version: 66.06
glider: 139
mission: 7
dive: 52
start: 4 17 110 22 56 57
data:
$ID,139
$MISSION,7
$DIVE,52
$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,-2120448.2
$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
$GPS1,225107,2058.080,-15745.652,45,1.9,45,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-68.2
$GPS2,225639,2058.056,-15745.651,14,1.8,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,EAST
$TGT_LATLONG,1205.814,-15742.918
$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,169.9,985725,-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,16,-1.40,-77.9,0.0,0.0,0,78,0.00,0.00,-58.65,0.000,6,0.000,0.000,430,1928,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,4.0,-7.2,11,99,10.77,2.42,0.00,0.000,4,0.142,0.039,2400,535,3371,0,0,0,0,0,0
$GC,259,-1.40,-77.9,45.1,-18.4,42,263,0.00,2.33,0.00,0.000,6,0.000,0.022,2399,1964,3372,0,0,0,0,0,0
$GC,525,-1.40,-77.9,88.6,-14.8,67,529,0.00,2.50,0.00,0.000,4,0.000,0.045,2400,527,3373,0,0,0,0,0,0
$GC,550,-1.40,-77.9,92.7,-16.8,69,554,0.00,2.33,0.00,0.000,6,0.000,0.021,2400,1952,3373,0,0,0,0,0,0
$GC,812,-1.40,-77.9,127.1,-11.9,93,816,0.00,2.47,0.00,0.000,4,0.000,0.045,2400,525,3373,0,0,0,0,0,0
$GC,899,-1.40,-77.9,138.9,-12.9,102,903,0.00,2.30,0.00,0.000,6,0.000,0.021,2399,1940,3374,0,0,0,0,0,0
$GC,1160,-1.40,-77.9,167.6,-11.6,126,1164,0.00,2.42,0.00,0.000,4,0.000,0.045,2400,525,3375,0,0,0,0,0,0
$GC,1177,-1.40,-77.9,170.1,-12.9,127,1183,0.00,2.28,0.00,0.000,6,0.000,0.022,2400,1945,3375,0,0,0,0,0,0
$GC,1438,-1.40,-77.9,200.8,-12.3,152,1442,0.00,2.42,0.00,0.000,4,0.000,0.045,2400,528,3376,0,0,0,0,0,0
$GC,1493,-1.40,-77.9,207.6,-12.4,154,1497,0.00,2.28,0.00,0.000,6,0.000,0.022,2399,1940,3376,0,0,0,0,0,0
$GC,1810,-1.40,-77.9,240.8,-10.8,169,1814,0.00,2.42,0.00,0.000,4,0.000,0.047,2400,528,3376,0,0,0,0,0,0
$GC,1905,-1.40,-77.9,251.6,-10.7,173,1909,0.00,2.28,0.00,0.000,6,0.000,0.023,2399,1940,3376,0,0,0,0,0,0
$GC,2226,-1.40,-77.9,281.2,-10.0,189,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1943,3376,0,0,0,0,0,0
$GC,2552,-1.40,-77.9,309.8,-8.2,202,2556,0.00,2.47,0.00,0.000,4,0.000,0.051,2399,526,3376,0,0,0,0,0,0
$GC,2588,-1.40,-77.9,313.0,-8.8,202,2594,0.00,2.30,0.00,0.000,6,0.000,0.027,2399,1936,3376,0,0,0,0,0,0
$GC,2919,-1.40,-77.9,341.1,-9.2,211,2923,0.00,2.50,0.00,0.000,4,0.000,0.055,2399,532,3374,0,0,0,0,0,0
$GC,3029,-1.40,-77.9,352.6,-10.0,213,3033,0.00,2.33,0.00,0.000,6,0.000,0.028,2399,1943,3373,0,0,0,0,0,0
$GC,3373,-1.40,-77.9,383.0,-8.6,222,3377,0.00,2.47,0.00,0.000,4,0.000,0.056,2399,531,3372,0,0,0,0,0,0
$GC,3409,-1.40,-77.9,386.6,-10.3,222,3415,0.00,2.33,0.00,0.000,6,0.000,0.030,2399,1941,3371,0,0,0,0,0,0
$STATE,3738,end dive,NO_VERTICAL_VELOCITY
$STATE,3738,begin apogee
$GC,3743,-0.31,0.0,389.2,0.0,231,3811,1.08,0.00,64.80,0.844,6,0.056,0.000,2642,2050,3050,0,0,0,0,0,0
$STATE,3812,end apogee,CONTROL_FINISHED_OK
$STATE,3812,begin climb
$GC,3814,1.40,77.9,389.2,0.0,232,3883,1.67,0.00,64.53,0.821,6,0.051,0.000,3011,2050,2732,0,0,0,0,0,0
$GC,4219,1.44,117.2,372.9,5.3,242,4261,0.00,2.40,33.17,0.808,4,0.000,0.041,3011,3415,2571,0,0,0,0,0,0
$GC,4368,1.44,117.2,361.1,9.8,245,4372,0.00,2.40,0.00,0.000,6,0.000,0.039,3011,2026,2570,0,0,0,0,0,0
$GC,4681,1.44,117.2,335.1,8.1,253,4685,0.00,2.47,0.00,0.000,4,0.000,0.056,3011,624,2565,0,0,0,0,0,0
$GC,4754,1.44,117.2,328.7,9.2,254,4758,0.00,2.35,0.00,0.000,6,0.000,0.031,3011,2021,2564,0,0,0,0,0,0
$GC,5089,1.44,117.2,299.8,8.9,263,5093,0.00,2.45,0.00,0.000,4,0.000,0.042,3011,3438,2563,0,0,0,0,0,0
$GC,5111,1.46,128.0,298.0,7.3,264,5130,0.00,2.40,9.00,0.703,6,0.000,0.038,3011,2033,2528,0,0,0,0,0,0
$GC,5439,1.50,165.2,278.2,5.5,280,5478,0.12,2.50,33.05,0.779,4,0.077,0.041,3042,3437,2376,0,0,0,0,0,0
$GC,5537,1.50,165.2,269.1,9.2,283,5542,0.00,2.42,0.00,0.000,6,0.000,0.040,3042,2036,2374,0,0,0,0,0,0
$GC,5852,1.50,165.2,242.3,8.1,298,5856,0.00,2.50,0.00,0.000,4,0.000,0.054,3041,623,2369,0,0,0,0,0,0
$GC,5906,1.50,165.2,236.7,10.4,300,5911,0.00,2.40,0.00,0.000,6,0.000,0.030,3042,2043,2367,0,0,0,0,0,0
$GC,6223,1.50,165.2,210.0,8.7,315,6227,0.00,2.38,0.00,0.000,4,0.000,0.038,3042,3436,2366,0,0,0,0,0,0
$GC,6295,1.50,165.2,203.6,9.2,318,6300,0.00,2.38,0.00,0.000,6,0.000,0.035,3042,2032,2366,0,0,0,0,0,0
$GC,6624,1.50,165.2,175.0,8.2,347,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2032,2365,0,0,0,0,0,0
$GC,6879,1.50,165.2,152.9,10.7,371,6883,0.00,2.38,0.00,0.000,4,0.000,0.035,3042,3434,2365,0,0,0,0,0,0
$GC,6976,1.50,165.2,142.8,10.4,381,6981,0.00,2.38,0.00,0.000,6,0.000,0.031,3042,2028,2365,0,0,0,0,0,0
$GC,7239,1.50,165.2,119.3,9.6,405,7243,0.00,2.42,0.00,0.000,4,0.000,0.047,3042,622,2366,0,0,0,0,0,0
$GC,7300,1.50,165.2,112.4,11.2,411,7304,0.00,2.33,0.00,0.000,6,0.000,0.024,3042,2052,2364,0,0,0,0,0,0
$GC,7562,1.51,171.9,89.9,7.6,435,7572,0.00,2.47,5.50,0.477,4,0.000,0.042,3042,624,2348,0,0,0,0,0,0
$GC,7825,1.51,171.9,64.8,9.5,464,7831,0.00,2.33,0.00,0.000,6,0.000,0.022,3042,2036,2348,0,0,0,0,0,0
$GC,8087,1.57,216.2,47.9,5.0,489,8137,0.00,2.47,39.12,0.571,4,0.000,0.041,3042,630,2165,0,0,0,0,0,0
$GC,8150,1.57,216.2,42.6,10.7,495,8156,0.00,2.35,0.00,0.000,6,0.000,0.022,3042,2043,2164,0,0,0,0,0,0
$GC,8414,1.57,216.2,12.5,12.0,533,8421,0.00,2.47,0.00,0.000,4,0.000,0.043,3042,627,2162,0,0,0,0,0,0
$GC,8479,1.57,216.2,4.3,14.3,547,8486,0.00,2.33,0.00,0.000,6,0.000,0.021,3042,2047,2160,0,0,0,0,0,0
$STATE,8491,end climb,SURFACE_DEPTH_REACHED
$STATE,8491,begin surface coast
$FINISH,0.5,1.023798
$STATE,8513,end surface coast,CONTROL_FINISHED_OK
$STATE,8513,begin surface
$SM_CCo,8533,44.45,0.529,0,0,1826,300.00
$SM_GC,1.65,0.00,0.00,44.45,0.000,0.000,0.529,429,1931,1826,-10.49,-0.25,300.00
$IRIDIUM_FIX,2050.21,-15745.35,120799,202050
$TT8_MAMPS,0.029146
$HUMID,42.63
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,6.116
$10V_AH,10.0,5.505
$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,25.025,96.125,249.175,44.450,0.000,22.560,30.123,188.716,0.000,0.000,14.448,1031.618,5544.418,348.212,1622.700,368.155,0.000,1051.672,0.000,1615.047,0.000,0.537,0.000
$DEVICE_MAMPS,141.895,72.098,844.467,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,373.687,361.632,822.754,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,31743,553
$CAP_FILE_SIZE,91897,0
$CFSIZE,260165632,255365120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180410,012130,2057.091,-15745.556,56,1.5,60,9.8