version: 66.06
glider: 139
mission: 7
dive: 139
start: 4 28 110 2 17 38
data:
$ID,139
$MISSION,7
$DIVE,139
$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,-2123369.8
$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
$GPS1,021121,2100.279,-15757.803,83,2.1,102,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.0
$GPS2,021646,2100.283,-15757.865,15,2.1,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,-0.033
$KALMAN_X,-55499.9,1773.0,138.7,32721.6,-3993.0
$KALMAN_Y,-25448.1,740.6,102.3,17612.1,-1090.5
$MHEAD_RNG_PITCHd_Wd,90.6,14519,-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,14,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-54.90,0.000,2,0.000,0.000,423,1924,3255,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.1,-5.0,10,93,10.68,2.33,-2.28,0.000,4,0.136,0.038,2406,3330,3369,0,0,0,0,0,0
$GC,125,-1.32,-77.9,16.4,-16.4,20,132,0.00,2.45,0.00,0.000,6,0.000,0.032,2407,1901,3370,0,0,0,0,0,0
$GC,326,-1.23,-77.9,47.9,-16.1,47,331,0.20,2.42,0.00,0.000,4,0.095,0.045,2448,489,3371,0,0,0,0,0,0
$GC,369,-1.15,-77.9,54.7,-14.5,51,373,0.00,2.33,0.00,0.000,6,0.000,0.020,2448,1937,3371,0,0,0,0,0,0
$GC,630,-1.15,-77.9,87.5,-10.9,75,635,0.00,2.50,0.00,0.000,4,0.000,0.043,2448,486,3372,0,0,0,0,0,0
$GC,712,-1.15,-77.9,97.1,-11.5,83,717,0.00,2.25,0.00,0.000,6,0.000,0.020,2448,1910,3372,0,0,0,0,0,0
$GC,973,-1.15,-77.9,126.9,-12.0,108,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1916,3373,0,0,0,0,0,0
$GC,1227,-1.21,-77.9,152.5,-9.9,132,1232,0.00,2.42,0.00,0.000,4,0.000,0.044,2447,488,3374,0,0,0,0,0,0
$GC,1245,-1.24,-77.9,154.6,-10.4,133,1251,0.00,2.25,0.00,0.000,6,0.000,0.021,2447,1907,3373,0,0,0,0,0,0
$GC,1507,-1.33,-77.9,176.7,-9.0,158,1511,0.10,2.45,0.00,0.000,4,0.074,0.046,2407,485,3374,0,0,0,0,0,0
$GC,1577,-1.33,-77.9,184.9,-11.3,165,1581,0.00,2.28,0.00,0.000,6,0.000,0.021,2410,1898,3374,0,0,0,0,0,0
$GC,1835,-1.33,-77.9,212.6,-10.1,183,1839,0.00,2.42,0.00,0.000,4,0.000,0.046,2409,494,3375,0,0,0,0,0,0
$GC,1878,-1.29,-77.9,218.1,-12.7,185,1883,0.10,2.28,0.00,0.000,6,0.109,0.021,2430,1906,3375,0,0,0,0,0,0
$GC,2216,-1.37,-77.9,250.3,-9.9,201,2220,0.00,2.45,0.00,0.000,4,0.000,0.046,2429,487,3376,0,0,0,0,0,0
$GC,2248,-1.41,-77.9,253.9,-9.8,202,2253,0.10,2.28,0.00,0.000,6,0.074,0.022,2396,1905,3375,0,0,0,0,0,0
$GC,2568,-1.41,-77.9,289.6,-11.2,218,2572,0.00,2.42,0.00,0.000,4,0.000,0.048,2395,494,3375,0,0,0,0,0,0
$GC,2590,-1.41,-77.9,292.0,-12.2,219,2594,0.00,2.28,0.00,0.000,6,0.000,0.023,2395,1898,3375,0,0,0,0,0,0
$GC,2915,-1.44,-77.9,325.5,-9.7,229,2919,0.00,2.42,0.00,0.000,4,0.000,0.049,2395,493,3374,0,0,0,0,0,0
$GC,2943,-1.41,-77.9,328.4,-10.5,229,2947,0.00,2.28,0.00,0.000,6,0.000,0.025,2394,1898,3374,0,0,0,0,0,0
$GC,3279,-1.45,-77.9,358.1,-8.5,238,3284,0.00,2.42,0.00,0.000,4,0.000,0.051,2395,496,3373,0,0,0,0,0,0
$GC,3301,-1.45,-77.9,360.2,-10.2,238,3306,0.00,2.30,0.00,0.000,6,0.000,0.026,2395,1898,3373,0,0,0,0,0,0
$GC,3646,-1.48,-77.9,391.9,-8.7,247,3650,0.00,2.45,0.00,0.000,6,0.000,0.052,2395,489,3371,0,0,0,0,0,0
$STATE,3651,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3651,begin apogee
$GC,3658,-0.31,0.0,392.4,8.7,247,3726,1.12,0.00,64.88,0.821,6,0.075,0.000,2640,2038,3050,0,0,0,0,0,0
$STATE,3727,end apogee,CONTROL_FINISHED_OK
$STATE,3727,begin climb
$GC,3729,1.40,77.9,394.2,0.0,248,3803,1.62,2.50,64.10,0.803,4,0.032,0.044,3021,3425,2732,0,0,0,0,0,0
$GC,3901,1.23,112.8,387.8,5.6,251,3939,0.20,2.40,29.98,0.784,6,0.117,0.035,2984,2029,2588,0,0,0,0,0,0
$GC,4275,1.16,146.5,364.8,5.7,261,4305,0.00,0.00,29.08,0.789,6,0.000,0.000,2985,2029,2452,0,0,0,0,0,0
$GC,4599,1.06,146.5,335.3,9.7,269,4604,0.20,2.45,0.00,0.000,4,0.110,0.039,2949,3433,2445,0,0,0,0,0,0
$GC,4655,1.06,146.5,329.9,9.2,270,4659,0.00,2.42,0.00,0.000,6,0.000,0.038,2949,2033,2445,0,0,0,0,0,0
$GC,4968,1.06,151.5,304.4,7.7,278,4974,0.00,0.00,4.10,0.515,6,0.000,0.000,2949,2033,2432,0,0,0,0,0,0
$GC,5277,1.09,175.6,286.4,6.4,291,5306,0.00,2.55,21.98,0.759,4,0.000,0.053,2948,632,2334,0,0,0,0,0,0
$GC,5389,1.05,175.6,276.2,10.3,296,5393,0.00,2.38,0.00,0.000,6,0.000,0.028,2948,2041,2329,0,0,0,0,0,0
$GC,5717,1.05,175.6,242.1,11.3,312,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2045,2328,0,0,0,0,0,0
$GC,6028,1.05,175.6,206.6,10.5,327,6033,0.00,2.38,0.00,0.000,4,0.000,0.038,2949,3437,2326,0,0,0,0,0,0
$GC,6072,1.05,175.6,202.4,9.7,329,6076,0.00,2.40,0.00,0.000,6,0.000,0.033,2947,2028,2326,0,0,0,0,0,0
$GC,6398,1.10,218.9,178.6,5.0,358,6445,0.00,2.53,37.53,0.692,4,0.000,0.050,2948,633,2155,0,0,0,0,0,0
$GC,6479,1.10,218.9,173.3,8.4,366,6485,0.00,2.38,0.00,0.000,6,0.000,0.025,2948,2040,2152,0,0,0,0,0,0
$GC,6741,1.16,218.9,149.6,9.8,391,6745,0.00,2.47,0.00,0.000,4,0.000,0.048,2948,630,2150,0,0,0,0,0,0
$GC,6802,1.16,218.9,142.4,12.5,397,6806,0.00,2.33,0.00,0.000,6,0.000,0.025,2949,2039,2148,0,0,0,0,0,0
$GC,7065,1.23,218.9,114.2,9.4,421,7070,0.15,2.42,0.00,0.000,4,0.067,0.046,2987,629,2147,0,0,0,0,0,0
$GC,7200,1.17,218.9,97.1,11.2,435,7204,0.00,2.30,0.00,0.000,6,0.000,0.023,2987,2044,2146,0,0,0,0,0,0
$GC,7461,1.17,218.9,72.5,9.0,459,7465,0.00,2.45,0.00,0.000,4,0.000,0.044,2988,628,2146,0,0,0,0,0,0
$GC,7567,1.11,218.9,61.4,9.9,470,7572,0.15,2.28,0.00,0.000,6,0.109,0.022,2958,2038,2146,0,0,0,0,0,0
$GC,7831,1.22,237.8,43.7,6.7,494,7852,0.00,2.53,16.12,0.543,4,0.000,0.043,2959,625,2080,0,0,0,0,0,0
$GC,7969,1.22,237.8,29.1,13.1,509,7976,0.00,2.33,0.00,0.000,6,0.000,0.021,2959,2042,2076,0,0,0,0,0,0
$GC,8171,1.33,237.8,9.2,11.3,546,8178,0.20,2.45,0.00,0.000,4,0.054,0.040,3013,630,2076,0,0,0,0,0,0
$STATE,8217,end climb,SURFACE_DEPTH_REACHED
$STATE,8217,begin surface coast
$FINISH,1.9,1.023799
$STATE,8223,end surface coast,CONTROL_FINISHED_OK
$STATE,8223,begin surface
$SM_CCo,8244,36.15,0.525,0,0,1827,300.00
$SM_GC,1.70,0.00,0.00,36.15,0.000,0.000,0.525,426,1940,1827,-10.53,1.10,300.00
$IRIDIUM_FIX,2052.52,-15754.77,220799,232314
$TT8_MAMPS,0.029146
$HUMID,45.07
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,360.2,62.0
$24V_AH,23.5,13.196
$10V_AH,10.0,12.269
$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,25.975,100.300,267.750,36.150,0.000,29.580,29.295,154.166,3.750,0.000,35.692,1051.378,5259.012,350.085,1606.397,344.085,33.347,1030.076,0.000,1565.906,0.000,25.985,0.000
$DEVICE_MAMPS,135.759,52.923,821.457,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,376.478,370.139,844.537,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355500
$DATA_FILE_SIZE,31856,557
$CAP_FILE_SIZE,97096,0
$CFSIZE,260165632,250642432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280410,043719,2100.375,-15757.598,61,1.8,65,9.8