version: 66.06
glider: 139
mission: 7
dive: 13
start: 4 13 110 16 56 12
data:
$ID,139
$MISSION,7
$DIVE,13
$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,-2119378
$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
$GPS1,165104,2112.217,-15757.065,26,2.8,45,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-70.3
$GPS2,165520,2112.175,-15757.020,13,1.8,13,9.8
$SPEED_LIMITS,0.157,0.190
$TGT_NAME,WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.189,0.022
$KALMAN_X,6446.3,-200.8,-336.0,-11744.7,1836.9
$KALMAN_Y,-231.2,36.0,68.9,-7911.4,-253.0
$MHEAD_RNG_PITCHd_Wd,266.8,11249,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.53,-77.9,0.0,0.0,0,87,0.00,0.00,-68.20,0.000,6,0.000,0.000,428,2071,3363,0,0,0,0,0,0
$GC,89,-1.53,-77.9,3.8,-8.3,13,108,10.50,2.42,0.00,0.000,4,0.141,0.031,2361,3497,3365,0,0,0,0,0,0
$GC,268,-1.53,-77.9,43.9,-16.8,44,272,0.00,2.40,0.00,0.000,6,0.000,0.031,2361,2071,3366,0,0,0,0,0,0
$GC,528,-1.53,-77.9,96.1,-17.5,68,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2071,3366,0,0,0,0,0,0
$GC,783,-1.53,-77.9,138.1,-17.2,92,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2071,3367,0,0,0,0,0,0
$GC,1038,-1.53,-77.9,173.1,-12.1,116,1042,0.00,2.40,0.00,0.000,4,0.000,0.045,2361,665,3368,0,0,0,0,0,0
$GC,1110,-1.53,-77.9,183.2,-14.3,123,1115,0.00,2.35,0.00,0.000,6,0.000,0.023,2361,2110,3368,0,0,0,0,0,0
$GC,1378,-1.53,-77.9,216.2,-12.7,143,1382,0.00,2.47,0.00,0.000,4,0.000,0.046,2361,671,3369,0,0,0,0,0,0
$GC,1437,-1.53,-77.9,224.8,-14.4,145,1442,0.00,2.30,0.00,0.000,6,0.000,0.024,2361,2081,3369,0,0,0,0,0,0
$GC,1752,-1.53,-77.9,263.2,-12.6,161,1757,0.00,2.40,0.00,0.000,4,0.000,0.046,2361,671,3369,0,0,0,0,0,0
$GC,1866,-1.53,-77.9,275.5,-9.6,166,1870,0.00,2.30,0.00,0.000,6,0.000,0.025,2361,2078,3369,0,0,0,0,0,0
$GC,2189,-1.53,-77.9,305.9,-10.0,181,2193,0.00,2.40,0.00,0.000,4,0.000,0.048,2361,672,3369,0,0,0,0,0,0
$GC,2314,-1.53,-77.9,319.7,-10.8,183,2318,0.00,2.33,0.00,0.000,6,0.000,0.027,2361,2088,3369,0,0,0,0,0,0
$GC,2644,-1.53,-77.9,358.0,-12.2,191,2648,0.00,2.45,0.00,0.000,4,0.000,0.051,2361,666,3368,0,0,0,0,0,0
$GC,2765,-1.53,-77.9,375.6,-14.6,193,2769,0.00,2.33,0.00,0.000,6,0.000,0.029,2361,2078,3368,0,0,0,0,0,0
$GC,3104,-1.53,-77.9,417.2,-11.0,202,3108,0.00,2.45,0.00,0.000,4,0.000,0.054,2361,673,3365,0,0,0,0,0,0
$GC,3182,-1.53,-77.9,425.5,-9.8,203,3186,0.00,2.33,0.00,0.000,6,0.000,0.031,2361,2083,3365,0,0,0,0,0,0
$STATE,3470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3470,begin apogee
$GC,3474,-0.31,0.0,453.5,9.6,210,3542,1.27,0.00,64.38,0.887,6,0.084,0.000,2630,2086,3046,0,0,0,0,0,0
$STATE,3543,end apogee,CONTROL_FINISHED_OK
$STATE,3543,begin climb
$GC,3544,1.53,77.9,454.5,0.0,211,3619,1.77,2.50,64.32,0.864,4,0.038,0.046,3037,3472,2727,0,0,0,0,0,0
$GC,3882,1.57,111.7,439.9,6.4,218,3918,0.00,2.42,28.52,0.846,6,0.000,0.040,3037,2078,2591,0,0,0,0,0,0
$GC,4231,1.59,124.0,411.3,8.1,227,4248,0.00,2.53,10.93,0.772,4,0.000,0.047,3037,3477,2540,0,0,0,0,0,0
$GC,4511,1.61,138.6,386.7,7.9,233,4531,0.00,2.42,13.57,0.795,6,0.000,0.041,3037,2073,2481,0,0,0,0,0,0
$GC,4876,1.61,138.6,347.2,11.5,242,4880,0.00,2.45,0.00,0.000,4,0.000,0.045,3037,3477,2476,0,0,0,0,0,0
$GC,5143,1.61,139.5,321.0,9.0,247,5148,0.00,2.42,0.00,0.000,6,0.000,0.040,3037,2076,2476,0,0,0,0,0,0
$GC,5455,1.61,143.3,293.1,8.7,257,5462,0.00,0.00,4.57,0.569,6,0.000,0.000,3037,2076,2461,0,0,0,0,0,0
$GC,5763,1.63,157.2,268.1,8.0,272,5786,0.00,2.53,13.15,0.741,4,0.000,0.054,3036,663,2403,0,0,0,0,0,0
$GC,5791,1.63,157.2,265.3,9.4,273,5795,0.00,2.42,0.00,0.000,6,0.000,0.031,3037,2088,2403,0,0,0,0,0,0
$GC,6116,1.63,160.4,233.7,8.8,289,6125,0.00,2.53,3.70,0.469,4,0.000,0.053,3036,663,2392,0,0,0,0,0,0
$GC,6166,1.63,160.4,228.5,10.5,291,6171,0.00,2.40,0.00,0.000,6,0.000,0.031,3036,2091,2391,0,0,0,0,0,0
$GC,6492,1.67,191.3,203.0,6.6,307,6526,0.12,2.55,27.95,0.728,4,0.077,0.050,3069,669,2266,0,0,0,0,0,0
$GC,6586,1.67,191.3,192.3,14.4,315,6590,0.00,2.35,0.00,0.000,6,0.000,0.028,3069,2081,2261,0,0,0,0,0,0
$GC,6849,1.67,191.3,160.0,11.2,339,6853,0.00,2.47,0.00,0.000,4,0.000,0.048,3069,661,2260,0,0,0,0,0,0
$GC,6867,1.67,191.3,157.4,12.3,340,6874,0.00,2.40,0.00,0.000,6,0.000,0.028,3070,2087,2258,0,0,0,0,0,0
$GC,7129,1.67,191.3,123.1,11.4,365,7133,0.00,2.35,0.00,0.000,4,0.000,0.036,3070,3480,2258,0,0,0,0,0,0
$GC,7191,1.67,191.3,115.8,11.9,371,7195,0.00,2.40,0.00,0.000,6,0.000,0.041,3070,2065,2258,0,0,0,0,0,0
$GC,7453,1.69,210.9,91.2,7.5,395,7475,0.00,2.45,17.45,0.611,4,0.000,0.035,3070,3483,2185,0,0,0,0,0,0
$GC,7649,1.70,212.4,72.3,8.9,416,7653,0.00,2.38,0.00,0.000,6,0.000,0.030,3070,2075,2185,0,0,0,0,0,0
$GC,7913,1.70,212.4,46.7,10.1,440,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2075,2184,0,0,0,0,0,0
$GC,8169,1.70,212.4,20.1,10.2,472,8175,0.00,2.38,0.00,0.000,4,0.000,0.032,3070,3479,2184,0,0,0,0,0,0
$GC,8254,1.70,212.4,10.5,9.9,491,8260,0.00,2.38,0.00,0.000,6,0.000,0.029,3070,2072,2184,0,0,0,0,0,0
$STATE,8320,end climb,SURFACE_DEPTH_REACHED
$STATE,8320,begin surface coast
$FINISH,0.4,1.014935
$STATE,8348,end surface coast,CONTROL_FINISHED_OK
$STATE,8348,begin surface
$SM_CCo,8367,68.90,0.546,0,0,1619,350.04
$SM_GC,1.01,0.00,0.00,68.90,0.000,0.000,0.546,425,2066,1619,-10.47,-0.37,350.04
$IRIDIUM_FIX,2104.07,-15758.18,080799,141417
$TT8_MAMPS,0.029146
$HUMID,42.12
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.40
$XPDR_PINGS,1
$24V_AH,23.4,3.129
$10V_AH,10.0,2.714
$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,25.100,82.050,248.550,68.900,0.000,24.014,26.773,119.346,0.250,0.000,13.802,994.467,5364.054,367.768,1674.952,298.538,33.327,1097.724,0.000,1669.098,0.000,0.538,0.000
$DEVICE_MAMPS,141.128,53.690,886.652,546.104,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,343.247,326.372,745.232,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,28666,508
$CAP_FILE_SIZE,89955,0
$CFSIZE,260165632,257216512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130410,191950,2111.961,-15757.001,127,2.9,146,9.8