,0.00,2.35,0.00,0.000,6,0.000,0.023,2961,2043,1934,0,0,0,0,0,0
$GC,7081,1.32,267.7,36.1,12.2,442,7086,0.17,2.45,0.00,0.000,4,0.057,0.047,3009,616,1934,0,0,0,0,0,0
$GC,7242,1.23,267.7,9.4,16.8,474,7249,0.10,2.35,0.00,0.000,6,0.087,0.022,2985,2034,1933,0,0,0,0,0,0
$STATE,7292,end climb,SURFACE_DEPTH_REACHED
$STATE,7292,begin surface coast
$FINISH,0.8,1.023994
$STATE,7320,end surface coast,CONTROL_FINISHED_OK
$STATE,7320,begin surface
$SM_CCo,7340,16.15,0.526,0,0,1827,300.00
$SM_GC,1.57,0.00,0.00,16.15,0.000,0.000,0.526,425,1881,1827,-10.53,-0.54,300.00
$IRIDIUM_FIX,2052.52,-15802.06,220799,010147
$TT8_MAMPS,0.029913
$HUMID,45.39
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,20.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,382.6,55.7
$24V_AH,23.3,12.448
$10V_AH,10.1,11.567
$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,27.125,87.025,291.850,16.150,0.000,28.032,32.974,149.137,4.000,0.000,41.942,959.087,4502.683,349.513,1546.718,332.057,33.346,1002.321,0.000,1495.591,0.000,27.547,0.000
$DEVICE_MAMPS,138.060,59.826,845.234,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,330.202,318.882,747.757,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,25521,488
$CAP_FILE_SIZE,92109,0
$CFSIZE,260165632,251129856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270410,063156,2100.036,-15758.721,32,2.1,51,9.8