version: 66.06
glider: 139
mission: 7
dive: 56
start: 4 18 110 8 20 54
data:
$ID,139
$MISSION,7
$DIVE,56
$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,-2120583.2
$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
$GPS1,081522,2055.975,-15748.225,28,2.4,47,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.8
$GPS2,082037,2055.956,-15748.240,43,1.2,43,9.8
$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,292.6,3606,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-55.70,0.000,2,0.000,0.000,424,1895,3273,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.3,-5.8,10,94,10.68,2.42,-1.95,0.000,4,0.137,0.038,2402,3348,3369,0,0,0,0,0,0
$GC,189,-1.40,-77.9,24.2,-13.1,35,196,0.00,2.47,0.00,0.000,6,0.000,0.035,2402,1914,3371,0,0,0,0,0,0
$GC,387,-1.40,-77.9,56.4,-16.1,57,392,0.00,2.40,0.00,0.000,4,0.000,0.044,2402,510,3371,0,0,0,0,0,0
$GC,433,-1.40,-77.9,64.9,-18.8,61,439,0.00,2.35,0.00,0.000,6,0.000,0.021,2402,1938,3371,0,0,0,0,0,0
$GC,693,-1.40,-77.9,102.7,-14.4,86,697,0.00,2.47,0.00,0.000,4,0.000,0.044,2402,510,3372,0,0,0,0,0,0
$GC,726,-1.40,-77.9,107.6,-15.4,89,730,0.00,2.33,0.00,0.000,6,0.000,0.021,2402,1936,3372,0,0,0,0,0,0
$GC,989,-1.40,-77.9,138.3,-8.9,113,993,0.00,2.45,0.00,0.000,4,0.000,0.044,2402,514,3373,0,0,0,0,0,0
$GC,1014,-1.40,-77.9,140.8,-10.4,115,1018,0.00,2.30,0.00,0.000,6,0.000,0.021,2402,1931,3374,0,0,0,0,0,0
$GC,1276,-1.40,-77.9,167.8,-9.5,139,1280,0.00,2.45,0.00,0.000,4,0.000,0.046,2402,515,3374,0,0,0,0,0,0
$GC,1366,-1.40,-77.9,177.9,-11.0,148,1373,0.00,2.30,0.00,0.000,6,0.000,0.021,2402,1924,3375,0,0,0,0,0,0
$GC,1627,-1.40,-77.9,205.0,-11.5,171,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1928,3375,0,0,0,0,0,0
$GC,1935,-1.40,-77.9,233.4,-9.5,186,1939,0.00,2.45,0.00,0.000,4,0.000,0.048,2402,511,3375,0,0,0,0,0,0
$GC,2022,-1.40,-77.9,241.3,-8.8,190,2026,0.00,2.30,0.00,0.000,6,0.000,0.024,2402,1923,3375,0,0,0,0,0,0
$GC,2351,-1.40,-77.9,272.5,-10.1,206,2355,0.00,2.33,0.00,0.000,4,0.000,0.034,2402,3314,3375,0,0,0,0,0,0
$GC,2371,-1.40,-77.9,274.6,-11.1,207,2375,0.00,2.35,0.00,0.000,6,0.000,0.035,2402,1916,3375,0,0,0,0,0,0
$GC,2698,-1.40,-77.9,309.2,-9.8,221,2702,0.00,2.45,0.00,0.000,4,0.000,0.052,2402,508,3374,0,0,0,0,0,0
$GC,2740,-1.40,-77.9,312.9,-9.5,222,2744,0.00,2.33,0.00,0.000,6,0.000,0.027,2402,1919,3373,0,0,0,0,0,0
$GC,3067,-1.40,-77.9,335.9,-6.8,230,3071,0.00,2.47,0.00,0.000,4,0.000,0.054,2402,512,3372,0,0,0,0,0,0
$GC,3145,-1.40,-77.9,342.8,-8.6,231,3149,0.00,2.33,0.00,0.000,6,0.000,0.028,2402,1919,3372,0,0,0,0,0,0
$GC,3475,-1.40,-77.9,373.5,-9.6,239,3479,0.00,2.47,0.00,0.000,4,0.000,0.055,2402,516,3370,0,0,0,0,0,0
$GC,3529,-1.40,-77.9,379.6,-11.2,240,3533,0.00,2.33,0.00,0.000,6,0.000,0.029,2402,1928,3370,0,0,0,0,0,0
$GC,3847,-1.40,-77.9,409.0,-8.1,248,3851,0.00,2.50,0.00,0.000,4,0.000,0.056,2402,515,3368,0,0,0,0,0,0
$GC,3897,-1.40,-77.9,412.5,-6.7,249,3901,0.00,2.33,0.00,0.000,6,0.000,0.030,2402,1918,3367,0,0,0,0,0,0
$GC,4215,-1.40,-77.9,431.2,-6.2,257,4219,0.00,2.50,0.00,0.000,4,0.000,0.058,2402,509,3365,0,0,0,0,0,0
$GC,4251,-1.40,-77.9,433.7,-6.9,257,4257,0.00,2.35,0.00,0.000,6,0.000,0.030,2402,1920,3365,0,0,0,0,0,0
$STATE,4539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4539,begin apogee
$GC,4544,-0.31,0.0,450.3,5.8,265,4612,1.12,0.00,64.57,0.890,6,0.079,0.000,2641,2062,3050,0,0,0,0,0,0
$STATE,4613,end apogee,CONTROL_FINISHED_OK
$STATE,4613,begin climb
$GC,4615,1.40,77.9,450.3,0.0,266,4689,1.65,2.45,65.28,0.866,4,0.036,0.047,3021,3437,2731,0,0,0,0,0,0
$GC,4952,1.45,123.4,434.6,4.9,273,4997,0.00,2.45,38.80,0.857,6,0.000,0.040,3021,2033,2546,0,0,0,0,0,0
$GC,5341,1.45,123.4,397.7,10.2,283,5345,0.00,2.40,0.00,0.000,4,0.000,0.041,3021,3417,2540,0,0,0,0,0,0
$GC,5550,1.45,125.0,378.7,7.9,287,5554,0.00,2.42,0.00,0.000,6,0.000,0.041,3021,2026,2539,0,0,0,0,0,0
$GC,5889,1.48,145.3,355.2,6.6,296,5914,0.00,2.50,18.60,0.810,4,0.000,0.042,3021,3412,2457,0,0,0,0,0,0
$GC,5927,1.48,145.3,351.7,8.6,296,5933,0.00,2.42,0.00,0.000,6,0.000,0.040,3021,2031,2456,0,0,0,0,0,0
$GC,6258,1.48,145.3,314.0,11.8,305,6262,0.00,2.38,0.00,0.000,4,0.000,0.039,3021,3418,2452,0,0,0,0,0,0
$GC,6280,1.48,145.3,311.4,12.4,305,6284,0.00,2.40,0.00,0.000,6,0.000,0.039,3021,2033,2452,0,0,0,0,0,0
$GC,6602,1.48,146.6,286.4,7.9,318,6606,0.00,2.38,0.00,0.000,4,0.000,0.039,3021,3417,2451,0,0,0,0,0,0
$GC,6698,1.48,146.6,276.7,9.9,322,6702,0.00,2.38,0.00,0.000,6,0.000,0.038,3021,2035,2451,0,0,0,0,0,0
$GC,7017,1.48,146.6,245.7,9.7,338,7021,0.00,2.38,0.00,0.000,4,0.000,0.038,3021,3418,2450,0,0,0,0,0,0
$GC,7037,1.48,146.6,244.0,8.8,339,7042,0.00,2.38,0.00,0.000,6,0.000,0.035,3021,2031,2449,0,0,0,0,0,0
$GC,7367,1.50,158.6,216.8,7.2,355,7383,0.00,2.50,11.38,0.699,4,0.000,0.051,3021,630,2402,0,0,0,0,0,0
$GC,7516,1.51,169.0,205.4,7.3,361,7532,0.00,2.35,10.45,0.676,6,0.000,0.028,3021,2036,2360,0,0,0,0,0,0
$GC,7854,1.51,169.0,172.7,9.8,390,7858,0.00,2.47,0.00,0.000,4,0.000,0.049,3020,627,2357,0,0,0,0,0,0
$GC,7989,1.51,169.0,160.3,9.5,404,7995,0.00,2.35,0.00,0.000,6,0.000,0.027,3021,2024,2356,0,0,0,0,0,0
$GC,8251,1.51,169.0,135.8,9.8,429,8252,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2029,2356,0,0,0,0,0,0
$GC,8505,1.53,182.8,113.3,7.1,453,8525,0.00,2.45,12.93,0.617,4,0.000,0.044,3020,629,2302,0,0,0,0,0,0
$GC,8535,1.56,210.6,111.3,6.1,456,8567,0.12,2.35,25.75,0.635,6,0.071,0.025,3055,2045,2190,0,0,0,0,0,0
$GC,8828,1.56,210.6,79.7,13.0,484,8829,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2045,2185,0,0,0,0,0,0
$GC,9084,1.56,210.6,50.6,10.1,508,9088,0.00,2.45,0.00,0.000,4,0.000,0.044,3055,623,2184,0,0,0,0,0,0
$GC,9099,1.56,210.6,48.5,12.7,509,9103,0.00,2.30,0.00,0.000,6,0.000,0.023,3055,2041,2183,0,0,0,0,0,0
$GC,9362,1.56,210.6,21.6,8.9,541,9369,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2047,2183,0,0,0,0,0,0
$STATE,9542,end climb,SURFACE_DEPTH_REACHED
$STATE,9542,begin surface coast
$FINISH,0.4,1.003291
$STATE,9569,end surface coast,CONTROL_FINISHED_OK
$STATE,9569,begin surface
$SM_CCo,9588,43.85,0.538,0,0,1826,300.00
$SM_GC,1.29,0.00,0.00,43.85,0.000,0.000,0.538,426,1901,1826,-10.51,-0.54,300.00
$IRIDIUM_FIX,2050.21,-15745.35,130799,050548
$TT8_MAMPS,0.029913
$HUMID,43.93
$INTERNAL_PRESSURE,9.64535
$TCM_TEMP,21.00
$XPDR_PINGS,0
$24V_AH,23.3,6.413
$10V_AH,9.9,5.782
$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,24.875,105.950,247.750,43.850,0.000,24.118,31.470,141.232,0.000,0.000,44.152,1112.091,6377.942,347.294,1793.021,321.483,0.000,1113.534,0.000,1748.855,0.000,0.537,0.000
$DEVICE_MAMPS,136.526,58.292,889.720,538.434,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,392.146,365.913,816.732,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,31850,579
$CAP_FILE_SIZE,101001,0
$CFSIZE,260165632,255176704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180410,110237,2056.029,-15749.238,35,1.7,35,9.8