version: 66.06
glider: 139
mission: 7
dive: 144
start: 4 28 110 16 31 56
data:
$ID,139
$MISSION,7
$DIVE,144
$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,-2123479.2
$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
$GPS1,162127,2101.528,-15756.944,140,6.8,159,9.8
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-67.7
$GPS2,163104,2101.578,-15756.970,12,6.8,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.168,-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,104.0,14039,-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,-77.9,0.0,0.0,0,72,0.00,0.00,-54.65,0.000,2,0.000,0.000,424,1925,3277,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.4,-6.1,10,93,10.68,0.00,-1.83,0.000,6,0.137,0.000,2404,1925,3368,0,0,0,0,0,0
$GC,292,-1.29,-77.9,47.1,-16.4,41,297,0.12,2.47,0.00,0.000,4,0.110,0.045,2429,492,3370,0,0,0,0,0,0
$GC,309,-1.16,-77.9,49.9,-16.6,42,314,0.15,2.33,0.00,0.000,6,0.103,0.020,2458,1946,3370,0,0,0,0,0,0
$GC,570,-1.20,-77.9,83.8,-12.4,66,574,0.00,2.53,0.00,0.000,4,0.000,0.044,2458,488,3370,0,0,0,0,0,0
$GC,624,-1.20,-77.9,91.5,-12.8,71,629,0.00,2.28,0.00,0.000,6,0.000,0.020,2458,1902,3371,0,0,0,0,0,0
$GC,885,-1.28,-77.9,116.1,-8.8,96,890,0.10,2.42,0.00,0.000,4,0.075,0.044,2421,494,3371,0,0,0,0,0,0
$GC,1035,-1.24,-77.9,134.4,-11.9,112,1040,0.00,2.25,0.00,0.000,6,0.000,0.020,2423,1902,3372,0,0,0,0,0,0
$GC,1295,-1.24,-77.9,162.1,-10.8,136,1300,0.10,2.42,0.00,0.000,4,0.109,0.044,2443,493,3372,0,0,0,0,0,0
$GC,1350,-1.24,-77.9,168.2,-10.8,141,1356,0.00,2.25,0.00,0.000,6,0.000,0.021,2443,1905,3373,0,0,0,0,0,0
$GC,1611,-1.31,-77.9,194.5,-9.9,166,1616,0.00,2.42,0.00,0.000,4,0.000,0.044,2442,486,3373,0,0,0,0,0,0
$GC,1646,-1.34,-77.9,198.1,-11.1,169,1650,0.00,2.28,0.00,0.000,6,0.000,0.021,2443,1899,3373,0,0,0,0,0,0
$GC,1900,-1.43,-77.9,222.9,-10.1,182,1905,0.17,2.42,0.00,0.000,4,0.053,0.045,2390,492,3373,0,0,0,0,0,0
$GC,1956,-1.38,-77.9,230.0,-12.7,184,1961,0.10,2.28,0.00,0.000,6,0.110,0.021,2411,1903,3373,0,0,0,0,0,0
$GC,2274,-1.41,-77.9,261.4,-8.7,199,2278,0.00,2.45,0.00,0.000,4,0.000,0.046,2410,484,3373,0,0,0,0,0,0
$GC,2330,-1.41,-77.9,267.0,-9.3,201,2334,0.00,2.30,0.00,0.000,6,0.000,0.022,2411,1905,3373,0,0,0,0,0,0
$GC,2645,-1.46,-77.9,298.9,-10.7,216,2649,0.00,2.45,0.00,0.000,4,0.000,0.048,2411,492,3373,0,0,0,0,0,0
$GC,2659,-1.46,-77.9,300.4,-10.9,216,2665,0.00,2.33,0.00,0.000,6,0.000,0.024,2411,1905,3373,0,0,0,0,0,0
$GC,2990,-1.51,-77.9,336.5,-10.8,225,2995,0.12,2.47,0.00,0.000,4,0.067,0.051,2373,495,3372,0,0,0,0,0,0
$GC,3042,-1.45,-77.9,343.0,-12.9,226,3047,0.12,2.28,0.00,0.000,6,0.103,0.025,2398,1896,3372,0,0,0,0,0,0
$GC,3361,-1.49,-77.9,372.6,-8.4,234,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1901,3370,0,0,0,0,0,0
$GC,3687,-1.53,-77.9,399.0,-7.6,242,3691,0.00,2.45,0.00,0.000,4,0.000,0.054,2395,493,3368,0,0,0,0,0,0
$GC,3710,-1.53,-77.9,400.9,-7.6,242,3714,0.00,2.33,0.00,0.000,6,0.000,0.028,2398,1899,3368,0,0,0,0,0,0
$GC,4056,-1.58,-77.9,426.9,-7.9,251,4061,0.12,2.50,0.00,0.000,4,0.071,0.056,2363,495,3366,0,0,0,0,0,0
$GC,4094,-1.51,-77.9,431.2,-11.5,251,4100,0.10,2.30,0.00,0.000,6,0.118,0.029,2383,1897,3365,0,0,0,0,0,0
$STATE,4341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4341,begin apogee
$GC,4346,-0.31,0.0,453.1,8.5,258,4414,1.23,0.00,64.12,0.885,6,0.078,0.000,2642,2053,3050,0,0,0,0,0,0
$STATE,4415,end apogee,CONTROL_FINISHED_OK
$STATE,4415,begin climb
$GC,4417,1.40,77.9,454.0,0.0,259,4491,1.65,2.47,64.65,0.863,4,0.035,0.048,3027,3415,2731,0,0,0,0,0,0
$GC,4755,1.22,110.3,442.1,5.8,266,4789,0.22,2.40,27.48,0.844,6,0.118,0.038,2983,2032,2600,0,0,0,0,0,0
$GC,5107,1.11,122.5,417.5,7.2,275,5124,0.15,2.47,11.18,0.779,4,0.123,0.043,2959,3418,2550,0,0,0,0,0,0
$GC,5295,1.06,131.5,404.0,7.4,279,5311,0.00,2.38,8.80,0.747,6,0.000,0.038,2960,2033,2514,0,0,0,0,0,0
$GC,5620,1.01,131.5,375.1,8.9,287,5622,0.12,0.00,0.00,0.000,6,0.129,0.000,2938,2033,2510,0,0,0,0,0,0
$GC,5944,1.01,131.5,348.2,8.2,295,5949,0.00,2.40,0.00,0.000,4,0.000,0.042,2937,3415,2508,0,0,0,0,0,0
$GC,6009,1.04,158.7,344.0,6.2,296,6038,0.00,2.35,23.67,0.816,6,0.000,0.035,2938,2032,2403,0,0,0,0,0,0
$GC,6356,1.07,176.9,321.0,6.8,305,6380,0.00,2.50,16.92,0.784,4,0.000,0.051,2937,632,2326,0,0,0,0,0,0
$GC,6467,1.07,176.9,311.5,9.3,307,6471,0.00,2.33,0.00,0.000,6,0.000,0.030,2937,2019,2323,0,0,0,0,0,0
$GC,6795,1.10,176.9,285.1,8.5,319,6799,0.00,2.42,0.00,0.000,4,0.000,0.040,2938,3432,2322,0,0,0,0,0,0
$GC,6809,1.14,176.9,283.7,8.7,319,6815,0.10,2.40,0.00,0.000,6,0.085,0.035,2964,2036,2322,0,0,0,0,0,0
$GC,7125,1.14,176.9,253.1,10.1,335,7129,0.00,2.47,0.00,0.000,4,0.000,0.051,2963,623,2320,0,0,0,0,0,0
$GC,7332,1.07,176.9,228.7,11.8,344,7336,0.00,2.35,0.00,0.000,6,0.000,0.027,2963,2048,2318,0,0,0,0,0,0
$GC,7652,1.07,176.9,196.7,8.9,361,7654,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2052,2318,0,0,0,0,0,0
$GC,7907,1.07,176.9,171.9,10.9,385,7908,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2052,2318,0,0,0,0,0,0
$GC,8162,1.07,176.9,144.7,10.8,409,8166,0.00,2.45,0.00,0.000,4,0.000,0.047,2964,626,2318,0,0,0,0,0,0
$GC,8243,1.03,176.9,136.1,11.0,417,8248,0.12,2.30,0.00,0.000,6,0.126,0.025,2942,2040,2316,0,0,0,0,0,0
$GC,8504,1.16,215.8,119.1,5.4,441,8545,0.10,2.55,32.97,0.646,4,0.084,0.045,2969,625,2169,0,0,0,0,0,0
$GC,8569,1.16,215.8,114.5,8.5,448,8573,0.00,2.33,0.00,0.000,6,0.000,0.024,2969,2038,2166,0,0,0,0,0,0
$GC,8836,1.20,215.8,89.7,8.1,473,8841,0.00,2.45,0.00,0.000,4,0.000,0.044,2969,627,2165,0,0,0,0,0,0
$GC,8887,1.20,215.8,84.9,9.2,478,8891,0.00,2.30,0.00,0.000,6,0.000,0.023,2969,2043,2163,0,0,0,0,0,0
$GC,9151,1.29,238.1,66.2,6.5,502,9182,0.10,2.50,20.08,0.578,4,0.080,0.042,2999,621,2077,0,0,0,0,0,0
$GC,9282,1.23,238.1,53.2,11.5,516,9289,0.00,2.33,0.00,0.000,6,0.000,0.021,2999,2029,2074,0,0,0,0,0,0
$GC,9545,1.23,238.1,27.8,9.9,543,9552,0.00,2.45,0.00,0.000,4,0.000,0.043,2998,622,2074,0,0,0,0,0,0
$GC,9614,1.15,238.1,20.1,12.7,558,9621,0.15,2.33,0.00,0.000,6,0.082,0.021,2965,2043,2073,0,0,0,0,0,0
$STATE,9777,end climb,SURFACE_DEPTH_REACHED
$STATE,9777,begin surface coast
$FINISH,0.6,1.023845
$STATE,9810,end surface coast,CONTROL_FINISHED_OK
$STATE,9810,begin surface
$SM_CCo,9830,35.12,0.528,0,0,1826,300.00
$SM_GC,1.41,0.00,0.00,35.12,0.000,0.000,0.528,426,1868,1826,-10.52,-0.90,300.00
$IRIDIUM_FIX,2054.83,-15756.91,230799,161656
$TT8_MAMPS,0.029146
$HUMID,44.68
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,13.625
$10V_AH,10.1,12.681
$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,26.700,105.575,269.875,35.125,0.000,61.424,72.071,260.231,4.500,0.000,32.807,1164.842,6523.397,354.526,1831.938,569.776,33.358,1146.635,0.000,1799.199,0.000,29.242,0.000
$DEVICE_MAMPS,137.293,55.991,885.118,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.838,383.401,842.725,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355476
$DATA_FILE_SIZE,31845,594
$CAP_FILE_SIZE,117141,0
$CFSIZE,260165632,250343424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280410,191758,2101.539,-15756.405,42,3.1,61,9.8