version: 66.06
glider: 139
mission: 7
dive: 151
start: 4 29 110 12 35 51
data:
$ID,139
$MISSION,7
$DIVE,151
$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,-2123680.2
$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
$GPS1,122924,2105.394,-15801.636,53,1.6,70,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-59.4
$GPS2,123532,2105.356,-15801.703,17,1.7,17,9.8
$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,343.7,5551,-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,-77.9,0.0,0.0,0,126,0.00,0.00,-108.18,0.000,6,0.000,0.000,429,1882,3369,0,0,0,0,0,0
$GC,129,-1.40,-77.9,3.6,-6.8,20,147,10.80,2.42,0.00,0.000,4,0.141,0.025,2405,3317,3371,0,0,0,0,0,0
$GC,235,-1.40,-77.9,26.5,-12.8,43,241,0.00,2.42,0.00,0.000,6,0.000,0.031,2406,1904,3371,0,0,0,0,0,0
$GC,435,-1.30,-77.9,56.8,-14.8,64,440,0.12,2.47,0.00,0.000,4,0.112,0.047,2429,485,3371,0,0,0,0,0,0
$GC,482,-1.18,-77.9,63.8,-15.4,68,488,0.10,2.35,0.00,0.000,6,0.084,0.020,2451,1929,3371,0,0,0,0,0,0
$GC,745,-1.21,-77.9,93.5,-11.7,93,749,0.00,2.50,0.00,0.000,4,0.000,0.044,2453,487,3372,0,0,0,0,0,0
$GC,806,-1.21,-77.9,100.9,-12.0,99,810,0.00,2.25,0.00,0.000,6,0.000,0.020,2453,1895,3372,0,0,0,0,0,0
$GC,1069,-1.30,-77.9,119.8,-5.9,123,1074,0.10,2.42,0.00,0.000,4,0.074,0.045,2418,495,3372,0,0,0,0,0,0
$GC,1102,-1.23,-77.9,122.8,-9.7,126,1109,0.10,2.28,0.00,0.000,6,0.076,0.021,2442,1896,3373,0,0,0,0,0,0
$GC,1364,-1.29,-77.9,145.1,-10.4,151,1368,0.00,2.40,0.00,0.000,4,0.000,0.045,2442,494,3373,0,0,0,0,0,0
$GC,1443,-1.29,-77.9,154.3,-12.0,159,1447,0.00,2.25,0.00,0.000,6,0.000,0.021,2443,1901,3373,0,0,0,0,0,0
$GC,1704,-1.37,-77.9,181.9,-9.5,183,1709,0.12,2.42,0.00,0.000,4,0.065,0.046,2402,494,3372,0,0,0,0,0,0
$GC,1741,-1.28,-77.9,186.4,-12.6,186,1748,0.12,2.30,0.00,0.000,6,0.074,0.021,2432,1900,3373,0,0,0,0,0,0
$GC,2013,-1.33,-77.9,207.7,-7.1,207,2017,0.00,2.45,0.00,0.000,4,0.000,0.046,2432,487,3373,0,0,0,0,0,0
$GC,2045,-1.33,-77.9,211.0,-9.7,208,2049,0.00,2.28,0.00,0.000,6,0.000,0.021,2432,1904,3373,0,0,0,0,0,0
$GC,2365,-1.40,-77.9,238.5,-7.9,224,2370,0.10,2.45,0.00,0.000,4,0.078,0.047,2398,494,3373,0,0,0,0,0,0
$GC,2445,-1.40,-77.9,246.2,-9.0,227,2449,0.00,2.30,0.00,0.000,6,0.000,0.022,2399,1909,3373,0,0,0,0,0,0
$GC,2760,-1.40,-77.9,276.7,-9.5,242,2764,0.00,2.45,0.00,0.000,4,0.000,0.048,2399,495,3373,0,0,0,0,0,0
$GC,2800,-1.36,-77.9,280.8,-9.9,243,2806,0.00,2.28,0.00,0.000,6,0.000,0.024,2399,1906,3373,0,0,0,0,0,0
$GC,3115,-1.36,-77.9,304.7,-7.6,258,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1911,3372,0,0,0,0,0,0
$GC,3440,-1.39,-77.9,333.1,-9.0,266,3444,0.00,2.47,0.00,0.000,4,0.000,0.051,2399,494,3370,0,0,0,0,0,0
$GC,3565,-1.39,-77.9,346.0,-10.1,268,3569,0.00,2.30,0.00,0.000,6,0.000,0.025,2398,1896,3369,0,0,0,0,0,0
$GC,3896,-1.44,-77.9,376.6,-9.5,276,3900,0.00,2.47,0.00,0.000,4,0.000,0.054,2398,491,3368,0,0,0,0,0,0
$GC,3918,-1.41,-77.9,379.3,-11.7,276,3923,0.00,2.33,0.00,0.000,6,0.000,0.028,2398,1896,3367,0,0,0,0,0,0
$GC,4258,-1.45,-77.9,408.4,-8.5,285,4262,0.00,2.47,0.00,0.000,4,0.000,0.056,2397,497,3365,0,0,0,0,0,0
$GC,4290,-1.45,-77.9,411.6,-10.2,285,4294,0.00,2.33,0.00,0.000,6,0.000,0.028,2398,1908,3365,0,0,0,0,0,0
$GC,4621,-1.49,-77.9,437.1,-6.8,293,4625,0.00,2.50,0.00,0.000,4,0.000,0.057,2394,498,3363,0,0,0,0,0,0
$GC,4694,-1.49,-77.9,442.2,-6.2,294,4699,0.00,2.33,0.00,0.000,6,0.000,0.029,2398,1906,3362,0,0,0,0,0,0
$STATE,4865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4865,begin apogee
$GC,4870,-0.31,0.0,450.7,4.9,299,4938,1.15,0.00,64.07,0.881,6,0.077,0.000,2643,2052,3050,0,0,0,0,0,0
$STATE,4938,end apogee,CONTROL_FINISHED_OK
$STATE,4939,begin climb
$GC,4940,1.40,77.9,450.1,0.0,300,5015,1.65,2.47,65.32,0.861,4,0.035,0.046,3025,3413,2731,0,0,0,0,0,0
$GC,5080,1.18,83.2,444.1,7.7,303,5093,0.25,2.40,5.93,0.653,6,0.115,0.038,2975,2033,2709,0,0,0,0,0,0
$GC,5403,1.08,100.6,421.0,6.8,311,5424,0.15,2.45,15.48,0.804,4,0.125,0.043,2954,3415,2639,0,0,0,0,0,0
$GC,5467,1.05,128.4,417.1,6.1,312,5499,0.00,2.40,24.77,0.826,6,0.000,0.038,2954,2028,2526,0,0,0,0,0,0
$GC,5818,1.09,201.7,402.1,3.0,321,5890,0.00,2.55,64.40,0.850,4,0.000,0.057,2953,627,2226,0,0,0,0,0,0
$GC,5933,1.02,201.7,394.9,9.2,323,5937,0.00,2.38,0.00,0.000,6,0.000,0.031,2952,2023,2221,0,0,0,0,0,0
$GC,6268,1.02,201.7,358.4,11.9,332,6272,0.00,2.50,0.00,0.000,4,0.000,0.057,2952,632,2216,0,0,0,0,0,0
$GC,6296,0.95,201.7,354.4,14.5,332,6301,0.17,2.38,0.00,0.000,6,0.120,0.031,2922,2040,2214,0,0,0,0,0,0
$GC,6632,1.02,201.7,316.2,11.2,341,6636,0.00,2.53,0.00,0.000,4,0.000,0.055,2922,629,2213,0,0,0,0,0,0
$GC,6733,1.02,201.7,303.3,11.9,343,6737,0.00,2.38,0.00,0.000,6,0.000,0.031,2922,2041,2210,0,0,0,0,0,0
$GC,7051,1.12,218.7,275.6,6.8,357,7074,0.15,2.60,13.38,0.743,4,0.071,0.054,2958,629,2157,0,0,0,0,0,0
$GC,7208,1.07,218.7,259.9,11.2,363,7214,0.00,2.38,0.00,0.000,6,0.000,0.029,2958,2045,2152,0,0,0,0,0,0
$GC,7525,1.11,229.8,231.8,7.3,379,7541,0.00,2.58,10.52,0.689,4,0.000,0.052,2958,632,2112,0,0,0,0,0,0
$GC,7673,1.11,229.8,218.5,10.3,385,7678,0.00,2.35,0.00,0.000,6,0.000,0.028,2958,2044,2109,0,0,0,0,0,0
$GC,7993,1.16,229.8,183.0,12.8,406,7997,0.00,2.50,0.00,0.000,4,0.000,0.049,2958,624,2108,0,0,0,0,0,0
$GC,8081,1.16,229.8,170.9,13.0,415,8085,0.00,2.35,0.00,0.000,6,0.000,0.026,2958,2038,2106,0,0,0,0,0,0
$GC,8344,1.20,229.8,143.6,9.1,439,8348,0.00,2.47,0.00,0.000,4,0.000,0.048,2958,619,2106,0,0,0,0,0,0
$GC,8389,1.20,229.8,138.5,10.6,443,8395,0.00,2.35,0.00,0.000,6,0.000,0.025,2958,2041,2106,0,0,0,0,0,0
$GC,8651,1.25,229.8,112.1,10.1,468,8656,0.12,2.47,0.00,0.000,4,0.072,0.047,2992,629,2106,0,0,0,0,0,0
$GC,8742,1.18,229.8,100.0,12.7,477,8749,0.12,2.33,0.00,0.000,6,0.114,0.023,2970,2043,2105,0,0,0,0,0,0
$GC,9006,1.24,235.4,77.7,7.6,502,9017,0.00,2.47,5.70,0.481,4,0.000,0.044,2969,626,2089,0,0,0,0,0,0
$GC,9055,1.24,235.4,73.4,9.0,507,9059,0.00,2.30,0.00,0.000,6,0.000,0.022,2969,2040,2087,0,0,0,0,0,0
$GC,9322,1.30,235.4,51.8,8.8,532,9327,0.12,2.45,0.00,0.000,4,0.069,0.044,3005,618,2087,0,0,0,0,0,0
$GC,9463,1.24,235.4,35.8,12.1,547,9468,0.12,2.30,0.00,0.000,6,0.110,0.021,2983,2041,2087,0,0,0,0,0,0
$GC,9728,1.28,235.4,10.7,10.4,589,9735,0.00,2.45,0.00,0.000,4,0.000,0.041,2982,625,2087,0,0,0,0,0,0
$GC,9771,1.23,235.4,5.9,10.5,598,9778,0.00,2.30,0.00,0.000,6,0.000,0.021,2982,2038,2087,0,0,0,0,0,0
$STATE,9800,end climb,SURFACE_DEPTH_REACHED
$STATE,9800,begin surface coast
$FINISH,0.6,1.005996
$STATE,9829,end surface coast,CONTROL_FINISHED_OK
$STATE,9829,begin surface
$SM_CCo,9848,32.40,0.523,0,0,1826,300.00
$SM_GC,1.57,0.00,0.00,32.40,0.000,0.000,0.523,430,1872,1826,-10.51,-0.85,300.00
$IRIDIUM_FIX,2059.45,-15759.05,240799,090945
$TT8_MAMPS,0.029146
$HUMID,45.35
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,23.4,14.255
$10V_AH,10.0,13.243
$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,26.600,125.375,269.575,32.400,0.000,25.121,48.002,197.439,4.500,0.000,17.717,1183.923,6392.237,391.809,1857.015,427.296,0.000,1220.701,0.000,1830.023,0.000,29.250,0.000
$DEVICE_MAMPS,141.128,57.525,880.516,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,410.519,386.629,887.491,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,34910,608
$CAP_FILE_SIZE,118353,0
$CFSIZE,260165632,249942016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290410,152251,2106.635,-15802.876,84,2.8,103,9.8