version: 66.06
glider: 139
mission: 7
dive: 14
start: 4 13 110 19 25 0
data:
$ID,139
$MISSION,7
$DIVE,14
$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,300
$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,-2119391
$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,2710
$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,2000
$C_ROLL_CLIMB,2000
$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,3056
$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
$GPS1,191950,2111.961,-15757.001,127,2.9,146,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-68.2
$GPS2,192408,2111.929,-15756.964,12,1.4,12,9.8
$SPEED_LIMITS,0.157,0.190
$TGT_NAME,WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.152,0.114
$KALMAN_X,7935.5,-194.6,162.7,-13641.3,1996.9
$KALMAN_Y,-882.5,-70.0,102.0,-7643.5,-768.8
$MHEAD_RNG_PITCHd_Wd,297.0,11043,-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,-77.9,0.0,0.0,0,82,0.00,0.00,-65.47,0.000,2,0.000,0.000,425,2065,3304,0,0,0,0,0,0
$GC,85,-1.53,-77.9,3.2,-6.4,12,104,10.52,2.25,-1.40,0.000,4,0.140,0.043,2370,3418,3374,0,0,0,0,0,0
$GC,135,-1.53,-77.9,18.4,-20.9,22,142,0.00,2.42,0.00,0.000,6,0.000,0.034,2370,2003,3375,0,0,0,0,0,0
$GC,336,-1.53,-77.9,56.9,-18.7,46,341,0.00,2.40,0.00,0.000,4,0.000,0.045,2371,590,3375,0,0,0,0,0,0
$GC,361,-1.53,-77.9,62.2,-22.7,48,365,0.00,2.33,0.00,0.000,6,0.000,0.022,2370,2027,3375,0,0,0,0,0,0
$GC,627,-1.53,-77.9,117.7,-17.1,73,631,0.00,2.47,0.00,0.000,4,0.000,0.044,2370,591,3376,0,0,0,0,0,0
$GC,652,-1.53,-77.9,121.4,-15.0,75,656,0.00,2.30,0.00,0.000,6,0.000,0.022,2370,2009,3376,0,0,0,0,0,0
$GC,914,-1.53,-77.9,153.3,-10.3,99,918,0.00,2.45,0.00,0.000,4,0.000,0.045,2370,585,3377,0,0,0,0,0,0
$GC,940,-1.53,-77.9,156.5,-11.6,101,946,0.00,2.30,0.00,0.000,6,0.000,0.023,2370,2003,3377,0,0,0,0,0,0
$GC,1201,-1.53,-77.9,186.2,-11.6,126,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2007,3378,0,0,0,0,0,0
$GC,1462,-1.53,-77.9,218.2,-12.2,144,1466,0.00,2.42,0.00,0.000,4,0.000,0.046,2370,591,3378,0,0,0,0,0,0
$GC,1511,-1.53,-77.9,224.9,-13.5,146,1516,0.00,2.30,0.00,0.000,6,0.000,0.024,2370,2002,3378,0,0,0,0,0,0
$GC,1830,-1.53,-77.9,262.3,-10.8,162,1835,0.00,2.45,0.00,0.000,4,0.000,0.048,2370,586,3378,0,0,0,0,0,0
$GC,1931,-1.53,-77.9,275.8,-13.0,166,1935,0.00,2.30,0.00,0.000,6,0.000,0.025,2370,1999,3378,0,0,0,0,0,0
$GC,2245,-1.53,-77.9,309.0,-9.9,179,2249,0.00,2.45,0.00,0.000,4,0.000,0.051,2370,587,3378,0,0,0,0,0,0
$GC,2315,-1.53,-77.9,316.6,-10.9,180,2319,0.00,2.30,0.00,0.000,6,0.000,0.027,2370,1996,3378,0,0,0,0,0,0
$GC,2654,-1.53,-77.9,353.6,-11.3,189,2658,0.00,2.47,0.00,0.000,4,0.000,0.054,2370,593,3377,0,0,0,0,0,0
$GC,2691,-1.53,-77.9,358.0,-11.4,189,2696,0.00,2.33,0.00,0.000,6,0.000,0.029,2370,1999,3377,0,0,0,0,0,0
$GC,3021,-1.53,-77.9,392.0,-10.1,198,3025,0.00,2.47,0.00,0.000,4,0.000,0.054,2370,586,3375,0,0,0,0,0,0
$GC,3085,-1.53,-77.9,398.9,-10.0,199,3089,0.00,2.35,0.00,0.000,6,0.000,0.030,2370,2004,3375,0,0,0,0,0,0
$GC,3429,-1.53,-77.9,431.0,-9.6,208,3433,0.00,2.50,0.00,0.000,4,0.000,0.058,2370,587,3372,0,0,0,0,0,0
$GC,3460,-1.53,-77.9,434.5,-10.8,208,3465,0.00,2.35,0.00,0.000,6,0.000,0.031,2370,2002,3372,0,0,0,0,0,0
$STATE,3631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3631,begin apogee
$GC,3635,-0.31,0.0,450.3,9.4,213,3702,1.27,0.00,63.75,0.889,6,0.084,0.000,2639,2007,3056,0,0,0,0,0,0
$STATE,3703,end apogee,CONTROL_FINISHED_OK
$STATE,3703,begin climb
$GC,3705,1.53,77.9,451.1,0.0,214,3779,1.77,2.50,64.25,0.868,4,0.038,0.044,3046,3395,2737,0,0,0,0,0,0
$GC,3784,1.69,207.3,452.7,-1.0,215,3903,0.15,2.45,109.38,0.862,6,0.067,0.040,3085,1996,2210,0,0,0,0,0,0
$GC,4238,1.69,207.3,382.1,17.6,227,4242,0.00,2.53,0.00,0.000,4,0.000,0.061,3084,590,2198,0,0,0,0,0,0
$GC,4390,1.69,207.3,352.6,19.3,230,4394,0.00,2.42,0.00,0.000,6,0.000,0.034,3085,2009,2194,0,0,0,0,0,0
$GC,4720,1.69,207.3,294.7,17.1,239,4724,0.00,2.38,0.00,0.000,4,0.000,0.042,3085,3402,2193,0,0,0,0,0,0
$GC,4769,1.69,207.3,286.4,15.7,241,4774,0.00,2.45,0.00,0.000,6,0.000,0.041,3085,1995,2193,0,0,0,0,0,0
$GC,5090,1.69,207.3,237.2,15.6,257,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1995,2191,0,0,0,0,0,0
$GC,5401,1.69,207.3,188.3,16.0,275,5405,0.00,2.47,0.00,0.000,4,0.000,0.054,3084,584,2189,0,0,0,0,0,0
$GC,5426,1.69,207.3,184.1,17.7,277,5430,0.00,2.38,0.00,0.000,6,0.000,0.030,3085,2014,2187,0,0,0,0,0,0
$GC,5688,1.69,207.3,145.1,13.7,301,5692,0.00,2.50,0.00,0.000,4,0.000,0.051,3084,586,2188,0,0,0,0,0,0
$GC,5720,1.69,207.3,140.2,14.7,304,5724,0.00,2.35,0.00,0.000,6,0.000,0.028,3085,2002,2186,0,0,0,0,0,0
$GC,5987,1.69,207.3,106.6,10.8,329,5991,0.00,2.33,0.00,0.000,4,0.000,0.034,3084,3398,2186,0,0,0,0,0,0
$GC,6068,1.69,207.3,98.8,9.4,337,6073,0.00,2.38,0.00,0.000,6,0.000,0.035,3084,1995,2186,0,0,0,0,0,0
$GC,6330,1.69,207.3,71.0,10.7,362,6334,0.00,2.40,0.00,0.000,4,0.000,0.045,3084,592,2186,0,0,0,0,0,0
$GC,6363,1.69,207.3,67.2,11.2,365,6367,0.00,2.30,0.00,0.000,6,0.000,0.025,3085,2013,2185,0,0,0,0,0,0
$GC,6625,1.69,207.3,39.1,12.2,389,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2018,2185,0,0,0,0,0,0
$GC,6880,1.69,207.3,6.2,12.1,430,6887,0.00,2.47,0.00,0.000,4,0.000,0.044,3085,585,2186,0,0,0,0,0,0
$GC,6895,1.69,207.3,4.5,12.3,432,6902,0.00,2.33,0.00,0.000,6,0.000,0.023,3085,2008,2185,0,0,0,0,0,0
$STATE,6907,end climb,SURFACE_DEPTH_REACHED
$STATE,6907,begin surface coast
$FINISH,0.6,1.023601
$STATE,6930,end surface coast,CONTROL_FINISHED_OK
$STATE,6930,begin surface
$SM_CCo,6949,43.47,0.541,0,0,1833,300.00
$SM_GC,1.68,0.00,0.00,43.47,0.000,0.000,0.541,430,2012,1833,-10.49,0.34,300.00
$IRIDIUM_FIX,2106.38,-15757.32,080799,171705
$TT8_MAMPS,0.029146
$HUMID,43.77
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.00
$XPDR_PINGS,0
$24V_AH,23.4,3.204
$10V_AH,10.0,2.774
$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,25.150,86.250,237.375,43.475,0.000,28.158,39.840,106.827,0.000,0.000,12.323,832.667,4554.014,332.669,1260.531,278.696,33.326,904.511,0.000,1256.855,0.000,0.538,0.000
$DEVICE_MAMPS,139.594,60.593,888.953,540.735,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,295.823,282.540,647.708,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355540
$DATA_FILE_SIZE,25460,438
$CAP_FILE_SIZE,77184,0
$CFSIZE,260165632,257183744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130410,212321,2112.395,-15757.099,53,2.3,72,9.8