version: 66.06
glider: 139
mission: 7
dive: 138
start: 4 27 110 23 48 35
data:
$ID,139
$MISSION,7
$DIVE,138
$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,-2123333.2
$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
$GPS1,234301,2100.498,-15757.909,68,1.1,68,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.3
$GPS2,234743,2100.483,-15757.978,10,1.1,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.180,-0.035
$KALMAN_X,-53095.3,801.5,395.2,30835.6,-3324.5
$KALMAN_Y,-25579.7,785.3,44.8,18134.1,-1387.1
$MHEAD_RNG_PITCHd_Wd,91.2,14820,-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,-58.58,0.000,6,0.000,0.000,428,1889,3369,0,0,0,0,0,0
$GC,81,-1.40,-77.9,4.0,-7.4,11,99,10.68,2.42,0.00,0.000,4,0.137,0.036,2407,483,3371,0,0,0,0,0,0
$GC,140,-1.21,-77.9,22.0,-19.9,23,147,0.17,2.38,0.00,0.000,6,0.078,0.021,2447,1928,3372,0,0,0,0,0,0
$GC,346,-1.21,-77.9,51.5,-14.0,47,351,0.00,2.50,0.00,0.000,4,0.000,0.044,2447,486,3372,0,0,0,0,0,0
$GC,391,-1.15,-77.9,58.4,-15.3,51,397,0.00,2.30,0.00,0.000,6,0.000,0.020,2447,1906,3372,0,0,0,0,0,0
$GC,650,-1.15,-77.9,91.2,-13.2,76,655,0.00,2.45,0.00,0.000,4,0.000,0.046,2447,492,3372,0,0,0,0,0,0
$GC,704,-1.15,-77.9,98.1,-12.1,81,710,0.00,2.25,0.00,0.000,6,0.000,0.020,2447,1895,3373,0,0,0,0,0,0
$GC,965,-1.20,-77.9,128.7,-11.1,106,970,0.00,2.42,0.00,0.000,4,0.000,0.044,2444,494,3374,0,0,0,0,0,0
$GC,1053,-1.20,-77.9,138.2,-11.1,115,1058,0.00,2.28,0.00,0.000,6,0.000,0.020,2446,1910,3374,0,0,0,0,0,0
$GC,1315,-1.26,-77.9,163.0,-9.0,139,1319,0.00,2.25,0.00,0.000,4,0.000,0.027,2447,3296,3375,0,0,0,0,0,0
$GC,1335,-1.36,-77.9,164.9,-9.3,140,1342,0.08,2.35,0.00,0.000,6,0.039,0.030,2405,1900,3375,0,0,0,0,0,0
$GC,1597,-1.36,-77.9,191.7,-11.3,165,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1899,3376,0,0,0,0,0,0
$GC,1858,-1.40,-77.9,221.3,-11.0,181,1862,0.00,2.38,0.00,0.000,4,0.000,0.045,2406,497,3376,0,0,0,0,0,0
$GC,1958,-1.40,-77.9,233.6,-11.4,185,1962,0.00,2.25,0.00,0.000,6,0.000,0.021,2409,1899,3377,0,0,0,0,0,0
$GC,2276,-1.43,-77.9,261.0,-7.8,200,2280,0.00,2.40,0.00,0.000,4,0.000,0.045,2409,495,3377,0,0,0,0,0,0
$GC,2299,-1.43,-77.9,262.9,-7.6,201,2303,0.00,2.28,0.00,0.000,6,0.000,0.022,2410,1900,3376,0,0,0,0,0,0
$GC,2630,-1.48,-77.9,291.1,-9.6,217,2635,0.00,2.42,0.00,0.000,4,0.000,0.048,2409,491,3376,0,0,0,0,0,0
$GC,2697,-1.48,-77.9,298.3,-10.6,220,2701,0.00,2.30,0.00,0.000,6,0.000,0.024,2409,1902,3376,0,0,0,0,0,0
$GC,3041,-1.54,-77.9,330.4,-8.5,229,3046,0.15,2.47,0.00,0.000,4,0.060,0.051,2366,494,3375,0,0,0,0,0,0
$GC,3070,-1.46,-77.9,332.9,-9.5,229,3075,0.15,2.30,0.00,0.000,6,0.097,0.025,2397,1897,3375,0,0,0,0,0,0
$GC,3406,-1.50,-77.9,359.7,-7.8,238,3413,0.00,2.45,0.00,0.000,4,0.000,0.052,2397,491,3373,0,0,0,0,0,0
$GC,3473,-1.50,-77.9,365.4,-7.4,239,3477,0.00,2.30,0.00,0.000,6,0.000,0.027,2397,1899,3373,0,0,0,0,0,0
$GC,3823,-1.55,-77.9,391.5,-7.1,248,3827,0.00,2.47,0.00,0.000,4,0.000,0.054,2396,493,3370,0,0,0,0,0,0
$STATE,3839,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3839,begin apogee
$GC,3846,-0.31,0.0,393.1,8.0,248,3915,1.12,0.00,64.57,0.836,6,0.077,0.000,2641,2034,3050,0,0,0,0,0,0
$STATE,3915,end apogee,CONTROL_FINISHED_OK
$STATE,3916,begin climb
$GC,3918,1.40,77.9,394.2,0.0,250,3992,1.65,2.53,64.05,0.818,4,0.034,0.044,3024,3432,2732,0,0,0,0,0,0
$GC,4182,1.22,113.4,385.2,5.6,255,4219,0.22,2.42,30.15,0.802,6,0.114,0.037,2982,2029,2586,0,0,0,0,0,0
$GC,4555,1.15,142.2,362.2,6.0,265,4587,0.00,2.50,24.83,0.796,4,0.000,0.041,2983,3432,2469,0,0,0,0,0,0
$GC,4670,1.06,142.2,353.8,9.0,267,4675,0.20,2.40,0.00,0.000,6,0.114,0.038,2947,2037,2467,0,0,0,0,0,0
$GC,5010,1.13,198.0,334.8,4.2,276,5066,0.00,2.55,48.22,0.808,4,0.000,0.054,2945,623,2241,0,0,0,0,0,0
$GC,5242,1.08,198.0,311.4,10.9,281,5246,0.00,2.40,0.00,0.000,6,0.000,0.028,2945,2042,2232,0,0,0,0,0,0
$GC,5562,1.08,198.0,278.6,10.0,294,5567,0.00,2.53,0.00,0.000,4,0.000,0.054,2946,623,2231,0,0,0,0,0,0
$GC,5617,1.04,198.0,272.7,11.1,296,5622,0.00,2.38,0.00,0.000,6,0.000,0.029,2946,2038,2228,0,0,0,0,0,0
$GC,5934,1.08,198.0,239.0,10.9,311,5938,0.00,2.50,0.00,0.000,4,0.000,0.054,2946,627,2228,0,0,0,0,0,0
$GC,6012,1.08,198.0,230.1,10.2,314,6016,0.00,2.35,0.00,0.000,6,0.000,0.028,2946,2041,2226,0,0,0,0,0,0
$GC,6330,1.13,201.7,203.8,7.8,329,6334,0.00,2.47,0.00,0.000,4,0.000,0.051,2946,621,2226,0,0,0,0,0,0
$GC,6483,1.13,201.7,189.3,9.0,342,6490,0.00,2.38,0.00,0.000,6,0.000,0.026,2946,2037,2224,0,0,0,0,0,0
$GC,6746,1.19,201.7,162.6,11.2,367,6748,0.12,0.00,0.00,0.000,6,0.074,0.000,2979,2041,2224,0,0,0,0,0,0
$GC,6999,1.19,201.7,136.1,8.6,391,7003,0.00,2.45,0.00,0.000,4,0.000,0.046,2979,625,2224,0,0,0,0,0,0
$GC,7061,1.13,201.7,130.5,9.7,397,7065,0.00,2.30,0.00,0.000,6,0.000,0.024,2979,2040,2223,0,0,0,0,0,0
$GC,7323,1.17,232.5,113.1,5.9,421,7360,0.00,2.40,27.67,0.630,4,0.000,0.033,2980,3419,2101,0,0,0,0,0,0
$GC,7390,1.25,250.5,108.9,6.8,428,7413,0.05,2.35,17.15,0.599,6,0.128,0.031,2995,2029,2028,0,0,0,0,0,0
$GC,7675,1.25,250.5,80.9,10.5,455,7679,0.00,2.40,0.00,0.000,4,0.000,0.045,2997,625,2024,0,0,0,0,0,0
$GC,7762,1.19,250.5,69.9,12.8,464,7767,0.12,2.33,0.00,0.000,6,0.112,0.021,2975,2050,2021,0,0,0,0,0,0
$GC,8024,1.25,250.5,42.1,10.1,488,8027,0.00,2.45,0.00,0.000,4,0.000,0.042,2974,619,2021,0,0,0,0,0,0
$GC,8137,1.25,250.5,28.4,13.0,501,8144,0.00,2.33,0.00,0.000,6,0.000,0.021,2974,2034,2020,0,0,0,0,0,0
$GC,8337,1.30,250.5,5.6,11.3,538,8344,0.10,2.42,0.00,0.000,4,0.079,0.043,3006,633,2020,0,0,0,0,0,0
$STATE,8359,end climb,SURFACE_DEPTH_REACHED
$STATE,8359,begin surface coast
$FINISH,0.5,1.010934
$STATE,8381,end surface coast,CONTROL_FINISHED_OK
$STATE,8381,begin surface
$SM_CCo,8402,24.95,0.515,0,0,1826,300.00
$SM_GC,1.32,0.00,0.00,24.95,0.000,0.000,0.515,423,1925,1826,-10.54,0.71,300.00
$IRIDIUM_FIX,2052.52,-15756.91,220799,212132
$TT8_MAMPS,0.029146
$HUMID,45.15
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,20.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,360.2,62.5
$24V_AH,23.4,13.120
$10V_AH,10.0,12.195
$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,25.825,105.125,276.650,24.950,0.000,28.808,27.303,132.225,3.750,0.000,15.326,1064.599,5283.649,343.790,1691.492,330.418,33.330,1091.501,0.000,1671.914,0.000,26.002,0.000
$DEVICE_MAMPS,137.293,54.457,836.030,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,369.522,361.279,805.287,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,31753,547
$CAP_FILE_SIZE,102055,0
$CFSIZE,260165632,250687488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280410,021121,2100.279,-15757.803,83,2.1,102,9.8