version: 66.06
glider: 139
mission: 7
dive: 55
start: 4 18 110 5 44 12
data:
$ID,139
$MISSION,7
$DIVE,55
$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,-2120538.2
$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
$GPS1,053740,2055.877,-15747.068,49,4.0,68,9.8
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.9
$GPS2,054354,2055.871,-15747.129,41,1.1,58,9.8
$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,283.0,5388,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,77,0.00,0.00,-59.03,0.000,6,0.000,0.000,427,1894,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.8,-6.5,11,98,10.73,2.40,0.00,0.000,4,0.140,0.038,2399,515,3371,0,0,0,0,0,0
$GC,277,-1.40,-77.9,51.4,-19.2,43,282,0.00,2.33,0.00,0.000,6,0.000,0.022,2399,1940,3373,0,0,0,0,0,0
$GC,539,-1.40,-77.9,99.3,-17.4,67,543,0.00,2.47,0.00,0.000,4,0.000,0.044,2399,512,3373,0,0,0,0,0,0
$GC,566,-1.40,-77.9,104.8,-18.7,69,572,0.00,2.28,0.00,0.000,6,0.000,0.021,2399,1934,3373,0,0,0,0,0,0
$GC,826,-1.40,-77.9,140.4,-11.1,94,831,0.00,2.45,0.00,0.000,4,0.000,0.044,2399,513,3374,0,0,0,0,0,0
$GC,880,-1.40,-77.9,146.8,-12.0,99,886,0.00,2.25,0.00,0.000,6,0.000,0.021,2399,1923,3374,0,0,0,0,0,0
$GC,1141,-1.40,-77.9,172.7,-9.6,124,1145,0.00,2.45,0.00,0.000,4,0.000,0.046,2399,506,3375,0,0,0,0,0,0
$GC,1175,-1.40,-77.9,176.3,-10.9,127,1179,0.00,2.30,0.00,0.000,6,0.000,0.022,2399,1923,3375,0,0,0,0,0,0
$GC,1448,-1.40,-77.9,202.9,-9.8,151,1452,0.00,2.45,0.00,0.000,4,0.000,0.046,2399,508,3375,0,0,0,0,0,0
$GC,1502,-1.40,-77.9,208.9,-9.8,153,1506,0.00,2.28,0.00,0.000,6,0.000,0.022,2399,1922,3375,0,0,0,0,0,0
$GC,1817,-1.40,-77.9,239.3,-9.8,168,1821,0.00,2.45,0.00,0.000,4,0.000,0.047,2399,505,3376,0,0,0,0,0,0
$GC,1876,-1.40,-77.9,246.2,-12.7,170,1883,0.00,2.33,0.00,0.000,6,0.000,0.024,2399,1917,3376,0,0,0,0,0,0
$GC,2190,-1.40,-77.9,284.1,-10.1,186,2195,0.00,2.45,0.00,0.000,4,0.000,0.049,2399,510,3376,0,0,0,0,0,0
$GC,2257,-1.40,-77.9,289.6,-8.4,189,2261,0.00,2.30,0.00,0.000,6,0.000,0.025,2399,1918,3376,0,0,0,0,0,0
$GC,2583,-1.40,-77.9,315.4,-8.6,201,2587,0.00,2.47,0.00,0.000,4,0.000,0.052,2399,507,3375,0,0,0,0,0,0
$GC,2633,-1.40,-77.9,320.2,-9.0,202,2637,0.00,2.30,0.00,0.000,6,0.000,0.027,2399,1919,3375,0,0,0,0,0,0
$GC,2951,-1.40,-77.9,343.4,-7.0,210,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1924,3373,0,0,0,0,0,0
$GC,3276,-1.40,-77.9,374.2,-11.1,218,3280,0.00,2.47,0.00,0.000,4,0.000,0.055,2399,515,3372,0,0,0,0,0,0
$GC,3303,-1.40,-77.9,377.7,-12.8,218,3307,0.00,2.30,0.00,0.000,6,0.000,0.029,2399,1917,3371,0,0,0,0,0,0
$GC,3637,-1.40,-77.9,411.5,-9.6,227,3641,0.00,2.47,0.00,0.000,4,0.000,0.056,2399,517,3370,0,0,0,0,0,0
$GC,3669,-1.40,-77.9,415.0,-10.7,227,3673,0.00,2.33,0.00,0.000,6,0.000,0.030,2399,1919,3369,0,0,0,0,0,0
$GC,4000,-1.40,-77.9,443.9,-7.8,235,4004,0.00,2.50,0.00,0.000,4,0.000,0.058,2399,512,3367,0,0,0,0,0,0
$GC,4036,-1.40,-77.9,447.1,-8.7,235,4041,0.00,2.35,0.00,0.000,6,0.000,0.031,2399,1919,3367,0,0,0,0,0,0
$STATE,4080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4080,begin apogee
$GC,4085,-0.31,0.0,450.5,7.7,237,4154,1.12,0.00,64.88,0.886,6,0.080,0.000,2639,2062,3050,0,0,0,0,0,0
$STATE,4154,end apogee,CONTROL_FINISHED_OK
$STATE,4154,begin climb
$GC,4156,1.40,77.9,451.2,0.0,238,4230,1.65,2.45,64.88,0.864,4,0.036,0.046,3018,3411,2732,0,0,0,0,0,0
$GC,4272,1.48,145.2,451.0,3.4,240,4337,0.00,2.42,57.83,0.858,6,0.000,0.041,3018,2029,2457,0,0,0,0,0,0
$GC,4655,1.48,145.2,412.6,11.8,250,4659,0.00,2.53,0.00,0.000,4,0.000,0.058,3018,621,2448,0,0,0,0,0,0
$GC,4687,1.48,145.2,408.5,12.4,250,4691,0.00,2.38,0.00,0.000,6,0.000,0.031,3018,2017,2446,0,0,0,0,0,0
$GC,5017,1.48,145.2,373.6,9.6,258,5021,0.00,2.45,0.00,0.000,4,0.000,0.044,3018,3431,2444,0,0,0,0,0,0
$GC,5044,1.48,145.2,371.1,9.3,258,5048,0.00,2.42,0.00,0.000,6,0.000,0.041,3018,2036,2444,0,0,0,0,0,0
$GC,5379,1.48,145.2,340.0,9.0,267,5383,0.00,2.40,0.00,0.000,4,0.000,0.041,3018,3433,2442,0,0,0,0,0,0
$GC,5517,1.48,145.2,328.8,9.3,270,5521,0.00,2.42,0.00,0.000,6,0.000,0.042,3018,2037,2441,0,0,0,0,0,0
$GC,5843,1.48,145.2,297.5,9.8,278,5848,0.00,2.50,0.00,0.000,4,0.000,0.057,3018,628,2440,0,0,0,0,0,0
$GC,5931,1.48,145.2,287.6,10.8,282,5935,0.00,2.35,0.00,0.000,6,0.000,0.031,3018,2037,2438,0,0,0,0,0,0
$GC,6260,1.48,146.1,257.7,8.0,298,6264,0.00,2.40,0.00,0.000,4,0.000,0.042,3018,3437,2437,0,0,0,0,0,0
$GC,6291,1.51,171.4,255.6,6.3,299,6316,0.00,2.42,20.08,0.753,6,0.000,0.038,3018,2028,2351,0,0,0,0,0,0
$GC,6628,1.51,171.4,231.3,8.2,315,6632,0.00,2.47,0.00,0.000,4,0.000,0.054,3018,622,2346,0,0,0,0,0,0
$GC,6867,1.51,171.4,200.9,13.2,325,6871,0.00,2.38,0.00,0.000,6,0.000,0.028,3018,2040,2344,0,0,0,0,0,0
$GC,7190,1.51,171.4,167.4,9.3,354,7194,0.00,2.45,0.00,0.000,4,0.000,0.049,3018,626,2344,0,0,0,0,0,0
$GC,7278,1.51,171.4,158.7,10.8,363,7282,0.00,2.35,0.00,0.000,6,0.000,0.026,3018,2043,2342,0,0,0,0,0,0
$GC,7540,1.51,171.4,130.7,11.0,387,7545,0.00,2.47,0.00,0.000,4,0.000,0.048,3018,625,2343,0,0,0,0,0,0
$GC,7585,1.51,171.4,125.1,12.4,391,7590,0.00,2.33,0.00,0.000,6,0.000,0.025,3018,2037,2343,0,0,0,0,0,0
$GC,7846,1.55,199.1,106.0,6.1,416,7876,0.12,2.45,24.12,0.621,4,0.071,0.033,3054,3437,2237,0,0,0,0,0,0
$GC,7952,1.55,199.1,97.1,9.5,427,7956,0.00,2.40,0.00,0.000,6,0.000,0.031,3054,2024,2237,0,0,0,0,0,0
$GC,8214,1.55,199.1,70.1,11.1,451,8219,0.00,2.40,0.00,0.000,4,0.000,0.044,3054,629,2235,0,0,0,0,0,0
$GC,8248,1.55,199.1,66.4,11.3,454,8252,0.00,2.30,0.00,0.000,6,0.000,0.023,3054,2044,2232,0,0,0,0,0,0
$GC,8512,1.55,199.1,45.3,8.7,478,8516,0.00,2.45,0.00,0.000,4,0.000,0.041,3054,618,2232,0,0,0,0,0,0
$GC,8527,1.55,199.1,43.4,10.1,479,8531,0.00,2.30,0.00,0.000,6,0.000,0.022,3054,2040,2232,0,0,0,0,0,0
$GC,8795,1.55,199.1,12.3,9.8,517,8802,0.00,2.45,0.00,0.000,4,0.000,0.044,3054,632,2232,0,0,0,0,0,0
$GC,8843,1.55,199.1,7.7,9.3,527,8849,0.00,2.30,0.00,0.000,6,0.000,0.021,3054,2034,2232,0,0,0,0,0,0
$STATE,8893,end climb,SURFACE_DEPTH_REACHED
$STATE,8893,begin surface coast
$FINISH,0.4,1.023842
$STATE,8915,end surface coast,CONTROL_FINISHED_OK
$STATE,8915,begin surface
$SM_CCo,8934,52.08,0.532,0,0,1827,300.00
$SM_GC,1.37,0.00,0.00,52.08,0.000,0.000,0.532,425,1895,1827,-10.52,-0.71,300.00
$IRIDIUM_FIX,2050.21,-15745.35,130799,030344
$TT8_MAMPS,0.029913
$HUMID,43.50
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.40
$XPDR_PINGS,1
$24V_AH,23.4,6.338
$10V_AH,10.0,5.708
$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,24.900,115.400,231.775,52.075,0.000,26.988,27.513,182.412,0.250,0.000,59.244,1040.940,5926.333,351.150,1666.267,380.932,0.000,1069.669,0.000,1620.336,0.000,0.539,0.000
$DEVICE_MAMPS,140.361,58.292,885.885,531.531,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,365.318,347.144,767.723,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,28640,540
$CAP_FILE_SIZE,98788,0
$CFSIZE,260165632,255229952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180410,081522,2055.975,-15748.225,28,2.4,47,9.8