version: 66.06
glider: 139
mission: 7
dive: 148
start: 4 29 110 3 47 45
data:
$ID,139
$MISSION,7
$DIVE,148
$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,-2123615.5
$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
$GPS1,034136,2102.576,-15758.375,110,1.1,110,9.8
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.7
$GPS2,034726,2102.617,-15758.437,12,1.7,12,9.8
$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,319.6,12304,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-55.88,0.000,2,0.000,0.000,424,1866,3277,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.2,-5.0,10,94,10.73,2.40,-1.85,0.000,4,0.137,0.034,2407,3326,3370,0,0,0,0,0,0
$GC,341,-1.40,-77.9,48.0,-15.1,57,345,0.00,2.40,0.00,0.000,6,0.000,0.033,2407,1900,3372,0,0,0,0,0,0
$GC,603,-1.32,-77.9,83.3,-12.7,81,607,0.00,2.45,0.00,0.000,4,0.000,0.046,2407,485,3372,0,0,0,0,0,0
$GC,647,-1.22,-77.9,89.4,-14.6,85,652,0.20,2.35,0.00,0.000,6,0.094,0.020,2447,1936,3373,0,0,0,0,0,0
$GC,909,-1.29,-77.9,116.4,-9.6,109,913,0.00,2.47,0.00,0.000,4,0.000,0.044,2448,490,3373,0,0,0,0,0,0
$GC,955,-1.33,-77.9,121.6,-10.2,113,961,0.00,2.28,0.00,0.000,6,0.000,0.020,2447,1909,3374,0,0,0,0,0,0
$GC,1217,-1.40,-77.9,143.7,-6.8,138,1222,0.17,2.47,0.00,0.000,4,0.053,0.046,2395,490,3374,0,0,0,0,0,0
$GC,1281,-1.31,-77.9,150.4,-10.9,144,1288,0.12,2.30,0.00,0.000,6,0.076,0.021,2425,1900,3374,0,0,0,0,0,0
$GC,1543,-1.34,-77.9,175.9,-10.3,169,1547,0.00,2.40,0.00,0.000,4,0.000,0.045,2426,494,3375,0,0,0,0,0,0
$GC,1586,-1.34,-77.9,180.9,-11.6,173,1590,0.00,2.25,0.00,0.000,6,0.000,0.021,2426,1902,3375,0,0,0,0,0,0
$GC,1849,-1.39,-77.9,209.3,-10.8,194,1853,0.00,2.45,0.00,0.000,4,0.000,0.046,2426,486,3375,0,0,0,0,0,0
$GC,1921,-1.39,-77.9,218.1,-12.0,197,1926,0.00,2.28,0.00,0.000,6,0.000,0.021,2426,1898,3375,0,0,0,0,0,0
$GC,2249,-1.45,-77.9,249.0,-9.1,213,2254,0.12,2.45,0.00,0.000,4,0.066,0.047,2386,494,3375,0,0,0,0,0,0
$GC,2323,-1.38,-77.9,259.3,-13.8,216,2328,0.12,2.30,0.00,0.000,6,0.102,0.022,2412,1908,3375,0,0,0,0,0,0
$GC,2645,-1.42,-77.9,297.4,-11.3,232,2649,0.00,2.45,0.00,0.000,4,0.000,0.048,2412,495,3375,0,0,0,0,0,0
$GC,2709,-1.42,-77.9,305.1,-12.0,234,2713,0.00,2.30,0.00,0.000,6,0.000,0.023,2412,1904,3375,0,0,0,0,0,0
$GC,3053,-1.48,-77.9,332.9,-6.4,243,3058,0.00,2.45,0.00,0.000,4,0.000,0.049,2412,487,3374,0,0,0,0,0,0
$GC,3188,-1.52,-77.9,342.7,-8.4,246,3193,0.12,2.33,0.00,0.000,6,0.067,0.025,2374,1904,3374,0,0,0,0,0,0
$GC,3515,-1.52,-77.9,378.4,-11.6,254,3520,0.00,2.47,0.00,0.000,4,0.000,0.052,2374,493,3373,0,0,0,0,0,0
$GC,3552,-1.46,-77.9,383.1,-12.7,254,3558,0.10,2.33,0.00,0.000,6,0.114,0.026,2393,1900,3373,0,0,0,0,0,0
$GC,3883,-1.50,-77.9,410.6,-7.2,263,3887,0.00,2.47,0.00,0.000,4,0.000,0.054,2393,495,3371,0,0,0,0,0,0
$GC,3944,-1.50,-77.9,415.5,-8.5,264,3948,0.00,2.33,0.00,0.000,6,0.000,0.028,2393,1899,3370,0,0,0,0,0,0
$GC,4294,-1.54,-77.9,443.9,-7.9,273,4298,0.00,2.47,0.00,0.000,4,0.000,0.056,2390,497,3368,0,0,0,0,0,0
$GC,4344,-1.54,-77.9,448.2,-9.4,274,4348,0.00,2.35,0.00,0.000,6,0.000,0.029,2393,1907,3367,0,0,0,0,0,0
$STATE,4365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4365,begin apogee
$GC,4370,-0.31,0.0,450.1,9.3,274,4438,1.15,0.00,64.82,0.880,6,0.078,0.000,2642,2059,3050,0,0,0,0,0,0
$STATE,4439,end apogee,CONTROL_FINISHED_OK
$STATE,4439,begin climb
$GC,4441,1.40,77.9,450.9,0.0,276,4515,1.67,2.40,65.05,0.859,4,0.034,0.045,3026,3406,2731,0,0,0,0,0,0
$GC,4540,1.26,152.6,450.3,2.9,278,4611,0.20,2.40,64.00,0.852,6,0.120,0.036,2990,2026,2427,0,0,0,0,0,0
$GC,4951,1.15,152.6,409.9,10.2,289,4956,0.12,2.50,0.00,0.000,4,0.128,0.062,2964,625,2417,0,0,0,0,0,0
$GC,4966,1.03,152.6,408.3,10.5,289,4971,0.15,2.35,0.00,0.000,6,0.129,0.030,2941,2019,2416,0,0,0,0,0,0
$GC,5316,1.04,159.8,380.2,7.5,298,5328,0.00,2.50,5.18,0.621,4,0.000,0.055,2941,627,2397,0,0,0,0,0,0
$GC,5522,0.99,159.8,359.5,10.5,302,5527,0.00,2.38,0.00,0.000,6,0.000,0.031,2941,2042,2395,0,0,0,0,0,0
$GC,5866,0.99,159.8,326.9,9.2,311,5870,0.00,2.40,0.00,0.000,4,0.000,0.042,2942,3433,2394,0,0,0,0,0,0
$GC,5893,0.99,159.8,324.3,8.9,311,5897,0.00,2.40,0.00,0.000,6,0.000,0.038,2942,2036,2394,0,0,0,0,0,0
$GC,6228,1.02,185.1,302.7,6.3,320,6257,0.00,2.58,22.50,0.788,4,0.000,0.054,2941,632,2295,0,0,0,0,0,0
$GC,6380,1.02,185.1,290.0,9.6,325,6386,0.00,2.40,0.00,0.000,6,0.000,0.029,2941,2047,2289,0,0,0,0,0,0
$GC,6697,1.06,185.1,259.9,10.2,341,6701,0.00,2.50,0.00,0.000,4,0.000,0.051,2942,622,2289,0,0,0,0,0,0
$GC,6786,1.06,185.1,250.5,10.5,345,6790,0.00,2.35,0.00,0.000,6,0.000,0.028,2942,2039,2287,0,0,0,0,0,0
$GC,7117,1.12,192.5,225.1,7.5,361,7129,0.00,2.53,6.50,0.612,4,0.000,0.050,2941,633,2265,0,0,0,0,0,0
$GC,7156,1.12,194.4,221.6,7.9,362,7163,0.00,2.38,0.00,0.000,6,0.000,0.028,2942,2036,2263,0,0,0,0,0,0
$GC,7474,1.19,198.9,197.8,7.7,379,7487,0.12,2.47,7.25,0.607,4,0.075,0.048,2974,630,2239,0,0,0,0,0,0
$GC,7604,1.12,198.9,182.9,11.1,393,7609,0.00,2.35,0.00,0.000,6,0.000,0.025,2974,2042,2236,0,0,0,0,0,0
$GC,7865,1.13,210.7,160.9,7.2,418,7884,0.00,2.53,11.85,0.630,4,0.000,0.047,2975,633,2191,0,0,0,0,0,0
$GC,7959,1.07,210.7,152.7,8.7,428,7964,0.15,2.33,0.00,0.000,6,0.117,0.024,2949,2050,2187,0,0,0,0,0,0
$GC,8219,1.14,210.7,131.2,8.9,452,8224,0.00,2.47,0.00,0.000,4,0.000,0.045,2948,627,2187,0,0,0,0,0,0
$GC,8369,1.14,210.7,115.1,12.4,468,8373,0.00,2.30,0.00,0.000,6,0.000,0.023,2948,2041,2186,0,0,0,0,0,0
$GC,8630,1.22,210.7,86.7,9.0,492,8632,0.15,0.00,0.00,0.000,6,0.064,0.000,2989,2045,2186,0,0,0,0,0,0
$GC,8885,1.24,226.4,64.2,6.9,516,8906,0.00,2.50,15.15,0.565,4,0.000,0.044,2989,619,2125,0,0,0,0,0,0
$GC,9006,1.20,226.4,52.9,9.2,529,9010,0.00,2.33,0.00,0.000,6,0.000,0.021,2989,2038,2121,0,0,0,0,0,0
$GC,9268,1.20,226.4,30.8,8.8,553,9272,0.00,2.42,0.00,0.000,4,0.000,0.041,2989,626,2121,0,0,0,0,0,0
$GC,9398,1.16,226.4,16.9,11.8,581,9406,0.08,2.33,0.00,0.000,6,0.091,0.021,2971,2042,2120,0,0,0,0,0,0
$STATE,9555,end climb,SURFACE_DEPTH_REACHED
$STATE,9556,begin surface coast
$FINISH,0.5,1.012775
$STATE,9589,end surface coast,CONTROL_FINISHED_OK
$STATE,9589,begin surface
$SM_CCo,9608,37.95,0.525,0,0,1826,300.00
$SM_GC,1.58,0.00,0.00,37.95,0.000,0.000,0.525,429,1878,1826,-10.51,-0.62,300.00
$IRIDIUM_FIX,2052.52,-15756.91,240799,010136
$TT8_MAMPS,0.029146
$HUMID,44.29
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.00
$XPDR_PINGS,1
$24V_AH,23.4,13.953
$10V_AH,10.1,12.997
$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,26.525,115.700,262.300,37.950,0.000,31.313,31.293,195.375,4.750,0.000,12.653,1204.417,6135.871,360.737,1893.043,407.281,0.000,1165.780,0.000,1868.198,0.000,29.238,0.000
$DEVICE_MAMPS,137.293,62.127,879.749,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.804,400.085,903.039,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,34940,616
$CAP_FILE_SIZE,115169,0
$CFSIZE,260165632,250114048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290410,063030,2103.614,-15759.545,78,1.7,83,9.8