version: 66.06
glider: 139
mission: 7
dive: 51
start: 4 17 110 20 9 51
data:
$ID,139
$MISSION,7
$DIVE,51
$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,-2120433
$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
$GPS1,200130,2057.880,-15746.721,61,2.0,70,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.2
$GPS2,200934,2057.890,-15746.754,13,2.1,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,SOUTH
$TGT_LATLONG,2057.918,-15744.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.177,0.048
$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,79.3,3276,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,79,0.00,0.00,-59.28,0.000,6,0.000,0.000,421,1925,3369,0,0,0,0,0,0
$GC,81,-1.40,-77.9,3.9,-7.4,11,100,10.80,2.45,0.00,0.000,4,0.141,0.039,2402,524,3371,0,0,0,0,0,0
$GC,148,-1.40,-77.9,23.0,-19.5,25,155,0.00,2.38,0.00,0.000,6,0.000,0.022,2402,1957,3372,0,0,0,0,0,0
$GC,353,-1.40,-77.9,57.1,-16.0,48,358,0.00,2.50,0.00,0.000,4,0.000,0.046,2402,524,3372,0,0,0,0,0,0
$GC,369,-1.40,-77.9,59.8,-16.4,49,373,0.00,2.33,0.00,0.000,6,0.000,0.021,2402,1956,3372,0,0,0,0,0,0
$GC,631,-1.40,-77.9,95.1,-12.6,73,635,0.00,2.47,0.00,0.000,4,0.000,0.044,2402,525,3374,0,0,0,0,0,0
$GC,703,-1.40,-77.9,106.6,-14.1,80,710,0.00,2.30,0.00,0.000,6,0.000,0.021,2402,1927,3373,0,0,0,0,0,0
$GC,964,-1.40,-77.9,135.8,-10.1,105,968,0.00,2.42,0.00,0.000,4,0.000,0.044,2402,523,3374,0,0,0,0,0,0
$GC,1007,-1.40,-77.9,140.9,-12.4,109,1011,0.00,2.28,0.00,0.000,6,0.000,0.021,2402,1942,3375,0,0,0,0,0,0
$GC,1269,-1.40,-77.9,170.1,-10.7,133,1273,0.00,2.42,0.00,0.000,4,0.000,0.045,2402,525,3375,0,0,0,0,0,0
$GC,1294,-1.40,-77.9,172.8,-11.1,135,1298,0.00,2.28,0.00,0.000,6,0.000,0.022,2402,1943,3375,0,0,0,0,0,0
$GC,1556,-1.40,-77.9,199.5,-10.4,159,1560,0.00,2.45,0.00,0.000,4,0.000,0.046,2402,526,3376,0,0,0,0,0,0
$GC,1593,-1.40,-77.9,204.2,-12.3,160,1599,0.00,2.30,0.00,0.000,6,0.000,0.022,2402,1930,3376,0,0,0,0,0,0
$GC,1907,-1.40,-77.9,239.5,-10.5,176,1912,0.00,2.42,0.00,0.000,4,0.000,0.048,2402,526,3376,0,0,0,0,0,0
$GC,1952,-1.40,-77.9,245.1,-12.2,178,1957,0.00,2.28,0.00,0.000,6,0.000,0.024,2402,1937,3376,0,0,0,0,0,0
$GC,2276,-1.40,-77.9,275.3,-8.8,194,2280,0.00,2.33,0.00,0.000,4,0.000,0.034,2402,3332,3376,0,0,0,0,0,0
$GC,2330,-1.40,-77.9,281.1,-10.4,196,2334,0.00,2.35,0.00,0.000,6,0.000,0.034,2402,1940,3376,0,0,0,0,0,0
$GC,2668,-1.40,-77.9,313.2,-7.8,209,2671,0.00,2.47,0.00,0.000,4,0.000,0.052,2402,531,3376,0,0,0,0,0,0
$GC,2709,-1.40,-77.9,316.2,-7.1,209,2714,0.00,2.30,0.00,0.000,6,0.000,0.027,2402,1939,3376,0,0,0,0,0,0
$GC,3039,-1.40,-77.9,343.8,-9.0,218,3043,0.00,2.47,0.00,0.000,4,0.000,0.054,2402,531,3374,0,0,0,0,0,0
$GC,3056,-1.40,-77.9,345.5,-9.5,218,3060,0.00,2.33,0.00,0.000,6,0.000,0.028,2402,1949,3374,0,0,0,0,0,0
$GC,3400,-1.40,-77.9,375.7,-8.5,227,3404,0.00,2.47,0.00,0.000,4,0.000,0.055,2402,534,3372,0,0,0,0,0,0
$GC,3515,-1.40,-77.9,386.6,-9.7,229,3519,0.00,2.33,0.00,0.000,6,0.000,0.029,2402,1945,3371,0,0,0,0,0,0
$GC,3855,-1.40,-77.9,413.3,-7.6,238,3859,0.00,2.50,0.00,0.000,4,0.000,0.057,2402,532,3369,0,0,0,0,0,0
$GC,3938,-1.40,-77.9,419.8,-7.9,239,3943,0.00,2.35,0.00,0.000,6,0.000,0.031,2402,1940,3369,0,0,0,0,0,0
$GC,4268,-1.40,-77.9,437.1,-3.0,248,4272,0.00,2.40,0.00,0.000,4,0.000,0.044,2402,3341,3366,0,0,0,0,0,0
$STATE,4397,end dive,NO_VERTICAL_VELOCITY
$STATE,4397,begin apogee
$GC,4404,-0.31,0.0,437.2,0.0,250,4472,1.05,0.00,64.62,0.883,6,0.060,0.000,2639,2024,3050,0,0,0,0,0,0
$STATE,4472,end apogee,CONTROL_FINISHED_OK
$STATE,4473,begin climb
$GC,4474,1.40,77.9,437.0,0.0,252,4544,1.67,0.00,64.97,0.862,6,0.047,0.000,3012,2024,2732,0,0,0,0,0,0
$GC,4842,1.45,121.4,423.0,5.0,261,4884,0.00,2.53,36.92,0.852,4,0.000,0.056,3012,631,2555,0,0,0,0,0,0
$GC,4922,1.45,121.4,417.3,9.5,262,4926,0.00,2.40,0.00,0.000,6,0.000,0.033,3012,2028,2551,0,0,0,0,0,0
$GC,5252,1.45,121.4,387.9,9.1,270,5257,0.00,2.53,0.00,0.000,4,0.000,0.056,3012,623,2548,0,0,0,0,0,0
$GC,5373,1.45,121.4,375.6,9.7,272,5377,0.00,2.42,0.00,0.000,6,0.000,0.032,3012,2045,2546,0,0,0,0,0,0
$GC,5707,1.45,121.4,343.5,9.1,281,5711,0.00,2.53,0.00,0.000,4,0.000,0.055,3012,629,2544,0,0,0,0,0,0
$GC,5828,1.45,121.4,331.5,10.4,283,5832,0.00,2.40,0.00,0.000,6,0.000,0.032,3012,2042,2543,0,0,0,0,0,0
$GC,6163,1.46,133.4,304.7,7.2,292,6179,0.00,2.50,9.55,0.735,4,0.000,0.044,3012,3441,2505,0,0,0,0,0,0
$GC,6280,1.46,133.4,295.3,8.8,295,6284,0.00,2.42,0.00,0.000,6,0.000,0.039,3012,2031,2505,0,0,0,0,0,0
$GC,6609,1.46,133.4,267.0,8.2,311,6610,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2031,2502,0,0,0,0,0,0
$GC,6918,1.51,167.2,243.1,5.7,326,6955,0.12,2.47,29.80,0.769,4,0.078,0.040,3043,3439,2367,0,0,0,0,0,0
$GC,7066,1.51,167.2,231.9,9.7,332,7070,0.00,2.42,0.00,0.000,6,0.000,0.041,3043,2036,2365,0,0,0,0,0,0
$GC,7382,1.51,171.1,204.5,7.8,347,7391,0.00,2.45,3.80,0.474,4,0.000,0.039,3043,3444,2352,0,0,0,0,0,0
$GC,7405,1.51,171.1,202.3,8.9,348,7409,0.00,2.45,0.00,0.000,6,0.000,0.036,3044,2025,2351,0,0,0,0,0,0
$GC,7737,1.51,171.1,170.8,8.9,378,7741,0.00,2.42,0.00,0.000,4,0.000,0.051,3043,626,2351,0,0,0,0,0,0
$GC,7745,1.51,171.1,169.8,8.6,378,7753,0.00,2.38,0.00,0.000,6,0.000,0.028,3043,2037,2349,0,0,0,0,0,0
$GC,8008,1.51,171.1,150.1,9.4,403,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2041,2349,0,0,0,0,0,0
$GC,8262,1.51,171.1,125.0,10.0,427,8263,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2041,2350,0,0,0,0,0,0
$GC,8517,1.55,205.1,102.3,5.7,451,8555,0.00,2.50,30.67,0.629,4,0.000,0.046,3043,628,2212,0,0,0,0,0,0
$GC,8720,1.55,205.1,84.3,12.0,473,8724,0.00,2.30,0.00,0.000,6,0.000,0.023,3043,2039,2206,0,0,0,0,0,0
$GC,8982,1.55,205.1,56.2,9.4,497,8984,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2044,2206,0,0,0,0,0,0
$GC,9236,1.55,205.1,29.6,10.8,521,9242,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2044,2206,0,0,0,0,0,0
$GC,9436,1.55,205.1,9.3,10.4,558,9443,0.00,2.45,0.00,0.000,4,0.000,0.042,3043,628,2206,0,0,0,0,0,0
$GC,9458,1.55,205.1,6.8,11.3,562,9464,0.00,2.33,0.00,0.000,6,0.000,0.022,3043,2043,2206,0,0,0,0,0,0
$STATE,9496,end climb,SURFACE_DEPTH_REACHED
$STATE,9496,begin surface coast
$FINISH,0.5,1.023872
$STATE,9529,end surface coast,CONTROL_FINISHED_OK
$STATE,9529,begin surface
$SM_CCo,9549,47.35,0.537,0,0,1826,300.00
$SM_GC,1.24,0.00,0.00,47.35,0.000,0.000,0.537,431,1927,1826,-10.49,-0.37,300.00
$IRIDIUM_FIX,2047.91,-15747.49,120799,202035
$TT8_MAMPS,0.029146
$HUMID,43.46
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,23.3,6.041
$10V_AH,10.0,5.434
$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,25.025,105.925,240.350,47.350,0.000,53.856,63.110,189.956,0.000,0.000,33.184,1082.880,6493.955,361.389,1694.782,450.943,0.000,1094.672,0.000,1670.490,0.000,0.538,0.000
$DEVICE_MAMPS,141.128,65.195,882.817,536.900,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,389.044,366.458,810.239,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,31784,575
$CAP_FILE_SIZE,100172,0
$CFSIZE,260165632,255406080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170410,225107,2058.080,-15745.652,45,1.9,45,9.8