version: 66.06
glider: 139
mission: 7
dive: 59
start: 4 18 110 16 29 44
data:
$ID,139
$MISSION,7
$DIVE,59
$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,-2120647
$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
$GPS1,162436,2056.001,-15750.593,79,1.8,79,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.6
$GPS2,162926,2056.012,-15750.607,11,2.0,11,9.8
$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,20.1,2111,-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,-77.9,0.0,0.0,0,78,0.00,0.00,-58.88,0.000,6,0.000,0.000,427,1906,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.9,-7.6,11,99,10.75,2.45,0.00,0.000,4,0.140,0.031,2399,3342,3371,0,0,0,0,0,0
$GC,110,-1.40,-77.9,15.6,-36.3,16,116,0.00,2.45,0.00,0.000,6,0.000,0.033,2399,1923,3371,0,0,0,0,0,0
$GC,311,-1.40,-77.9,45.9,-14.8,43,315,0.00,2.42,0.00,0.000,4,0.000,0.046,2399,507,3372,0,0,0,0,0,0
$GC,336,-1.40,-77.9,50.0,-16.1,45,340,0.00,2.35,0.00,0.000,6,0.000,0.021,2400,1955,3372,0,0,0,0,0,0
$GC,597,-1.40,-77.9,87.3,-13.6,69,601,0.00,2.53,0.00,0.000,4,0.000,0.046,2399,504,3373,0,0,0,0,0,0
$GC,669,-1.40,-77.9,98.9,-16.1,76,676,0.00,2.33,0.00,0.000,6,0.000,0.021,2399,1920,3373,0,0,0,0,0,0
$GC,931,-1.40,-77.9,138.2,-13.7,101,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1925,3374,0,0,0,0,0,0
$GC,1186,-1.40,-77.9,170.3,-13.3,125,1190,0.00,2.42,0.00,0.000,4,0.000,0.044,2399,504,3375,0,0,0,0,0,0
$GC,1222,-1.40,-77.9,175.5,-13.4,128,1228,0.00,2.33,0.00,0.000,6,0.000,0.022,2399,1922,3376,0,0,0,0,0,0
$GC,1482,-1.40,-77.9,205.0,-10.5,151,1486,0.00,2.42,0.00,0.000,4,0.000,0.046,2399,508,3376,0,0,0,0,0,0
$GC,1526,-1.40,-77.9,209.8,-11.7,153,1531,0.00,2.30,0.00,0.000,6,0.000,0.022,2399,1925,3376,0,0,0,0,0,0
$GC,1856,-1.40,-77.9,244.8,-10.3,169,1860,0.00,2.45,0.00,0.000,4,0.000,0.048,2399,512,3376,0,0,0,0,0,0
$GC,1915,-1.40,-77.9,253.4,-13.7,171,1920,0.00,2.28,0.00,0.000,6,0.000,0.023,2399,1919,3376,0,0,0,0,0,0
$GC,2231,-1.40,-77.9,291.5,-11.0,187,2235,0.00,2.42,0.00,0.000,4,0.000,0.049,2399,513,3376,0,0,0,0,0,0
$GC,2295,-1.40,-77.9,298.6,-10.2,190,2299,0.00,2.30,0.00,0.000,6,0.000,0.024,2398,1923,3376,0,0,0,0,0,0
$GC,2639,-1.40,-77.9,326.6,-7.5,199,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1926,3376,0,0,0,0,0,0
$GC,2964,-1.40,-77.9,352.0,-8.5,207,2968,0.00,2.47,0.00,0.000,4,0.000,0.053,2399,512,3375,0,0,0,0,0,0
$GC,3070,-1.40,-77.9,361.9,-9.3,209,3074,0.00,2.33,0.00,0.000,6,0.000,0.028,2399,1920,3375,0,0,0,0,0,0
$GC,3418,-1.40,-77.9,392.3,-8.8,218,3422,0.00,2.47,0.00,0.000,4,0.000,0.055,2399,508,3373,0,0,0,0,0,0
$GC,3441,-1.40,-77.9,394.5,-9.6,218,3445,0.00,2.35,0.00,0.000,6,0.000,0.029,2399,1922,3373,0,0,0,0,0,0
$GC,3780,-1.40,-77.9,424.4,-9.1,227,3784,0.00,2.50,0.00,0.000,4,0.000,0.057,2399,511,3371,0,0,0,0,0,0
$GC,3835,-1.40,-77.9,429.7,-9.6,228,3839,0.00,2.35,0.00,0.000,6,0.000,0.030,2399,1924,3370,0,0,0,0,0,0
$STATE,4105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4105,begin apogee
$GC,4110,-0.31,0.0,453.4,8.9,235,4179,1.12,0.00,65.45,0.886,6,0.079,0.000,2639,2048,3050,0,0,0,0,0,0
$STATE,4180,end apogee,CONTROL_FINISHED_OK
$STATE,4180,begin climb
$GC,4181,1.40,77.9,454.7,0.0,236,4256,1.65,2.47,65.20,0.866,4,0.035,0.046,3020,3411,2732,0,0,0,0,0,0
$GC,4307,1.48,149.7,455.9,3.1,238,4376,0.00,2.42,61.70,0.861,6,0.000,0.040,3020,2028,2439,0,0,0,0,0,0
$GC,4721,1.48,149.7,412.4,11.3,249,4725,0.00,2.42,0.00,0.000,4,0.000,0.042,3020,3416,2430,0,0,0,0,0,0
$GC,4813,1.48,149.7,402.2,11.0,251,4817,0.00,2.42,0.00,0.000,6,0.000,0.041,3020,2031,2430,0,0,0,0,0,0
$GC,5135,1.48,149.7,364.3,11.8,259,5139,0.00,2.40,0.00,0.000,4,0.000,0.043,3020,3419,2426,0,0,0,0,0,0
$GC,5148,1.48,149.7,362.7,11.4,259,5152,0.00,2.40,0.00,0.000,6,0.000,0.040,3019,2026,2426,0,0,0,0,0,0
$GC,5496,1.48,149.7,322.8,11.9,268,5501,0.00,2.47,0.00,0.000,4,0.000,0.058,3020,623,2424,0,0,0,0,0,0
$GC,5542,1.48,149.7,316.9,13.2,269,5546,0.00,2.35,0.00,0.000,6,0.000,0.030,3020,2021,2422,0,0,0,0,0,0
$GC,5866,1.48,149.7,286.1,8.3,280,5869,0.00,2.42,0.00,0.000,4,0.000,0.041,3020,3436,2421,0,0,0,0,0,0
$GC,6131,1.48,149.7,261.7,10.4,291,6135,0.00,2.42,0.00,0.000,6,0.000,0.037,3020,2024,2421,0,0,0,0,0,0
$GC,6445,1.48,149.7,233.3,9.2,306,6450,0.00,2.42,0.00,0.000,4,0.000,0.052,3020,626,2419,0,0,0,0,0,0
$GC,6587,1.48,149.7,219.3,9.0,312,6591,0.00,2.33,0.00,0.000,6,0.000,0.028,3020,2039,2417,0,0,0,0,0,0
$GC,6906,1.53,183.5,199.9,5.7,328,6938,0.10,2.55,26.15,0.711,4,0.084,0.050,3048,612,2302,0,0,0,0,0,0
$GC,7082,1.53,183.5,183.5,10.8,347,7086,0.00,2.35,0.00,0.000,6,0.000,0.026,3048,2038,2297,0,0,0,0,0,0
$GC,7344,1.53,183.5,154.9,11.3,371,7348,0.00,2.33,0.00,0.000,4,0.000,0.035,3048,3430,2297,0,0,0,0,0,0
$GC,7362,1.53,183.5,152.3,12.2,372,7369,0.00,2.40,0.00,0.000,6,0.000,0.031,3048,2026,2296,0,0,0,0,0,0
$GC,7624,1.53,183.5,120.8,12.9,397,7629,0.00,2.35,0.00,0.000,4,0.000,0.033,3047,3431,2296,0,0,0,0,0,0
$GC,7886,1.53,183.5,91.4,11.3,425,7892,0.00,2.35,0.00,0.000,6,0.000,0.029,3048,2029,2296,0,0,0,0,0,0
$GC,8148,1.53,183.5,65.0,10.6,450,8152,0.00,2.40,0.00,0.000,4,0.000,0.044,3048,626,2297,0,0,0,0,0,0
$GC,8190,1.53,183.5,60.9,9.3,454,8194,0.00,2.30,0.00,0.000,6,0.000,0.022,3048,2054,2296,0,0,0,0,0,0
$GC,8453,1.54,196.8,39.7,7.1,478,8474,0.00,2.33,12.48,0.532,4,0.000,0.028,3048,3427,2247,0,0,0,0,0,0
$GC,8566,1.54,196.8,30.5,9.5,490,8571,0.00,2.33,0.00,0.000,6,0.000,0.027,3048,2022,2247,0,0,0,0,0,0
$GC,8830,1.54,196.8,6.2,11.9,538,8836,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2022,2246,0,0,0,0,0,0
$STATE,8857,end climb,SURFACE_DEPTH_REACHED
$STATE,8858,begin surface coast
$FINISH,0.5,1.012240
$STATE,8886,end surface coast,CONTROL_FINISHED_OK
$STATE,8886,begin surface
$SM_CCo,8905,52.03,0.530,0,0,1827,300.00
$SM_GC,1.26,0.00,0.00,52.03,0.000,0.000,0.530,429,1899,1827,-10.49,-0.62,300.00
$IRIDIUM_FIX,2045.60,-15748.36,130799,131311
$TT8_MAMPS,0.029146
$HUMID,42.71
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.3,6.634
$10V_AH,9.9,5.995
$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,25.000,100.875,230.975,52.025,0.000,27.411,26.701,148.846,0.000,0.000,11.263,1050.110,5831.136,344.285,1698.967,328.115,0.000,1082.713,0.000,1688.775,0.000,0.538,0.000
$DEVICE_MAMPS,140.361,62.894,885.885,529.997,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,370.432,346.295,802.727,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,31781,548
$CAP_FILE_SIZE,95109,0
$CFSIZE,260165632,255037440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180410,190106,2056.391,-15750.681,78,1.8,89,9.8