version: 66.06
glider: 139
mission: 7
dive: 57
start: 4 18 110 11 7 38
data:
$ID,139
$MISSION,7
$DIVE,57
$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,-2120600.2
$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
$GPS1,110237,2056.029,-15749.238,35,1.7,35,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.9
$GPS2,110720,2056.017,-15749.279,15,1.8,15,9.8
$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,315.8,2206,-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,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,73,0.00,0.00,-54.72,0.000,2,0.000,0.000,426,1901,3228,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.1,-5.4,10,95,10.70,2.40,-2.78,0.000,4,0.138,0.038,2400,3342,3368,0,0,0,0,0,0
$GC,221,-1.40,-77.9,36.9,-19.4,38,225,0.00,2.45,0.00,0.000,6,0.000,0.036,2401,1914,3370,0,0,0,0,0,0
$GC,482,-1.40,-77.9,80.9,-13.6,62,486,0.00,2.42,0.00,0.000,4,0.000,0.046,2401,511,3371,0,0,0,0,0,0
$GC,560,-1.40,-77.9,93.9,-16.9,70,564,0.00,2.35,0.00,0.000,6,0.000,0.021,2401,1948,3371,0,0,0,0,0,0
$GC,821,-1.40,-77.9,132.4,-12.2,94,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1953,3372,0,0,0,0,0,0
$GC,1075,-1.40,-77.9,163.0,-12.2,118,1079,0.00,2.45,0.00,0.000,4,0.000,0.044,2401,514,3373,0,0,0,0,0,0
$GC,1092,-1.40,-77.9,165.1,-13.6,119,1096,0.00,2.30,0.00,0.000,6,0.000,0.021,2401,1930,3374,0,0,0,0,0,0
$GC,1354,-1.40,-77.9,199.3,-12.0,143,1358,0.00,2.45,0.00,0.000,4,0.000,0.046,2401,515,3374,0,0,0,0,0,0
$GC,1399,-1.40,-77.9,204.9,-12.0,145,1403,0.00,2.28,0.00,0.000,6,0.000,0.022,2401,1917,3374,0,0,0,0,0,0
$GC,1728,-1.40,-77.9,237.3,-10.3,161,1732,0.00,2.45,0.00,0.000,4,0.000,0.047,2401,506,3375,0,0,0,0,0,0
$GC,1834,-1.40,-77.9,250.5,-11.9,165,1839,0.00,2.30,0.00,0.000,6,0.000,0.024,2401,1918,3375,0,0,0,0,0,0
$GC,2149,-1.40,-77.9,279.7,-8.9,181,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1923,3375,0,0,0,0,0,0
$GC,2456,-1.40,-77.9,307.2,-8.7,194,2461,0.00,2.45,0.00,0.000,4,0.000,0.051,2401,508,3375,0,0,0,0,0,0
$GC,2502,-1.40,-77.9,311.8,-9.7,195,2506,0.00,2.33,0.00,0.000,6,0.000,0.026,2401,1919,3375,0,0,0,0,0,0
$GC,2824,-1.40,-77.9,339.0,-7.5,203,2828,0.00,2.47,0.00,0.000,4,0.000,0.053,2401,511,3373,0,0,0,0,0,0
$GC,2912,-1.40,-77.9,348.9,-12.6,205,2917,0.00,2.33,0.00,0.000,6,0.000,0.027,2401,1917,3373,0,0,0,0,0,0
$GC,3239,-1.40,-77.9,386.7,-11.4,213,3243,0.00,2.47,0.00,0.000,4,0.000,0.055,2401,516,3371,0,0,0,0,0,0
$GC,3300,-1.40,-77.9,393.3,-11.2,214,3304,0.00,2.33,0.00,0.000,6,0.000,0.028,2401,1919,3371,0,0,0,0,0,0
$GC,3648,-1.40,-77.9,423.9,-8.5,223,3652,0.00,2.50,0.00,0.000,4,0.000,0.057,2401,510,3369,0,0,0,0,0,0
$GC,3694,-1.40,-77.9,427.8,-7.6,224,3698,0.00,2.35,0.00,0.000,6,0.000,0.030,2401,1919,3369,0,0,0,0,0,0
$STATE,4014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4014,begin apogee
$GC,4019,-0.31,0.0,450.3,6.7,232,4088,1.12,0.00,64.90,0.891,6,0.079,0.000,2640,2063,3050,0,0,0,0,0,0
$STATE,4088,end apogee,CONTROL_FINISHED_OK
$STATE,4089,begin climb
$GC,4090,1.40,77.9,450.7,0.0,233,4165,1.65,2.45,64.93,0.866,4,0.035,0.046,3021,3411,2732,0,0,0,0,0,0
$GC,4428,1.41,91.7,430.6,7.1,240,4449,0.00,2.40,12.45,0.789,6,0.000,0.041,3021,2032,2676,0,0,0,0,0,0
$GC,4773,1.43,106.8,404.6,7.0,249,4794,0.00,2.47,13.80,0.801,4,0.000,0.043,3021,3406,2613,0,0,0,0,0,0
$GC,4864,1.43,106.8,396.8,9.3,251,4869,0.00,2.40,0.00,0.000,6,0.000,0.041,3020,2036,2613,0,0,0,0,0,0
$GC,5191,1.43,106.8,367.3,8.1,259,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2036,2610,0,0,0,0,0,0
$GC,5516,1.49,157.2,350.5,4.6,267,5565,0.00,2.47,43.10,0.835,4,0.000,0.041,3021,3411,2409,0,0,0,0,0,0
$GC,5620,1.49,157.2,339.8,12.1,269,5625,0.00,2.42,0.00,0.000,6,0.000,0.040,3020,2028,2407,0,0,0,0,0,0
$GC,5969,1.49,157.2,298.2,11.6,278,5970,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2028,2402,0,0,0,0,0,0
$GC,6279,1.49,157.2,264.4,9.9,293,6281,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2028,2400,0,0,0,0,0,0
$GC,6588,1.53,184.4,241.8,6.2,308,6618,0.10,2.58,23.25,0.751,4,0.085,0.054,3047,626,2298,0,0,0,0,0,0
$GC,6749,1.53,184.4,223.5,12.9,315,6754,0.00,2.35,0.00,0.000,6,0.000,0.028,3047,2022,2292,0,0,0,0,0,0
$GC,7072,1.53,184.4,185.1,12.4,336,7076,0.00,2.47,0.00,0.000,4,0.000,0.050,3046,618,2291,0,0,0,0,0,0
$GC,7098,1.53,184.4,181.1,14.2,338,7105,0.00,2.40,0.00,0.000,6,0.000,0.028,3047,2039,2290,0,0,0,0,0,0
$GC,7359,1.53,184.4,155.4,9.5,363,7364,0.00,2.47,0.00,0.000,4,0.000,0.049,3047,616,2290,0,0,0,0,0,0
$GC,7450,1.53,184.4,145.1,12.6,372,7456,0.00,2.38,0.00,0.000,6,0.000,0.026,3047,2033,2288,0,0,0,0,0,0
$GC,7712,1.53,184.4,120.0,10.1,397,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2037,2288,0,0,0,0,0,0
$GC,7966,1.53,184.4,93.0,9.7,421,7970,0.00,2.45,0.00,0.000,4,0.000,0.045,3047,617,2288,0,0,0,0,0,0
$GC,8035,1.53,184.4,86.0,10.3,428,8039,0.00,2.35,0.00,0.000,6,0.000,0.023,3047,2051,2288,0,0,0,0,0,0
$GC,8298,1.53,184.4,58.7,11.5,452,8303,0.00,2.45,0.00,0.000,4,0.000,0.044,3047,617,2288,0,0,0,0,0,0
$GC,8323,1.53,184.4,55.6,11.6,454,8327,0.00,2.33,0.00,0.000,6,0.000,0.022,3047,2046,2288,0,0,0,0,0,0
$GC,8585,1.53,184.4,29.9,10.9,478,8591,0.00,2.47,0.00,0.000,4,0.000,0.044,3047,627,2289,0,0,0,0,0,0
$GC,8598,1.53,184.4,28.3,10.8,480,8605,0.00,2.30,0.00,0.000,6,0.000,0.021,3047,2028,2289,0,0,0,0,0,0
$GC,8798,1.53,184.4,9.7,10.8,517,8805,0.00,2.45,0.00,0.000,4,0.000,0.044,3047,616,2289,0,0,0,0,0,0
$GC,8811,1.53,184.4,8.3,10.7,519,8818,0.00,2.33,0.00,0.000,6,0.000,0.022,3047,2031,2290,0,0,0,0,0,0
$STATE,8861,end climb,SURFACE_DEPTH_REACHED
$STATE,8861,begin surface coast
$FINISH,0.4,1.010820
$STATE,8889,end surface coast,CONTROL_FINISHED_OK
$STATE,8890,begin surface
$SM_CCo,8909,57.40,0.532,0,0,1826,300.00
$SM_GC,0.97,0.00,0.00,57.40,0.000,0.000,0.532,426,1888,1826,-10.51,-0.90,300.00
$IRIDIUM_FIX,2050.21,-15747.49,130799,080829
$TT8_MAMPS,0.029146
$HUMID,42.63
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.00
$XPDR_PINGS,0
$24V_AH,23.3,6.485
$10V_AH,9.9,5.850
$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,24.875,91.850,222.425,57.400,0.000,30.239,31.913,127.474,0.000,0.000,16.163,1026.617,5970.410,339.097,1604.603,313.961,0.000,1035.235,0.000,1592.720,0.000,0.537,0.000
$DEVICE_MAMPS,138.060,58.292,891.254,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,360.938,336.880,760.215,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,28574,533
$CAP_FILE_SIZE,91974,0
$CFSIZE,260165632,255139840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180410,133857,2055.927,-15750.149,57,2.8,76,9.8