version: 66.06
glider: 139
mission: 7
dive: 32
start: 4 15 110 17 10 44
data:
$ID,139
$MISSION,7
$DIVE,32
$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,180
$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,-2119886
$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,1960
$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
$GPS1,170507,2105.788,-15757.084,77,1.7,83,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.5
$GPS2,170954,2105.800,-15757.073,28,1.7,45,9.8
$SPEED_LIMITS,0.144,0.186
$TGT_NAME,SOUTH
$TGT_LATLONG,2057.918,-15744.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.133,-0.130
$KALMAN_X,-576.2,-358.6,-537.8,9436.5,15.8
$KALMAN_Y,1378.1,-44.0,-46.7,-7461.5,400.1
$MHEAD_RNG_PITCHd_Wd,124.6,25674,-21.5,-8.333
$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,-1.44,-77.9,0.0,0.0,0,78,0.00,0.00,-59.45,0.000,6,0.000,0.000,429,1953,3369,0,0,0,0,0,0
$GC,80,-1.44,-77.9,3.6,-5.7,11,98,10.73,2.45,0.00,0.000,4,0.142,0.040,2393,549,3371,0,0,0,0,0,0
$GC,271,-1.44,-77.9,51.0,-18.9,42,275,0.00,2.35,0.00,0.000,6,0.000,0.021,2393,1986,3372,0,0,0,0,0,0
$GC,531,-1.44,-77.9,94.3,-15.0,66,535,0.00,2.47,0.00,0.000,4,0.000,0.045,2393,546,3372,0,0,0,0,0,0
$GC,548,-1.44,-77.9,97.2,-15.6,67,554,0.00,2.30,0.00,0.000,6,0.000,0.021,2392,1974,3372,0,0,0,0,0,0
$GC,808,-1.44,-77.9,130.6,-13.3,92,813,0.00,2.45,0.00,0.000,4,0.000,0.045,2393,545,3373,0,0,0,0,0,0
$GC,835,-1.44,-77.9,134.8,-15.3,94,842,0.00,2.30,0.00,0.000,6,0.000,0.021,2392,1951,3373,0,0,0,0,0,0
$GC,1096,-1.44,-77.9,168.3,-11.6,119,1101,0.00,2.42,0.00,0.000,4,0.000,0.045,2392,548,3374,0,0,0,0,0,0
$GC,1141,-1.44,-77.9,174.0,-12.1,123,1146,0.00,2.30,0.00,0.000,6,0.000,0.022,2392,1970,3374,0,0,0,0,0,0
$GC,1401,-1.44,-77.9,200.8,-11.9,148,1405,0.00,2.45,0.00,0.000,4,0.000,0.047,2392,552,3375,0,0,0,0,0,0
$GC,1460,-1.44,-77.9,208.2,-11.4,150,1467,0.00,2.30,0.00,0.000,6,0.000,0.022,2392,1957,3375,0,0,0,0,0,0
$GC,1774,-1.44,-77.9,240.4,-9.6,166,1779,0.00,2.42,0.00,0.000,4,0.000,0.048,2392,552,3375,0,0,0,0,0,0
$GC,1806,-1.44,-77.9,243.5,-10.5,167,1810,0.00,2.30,0.00,0.000,6,0.000,0.024,2392,1962,3375,0,0,0,0,0,0
$GC,2120,-1.44,-77.9,276.6,-13.6,182,2124,0.00,2.42,0.00,0.000,4,0.000,0.048,2392,552,3375,0,0,0,0,0,0
$GC,2170,-1.44,-77.9,282.9,-12.7,184,2174,0.00,2.30,0.00,0.000,6,0.000,0.025,2392,1959,3375,0,0,0,0,0,0
$GC,2488,-1.44,-77.9,316.3,-9.4,196,2492,0.00,2.45,0.00,0.000,4,0.000,0.051,2392,553,3375,0,0,0,0,0,0
$GC,2515,-1.44,-77.9,318.9,-9.0,196,2519,0.00,2.30,0.00,0.000,6,0.000,0.026,2392,1957,3375,0,0,0,0,0,0
$GC,2849,-1.44,-77.9,349.4,-9.6,205,2854,0.00,2.45,0.00,0.000,4,0.000,0.053,2393,548,3374,0,0,0,0,0,0
$GC,2918,-1.44,-77.9,356.6,-10.6,206,2922,0.00,2.33,0.00,0.000,6,0.000,0.028,2392,1957,3374,0,0,0,0,0,0
$GC,3257,-1.44,-77.9,392.9,-11.4,215,3262,0.00,2.45,0.00,0.000,4,0.000,0.055,2392,555,3372,0,0,0,0,0,0
$GC,3275,-1.44,-77.9,395.1,-11.4,215,3279,0.00,2.33,0.00,0.000,6,0.000,0.029,2393,1965,3372,0,0,0,0,0,0
$GC,3619,-1.44,-77.9,426.8,-8.7,224,3623,0.00,2.47,0.00,0.000,4,0.000,0.058,2392,556,3370,0,0,0,0,0,0
$GC,3665,-1.44,-77.9,431.2,-9.4,225,3669,0.00,2.33,0.00,0.000,6,0.000,0.031,2392,1959,3369,0,0,0,0,0,0
$STATE,3903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3904,begin apogee
$GC,3909,-0.31,0.0,450.5,7.9,231,3977,1.17,0.00,64.85,0.882,6,0.081,0.000,2641,2053,3050,0,0,0,0,0,0
$STATE,3978,end apogee,CONTROL_FINISHED_OK
$STATE,3978,begin climb
$GC,3980,1.44,77.9,451.4,0.0,232,4054,1.67,2.47,64.57,0.861,4,0.037,0.045,3026,3420,2732,0,0,0,0,0,0
$GC,4234,1.51,134.4,447.1,4.3,237,4289,0.00,2.42,48.00,0.857,6,0.000,0.041,3026,2033,2502,0,0,0,0,0,0
$GC,4613,1.51,134.4,411.6,11.4,247,4617,0.00,2.40,0.00,0.000,4,0.000,0.042,3026,3419,2495,0,0,0,0,0,0
$GC,4690,1.51,134.4,402.1,12.1,248,4695,0.00,2.40,0.00,0.000,6,0.000,0.042,3026,2034,2495,0,0,0,0,0,0
$GC,5021,1.51,134.4,362.2,10.9,256,5025,0.00,2.40,0.00,0.000,4,0.000,0.043,3026,3419,2491,0,0,0,0,0,0
$GC,5090,1.51,136.2,356.3,8.2,257,5094,0.00,2.40,0.00,0.000,6,0.000,0.041,3026,2034,2491,0,0,0,0,0,0
$GC,5433,1.51,136.2,329.8,8.4,266,5438,0.00,2.40,0.00,0.000,4,0.000,0.042,3026,3419,2489,0,0,0,0,0,0
$GC,5456,1.51,136.2,327.5,9.5,266,5460,0.00,2.40,0.00,0.000,6,0.000,0.038,3026,2025,2489,0,0,0,0,0,0
$GC,5777,1.52,140.0,298.8,8.1,275,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2025,2487,0,0,0,0,0,0
$GC,6085,1.56,176.7,284.4,5.7,290,6125,0.10,0.00,35.17,0.789,6,0.089,0.000,3053,2025,2328,0,0,0,0,0,0
$GC,6436,1.56,176.7,242.3,12.8,307,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2025,2322,0,0,0,0,0,0
$GC,6743,1.56,176.7,207.8,10.3,322,6747,0.00,2.40,0.00,0.000,4,0.000,0.038,3053,3425,2320,0,0,0,0,0,0
$GC,6826,1.56,176.7,198.5,12.7,325,6831,0.00,2.35,0.00,0.000,6,0.000,0.035,3053,2036,2320,0,0,0,0,0,0
$GC,7149,1.56,176.7,160.5,9.6,356,7153,0.00,2.42,0.00,0.000,4,0.000,0.050,3052,629,2319,0,0,0,0,0,0
$GC,7237,1.56,176.7,150.6,11.6,365,7242,0.00,2.33,0.00,0.000,6,0.000,0.026,3053,2034,2318,0,0,0,0,0,0
$GC,7500,1.58,195.1,128.2,7.0,389,7519,0.00,0.00,15.48,0.625,6,0.000,0.000,3052,2040,2254,0,0,0,0,0,0
$GC,7775,1.58,195.1,98.6,12.8,415,7779,0.00,2.42,0.00,0.000,4,0.000,0.046,3052,627,2252,0,0,0,0,0,0
$GC,7902,1.58,195.1,80.3,13.0,428,7910,0.00,2.35,0.00,0.000,6,0.000,0.024,3053,2043,2249,0,0,0,0,0,0
$GC,8165,1.61,213.6,57.6,7.0,453,8184,0.00,0.00,17.05,0.565,6,0.000,0.000,3053,2048,2179,0,0,0,0,0,0
$GC,8439,1.61,213.6,35.1,8.7,479,8441,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2048,2177,0,0,0,0,0,0
$GC,8694,1.61,213.6,10.6,9.0,521,8700,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2048,2177,0,0,0,0,0,0
$STATE,8770,end climb,SURFACE_DEPTH_REACHED
$STATE,8770,begin surface coast
$FINISH,0.5,1.010706
$STATE,8798,end surface coast,CONTROL_FINISHED_OK
$STATE,8799,begin surface
$SM_CCo,8818,44.33,0.528,0,0,1826,300.00
$SM_GC,1.25,0.00,0.00,44.33,0.000,0.000,0.528,428,1939,1826,-10.50,-0.59,300.00
$IRIDIUM_FIX,2059.45,-15758.18,100799,141455
$TT8_MAMPS,0.029913
$HUMID,43.14
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.00
$XPDR_PINGS,0
$24V_AH,23.3,4.520
$10V_AH,9.9,4.052
$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,25.025,86.175,245.125,44.325,0.000,30.574,30.296,107.848,0.000,0.000,46.011,1003.446,5932.140,355.599,1570.092,293.524,33.342,1016.165,0.000,1536.895,0.000,0.537,0.000
$DEVICE_MAMPS,141.895,81.302,882.050,528.463,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,364.970,342.966,785.231,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,28558,540
$CAP_FILE_SIZE,87241,0
$CFSIZE,260165632,256331776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150410,194003,2105.197,-15756.033,42,5.5,61,9.8