version: 66.06
glider: 139
mission: 7
dive: 136
start: 4 27 110 18 46 58
data:
$ID,139
$MISSION,7
$DIVE,136
$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,-2123302.2
$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
$GPS1,183325,2100.226,-15758.651,33,1.3,51,9.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.0
$GPS2,184607,2100.201,-15758.695,14,1.2,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,-0.023
$KALMAN_X,-51750.6,303.0,721.0,28429.7,-6963.5
$KALMAN_Y,-24569.1,333.6,158.9,16940.7,-1436.3
$MHEAD_RNG_PITCHd_Wd,87.4,15853,-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,-77.9,0.0,0.0,0,72,0.00,0.00,-54.53,0.000,2,0.000,0.000,424,1920,3230,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.0,-4.0,10,93,10.65,2.45,-2.95,0.000,4,0.137,0.051,2407,492,3369,0,0,0,0,0,0
$GC,117,-0.91,-77.9,14.7,-25.1,18,124,0.47,2.35,0.00,0.000,6,0.086,0.020,2513,1937,3369,0,0,0,0,0,0
$GC,324,-1.05,-77.9,36.4,-9.8,50,329,0.12,2.50,0.00,0.000,4,0.064,0.045,2473,494,3370,0,0,0,0,0,0
$GC,376,-1.05,-77.9,42.7,-13.2,55,380,0.00,2.22,0.00,0.000,6,0.000,0.020,2472,1888,3370,0,0,0,0,0,0
$GC,638,-1.11,-77.9,71.3,-9.0,79,642,0.00,2.38,0.00,0.000,4,0.000,0.043,2473,494,3370,0,0,0,0,0,0
$GC,690,-1.16,-77.9,75.8,-8.5,84,694,0.00,2.25,0.00,0.000,6,0.000,0.020,2472,1909,3370,0,0,0,0,0,0
$GC,952,-1.24,-77.9,97.2,-8.0,108,957,0.12,2.45,0.00,0.000,4,0.065,0.044,2431,484,3370,0,0,0,0,0,0
$GC,1050,-1.18,-77.9,107.6,-11.0,118,1055,0.12,2.25,0.00,0.000,6,0.100,0.020,2457,1899,3371,0,0,0,0,0,0
$GC,1310,-1.25,-77.9,130.0,-9.6,142,1314,0.00,2.38,0.00,0.000,4,0.000,0.041,2457,492,3371,0,0,0,0,0,0
$GC,1328,-1.31,-77.9,131.4,-9.9,143,1332,0.12,2.25,0.00,0.000,6,0.066,0.020,2414,1913,3371,0,0,0,0,0,0
$GC,1589,-1.31,-77.9,167.1,-13.6,167,1593,0.00,2.42,0.00,0.000,4,0.000,0.043,2415,485,3372,0,0,0,0,0,0
$GC,1662,-1.31,-77.9,177.7,-13.8,174,1668,0.00,2.28,0.00,0.000,6,0.000,0.021,2415,1887,3372,0,0,0,0,0,0
$GC,1935,-1.34,-77.9,206.1,-9.6,197,1939,0.00,2.40,0.00,0.000,4,0.000,0.044,2415,490,3372,0,0,0,0,0,0
$GC,1962,-1.31,-77.9,209.2,-10.4,198,1966,0.00,2.28,0.00,0.000,6,0.000,0.021,2414,1903,3372,0,0,0,0,0,0
$GC,2282,-1.36,-77.9,236.3,-8.7,214,2286,0.00,2.30,0.00,0.000,4,0.000,0.030,2405,3297,3372,0,0,0,0,0,0
$GC,2318,-1.47,-77.9,239.9,-9.5,215,2324,0.00,2.35,0.00,0.000,6,0.000,0.031,2415,1895,3372,0,0,0,0,0,0
$GC,2634,-1.53,-77.9,269.4,-9.7,231,2639,0.15,2.42,0.00,0.000,4,0.059,0.048,2370,493,3372,0,0,0,0,0,0
$GC,2781,-1.45,-77.9,287.7,-11.7,237,2786,0.12,2.28,0.00,0.000,6,0.104,0.023,2395,1908,3371,0,0,0,0,0,0
$GC,3093,-1.45,-77.9,315.6,-8.6,248,3098,0.00,2.45,0.00,0.000,4,0.000,0.049,2395,497,3370,0,0,0,0,0,0
$GC,3116,-1.45,-77.9,317.8,-9.6,248,3120,0.00,2.28,0.00,0.000,6,0.000,0.025,2395,1901,3370,0,0,0,0,0,0
$GC,3455,-1.45,-77.9,345.4,-7.9,257,3459,0.00,2.42,0.00,0.000,4,0.000,0.051,2394,499,3367,0,0,0,0,0,0
$GC,3529,-1.45,-77.9,351.6,-7.9,258,3533,0.00,2.30,0.00,0.000,6,0.000,0.027,2395,1897,3367,0,0,0,0,0,0
$GC,3868,-1.45,-77.9,378.2,-8.9,267,3872,0.00,2.45,0.00,0.000,4,0.000,0.051,2382,497,3364,0,0,0,0,0,0
$STATE,3880,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3880,begin apogee
$GC,3888,-0.31,0.0,379.5,9.0,267,3955,1.15,0.00,63.42,0.813,6,0.079,0.000,2642,2040,3049,0,0,0,0,0,0
$STATE,3956,end apogee,CONTROL_FINISHED_OK
$STATE,3956,begin climb
$GC,3957,1.40,77.9,381.1,0.0,269,4032,1.65,2.50,64.22,0.794,4,0.034,0.044,3027,3432,2732,0,0,0,0,0,0
$GC,4295,1.24,137.4,370.7,3.9,276,4353,0.20,2.38,49.85,0.793,6,0.119,0.035,2988,2033,2489,0,0,0,0,0,0
$GC,4685,1.15,147.1,342.5,7.4,286,4701,0.12,2.45,8.65,0.684,4,0.127,0.038,2969,3435,2449,0,0,0,0,0,0
$GC,4716,1.11,150.4,340.0,7.8,286,4729,0.00,2.40,4.75,0.551,6,0.000,0.038,2968,2038,2436,0,0,0,0,0,0
$GC,5054,1.06,150.4,311.5,8.5,295,5059,0.12,2.47,0.00,0.000,4,0.126,0.052,2945,629,2431,0,0,0,0,0,0
$GC,5077,0.99,150.4,309.4,8.8,295,5081,0.00,2.35,0.00,0.000,6,0.000,0.029,2945,2040,2430,0,0,0,0,0,0
$GC,5399,0.99,150.4,285.1,8.3,308,5403,0.00,2.47,0.00,0.000,4,0.000,0.051,2946,628,2428,0,0,0,0,0,0
$GC,5534,0.93,150.4,272.8,8.9,314,5539,0.15,2.38,0.00,0.000,6,0.117,0.028,2919,2045,2426,0,0,0,0,0,0
$GC,5865,1.03,169.8,249.9,6.7,330,5888,0.00,2.53,16.45,0.724,4,0.000,0.051,2918,631,2355,0,0,0,0,0,0
$GC,6138,1.08,191.7,228.5,6.5,341,6167,0.15,2.33,19.73,0.716,6,0.068,0.028,2956,2044,2268,0,0,0,0,0,0
$GC,6474,1.09,198.7,203.8,7.5,358,6482,0.00,0.00,6.90,0.602,6,0.000,0.000,2956,2044,2240,0,0,0,0,0,0
$GC,6793,1.09,198.7,170.6,11.5,385,6797,0.00,2.47,0.00,0.000,4,0.000,0.048,2956,625,2237,0,0,0,0,0,0
$GC,6818,1.09,198.7,167.4,12.7,387,6822,0.00,2.35,0.00,0.000,6,0.000,0.026,2956,2037,2235,0,0,0,0,0,0
$GC,7081,1.13,203.8,143.9,7.7,411,7091,0.00,2.45,5.47,0.520,4,0.000,0.045,2957,627,2219,0,0,0,0,0,0
$GC,7213,1.13,203.8,131.6,9.6,425,7219,0.00,2.30,0.00,0.000,6,0.000,0.024,2956,2040,2217,0,0,0,0,0,0
$GC,7475,1.23,227.6,112.5,6.4,450,7505,0.12,2.50,22.25,0.621,4,0.072,0.044,2991,622,2120,0,0,0,0,0,0
$GC,7552,1.17,227.6,105.9,8.6,458,7557,0.12,2.35,0.00,0.000,6,0.113,0.023,2969,2047,2117,0,0,0,0,0,0
$GC,7813,1.23,227.6,85.3,8.1,482,7817,0.00,2.47,0.00,0.000,4,0.000,0.044,2968,618,2117,0,0,0,0,0,0
$GC,7965,1.23,227.6,70.6,9.3,498,7969,0.00,2.30,0.00,0.000,6,0.000,0.022,2969,2042,2115,0,0,0,0,0,0
$GC,8228,1.31,232.4,50.3,7.7,522,8240,0.12,2.42,4.90,0.426,4,0.069,0.041,3006,627,2102,0,0,0,0,0,0
$GC,8314,1.24,232.4,41.3,11.2,531,8319,0.10,2.28,0.00,0.000,6,0.121,0.021,2988,2040,2101,0,0,0,0,0,0
$GC,8583,1.24,232.4,14.6,10.0,570,8590,0.00,2.45,0.00,0.000,4,0.000,0.044,2987,632,2101,0,0,0,0,0,0
$STATE,8684,end climb,SURFACE_DEPTH_REACHED
$STATE,8684,begin surface coast
$FINISH,2.2,1.023778
$STATE,8691,end surface coast,CONTROL_FINISHED_OK
$STATE,8691,begin surface
$SM_CCo,8712,36.80,0.522,0,0,1827,300.00
$SM_GC,1.81,0.00,0.00,36.80,0.000,0.000,0.522,428,1909,1827,-10.52,0.25,300.00
$IRIDIUM_FIX,2052.52,-15759.92,220799,171705
$TT8_MAMPS,0.029146
$HUMID,44.92
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,342.1,67.3
$24V_AH,23.5,12.969
$10V_AH,10.1,12.049
$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,26.975,109.375,266.600,36.800,0.000,135.547,217.445,124.828,3.750,0.000,31.912,1147.915,5537.306,351.458,1850.113,633.460,33.337,1131.372,0.000,1815.464,0.000,24.456,0.000
$DEVICE_MAMPS,136.526,52.156,813.020,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.637,401.015,914.953,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,31748,594
$CAP_FILE_SIZE,110375,0
$CFSIZE,260165632,250789888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270410,211412,2059.962,-15757.994,40,1.9,50,9.8