version: 66.06
glider: 139
mission: 7
dive: 16
start: 4 14 110 0 2 45
data:
$ID,139
$MISSION,7
$DIVE,16
$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,180
$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,-2119470.8
$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,2705
$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,2035
$C_ROLL_CLIMB,2035
$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,3050
$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
$GPS1,235656,2112.136,-15757.683,23,1.8,23,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.1
$GPS2,000155,2112.114,-15757.661,42,1.8,42,9.8
$SPEED_LIMITS,0.144,0.186
$TGT_NAME,WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.178,-0.053
$KALMAN_X,10007.5,19.5,-6.3,-16955.3,1185.4
$KALMAN_Y,-1170.2,-345.5,-98.9,-6537.7,-101.3
$MHEAD_RNG_PITCHd_Wd,243.5,10338,-21.5,-8.333
$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,-1.44,-77.9,0.0,0.0,0,73,0.00,0.00,-54.95,0.000,2,0.000,0.000,429,1982,3250,0,0,0,0,0,0
$GC,75,-1.44,-77.9,3.2,-5.5,10,94,10.65,2.35,-2.40,0.000,4,0.142,0.054,2385,616,3368,0,0,0,0,0,0
$GC,246,-1.44,-77.9,42.6,-17.7,41,250,0.00,2.33,0.00,0.000,6,0.000,0.022,2385,2054,3370,0,0,0,0,0,0
$GC,507,-1.44,-77.9,81.9,-13.1,65,511,0.00,2.45,0.00,0.000,4,0.000,0.045,2385,623,3371,0,0,0,0,0,0
$GC,604,-1.44,-77.9,95.3,-12.5,75,608,0.00,2.30,0.00,0.000,6,0.000,0.022,2385,2040,3371,0,0,0,0,0,0
$GC,866,-1.44,-77.9,128.0,-11.6,99,870,0.00,2.45,0.00,0.000,4,0.000,0.045,2385,616,3373,0,0,0,0,0,0
$GC,891,-1.44,-77.9,131.0,-11.9,101,895,0.00,2.30,0.00,0.000,6,0.000,0.022,2385,2040,3373,0,0,0,0,0,0
$GC,1153,-1.44,-77.9,159.0,-11.7,125,1157,0.00,2.42,0.00,0.000,4,0.000,0.044,2385,626,3373,0,0,0,0,0,0
$GC,1189,-1.44,-77.9,164.5,-13.9,128,1196,0.00,2.30,0.00,0.000,6,0.000,0.023,2385,2026,3374,0,0,0,0,0,0
$GC,1452,-1.44,-77.9,199.0,-11.5,153,1456,0.00,2.40,0.00,0.000,4,0.000,0.047,2384,622,3374,0,0,0,0,0,0
$GC,1539,-1.44,-77.9,210.9,-12.6,158,1544,0.00,2.30,0.00,0.000,6,0.000,0.024,2385,2034,3374,0,0,0,0,0,0
$GC,1868,-1.44,-77.9,251.3,-12.3,174,1872,0.00,2.45,0.00,0.000,4,0.000,0.048,2385,618,3374,0,0,0,0,0,0
$GC,1950,-1.44,-77.9,261.4,-10.2,177,1955,0.00,2.30,0.00,0.000,6,0.000,0.025,2385,2038,3374,0,0,0,0,0,0
$GC,2265,-1.44,-77.9,292.2,-10.3,193,2270,0.00,2.42,0.00,0.000,4,0.000,0.050,2385,628,3374,0,0,0,0,0,0
$GC,2315,-1.44,-77.9,297.9,-11.0,195,2319,0.00,2.33,0.00,0.000,6,0.000,0.028,2385,2040,3374,0,0,0,0,0,0
$GC,2630,-1.44,-77.9,325.6,-8.5,204,2634,0.00,2.45,0.00,0.000,4,0.000,0.052,2385,622,3373,0,0,0,0,0,0
$GC,2709,-1.44,-77.9,332.7,-8.9,205,2714,0.00,2.35,0.00,0.000,6,0.000,0.028,2385,2043,3373,0,0,0,0,0,0
$GC,3040,-1.44,-77.9,362.3,-9.5,213,3044,0.00,2.45,0.00,0.000,4,0.000,0.054,2385,629,3371,0,0,0,0,0,0
$GC,3131,-1.44,-77.9,371.6,-9.4,215,3136,0.00,2.30,0.00,0.000,6,0.000,0.031,2385,2031,3371,0,0,0,0,0,0
$GC,3453,-1.44,-77.9,403.2,-10.3,223,3457,0.00,2.47,0.00,0.000,4,0.000,0.056,2385,621,3369,0,0,0,0,0,0
$GC,3504,-1.44,-77.9,408.8,-10.9,224,3508,0.00,2.38,0.00,0.000,6,0.000,0.031,2385,2042,3368,0,0,0,0,0,0
$GC,3821,-1.44,-77.9,434.0,-7.3,232,3826,0.00,2.50,0.00,0.000,4,0.000,0.058,2385,630,3366,0,0,0,0,0,0
$GC,3923,-1.44,-77.9,442.1,-8.1,234,3927,0.00,2.35,0.00,0.000,6,0.000,0.033,2385,2037,3365,0,0,0,0,0,0
$STATE,4030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4031,begin apogee
$GC,4035,-0.31,0.0,450.1,7.4,237,4103,1.20,0.00,64.20,0.894,6,0.086,0.000,2637,2041,3050,0,0,0,0,0,0
$STATE,4103,end apogee,CONTROL_FINISHED_OK
$STATE,4104,begin climb
$GC,4105,1.44,77.9,450.3,0.0,238,4180,1.70,2.53,64.62,0.868,4,0.041,0.048,3022,3429,2731,0,0,0,0,0,0
$GC,4299,1.47,106.3,442.2,6.3,242,4331,0.00,2.42,24.55,0.841,6,0.000,0.041,3023,2036,2616,0,0,0,0,0,0
$GC,4653,1.48,107.8,412.1,8.2,251,4658,0.00,2.53,0.00,0.000,4,0.000,0.058,3022,626,2611,0,0,0,0,0,0
$GC,4791,1.51,135.1,402.1,6.4,254,4823,0.00,2.40,24.50,0.837,6,0.000,0.033,3023,2038,2499,0,0,0,0,0,0
$GC,5154,1.51,135.1,371.0,9.8,263,5158,0.00,2.42,0.00,0.000,4,0.000,0.046,3023,3430,2493,0,0,0,0,0,0
$GC,5237,1.51,135.1,362.1,10.2,264,5242,0.00,2.42,0.00,0.000,6,0.000,0.041,3023,2032,2493,0,0,0,0,0,0
$GC,5567,1.51,135.1,330.5,10.0,273,5571,0.00,2.47,0.00,0.000,4,0.000,0.056,3023,629,2491,0,0,0,0,0,0
$GC,5682,1.51,135.1,316.2,11.7,275,5686,0.00,2.40,0.00,0.000,6,0.000,0.033,3022,2044,2489,0,0,0,0,0,0
$GC,6003,1.51,136.0,288.2,8.3,286,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2046,2489,0,0,0,0,0,0
$GC,6313,1.51,138.0,262.4,8.2,301,6317,0.00,2.40,0.00,0.000,4,0.000,0.044,3023,3441,2488,0,0,0,0,0,0
$GC,6368,1.53,150.0,258.2,7.5,303,6385,0.00,2.42,12.10,0.730,6,0.000,0.039,3023,2031,2438,0,0,0,0,0,0
$GC,6705,1.57,182.4,235.6,6.0,320,6737,0.10,0.00,29.15,0.755,6,0.091,0.000,3047,2030,2306,0,0,0,0,0,0
$GC,7033,1.57,182.4,198.2,10.9,336,7038,0.00,2.45,0.00,0.000,4,0.000,0.053,3046,622,2301,0,0,0,0,0,0
$GC,7123,1.57,182.4,186.5,14.3,345,7129,0.00,2.38,0.00,0.000,6,0.000,0.030,3047,2036,2298,0,0,0,0,0,0
$GC,7384,1.57,182.4,160.2,11.1,370,7388,0.00,2.38,0.00,0.000,4,0.000,0.038,3047,3436,2298,0,0,0,0,0,0
$GC,7471,1.57,182.4,150.6,12.4,379,7475,0.00,2.40,0.00,0.000,6,0.000,0.035,3047,2031,2298,0,0,0,0,0,0
$GC,7733,1.57,182.4,123.2,8.6,403,7737,0.00,2.38,0.00,0.000,4,0.000,0.035,3047,3436,2298,0,0,0,0,0,0
$GC,7867,1.57,182.4,110.1,10.5,417,7871,0.00,2.38,0.00,0.000,6,0.000,0.032,3047,2030,2298,0,0,0,0,0,0
$GC,8129,1.57,182.4,82.0,12.3,441,8133,0.00,2.40,0.00,0.000,4,0.000,0.047,3047,632,2298,0,0,0,0,0,0
$GC,8236,1.57,182.4,69.5,11.5,452,8243,0.00,2.35,0.00,0.000,6,0.000,0.025,3047,2048,2297,0,0,0,0,0,0
$GC,8498,1.62,223.6,52.7,5.4,477,8539,0.00,0.00,35.25,0.584,6,0.000,0.000,3047,2054,2137,0,0,0,0,0,0
$GC,8794,1.62,223.6,28.3,10.2,506,8801,0.00,2.33,0.00,0.000,4,0.000,0.032,3047,3427,2133,0,0,0,0,0,0
$GC,8887,1.62,223.6,18.9,9.3,527,8893,0.00,2.35,0.00,0.000,6,0.000,0.029,3047,2039,2133,0,0,0,0,0,0
$STATE,9039,end climb,SURFACE_DEPTH_REACHED
$STATE,9039,begin surface coast
$FINISH,0.4,1.023311
$STATE,9067,end surface coast,CONTROL_FINISHED_OK
$STATE,9067,begin surface
$SM_CCo,9086,37.92,0.528,0,0,1826,300.00
$SM_GC,1.48,0.00,0.00,37.92,0.000,0.000,0.528,433,2032,1826,-10.46,-0.08,300.00
$IRIDIUM_FIX,2101.76,-15747.88,080799,212128
$TT8_MAMPS,0.029146
$HUMID,43.81
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.30
$XPDR_PINGS,1
$24V_AH,23.4,3.352
$10V_AH,9.9,2.921
$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,25.000,100.550,254.375,37.925,0.000,29.715,28.296,124.344,0.250,0.000,42.497,1077.763,5914.305,353.895,1771.922,309.688,33.351,1102.372,0.000,1733.139,0.000,0.538,0.000
$DEVICE_MAMPS,141.895,58.292,893.555,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,379.253,356.886,822.161,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,31692,560
$CAP_FILE_SIZE,97019,0
$CFSIZE,260165632,257069056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140410,023603,2111.541,-15758.672,20,2.0,39,9.8