version: 66.06
glider: 139
mission: 7
dive: 3
start: 4 12 110 22 3 19
data:
$ID,139
$MISSION,7
$DIVE,3
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,200
$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,40
$T_MISSION,60
$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,600
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2119129.2
$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,2613
$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,2079
$C_ROLL_CLIMB,2079
$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,3046
$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
$GPS1,215849,2116.270,-15753.610,10,2.0,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-61.4
$GPS2,220232,2116.265,-15753.619,15,2.0,15,9.8
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,TRANSIT
$TGT_LATLONG,2112.000,-15757.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.159,-0.114
$KALMAN_X,102.1,67.2,66.3,-201.5,110.9
$KALMAN_Y,-87.9,-50.1,-49.2,-274.8,-92.4
$MHEAD_RNG_PITCHd_Wd,224.6,9822,-24.9,-10.000
$D_GRID,120
$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,-1.65,-77.9,0.0,0.0,0,131,0.00,0.00,-111.50,0.000,6,0.000,0.000,427,2078,3364,0,0,0,0,0,0
$GC,134,-1.65,-77.9,3.1,-5.9,21,152,9.65,2.40,0.00,0.000,4,0.137,0.038,2247,667,3366,0,0,0,0,0,0
$GC,324,-1.65,-77.9,57.9,-27.9,53,331,0.00,2.33,0.00,0.000,6,0.000,0.025,2247,2099,3365,0,0,0,0,0,0
$GC,584,-1.65,-77.9,118.4,-21.9,78,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2104,3365,0,0,0,0,0,0
$STATE,594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,595,begin apogee
$GC,599,-0.31,0.0,120.6,21.0,79,666,1.42,0.00,61.28,0.612,6,0.094,0.000,2541,2105,3044,0,0,0,0,0,0
$STATE,667,end apogee,CONTROL_FINISHED_OK
$STATE,667,begin climb
$GC,668,1.65,77.9,126.8,0.0,86,740,1.92,2.30,60.42,0.604,4,0.054,0.029,2972,3485,2727,0,0,0,0,0,0
$GC,999,1.82,216.7,130.1,-1.9,122,1120,0.12,2.38,110.00,0.615,6,0.051,0.030,3009,2066,2161,0,0,0,0,0,0
$GC,1373,1.83,218.7,94.1,9.8,160,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2066,2155,0,0,0,0,0,0
$GC,1630,1.83,218.7,65.6,12.0,184,1634,0.00,2.38,0.00,0.000,4,0.000,0.047,3009,671,2153,0,0,0,0,0,0
$GC,1654,1.83,218.7,62.3,13.1,186,1658,0.00,2.30,0.00,0.000,6,0.000,0.025,3009,2092,2151,0,0,0,0,0,0
$GC,1916,1.83,222.8,31.7,9.7,210,1928,0.00,2.40,4.78,0.408,4,0.000,0.044,3009,678,2136,0,0,0,0,0,0
$GC,2028,1.83,222.8,19.2,11.2,233,2035,0.00,2.28,0.00,0.000,6,0.000,0.024,3009,2078,2134,0,0,0,0,0,0
$STATE,2175,end climb,SURFACE_DEPTH_REACHED
$STATE,2175,begin surface coast
$FINISH,0.6,1.023612
$STATE,2203,end surface coast,CONTROL_FINISHED_OK
$STATE,2203,begin surface
$SM_CCo,2222,182.32,0.538,0,0,599,600.00
$SM_GC,1.18,0.00,0.00,182.32,0.000,0.000,0.538,426,2082,599,-10.06,0.08,600.00
$IRIDIUM_FIX,2108.69,-15752.16,070799,222206
$TT8_MAMPS,0.029146
$HUMID,41.41
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.10
$XPDR_PINGS,7
$24V_AH,23.7,2.359
$10V_AH,10.0,2.078
$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,24.200,18.750,236.475,182.325,0.000,0.000,0.000,0.000,1.750,0.000,15.907,421.253,819.177,437.022,755.229,39.656,31.417,795.535,0.000,752.402,0.000,0.541,0.000
$DEVICE_MAMPS,136.526,46.787,615.134,538.434,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,173.654,189.763,524.936,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,12841,265
$CAP_FILE_SIZE,50243,0
$CFSIZE,260165632,257662976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120410,224408,2116.138,-15753.652,9,1.7,9,9.8