version: 66.06
glider: 139
mission: 7
dive: 152
start: 4 29 110 15 28 41
data:
$ID,139
$MISSION,7
$DIVE,152
$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,-2123720.5
$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
$GPS1,152251,2106.635,-15802.876,84,2.8,103,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.8
$GPS2,152823,2106.661,-15802.936,19,2.9,38,9.8
$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,16.1,3444,-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,-55.55,0.000,2,0.000,0.000,430,1873,3278,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.3,-5.6,10,95,10.65,2.40,-1.80,0.000,4,0.137,0.036,2404,3322,3369,0,0,0,0,0,0
$GC,186,-1.40,-77.9,27.9,-13.6,34,193,0.00,2.42,0.00,0.000,6,0.000,0.032,2404,1902,3371,0,0,0,0,0,0
$GC,386,-1.29,-77.9,59.2,-15.3,54,391,0.12,2.45,0.00,0.000,4,0.110,0.046,2431,494,3371,0,0,0,0,0,0
$GC,438,-1.20,-77.9,66.8,-14.9,59,443,0.12,2.33,0.00,0.000,6,0.104,0.020,2453,1929,3372,0,0,0,0,0,0
$GC,701,-1.24,-77.9,96.4,-10.6,83,705,0.00,2.50,0.00,0.000,4,0.000,0.045,2456,489,3373,0,0,0,0,0,0
$GC,762,-1.24,-77.9,104.2,-11.6,89,766,0.00,2.25,0.00,0.000,6,0.000,0.020,2454,1900,3373,0,0,0,0,0,0
$GC,1025,-1.33,-77.9,129.6,-10.3,113,1027,0.15,0.00,0.00,0.000,6,0.058,0.000,2408,1906,3374,0,0,0,0,0,0
$GC,1279,-1.33,-77.9,159.0,-10.5,137,1283,0.00,2.42,0.00,0.000,4,0.000,0.044,2408,494,3375,0,0,0,0,0,0
$GC,1333,-1.25,-77.9,165.3,-11.0,142,1340,0.12,2.28,0.00,0.000,6,0.074,0.021,2436,1894,3375,0,0,0,0,0,0
$GC,1595,-1.31,-77.9,190.8,-10.4,167,1600,0.00,2.42,0.00,0.000,4,0.000,0.046,2438,492,3375,0,0,0,0,0,0
$GC,1650,-1.34,-77.9,196.2,-8.8,172,1657,0.00,2.30,0.00,0.000,6,0.000,0.021,2437,1900,3375,0,0,0,0,0,0
$GC,1916,-1.42,-77.9,211.1,-4.5,188,1921,0.15,2.42,0.00,0.000,4,0.058,0.045,2392,494,3375,0,0,0,0,0,0
$GC,1985,-1.38,-77.9,216.2,-8.1,191,1989,0.00,2.28,0.00,0.000,6,0.000,0.021,2393,1899,3376,0,0,0,0,0,0
$GC,2310,-1.38,-77.9,251.5,-12.2,207,2315,0.10,2.30,0.00,0.000,4,0.111,0.031,2412,3289,3376,0,0,0,0,0,0
$GC,2332,-1.42,-77.9,253.8,-10.6,208,2336,0.00,2.33,0.00,0.000,6,0.000,0.031,2413,1896,3376,0,0,0,0,0,0
$GC,2662,-1.47,-77.9,286.9,-11.1,224,2666,0.00,2.40,0.00,0.000,4,0.000,0.048,2413,494,3375,0,0,0,0,0,0
$GC,2766,-1.47,-77.9,299.8,-11.9,228,2776,0.00,2.30,0.00,0.000,6,0.000,0.024,2413,1895,3375,0,0,0,0,0,0
$GC,3097,-1.52,-77.9,333.6,-9.7,237,3102,0.15,2.45,0.00,0.000,4,0.061,0.051,2370,497,3375,0,0,0,0,0,0
$GC,3167,-1.43,-77.9,342.3,-13.0,238,3172,0.15,2.28,0.00,0.000,6,0.098,0.025,2400,1898,3374,0,0,0,0,0,0
$GC,3507,-1.48,-77.9,372.3,-8.5,247,3512,0.00,2.42,0.00,0.000,4,0.000,0.051,2400,498,3372,0,0,0,0,0,0
$GC,3576,-1.48,-77.9,379.7,-10.9,248,3583,0.00,2.30,0.00,0.000,6,0.000,0.027,2400,1908,3372,0,0,0,0,0,0
$GC,3923,-1.53,-77.9,412.0,-8.9,257,3928,0.00,2.50,0.00,0.000,4,0.000,0.054,2400,490,3370,0,0,0,0,0,0
$GC,3983,-1.53,-77.9,418.0,-9.9,258,3987,0.00,2.33,0.00,0.000,6,0.000,0.028,2400,1906,3370,0,0,0,0,0,0
$STATE,4332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4332,begin apogee
$GC,4337,-0.31,0.0,450.2,8.7,267,4405,1.15,0.00,65.10,0.879,6,0.074,0.000,2646,2051,3050,0,0,0,0,0,0
$STATE,4406,end apogee,CONTROL_FINISHED_OK
$STATE,4406,begin climb
$GC,4408,1.40,77.9,450.8,0.0,268,4483,1.62,2.47,65.20,0.856,4,0.034,0.045,3024,3415,2732,0,0,0,0,0,0
$GC,4529,1.25,132.0,449.9,4.3,271,4584,0.15,2.40,46.75,0.844,6,0.122,0.037,2992,2034,2510,0,0,0,0,0,0
$GC,4908,1.12,132.0,417.5,8.8,281,4913,0.17,2.38,0.00,0.000,4,0.117,0.041,2966,3412,2503,0,0,0,0,0,0
$GC,4964,1.07,132.0,412.1,9.2,282,4969,0.00,2.38,0.00,0.000,6,0.000,0.039,2963,2036,2503,0,0,0,0,0,0
$GC,5278,1.03,144.9,388.5,7.1,290,5295,0.12,2.58,10.52,0.756,4,0.127,0.056,2941,629,2459,0,0,0,0,0,0
$GC,5383,0.96,152.1,381.0,7.5,292,5396,0.00,2.35,7.62,0.704,6,0.000,0.030,2943,2027,2429,0,0,0,0,0,0
$GC,5741,0.96,152.5,354.1,8.0,301,5745,0.00,2.47,0.00,0.000,4,0.000,0.054,2942,626,2426,0,0,0,0,0,0
$GC,5788,0.90,152.5,349.5,10.0,302,5793,0.17,2.38,0.00,0.000,6,0.116,0.030,2911,2034,2425,0,0,0,0,0,0
$GC,6112,0.99,168.8,326.8,6.9,310,6132,0.00,2.58,15.30,0.778,4,0.000,0.054,2911,632,2361,0,0,0,0,0,0
$GC,6300,1.02,168.8,312.2,9.2,314,6305,0.12,2.35,0.00,0.000,6,0.074,0.030,2943,2037,2356,0,0,0,0,0,0
$GC,6626,1.03,171.3,284.3,7.9,326,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2042,2355,0,0,0,0,0,0
$GC,6936,1.03,177.0,261.0,7.6,341,6949,0.00,2.50,7.62,0.664,4,0.000,0.051,2942,628,2328,0,0,0,0,0,0
$GC,7115,1.03,177.0,245.6,9.5,349,7120,0.00,2.35,0.00,0.000,6,0.000,0.028,2943,2042,2325,0,0,0,0,0,0
$GC,7446,1.08,183.3,221.1,7.6,365,7459,0.00,2.55,6.70,0.615,4,0.000,0.050,2943,629,2302,0,0,0,0,0,0
$GC,7563,1.08,183.3,209.8,9.5,370,7568,0.00,2.33,0.00,0.000,6,0.000,0.027,2944,2034,2300,0,0,0,0,0,0
$GC,7896,1.15,197.3,186.0,7.1,395,7914,0.00,0.00,14.05,0.669,6,0.000,0.000,2944,2039,2244,0,0,0,0,0,0
$GC,8171,1.22,206.5,165.5,7.4,421,8191,0.17,2.50,9.35,0.612,4,0.064,0.046,2988,621,2206,0,0,0,0,0,0
$GC,8294,1.14,206.5,151.6,11.5,434,8299,0.12,2.33,0.00,0.000,6,0.117,0.025,2965,2041,2203,0,0,0,0,0,0
$GC,8554,1.17,206.5,128.2,9.5,458,8558,0.00,2.47,0.00,0.000,4,0.000,0.045,2965,617,2203,0,0,0,0,0,0
$GC,8606,1.17,206.5,123.5,9.5,463,8610,0.00,2.33,0.00,0.000,6,0.000,0.024,2965,2044,2202,0,0,0,0,0,0
$GC,8869,1.22,206.5,102.9,8.6,487,8873,0.00,2.42,0.00,0.000,4,0.000,0.044,2965,626,2203,0,0,0,0,0,0
$GC,8911,1.22,206.5,98.8,9.9,491,8916,0.00,2.30,0.00,0.000,6,0.000,0.023,2964,2045,2202,0,0,0,0,0,0
$GC,9174,1.27,206.5,75.9,8.4,515,9179,0.12,2.47,0.00,0.000,4,0.070,0.043,3001,619,2202,0,0,0,0,0,0
$GC,9211,1.18,206.5,71.3,13.0,518,9218,0.12,2.33,0.00,0.000,6,0.086,0.022,2973,2034,2202,0,0,0,0,0,0
$GC,9474,1.23,206.5,42.5,10.5,543,9478,0.00,2.42,0.00,0.000,4,0.000,0.043,2973,624,2202,0,0,0,0,0,0
$GC,9552,1.23,206.5,34.6,9.7,551,9556,0.00,2.28,0.00,0.000,6,0.000,0.021,2974,2043,2203,0,0,0,0,0,0
$GC,9816,1.31,225.3,16.0,6.7,594,9840,0.12,2.47,17.38,0.520,4,0.068,0.041,3010,616,2130,0,0,0,0,0,0
$GC,9857,1.24,225.3,11.9,10.6,601,9864,0.10,2.35,0.00,0.000,6,0.082,0.021,2988,2037,2128,0,0,0,0,0,0
$STATE,9940,end climb,SURFACE_DEPTH_REACHED
$STATE,9940,begin surface coast
$FINISH,0.5,1.015794
$STATE,9969,end surface coast,CONTROL_FINISHED_OK
$STATE,9969,begin surface
$SM_CCo,9989,38.50,0.519,0,0,1827,300.00
$SM_GC,1.19,0.00,0.00,38.50,0.000,0.000,0.519,430,1870,1827,-10.51,-0.85,300.00
$IRIDIUM_FIX,2054.83,-15802.06,240799,121250
$TT8_MAMPS,0.029146
$HUMID,43.85
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.40
$XPDR_PINGS,1
$24V_AH,23.4,14.333
$10V_AH,10.1,13.324
$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,27.075,115.200,265.600,38.500,0.000,25.073,25.605,159.095,4.750,0.000,39.417,1211.543,6501.539,367.938,1899.109,381.022,0.000,1182.003,0.000,1862.438,0.000,29.254,0.000
$DEVICE_MAMPS,137.293,55.991,878.982,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.955,405.494,889.584,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,34949,621
$CAP_FILE_SIZE,116698,0
$CFSIZE,260165632,249884672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290410,181821,2107.748,-15803.330,97,5.0,116,9.8