version: 66.06
glider: 139
mission: 7
dive: 141
start: 4 28 110 7 20 47
data:
$ID,139
$MISSION,7
$DIVE,141
$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,-2123416.8
$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
$GPS1,071450,2101.239,-15757.197,76,2.6,95,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-68.4
$GPS2,071955,2101.208,-15757.257,10,1.7,10,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.175,-0.055
$KALMAN_X,-58235.1,1984.9,601.9,35821.2,-4250.7
$KALMAN_Y,-24268.2,298.1,420.2,18273.8,-708.6
$MHEAD_RNG_PITCHd_Wd,97.7,14168,-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,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,77,0.00,0.00,-58.60,0.000,6,0.000,0.000,428,1871,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.9,-7.4,11,98,10.68,2.45,0.00,0.000,4,0.137,0.025,2408,3328,3371,0,0,0,0,0,0
$GC,130,-1.28,-77.9,20.4,-24.4,21,137,0.10,2.45,0.00,0.000,6,0.076,0.034,2433,1904,3372,0,0,0,0,0,0
$GC,336,-1.24,-77.9,49.1,-14.0,46,340,0.00,2.42,0.00,0.000,4,0.000,0.045,2432,488,3372,0,0,0,0,0,0
$GC,372,-1.15,-77.9,55.2,-16.1,49,379,0.12,2.35,0.00,0.000,6,0.081,0.021,2461,1930,3372,0,0,0,0,0,0
$GC,633,-1.20,-77.9,85.0,-10.4,74,637,0.00,2.47,0.00,0.000,4,0.000,0.044,2461,487,3373,0,0,0,0,0,0
$GC,722,-1.23,-77.9,95.3,-12.6,83,726,0.00,2.25,0.00,0.000,6,0.000,0.020,2462,1900,3374,0,0,0,0,0,0
$GC,985,-1.31,-77.9,123.2,-8.6,107,990,0.15,2.45,0.00,0.000,4,0.058,0.044,2413,488,3375,0,0,0,0,0,0
$GC,1004,-1.31,-77.9,125.3,-9.1,108,1011,0.00,2.30,0.00,0.000,6,0.000,0.020,2408,1905,3375,0,0,0,0,0,0
$GC,1266,-1.31,-77.9,152.5,-11.3,133,1271,0.00,2.45,0.00,0.000,4,0.000,0.046,2412,488,3376,0,0,0,0,0,0
$GC,1340,-1.26,-77.9,162.3,-13.1,140,1347,0.08,2.28,0.00,0.000,6,0.078,0.021,2431,1891,3376,0,0,0,0,0,0
$GC,1602,-1.32,-77.9,188.4,-9.2,165,1606,0.00,2.42,0.00,0.000,4,0.000,0.045,2433,488,3377,0,0,0,0,0,0
$GC,1665,-1.36,-77.9,194.7,-9.7,171,1670,0.00,2.28,0.00,0.000,6,0.000,0.021,2434,1908,3377,0,0,0,0,0,0
$GC,1931,-1.43,-77.9,218.2,-8.7,187,1936,0.15,2.47,0.00,0.000,4,0.058,0.047,2385,488,3377,0,0,0,0,0,0
$GC,1964,-1.34,-77.9,221.9,-11.4,188,1969,0.17,2.30,0.00,0.000,6,0.090,0.022,2423,1907,3377,0,0,0,0,0,0
$GC,2282,-1.40,-77.9,251.1,-8.9,203,2286,0.00,2.42,0.00,0.000,4,0.000,0.048,2423,495,3377,0,0,0,0,0,0
$GC,2315,-1.40,-77.9,254.9,-11.5,204,2319,0.00,2.28,0.00,0.000,6,0.000,0.022,2424,1902,3377,0,0,0,0,0,0
$GC,2634,-1.48,-77.9,281.2,-7.6,219,2639,0.15,2.47,0.00,0.000,4,0.059,0.048,2378,487,3376,0,0,0,0,0,0
$GC,2690,-1.40,-77.9,286.9,-10.3,221,2695,0.15,2.28,0.00,0.000,6,0.096,0.024,2410,1897,3376,0,0,0,0,0,0
$GC,3003,-1.45,-77.9,315.4,-9.5,232,3007,0.00,2.42,0.00,0.000,4,0.000,0.049,2409,492,3376,0,0,0,0,0,0
$GC,3025,-1.45,-77.9,317.8,-10.0,232,3029,0.00,2.28,0.00,0.000,6,0.000,0.025,2409,1898,3375,0,0,0,0,0,0
$GC,3367,-1.50,-77.9,346.8,-7.8,241,3372,0.10,2.45,0.00,0.000,4,0.077,0.052,2376,495,3374,0,0,0,0,0,0
$GC,3390,-1.45,-77.9,349.2,-9.3,241,3395,0.00,2.30,0.00,0.000,6,0.000,0.026,2377,1906,3374,0,0,0,0,0,0
$GC,3732,-1.45,-77.9,382.0,-9.9,250,3736,0.00,2.47,0.00,0.000,4,0.000,0.053,2376,497,3372,0,0,0,0,0,0
$GC,3764,-1.41,-77.9,385.7,-11.0,250,3769,0.15,2.30,0.00,0.000,6,0.098,0.028,2407,1897,3372,0,0,0,0,0,0
$GC,4095,-1.48,-77.9,414.7,-9.1,258,4099,0.00,2.47,0.00,0.000,4,0.000,0.055,2408,495,3370,0,0,0,0,0,0
$GC,4137,-1.51,-77.9,418.9,-10.0,259,4142,0.12,2.33,0.00,0.000,6,0.069,0.028,2371,1898,3370,0,0,0,0,0,0
$STATE,4464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4464,begin apogee
$GC,4469,-0.31,0.0,451.8,9.7,267,4538,1.27,0.00,65.15,0.881,6,0.078,0.000,2642,2057,3050,0,0,0,0,0,0
$STATE,4538,end apogee,CONTROL_FINISHED_OK
$STATE,4539,begin climb
$GC,4540,1.40,77.9,452.4,0.0,268,4615,1.62,2.47,65.05,0.861,4,0.033,0.047,3024,3413,2732,0,0,0,0,0,0
$GC,4661,1.23,129.2,451.3,4.5,270,4713,0.17,2.40,44.20,0.851,6,0.120,0.037,2988,2031,2523,0,0,0,0,0,0
$GC,5036,1.11,129.2,419.0,8.9,280,5041,0.17,2.53,0.00,0.000,4,0.111,0.056,2959,626,2516,0,0,0,0,0,0
$GC,5065,0.98,129.2,416.5,8.2,280,5070,0.15,2.35,0.00,0.000,6,0.124,0.030,2932,2015,2514,0,0,0,0,0,0
$GC,5401,1.01,151.6,393.7,6.5,289,5422,0.00,0.00,19.23,0.822,6,0.000,0.000,2932,2019,2431,0,0,0,0,0,0
$GC,5725,1.01,151.9,367.7,8.0,297,5730,0.00,2.45,0.00,0.000,4,0.000,0.056,2931,633,2426,0,0,0,0,0,0
$GC,5748,0.97,151.9,365.5,10.2,297,5752,0.00,2.38,0.00,0.000,6,0.000,0.031,2932,2044,2424,0,0,0,0,0,0
$GC,6087,0.97,151.9,336.4,8.9,306,6092,0.00,2.50,0.00,0.000,4,0.000,0.054,2932,629,2423,0,0,0,0,0,0
$GC,6178,0.93,151.9,326.9,10.5,308,6182,0.00,2.38,0.00,0.000,6,0.000,0.031,2932,2036,2422,0,0,0,0,0,0
$GC,6504,0.93,151.9,298.3,8.8,316,6508,0.00,2.50,0.00,0.000,4,0.000,0.053,2932,626,2421,0,0,0,0,0,0
$GC,6531,0.90,151.9,295.4,9.8,317,6536,0.12,2.38,0.00,0.000,6,0.123,0.030,2910,2038,2420,0,0,0,0,0,0
$GC,6854,1.00,173.5,271.0,6.5,333,6879,0.10,2.58,18.25,0.766,4,0.088,0.053,2936,634,2341,0,0,0,0,0,0
$GC,7095,1.02,188.6,254.0,7.0,343,7116,0.00,2.35,14.30,0.731,6,0.000,0.029,2936,2048,2280,0,0,0,0,0,0
$GC,7437,1.09,199.2,231.7,7.3,360,7453,0.00,2.58,10.62,0.690,4,0.000,0.051,2935,629,2237,0,0,0,0,0,0
$GC,7476,1.09,199.2,228.3,8.7,361,7481,0.00,2.38,0.00,0.000,6,0.000,0.028,2936,2036,2234,0,0,0,0,0,0
$GC,7792,1.16,199.2,201.8,8.5,377,7797,0.15,2.47,0.00,0.000,4,0.067,0.050,2974,628,2233,0,0,0,0,0,0
$GC,7948,1.09,199.2,184.1,11.4,393,7954,0.12,2.33,0.00,0.000,6,0.118,0.026,2952,2038,2230,0,0,0,0,0,0
$GC,8209,1.14,199.2,162.6,8.5,418,8214,0.00,2.45,0.00,0.000,4,0.000,0.048,2952,621,2230,0,0,0,0,0,0
$GC,8370,1.14,199.2,147.2,9.5,435,8374,0.00,2.33,0.00,0.000,6,0.000,0.025,2952,2041,2230,0,0,0,0,0,0
$GC,8633,1.21,201.6,125.8,7.9,459,8638,0.12,2.35,0.00,0.000,4,0.072,0.033,2986,3434,2230,0,0,0,0,0,0
$GC,8677,1.21,201.6,121.9,8.5,463,8681,0.00,2.35,0.00,0.000,6,0.000,0.031,2986,2026,2230,0,0,0,0,0,0
$GC,8940,1.22,203.7,100.7,7.9,487,8950,0.00,2.40,4.55,0.446,4,0.000,0.044,2986,626,2218,0,0,0,0,0,0
$GC,9153,1.16,203.7,82.2,9.2,510,9160,0.00,2.33,0.00,0.000,6,0.000,0.022,2986,2034,2217,0,0,0,0,0,0
$GC,9416,1.20,236.7,65.3,5.8,535,9456,0.00,2.53,30.25,0.581,4,0.000,0.044,2986,626,2083,0,0,0,0,0,0
$GC,9532,1.17,236.7,56.3,9.6,547,9536,0.00,2.30,0.00,0.000,6,0.000,0.021,2986,2044,2079,0,0,0,0,0,0
$GC,9796,1.21,237.9,31.3,7.9,571,9800,0.00,2.40,0.00,0.000,4,0.000,0.041,2986,631,2079,0,0,0,0,0,0
$GC,9918,1.15,237.9,17.1,12.5,597,9926,0.08,2.30,0.00,0.000,6,0.091,0.021,2968,2036,2077,0,0,0,0,0,0
$STATE,10066,end climb,SURFACE_DEPTH_REACHED
$STATE,10066,begin surface coast
$FINISH,0.4,1.015580
$STATE,10111,end surface coast,CONTROL_FINISHED_OK
$STATE,10111,begin surface
$SM_CCo,10130,32.80,0.519,0,0,1827,300.00
$SM_GC,1.29,0.00,0.00,32.80,0.000,0.000,0.519,425,1891,1827,-10.53,-0.25,300.00
$IRIDIUM_FIX,2054.83,-15756.91,230799,040422
$TT8_MAMPS,0.029146
$HUMID,44.60
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.4,13.352
$10V_AH,10.0,12.426
$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,27.275,124.975,271.600,32.800,0.000,27.797,32.183,156.306,4.750,0.000,10.194,1226.984,6644.400,376.843,1853.611,370.165,33.376,1180.085,0.000,1836.505,0.000,32.055,0.000
$DEVICE_MAMPS,136.526,55.991,880.516,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.521,408.421,915.264,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,34984,632
$CAP_FILE_SIZE,118370,0
$CFSIZE,260165632,250515456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280410,101206,2100.970,-15756.595,76,1.7,81,9.8