version: 66.06
glider: 139
mission: 7
dive: 146
start: 4 28 110 22 19 24
data:
$ID,139
$MISSION,7
$DIVE,146
$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,2
$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,-2123552.5
$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
$GPS1,220928,2101.217,-15755.506,41,4.1,60,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.2
$GPS2,221906,2101.237,-15755.606,33,1.0,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.168,-0.074
$KALMAN_X,-59222.4,-485.3,-363.1,40755.3,-1141.0
$KALMAN_Y,-23432.7,-223.8,-84.1,19158.6,421.6
$MHEAD_RNG_PITCHd_Wd,309.9,17240,-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,-77.9,0.0,0.0,0,77,0.00,0.00,-58.62,0.000,6,0.000,0.000,424,1938,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.8,-7.0,11,98,10.73,2.33,0.00,0.000,4,0.138,0.027,2405,3317,3370,0,0,0,0,0,0
$GC,293,-1.40,-77.9,43.5,-13.8,49,297,0.00,2.40,0.00,0.000,6,0.000,0.032,2405,1897,3372,0,0,0,0,0,0
$GC,556,-1.28,-77.9,86.6,-16.5,73,561,0.15,2.42,0.00,0.000,4,0.103,0.045,2435,496,3372,0,0,0,0,0,0
$GC,575,-1.17,-77.9,90.3,-16.8,74,582,0.08,2.33,0.00,0.000,6,0.085,0.020,2454,1931,3372,0,0,0,0,0,0
$GC,837,-1.23,-77.9,118.3,-8.9,99,841,0.00,2.47,0.00,0.000,4,0.000,0.044,2454,496,3373,0,0,0,0,0,0
$GC,905,-1.29,-77.9,125.2,-9.1,106,910,0.00,2.25,0.00,0.000,6,0.000,0.020,2454,1889,3374,0,0,0,0,0,0
$GC,1167,-1.36,-77.9,149.0,-8.7,130,1172,0.17,2.42,0.00,0.000,4,0.052,0.044,2401,495,3374,0,0,0,0,0,0
$GC,1231,-1.28,-77.9,156.6,-12.0,136,1238,0.12,2.30,0.00,0.000,6,0.076,0.021,2432,1905,3374,0,0,0,0,0,0
$GC,1493,-1.33,-77.9,184.3,-10.1,161,1497,0.00,2.45,0.00,0.000,4,0.000,0.045,2431,487,3375,0,0,0,0,0,0
$GC,1562,-1.33,-77.9,191.7,-10.7,168,1566,0.00,2.30,0.00,0.000,6,0.000,0.021,2432,1910,3375,0,0,0,0,0,0
$GC,1817,-1.38,-77.9,214.9,-9.0,184,1822,0.00,2.45,0.00,0.000,4,0.000,0.045,2430,492,3376,0,0,0,0,0,0
$GC,1884,-1.42,-77.9,221.3,-9.4,187,1889,0.12,2.28,0.00,0.000,6,0.065,0.021,2392,1899,3376,0,0,0,0,0,0
$GC,2215,-1.42,-77.9,255.3,-10.3,203,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1904,3376,0,0,0,0,0,0
$GC,2522,-1.42,-77.9,286.2,-10.3,218,2526,0.00,2.45,0.00,0.000,4,0.000,0.048,2392,487,3376,0,0,0,0,0,0
$GC,2636,-1.38,-77.9,297.9,-10.2,223,2640,0.00,2.30,0.00,0.000,6,0.000,0.024,2392,1902,3375,0,0,0,0,0,0
$GC,2984,-1.38,-77.9,331.1,-9.6,232,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1907,3374,0,0,0,0,0,0
$GC,3309,-1.38,-77.9,359.9,-8.8,240,3314,0.00,2.42,0.00,0.000,4,0.000,0.051,2388,495,3372,0,0,0,0,0,0
$GC,3365,-1.38,-77.9,365.9,-10.8,241,3370,0.10,2.30,0.00,0.000,6,0.113,0.026,2411,1896,3372,0,0,0,0,0,0
$GC,3683,-1.46,-77.9,393.1,-8.8,249,3687,0.00,2.50,0.00,0.000,4,0.000,0.054,2407,492,3371,0,0,0,0,0,0
$GC,3715,-1.46,-77.9,396.0,-9.5,249,3719,0.00,2.30,0.00,0.000,6,0.000,0.028,2412,1895,3371,0,0,0,0,0,0
$GC,4047,-1.54,-77.9,422.2,-8.0,257,4052,0.15,2.50,0.00,0.000,4,0.063,0.056,2368,491,3368,0,0,0,0,0,0
$GC,4107,-1.48,-77.9,429.1,-11.3,258,4112,0.10,2.33,0.00,0.000,6,0.116,0.028,2390,1899,3368,0,0,0,0,0,0
$STATE,4333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4333,begin apogee
$GC,4338,-0.31,0.0,450.3,9.3,264,4407,1.20,0.00,64.93,0.883,6,0.077,0.000,2645,2057,3050,0,0,0,0,0,0
$STATE,4407,end apogee,CONTROL_FINISHED_OK
$STATE,4408,begin climb
$GC,4409,1.40,77.9,451.6,0.0,265,4484,1.62,2.45,65.07,0.862,4,0.033,0.048,3025,3401,2731,0,0,0,0,0,0
$GC,4674,1.21,109.6,443.6,5.8,270,4707,0.22,2.35,27.25,0.841,6,0.118,0.038,2983,2031,2603,0,0,0,0,0,0
$GC,5047,1.10,109.6,414.2,8.1,280,5049,0.15,0.00,0.00,0.000,6,0.121,0.000,2957,2031,2598,0,0,0,0,0,0
$GC,5373,1.07,140.5,394.3,5.9,288,5405,0.00,2.58,26.33,0.836,4,0.000,0.057,2955,637,2476,0,0,0,0,0,0
$GC,5429,0.95,148.3,390.3,7.5,289,5443,0.20,2.35,8.10,0.716,6,0.116,0.031,2921,2015,2445,0,0,0,0,0,0
$GC,5784,0.99,149.3,362.7,8.0,298,5788,0.00,2.45,0.00,0.000,4,0.000,0.055,2920,631,2440,0,0,0,0,0,0
$GC,5885,0.99,149.3,353.5,9.5,300,5890,0.00,2.38,0.00,0.000,6,0.000,0.031,2921,2034,2438,0,0,0,0,0,0
$GC,6198,1.05,159.5,329.7,7.3,308,6215,0.10,2.58,9.95,0.746,4,0.088,0.054,2945,628,2399,0,0,0,0,0,0
$GC,6225,1.01,163.0,327.6,7.8,308,6237,0.00,2.40,4.72,0.580,6,0.000,0.031,2946,2036,2385,0,0,0,0,0,0
$GC,6567,1.01,163.0,299.9,8.6,317,6571,0.00,2.40,0.00,0.000,4,0.000,0.041,2946,3430,2383,0,0,0,0,0,0
$GC,6580,1.01,163.0,298.6,8.6,317,6586,0.00,2.40,0.00,0.000,6,0.000,0.038,2946,2036,2382,0,0,0,0,0,0
$GC,6896,1.04,186.1,274.6,6.4,333,6925,0.00,2.53,21.23,0.772,4,0.000,0.052,2946,624,2290,0,0,0,0,0,0
$GC,7008,1.01,186.1,265.6,8.8,338,7012,0.00,2.40,0.00,0.000,6,0.000,0.028,2946,2044,2286,0,0,0,0,0,0
$GC,7337,1.08,207.7,237.0,6.5,354,7363,0.00,2.60,19.77,0.731,4,0.000,0.051,2946,626,2202,0,0,0,0,0,0
$GC,7419,1.08,207.7,230.8,9.0,357,7423,0.00,2.38,0.00,0.000,6,0.000,0.028,2946,2035,2198,0,0,0,0,0,0
$GC,7734,1.13,207.7,200.9,10.0,372,7738,0.00,2.47,0.00,0.000,4,0.000,0.049,2946,630,2197,0,0,0,0,0,0
$GC,7804,1.13,207.7,193.2,11.6,379,7808,0.00,2.35,0.00,0.000,6,0.000,0.026,2946,2039,2195,0,0,0,0,0,0
$GC,8067,1.19,207.7,168.3,9.9,403,8072,0.12,2.45,0.00,0.000,4,0.075,0.047,2978,622,2195,0,0,0,0,0,0
$GC,8077,1.23,207.7,166.9,10.0,403,8082,0.00,2.35,0.00,0.000,6,0.000,0.025,2978,2049,2195,0,0,0,0,0,0
$GC,8338,1.23,207.7,139.0,10.1,428,8342,0.00,2.45,0.00,0.000,4,0.000,0.046,2978,627,2195,0,0,0,0,0,0
$GC,8499,1.17,207.7,121.9,11.4,445,8504,0.00,2.33,0.00,0.000,6,0.000,0.024,2978,2038,2194,0,0,0,0,0,0
$GC,8762,1.17,207.7,93.2,8.8,469,8766,0.00,2.45,0.00,0.000,4,0.000,0.045,2978,622,2194,0,0,0,0,0,0
$GC,8776,1.17,207.7,91.7,8.7,470,8780,0.00,2.33,0.00,0.000,6,0.000,0.023,2978,2043,2194,0,0,0,0,0,0
$GC,9039,1.21,208.6,72.1,8.0,494,9043,0.00,2.42,0.00,0.000,4,0.000,0.043,2978,624,2194,0,0,0,0,0,0
$GC,9055,1.21,208.6,70.6,8.3,495,9059,0.00,2.30,0.00,0.000,6,0.000,0.022,2978,2038,2194,0,0,0,0,0,0
$GC,9317,1.26,214.9,48.7,7.6,519,9329,0.00,2.45,6.80,0.479,4,0.000,0.041,2978,616,2172,0,0,0,0,0,0
$GC,9447,1.26,214.9,38.5,8.3,533,9454,0.00,2.33,0.00,0.000,6,0.000,0.021,2979,2036,2171,0,0,0,0,0,0
$GC,9711,1.31,232.4,19.9,6.8,571,9735,0.10,2.45,16.77,0.525,4,0.079,0.041,3008,626,2102,0,0,0,0,0,0
$GC,9742,1.31,232.4,16.7,9.9,576,9749,0.00,2.33,0.00,0.000,6,0.000,0.021,3008,2055,2100,0,0,0,0,0,0
$STATE,9884,end climb,SURFACE_DEPTH_REACHED
$STATE,9884,begin surface coast
$FINISH,0.5,1.023853
$STATE,9912,end surface coast,CONTROL_FINISHED_OK
$STATE,9912,begin surface
$SM_CCo,9931,35.40,0.521,0,0,1826,300.00
$SM_GC,1.48,0.00,0.00,35.40,0.000,0.000,0.521,428,1870,1826,-10.52,-0.85,300.00
$IRIDIUM_FIX,2052.52,-15802.06,230799,222248
$TT8_MAMPS,0.029146
$HUMID,44.13
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.50
$XPDR_PINGS,1
$24V_AH,23.4,13.795
$10V_AH,10.0,12.839
$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,26.575,115.625,270.925,35.400,0.000,61.090,70.177,265.749,5.000,0.000,33.458,1182.898,6615.142,357.782,1837.795,554.339,0.000,1150.689,0.000,1789.834,0.000,33.197,0.000
$DEVICE_MAMPS,138.060,56.758,882.817,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,410.840,385.755,882.761,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355816
$DATA_FILE_SIZE,34926,607
$CAP_FILE_SIZE,117576,0
$CFSIZE,260165632,250224640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290410,010721,2101.859,-15756.872,55,3.6,74,9.8