version: 66.06
glider: 139
mission: 7
dive: 11
start: 4 13 110 12 1 36
data:
$ID,139
$MISSION,7
$DIVE,11
$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,-2119334.8
$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
$GPS1,115627,2113.318,-15756.016,50,2.1,69,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-69.8
$GPS2,120044,2113.307,-15755.994,10,1.8,10,9.8
$SPEED_LIMITS,0.157,0.190
$TGT_NAME,WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.162,-0.099
$KALMAN_X,4232.5,14.7,128.5,-8433.9,523.4
$KALMAN_Y,199.0,73.7,-135.4,-6078.8,19.3
$MHEAD_RNG_PITCHd_Wd,229.0,13956,-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,-77.9,0.0,0.0,0,87,0.00,0.00,-68.05,0.000,6,0.000,0.000,431,2092,3365,0,0,0,0,0,0
$GC,89,-1.53,-77.9,3.8,-8.6,13,108,10.40,2.47,0.00,0.000,4,0.138,0.041,2361,668,3366,0,0,0,0,0,0
$GC,303,-1.53,-77.9,54.4,-20.9,48,307,0.00,2.33,0.00,0.000,6,0.000,0.023,2361,2098,3368,0,0,0,0,0,0
$GC,563,-1.53,-77.9,100.6,-15.7,72,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2103,3369,0,0,0,0,0,0
$GC,818,-1.53,-77.9,141.1,-13.9,96,822,0.00,2.45,0.00,0.000,4,0.000,0.045,2361,662,3369,0,0,0,0,0,0
$GC,935,-1.53,-77.9,159.1,-14.6,108,942,0.00,2.33,0.00,0.000,6,0.000,0.023,2361,2083,3370,0,0,0,0,0,0
$GC,1197,-1.53,-77.9,192.1,-12.7,133,1201,0.00,2.42,0.00,0.000,4,0.000,0.044,2361,665,3370,0,0,0,0,0,0
$GC,1234,-1.53,-77.9,197.3,-13.0,136,1241,0.00,2.33,0.00,0.000,6,0.000,0.024,2361,2083,3371,0,0,0,0,0,0
$GC,1488,-1.53,-77.9,228.2,-12.1,150,1492,0.00,2.42,0.00,0.000,4,0.000,0.046,2361,665,3371,0,0,0,0,0,0
$GC,1547,-1.53,-77.9,235.3,-11.9,152,1553,0.00,2.33,0.00,0.000,6,0.000,0.025,2361,2077,3371,0,0,0,0,0,0
$GC,1861,-1.53,-77.9,269.3,-10.4,168,1865,0.00,2.40,0.00,0.000,4,0.000,0.047,2361,669,3371,0,0,0,0,0,0
$GC,1907,-1.53,-77.9,274.8,-12.3,170,1911,0.00,2.33,0.00,0.000,6,0.000,0.026,2361,2084,3371,0,0,0,0,0,0
$GC,2234,-1.53,-77.9,311.5,-11.9,184,2238,0.00,2.42,0.00,0.000,4,0.000,0.051,2361,671,3371,0,0,0,0,0,0
$GC,2303,-1.53,-77.9,320.1,-11.9,185,2307,0.00,2.33,0.00,0.000,6,0.000,0.028,2361,2079,3370,0,0,0,0,0,0
$GC,2642,-1.53,-77.9,357.1,-10.9,194,2646,0.00,2.45,0.00,0.000,4,0.000,0.053,2361,663,3369,0,0,0,0,0,0
$GC,2678,-1.53,-77.9,361.6,-11.9,194,2684,0.00,2.35,0.00,0.000,6,0.000,0.031,2361,2075,3369,0,0,0,0,0,0
$GC,3008,-1.53,-77.9,400.2,-11.6,203,3013,0.00,2.45,0.00,0.000,4,0.000,0.055,2361,667,3366,0,0,0,0,0,0
$GC,3082,-1.53,-77.9,409.2,-12.0,204,3086,0.00,2.35,0.00,0.000,6,0.000,0.031,2361,2079,3366,0,0,0,0,0,0
$GC,3416,-1.53,-77.9,446.7,-11.9,213,3421,0.00,2.47,0.00,0.000,4,0.000,0.058,2361,673,3364,0,0,0,0,0,0
$STATE,3442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3442,begin apogee
$GC,3449,-0.31,0.0,450.3,13.1,213,3517,1.25,0.00,64.45,0.904,6,0.091,0.000,2625,2082,3046,0,0,0,0,0,0
$STATE,3518,end apogee,CONTROL_FINISHED_OK
$STATE,3518,begin climb
$GC,3520,1.53,77.9,452.8,0.0,215,3594,1.80,2.53,64.22,0.881,4,0.041,0.047,3035,3481,2728,0,0,0,0,0,0
$GC,3857,1.58,119.9,440.3,5.8,222,3898,0.00,2.45,35.50,0.868,6,0.000,0.040,3035,2072,2556,0,0,0,0,0,0
$GC,4242,1.58,119.9,397.8,12.3,232,4246,0.00,2.47,0.00,0.000,4,0.000,0.058,3035,673,2551,0,0,0,0,0,0
$GC,4255,1.58,119.9,396.1,12.1,232,4260,0.00,2.40,0.00,0.000,6,0.000,0.035,3035,2081,2550,0,0,0,0,0,0
$GC,4604,1.58,119.9,360.4,9.9,241,4608,0.00,2.50,0.00,0.000,4,0.000,0.054,3035,667,2548,0,0,0,0,0,0
$GC,4617,1.58,119.9,359.0,9.8,241,4621,0.00,2.40,0.00,0.000,6,0.000,0.034,3035,2083,2547,0,0,0,0,0,0
$GC,4966,1.61,140.0,330.4,7.5,250,4986,0.00,0.00,16.25,0.805,6,0.000,0.000,3035,2088,2475,0,0,0,0,0,0
$GC,5295,1.62,151.9,302.6,8.1,258,5308,0.00,0.00,11.68,0.760,6,0.000,0.000,3035,2088,2425,0,0,0,0,0,0
$GC,5603,1.62,154.4,274.8,8.8,272,5607,0.00,2.50,0.00,0.000,4,0.000,0.054,3036,673,2423,0,0,0,0,0,0
$GC,5658,1.62,154.4,269.5,9.9,274,5662,0.00,2.38,0.00,0.000,6,0.000,0.032,3035,2078,2420,0,0,0,0,0,0
$GC,5974,1.62,154.4,241.9,9.0,289,5978,0.00,2.40,0.00,0.000,4,0.000,0.043,3035,3478,2420,0,0,0,0,0,0
$GC,6093,1.63,156.0,231.0,8.9,294,6103,0.00,2.40,4.25,0.529,6,0.000,0.037,3035,2076,2409,0,0,0,0,0,0
$GC,6414,1.63,156.0,201.3,10.4,309,6418,0.00,2.45,0.00,0.000,4,0.000,0.052,3035,670,2408,0,0,0,0,0,0
$GC,6594,1.63,156.0,179.7,11.9,328,6601,0.00,2.38,0.00,0.000,6,0.000,0.029,3035,2081,2407,0,0,0,0,0,0
$GC,6856,1.64,168.3,154.8,8.1,353,6871,0.10,0.00,11.77,0.659,6,0.087,0.000,3063,2086,2359,0,0,0,0,0,0
$GC,7121,1.66,179.0,132.5,8.2,378,7141,0.00,2.47,10.62,0.624,4,0.000,0.048,3063,670,2314,0,0,0,0,0,0
$GC,7398,1.66,179.0,100.7,10.4,408,7405,0.00,2.35,0.00,0.000,6,0.000,0.025,3063,2087,2311,0,0,0,0,0,0
$GC,7661,1.69,207.2,81.2,6.9,433,7690,0.00,0.00,25.38,0.619,6,0.000,0.000,3063,2092,2200,0,0,0,0,0,0
$GC,7944,1.69,207.2,55.0,10.6,460,7948,0.00,2.30,0.00,0.000,4,0.000,0.033,3063,3477,2196,0,0,0,0,0,0
$GC,8012,1.69,207.2,47.7,10.9,467,8017,0.00,2.35,0.00,0.000,6,0.000,0.030,3063,2068,2197,0,0,0,0,0,0
$GC,8280,1.69,207.2,18.3,11.6,501,8287,0.00,2.40,0.00,0.000,4,0.000,0.044,3063,674,2197,0,0,0,0,0,0
$GC,8336,1.69,207.2,11.9,11.3,513,8343,0.00,2.33,0.00,0.000,6,0.000,0.023,3063,2085,2195,0,0,0,0,0,0
$STATE,8412,end climb,SURFACE_DEPTH_REACHED
$STATE,8412,begin surface coast
$FINISH,0.4,1.023649
$STATE,8441,end surface coast,CONTROL_FINISHED_OK
$STATE,8441,begin surface
$SM_CCo,8460,70.18,0.554,0,0,1618,350.04
$SM_GC,1.05,0.00,0.00,70.18,0.000,0.000,0.554,426,2089,1618,-10.46,0.28,350.04
$IRIDIUM_FIX,2104.07,-15857.42,080799,090956
$TT8_MAMPS,0.029146
$HUMID,43.69
$INTERNAL_PRESSURE,9.63558
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,2.975
$10V_AH,9.9,2.576
$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,24.925,86.475,244.125,70.175,0.000,27.772,28.126,117.499,0.000,0.000,10.845,1000.935,5526.164,369.906,1605.082,292.649,33.332,1074.677,0.000,1597.745,0.000,0.537,0.000
$DEVICE_MAMPS,138.060,57.525,904.293,553.774,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,359.380,337.553,765.221,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355540
$DATA_FILE_SIZE,28590,532
$CAP_FILE_SIZE,88917,0
$CFSIZE,260165632,257306624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130410,142510,2112.791,-15756.752,29,2.1,48,9.8