version: 66.06
glider: 139
mission: 7
dive: 9
start: 4 13 110 7 8 48
data:
$ID,139
$MISSION,7
$DIVE,9
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2119309
$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
$GPS1,070307,2114.154,-15754.887,90,1.2,102,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-68.2
$GPS2,070758,2114.160,-15754.914,10,4.4,29,9.8
$SPEED_LIMITS,0.157,0.190
$TGT_NAME,TRANSIT
$TGT_LATLONG,2112.000,-15757.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.176,-0.072
$KALMAN_X,2930.7,-90.7,-113.6,-4927.3,1413.8
$KALMAN_Y,450.7,-73.3,25.4,-4768.2,342.4
$MHEAD_RNG_PITCHd_Wd,237.9,5382,-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,-77.9,0.0,0.0,0,88,0.00,0.00,-68.45,0.000,6,0.000,0.000,427,2079,3364,0,0,0,0,0,0
$GC,90,-1.53,-77.9,3.5,-7.0,13,109,10.40,2.45,0.00,0.000,4,0.137,0.041,2361,666,3365,0,0,0,0,0,0
$GC,278,-1.53,-77.9,47.6,-19.0,45,282,0.00,2.35,0.00,0.000,6,0.000,0.023,2361,2105,3366,0,0,0,0,0,0
$GC,539,-1.53,-77.9,95.3,-19.5,69,543,0.00,2.45,0.00,0.000,4,0.000,0.044,2361,664,3366,0,0,0,0,0,0
$GC,620,-1.53,-77.9,112.4,-18.9,77,626,0.00,2.30,0.00,0.000,6,0.000,0.022,2361,2085,3367,0,0,0,0,0,0
$GC,880,-1.53,-77.9,153.5,-15.9,102,884,0.00,2.40,0.00,0.000,4,0.000,0.045,2361,669,3368,0,0,0,0,0,0
$GC,977,-1.53,-77.9,169.6,-15.7,112,981,0.00,2.30,0.00,0.000,6,0.000,0.023,2361,2084,3368,0,0,0,0,0,0
$GC,1246,-1.53,-77.9,208.6,-13.1,134,1250,0.00,2.42,0.00,0.000,4,0.000,0.045,2361,666,3369,0,0,0,0,0,0
$GC,1300,-1.53,-77.9,216.2,-13.9,136,1304,0.00,2.30,0.00,0.000,6,0.000,0.024,2361,2081,3369,0,0,0,0,0,0
$GC,1616,-1.53,-77.9,258.1,-13.2,151,1620,0.00,2.40,0.00,0.000,4,0.000,0.047,2361,668,3369,0,0,0,0,0,0
$GC,1666,-1.53,-77.9,265.0,-12.2,153,1670,0.00,2.30,0.00,0.000,6,0.000,0.025,2361,2080,3369,0,0,0,0,0,0
$GC,1986,-1.53,-77.9,301.7,-11.1,169,1990,0.00,2.40,0.00,0.000,4,0.000,0.049,2361,670,3369,0,0,0,0,0,0
$GC,2074,-1.53,-77.9,312.2,-11.4,171,2079,0.00,2.30,0.00,0.000,6,0.000,0.027,2361,2076,3369,0,0,0,0,0,0
$GC,2405,-1.53,-77.9,346.2,-10.2,179,2409,0.00,2.42,0.00,0.000,4,0.000,0.051,2361,664,3368,0,0,0,0,0,0
$GC,2478,-1.53,-77.9,355.0,-12.0,180,2483,0.00,2.33,0.00,0.000,6,0.000,0.028,2361,2083,3368,0,0,0,0,0,0
$GC,2818,-1.53,-77.9,395.3,-11.7,189,2822,0.00,2.45,0.00,0.000,4,0.000,0.052,2361,672,3365,0,0,0,0,0,0
$GC,2860,-1.53,-77.9,400.4,-12.5,190,2864,0.00,2.33,0.00,0.000,6,0.000,0.030,2361,2077,3365,0,0,0,0,0,0
$GC,3186,-1.53,-77.9,437.1,-10.7,198,3190,0.00,2.45,0.00,0.000,4,0.000,0.056,2361,666,3363,0,0,0,0,0,0
$GC,3250,-1.53,-77.9,444.7,-11.4,199,3254,0.00,2.38,0.00,0.000,6,0.000,0.032,2361,2085,3364,0,0,0,0,0,0
$STATE,3308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3308,begin apogee
$GC,3312,-0.31,0.0,450.7,10.5,201,3380,1.27,0.00,63.92,0.889,6,0.087,0.000,2628,2089,3046,0,0,0,0,0,0
$STATE,3381,end apogee,CONTROL_FINISHED_OK
$STATE,3381,begin climb
$GC,3382,1.53,77.9,452.0,0.0,202,3457,1.77,2.50,64.03,0.869,4,0.040,0.048,3036,3473,2728,0,0,0,0,0,0
$GC,3503,1.61,143.1,451.3,4.0,204,3564,0.00,2.42,55.22,0.864,6,0.000,0.039,3036,2080,2462,0,0,0,0,0,0
$GC,3881,1.61,143.1,407.6,12.4,214,3885,0.00,2.45,0.00,0.000,4,0.000,0.046,3036,3478,2453,0,0,0,0,0,0
$GC,4002,1.61,143.1,391.8,12.2,216,4006,0.00,2.45,0.00,0.000,6,0.000,0.042,3036,2073,2453,0,0,0,0,0,0
$GC,4337,1.61,143.1,356.4,9.7,225,4341,0.00,2.45,0.00,0.000,4,0.000,0.046,3036,3478,2449,0,0,0,0,0,0
$GC,4378,1.61,143.1,352.1,9.8,226,4383,0.00,2.42,0.00,0.000,6,0.000,0.041,3036,2081,2449,0,0,0,0,0,0
$GC,4705,1.61,143.1,320.6,9.7,234,4709,0.00,2.40,0.00,0.000,4,0.000,0.044,3036,3480,2447,0,0,0,0,0,0
$GC,4825,1.61,143.1,307.3,10.2,236,4830,0.00,2.40,0.00,0.000,6,0.000,0.040,3036,2076,2447,0,0,0,0,0,0
$GC,5143,1.62,150.9,277.9,8.4,250,5150,0.00,0.00,4.75,0.578,6,0.000,0.000,3036,2077,2431,0,0,0,0,0,0
$GC,5454,1.62,152.5,249.1,8.9,265,5458,0.00,2.42,0.00,0.000,4,0.000,0.042,3036,3487,2430,0,0,0,0,0,0
$GC,5545,1.64,168.0,241.0,7.8,269,5566,0.00,2.40,15.93,0.745,6,0.000,0.038,3036,2078,2361,0,0,0,0,0,0
$GC,5890,1.64,168.0,208.0,9.6,286,5894,0.00,2.40,0.00,0.000,4,0.000,0.041,3036,3491,2357,0,0,0,0,0,0
$GC,5908,1.64,169.1,206.4,8.9,286,5914,0.00,2.42,0.00,0.000,6,0.000,0.035,3036,2083,2357,0,0,0,0,0,0
$GC,6231,1.64,169.1,171.8,11.1,313,6236,0.10,2.45,0.00,0.000,4,0.087,0.050,3062,663,2357,0,0,0,0,0,0
$GC,6249,1.64,169.1,169.5,10.7,314,6256,0.00,2.38,0.00,0.000,6,0.000,0.028,3063,2081,2356,0,0,0,0,0,0
$GC,6512,1.64,169.1,144.4,9.4,339,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2083,2355,0,0,0,0,0,0
$GC,6766,1.64,169.1,121.5,9.2,363,6770,0.00,2.45,0.00,0.000,4,0.000,0.048,3063,661,2356,0,0,0,0,0,0
$GC,6979,1.64,169.1,101.4,10.5,386,6984,0.00,2.35,0.00,0.000,6,0.000,0.025,3063,2093,2355,0,0,0,0,0,0
$GC,7240,1.68,199.1,79.6,6.7,410,7273,0.00,2.53,26.83,0.620,4,0.000,0.044,3063,669,2234,0,0,0,0,0,0
$GC,7324,1.68,199.1,71.7,10.5,419,7328,0.00,2.33,0.00,0.000,6,0.000,0.024,3062,2088,2229,0,0,0,0,0,0
$GC,7591,1.68,201.5,47.4,8.9,444,7595,0.00,2.45,0.00,0.000,4,0.000,0.044,3063,663,2229,0,0,0,0,0,0
$GC,7694,1.68,201.5,36.4,10.3,455,7698,0.00,2.30,0.00,0.000,6,0.000,0.024,3063,2081,2228,0,0,0,0,0,0
$GC,7962,1.68,201.5,9.1,10.6,498,7969,0.00,2.45,0.00,0.000,4,0.000,0.044,3062,667,2228,0,0,0,0,0,0
$GC,7975,1.68,201.5,7.5,11.3,500,7982,0.00,2.33,0.00,0.000,6,0.000,0.024,3063,2080,2228,0,0,0,0,0,0
$STATE,8014,end climb,SURFACE_DEPTH_REACHED
$STATE,8015,begin surface coast
$FINISH,0.4,1.023488
$STATE,8042,end surface coast,CONTROL_FINISHED_OK
$STATE,8042,begin surface
$SM_CCo,8061,74.38,0.554,0,0,1618,350.04
$SM_GC,1.14,0.00,0.00,74.38,0.000,0.000,0.554,430,2083,1618,-10.44,0.11,350.04
$IRIDIUM_FIX,2106.38,-15757.32,080799,040413
$TT8_MAMPS,0.029913
$HUMID,43.81
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,2.820
$10V_AH,10.0,2.437
$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,24.925,95.875,230.675,74.375,0.000,29.861,39.214,118.575,0.000,0.000,30.344,984.534,5173.065,362.347,1607.327,304.252,33.322,1059.859,0.000,1579.486,0.000,0.539,0.000
$DEVICE_MAMPS,137.293,55.991,888.953,553.774,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,345.959,329.294,757.743,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,28654,512
$CAP_FILE_SIZE,89895,0
$CFSIZE,260165632,257396736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130410,092536,2113.722,-15755.224,27,1.5,37,9.8