version: 66.06
glider: 139
mission: 7
dive: 36
start: 4 16 110 3 38 42
data:
$ID,139
$MISSION,7
$DIVE,36
$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,-2119983
$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
$GPS1,033310,2102.924,-15754.104,22,3.2,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-69.2
$GPS2,033752,2102.885,-15754.171,12,3.4,31,9.8
$SPEED_LIMITS,0.144,0.186
$TGT_NAME,SOUTH
$TGT_LATLONG,2057.918,-15744.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.174,-0.065
$KALMAN_X,-2154.9,256.9,-707.5,15581.7,-453.7
$KALMAN_Y,1099.0,-168.4,-171.1,-12325.1,-110.9
$MHEAD_RNG_PITCHd_Wd,100.8,18545,-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,-59.33,0.000,6,0.000,0.000,429,1962,3369,0,0,0,0,0,0
$GC,80,-1.44,-77.9,3.7,-6.1,11,98,10.73,2.47,0.00,0.000,4,0.142,0.039,2392,542,3370,0,0,0,0,0,0
$GC,217,-1.44,-77.9,38.5,-18.1,37,224,0.00,2.38,0.00,0.000,6,0.000,0.021,2393,1982,3372,0,0,0,0,0,0
$GC,477,-1.44,-77.9,84.3,-16.2,62,482,0.00,2.50,0.00,0.000,4,0.000,0.045,2393,544,3372,0,0,0,0,0,0
$GC,555,-1.44,-77.9,97.9,-16.7,70,559,0.00,2.30,0.00,0.000,6,0.000,0.021,2393,1973,3373,0,0,0,0,0,0
$GC,815,-1.44,-77.9,138.4,-15.1,94,819,0.00,2.45,0.00,0.000,4,0.000,0.044,2392,543,3374,0,0,0,0,0,0
$GC,848,-1.44,-77.9,143.4,-15.9,97,853,0.00,2.28,0.00,0.000,6,0.000,0.021,2393,1957,3375,0,0,0,0,0,0
$GC,1110,-1.44,-77.9,179.2,-13.1,121,1115,0.00,2.45,0.00,0.000,4,0.000,0.046,2393,542,3375,0,0,0,0,0,0
$GC,1171,-1.44,-77.9,187.2,-13.0,127,1176,0.00,2.30,0.00,0.000,6,0.000,0.021,2393,1962,3375,0,0,0,0,0,0
$GC,1439,-1.44,-77.9,218.0,-12.6,145,1443,0.00,2.42,0.00,0.000,4,0.000,0.046,2393,546,3376,0,0,0,0,0,0
$GC,1458,-1.44,-77.9,220.4,-12.1,146,1462,0.00,2.28,0.00,0.000,6,0.000,0.023,2393,1959,3376,0,0,0,0,0,0
$GC,1786,-1.44,-77.9,260.2,-11.7,162,1790,0.00,2.45,0.00,0.000,4,0.000,0.048,2393,550,3376,0,0,0,0,0,0
$GC,1859,-1.44,-77.9,269.1,-12.3,165,1863,0.00,2.28,0.00,0.000,6,0.000,0.024,2392,1956,3376,0,0,0,0,0,0
$GC,2179,-1.44,-77.9,293.7,-7.4,181,2183,0.00,2.42,0.00,0.000,4,0.000,0.050,2392,553,3376,0,0,0,0,0,0
$GC,2238,-1.44,-77.9,299.1,-8.9,183,2244,0.00,2.33,0.00,0.000,6,0.000,0.025,2393,1969,3376,0,0,0,0,0,0
$GC,2548,-1.44,-77.9,333.2,-11.4,192,2553,0.00,2.45,0.00,0.000,4,0.000,0.051,2393,555,3375,0,0,0,0,0,0
$GC,2585,-1.44,-77.9,337.8,-12.1,192,2590,0.00,2.30,0.00,0.000,6,0.000,0.027,2392,1960,3375,0,0,0,0,0,0
$GC,2915,-1.44,-77.9,368.6,-8.7,201,2919,0.00,2.47,0.00,0.000,4,0.000,0.054,2392,555,3373,0,0,0,0,0,0
$GC,2942,-1.44,-77.9,371.3,-9.8,201,2946,0.00,2.33,0.00,0.000,6,0.000,0.028,2393,1962,3373,0,0,0,0,0,0
$GC,3281,-1.44,-77.9,401.4,-8.7,210,3285,0.00,2.50,0.00,0.000,4,0.000,0.056,2392,550,3372,0,0,0,0,0,0
$GC,3355,-1.44,-77.9,408.9,-9.8,211,3359,0.00,2.35,0.00,0.000,6,0.000,0.030,2393,1971,3371,0,0,0,0,0,0
$GC,3690,-1.44,-77.9,434.9,-7.0,220,3694,0.00,2.53,0.00,0.000,4,0.000,0.058,2393,549,3369,0,0,0,0,0,0
$GC,3736,-1.44,-77.9,438.2,-6.9,221,3740,0.00,2.38,0.00,0.000,6,0.000,0.031,2393,1965,3369,0,0,0,0,0,0
$STATE,3934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3934,begin apogee
$GC,3940,-0.31,0.0,451.3,6.7,226,4008,1.17,0.00,64.93,0.892,6,0.084,0.000,2640,2057,3050,0,0,0,0,0,0
$STATE,4009,end apogee,CONTROL_FINISHED_OK
$STATE,4009,begin climb
$GC,4011,1.44,77.9,451.8,0.0,227,4085,1.70,2.47,64.60,0.869,4,0.038,0.047,3030,3418,2732,0,0,0,0,0,0
$GC,4117,1.57,185.3,453.3,0.7,229,4216,0.00,2.42,91.97,0.867,6,0.000,0.040,3030,2034,2294,0,0,0,0,0,0
$GC,4541,1.57,185.3,402.8,13.9,239,4546,0.10,2.55,0.00,0.000,4,0.088,0.061,3056,630,2283,0,0,0,0,0,0
$GC,4607,1.57,185.3,391.3,17.0,240,4611,0.00,2.38,0.00,0.000,6,0.000,0.033,3056,2030,2280,0,0,0,0,0,0
$GC,4951,1.57,185.3,337.0,15.5,249,4955,0.00,2.45,0.00,0.000,4,0.000,0.044,3056,3440,2278,0,0,0,0,0,0
$GC,5066,1.57,185.3,319.0,14.6,251,5070,0.00,2.42,0.00,0.000,6,0.000,0.041,3056,2036,2278,0,0,0,0,0,0
$GC,5387,1.57,185.3,273.4,13.4,264,5392,0.00,2.50,0.00,0.000,4,0.000,0.055,3056,628,2275,0,0,0,0,0,0
$GC,5408,1.57,185.3,270.8,13.4,265,5412,0.00,2.40,0.00,0.000,6,0.000,0.031,3056,2046,2273,0,0,0,0,0,0
$GC,5737,1.57,185.3,227.3,12.1,281,5742,0.00,2.53,0.00,0.000,4,0.000,0.052,3055,619,2273,0,0,0,0,0,0
$GC,5756,1.57,185.3,225.0,11.4,282,5760,0.00,2.40,0.00,0.000,6,0.000,0.030,3056,2046,2272,0,0,0,0,0,0
$GC,6078,1.57,185.3,192.0,11.0,301,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2052,2272,0,0,0,0,0,0
$GC,6333,1.57,185.3,163.2,12.1,325,6337,0.00,2.50,0.00,0.000,4,0.000,0.050,3056,621,2272,0,0,0,0,0,0
$GC,6348,1.57,185.3,160.9,13.8,326,6352,0.00,2.35,0.00,0.000,6,0.000,0.027,3056,2050,2270,0,0,0,0,0,0
$GC,6608,1.57,185.3,125.4,13.6,350,6610,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2056,2270,0,0,0,0,0,0
$GC,6863,1.57,185.3,93.4,13.9,374,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2056,2270,0,0,0,0,0,0
$GC,7119,1.57,185.3,72.4,9.1,398,7123,0.00,2.45,0.00,0.000,4,0.000,0.044,3055,618,2270,0,0,0,0,0,0
$GC,7169,1.57,185.3,66.8,12.2,403,7173,0.00,2.33,0.00,0.000,6,0.000,0.024,3056,2037,2270,0,0,0,0,0,0
$GC,7431,1.57,185.3,43.8,9.2,427,7435,0.00,2.42,0.00,0.000,4,0.000,0.044,3056,625,2270,0,0,0,0,0,0
$GC,7661,1.57,185.3,19.2,11.7,463,7668,0.00,2.33,0.00,0.000,6,0.000,0.022,3056,2038,2270,0,0,0,0,0,0
$STATE,7834,end climb,SURFACE_DEPTH_REACHED
$STATE,7834,begin surface coast
$FINISH,0.5,1.023782
$STATE,7874,end surface coast,CONTROL_FINISHED_OK
$STATE,7874,begin surface
$SM_CCo,7894,57.12,0.536,0,0,1827,300.00
$SM_GC,1.31,0.00,0.00,57.12,0.000,0.000,0.536,428,1937,1827,-10.50,-0.65,300.00
$IRIDIUM_FIX,2057.14,-15753.90,110799,010154
$TT8_MAMPS,0.029146
$HUMID,43.81
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.00
$XPDR_PINGS,2
$24V_AH,23.3,4.814
$10V_AH,10.0,4.329
$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,25.000,91.750,221.500,57.125,0.000,27.813,29.482,113.380,0.500,0.000,32.839,946.051,5199.965,334.125,1470.470,287.434,33.338,959.793,0.000,1447.371,0.000,0.538,0.000
$DEVICE_MAMPS,141.895,82.069,892.021,536.133,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,340.018,322.662,755.192,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,28677,502
$CAP_FILE_SIZE,83714,0
$CFSIZE,260165632,256143360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160410,055236,2102.396,-15753.662,48,1.1,48,9.8