version: 66.06
glider: 139
mission: 7
dive: 137
start: 4 27 110 21 20 18
data:
$ID,139
$MISSION,7
$DIVE,137
$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,-2123317.2
$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
$GPS1,211412,2059.962,-15757.994,40,1.9,50,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-68.2
$GPS2,211926,2059.932,-15758.025,14,1.9,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.113,0.145
$KALMAN_X,-51427.2,-150.9,675.1,29745.8,-3377.8
$KALMAN_Y,-24856.9,504.4,174.0,16540.3,-1073.0
$MHEAD_RNG_PITCHd_Wd,28.0,14604,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,78,0.00,0.00,-59.22,0.000,6,0.000,0.000,427,1908,3369,0,0,0,0,0,0
$GC,81,-1.40,-77.9,3.7,-5.7,11,99,10.65,2.38,0.00,0.000,4,0.137,0.026,2403,3317,3371,0,0,0,0,0,0
$GC,235,-1.40,-77.9,35.3,-15.0,42,242,0.00,2.42,0.00,0.000,6,0.000,0.032,2404,1899,3372,0,0,0,0,0,0
$GC,498,-1.30,-77.9,77.0,-15.2,67,502,0.12,2.42,0.00,0.000,4,0.110,0.045,2428,487,3372,0,0,0,0,0,0
$GC,516,-1.18,-77.9,80.1,-14.9,68,523,0.10,2.35,0.00,0.000,6,0.081,0.020,2453,1938,3372,0,0,0,0,0,0
$GC,779,-1.23,-77.9,107.4,-10.1,93,783,0.00,2.50,0.00,0.000,4,0.000,0.044,2453,488,3373,0,0,0,0,0,0
$GC,840,-1.27,-77.9,113.2,-9.4,99,845,0.00,2.25,0.00,0.000,6,0.000,0.020,2453,1902,3374,0,0,0,0,0,0
$GC,1103,-1.36,-77.9,139.5,-10.9,123,1111,0.15,2.42,0.00,0.000,4,0.058,0.045,2405,494,3375,0,0,0,0,0,0
$GC,1171,-1.31,-77.9,148.4,-13.2,130,1176,0.10,2.25,0.00,0.000,6,0.111,0.020,2426,1900,3375,0,0,0,0,0,0
$GC,1433,-1.35,-77.9,180.1,-12.0,154,1437,0.00,2.42,0.00,0.000,4,0.000,0.044,2425,490,3375,0,0,0,0,0,0
$GC,1495,-1.35,-77.9,188.1,-11.3,160,1502,0.00,2.28,0.00,0.000,6,0.000,0.021,2426,1895,3376,0,0,0,0,0,0
$GC,1764,-1.40,-77.9,213.9,-9.5,179,1768,0.00,2.42,0.00,0.000,4,0.000,0.045,2416,488,3376,0,0,0,0,0,0
$GC,1823,-1.44,-77.9,220.5,-11.3,181,1829,0.12,2.25,0.00,0.000,6,0.066,0.021,2386,1897,3376,0,0,0,0,0,0
$GC,2139,-1.44,-77.9,255.7,-9.8,197,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1901,3376,0,0,0,0,0,0
$GC,2447,-1.44,-77.9,282.1,-9.3,212,2451,0.00,2.42,0.00,0.000,4,0.000,0.048,2386,487,3376,0,0,0,0,0,0
$GC,2513,-1.41,-77.9,289.1,-10.9,215,2518,0.10,2.28,0.00,0.000,6,0.110,0.025,2405,1896,3375,0,0,0,0,0,0
$GC,2841,-1.46,-77.9,318.4,-8.8,226,2846,0.00,2.35,0.00,0.000,4,0.000,0.035,2405,3301,3375,0,0,0,0,0,0
$GC,2878,-1.58,-77.9,321.5,-8.2,226,2884,0.15,2.35,0.00,0.000,6,0.062,0.035,2362,1899,3374,0,0,0,0,0,0
$GC,3208,-1.55,-77.9,357.2,-11.3,235,3213,0.00,2.45,0.00,0.000,4,0.000,0.052,2362,492,3372,0,0,0,0,0,0
$GC,3238,-1.45,-77.9,360.7,-11.9,235,3243,0.17,2.30,0.00,0.000,6,0.096,0.027,2397,1896,3373,0,0,0,0,0,0
$GC,3574,-1.50,-77.9,387.9,-7.2,244,3578,0.00,2.38,0.00,0.000,4,0.000,0.038,2398,3302,3371,0,0,0,0,0,0
$STATE,3595,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3595,begin apogee
$GC,3602,-0.31,0.0,389.7,7.4,244,3670,1.12,0.00,64.85,0.821,6,0.076,0.000,2642,2033,3050,0,0,0,0,0,0
$STATE,3671,end apogee,CONTROL_FINISHED_OK
$STATE,3671,begin climb
$GC,3673,1.40,77.9,390.5,0.0,246,3747,1.65,2.50,64.15,0.805,4,0.033,0.041,3027,3423,2732,0,0,0,0,0,0
$GC,4011,1.20,102.5,372.4,6.3,253,4040,0.25,2.40,21.00,0.776,6,0.116,0.036,2979,2031,2632,0,0,0,0,0,0
$GC,4363,1.12,133.0,349.7,5.9,262,4392,0.12,0.00,26.35,0.787,6,0.128,0.000,2958,2031,2507,0,0,0,0,0,0
$GC,4688,1.08,133.0,322.6,9.2,270,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2031,2502,0,0,0,0,0,0
$GC,5013,1.07,154.6,298.3,6.5,278,5037,0.00,2.45,18.52,0.759,4,0.000,0.040,2960,3429,2419,0,0,0,0,0,0
$GC,5102,1.08,161.9,291.5,7.5,281,5115,0.00,2.40,7.70,0.653,6,0.000,0.037,2960,2037,2389,0,0,0,0,0,0
$GC,5440,1.08,161.9,263.2,8.0,298,5445,0.00,2.45,0.00,0.000,4,0.000,0.051,2958,629,2385,0,0,0,0,0,0
$GC,5570,1.01,164.9,251.7,7.8,303,5576,0.12,2.35,0.00,0.000,6,0.130,0.028,2938,2042,2383,0,0,0,0,0,0
$GC,5887,1.10,209.6,235.1,4.9,319,5936,0.00,2.58,41.67,0.746,4,0.000,0.051,2937,622,2193,0,0,0,0,0,0
$GC,5959,1.10,209.6,229.3,9.8,322,5964,0.00,2.40,0.00,0.000,6,0.000,0.028,2937,2042,2191,0,0,0,0,0,0
$GC,6279,1.17,209.6,200.2,9.2,338,6284,0.15,2.47,0.00,0.000,4,0.071,0.050,2975,624,2187,0,0,0,0,0,0
$GC,6412,1.10,209.6,186.1,11.5,352,6417,0.12,2.35,0.00,0.000,6,0.126,0.026,2953,2044,2183,0,0,0,0,0,0
$GC,6673,1.15,209.6,163.5,9.8,376,6678,0.00,2.47,0.00,0.000,4,0.000,0.049,2953,622,2183,0,0,0,0,0,0
$GC,6808,1.15,209.6,149.1,10.0,390,6816,0.00,2.38,0.00,0.000,6,0.000,0.025,2954,2044,2182,0,0,0,0,0,0
$GC,7071,1.22,209.6,126.1,9.1,415,7076,0.12,2.47,0.00,0.000,4,0.073,0.046,2988,620,2182,0,0,0,0,0,0
$GC,7189,1.17,209.6,112.6,12.9,427,7193,0.00,2.33,0.00,0.000,6,0.000,0.023,2988,2047,2181,0,0,0,0,0,0
$GC,7451,1.17,210.6,85.2,8.0,451,7455,0.00,2.42,0.00,0.000,4,0.000,0.044,2987,628,2181,0,0,0,0,0,0
$GC,7505,1.12,210.6,80.5,9.1,456,7513,0.12,2.33,0.00,0.000,6,0.093,0.022,2961,2043,2181,0,0,0,0,0,0
$GC,7768,1.22,224.9,62.2,7.0,481,7789,0.00,2.50,12.27,0.543,4,0.000,0.044,2960,628,2132,0,0,0,0,0,0
$GC,7802,1.28,229.7,59.6,7.7,484,7814,0.15,2.30,5.97,0.459,6,0.066,0.021,3001,2052,2112,0,0,0,0,0,0
$GC,8067,1.28,229.7,34.6,9.6,509,8071,0.00,2.45,0.00,0.000,4,0.000,0.042,3001,622,2112,0,0,0,0,0,0
$GC,8135,1.22,229.7,27.0,11.5,519,8142,0.08,2.30,0.00,0.000,6,0.087,0.021,2983,2028,2110,0,0,0,0,0,0
$GC,8338,1.25,229.7,8.2,10.0,556,8344,0.00,2.45,0.00,0.000,4,0.000,0.044,2983,622,2110,0,0,0,0,0,0
$GC,8364,1.25,229.7,5.0,11.8,561,8371,0.00,2.33,0.00,0.000,6,0.000,0.021,2983,2031,2110,0,0,0,0,0,0
$STATE,8381,end climb,SURFACE_DEPTH_REACHED
$STATE,8381,begin surface coast
$FINISH,0.4,1.017922
$STATE,8405,end surface coast,CONTROL_FINISHED_OK
$STATE,8405,begin surface
$SM_CCo,8424,35.33,0.519,0,0,1826,300.00
$SM_GC,1.37,0.00,0.00,35.33,0.000,0.000,0.519,429,1888,1826,-10.51,-0.31,300.00
$IRIDIUM_FIX,2054.83,-15756.91,220799,181828
$TT8_MAMPS,0.03068
$HUMID,44.95
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,21.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,360.0,59.7
$24V_AH,23.5,13.044
$10V_AH,10.1,12.123
$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,26.625,100.400,262.500,35.325,0.000,31.020,36.599,151.747,3.750,0.000,14.221,1084.909,5288.780,360.772,1678.130,365.368,33.329,1084.970,0.000,1666.982,0.000,25.990,0.000
$DEVICE_MAMPS,137.293,55.224,821.457,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,383.424,380.861,862.747,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,31792,568
$CAP_FILE_SIZE,102258,0
$CFSIZE,260165632,250740736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270410,234301,2100.498,-15757.909,68,1.1,68,9.8