version: 66.06
glider: 139
mission: 7
dive: 130
start: 4 27 110 6 38 7
data:
$ID,139
$MISSION,7
$DIVE,130
$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,-2123108.8
$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
$GPS1,063156,2100.036,-15758.721,32,2.1,51,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-68.4
$GPS2,063716,2100.024,-15758.741,13,2.4,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.173,0.063
$KALMAN_X,-40444.7,258.3,-189.4,18004.6,-2032.7
$KALMAN_Y,-21622.1,200.6,-205.4,14165.7,-680.9
$MHEAD_RNG_PITCHd_Wd,60.2,15846,-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,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,73,0.00,0.00,-54.83,0.000,2,0.000,0.000,425,1881,3220,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.1,-4.5,10,95,10.70,2.42,-3.03,0.000,4,0.138,0.041,2404,3323,3368,0,0,0,0,0,0
$GC,157,-1.36,-77.9,21.3,-15.8,27,164,0.00,2.45,0.00,0.000,6,0.000,0.034,2405,1902,3370,0,0,0,0,0,0
$GC,363,-1.25,-77.9,52.8,-14.9,51,365,0.17,0.00,0.00,0.000,6,0.101,0.000,2440,1902,3370,0,0,0,0,0,0
$GC,617,-1.21,-77.9,84.8,-13.2,75,621,0.00,2.42,0.00,0.000,4,0.000,0.048,2440,488,3372,0,0,0,0,0,0
$GC,678,-1.16,-77.9,93.4,-13.9,81,682,0.00,2.33,0.00,0.000,6,0.000,0.021,2440,1927,3372,0,0,0,0,0,0
$GC,941,-1.21,-77.9,115.2,-5.9,105,945,0.00,2.47,0.00,0.000,4,0.000,0.045,2440,485,3373,0,0,0,0,0,0
$GC,966,-1.21,-77.9,117.0,-7.1,107,970,0.00,2.28,0.00,0.000,6,0.000,0.021,2440,1903,3373,0,0,0,0,0,0
$GC,1228,-1.26,-77.9,141.0,-10.1,131,1232,0.00,2.42,0.00,0.000,4,0.000,0.044,2440,485,3374,0,0,0,0,0,0
$GC,1307,-1.26,-77.9,149.4,-10.5,139,1311,0.00,2.28,0.00,0.000,6,0.000,0.021,2440,1895,3374,0,0,0,0,0,0
$GC,1570,-1.33,-77.9,171.7,-8.4,163,1574,0.00,2.40,0.00,0.000,4,0.000,0.045,2440,491,3375,0,0,0,0,0,0
$GC,1594,-1.33,-77.9,174.0,-9.3,165,1599,0.00,2.30,0.00,0.000,6,0.000,0.021,2440,1915,3375,0,0,0,0,0,0
$GC,1857,-1.40,-77.9,198.1,-9.3,189,1862,0.15,2.50,0.00,0.000,4,0.058,0.048,2391,485,3375,0,0,0,0,0,0
$GC,1931,-1.33,-77.9,207.0,-11.3,193,1936,0.15,2.30,0.00,0.000,6,0.095,0.021,2423,1906,3375,0,0,0,0,0,0
$GC,2254,-1.39,-77.9,233.8,-8.9,209,2259,0.00,2.42,0.00,0.000,4,0.000,0.048,2425,493,3376,0,0,0,0,0,0
$GC,2336,-1.43,-77.9,243.0,-10.3,212,2343,0.08,2.30,0.00,0.000,6,0.041,0.022,2391,1894,3376,0,0,0,0,0,0
$GC,2651,-1.43,-77.9,278.9,-10.9,228,2655,0.00,2.42,0.00,0.000,4,0.000,0.048,2390,484,3375,0,0,0,0,0,0
$GC,2678,-1.37,-77.9,281.9,-10.7,229,2683,0.12,2.33,0.00,0.000,6,0.101,0.023,2416,1910,3375,0,0,0,0,0,0
$GC,3017,-1.43,-77.9,313.2,-9.5,243,3021,0.00,2.45,0.00,0.000,4,0.000,0.050,2415,494,3375,0,0,0,0,0,0
$GC,3100,-1.46,-77.9,322.5,-10.6,244,3105,0.00,2.30,0.00,0.000,6,0.000,0.025,2415,1899,3375,0,0,0,0,0,0
$GC,3430,-1.55,-77.9,353.3,-9.3,253,3435,0.17,2.47,0.00,0.000,4,0.056,0.052,2364,494,3374,0,0,0,0,0,0
$GC,3560,-1.48,-77.9,366.5,-10.2,255,3566,0.12,2.33,0.00,0.000,6,0.105,0.026,2392,1900,3373,0,0,0,0,0,0
$STATE,3686,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3686,begin apogee
$GC,3691,-0.31,0.0,376.3,7.7,259,3760,1.17,0.00,65.05,0.816,6,0.077,0.000,2643,2069,3050,0,0,0,0,0,0
$STATE,3760,end apogee,CONTROL_FINISHED_OK
$STATE,3760,begin climb
$GC,3762,1.40,77.9,376.9,0.0,260,3836,1.65,2.42,63.88,0.792,4,0.033,0.042,3028,3409,2732,0,0,0,0,0,0
$GC,4100,1.24,125.2,363.2,4.8,267,4146,0.20,2.35,39.78,0.785,6,0.116,0.035,2988,2022,2539,0,0,0,0,0,0
$GC,4487,1.13,133.8,335.8,7.4,277,4500,0.15,2.42,7.75,0.664,4,0.119,0.039,2966,3406,2504,0,0,0,0,0,0
$GC,4506,1.05,135.7,334.4,7.9,277,4510,0.00,2.35,0.00,0.000,6,0.000,0.036,2966,2036,2504,0,0,0,0,0,0
$GC,4850,1.01,135.7,300.7,10.5,286,4855,0.17,2.50,0.00,0.000,4,0.116,0.052,2933,628,2501,0,0,0,0,0,0
$GC,4988,0.98,135.7,287.3,9.0,291,4993,0.00,2.30,0.00,0.000,6,0.000,0.028,2933,2013,2498,0,0,0,0,0,0
$GC,5314,1.05,195.4,269.1,3.9,307,5373,0.00,2.50,53.00,0.762,4,0.000,0.041,2933,3430,2253,0,0,0,0,0,0
$GC,5410,1.16,209.7,263.7,7.0,310,5432,0.20,2.40,14.00,0.698,6,0.058,0.037,2975,2036,2193,0,0,0,0,0,0
$GC,5752,1.16,209.7,226.0,10.8,327,5757,0.00,2.47,0.00,0.000,4,0.000,0.051,2981,631,2186,0,0,0,0,0,0
$GC,5895,1.09,209.7,207.2,13.1,333,5900,0.15,2.35,0.00,0.000,6,0.116,0.026,2952,2038,2182,0,0,0,0,0,0
$GC,6224,1.12,209.7,169.6,11.8,361,6229,0.00,2.45,0.00,0.000,4,0.000,0.048,2955,628,2182,0,0,0,0,0,0
$GC,6322,1.12,209.7,156.7,13.6,371,6326,0.00,2.35,0.00,0.000,6,0.000,0.025,2954,2041,2179,0,0,0,0,0,0
$GC,6584,1.17,209.7,129.8,8.8,395,6588,0.00,2.42,0.00,0.000,4,0.000,0.044,2953,628,2179,0,0,0,0,0,0
$GC,6708,1.21,242.1,120.6,5.8,408,6741,0.10,2.33,26.77,0.633,6,0.086,0.024,2982,2049,2062,0,0,0,0,0,0
$GC,6998,1.25,242.1,100.4,8.6,435,7002,0.00,2.30,0.00,0.000,4,0.000,0.031,2980,3419,2058,0,0,0,0,0,0
$GC,7016,1.31,242.1,98.2,10.8,436,7023,0.08,2.38,0.00,0.000,6,0.045,0.031,3003,2031,2058,0,0,0,0,0,0
$GC,7278,1.31,242.1,64.8,13.7,461,7283,0.00,2.40,0.00,0.000,4,0.000,0.044,3010,622,2057,0,0,0,0,0,0
$GC,7338,1.23,242.1,55.6,15.2,467,7343,0.12,2.28,0.00,0.000,6,0.110,0.021,2983,2033,2055,0,0,0,0,0,0
$GC,7602,1.23,242.1,21.0,12.6,497,7609,0.00,2.45,0.00,0.000,4,0.000,0.043,2987,627,2055,0,0,0,0,0,0
$GC,7629,1.23,242.1,17.5,13.5,502,7635,0.00,2.33,0.00,0.000,6,0.000,0.021,2986,2044,2055,0,0,0,0,0,0
$STATE,7749,end climb,SURFACE_DEPTH_REACHED
$STATE,7749,begin surface coast
$FINISH,0.8,1.023824
$STATE,7777,end surface coast,CONTROL_FINISHED_OK
$STATE,7778,begin surface
$SM_CCo,7797,29.70,0.523,0,0,1826,300.00
$SM_GC,1.82,0.00,0.00,29.70,0.000,0.000,0.523,428,1887,1826,-10.52,-0.37,300.00
$IRIDIUM_FIX,2052.52,-15756.91,220799,040444
$TT8_MAMPS,0.029146
$HUMID,44.52
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,342.1,63.2
$24V_AH,23.4,12.524
$10V_AH,10.0,11.638
$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,26.650,95.800,270.225,29.700,0.000,31.390,34.249,147.689,3.500,0.000,33.341,1032.933,4780.761,339.158,1648.507,352.680,33.355,1046.821,0.000,1611.617,0.000,25.552,0.000
$DEVICE_MAMPS,138.060,54.457,816.088,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,357.503,358.457,789.619,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,28665,529
$CAP_FILE_SIZE,99227,0
$CFSIZE,260165632,251076608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270410,084957,2100.149,-15758.373,28,2.6,47,9.8