version: 66.06
glider: 139
mission: 7
dive: 15
start: 4 13 110 21 29 12
data:
$ID,139
$MISSION,7
$DIVE,15
$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,-2119427.5
$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
$GPS1,212321,2112.395,-15757.099,53,2.3,72,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.3
$GPS2,212822,2112.363,-15757.049,15,2.2,34,9.8
$SPEED_LIMITS,0.157,0.190
$TGT_NAME,WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.190,0.001
$KALMAN_X,8851.8,-50.3,420.8,-15102.3,1485.5
$KALMAN_Y,-791.3,-269.7,-84.0,-6549.7,-356.0
$MHEAD_RNG_PITCHd_Wd,260.4,11434,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.53,-77.9,0.0,0.0,0,78,0.00,0.00,-59.55,0.000,6,0.000,0.000,429,2011,3374,0,0,0,0,0,0
$GC,81,-1.53,-77.9,3.9,-8.0,11,99,10.52,2.38,0.00,0.000,4,0.140,0.030,2371,3413,3376,0,0,0,0,0,0
$GC,285,-1.53,-77.9,45.9,-14.6,46,290,0.00,2.38,0.00,0.000,6,0.000,0.032,2371,1998,3377,0,0,0,0,0,0
$GC,545,-1.53,-77.9,90.2,-16.7,70,549,0.00,2.40,0.00,0.000,4,0.000,0.045,2371,593,3378,0,0,0,0,0,0
$GC,608,-1.53,-77.9,100.8,-17.7,76,615,0.00,2.35,0.00,0.000,6,0.000,0.022,2371,2030,3379,0,0,0,0,0,0
$GC,869,-1.53,-77.9,139.5,-15.4,101,873,0.00,2.25,0.00,0.000,4,0.000,0.028,2371,3400,3380,0,0,0,0,0,0
$GC,878,-1.53,-77.9,140.9,-14.6,101,883,0.00,2.33,0.00,0.000,6,0.000,0.028,2371,1995,3380,0,0,0,0,0,0
$GC,1138,-1.53,-77.9,177.0,-13.5,126,1143,0.00,2.40,0.00,0.000,4,0.000,0.044,2371,589,3381,0,0,0,0,0,0
$GC,1192,-1.53,-77.9,185.2,-15.6,131,1197,0.00,2.30,0.00,0.000,6,0.000,0.023,2371,2009,3381,0,0,0,0,0,0
$GC,1458,-1.53,-77.9,217.4,-11.9,150,1463,0.00,2.42,0.00,0.000,4,0.000,0.047,2371,598,3381,0,0,0,0,0,0
$GC,1517,-1.53,-77.9,223.9,-11.2,152,1524,0.00,2.30,0.00,0.000,6,0.000,0.025,2371,1997,3382,0,0,0,0,0,0
$GC,1832,-1.53,-77.9,257.4,-12.1,168,1836,0.00,2.42,0.00,0.000,4,0.000,0.048,2371,599,3382,0,0,0,0,0,0
$GC,1863,-1.53,-77.9,261.7,-13.3,169,1867,0.00,2.28,0.00,0.000,6,0.000,0.025,2371,1999,3382,0,0,0,0,0,0
$GC,2183,-1.53,-77.9,298.8,-11.8,185,2187,0.00,2.45,0.00,0.000,4,0.000,0.051,2371,590,3381,0,0,0,0,0,0
$GC,2243,-1.53,-77.9,306.5,-12.3,187,2247,0.00,2.33,0.00,0.000,6,0.000,0.027,2371,2006,3381,0,0,0,0,0,0
$GC,2591,-1.53,-77.9,343.2,-10.0,196,2595,0.00,2.47,0.00,0.000,4,0.000,0.053,2371,590,3380,0,0,0,0,0,0
$GC,2619,-1.53,-77.9,346.0,-11.1,196,2623,0.00,2.33,0.00,0.000,6,0.000,0.028,2371,1998,3380,0,0,0,0,0,0
$GC,2953,-1.53,-77.9,377.6,-9.9,205,2957,0.00,2.45,0.00,0.000,4,0.000,0.055,2371,601,3378,0,0,0,0,0,0
$GC,3014,-1.53,-77.9,384.0,-10.3,206,3018,0.00,2.30,0.00,0.000,6,0.000,0.031,2371,1998,3378,0,0,0,0,0,0
$GC,3363,-1.53,-77.9,421.9,-11.0,215,3364,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1999,3376,0,0,0,0,0,0
$STATE,3686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3686,begin apogee
$GC,3690,-0.31,0.0,453.0,8.9,223,3758,1.27,0.00,64.47,0.894,6,0.084,0.000,2640,2002,3056,0,0,0,0,0,0
$STATE,3759,end apogee,CONTROL_FINISHED_OK
$STATE,3759,begin climb
$GC,3761,1.53,77.9,454.2,0.0,224,3835,1.77,2.50,64.20,0.870,4,0.035,0.045,3050,3387,2738,0,0,0,0,0,0
$GC,4099,1.60,136.1,444.3,4.5,231,4155,0.00,2.42,48.92,0.866,6,0.000,0.042,3050,1999,2501,0,0,0,0,0,0
$GC,4486,1.60,136.1,407.3,9.6,241,4490,0.00,2.45,0.00,0.000,4,0.000,0.045,3050,3398,2494,0,0,0,0,0,0
$GC,4752,1.60,136.1,381.1,9.1,246,4758,0.00,2.45,0.00,0.000,6,0.000,0.042,3049,1998,2492,0,0,0,0,0,0
$GC,5083,1.60,136.6,351.3,9.0,255,5087,0.00,2.42,0.00,0.000,4,0.000,0.044,3050,3395,2490,0,0,0,0,0,0
$GC,5299,1.60,136.6,331.1,9.4,259,5303,0.00,2.42,0.00,0.000,6,0.000,0.041,3050,1998,2489,0,0,0,0,0,0
$GC,5629,1.60,136.6,296.9,10.6,267,5633,0.00,2.42,0.00,0.000,4,0.000,0.044,3050,3397,2487,0,0,0,0,0,0
$GC,5868,1.60,136.6,272.2,10.3,277,5872,0.00,2.40,0.00,0.000,6,0.000,0.038,3050,1998,2487,0,0,0,0,0,0
$GC,6183,1.60,136.6,240.6,9.7,292,6187,0.00,2.40,0.00,0.000,4,0.000,0.042,3050,3397,2485,0,0,0,0,0,0
$GC,6296,1.63,154.7,231.2,7.6,297,6318,0.00,2.40,14.18,0.733,6,0.000,0.037,3051,1991,2424,0,0,0,0,0,0
$GC,6630,1.63,159.1,203.5,8.7,313,6636,0.00,0.00,4.93,0.551,6,0.000,0.000,3050,1991,2407,0,0,0,0,0,0
$GC,6945,1.65,172.3,178.3,8.0,340,6964,0.00,2.45,12.80,0.675,4,0.000,0.037,3050,3400,2353,0,0,0,0,0,0
$GC,7002,1.66,179.3,173.4,8.5,346,7015,0.00,2.40,7.72,0.609,6,0.000,0.034,3050,1998,2324,0,0,0,0,0,0
$GC,7276,1.66,179.3,140.5,12.0,372,7280,0.00,2.45,0.00,0.000,4,0.000,0.050,3050,591,2322,0,0,0,0,0,0
$GC,7403,1.66,179.3,126.5,9.8,385,7408,0.00,2.35,0.00,0.000,6,0.000,0.026,3050,2017,2319,0,0,0,0,0,0
$GC,7664,1.67,192.5,107.0,8.0,410,7684,0.10,2.38,12.15,0.604,4,0.083,0.035,3079,3395,2271,0,0,0,0,0,0
$GC,7785,1.67,192.5,94.7,11.2,423,7789,0.00,2.38,0.00,0.000,6,0.000,0.031,3079,1994,2271,0,0,0,0,0,0
$GC,8047,1.67,192.5,68.1,11.5,447,8051,0.00,2.40,0.00,0.000,4,0.000,0.045,3079,587,2269,0,0,0,0,0,0
$GC,8243,1.67,192.5,47.8,10.6,468,8250,0.00,2.33,0.00,0.000,6,0.000,0.024,3079,1999,2268,0,0,0,0,0,0
$GC,8504,1.69,204.4,23.0,8.1,500,8522,0.00,2.33,11.88,0.525,4,0.000,0.031,3079,3390,2221,0,0,0,0,0,0
$STATE,8704,end climb,SURFACE_DEPTH_REACHED
$STATE,8704,begin surface coast
$FINISH,0.4,1.010673
$STATE,8735,end surface coast,CONTROL_FINISHED_OK
$STATE,8735,begin surface
$SM_CCo,8757,48.85,0.542,0,0,1832,300.00
$SM_GC,1.80,0.00,0.00,48.85,0.000,0.000,0.542,429,1982,1832,-10.49,-0.51,300.00
$IRIDIUM_FIX,2106.38,-15634.42,080799,191910
$TT8_MAMPS,0.029146
$HUMID,43.18
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.40
$XPDR_PINGS,1
$24V_AH,23.4,3.278
$10V_AH,9.9,2.848
$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,25.175,90.625,241.250,48.850,0.000,28.617,33.176,133.221,0.250,0.000,35.843,1058.189,5586.557,347.309,1805.702,317.375,33.335,1106.811,0.000,1770.784,0.000,0.538,0.000
$DEVICE_MAMPS,140.361,55.224,894.322,542.269,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,373.708,351.856,815.230,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,31822,553
$CAP_FILE_SIZE,93567,0
$CFSIZE,260165632,257122304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130410,235656,2112.136,-15757.683,23,1.8,23,9.8