version: 66.06
glider: 139
mission: 7
dive: 34
start: 4 15 110 22 26 12
data:
$ID,139
$MISSION,7
$DIVE,34
$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,180
$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,-2119932
$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,2710
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1960
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$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
$GPS1,222015,2104.483,-15754.927,53,5.7,72,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.6
$GPS2,222522,2104.418,-15754.932,11,5.4,30,9.8
$SPEED_LIMITS,0.144,0.186
$TGT_NAME,SOUTH
$TGT_LATLONG,2057.918,-15744.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.146,-0.114
$KALMAN_X,-706.4,-355.3,629.9,12085.8,-323.8
$KALMAN_Y,1767.4,-61.0,-34.4,-10402.9,365.9
$MHEAD_RNG_PITCHd_Wd,118.2,21173,-21.5,-8.333
$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,-1.44,-77.9,0.0,0.0,0,78,0.00,0.00,-59.38,0.000,6,0.000,0.000,424,1941,3369,0,0,0,0,0,0
$GC,80,-1.44,-77.9,3.7,-6.3,11,98,10.70,2.45,0.00,0.000,4,0.140,0.043,2392,542,3370,0,0,0,0,0,0
$GC,105,-1.44,-77.9,14.1,-31.3,15,112,0.00,2.38,0.00,0.000,6,0.000,0.021,2392,1991,3371,0,0,0,0,0,0
$GC,306,-1.44,-77.9,54.0,-18.9,40,310,0.00,2.50,0.00,0.000,4,0.000,0.048,2392,550,3372,0,0,0,0,0,0
$GC,330,-1.44,-77.9,59.1,-22.0,42,334,0.00,2.28,0.00,0.000,6,0.000,0.021,2392,1957,3372,0,0,0,0,0,0
$GC,596,-1.44,-77.9,100.4,-13.7,67,600,0.00,2.42,0.00,0.000,4,0.000,0.045,2392,546,3372,0,0,0,0,0,0
$GC,628,-1.44,-77.9,105.3,-14.5,70,632,0.00,2.28,0.00,0.000,6,0.000,0.021,2392,1957,3373,0,0,0,0,0,0
$GC,894,-1.44,-77.9,139.1,-11.4,95,898,0.00,2.45,0.00,0.000,4,0.000,0.045,2392,543,3374,0,0,0,0,0,0
$GC,992,-1.44,-77.9,151.3,-12.2,105,998,0.00,2.30,0.00,0.000,6,0.000,0.021,2392,1966,3375,0,0,0,0,0,0
$GC,1253,-1.44,-77.9,180.0,-12.0,130,1258,0.00,2.45,0.00,0.000,4,0.000,0.046,2392,550,3376,0,0,0,0,0,0
$GC,1305,-1.44,-77.9,186.5,-13.1,135,1309,0.00,2.30,0.00,0.000,6,0.000,0.022,2392,1962,3376,0,0,0,0,0,0
$GC,1573,-1.44,-77.9,215.9,-10.3,153,1577,0.00,2.42,0.00,0.000,4,0.000,0.047,2392,552,3376,0,0,0,0,0,0
$GC,1617,-1.44,-77.9,220.7,-10.8,155,1622,0.00,2.30,0.00,0.000,6,0.000,0.023,2392,1962,3376,0,0,0,0,0,0
$GC,1947,-1.44,-77.9,254.8,-10.0,171,1951,0.00,2.42,0.00,0.000,4,0.000,0.048,2392,553,3376,0,0,0,0,0,0
$GC,2001,-1.44,-77.9,260.9,-10.7,173,2006,0.00,2.30,0.00,0.000,6,0.000,0.025,2392,1959,3377,0,0,0,0,0,0
$GC,2316,-1.44,-77.9,294.0,-10.8,188,2320,0.00,2.47,0.00,0.000,4,0.000,0.051,2392,544,3376,0,0,0,0,0,0
$GC,2359,-1.44,-77.9,298.8,-12.0,190,2363,0.00,2.33,0.00,0.000,6,0.000,0.026,2392,1959,3376,0,0,0,0,0,0
$GC,2703,-1.44,-77.9,335.2,-10.0,199,2707,0.00,2.45,0.00,0.000,4,0.000,0.052,2392,549,3375,0,0,0,0,0,0
$GC,2717,-1.44,-77.9,337.0,-10.9,199,2721,0.00,2.33,0.00,0.000,6,0.000,0.027,2392,1959,3375,0,0,0,0,0,0
$GC,3066,-1.44,-77.9,372.7,-9.7,208,3070,0.00,2.47,0.00,0.000,4,0.000,0.054,2392,555,3373,0,0,0,0,0,0
$GC,3149,-1.44,-77.9,381.1,-10.4,209,3154,0.00,2.33,0.00,0.000,6,0.000,0.028,2392,1957,3373,0,0,0,0,0,0
$GC,3479,-1.44,-77.9,409.9,-8.3,218,3483,0.00,2.47,0.00,0.000,4,0.000,0.057,2392,547,3372,0,0,0,0,0,0
$GC,3524,-1.44,-77.9,414.7,-10.4,219,3529,0.00,2.35,0.00,0.000,6,0.000,0.031,2392,1956,3371,0,0,0,0,0,0
$GC,3846,-1.44,-77.9,448.2,-11.1,227,3851,0.00,2.47,0.00,0.000,4,0.000,0.058,2392,554,3369,0,0,0,0,0,0
$STATE,3863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3863,begin apogee
$GC,3869,-0.31,0.0,450.4,11.4,227,3938,1.15,0.00,64.82,0.884,6,0.084,0.000,2637,2037,3050,0,0,0,0,0,0
$STATE,3939,end apogee,CONTROL_FINISHED_OK
$STATE,3939,begin climb
$GC,3941,1.44,77.9,453.5,0.0,229,4015,1.70,2.53,64.75,0.864,4,0.038,0.047,3028,3431,2732,0,0,0,0,0,0
$GC,4237,1.49,118.3,447.6,5.4,235,4277,0.00,2.42,34.85,0.851,6,0.000,0.038,3028,2033,2566,0,0,0,0,0,0
$GC,4622,1.49,118.3,411.0,9.7,245,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2033,2560,0,0,0,0,0,0
$GC,4947,1.49,118.3,378.8,9.9,253,4951,0.00,2.42,0.00,0.000,4,0.000,0.040,3027,3434,2558,0,0,0,0,0,0
$GC,5149,1.49,118.3,358.8,8.9,257,5154,0.00,2.42,0.00,0.000,6,0.000,0.038,3028,2028,2558,0,0,0,0,0,0
$GC,5494,1.49,118.3,328.6,9.0,266,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2028,2555,0,0,0,0,0,0
$GC,5819,1.49,118.6,298.9,8.3,274,5823,0.00,2.40,0.00,0.000,4,0.000,0.038,3028,3436,2553,0,0,0,0,0,0
$GC,6023,1.52,142.6,284.6,6.6,283,6048,0.00,2.42,19.45,0.776,6,0.000,0.038,3028,2026,2467,0,0,0,0,0,0
$GC,6377,1.53,150.2,255.9,7.8,300,6386,0.00,0.00,7.30,0.658,6,0.000,0.000,3028,2026,2437,0,0,0,0,0,0
$GC,6688,1.54,161.3,229.9,7.5,315,6704,0.00,2.47,10.77,0.693,4,0.000,0.037,3028,3432,2392,0,0,0,0,0,0
$GC,6713,1.57,187.6,228.0,6.5,316,6744,0.12,2.42,24.65,0.730,6,0.077,0.035,3059,2031,2285,0,0,0,0,0,0
$GC,7066,1.57,187.6,193.7,10.3,335,7067,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2031,2279,0,0,0,0,0,0
$GC,7321,1.57,187.6,158.9,14.4,359,7325,0.00,2.45,0.00,0.000,4,0.000,0.048,3059,625,2277,0,0,0,0,0,0
$GC,7354,1.57,187.6,153.4,15.8,362,7358,0.00,2.35,0.00,0.000,6,0.000,0.026,3059,2046,2275,0,0,0,0,0,0
$GC,7615,1.57,187.6,117.0,10.6,386,7619,0.00,2.47,0.00,0.000,4,0.000,0.047,3059,629,2275,0,0,0,0,0,0
$GC,7739,1.57,187.6,101.9,11.4,399,7744,0.00,2.33,0.00,0.000,6,0.000,0.025,3059,2040,2274,0,0,0,0,0,0
$GC,8001,1.57,187.6,76.4,9.8,423,8006,0.00,2.45,0.00,0.000,4,0.000,0.046,3059,629,2274,0,0,0,0,0,0
$GC,8043,1.57,187.6,71.5,12.6,427,8047,0.00,2.30,0.00,0.000,6,0.000,0.024,3059,2037,2274,0,0,0,0,0,0
$GC,8310,1.57,187.6,47.1,8.4,452,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2042,2274,0,0,0,0,0,0
$GC,8566,1.58,194.5,26.8,7.8,479,8578,0.00,0.00,5.93,0.453,6,0.000,0.000,3059,2043,2256,0,0,0,0,0,0
$GC,8772,1.58,194.5,8.8,8.6,517,8779,0.00,2.45,0.00,0.000,4,0.000,0.044,3059,630,2256,0,0,0,0,0,0
$STATE,8830,end climb,SURFACE_DEPTH_REACHED
$STATE,8830,begin surface coast
$FINISH,0.7,1.023733
$STATE,8862,end surface coast,CONTROL_FINISHED_OK
$STATE,8862,begin surface
$SM_CCo,8883,52.92,0.535,0,0,1826,300.00
$SM_GC,1.15,0.00,0.00,52.92,0.000,0.000,0.535,425,1992,1826,-10.51,0.90,300.00
$IRIDIUM_FIX,2057.14,-15753.90,100799,191914
$TT8_MAMPS,0.029146
$HUMID,42.63
$INTERNAL_PRESSURE,9.64535
$TCM_TEMP,21.10
$XPDR_PINGS,1
$24V_AH,23.3,4.666
$10V_AH,9.9,4.194
$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,25.025,95.975,232.525,52.925,0.000,31.290,42.075,127.136,0.250,0.000,31.713,1027.041,5925.044,335.322,1637.492,322.633,33.339,1038.794,0.000,1609.620,0.000,0.537,0.000
$DEVICE_MAMPS,139.594,58.292,883.584,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,363.672,341.053,782.714,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,28678,537
$CAP_FILE_SIZE,92017,0
$CFSIZE,260165632,256229376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160410,005643,2103.700,-15754.299,53,1.5,59,9.8