version: 66.06
glider: 139
mission: 7
dive: 54
start: 4 18 110 3 3 38
data:
$ID,139
$MISSION,7
$DIVE,54
$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,-2120478.2
$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,1920
$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
$GPS1,025742,2056.172,-15745.852,43,1.3,47,9.8
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-68.8
$GPS2,030320,2056.161,-15745.882,14,1.3,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,TMP
$TGT_LATLONG,2057.000,-15750.000
$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,272.5,7290,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-55.12,0.000,2,0.000,0.000,426,1941,3237,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.2,-4.7,10,95,10.73,2.35,-2.67,0.000,4,0.140,0.044,2401,3336,3369,0,0,0,0,0,0
$GC,291,-1.40,-77.9,37.8,-12.8,52,298,0.00,2.42,0.00,0.000,6,0.000,0.033,2401,1917,3370,0,0,0,0,0,0
$GC,553,-1.40,-77.9,73.4,-12.3,77,557,0.00,2.42,0.00,0.000,4,0.000,0.047,2401,514,3371,0,0,0,0,0,0
$GC,606,-1.40,-77.9,81.4,-14.8,82,613,0.00,2.35,0.00,0.000,6,0.000,0.021,2402,1947,3371,0,0,0,0,0,0
$GC,868,-1.40,-77.9,113.9,-14.1,107,872,0.00,2.50,0.00,0.000,4,0.000,0.048,2400,509,3372,0,0,0,0,0,0
$GC,894,-1.40,-77.9,118.3,-15.4,109,900,0.00,2.28,0.00,0.000,6,0.000,0.021,2401,1925,3372,0,0,0,0,0,0
$GC,1155,-1.40,-77.9,153.8,-13.6,134,1160,0.00,2.45,0.00,0.000,4,0.000,0.046,2401,509,3373,0,0,0,0,0,0
$GC,1233,-1.40,-77.9,165.3,-14.3,142,1237,0.00,2.28,0.00,0.000,6,0.000,0.021,2401,1916,3373,0,0,0,0,0,0
$GC,1494,-1.40,-77.9,196.3,-12.0,166,1498,0.00,2.47,0.00,0.000,4,0.000,0.048,2401,505,3373,0,0,0,0,0,0
$GC,1539,-1.40,-77.9,202.0,-12.9,170,1543,0.00,2.30,0.00,0.000,6,0.000,0.022,2401,1921,3373,0,0,0,0,0,0
$GC,1863,-1.40,-77.9,238.1,-11.8,186,1867,0.00,2.45,0.00,0.000,4,0.000,0.047,2401,504,3374,0,0,0,0,0,0
$GC,1883,-1.40,-77.9,240.5,-13.1,187,1887,0.00,2.28,0.00,0.000,6,0.000,0.023,2401,1923,3374,0,0,0,0,0,0
$GC,2213,-1.40,-77.9,275.6,-9.2,203,2217,0.00,2.30,0.00,0.000,4,0.000,0.031,2401,3311,3373,0,0,0,0,0,0
$GC,2235,-1.40,-77.9,278.0,-9.2,204,2239,0.00,2.35,0.00,0.000,6,0.000,0.034,2401,1917,3374,0,0,0,0,0,0
$GC,2558,-1.40,-77.9,304.9,-8.4,219,2562,0.00,2.42,0.00,0.000,4,0.000,0.048,2401,512,3373,0,0,0,0,0,0
$GC,2580,-1.40,-77.9,307.9,-12.6,219,2585,0.00,2.28,0.00,0.000,6,0.000,0.025,2401,1920,3373,0,0,0,0,0,0
$GC,2920,-1.40,-77.9,342.9,-9.8,228,2924,0.00,2.45,0.00,0.000,4,0.000,0.051,2401,515,3372,0,0,0,0,0,0
$GC,2961,-1.40,-77.9,346.5,-8.8,229,2966,0.00,2.28,0.00,0.000,6,0.000,0.026,2401,1917,3372,0,0,0,0,0,0
$GC,3288,-1.40,-77.9,374.7,-9.7,237,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1922,3371,0,0,0,0,0,0
$GC,3613,-1.40,-77.9,407.6,-9.2,245,3617,0.00,2.47,0.00,0.000,4,0.000,0.056,2401,516,3369,0,0,0,0,0,0
$GC,3682,-1.40,-77.9,414.4,-10.1,246,3686,0.00,2.33,0.00,0.000,6,0.000,0.030,2401,1913,3369,0,0,0,0,0,0
$GC,4021,-1.40,-77.9,437.2,-4.9,255,4025,0.00,2.47,0.00,0.000,4,0.000,0.057,2401,515,3366,0,0,0,0,0,0
$STATE,4149,end dive,NO_VERTICAL_VELOCITY
$STATE,4149,begin apogee
$GC,4156,-0.31,0.0,437.2,0.0,257,4224,1.05,0.00,64.57,0.872,6,0.058,0.000,2639,2050,3050,0,0,0,0,0,0
$STATE,4225,end apogee,CONTROL_FINISHED_OK
$STATE,4225,begin climb
$GC,4227,1.40,77.9,437.1,0.0,259,4301,1.67,2.62,64.93,0.851,4,0.047,0.054,3013,630,2731,0,0,0,0,0,0
$GC,4394,1.47,141.4,434.3,3.7,262,4455,0.00,2.40,54.25,0.849,6,0.000,0.031,3013,2042,2472,0,0,0,0,0,0
$GC,4772,1.47,141.4,392.5,11.7,272,4777,0.00,2.53,0.00,0.000,4,0.000,0.058,3013,627,2464,0,0,0,0,0,0
$GC,4878,1.47,141.4,379.1,13.6,274,4882,0.00,2.40,0.00,0.000,6,0.000,0.031,3013,2037,2462,0,0,0,0,0,0
$GC,5227,1.47,141.4,341.1,11.6,283,5231,0.00,2.40,0.00,0.000,4,0.000,0.044,3013,3434,2460,0,0,0,0,0,0
$GC,5410,1.48,142.6,324.9,7.9,287,5415,0.00,2.42,0.00,0.000,6,0.000,0.039,3013,2033,2460,0,0,0,0,0,0
$GC,5733,1.48,142.6,293.0,10.0,296,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2033,2457,0,0,0,0,0,0
$GC,6044,1.48,142.7,265.0,8.0,311,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2033,2455,0,0,0,0,0,0
$GC,6352,1.49,153.1,243.9,7.3,326,6365,0.00,2.45,8.00,0.661,4,0.000,0.039,3013,3443,2425,0,0,0,0,0,0
$GC,6393,1.49,153.1,240.2,9.0,328,6397,0.00,2.42,0.00,0.000,6,0.000,0.036,3013,2032,2425,0,0,0,0,0,0
$GC,6721,1.49,153.1,211.0,9.5,344,6725,0.00,2.45,0.00,0.000,4,0.000,0.051,3013,623,2423,0,0,0,0,0,0
$GC,6757,1.49,153.1,207.4,9.7,345,6763,0.00,2.35,0.00,0.000,6,0.000,0.028,3013,2045,2422,0,0,0,0,0,0
$GC,7080,1.50,162.9,184.3,7.3,371,7101,0.10,2.53,9.57,0.634,4,0.084,0.048,3041,634,2384,0,0,0,0,0,0
$GC,7221,1.50,162.9,168.9,11.9,386,7225,0.00,2.33,0.00,0.000,6,0.000,0.026,3041,2040,2382,0,0,0,0,0,0
$GC,7481,1.50,162.9,144.6,8.4,410,7486,0.00,2.47,0.00,0.000,4,0.000,0.047,3041,618,2382,0,0,0,0,0,0
$GC,7526,1.50,162.9,139.9,10.1,414,7533,0.00,2.35,0.00,0.000,6,0.000,0.025,3041,2028,2381,0,0,0,0,0,0
$GC,7788,1.50,162.9,116.2,10.0,439,7793,0.00,2.42,0.00,0.000,4,0.000,0.045,3041,628,2382,0,0,0,0,0,0
$GC,8051,1.52,180.2,92.5,6.8,467,8075,0.00,2.30,16.02,0.592,6,0.000,0.024,3041,2051,2313,0,0,0,0,0,0
$GC,8331,1.53,182.4,70.3,7.9,494,8335,0.00,2.30,0.00,0.000,4,0.000,0.031,3041,3424,2312,0,0,0,0,0,0
$GC,8355,1.53,182.4,68.3,8.2,496,8360,0.00,2.35,0.00,0.000,6,0.000,0.029,3041,2028,2312,0,0,0,0,0,0
$GC,8618,1.56,210.0,48.0,6.1,520,8647,0.00,0.00,26.83,0.565,6,0.000,0.000,3041,2027,2192,0,0,0,0,0,0
$GC,8906,1.56,210.0,16.1,12.3,556,8913,0.00,2.42,0.00,0.000,4,0.000,0.044,3041,630,2188,0,0,0,0,0,0
$GC,8920,1.56,210.0,14.5,11.7,558,8926,0.00,2.33,0.00,0.000,6,0.000,0.022,3041,2037,2187,0,0,0,0,0,0
$STATE,9040,end climb,SURFACE_DEPTH_REACHED
$STATE,9040,begin surface coast
$FINISH,0.5,1.010842
$STATE,9073,end surface coast,CONTROL_FINISHED_OK
$STATE,9073,begin surface
$SM_CCo,9092,45.40,0.528,0,0,1827,300.00
$SM_GC,1.35,0.00,0.00,45.40,0.000,0.000,0.528,427,1892,1827,-10.50,-0.79,300.00
$IRIDIUM_FIX,2050.21,-15745.35,130799,010133
$TT8_MAMPS,0.029146
$HUMID,43.50
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,6.261
$10V_AH,9.9,5.636
$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,24.800,100.950,244.175,45.400,0.000,29.985,28.773,191.159,0.000,0.000,14.523,1096.209,5908.557,349.938,1742.770,388.511,0.000,1090.816,0.000,1738.782,0.000,0.538,0.000
$DEVICE_MAMPS,139.594,57.525,872.079,528.463,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.011,382.133,870.360,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,31808,586
$CAP_FILE_SIZE,97305,0
$CFSIZE,260165632,255279104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180410,053740,2055.877,-15747.068,49,4.0,68,9.8