version: 66.06
glider: 139
mission: 7
dive: 7
start: 4 13 110 2 10 12
data:
$ID,139
$MISSION,7
$DIVE,7
$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,166
$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,350
$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,-2119243.2
$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,2700
$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
$GPS1,020320,2115.338,-15754.372,22,1.7,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-67.6
$GPS2,020922,2115.319,-15754.394,11,2.5,30,9.8
$SPEED_LIMITS,0.157,0.190
$TGT_NAME,TRANSIT
$TGT_LATLONG,2112.000,-15757.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.108,-0.156
$KALMAN_X,599.1,322.9,87.7,-2309.5,24.4
$KALMAN_Y,-50.5,-57.8,-17.0,-2093.5,111.9
$MHEAD_RNG_PITCHd_Wd,205.0,7618,-23.0,-9.036
$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,-1.53,-77.9,0.0,0.0,0,99,0.00,0.00,-77.32,0.000,6,0.000,0.000,429,2077,3363,0,0,0,0,0,0
$GC,101,-1.53,-77.9,4.1,-8.8,15,119,10.38,2.42,0.00,0.000,4,0.137,0.040,2361,671,3364,0,0,0,0,0,0
$GC,263,-1.53,-77.9,41.3,-18.4,45,267,0.00,2.33,0.00,0.000,6,0.000,0.023,2362,2102,3364,0,0,0,0,0,0
$GC,524,-1.53,-77.9,83.7,-14.9,69,528,0.00,2.42,0.00,0.000,4,0.000,0.044,2361,668,3365,0,0,0,0,0,0
$GC,542,-1.53,-77.9,87.2,-17.3,70,549,0.00,2.30,0.00,0.000,6,0.000,0.023,2362,2077,3365,0,0,0,0,0,0
$GC,804,-1.53,-77.9,129.1,-16.1,95,808,0.00,2.42,0.00,0.000,4,0.000,0.044,2361,659,3366,0,0,0,0,0,0
$GC,875,-1.53,-77.9,140.8,-16.0,102,882,0.00,2.33,0.00,0.000,6,0.000,0.023,2362,2083,3366,0,0,0,0,0,0
$GC,1138,-1.53,-77.9,178.1,-13.9,127,1142,0.00,2.40,0.00,0.000,4,0.000,0.045,2361,663,3366,0,0,0,0,0,0
$GC,1165,-1.53,-77.9,182.8,-16.2,129,1170,0.00,2.30,0.00,0.000,6,0.000,0.024,2361,2087,3366,0,0,0,0,0,0
$GC,1421,-1.53,-77.9,217.2,-13.1,148,1425,0.00,2.42,0.00,0.000,4,0.000,0.046,2362,667,3366,0,0,0,0,0,0
$GC,1522,-1.53,-77.9,231.8,-14.7,152,1526,0.00,2.30,0.00,0.000,6,0.000,0.025,2361,2087,3366,0,0,0,0,0,0
$GC,1838,-1.53,-77.9,270.8,-11.6,167,1842,0.00,2.42,0.00,0.000,4,0.000,0.048,2361,669,3366,0,0,0,0,0,0
$GC,1933,-1.53,-77.9,283.7,-13.6,171,1937,0.00,2.30,0.00,0.000,6,0.000,0.026,2362,2078,3366,0,0,0,0,0,0
$GC,2269,-1.53,-77.9,325.8,-11.7,183,2274,0.00,2.45,0.00,0.000,4,0.000,0.051,2361,662,3365,0,0,0,0,0,0
$GC,2411,-1.53,-77.9,343.5,-11.8,186,2416,0.00,2.33,0.00,0.000,6,0.000,0.028,2361,2075,3365,0,0,0,0,0,0
$GC,2728,-1.53,-77.9,378.0,-11.1,194,2733,0.00,2.45,0.00,0.000,4,0.000,0.054,2361,670,3363,0,0,0,0,0,0
$GC,2817,-1.53,-77.9,388.7,-12.6,196,2821,0.00,2.33,0.00,0.000,6,0.000,0.031,2361,2077,3362,0,0,0,0,0,0
$GC,3143,-1.53,-77.9,423.4,-10.2,204,3147,0.00,2.45,0.00,0.000,4,0.000,0.057,2361,666,3360,0,0,0,0,0,0
$GC,3273,-1.53,-77.9,437.1,-10.9,206,3278,0.00,2.35,0.00,0.000,6,0.000,0.033,2361,2078,3359,0,0,0,0,0,0
$STATE,3398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3398,begin apogee
$GC,3402,-0.31,0.0,450.7,10.7,210,3468,1.27,0.00,62.78,0.895,6,0.085,0.000,2630,2079,3046,0,0,0,0,0,0
$STATE,3469,end apogee,CONTROL_FINISHED_OK
$STATE,3469,begin climb
$GC,3471,1.53,77.9,452.3,0.0,211,3545,1.77,2.53,63.78,0.872,4,0.041,0.048,3037,3481,2728,0,0,0,0,0,0
$GC,3689,1.60,132.1,448.7,4.8,215,3741,0.00,2.45,45.50,0.870,6,0.000,0.040,3037,2072,2507,0,0,0,0,0,0
$GC,4064,1.60,132.1,412.4,9.6,225,4068,0.00,2.47,0.00,0.000,4,0.000,0.057,3037,671,2500,0,0,0,0,0,0
$GC,4146,1.60,132.1,403.5,11.0,226,4152,0.00,2.38,0.00,0.000,6,0.000,0.032,3037,2090,2498,0,0,0,0,0,0
$GC,4476,1.61,143.1,375.3,8.2,235,4487,0.00,0.00,8.98,0.761,6,0.000,0.000,3037,2092,2462,0,0,0,0,0,0
$GC,4801,1.61,143.1,340.9,10.7,243,4805,0.00,2.50,0.00,0.000,4,0.000,0.054,3037,670,2459,0,0,0,0,0,0
$GC,4819,1.61,143.1,339.1,9.8,243,4824,0.00,2.38,0.00,0.000,6,0.000,0.033,3037,2087,2458,0,0,0,0,0,0
$GC,5163,1.65,171.7,313.4,6.8,252,5196,0.00,2.55,25.17,0.822,4,0.000,0.053,3037,669,2343,0,0,0,0,0,0
$GC,5228,1.65,171.7,307.2,11.3,253,5232,0.00,2.38,0.00,0.000,6,0.000,0.031,3037,2085,2340,0,0,0,0,0,0
$GC,5556,1.65,171.7,268.5,11.7,267,5560,0.00,2.50,0.00,0.000,4,0.000,0.052,3037,661,2338,0,0,0,0,0,0
$GC,5763,1.65,171.7,241.2,13.0,276,5767,0.00,2.35,0.00,0.000,6,0.000,0.029,3037,2079,2336,0,0,0,0,0,0
$GC,6091,1.65,171.7,204.7,11.3,292,6095,0.00,2.45,0.00,0.000,4,0.000,0.050,3037,669,2336,0,0,0,0,0,0
$GC,6172,1.65,171.7,195.5,11.5,298,6179,0.00,2.35,0.00,0.000,6,0.000,0.028,3037,2077,2335,0,0,0,0,0,0
$GC,6435,1.65,171.7,170.0,10.0,323,6439,0.00,2.33,0.00,0.000,4,0.000,0.037,3037,3478,2335,0,0,0,0,0,0
$GC,6588,1.65,171.7,154.4,10.3,339,6593,0.00,2.35,0.00,0.000,6,0.000,0.032,3038,2075,2334,0,0,0,0,0,0
$GC,6849,1.67,191.3,130.3,7.5,364,6872,0.12,2.47,16.25,0.649,4,0.077,0.046,3070,672,2265,0,0,0,0,0,0
$GC,6971,1.67,191.3,116.4,14.0,377,6977,0.00,2.30,0.00,0.000,6,0.000,0.025,3070,2088,2262,0,0,0,0,0,0
$GC,7232,1.67,191.3,89.2,11.8,402,7236,0.00,2.30,0.00,0.000,4,0.000,0.033,3071,3484,2262,0,0,0,0,0,0
$GC,7250,1.67,191.3,87.2,10.0,403,7255,0.00,2.35,0.00,0.000,6,0.000,0.031,3071,2078,2263,0,0,0,0,0,0
$GC,7512,1.70,214.8,63.8,7.2,428,7542,0.00,2.40,21.05,0.596,4,0.000,0.033,3071,3468,2170,0,0,0,0,0,0
$GC,7554,1.70,214.8,59.9,9.2,432,7558,0.00,2.35,0.00,0.000,6,0.000,0.039,3071,2078,2170,0,0,0,0,0,0
$GC,7816,1.70,214.8,31.9,11.1,456,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2077,2168,0,0,0,0,0,0
$STATE,8059,end climb,SURFACE_DEPTH_REACHED
$STATE,8059,begin surface coast
$FINISH,0.3,1.010663
$STATE,8081,end surface coast,CONTROL_FINISHED_OK
$STATE,8081,begin surface
$SM_CCo,8100,65.90,0.555,0,0,1619,350.04
$SM_GC,1.13,0.00,0.00,65.90,0.000,0.000,0.555,430,2073,1619,-10.44,-0.17,350.04
$IRIDIUM_FIX,2108.69,-15755.17,080799,000006
$TT8_MAMPS,0.029146
$HUMID,45.19
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.40
$XPDR_PINGS,1
$24V_AH,23.5,2.649
$10V_AH,9.9,2.293
$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,25.000,90.850,243.500,65.900,0.000,27.831,31.826,193.364,0.250,0.000,31.224,965.792,5200.975,380.493,1615.031,376.849,33.334,1087.308,0.000,1586.230,0.000,0.539,0.000
$DEVICE_MAMPS,137.293,56.758,895.089,554.541,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,339.627,319.934,732.785,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,28672,504
$CAP_FILE_SIZE,90492,0
$CFSIZE,260165632,257482752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130410,042826,2114.591,-15754.619,73,2.1,92,9.8