version: 66.06
glider: 139
mission: 7
dive: 38
start: 4 16 110 8 35 11
data:
$ID,139
$MISSION,7
$DIVE,38
$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,-2120053.2
$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,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,1940
$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
$GPS1,082931,2101.900,-15752.782,28,1.5,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.1
$GPS2,083420,2101.897,-15752.775,14,1.4,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,SOUTH
$TGT_LATLONG,2057.918,-15744.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,-0.032
$KALMAN_X,-4527.4,214.0,324.5,19368.3,-1264.5
$KALMAN_Y,632.1,-232.0,61.2,-13862.5,-54.5
$MHEAD_RNG_PITCHd_Wd,90.2,15547,-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,12,begin dive
$GC,14,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-55.03,0.000,2,0.000,0.000,431,1926,3220,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.0,-4.3,10,93,10.73,2.42,-3.05,0.000,4,0.140,0.054,2400,526,3370,0,0,0,0,0,0
$GC,150,-1.40,-77.9,21.9,-17.9,26,157,0.00,2.38,0.00,0.000,6,0.000,0.022,2400,1961,3370,0,0,0,0,0,0
$GC,351,-1.40,-77.9,56.4,-16.6,49,355,0.00,2.50,0.00,0.000,4,0.000,0.046,2400,528,3371,0,0,0,0,0,0
$GC,379,-1.40,-77.9,61.5,-19.3,51,385,0.00,2.33,0.00,0.000,6,0.000,0.021,2400,1945,3371,0,0,0,0,0,0
$GC,639,-1.40,-77.9,101.3,-15.1,76,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1950,3373,0,0,0,0,0,0
$GC,893,-1.40,-77.9,133.7,-13.1,100,898,0.00,2.45,0.00,0.000,4,0.000,0.044,2401,529,3374,0,0,0,0,0,0
$GC,929,-1.40,-77.9,139.0,-14.6,103,935,0.00,2.30,0.00,0.000,6,0.000,0.022,2400,1943,3374,0,0,0,0,0,0
$GC,1189,-1.40,-77.9,171.6,-12.0,128,1193,0.00,2.45,0.00,0.000,4,0.000,0.045,2400,526,3375,0,0,0,0,0,0
$GC,1267,-1.40,-77.9,182.1,-13.2,136,1271,0.00,2.28,0.00,0.000,6,0.000,0.023,2400,1938,3375,0,0,0,0,0,0
$GC,1524,-1.40,-77.9,209.7,-10.6,156,1528,0.00,2.45,0.00,0.000,4,0.000,0.048,2400,527,3375,0,0,0,0,0,0
$GC,1574,-1.40,-77.9,216.0,-11.5,158,1578,0.00,2.28,0.00,0.000,6,0.000,0.023,2400,1938,3375,0,0,0,0,0,0
$GC,1893,-1.40,-77.9,251.6,-11.6,174,1897,0.00,2.42,0.00,0.000,4,0.000,0.048,2400,529,3376,0,0,0,0,0,0
$GC,1913,-1.40,-77.9,253.8,-11.9,175,1918,0.00,2.30,0.00,0.000,6,0.000,0.024,2400,1941,3376,0,0,0,0,0,0
$GC,2243,-1.40,-77.9,288.8,-10.0,191,2247,0.00,2.42,0.00,0.000,4,0.000,0.050,2400,533,3376,0,0,0,0,0,0
$GC,2357,-1.40,-77.9,300.2,-9.4,196,2361,0.00,2.30,0.00,0.000,6,0.000,0.025,2400,1938,3375,0,0,0,0,0,0
$GC,2696,-1.40,-77.9,330.4,-9.4,205,2700,0.00,2.47,0.00,0.000,4,0.000,0.052,2400,526,3374,0,0,0,0,0,0
$GC,2742,-1.40,-77.9,335.2,-10.2,206,2746,0.00,2.33,0.00,0.000,6,0.000,0.027,2400,1947,3375,0,0,0,0,0,0
$GC,3064,-1.40,-77.9,362.4,-8.2,214,3068,0.00,2.50,0.00,0.000,4,0.000,0.054,2400,526,3374,0,0,0,0,0,0
$GC,3114,-1.40,-77.9,367.0,-9.4,215,3118,0.00,2.35,0.00,0.000,6,0.000,0.028,2400,1941,3373,0,0,0,0,0,0
$GC,3431,-1.40,-77.9,395.8,-9.3,223,3435,0.00,2.47,0.00,0.000,4,0.000,0.056,2400,532,3372,0,0,0,0,0,0
$GC,3541,-1.40,-77.9,406.7,-9.4,225,3545,0.00,2.35,0.00,0.000,6,0.000,0.029,2400,1944,3371,0,0,0,0,0,0
$GC,3885,-1.40,-77.9,437.0,-9.2,234,3889,0.00,2.50,0.00,0.000,4,0.000,0.058,2400,536,3369,0,0,0,0,0,0
$GC,3898,-1.40,-77.9,438.3,-9.1,234,3902,0.00,2.33,0.00,0.000,6,0.000,0.031,2400,1942,3369,0,0,0,0,0,0
$STATE,4042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4042,begin apogee
$GC,4047,-0.31,0.0,450.9,8.7,238,4115,1.12,0.00,65.07,0.887,6,0.079,0.000,2639,2050,3050,0,0,0,0,0,0
$STATE,4116,end apogee,CONTROL_FINISHED_OK
$STATE,4116,begin climb
$GC,4118,1.40,77.9,451.9,0.0,239,4192,1.65,2.47,64.68,0.866,4,0.038,0.046,3018,3413,2732,0,0,0,0,0,0
$GC,4203,1.53,185.4,452.9,0.6,241,4302,0.10,2.40,91.70,0.864,6,0.086,0.039,3044,2034,2294,0,0,0,0,0,0
$GC,4611,1.53,185.4,396.8,16.1,251,4615,0.00,2.40,0.00,0.000,4,0.000,0.041,3045,3423,2284,0,0,0,0,0,0
$GC,4647,1.53,185.4,390.6,15.9,251,4653,0.00,2.42,0.00,0.000,6,0.000,0.041,3044,2028,2284,0,0,0,0,0,0
$GC,4977,1.53,185.4,334.2,17.0,260,4981,0.00,2.40,0.00,0.000,4,0.000,0.041,3045,3419,2280,0,0,0,0,0,0
$GC,5023,1.53,185.4,326.4,15.8,261,5027,0.00,2.40,0.00,0.000,6,0.000,0.041,3044,2029,2280,0,0,0,0,0,0
$GC,5347,1.53,185.4,278.1,15.1,272,5351,0.00,2.40,0.00,0.000,4,0.000,0.038,3044,3420,2276,0,0,0,0,0,0
$GC,5369,1.53,185.4,274.3,15.5,273,5373,0.00,2.40,0.00,0.000,6,0.000,0.041,3045,2030,2276,0,0,0,0,0,0
$GC,5694,1.53,185.4,233.5,10.5,289,5698,0.00,2.47,0.00,0.000,4,0.000,0.054,3044,629,2275,0,0,0,0,0,0
$GC,5748,1.53,185.4,226.8,12.2,291,5752,0.00,2.35,0.00,0.000,6,0.000,0.028,3044,2027,2273,0,0,0,0,0,0
$GC,6064,1.53,185.4,195.9,10.0,307,6069,0.00,2.47,0.00,0.000,4,0.000,0.050,3044,623,2273,0,0,0,0,0,0
$GC,6125,1.53,185.4,189.0,11.9,313,6129,0.00,2.35,0.00,0.000,6,0.000,0.028,3044,2040,2271,0,0,0,0,0,0
$GC,6388,1.53,185.4,163.4,10.3,337,6392,0.00,2.47,0.00,0.000,4,0.000,0.050,3044,627,2270,0,0,0,0,0,0
$GC,6492,1.53,185.4,151.1,11.8,348,6496,0.00,2.33,0.00,0.000,6,0.000,0.026,3044,2040,2269,0,0,0,0,0,0
$GC,6753,1.53,185.4,121.8,11.8,372,6757,0.00,2.45,0.00,0.000,4,0.000,0.048,3044,624,2269,0,0,0,0,0,0
$GC,6769,1.53,185.4,119.8,12.7,373,6773,0.00,2.33,0.00,0.000,6,0.000,0.025,3044,2041,2269,0,0,0,0,0,0
$GC,7031,1.53,185.4,90.7,12.5,397,7035,0.00,2.30,0.00,0.000,4,0.000,0.033,3044,3431,2269,0,0,0,0,0,0
$GC,7155,1.53,185.4,75.3,12.0,410,7159,0.00,2.38,0.00,0.000,6,0.000,0.031,3044,2022,2269,0,0,0,0,0,0
$GC,7417,1.54,194.3,51.4,7.4,434,7429,0.00,2.40,4.82,0.435,4,0.000,0.044,3044,626,2257,0,0,0,0,0,0
$GC,7599,1.54,194.3,30.4,11.5,454,7606,0.00,2.33,0.00,0.000,6,0.000,0.022,3044,2038,2256,0,0,0,0,0,0
$GC,7863,1.54,194.3,4.1,9.9,502,7870,0.00,2.33,0.00,0.000,4,0.000,0.030,3045,3429,2256,0,0,0,0,0,0
$STATE,7875,end climb,SURFACE_DEPTH_REACHED
$STATE,7876,begin surface coast
$FINISH,2.4,1.023701
$STATE,7882,end surface coast,CONTROL_FINISHED_OK
$STATE,7882,begin surface
$SM_CCo,7904,66.55,0.543,0,0,1826,300.00
$SM_GC,0.99,0.00,0.00,66.55,0.000,0.000,0.543,428,1928,1826,-10.50,-0.34,300.00
$IRIDIUM_FIX,2054.83,-15751.76,110799,060607
$TT8_MAMPS,0.029146
$HUMID,43.93
$INTERNAL_PRESSURE,9.64535
$TCM_TEMP,20.80
$XPDR_PINGS,0
$24V_AH,23.3,4.971
$10V_AH,10.0,4.465
$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,25.325,105.500,226.275,66.550,0.000,31.594,31.912,119.130,0.000,0.000,32.259,965.237,5118.647,356.456,1521.828,303.865,33.356,1013.910,0.000,1493.048,0.000,0.537,0.000
$DEVICE_MAMPS,140.361,72.098,886.652,543.036,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,341.995,325.463,747.713,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,28696,505
$CAP_FILE_SIZE,88365,0
$CFSIZE,260165632,256049152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160410,104933,2101.545,-15751.832,54,1.8,56,9.8