version: 66.06
glider: 139
mission: 7
dive: 49
start: 4 17 110 14 46 27
data:
$ID,139
$MISSION,7
$DIVE,49
$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,-2120324.2
$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
$GPS1,143654,2058.318,-15747.843,73,1.5,74,9.8
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.5
$GPS2,144608,2058.359,-15747.931,13,1.5,13,9.8
$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,88.9,5373,-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,-77.9,0.0,0.0,0,78,0.00,0.00,-59.97,0.000,6,0.000,0.000,424,1982,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.3,-5.5,11,99,10.75,2.53,0.00,0.000,4,0.140,0.037,2400,529,3370,0,0,0,0,0,0
$GC,109,-1.40,-77.9,14.1,-32.0,16,116,0.00,2.38,0.00,0.000,6,0.000,0.021,2400,1972,3371,0,0,0,0,0,0
$GC,310,-1.40,-77.9,48.8,-15.9,42,314,0.00,2.50,0.00,0.000,4,0.000,0.044,2400,531,3372,0,0,0,0,0,0
$GC,343,-1.40,-77.9,55.0,-19.9,45,347,0.00,2.30,0.00,0.000,6,0.000,0.021,2400,1947,3371,0,0,0,0,0,0
$GC,607,-1.40,-77.9,97.8,-15.8,70,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1953,3372,0,0,0,0,0,0
$GC,863,-1.40,-77.9,135.3,-13.0,94,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1952,3373,0,0,0,0,0,0
$GC,1117,-1.40,-77.9,163.0,-10.3,118,1121,0.00,2.28,0.00,0.000,4,0.000,0.029,2400,3330,3373,0,0,0,0,0,0
$GC,1163,-1.40,-77.9,168.2,-11.7,122,1170,0.00,2.38,0.00,0.000,6,0.000,0.031,2400,1932,3373,0,0,0,0,0,0
$GC,1435,-1.40,-77.9,203.4,-12.2,147,1440,0.00,2.40,0.00,0.000,4,0.000,0.045,2400,530,3375,0,0,0,0,0,0
$GC,1472,-1.40,-77.9,208.7,-14.1,148,1478,0.00,2.30,0.00,0.000,6,0.000,0.022,2400,1933,3375,0,0,0,0,0,0
$GC,1786,-1.40,-77.9,245.4,-10.4,164,1790,0.00,2.40,0.00,0.000,4,0.000,0.046,2400,535,3375,0,0,0,0,0,0
$GC,1815,-1.40,-77.9,248.6,-11.5,165,1819,0.00,2.28,0.00,0.000,6,0.000,0.023,2400,1948,3375,0,0,0,0,0,0
$GC,2139,-1.40,-77.9,282.3,-10.4,181,2144,0.00,2.45,0.00,0.000,4,0.000,0.048,2400,535,3375,0,0,0,0,0,0
$GC,2176,-1.40,-77.9,286.3,-10.9,182,2183,0.00,2.30,0.00,0.000,6,0.000,0.025,2400,1931,3375,0,0,0,0,0,0
$GC,2509,-1.40,-77.9,311.7,-7.0,195,2513,0.00,2.45,0.00,0.000,4,0.000,0.051,2400,529,3375,0,0,0,0,0,0
$GC,2536,-1.40,-77.9,313.9,-8.4,195,2540,0.00,2.30,0.00,0.000,6,0.000,0.026,2400,1948,3375,0,0,0,0,0,0
$GC,2871,-1.40,-77.9,345.9,-10.7,204,2875,0.00,2.45,0.00,0.000,4,0.000,0.051,2399,536,3373,0,0,0,0,0,0
$GC,2996,-1.40,-77.9,360.4,-11.9,206,3000,0.00,2.28,0.00,0.000,6,0.000,0.028,2400,1932,3373,0,0,0,0,0,0
$GC,3326,-1.40,-77.9,391.1,-8.6,214,3330,0.00,2.47,0.00,0.000,4,0.000,0.054,2399,528,3371,0,0,0,0,0,0
$GC,3404,-1.40,-77.9,398.8,-9.5,215,3408,0.00,2.33,0.00,0.000,6,0.000,0.029,2400,1940,3371,0,0,0,0,0,0
$GC,3734,-1.40,-77.9,425.3,-7.7,223,3738,0.00,2.47,0.00,0.000,4,0.000,0.057,2400,533,3369,0,0,0,0,0,0
$GC,3785,-1.40,-77.9,429.9,-9.9,224,3789,0.00,2.33,0.00,0.000,6,0.000,0.031,2399,1945,3368,0,0,0,0,0,0
$STATE,4060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4060,begin apogee
$GC,4064,-0.31,0.0,452.3,8.3,231,4133,1.12,0.00,64.62,0.887,6,0.079,0.000,2640,2053,3050,0,0,0,0,0,0
$STATE,4133,end apogee,CONTROL_FINISHED_OK
$STATE,4133,begin climb
$GC,4135,1.40,77.9,453.2,0.0,232,4210,1.65,2.47,64.78,0.866,4,0.038,0.045,3018,3418,2731,0,0,0,0,0,0
$GC,4473,1.42,93.1,440.1,7.0,239,4495,0.00,2.40,13.40,0.802,6,0.000,0.041,3018,2039,2670,0,0,0,0,0,0
$GC,4820,1.44,116.2,416.2,6.4,248,4845,0.00,2.45,20.12,0.833,4,0.000,0.044,3018,3419,2576,0,0,0,0,0,0
$GC,5109,1.45,124.9,392.5,7.4,254,5125,0.00,2.42,8.57,0.741,6,0.000,0.041,3018,2030,2540,0,0,0,0,0,0
$GC,5460,1.49,157.5,370.1,5.8,263,5496,0.00,2.45,28.77,0.838,4,0.000,0.041,3018,3417,2408,0,0,0,0,0,0
$GC,5505,1.52,178.7,367.1,6.6,264,5533,0.10,2.42,20.25,0.804,6,0.087,0.041,3042,2031,2321,0,0,0,0,0,0
$GC,5869,1.52,178.7,328.7,11.4,273,5873,0.00,2.50,0.00,0.000,4,0.000,0.058,3042,629,2312,0,0,0,0,0,0
$GC,5970,1.52,178.7,310.5,18.9,275,5974,0.00,2.38,0.00,0.000,6,0.000,0.032,3042,2029,2309,0,0,0,0,0,0
$GC,6288,1.52,178.7,264.9,11.9,289,6289,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2033,2309,0,0,0,0,0,0
$GC,6596,1.52,178.7,226.9,11.4,304,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2033,2307,0,0,0,0,0,0
$GC,6907,1.52,178.7,193.2,9.5,322,6911,0.00,2.40,0.00,0.000,4,0.000,0.038,3042,3438,2306,0,0,0,0,0,0
$GC,6984,1.52,178.7,185.5,10.2,330,6989,0.00,2.40,0.00,0.000,6,0.000,0.036,3042,2025,2306,0,0,0,0,0,0
$GC,7245,1.52,178.7,157.2,11.2,354,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2025,2306,0,0,0,0,0,0
$GC,7499,1.52,178.7,132.6,9.0,378,7504,0.00,2.40,0.00,0.000,4,0.000,0.035,3042,3444,2306,0,0,0,0,0,0
$GC,7523,1.52,178.7,130.4,9.2,380,7527,0.00,2.40,0.00,0.000,6,0.000,0.033,3042,2026,2306,0,0,0,0,0,0
$GC,7784,1.52,178.7,106.4,9.2,404,7788,0.00,2.40,0.00,0.000,4,0.000,0.047,3042,630,2306,0,0,0,0,0,0
$GC,7954,1.52,178.7,89.7,9.0,422,7961,0.00,2.33,0.00,0.000,6,0.000,0.024,3043,2043,2304,0,0,0,0,0,0
$GC,8217,1.55,202.4,71.9,6.4,447,8241,0.00,2.47,19.05,0.581,4,0.000,0.044,3042,628,2224,0,0,0,0,0,0
$GC,8263,1.55,202.4,67.8,10.5,451,8270,0.00,2.35,0.00,0.000,6,0.000,0.023,3042,2040,2221,0,0,0,0,0,0
$GC,8525,1.55,202.4,40.1,9.9,476,8529,0.00,2.30,0.00,0.000,4,0.000,0.031,3042,3436,2221,0,0,0,0,0,0
$GC,8667,1.55,202.4,24.4,12.4,496,8674,0.00,2.38,0.00,0.000,6,0.000,0.031,3043,2036,2221,0,0,0,0,0,0
$GC,8868,1.55,202.4,6.9,9.0,533,8874,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2036,2221,0,0,0,0,0,0
$STATE,8901,end climb,SURFACE_DEPTH_REACHED
$STATE,8901,begin surface coast
$FINISH,0.5,1.023802
$STATE,8924,end surface coast,CONTROL_FINISHED_OK
$STATE,8924,begin surface
$SM_CCo,8943,48.85,0.532,0,0,1826,300.00
$SM_GC,1.20,0.00,0.00,48.85,0.000,0.000,0.532,429,1932,1826,-10.49,-0.23,300.00
$IRIDIUM_FIX,2047.91,-15747.49,120799,141401
$TT8_MAMPS,0.029146
$HUMID,43.50
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.50
$XPDR_PINGS,1
$24V_AH,23.3,5.883
$10V_AH,10.0,5.289
$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,24.875,91.150,239.575,48.850,0.000,55.181,64.425,278.926,0.250,0.000,13.766,1041.169,5968.912,344.335,1663.541,535.785,0.000,1074.023,0.000,1654.910,0.000,0.539,0.000
$DEVICE_MAMPS,139.594,72.865,886.652,531.531,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,367.348,343.039,782.727,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,28654,543
$CAP_FILE_SIZE,98474,0
$CFSIZE,260165632,255508480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170410,171752,2057.887,-15747.477,38,2.4,57,9.8