version: 66.06
glider: 139
mission: 7
dive: 147
start: 4 29 110 1 13 19
data:
$ID,139
$MISSION,7
$DIVE,147
$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,-2123602
$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
$GPS1,010721,2101.859,-15756.872,55,3.6,74,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.8
$GPS2,011300,2101.867,-15756.964,38,1.6,48,9.8
$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,313.9,14868,-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,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,77,0.00,0.00,-58.67,0.000,6,0.000,0.000,427,1870,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.9,-6.9,11,98,10.70,2.45,0.00,0.000,4,0.138,0.027,2406,3316,3370,0,0,0,0,0,0
$GC,276,-1.40,-77.9,40.7,-14.9,47,280,0.00,2.40,0.00,0.000,6,0.000,0.032,2406,1895,3371,0,0,0,0,0,0
$GC,539,-1.32,-77.9,86.1,-16.4,71,543,0.10,2.42,0.00,0.000,4,0.119,0.045,2425,494,3372,0,0,0,0,0,0
$GC,601,-1.23,-77.9,96.5,-15.6,77,605,0.00,2.33,0.00,0.000,6,0.000,0.020,2425,1929,3372,0,0,0,0,0,0
$GC,863,-1.23,-77.9,122.3,-11.4,101,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1935,3373,0,0,0,0,0,0
$GC,1117,-1.23,-77.9,148.9,-9.2,125,1121,0.00,2.47,0.00,0.000,4,0.000,0.044,2425,494,3374,0,0,0,0,0,0
$GC,1205,-1.23,-77.9,159.3,-12.3,134,1210,0.00,2.28,0.00,0.000,6,0.000,0.021,2425,1903,3374,0,0,0,0,0,0
$GC,1472,-1.27,-77.9,188.5,-8.1,159,1476,0.00,2.42,0.00,0.000,4,0.000,0.044,2425,494,3375,0,0,0,0,0,0
$GC,1526,-1.27,-77.9,192.7,-7.0,164,1533,0.00,2.30,0.00,0.000,6,0.000,0.021,2425,1898,3375,0,0,0,0,0,0
$GC,1792,-1.31,-77.9,216.9,-11.5,182,1796,0.00,2.28,0.00,0.000,4,0.000,0.029,2424,3292,3376,0,0,0,0,0,0
$GC,1834,-1.44,-77.9,222.1,-11.7,184,1839,0.12,2.35,0.00,0.000,6,0.066,0.031,2386,1896,3375,0,0,0,0,0,0
$GC,2165,-1.44,-77.9,261.0,-10.6,200,2169,0.00,2.40,0.00,0.000,4,0.000,0.047,2386,495,3375,0,0,0,0,0,0
$GC,2248,-1.40,-77.9,269.2,-10.3,203,2255,0.12,2.30,0.00,0.000,6,0.102,0.022,2411,1912,3376,0,0,0,0,0,0
$GC,2584,-1.44,-77.9,306.8,-14.0,219,2588,0.00,2.47,0.00,0.000,4,0.000,0.048,2411,488,3376,0,0,0,0,0,0
$GC,2714,-1.48,-77.9,322.9,-9.1,221,2719,0.00,2.28,0.00,0.000,6,0.000,0.024,2411,1900,3375,0,0,0,0,0,0
$GC,3046,-1.54,-77.9,351.0,-8.5,230,3051,0.15,2.45,0.00,0.000,4,0.061,0.051,2368,497,3374,0,0,0,0,0,0
$GC,3084,-1.46,-77.9,355.1,-10.9,230,3090,0.12,2.28,0.00,0.000,6,0.106,0.026,2393,1896,3374,0,0,0,0,0,0
$GC,3415,-1.49,-77.9,380.6,-7.2,239,3419,0.00,2.47,0.00,0.000,4,0.000,0.054,2393,490,3372,0,0,0,0,0,0
$GC,3470,-1.49,-77.9,385.4,-9.4,240,3474,0.00,2.33,0.00,0.000,6,0.000,0.027,2393,1898,3372,0,0,0,0,0,0
$STATE,3699,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3700,begin apogee
$GC,3705,-0.31,0.0,403.0,7.6,246,3773,1.17,0.00,65.15,0.838,6,0.075,0.000,2644,2062,3050,0,0,0,0,0,0
$STATE,3774,end apogee,CONTROL_FINISHED_OK
$STATE,3774,begin climb
$GC,3776,1.40,77.9,404.0,0.0,247,3851,1.65,2.42,64.10,0.820,4,0.033,0.044,3026,3405,2732,0,0,0,0,0,0
$GC,4036,1.20,94.0,397.6,6.9,252,4057,0.25,2.38,14.75,0.765,6,0.118,0.035,2980,2024,2665,0,0,0,0,0,0
$GC,4377,1.10,105.6,373.8,7.2,261,4393,0.15,2.47,10.27,0.734,4,0.124,0.040,2955,3409,2619,0,0,0,0,0,0
$GC,4451,1.05,105.6,367.3,8.6,262,4456,0.00,2.38,0.00,0.000,6,0.000,0.036,2955,2033,2619,0,0,0,0,0,0
$GC,4792,1.03,130.2,344.0,6.3,271,4820,0.00,2.42,21.45,0.791,4,0.000,0.038,2955,3416,2518,0,0,0,0,0,0
$GC,4844,1.03,154.6,340.7,6.3,272,4872,0.00,2.40,22.62,0.781,6,0.000,0.037,2954,2031,2418,0,0,0,0,0,0
$GC,5204,1.03,156.3,312.1,7.9,281,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2031,2411,0,0,0,0,0,0
$GC,5509,1.06,184.9,288.9,6.1,292,5542,0.00,2.55,25.98,0.775,4,0.000,0.053,2953,635,2295,0,0,0,0,0,0
$GC,5577,1.00,184.9,284.1,8.9,295,5581,0.00,2.33,0.00,0.000,6,0.000,0.028,2953,2014,2291,0,0,0,0,0,0
$GC,5911,1.01,196.0,260.0,7.3,311,5928,0.00,2.53,10.43,0.698,4,0.000,0.052,2954,630,2249,0,0,0,0,0,0
$GC,5993,0.98,196.0,253.0,9.2,314,5998,0.15,2.38,0.00,0.000,6,0.119,0.028,2928,2035,2246,0,0,0,0,0,0
$GC,6309,1.06,196.0,223.6,9.9,329,6313,0.00,2.47,0.00,0.000,4,0.000,0.049,2926,629,2245,0,0,0,0,0,0
$GC,6368,1.06,196.0,216.8,11.9,331,6373,0.00,2.35,0.00,0.000,6,0.000,0.027,2927,2036,2243,0,0,0,0,0,0
$GC,6688,1.17,210.3,188.2,7.0,354,6708,0.17,2.53,12.95,0.664,4,0.065,0.049,2971,625,2192,0,0,0,0,0,0
$GC,6819,1.12,210.3,173.6,12.2,368,6824,0.00,2.38,0.00,0.000,6,0.000,0.025,2970,2048,2188,0,0,0,0,0,0
$GC,7081,1.12,210.3,147.0,9.8,392,7085,0.00,2.47,0.00,0.000,4,0.000,0.047,2971,619,2188,0,0,0,0,0,0
$GC,7144,1.07,210.3,139.8,11.3,398,7151,0.10,2.38,0.00,0.000,6,0.097,0.025,2949,2043,2186,0,0,0,0,0,0
$GC,7406,1.14,210.3,112.5,9.9,423,7410,0.00,2.47,0.00,0.000,4,0.000,0.046,2949,618,2186,0,0,0,0,0,0
$GC,7613,1.18,210.3,91.1,9.4,445,7618,0.00,2.33,0.00,0.000,6,0.000,0.023,2949,2038,2185,0,0,0,0,0,0
$GC,7877,1.29,218.2,70.9,7.5,469,7891,0.20,2.50,7.62,0.515,4,0.056,0.044,3001,623,2160,0,0,0,0,0,0
$GC,7994,1.21,218.2,58.5,10.8,482,7999,0.12,2.30,0.00,0.000,6,0.109,0.021,2979,2037,2158,0,0,0,0,0,0
$GC,8262,1.26,220.3,36.5,7.9,507,8266,0.00,2.45,0.00,0.000,4,0.000,0.044,2978,618,2158,0,0,0,0,0,0
$GC,8347,1.26,220.3,28.4,10.0,517,8354,0.00,2.33,0.00,0.000,6,0.000,0.021,2978,2033,2158,0,0,0,0,0,0
$GC,8549,1.30,224.4,12.2,7.7,554,8562,0.00,0.00,7.22,0.464,6,0.000,0.000,2978,2037,2134,0,0,0,0,0,0
$STATE,8659,end climb,SURFACE_DEPTH_REACHED
$STATE,8659,begin surface coast
$FINISH,0.4,1.013378
$STATE,8692,end surface coast,CONTROL_FINISHED_OK
$STATE,8692,begin surface
$SM_CCo,8711,40.08,0.525,0,0,1826,300.00
$SM_GC,1.38,0.00,0.00,40.08,0.000,0.000,0.525,424,1865,1826,-10.53,-0.99,300.00
$IRIDIUM_FIX,2054.83,-15756.91,230799,222207
$TT8_MAMPS,0.029146
$HUMID,44.72
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,362.6,69.2
$24V_AH,23.4,13.871
$10V_AH,10.0,12.916
$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,26.300,96.300,262.550,40.075,0.000,30.431,23.704,157.510,3.750,0.000,48.814,1118.270,5469.650,355.022,1793.012,358.946,0.000,1101.026,0.000,1738.318,0.000,26.832,0.000
$DEVICE_MAMPS,138.060,53.690,837.564,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,392.283,384.824,877.481,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,31783,580
$CAP_FILE_SIZE,103889,0
$CFSIZE,260165632,250183680
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290410,034136,2102.576,-15758.375,110,1.1,110,9.8