version: 66.06
glider: 139
mission: 7
dive: 125
start: 4 26 110 13 31 36
data:
$ID,139
$MISSION,7
$DIVE,125
$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,1
$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,-2122931.2
$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,2714
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$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
$GPS1,131730,2100.421,-15758.268,56,1.7,56,9.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.7
$GPS2,133044,2100.410,-15758.420,10,1.8,10,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.130,0.130
$KALMAN_X,-30067.0,-7.6,-492.0,8751.9,-2338.8
$KALMAN_Y,-18665.2,-72.7,-5.8,11992.6,-1180.9
$MHEAD_RNG_PITCHd_Wd,35.4,15505,-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,12,begin dive
$GC,14,-1.40,-77.9,0.0,0.0,0,76,0.00,0.00,-58.28,0.000,6,0.000,0.000,424,1895,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.9,-7.1,11,91,10.73,0.00,0.00,0.000,6,0.139,0.000,2403,1895,3370,0,0,0,0,0,0
$GC,286,-1.26,-77.9,45.1,-16.4,41,291,0.17,2.35,0.00,0.000,4,0.101,0.025,2438,3320,3372,0,0,0,0,0,0
$GC,303,-1.17,-77.9,47.9,-16.4,42,307,0.00,2.38,0.00,0.000,6,0.000,0.029,2440,1897,3372,0,0,0,0,0,0
$GC,563,-1.17,-77.9,83.1,-12.0,66,567,0.00,2.38,0.00,0.000,4,0.000,0.043,2440,495,3372,0,0,0,0,0,0
$GC,624,-1.13,-77.9,90.3,-11.8,72,629,0.12,2.30,0.00,0.000,6,0.104,0.020,2465,1932,3372,0,0,0,0,0,0
$GC,885,-1.22,-77.9,116.8,-9.8,96,889,0.00,2.47,0.00,0.000,4,0.000,0.044,2465,497,3373,0,0,0,0,0,0
$GC,974,-1.29,-77.9,125.9,-10.8,105,979,0.15,2.25,0.00,0.000,6,0.057,0.020,2418,1910,3373,0,0,0,0,0,0
$GC,1235,-1.29,-77.9,157.5,-12.2,129,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1914,3374,0,0,0,0,0,0
$GC,1491,-1.29,-77.9,185.3,-10.8,153,1495,0.00,2.42,0.00,0.000,4,0.000,0.044,2417,491,3374,0,0,0,0,0,0
$GC,1516,-1.25,-77.9,188.3,-11.7,155,1521,0.12,2.28,0.00,0.000,6,0.100,0.021,2444,1903,3375,0,0,0,0,0,0
$GC,1785,-1.34,-77.9,213.6,-9.2,173,1789,0.00,2.42,0.00,0.000,4,0.000,0.045,2444,496,3374,0,0,0,0,0,0
$GC,1835,-1.39,-77.9,218.7,-8.8,175,1840,0.12,2.25,0.00,0.000,6,0.064,0.021,2398,1905,3375,0,0,0,0,0,0
$GC,2156,-1.39,-77.9,248.1,-9.0,191,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1909,3375,0,0,0,0,0,0
$GC,2464,-1.39,-77.9,281.4,-11.2,206,2469,0.00,2.40,0.00,0.000,4,0.000,0.045,2401,496,3374,0,0,0,0,0,0
$GC,2492,-1.36,-77.9,284.6,-11.3,207,2496,0.00,2.28,0.00,0.000,6,0.000,0.023,2402,1902,3374,0,0,0,0,0,0
$GC,2809,-1.40,-77.9,320.9,-11.6,219,2813,0.00,2.42,0.00,0.000,4,0.000,0.048,2402,490,3374,0,0,0,0,0,0
$GC,2836,-1.40,-77.9,324.3,-11.7,219,2840,0.00,2.30,0.00,0.000,6,0.000,0.024,2402,1903,3374,0,0,0,0,0,0
$GC,3172,-1.45,-77.9,349.0,-6.4,228,3176,0.00,2.42,0.00,0.000,4,0.000,0.050,2401,498,3373,0,0,0,0,0,0
$GC,3245,-1.45,-77.9,354.1,-6.4,229,3250,0.00,2.30,0.00,0.000,6,0.000,0.025,2402,1901,3372,0,0,0,0,0,0
$GC,3581,-1.50,-77.9,379.2,-7.8,238,3585,0.00,2.45,0.00,0.000,4,0.000,0.052,2401,492,3371,0,0,0,0,0,0
$GC,3626,-1.50,-77.9,383.3,-9.3,239,3631,0.00,2.33,0.00,0.000,6,0.000,0.027,2401,1900,3370,0,0,0,0,0,0
$GC,3949,-1.89,-77.9,398.1,-0.7,247,3954,0.43,2.40,0.00,0.000,4,0.041,0.042,2289,3301,3368,0,0,0,0,0,0
$STATE,4068,end dive,NO_VERTICAL_VELOCITY
$STATE,4068,begin apogee
$GC,4075,-0.31,0.0,398.2,0.0,249,4143,1.58,0.00,64.47,0.836,6,0.054,0.000,2646,2033,3050,0,0,0,0,0,0
$STATE,4144,end apogee,CONTROL_FINISHED_OK
$STATE,4144,begin climb
$GC,4146,1.40,77.9,398.1,0.0,251,4220,1.62,2.53,64.60,0.818,4,0.034,0.042,3022,3429,2732,0,0,0,0,0,0
$GC,4484,1.61,200.6,397.8,-0.4,258,4597,0.17,2.40,104.20,0.831,6,0.058,0.037,3070,2029,2231,0,0,0,0,0,0
$GC,4916,1.39,200.6,340.4,17.6,269,4921,0.25,2.42,0.00,0.000,4,0.108,0.041,3019,3429,2221,0,0,0,0,0,0
$GC,5185,1.29,200.6,298.8,11.0,274,5191,0.12,2.40,0.00,0.000,6,0.123,0.040,2997,2038,2220,0,0,0,0,0,0
$GC,5500,1.23,200.6,268.4,9.3,290,5504,0.00,2.47,0.00,0.000,4,0.000,0.053,2997,629,2215,0,0,0,0,0,0
$GC,5513,1.13,200.6,266.9,9.5,290,5521,0.15,2.40,0.00,0.000,6,0.101,0.028,2966,2038,2213,0,0,0,0,0,0
$GC,5828,1.13,200.6,235.8,11.1,306,5832,0.00,2.47,0.00,0.000,4,0.000,0.052,2966,625,2213,0,0,0,0,0,0
$GC,5902,1.08,200.6,226.5,12.5,309,5906,0.00,2.35,0.00,0.000,6,0.000,0.027,2965,2045,2210,0,0,0,0,0,0
$GC,6224,1.08,200.6,190.4,10.7,329,6229,0.00,2.50,0.00,0.000,4,0.000,0.049,2965,618,2210,0,0,0,0,0,0
$GC,6313,1.04,200.6,179.6,13.0,338,6318,0.12,2.33,0.00,0.000,6,0.127,0.026,2944,2035,2208,0,0,0,0,0,0
$GC,6574,1.11,200.6,153.4,8.2,362,6578,0.00,2.45,0.00,0.000,4,0.000,0.048,2942,627,2208,0,0,0,0,0,0
$GC,6610,1.11,200.6,150.1,8.9,365,6615,0.00,2.33,0.00,0.000,6,0.000,0.025,2943,2039,2208,0,0,0,0,0,0
$GC,6872,1.20,209.5,131.6,7.4,390,6883,0.15,2.47,4.57,0.465,4,0.067,0.045,2984,617,2195,0,0,0,0,0,0
$GC,6894,1.20,209.5,129.4,9.4,392,6898,0.00,2.33,0.00,0.000,6,0.000,0.024,2984,2040,2194,0,0,0,0,0,0
$GC,7155,1.20,209.5,100.7,12.5,416,7159,0.00,2.45,0.00,0.000,4,0.000,0.045,2984,625,2194,0,0,0,0,0,0
$GC,7245,1.15,209.5,89.2,13.0,425,7250,0.00,2.33,0.00,0.000,6,0.000,0.022,2984,2046,2194,0,0,0,0,0,0
$GC,7507,1.15,209.5,64.6,9.3,450,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2051,2194,0,0,0,0,0,0
$GC,7762,1.19,209.5,41.8,8.6,474,7766,0.00,2.45,0.00,0.000,4,0.000,0.044,2984,622,2194,0,0,0,0,0,0
$GC,7865,1.19,209.5,33.5,8.8,485,7869,0.00,2.30,0.00,0.000,6,0.000,0.021,2984,2034,2194,0,0,0,0,0,0
$GC,8128,1.20,220.5,12.1,7.3,530,8146,0.00,2.47,11.30,0.497,4,0.000,0.044,2984,628,2151,0,0,0,0,0,0
$GC,8220,1.20,220.5,3.7,10.6,550,8227,0.00,2.33,0.00,0.000,6,0.000,0.021,2984,2045,2148,0,0,0,0,0,0
$STATE,8232,end climb,SURFACE_DEPTH_REACHED
$STATE,8233,begin surface coast
$FINISH,0.7,1.023804
$STATE,8260,end surface coast,CONTROL_FINISHED_OK
$STATE,8260,begin surface
$SM_CCo,8280,41.15,0.520,0,0,1827,300.00
$SM_GC,1.14,0.00,0.00,41.15,0.000,0.000,0.520,425,1874,1827,-10.53,-0.74,300.00
$IRIDIUM_FIX,2050.21,-15756.91,210799,131347
$TT8_MAMPS,0.029146
$HUMID,43.97
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.4,12.048
$10V_AH,10.1,11.261
$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,27.000,95.400,249.150,41.150,0.000,115.829,283.680,126.874,0.000,0.000,10.913,1069.875,5351.224,334.223,1707.278,658.037,33.348,1062.237,0.000,1699.867,0.000,0.539,0.000
$DEVICE_MAMPS,138.827,52.923,836.030,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,376.605,368.325,855.254,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,31790,557
$CAP_FILE_SIZE,100003,0
$CFSIZE,260165632,251338752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260410,155159,2100.645,-15758.896,57,2.0,67,9.8