version: 66.06
glider: 139
mission: 7
dive: 48
start: 4 17 110 12 6 0
data:
$ID,139
$MISSION,7
$DIVE,48
$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,-2120309.8
$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
$GPS1,115921,2059.189,-15748.175,58,2.6,77,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.8
$GPS2,120542,2059.162,-15748.217,23,2.7,42,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,SOUTH
$TGT_LATLONG,2057.918,-15744.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.177,0.048
$KALMAN_X,-10622.7,142.5,584.3,29179.9,-1774.9
$KALMAN_Y,-1714.3,205.2,435.2,-12797.6,-689.5
$MHEAD_RNG_PITCHd_Wd,101.9,6247,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-55.03,0.000,2,0.000,0.000,426,1928,3239,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.0,-3.8,10,93,10.73,0.00,-2.55,0.000,6,0.140,0.000,2399,1930,3368,0,0,0,0,0,0
$GC,291,-1.40,-77.9,46.2,-18.1,42,295,0.00,2.42,0.00,0.000,4,0.000,0.046,2400,531,3369,0,0,0,0,0,0
$GC,315,-1.40,-77.9,50.6,-17.9,44,319,0.00,2.33,0.00,0.000,6,0.000,0.021,2400,1969,3370,0,0,0,0,0,0
$GC,575,-1.40,-77.9,89.1,-15.8,68,579,0.00,2.25,0.00,0.000,4,0.000,0.027,2399,3337,3371,0,0,0,0,0,0
$GC,602,-1.40,-77.9,93.5,-15.4,70,608,0.00,2.38,0.00,0.000,6,0.000,0.032,2399,1944,3371,0,0,0,0,0,0
$GC,863,-1.40,-77.9,133.2,-14.2,95,867,0.00,2.42,0.00,0.000,4,0.000,0.045,2400,532,3372,0,0,0,0,0,0
$GC,932,-1.40,-77.9,143.8,-16.4,102,936,0.00,2.28,0.00,0.000,6,0.000,0.021,2400,1948,3373,0,0,0,0,0,0
$GC,1193,-1.40,-77.9,178.9,-13.4,126,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1953,3374,0,0,0,0,0,0
$GC,1444,-1.40,-77.9,210.4,-12.2,146,1448,0.00,2.42,0.00,0.000,4,0.000,0.045,2400,532,3374,0,0,0,0,0,0
$GC,1475,-1.40,-77.9,214.4,-13.3,147,1479,0.00,2.28,0.00,0.000,6,0.000,0.022,2399,1946,3375,0,0,0,0,0,0
$GC,1790,-1.40,-77.9,254.5,-11.9,162,1794,0.00,2.45,0.00,0.000,4,0.000,0.046,2399,524,3374,0,0,0,0,0,0
$GC,1810,-1.40,-77.9,256.9,-12.6,163,1814,0.00,2.30,0.00,0.000,6,0.000,0.024,2399,1940,3374,0,0,0,0,0,0
$GC,2139,-1.40,-77.9,292.9,-10.1,179,2144,0.00,2.42,0.00,0.000,4,0.000,0.049,2400,533,3376,0,0,0,0,0,0
$GC,2184,-1.40,-77.9,297.5,-10.5,181,2188,0.00,2.28,0.00,0.000,6,0.000,0.025,2399,1936,3376,0,0,0,0,0,0
$GC,2508,-1.40,-77.9,328.4,-9.5,190,2512,0.00,2.47,0.00,0.000,4,0.000,0.052,2400,535,3375,0,0,0,0,0,0
$GC,2689,-1.40,-77.9,347.2,-10.1,194,2693,0.00,2.33,0.00,0.000,6,0.000,0.027,2400,1940,3375,0,0,0,0,0,0
$GC,3015,-1.40,-77.9,376.5,-8.9,202,3019,0.00,2.45,0.00,0.000,4,0.000,0.054,2399,535,3373,0,0,0,0,0,0
$GC,3047,-1.40,-77.9,379.6,-10.1,202,3051,0.00,2.33,0.00,0.000,6,0.000,0.028,2399,1940,3373,0,0,0,0,0,0
$GC,3381,-1.40,-77.9,408.8,-8.3,211,3385,0.00,2.50,0.00,0.000,4,0.000,0.057,2399,527,3371,0,0,0,0,0,0
$GC,3502,-1.40,-77.9,419.3,-8.7,213,3506,0.00,2.35,0.00,0.000,6,0.000,0.031,2399,1947,3370,0,0,0,0,0,0
$GC,3837,-1.40,-77.9,445.2,-7.5,222,3841,0.00,2.50,0.00,0.000,4,0.000,0.058,2399,536,3368,0,0,0,0,0,0
$STATE,3890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3890,begin apogee
$GC,3897,-0.31,0.0,450.0,8.7,223,3967,1.12,0.00,64.82,0.885,6,0.084,0.000,2639,2030,3050,0,0,0,0,0,0
$STATE,3968,end apogee,CONTROL_FINISHED_OK
$STATE,3968,begin climb
$GC,3970,1.40,77.9,451.3,0.0,225,4044,1.65,2.55,64.95,0.864,4,0.038,0.047,3018,3437,2731,0,0,0,0,0,0
$GC,4157,1.45,119.1,447.2,5.2,229,4197,0.00,2.45,35.40,0.850,6,0.000,0.041,3018,2037,2564,0,0,0,0,0,0
$GC,4519,1.45,119.1,412.2,10.0,238,4523,0.00,2.53,0.00,0.000,4,0.000,0.059,3017,629,2557,0,0,0,0,0,0
$GC,4616,1.45,119.1,402.1,10.6,240,4620,0.00,2.40,0.00,0.000,6,0.000,0.033,3018,2036,2556,0,0,0,0,0,0
$GC,4933,1.45,119.1,376.7,8.1,248,4937,0.00,2.50,0.00,0.000,4,0.000,0.058,3018,629,2553,0,0,0,0,0,0
$GC,4997,1.45,119.1,371.1,8.6,249,5001,0.00,2.40,0.00,0.000,6,0.000,0.033,3017,2037,2553,0,0,0,0,0,0
$GC,5341,1.47,141.1,349.0,6.5,258,5365,0.00,2.50,17.95,0.808,4,0.000,0.044,3018,3430,2473,0,0,0,0,0,0
$GC,5379,1.51,173.0,346.7,5.8,258,5416,0.00,2.42,29.40,0.812,6,0.000,0.041,3018,2035,2343,0,0,0,0,0,0
$GC,5752,1.51,173.0,309.1,10.5,268,5756,0.00,2.50,0.00,0.000,4,0.000,0.056,3018,619,2336,0,0,0,0,0,0
$GC,5876,1.51,173.0,292.0,13.8,271,5881,0.00,2.40,0.00,0.000,6,0.000,0.031,3018,2044,2332,0,0,0,0,0,0
$GC,6191,1.51,173.0,258.3,9.2,286,6196,0.10,2.53,0.00,0.000,4,0.085,0.054,3044,619,2331,0,0,0,0,0,0
$GC,6228,1.51,173.0,254.5,10.8,287,6234,0.00,2.40,0.00,0.000,6,0.000,0.031,3044,2040,2330,0,0,0,0,0,0
$GC,6544,1.51,173.0,225.0,10.1,303,6545,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2044,2330,0,0,0,0,0,0
$GC,6854,1.51,173.0,185.8,13.4,322,6858,0.00,2.35,0.00,0.000,4,0.000,0.038,3044,3440,2330,0,0,0,0,0,0
$GC,7104,1.51,173.0,156.9,9.6,349,7109,0.00,2.38,0.00,0.000,6,0.000,0.033,3044,2026,2330,0,0,0,0,0,0
$GC,7367,1.51,173.0,133.3,8.4,373,7371,0.00,2.38,0.00,0.000,4,0.000,0.035,3044,3443,2329,0,0,0,0,0,0
$GC,7628,1.52,179.1,113.4,7.6,401,7638,0.00,2.38,4.22,0.435,6,0.000,0.031,3044,2029,2319,0,0,0,0,0,0
$GC,7892,1.52,179.1,90.7,8.3,426,7896,0.00,2.35,0.00,0.000,4,0.000,0.032,3044,3441,2319,0,0,0,0,0,0
$GC,7954,1.52,179.1,85.7,8.2,432,7961,0.00,2.38,0.00,0.000,6,0.000,0.030,3044,2038,2319,0,0,0,0,0,0
$GC,8216,1.52,179.1,62.2,10.0,457,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2038,2319,0,0,0,0,0,0
$GC,8471,1.55,201.9,39.6,6.5,481,8501,0.00,2.42,21.30,0.555,4,0.000,0.030,3044,3442,2225,0,0,0,0,0,0
$GC,8541,1.55,201.9,33.9,8.8,488,8545,0.00,2.35,0.00,0.000,6,0.000,0.029,3044,2035,2226,0,0,0,0,0,0
$GC,8803,1.56,208.2,6.4,7.6,532,8816,0.00,2.40,6.65,0.448,4,0.000,0.039,3044,628,2200,0,0,0,0,0,0
$STATE,8842,end climb,SURFACE_DEPTH_REACHED
$STATE,8842,begin surface coast
$FINISH,0.6,1.013328
$STATE,8879,end surface coast,CONTROL_FINISHED_OK
$STATE,8879,begin surface
$SM_CCo,8899,45.83,0.528,0,0,1827,300.00
$SM_GC,1.10,0.00,0.00,45.83,0.000,0.000,0.528,425,1982,1827,-10.51,1.19,300.00
$IRIDIUM_FIX,2052.52,-15747.49,120799,090917
$TT8_MAMPS,0.029146
$HUMID,43.14
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.3,5.798
$10V_AH,9.9,5.216
$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,24.875,100.850,244.700,45.825,0.000,35.501,43.494,185.187,0.000,0.000,43.218,1056.163,5813.451,334.205,1742.330,386.659,0.000,1082.668,0.000,1699.238,0.000,0.538,0.000
$DEVICE_MAMPS,139.594,59.059,885.118,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,370.691,346.253,790.228,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,31651,548
$CAP_FILE_SIZE,96254,0
$CFSIZE,260165632,255557632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170410,143654,2058.318,-15747.843,73,1.5,74,9.8