version: 66.06
glider: 139
mission: 7
dive: 131
start: 4 27 110 8 57 19
data:
$ID,139
$MISSION,7
$DIVE,131
$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,-2123159.5
$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,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
$GPS1,084957,2100.149,-15758.373,28,2.6,47,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-69.8
$GPS2,085628,2100.116,-15758.428,30,3.0,49,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.159,0.093
$KALMAN_X,-42062.5,173.2,116.0,19937.9,-2327.2
$KALMAN_Y,-22187.6,-25.2,48.7,14869.5,-888.5
$MHEAD_RNG_PITCHd_Wd,50.0,15365,-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,15,-1.40,-77.9,0.0,0.0,0,76,0.00,0.00,-58.53,0.000,6,0.000,0.000,428,1888,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,4.1,-6.9,11,92,10.73,0.00,0.00,0.000,6,0.140,0.000,2404,1888,3371,0,0,0,0,0,0
$GC,287,-1.26,-77.9,47.3,-17.9,40,292,0.17,2.38,0.00,0.000,4,0.102,0.027,2438,3319,3372,0,0,0,0,0,0
$GC,306,-1.19,-77.9,50.8,-16.4,41,312,0.00,2.42,0.00,0.000,6,0.000,0.029,2439,1897,3372,0,0,0,0,0,0
$GC,566,-1.19,-77.9,89.1,-13.3,66,570,0.00,2.40,0.00,0.000,4,0.000,0.044,2439,484,3372,0,0,0,0,0,0
$GC,617,-1.19,-77.9,95.3,-12.9,71,621,0.00,2.35,0.00,0.000,6,0.000,0.021,2439,1931,3373,0,0,0,0,0,0
$GC,880,-1.23,-77.9,121.7,-9.5,95,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,1938,3374,0,0,0,0,0,0
$GC,1134,-1.27,-77.9,151.6,-14.0,119,1138,0.00,2.47,0.00,0.000,4,0.000,0.044,2438,494,3375,0,0,0,0,0,0
$GC,1221,-1.31,-77.9,165.2,-15.5,128,1226,0.00,2.28,0.00,0.000,6,0.000,0.021,2438,1905,3376,0,0,0,0,0,0
$GC,1483,-1.39,-77.9,196.8,-10.6,152,1488,0.12,2.42,0.00,0.000,4,0.066,0.045,2396,493,3376,0,0,0,0,0,0
$GC,1562,-1.34,-77.9,205.9,-11.4,157,1567,0.12,2.25,0.00,0.000,6,0.101,0.021,2423,1898,3377,0,0,0,0,0,0
$GC,1878,-1.38,-77.9,233.1,-9.5,172,1882,0.00,2.42,0.00,0.000,4,0.000,0.046,2420,494,3377,0,0,0,0,0,0
$GC,1932,-1.38,-77.9,238.7,-10.3,174,1936,0.00,2.28,0.00,0.000,6,0.000,0.022,2423,1901,3377,0,0,0,0,0,0
$GC,2252,-1.45,-77.9,265.7,-7.9,190,2257,0.12,2.45,0.00,0.000,4,0.067,0.047,2384,495,3376,0,0,0,0,0,0
$GC,2335,-1.41,-77.9,275.2,-11.4,193,2342,0.10,2.30,0.00,0.000,6,0.110,0.023,2404,1905,3377,0,0,0,0,0,0
$GC,2654,-1.45,-77.9,300.4,-7.6,209,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1911,3375,0,0,0,0,0,0
$GC,2976,-1.49,-77.9,326.7,-8.3,217,2980,0.00,2.45,0.00,0.000,4,0.000,0.051,2402,491,3375,0,0,0,0,0,0
$GC,3040,-1.49,-77.9,333.4,-10.2,218,3044,0.00,2.33,0.00,0.000,6,0.000,0.025,2405,1906,3374,0,0,0,0,0,0
$GC,3385,-1.54,-77.9,367.4,-9.7,227,3390,0.12,2.47,0.00,0.000,4,0.071,0.053,2367,494,3373,0,0,0,0,0,0
$GC,3428,-1.48,-77.9,372.4,-12.3,228,3433,0.10,2.33,0.00,0.000,6,0.114,0.028,2389,1900,3373,0,0,0,0,0,0
$STATE,3510,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3510,begin apogee
$GC,3515,-0.31,0.0,381.0,10.1,230,3584,1.20,0.00,65.12,0.816,6,0.075,0.000,2645,2063,3050,0,0,0,0,0,0
$STATE,3585,end apogee,CONTROL_FINISHED_OK
$STATE,3585,begin climb
$GC,3587,1.40,77.9,382.5,0.0,231,3661,1.62,2.42,64.35,0.799,4,0.033,0.043,3025,3409,2732,0,0,0,0,0,0
$GC,3719,1.27,152.9,384.3,2.9,234,3789,0.17,2.35,63.53,0.798,6,0.121,0.034,2993,2030,2426,0,0,0,0,0,0
$GC,4134,1.16,152.9,343.9,10.7,245,4139,0.15,2.38,0.00,0.000,4,0.122,0.038,2968,3415,2417,0,0,0,0,0,0
$GC,4167,1.13,152.9,340.6,9.5,245,4172,0.00,2.40,0.00,0.000,6,0.000,0.038,2965,2029,2417,0,0,0,0,0,0
$GC,4498,1.08,152.9,313.0,8.0,253,4502,0.00,2.47,0.00,0.000,4,0.000,0.054,2967,629,2415,0,0,0,0,0,0
$GC,4691,0.97,152.9,295.3,9.9,257,4696,0.22,2.30,0.00,0.000,6,0.119,0.028,2926,2014,2410,0,0,0,0,0,0
$GC,5007,1.02,153.0,268.4,8.0,272,5011,0.00,2.45,0.00,0.000,4,0.000,0.052,2926,628,2409,0,0,0,0,0,0
$GC,5028,1.03,156.6,266.8,7.8,273,5032,0.00,2.35,0.00,0.000,6,0.000,0.028,2926,2038,2409,0,0,0,0,0,0
$GC,5358,1.14,204.0,250.5,4.8,289,5408,0.15,2.55,42.30,0.750,4,0.071,0.050,2963,630,2216,0,0,0,0,0,0
$GC,5518,1.09,204.0,234.8,12.6,296,5522,0.00,2.35,0.00,0.000,6,0.000,0.028,2963,2038,2210,0,0,0,0,0,0
$GC,5842,1.09,204.0,202.2,9.2,312,5846,0.00,2.47,0.00,0.000,4,0.000,0.049,2962,629,2208,0,0,0,0,0,0
$GC,5925,1.05,204.0,193.2,12.4,318,5932,0.08,2.38,0.00,0.000,6,0.105,0.026,2947,2037,2206,0,0,0,0,0,0
$GC,6188,1.16,250.3,173.0,4.8,343,6234,0.00,2.55,39.85,0.681,4,0.000,0.048,2946,619,2028,0,0,0,0,0,0
$GC,6319,1.16,250.3,162.6,9.6,357,6323,0.00,2.35,0.00,0.000,6,0.000,0.025,2947,2042,2022,0,0,0,0,0,0
$GC,6581,1.25,250.3,137.8,11.7,381,6586,0.17,2.50,0.00,0.000,4,0.061,0.048,2993,627,2021,0,0,0,0,0,0
$GC,6674,1.20,250.3,123.1,14.5,390,6681,0.00,2.35,0.00,0.000,6,0.000,0.023,2992,2041,2019,0,0,0,0,0,0
$GC,6936,1.20,250.3,86.7,14.4,415,6941,0.00,2.45,0.00,0.000,4,0.000,0.045,2993,617,2019,0,0,0,0,0,0
$GC,7043,1.16,250.3,69.9,15.7,426,7048,0.12,2.33,0.00,0.000,6,0.114,0.022,2971,2044,2018,0,0,0,0,0,0
$GC,7304,1.23,250.3,42.1,9.4,450,7308,0.00,2.45,0.00,0.000,4,0.000,0.043,2970,623,2018,0,0,0,0,0,0
$GC,7438,1.23,250.3,27.2,12.7,466,7445,0.00,2.33,0.00,0.000,6,0.000,0.021,2970,2030,2017,0,0,0,0,0,0
$GC,7641,1.32,250.3,5.7,11.6,503,7648,0.15,2.47,0.00,0.000,4,0.062,0.045,3012,621,2017,0,0,0,0,0,0
$STATE,7662,end climb,SURFACE_DEPTH_REACHED
$STATE,7662,begin surface coast
$FINISH,0.6,1.023841
$STATE,7684,end surface coast,CONTROL_FINISHED_OK
$STATE,7684,begin surface
$SM_CCo,7705,26.73,0.520,0,0,1826,300.00
$SM_GC,0.93,0.00,0.00,26.73,0.000,0.000,0.520,425,1908,1826,-10.52,0.23,300.00
$IRIDIUM_FIX,2050.21,-15757.78,220799,060607
$TT8_MAMPS,0.029146
$HUMID,44.29
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,343.4,65.2
$24V_AH,23.4,12.603
$10V_AH,10.0,11.708
$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,26.725,90.950,275.150,26.725,0.000,29.010,30.361,198.501,3.500,0.000,50.067,990.332,4805.334,337.882,1598.142,396.850,33.351,1017.816,0.000,1545.984,0.000,24.428,0.000
$DEVICE_MAMPS,139.594,54.457,816.088,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,345.819,345.257,770.232,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355540
$DATA_FILE_SIZE,28654,512
$CAP_FILE_SIZE,96255,0
$CFSIZE,260165632,251031552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,6
$GPS,270410,110737,2100.125,-15758.336,50,1.6,50,9.8