version: 66.06
glider: 139
mission: 7
dive: 143
start: 4 28 110 13 28 31
data:
$ID,139
$MISSION,7
$DIVE,143
$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,-2123445.8
$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
$GPS1,132236,2101.503,-15756.869,102,1.2,102,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-69.9
$GPS2,132738,2101.525,-15756.939,14,1.2,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.007
$KALMAN_X,-58441.2,67.3,361.1,38739.1,-2936.8
$KALMAN_Y,-23352.3,-109.4,-281.1,19060.5,400.0
$MHEAD_RNG_PITCHd_Wd,78.0,13946,-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,-77.9,0.0,0.0,0,77,0.00,0.00,-58.42,0.000,6,0.000,0.000,427,1873,3368,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.9,-7.2,11,98,10.68,2.40,0.00,0.000,4,0.137,0.036,2404,484,3370,0,0,0,0,0,0
$GC,105,-0.05,-77.9,14.5,-32.3,15,112,1.42,2.38,0.00,0.000,6,0.095,0.021,2698,1929,3371,0,0,0,0,0,0
$GC,307,-0.71,-77.9,24.8,-6.6,52,314,0.60,2.47,0.00,0.000,4,0.044,0.040,2553,491,3372,0,0,0,0,0,0
$GC,372,-1.02,-77.9,28.5,-4.6,66,379,0.20,2.30,0.00,0.000,6,0.028,0.020,2474,1923,3371,0,0,0,0,0,0
$GC,574,-1.05,-77.9,47.0,-10.2,87,578,0.00,2.47,0.00,0.000,4,0.000,0.044,2476,488,3372,0,0,0,0,0,0
$GC,598,-1.05,-77.9,49.4,-9.8,89,602,0.00,2.22,0.00,0.000,6,0.000,0.020,2474,1888,3372,0,0,0,0,0,0
$GC,860,-1.11,-77.9,73.5,-10.5,113,865,0.00,2.40,0.00,0.000,4,0.000,0.044,2475,490,3373,0,0,0,0,0,0
$GC,896,-1.11,-77.9,77.8,-11.5,116,903,0.00,2.28,0.00,0.000,6,0.000,0.020,2474,1893,3373,0,0,0,0,0,0
$GC,1160,-1.22,-77.9,104.1,-9.1,141,1165,0.12,2.40,0.00,0.000,4,0.064,0.044,2432,494,3373,0,0,0,0,0,0
$GC,1221,-1.22,-77.9,110.8,-11.3,147,1226,0.00,2.25,0.00,0.000,6,0.000,0.020,2432,1896,3374,0,0,0,0,0,0
$GC,1483,-1.22,-77.9,143.7,-12.4,171,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,1901,3374,0,0,0,0,0,0
$GC,1738,-1.22,-77.9,173.8,-10.1,195,1742,0.00,2.42,0.00,0.000,4,0.000,0.044,2431,487,3375,0,0,0,0,0,0
$GC,1774,-1.22,-77.9,177.9,-10.2,198,1781,0.00,2.30,0.00,0.000,6,0.000,0.021,2431,1903,3376,0,0,0,0,0,0
$GC,2047,-1.27,-77.9,202.9,-9.8,223,2051,0.00,2.42,0.00,0.000,4,0.000,0.045,2432,494,3376,0,0,0,0,0,0
$GC,2120,-1.27,-77.9,211.3,-10.7,226,2124,0.00,2.28,0.00,0.000,6,0.000,0.021,2432,1909,3376,0,0,0,0,0,0
$GC,2439,-1.33,-77.9,242.9,-10.3,242,2444,0.00,2.42,0.00,0.000,4,0.000,0.045,2432,489,3376,0,0,0,0,0,0
$GC,2491,-1.33,-77.9,248.3,-10.5,244,2495,0.00,2.28,0.00,0.000,6,0.000,0.021,2432,1910,3376,0,0,0,0,0,0
$GC,2810,-1.40,-77.9,275.8,-8.1,260,2815,0.10,2.45,0.00,0.000,4,0.075,0.046,2395,489,3376,0,0,0,0,0,0
$GC,2838,-1.37,-77.9,278.3,-10.2,261,2842,0.00,2.25,0.00,0.000,6,0.000,0.023,2395,1895,3376,0,0,0,0,0,0
$GC,3157,-1.37,-77.9,304.4,-8.0,276,3161,0.00,2.45,0.00,0.000,4,0.000,0.049,2395,495,3376,0,0,0,0,0,0
$GC,3184,-1.33,-77.9,306.8,-9.4,276,3189,0.12,2.28,0.00,0.000,6,0.101,0.024,2421,1900,3376,0,0,0,0,0,0
$GC,3522,-1.41,-77.9,330.8,-7.7,285,3526,0.00,2.42,0.00,0.000,4,0.000,0.050,2421,496,3374,0,0,0,0,0,0
$GC,3596,-1.46,-77.9,338.4,-10.3,286,3601,0.12,2.30,0.00,0.000,6,0.066,0.026,2382,1899,3374,0,0,0,0,0,0
$GC,3931,-1.46,-77.9,371.8,-10.1,295,3936,0.00,2.47,0.00,0.000,4,0.000,0.052,2381,488,3373,0,0,0,0,0,0
$GC,3968,-1.42,-77.9,376.0,-11.7,295,3974,0.10,2.30,0.00,0.000,6,0.113,0.027,2402,1898,3372,0,0,0,0,0,0
$GC,4299,-1.47,-77.9,407.5,-9.4,304,4303,0.00,2.45,0.00,0.000,4,0.000,0.054,2401,495,3370,0,0,0,0,0,0
$GC,4349,-1.47,-77.9,412.8,-10.3,305,4353,0.00,2.33,0.00,0.000,6,0.000,0.028,2402,1898,3370,0,0,0,0,0,0
$GC,4672,-1.52,-77.9,441.1,-8.9,313,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1904,3367,0,0,0,0,0,0
$STATE,4786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4786,begin apogee
$GC,4791,-0.31,0.0,450.9,8.4,316,4859,1.12,0.00,64.60,0.883,6,0.074,0.000,2644,2059,3050,0,0,0,0,0,0
$STATE,4860,end apogee,CONTROL_FINISHED_OK
$STATE,4860,begin climb
$GC,4862,1.40,77.9,451.3,0.0,317,4936,1.65,2.45,64.70,0.859,4,0.034,0.047,3028,3404,2731,0,0,0,0,0,0
$GC,4983,1.23,129.2,450.1,4.5,319,5034,0.22,2.38,44.00,0.850,6,0.117,0.037,2987,2027,2523,0,0,0,0,0,0
$GC,5358,1.12,129.2,411.8,10.8,329,5363,0.15,2.42,0.00,0.000,4,0.123,0.044,2962,3412,2515,0,0,0,0,0,0
$GC,5401,1.07,129.2,407.6,9.6,330,5406,0.00,2.40,0.00,0.000,6,0.000,0.040,2961,2036,2515,0,0,0,0,0,0
$GC,5728,1.02,139.1,381.5,7.3,338,5742,0.12,2.53,8.00,0.723,4,0.126,0.054,2938,620,2482,0,0,0,0,0,0
$GC,5784,0.95,139.1,376.8,8.8,339,5789,0.00,2.38,0.00,0.000,6,0.000,0.030,2939,2018,2481,0,0,0,0,0,0
$GC,6097,0.96,146.2,351.8,7.5,347,6110,0.00,2.55,7.32,0.703,4,0.000,0.055,2939,628,2453,0,0,0,0,0,0
$GC,6171,0.90,146.3,346.2,8.0,348,6176,0.15,2.40,0.00,0.000,6,0.121,0.030,2913,2044,2451,0,0,0,0,0,0
$GC,6512,1.00,172.7,325.2,6.2,357,6541,0.00,2.60,23.92,0.805,4,0.000,0.054,2912,619,2345,0,0,0,0,0,0
$GC,6629,1.00,172.7,315.1,10.5,359,6633,0.00,2.38,0.00,0.000,6,0.000,0.029,2912,2034,2340,0,0,0,0,0,0
$GC,6945,1.08,172.7,287.9,8.4,370,6950,0.17,2.53,0.00,0.000,4,0.067,0.053,2954,623,2339,0,0,0,0,0,0
$GC,7116,1.04,172.7,269.2,12.0,377,7120,0.00,2.38,0.00,0.000,6,0.000,0.028,2954,2045,2337,0,0,0,0,0,0
$GC,7430,1.05,182.8,243.4,7.3,392,7446,0.00,2.50,8.95,0.678,4,0.000,0.049,2955,628,2303,0,0,0,0,0,0
$GC,7500,1.01,182.8,237.4,9.9,395,7504,0.00,2.35,0.00,0.000,6,0.000,0.028,2955,2041,2301,0,0,0,0,0,0
$GC,7829,1.01,182.8,206.6,9.6,411,7834,0.00,2.45,0.00,0.000,4,0.000,0.049,2954,628,2301,0,0,0,0,0,0
$GC,7857,0.97,182.8,203.9,9.0,412,7862,0.15,2.33,0.00,0.000,6,0.117,0.026,2927,2037,2299,0,0,0,0,0,0
$GC,8191,1.08,203.9,181.6,6.6,441,8213,0.00,0.00,19.62,0.683,6,0.000,0.000,2927,2041,2218,0,0,0,0,0,0
$GC,8468,1.18,203.9,157.8,9.2,467,8473,0.20,2.45,0.00,0.000,4,0.059,0.045,2977,626,2215,0,0,0,0,0,0
$GC,8660,1.12,203.9,133.8,11.4,487,8666,0.00,2.30,0.00,0.000,6,0.000,0.024,2977,2041,2212,0,0,0,0,0,0
$GC,8921,1.12,203.9,110.0,8.4,512,8925,0.00,2.45,0.00,0.000,4,0.000,0.044,2977,625,2212,0,0,0,0,0,0
$GC,8945,1.08,203.9,107.8,9.3,514,8950,0.15,2.30,0.00,0.000,6,0.116,0.023,2951,2043,2212,0,0,0,0,0,0
$GC,9205,1.17,222.7,87.6,6.7,538,9227,0.00,2.53,16.95,0.589,4,0.000,0.044,2950,616,2141,0,0,0,0,0,0
$GC,9326,1.20,222.7,76.3,10.5,551,9331,0.12,2.33,0.00,0.000,6,0.072,0.022,2985,2034,2137,0,0,0,0,0,0
$GC,9590,1.20,222.7,49.5,9.3,575,9594,0.00,2.45,0.00,0.000,4,0.000,0.043,2985,616,2137,0,0,0,0,0,0
$GC,9616,1.17,222.7,46.5,10.6,577,9623,0.00,2.33,0.00,0.000,6,0.000,0.021,2984,2031,2137,0,0,0,0,0,0
$GC,9883,1.18,232.5,24.5,7.3,608,9895,0.00,0.00,9.70,0.499,6,0.000,0.000,2984,2036,2102,0,0,0,0,0,0
$GC,10089,1.18,232.5,3.6,11.8,646,10096,0.00,2.45,0.00,0.000,4,0.000,0.044,2984,627,2101,0,0,0,0,0,0
$STATE,10101,end climb,SURFACE_DEPTH_REACHED
$STATE,10101,begin surface coast
$FINISH,0.7,1.023840
$STATE,10124,end surface coast,CONTROL_FINISHED_OK
$STATE,10124,begin surface
$SM_CCo,10145,34.78,0.523,0,0,1827,300.00
$SM_GC,1.54,0.00,0.00,34.78,0.000,0.000,0.523,425,1924,1827,-10.53,0.68,300.00
$IRIDIUM_FIX,2052.52,-15754.77,230799,101001
$TT8_MAMPS,0.029146
$HUMID,44.29
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,441.1,68.8
$24V_AH,23.4,13.537
$10V_AH,10.1,12.598
$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,28.650,124.275,267.775,34.775,0.000,30.300,29.128,147.479,5.000,0.000,14.543,1253.679,6592.718,368.732,1899.903,370.324,33.377,1180.175,0.000,1885.945,0.000,33.118,0.000
$DEVICE_MAMPS,137.293,55.224,882.817,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,441.739,426.695,982.445,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,34842,653
$CAP_FILE_SIZE,118961,0
$CFSIZE,260165632,250392576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280410,162127,2101.528,-15756.944,140,6.8,159,9.8