version: 66.06
glider: 139
mission: 7
dive: 153
start: 4 29 110 18 24 39
data:
$ID,139
$MISSION,7
$DIVE,153
$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,-2123780
$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
$GPS1,181821,2107.748,-15803.330,97,5.0,116,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.7
$GPS2,182352,2107.773,-15803.394,38,2.5,57,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.167,0.076
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,55.9,2520,-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,-58.33,0.000,6,0.000,0.000,429,1870,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.7,-6.4,11,97,10.65,2.45,0.00,0.000,4,0.137,0.025,2407,3323,3371,0,0,0,0,0,0
$GC,180,-1.40,-77.9,26.0,-14.4,33,186,0.00,2.42,0.00,0.000,6,0.000,0.031,2407,1902,3372,0,0,0,0,0,0
$GC,379,-1.30,-77.9,57.4,-15.5,54,384,0.10,2.45,0.00,0.000,4,0.118,0.048,2425,491,3373,0,0,0,0,0,0
$GC,414,-1.18,-77.9,62.9,-16.8,57,419,0.17,2.33,0.00,0.000,6,0.098,0.020,2457,1936,3372,0,0,0,0,0,0
$GC,677,-1.25,-77.9,95.4,-12.8,81,681,0.00,2.47,0.00,0.000,4,0.000,0.044,2455,493,3373,0,0,0,0,0,0
$GC,751,-1.25,-77.9,104.6,-12.4,88,757,0.00,2.28,0.00,0.000,6,0.000,0.020,2459,1894,3374,0,0,0,0,0,0
$GC,1013,-1.33,-77.9,132.6,-9.7,113,1018,0.17,2.30,0.00,0.000,4,0.053,0.027,2408,3293,3375,0,0,0,0,0,0
$GC,1041,-1.33,-77.9,136.0,-11.4,115,1047,0.00,2.35,0.00,0.000,6,0.000,0.031,2407,1897,3375,0,0,0,0,0,0
$GC,1302,-1.33,-77.9,166.6,-11.3,140,1306,0.00,2.38,0.00,0.000,4,0.000,0.044,2397,495,3376,0,0,0,0,0,0
$GC,1348,-1.26,-77.9,172.4,-13.2,144,1355,0.12,2.28,0.00,0.000,6,0.074,0.021,2437,1897,3376,0,0,0,0,0,0
$GC,1610,-1.33,-77.9,196.4,-8.3,169,1615,0.00,2.42,0.00,0.000,4,0.000,0.045,2434,490,3376,0,0,0,0,0,0
$GC,1643,-1.33,-77.9,199.5,-8.8,172,1647,0.00,2.28,0.00,0.000,6,0.000,0.021,2439,1907,3376,0,0,0,0,0,0
$GC,1909,-1.41,-77.9,218.6,-6.4,185,1914,0.15,2.45,0.00,0.000,4,0.058,0.045,2391,495,3377,0,0,0,0,0,0
$GC,1923,-1.41,-77.9,219.9,-6.4,185,1932,0.00,2.28,0.00,0.000,6,0.000,0.021,2392,1909,3377,0,0,0,0,0,0
$GC,2239,-1.41,-77.9,251.4,-11.2,201,2243,0.00,2.42,0.00,0.000,4,0.000,0.047,2391,494,3376,0,0,0,0,0,0
$GC,2318,-1.37,-77.9,260.0,-10.1,204,2323,0.10,2.28,0.00,0.000,6,0.112,0.021,2413,1901,3377,0,0,0,0,0,0
$GC,2635,-1.41,-77.9,282.9,-7.6,219,2639,0.00,2.42,0.00,0.000,4,0.000,0.047,2414,489,3376,0,0,0,0,0,0
$GC,2700,-1.45,-77.9,289.1,-10.0,222,2704,0.00,2.30,0.00,0.000,6,0.000,0.024,2414,1900,3376,0,0,0,0,0,0
$GC,3046,-1.50,-77.9,319.1,-8.6,234,3051,0.12,2.33,0.00,0.000,4,0.069,0.034,2374,3293,3375,0,0,0,0,0,0
$GC,3065,-1.54,-77.9,321.0,-9.7,234,3069,0.00,2.35,0.00,0.000,6,0.000,0.034,2375,1892,3375,0,0,0,0,0,0
$GC,3414,-1.54,-77.9,355.9,-10.4,243,3418,0.00,2.42,0.00,0.000,4,0.000,0.051,2376,495,3373,0,0,0,0,0,0
$GC,3530,-1.49,-77.9,368.8,-11.6,245,3534,0.00,2.30,0.00,0.000,6,0.000,0.026,2376,1899,3372,0,0,0,0,0,0
$GC,3869,-1.49,-77.9,401.9,-9.4,254,3874,0.00,2.47,0.00,0.000,4,0.000,0.054,2375,494,3371,0,0,0,0,0,0
$GC,3930,-1.43,-77.9,408.0,-10.1,255,3935,0.12,2.33,0.00,0.000,6,0.107,0.028,2400,1904,3371,0,0,0,0,0,0
$GC,4281,-1.49,-77.9,436.7,-8.3,264,4285,0.00,2.50,0.00,0.000,4,0.000,0.055,2399,491,3368,0,0,0,0,0,0
$GC,4354,-1.49,-77.9,442.5,-7.7,265,4358,0.00,2.33,0.00,0.000,6,0.000,0.028,2400,1907,3368,0,0,0,0,0,0
$STATE,4484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4484,begin apogee
$GC,4489,-0.31,0.0,450.6,6.1,269,4557,1.15,0.00,64.97,0.880,6,0.076,0.000,2645,2053,3050,0,0,0,0,0,0
$STATE,4558,end apogee,CONTROL_FINISHED_OK
$STATE,4558,begin climb
$GC,4560,1.40,77.9,450.5,0.0,270,4635,1.62,2.45,64.62,0.861,4,0.033,0.046,3025,3401,2732,0,0,0,0,0,0
$GC,4705,1.22,119.3,447.7,5.2,273,4747,0.22,2.38,35.80,0.841,6,0.115,0.037,2982,2033,2563,0,0,0,0,0,0
$GC,5060,1.10,119.3,417.8,8.4,282,5065,0.15,2.42,0.00,0.000,4,0.120,0.040,2957,3416,2556,0,0,0,0,0,0
$GC,5089,1.07,136.3,415.6,6.8,282,5109,0.00,2.40,15.02,0.795,6,0.000,0.036,2958,2026,2493,0,0,0,0,0,0
$GC,5433,1.03,144.7,390.5,7.4,291,5446,0.00,2.50,8.27,0.726,4,0.000,0.054,2956,624,2458,0,0,0,0,0,0
$GC,5511,0.93,144.7,383.7,8.7,292,5516,0.20,2.38,0.00,0.000,6,0.117,0.030,2920,2021,2456,0,0,0,0,0,0
$GC,5844,0.99,159.5,361.1,7.0,300,5864,0.00,2.58,13.55,0.785,4,0.000,0.054,2920,627,2398,0,0,0,0,0,0
$GC,5981,0.99,159.5,348.4,9.0,303,5985,0.00,2.38,0.00,0.000,6,0.000,0.030,2920,2042,2394,0,0,0,0,0,0
$GC,6308,1.03,159.8,321.2,8.0,311,6312,0.00,2.50,0.00,0.000,4,0.000,0.054,2920,622,2393,0,0,0,0,0,0
$GC,6358,1.03,159.8,316.4,9.5,312,6362,0.00,2.40,0.00,0.000,6,0.000,0.030,2920,2044,2392,0,0,0,0,0,0
$GC,6677,1.11,168.7,291.4,7.4,322,6693,0.15,2.40,8.40,0.699,4,0.072,0.040,2958,3435,2361,0,0,0,0,0,0
$GC,6716,1.11,172.7,288.2,7.7,323,6728,0.00,2.40,5.30,0.599,6,0.000,0.036,2958,2034,2345,0,0,0,0,0,0
$GC,7053,1.11,172.7,258.5,9.0,340,7057,0.00,2.45,0.00,0.000,4,0.000,0.051,2956,628,2342,0,0,0,0,0,0
$GC,7141,1.06,172.7,249.6,9.0,344,7145,0.00,2.35,0.00,0.000,6,0.000,0.028,2957,2041,2341,0,0,0,0,0,0
$GC,7469,1.06,172.7,224.1,8.0,360,7473,0.00,2.50,0.00,0.000,4,0.000,0.051,2957,618,2340,0,0,0,0,0,0
$GC,7673,1.01,172.7,205.8,8.8,369,7678,0.12,2.38,0.00,0.000,6,0.123,0.027,2935,2043,2338,0,0,0,0,0,0
$GC,8000,1.12,198.0,185.2,6.3,395,8029,0.10,2.50,22.65,0.690,4,0.086,0.046,2961,629,2241,0,0,0,0,0,0
$GC,8089,1.09,198.0,177.9,9.0,404,8096,0.00,2.38,0.00,0.000,6,0.000,0.025,2961,2038,2237,0,0,0,0,0,0
$GC,8352,1.12,198.0,154.0,9.2,429,8356,0.00,2.45,0.00,0.000,4,0.000,0.046,2960,629,2236,0,0,0,0,0,0
$GC,8487,1.12,198.0,140.6,9.6,443,8491,0.00,2.30,0.00,0.000,6,0.000,0.024,2960,2040,2235,0,0,0,0,0,0
$GC,8750,1.17,198.0,116.4,9.4,467,8754,0.00,2.33,0.00,0.000,4,0.000,0.031,2959,3431,2235,0,0,0,0,0,0
$GC,8802,1.23,198.0,111.5,8.5,472,8807,0.10,2.33,0.00,0.000,6,0.080,0.029,2988,2029,2235,0,0,0,0,0,0
$GC,9063,1.24,210.0,91.0,7.2,496,9082,0.00,2.47,10.93,0.561,4,0.000,0.044,2986,632,2194,0,0,0,0,0,0
$GC,9219,1.20,210.0,76.4,9.8,513,9223,0.00,2.30,0.00,0.000,6,0.000,0.021,2989,2044,2191,0,0,0,0,0,0
$GC,9486,1.20,210.0,54.5,8.4,538,9490,0.00,2.42,0.00,0.000,4,0.000,0.042,2988,632,2191,0,0,0,0,0,0
$GC,9563,1.15,210.0,46.6,10.6,546,9568,0.12,2.30,0.00,0.000,6,0.114,0.021,2966,2048,2190,0,0,0,0,0,0
$GC,9827,1.23,211.1,24.5,7.9,576,9834,0.00,2.45,0.00,0.000,4,0.000,0.042,2966,634,2191,0,0,0,0,0,0
$GC,9921,1.23,211.1,16.3,9.8,597,9928,0.00,2.30,0.00,0.000,6,0.000,0.021,2966,2043,2191,0,0,0,0,0,0
$STATE,10079,end climb,SURFACE_DEPTH_REACHED
$STATE,10079,begin surface coast
$FINISH,0.4,1.023844
$STATE,10113,end surface coast,CONTROL_FINISHED_OK
$STATE,10113,begin surface
$SM_CCo,10132,45.17,0.522,0,0,1826,300.00
$SM_GC,1.34,0.00,0.00,45.17,0.000,0.000,0.522,425,1885,1826,-10.53,-0.42,300.00
$IRIDIUM_FIX,2059.45,-15803.33,240799,151503
$TT8_MAMPS,0.029146
$HUMID,44.05
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,14.409
$10V_AH,10.0,13.409
$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,26.600,129.350,249.525,45.175,0.000,28.190,28.672,135.261,4.500,0.000,58.870,1245.871,6540.722,369.742,2001.713,353.127,29.240,1214.345,0.000,1932.620,0.000,29.249,0.000
$DEVICE_MAMPS,136.526,55.991,879.749,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.540,404.888,922.380,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,34849,632
$CAP_FILE_SIZE,120673,0
$CFSIZE,260165632,249823232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290410,211556,2108.379,-15802.662,44,4.7,63,9.8