version: 66.06
glider: 139
mission: 7
dive: 17
start: 4 14 110 2 41 48
data:
$ID,139
$MISSION,7
$DIVE,17
$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,-2119485.8
$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
$GPS1,023603,2111.541,-15758.672,20,2.0,39,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.4
$GPS2,024056,2111.505,-15758.677,14,1.2,14,9.8
$SPEED_LIMITS,0.144,0.186
$TGT_NAME,WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.185,0.012
$KALMAN_X,10842.6,-0.6,-671.6,-18857.0,1693.5
$KALMAN_Y,-1961.2,-227.1,15.7,-7105.8,-441.9
$MHEAD_RNG_PITCHd_Wd,264.0,8290,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.44,-77.9,0.0,0.0,0,78,0.00,0.00,-59.58,0.000,6,0.000,0.000,432,2033,3369,0,0,0,0,0,0
$GC,80,-1.44,-77.9,3.5,-6.1,11,98,10.65,2.40,0.00,0.000,4,0.142,0.029,2385,3452,3370,0,0,0,0,0,0
$GC,260,-1.44,-77.9,42.5,-14.7,43,267,0.00,2.42,0.00,0.000,6,0.000,0.033,2385,2035,3371,0,0,0,0,0,0
$GC,520,-1.44,-77.9,86.7,-14.3,68,524,0.00,2.45,0.00,0.000,4,0.000,0.047,2385,618,3372,0,0,0,0,0,0
$GC,554,-1.44,-77.9,92.1,-17.3,71,558,0.00,2.35,0.00,0.000,6,0.000,0.021,2385,2062,3372,0,0,0,0,0,0
$GC,816,-1.44,-77.9,127.0,-12.7,95,820,0.00,2.47,0.00,0.000,4,0.000,0.046,2385,626,3374,0,0,0,0,0,0
$GC,877,-1.44,-77.9,135.5,-13.6,101,881,0.00,2.30,0.00,0.000,6,0.000,0.022,2385,2042,3373,0,0,0,0,0,0
$GC,1139,-1.44,-77.9,167.7,-13.4,125,1143,0.00,2.45,0.00,0.000,4,0.000,0.046,2385,622,3375,0,0,0,0,0,0
$GC,1172,-1.44,-77.9,172.6,-15.4,128,1176,0.00,2.30,0.00,0.000,6,0.000,0.023,2386,2043,3375,0,0,0,0,0,0
$GC,1435,-1.44,-77.9,212.4,-15.0,149,1439,0.00,2.45,0.00,0.000,4,0.000,0.047,2385,624,3375,0,0,0,0,0,0
$GC,1507,-1.44,-77.9,224.0,-14.4,152,1511,0.00,2.30,0.00,0.000,6,0.000,0.024,2385,2037,3375,0,0,0,0,0,0
$GC,1826,-1.44,-77.9,260.5,-10.1,168,1830,0.00,2.45,0.00,0.000,4,0.000,0.048,2385,618,3376,0,0,0,0,0,0
$GC,1940,-1.44,-77.9,271.1,-9.0,173,1944,0.00,2.30,0.00,0.000,6,0.000,0.025,2385,2033,3376,0,0,0,0,0,0
$GC,2265,-1.44,-77.9,297.4,-8.9,189,2269,0.00,2.45,0.00,0.000,4,0.000,0.051,2385,624,3376,0,0,0,0,0,0
$GC,2333,-1.44,-77.9,304.4,-9.8,191,2337,0.00,2.33,0.00,0.000,6,0.000,0.027,2385,2035,3375,0,0,0,0,0,0
$GC,2672,-1.44,-77.9,340.9,-11.4,200,2677,0.00,2.47,0.00,0.000,4,0.000,0.053,2385,622,3374,0,0,0,0,0,0
$GC,2718,-1.44,-77.9,346.5,-11.9,201,2722,0.00,2.35,0.00,0.000,6,0.000,0.029,2385,2038,3374,0,0,0,0,0,0
$GC,3040,-1.44,-77.9,382.3,-10.7,209,3044,0.00,2.45,0.00,0.000,4,0.000,0.054,2385,629,3373,0,0,0,0,0,0
$GC,3150,-1.44,-77.9,396.8,-12.7,211,3154,0.00,2.35,0.00,0.000,6,0.000,0.031,2385,2039,3372,0,0,0,0,0,0
$GC,3499,-1.44,-77.9,432.5,-9.2,220,3503,0.00,2.50,0.00,0.000,4,0.000,0.057,2385,623,3370,0,0,0,0,0,0
$GC,3634,-1.44,-77.9,445.0,-9.7,223,3638,0.00,2.35,0.00,0.000,6,0.000,0.033,2385,2033,3369,0,0,0,0,0,0
$STATE,3719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3719,begin apogee
$GC,3724,-0.31,0.0,451.7,6.5,225,3792,1.15,0.00,64.65,0.878,6,0.070,0.000,2636,2038,3050,0,0,0,0,0,0
$STATE,3793,end apogee,CONTROL_FINISHED_OK
$STATE,3793,begin climb
$GC,3794,1.44,77.9,451.1,0.0,226,3869,1.70,2.58,64.40,0.855,4,0.040,0.056,3023,3430,2731,0,0,0,0,0,0
$GC,4132,1.59,197.1,451.5,-0.2,233,4242,0.12,2.42,100.97,0.871,6,0.077,0.039,3055,2034,2246,0,0,0,0,0,0
$GC,4564,1.59,197.1,432.6,12.0,244,4569,0.00,2.45,0.00,0.000,4,0.000,0.042,3055,3443,2236,0,0,0,0,0,0
$GC,4656,1.59,197.1,417.2,17.3,246,4661,0.00,2.45,0.00,0.000,6,0.000,0.045,3055,2039,2236,0,0,0,0,0,0
$GC,4978,1.59,197.1,360.4,17.6,254,4982,0.00,2.50,0.00,0.000,4,0.000,0.058,3054,625,2232,0,0,0,0,0,0
$GC,5000,1.59,197.1,356.4,16.9,254,5005,0.00,2.40,0.00,0.000,6,0.000,0.033,3055,2045,2229,0,0,0,0,0,0
$GC,5340,1.59,197.1,310.9,12.6,263,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2050,2229,0,0,0,0,0,0
$GC,5649,1.59,197.1,275.7,10.8,275,5653,0.00,2.53,0.00,0.000,4,0.000,0.054,3054,623,2227,0,0,0,0,0,0
$GC,5714,1.59,197.1,268.2,10.5,278,5718,0.00,2.40,0.00,0.000,6,0.000,0.031,3055,2047,2226,0,0,0,0,0,0
$GC,6042,1.59,197.1,223.6,15.4,294,6046,0.00,2.38,0.00,0.000,4,0.000,0.041,3054,3439,2225,0,0,0,0,0,0
$GC,6133,1.59,197.1,210.4,13.4,298,6137,0.00,2.42,0.00,0.000,6,0.000,0.036,3055,2022,2225,0,0,0,0,0,0
$GC,6464,1.59,197.1,161.8,13.9,326,6468,0.00,2.40,0.00,0.000,4,0.000,0.038,3055,3443,2225,0,0,0,0,0,0
$GC,6663,1.59,197.1,137.2,9.9,347,6668,0.00,2.38,0.00,0.000,6,0.000,0.032,3055,2030,2225,0,0,0,0,0,0
$GC,6924,1.59,197.1,112.6,9.6,372,6928,0.00,2.40,0.00,0.000,4,0.000,0.047,3054,632,2225,0,0,0,0,0,0
$GC,6976,1.59,197.1,108.2,9.3,377,6980,0.00,2.33,0.00,0.000,6,0.000,0.025,3055,2047,2222,0,0,0,0,0,0
$GC,7239,1.59,197.1,84.5,10.7,401,7243,0.00,2.30,0.00,0.000,4,0.000,0.032,3055,3433,2222,0,0,0,0,0,0
$GC,7247,1.59,197.1,83.3,10.4,401,7253,0.00,2.35,0.00,0.000,6,0.000,0.030,3055,2026,2222,0,0,0,0,0,0
$GC,7510,1.59,197.1,57.3,9.5,426,7514,0.00,2.38,0.00,0.000,4,0.000,0.045,3054,632,2222,0,0,0,0,0,0
$GC,7562,1.59,197.1,51.9,10.8,431,7566,0.00,2.28,0.00,0.000,6,0.000,0.023,3055,2046,2223,0,0,0,0,0,0
$GC,7823,1.60,212.6,26.9,7.2,459,7841,0.00,2.35,10.73,0.507,4,0.000,0.033,3055,3425,2182,0,0,0,0,0,0
$GC,7915,1.60,212.6,17.5,10.7,479,7922,0.00,2.35,0.00,0.000,6,0.000,0.028,3055,2031,2182,0,0,0,0,0,0
$STATE,8046,end climb,SURFACE_DEPTH_REACHED
$STATE,8046,begin surface coast
$FINISH,0.5,1.023472
$STATE,8068,end surface coast,CONTROL_FINISHED_OK
$STATE,8069,begin surface
$SM_CCo,8087,43.80,0.523,0,0,1826,300.00
$SM_GC,1.45,0.00,0.00,43.80,0.000,0.000,0.523,430,2024,1826,-10.47,-0.28,300.00
$IRIDIUM_FIX,2104.07,-15755.17,090799,000004
$TT8_MAMPS,0.029146
$HUMID,43.30
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.40
$XPDR_PINGS,2
$24V_AH,23.4,3.428
$10V_AH,10.0,2.990
$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,24.975,95.925,240.750,43.800,0.000,30.371,39.819,136.946,0.500,0.000,14.308,989.805,5139.991,332.182,1642.356,326.597,33.351,1046.937,0.000,1627.444,0.000,0.537,0.000
$DEVICE_MAMPS,141.895,58.292,878.215,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,343.052,320.254,750.251,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,28693,507
$CAP_FILE_SIZE,90880,0
$CFSIZE,260165632,257024000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140410,045846,2111.160,-15759.381,32,2.3,51,9.8