version: 66.06
glider: 139
mission: 7
dive: 132
start: 4 27 110 11 13 29
data:
$ID,139
$MISSION,7
$DIVE,132
$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,-2123177
$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
$GPS1,110737,2100.125,-15758.336,50,1.6,50,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-68.6
$GPS2,111237,2100.106,-15758.396,11,1.6,16,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,-0.024
$KALMAN_X,-43992.3,-16.5,523.2,21704.9,-3615.3
$KALMAN_Y,-23202.5,-258.0,238.5,15911.9,-1633.8
$MHEAD_RNG_PITCHd_Wd,87.7,15309,-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,-54.78,0.000,2,0.000,0.000,425,1907,3235,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.1,-4.3,10,93,10.73,0.00,-2.72,0.000,6,0.139,0.000,2404,1907,3369,0,0,0,0,0,0
$GC,293,-1.25,-77.9,45.5,-17.3,42,298,0.17,2.47,0.00,0.000,4,0.101,0.046,2439,491,3371,0,0,0,0,0,0
$GC,318,-1.10,-77.9,50.0,-17.3,44,323,0.17,2.33,0.00,0.000,6,0.101,0.020,2474,1941,3371,0,0,0,0,0,0
$GC,579,-1.14,-77.9,82.4,-10.4,68,584,0.00,2.47,0.00,0.000,4,0.000,0.044,2473,494,3372,0,0,0,0,0,0
$GC,641,-1.18,-77.9,88.8,-11.4,74,645,0.00,2.25,0.00,0.000,6,0.000,0.020,2473,1899,3372,0,0,0,0,0,0
$GC,902,-1.24,-77.9,116.2,-11.6,98,907,0.12,2.45,0.00,0.000,4,0.067,0.045,2433,493,3374,0,0,0,0,0,0
$GC,930,-1.20,-77.9,120.0,-12.8,100,941,0.08,2.30,0.00,0.000,6,0.076,0.020,2452,1911,3374,0,0,0,0,0,0
$GC,1194,-1.28,-77.9,146.3,-10.0,125,1198,0.00,2.42,0.00,0.000,4,0.000,0.044,2436,490,3375,0,0,0,0,0,0
$GC,1263,-1.33,-77.9,154.4,-11.6,132,1267,0.12,2.25,0.00,0.000,6,0.065,0.020,2412,1902,3375,0,0,0,0,0,0
$GC,1523,-1.33,-77.9,187.1,-12.2,156,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1908,3375,0,0,0,0,0,0
$GC,1784,-1.33,-77.9,215.0,-9.8,174,1788,0.00,2.40,0.00,0.000,4,0.000,0.044,2404,494,3375,0,0,0,0,0,0
$GC,1850,-1.33,-77.9,221.2,-8.7,177,1854,0.00,2.25,0.00,0.000,6,0.000,0.021,2411,1898,3375,0,0,0,0,0,0
$GC,2185,-1.36,-77.9,253.5,-10.6,193,2189,0.00,2.42,0.00,0.000,4,0.000,0.046,2411,493,3376,0,0,0,0,0,0
$GC,2309,-1.36,-77.9,268.9,-12.7,198,2314,0.00,2.25,0.00,0.000,6,0.000,0.022,2412,1897,3376,0,0,0,0,0,0
$GC,2626,-1.42,-77.9,301.4,-8.9,213,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1902,3375,0,0,0,0,0,0
$GC,2950,-1.48,-77.9,326.5,-7.3,221,2954,0.00,2.42,0.00,0.000,4,0.000,0.050,2411,494,3375,0,0,0,0,0,0
$GC,2992,-1.48,-77.9,330.2,-9.3,222,2996,0.00,2.30,0.00,0.000,6,0.000,0.025,2412,1898,3375,0,0,0,0,0,0
$GC,3319,-1.55,-77.9,358.4,-8.5,230,3324,0.17,2.47,0.00,0.000,4,0.057,0.051,2362,495,3373,0,0,0,0,0,0
$GC,3356,-1.47,-77.9,362.0,-10.4,230,3363,0.15,2.33,0.00,0.000,6,0.100,0.027,2394,1902,3373,0,0,0,0,0,0
$STATE,3563,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3563,begin apogee
$GC,3568,-0.31,0.0,379.5,8.4,236,3637,1.17,0.00,65.10,0.812,6,0.074,0.000,2647,2068,3050,0,0,0,0,0,0
$STATE,3638,end apogee,CONTROL_FINISHED_OK
$STATE,3638,begin climb
$GC,3640,1.40,77.9,380.6,0.0,237,3714,1.62,2.42,63.95,0.795,4,0.039,0.043,3026,3411,2731,0,0,0,0,0,0
$GC,3742,1.28,163.7,382.1,2.1,239,3824,0.17,2.38,72.30,0.795,6,0.120,0.035,2996,2022,2381,0,0,0,0,0,0
$GC,4138,1.17,163.7,343.9,10.4,249,4143,0.15,2.40,0.00,0.000,4,0.125,0.041,2970,3407,2372,0,0,0,0,0,0
$GC,4157,1.12,163.7,342.1,9.0,249,4161,0.00,2.38,0.00,0.000,6,0.000,0.039,2968,2036,2372,0,0,0,0,0,0
$GC,4501,1.07,163.7,308.7,11.0,258,4506,0.10,2.47,0.00,0.000,4,0.132,0.053,2953,629,2369,0,0,0,0,0,0
$GC,4641,1.01,163.7,291.7,13.1,262,4645,0.00,2.33,0.00,0.000,6,0.000,0.029,2952,2010,2365,0,0,0,0,0,0
$GC,4965,1.02,169.6,262.0,7.6,278,4969,0.00,2.45,0.00,0.000,4,0.000,0.053,2952,627,2364,0,0,0,0,0,0
$GC,5043,0.96,170.3,256.1,8.0,281,5048,0.15,2.35,0.00,0.000,6,0.120,0.028,2925,2043,2362,0,0,0,0,0,0
$GC,5359,1.05,177.6,233.2,7.5,296,5375,0.00,2.55,9.55,0.664,4,0.000,0.051,2925,631,2325,0,0,0,0,0,0
$GC,5554,1.08,177.6,214.0,8.7,304,5559,0.10,2.35,0.00,0.000,6,0.086,0.026,2951,2041,2322,0,0,0,0,0,0
$GC,5873,1.12,183.0,190.5,7.7,324,5884,0.00,2.47,5.57,0.548,4,0.000,0.047,2951,628,2304,0,0,0,0,0,0
$GC,5986,1.12,183.0,180.2,9.0,336,5990,0.00,2.35,0.00,0.000,6,0.000,0.025,2952,2044,2302,0,0,0,0,0,0
$GC,6248,1.18,190.6,162.0,7.5,360,6262,0.00,2.40,8.35,0.591,4,0.000,0.034,2952,3434,2272,0,0,0,0,0,0
$GC,6304,1.24,190.6,157.4,8.5,366,6309,0.20,2.38,0.00,0.000,6,0.056,0.031,2991,2030,2272,0,0,0,0,0,0
$GC,6565,1.19,190.6,134.5,9.4,390,6569,0.00,2.42,0.00,0.000,4,0.000,0.045,3001,622,2271,0,0,0,0,0,0
$GC,6700,1.09,190.6,119.7,10.7,404,6707,0.22,2.35,0.00,0.000,6,0.089,0.022,2954,2042,2269,0,0,0,0,0,0
$GC,6962,1.20,234.7,104.5,5.0,429,7008,0.10,2.47,38.88,0.611,4,0.084,0.042,2984,629,2093,0,0,0,0,0,0
$GC,7013,1.22,244.9,101.0,7.3,434,7028,0.00,2.35,10.35,0.539,6,0.000,0.022,2982,2044,2051,0,0,0,0,0,0
$GC,7284,1.25,244.9,72.4,11.7,460,7288,0.00,2.42,0.00,0.000,4,0.000,0.044,2984,630,2047,0,0,0,0,0,0
$GC,7475,1.25,244.9,48.0,13.8,481,7480,0.00,2.28,0.00,0.000,6,0.000,0.021,2984,2037,2044,0,0,0,0,0,0
$GC,7744,1.29,244.9,16.2,12.0,516,7751,0.00,2.45,0.00,0.000,4,0.000,0.044,2984,631,2044,0,0,0,0,0,0
$GC,7816,1.29,244.9,7.0,12.7,532,7823,0.00,2.30,0.00,0.000,6,0.000,0.021,2983,2037,2043,0,0,0,0,0,0
$STATE,7851,end climb,SURFACE_DEPTH_REACHED
$STATE,7851,begin surface coast
$FINISH,0.5,1.011596
$STATE,7875,end surface coast,CONTROL_FINISHED_OK
$STATE,7875,begin surface
$SM_CCo,7894,29.08,0.515,0,0,1827,300.00
$SM_GC,1.62,0.00,0.00,29.08,0.000,0.000,0.515,429,1892,1827,-10.51,-0.20,300.00
$IRIDIUM_FIX,2052.52,-15756.91,220799,090907
$TT8_MAMPS,0.029146
$HUMID,44.13
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,21.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,340.8,66.8
$24V_AH,23.4,12.677
$10V_AH,10.0,11.778
$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,26.750,90.950,274.050,29.075,0.000,32.774,49.767,124.980,3.750,0.000,16.707,1039.535,4876.005,341.594,1621.534,351.254,33.348,1042.922,0.000,1604.494,0.000,24.440,0.000
$DEVICE_MAMPS,138.827,55.224,812.253,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,365.890,369.927,811.461,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,31785,542
$CAP_FILE_SIZE,98413,0
$CFSIZE,260165632,250974208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270410,132656,2059.794,-15758.568,48,1.8,48,9.8