version: 66.06
glider: 139
mission: 7
dive: 18
start: 4 14 110 5 4 6
data:
$ID,139
$MISSION,7
$DIVE,18
$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,-2119500
$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
$GPS1,045846,2111.160,-15759.381,32,2.3,51,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.1
$GPS2,050314,2111.135,-15759.371,13,2.0,13,9.8
$SPEED_LIMITS,0.144,0.186
$TGT_NAME,WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.157,-0.100
$KALMAN_X,11589.3,-138.3,-477.4,-20858.5,2071.7
$KALMAN_Y,-2931.9,-27.6,-31.0,-6973.7,-899.0
$MHEAD_RNG_PITCHd_Wd,227.7,6968,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.44,-77.9,0.0,0.0,0,72,0.00,0.00,-54.85,0.000,2,0.000,0.000,430,2025,3231,0,0,0,0,0,0
$GC,74,-1.44,-77.9,3.0,-5.0,10,93,10.65,2.40,-2.78,0.000,4,0.141,0.052,2386,623,3369,0,0,0,0,0,0
$GC,245,-1.44,-77.9,42.6,-17.7,41,250,0.00,2.35,0.00,0.000,6,0.000,0.023,2386,2062,3370,0,0,0,0,0,0
$GC,507,-1.44,-77.9,79.9,-11.9,65,511,0.00,2.50,0.00,0.000,4,0.000,0.045,2386,618,3372,0,0,0,0,0,0
$GC,587,-1.44,-77.9,92.6,-16.0,73,593,0.00,2.30,0.00,0.000,6,0.000,0.022,2386,2037,3372,0,0,0,0,0,0
$GC,847,-1.44,-77.9,130.4,-14.7,98,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2041,3373,0,0,0,0,0,0
$GC,1103,-1.44,-77.9,166.0,-13.4,122,1107,0.00,2.40,0.00,0.000,4,0.000,0.043,2386,623,3373,0,0,0,0,0,0
$GC,1120,-1.44,-77.9,168.4,-12.8,123,1126,0.00,2.30,0.00,0.000,6,0.000,0.023,2386,2041,3374,0,0,0,0,0,0
$GC,1381,-1.44,-77.9,199.2,-12.3,148,1386,0.00,2.42,0.00,0.000,4,0.000,0.045,2386,618,3374,0,0,0,0,0,0
$GC,1408,-1.44,-77.9,203.1,-13.9,150,1412,0.00,2.30,0.00,0.000,6,0.000,0.023,2386,2034,3374,0,0,0,0,0,0
$GC,1727,-1.44,-77.9,241.0,-11.3,166,1731,0.00,2.40,0.00,0.000,4,0.000,0.046,2386,626,3375,0,0,0,0,0,0
$GC,1847,-1.44,-77.9,256.1,-11.6,171,1851,0.00,2.28,0.00,0.000,6,0.000,0.025,2385,2031,3375,0,0,0,0,0,0
$GC,2167,-1.44,-77.9,292.6,-11.8,187,2171,0.00,2.40,0.00,0.000,4,0.000,0.048,2386,626,3375,0,0,0,0,0,0
$GC,2244,-1.44,-77.9,302.6,-13.0,190,2249,0.00,2.30,0.00,0.000,6,0.000,0.026,2386,2033,3375,0,0,0,0,0,0
$GC,2574,-1.44,-77.9,340.8,-11.2,198,2579,0.00,2.42,0.00,0.000,4,0.000,0.051,2386,626,3375,0,0,0,0,0,0
$GC,2657,-1.44,-77.9,349.8,-10.2,199,2663,0.00,2.33,0.00,0.000,6,0.000,0.028,2386,2036,3375,0,0,0,0,0,0
$GC,2988,-1.44,-77.9,374.8,-5.6,208,2992,0.00,2.45,0.00,0.000,4,0.000,0.051,2386,629,3373,0,0,0,0,0,0
$GC,3102,-1.44,-77.9,382.6,-9.2,210,3107,0.00,2.33,0.00,0.000,6,0.000,0.029,2385,2033,3373,0,0,0,0,0,0
$GC,3442,-1.44,-77.9,419.9,-12.2,219,3446,0.00,2.42,0.00,0.000,4,0.000,0.052,2386,629,3371,0,0,0,0,0,0
$GC,3469,-1.44,-77.9,423.0,-10.8,219,3473,0.00,2.35,0.00,0.000,6,0.000,0.031,2386,2038,3371,0,0,0,0,0,0
$STATE,3721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3721,begin apogee
$GC,3725,-0.31,0.0,450.9,11.1,226,3793,1.17,0.00,64.65,0.871,6,0.082,0.000,2635,2043,3050,0,0,0,0,0,0
$STATE,3794,end apogee,CONTROL_FINISHED_OK
$STATE,3794,begin climb
$GC,3796,1.44,77.9,451.8,0.0,227,3870,1.67,2.53,64.30,0.847,4,0.036,0.046,3022,3433,2732,0,0,0,0,0,0
$GC,4133,1.48,110.7,438.3,6.0,234,4166,0.00,2.45,27.77,0.830,6,0.000,0.041,3022,2030,2598,0,0,0,0,0,0
$GC,4480,1.48,110.7,408.3,8.9,243,4485,0.00,2.45,0.00,0.000,4,0.000,0.044,3022,3437,2593,0,0,0,0,0,0
$GC,4710,1.51,131.9,388.6,6.8,248,4735,0.00,2.45,18.12,0.805,6,0.000,0.040,3022,2026,2511,0,0,0,0,0,0
$GC,5075,1.51,131.9,358.6,8.8,257,5079,0.00,2.47,0.00,0.000,4,0.000,0.056,3021,629,2507,0,0,0,0,0,0
$GC,5192,1.51,136.3,348.8,8.0,259,5201,0.00,2.40,4.15,0.545,6,0.000,0.033,3022,2043,2494,0,0,0,0,0,0
$GC,5532,1.52,147.8,323.9,7.5,268,5548,0.00,2.45,11.38,0.747,4,0.000,0.044,3022,3435,2447,0,0,0,0,0,0
$GC,5571,1.52,147.8,320.2,9.4,268,5577,0.00,2.45,0.00,0.000,6,0.000,0.039,3022,2027,2447,0,0,0,0,0,0
$GC,5884,1.52,147.8,286.2,11.6,279,5888,0.00,2.42,0.00,0.000,4,0.000,0.041,3022,3434,2444,0,0,0,0,0,0
$GC,5938,1.52,147.8,279.7,11.7,281,5943,0.00,2.40,0.00,0.000,6,0.000,0.038,3022,2033,2445,0,0,0,0,0,0
$GC,6253,1.52,147.8,247.9,8.6,296,6257,0.00,2.45,0.00,0.000,4,0.000,0.053,3022,631,2443,0,0,0,0,0,0
$GC,6392,1.54,161.8,236.3,7.3,302,6415,0.00,2.38,12.48,0.703,6,0.000,0.030,3021,2053,2390,0,0,0,0,0,0
$GC,6723,1.54,163.6,209.4,8.2,318,6727,0.00,2.50,0.00,0.000,4,0.000,0.050,3022,622,2388,0,0,0,0,0,0
$GC,6868,1.54,163.6,195.0,10.0,327,6873,0.00,2.35,0.00,0.000,6,0.000,0.028,3022,2038,2386,0,0,0,0,0,0
$GC,7128,1.54,163.6,170.1,9.6,352,7132,0.00,2.35,0.00,0.000,4,0.000,0.037,3022,3430,2386,0,0,0,0,0,0
$GC,7236,1.54,163.6,160.3,8.5,363,7241,0.00,2.38,0.00,0.000,6,0.000,0.032,3021,2025,2386,0,0,0,0,0,0
$GC,7497,1.56,180.6,140.8,7.1,388,7520,0.10,2.40,17.08,0.635,4,0.086,0.035,3050,3429,2313,0,0,0,0,0,0
$GC,7760,1.56,180.6,116.1,9.9,416,7767,0.00,2.38,0.00,0.000,6,0.000,0.031,3050,2038,2313,0,0,0,0,0,0
$GC,8022,1.56,180.6,92.5,9.3,441,8026,0.00,2.35,0.00,0.000,4,0.000,0.033,3049,3433,2311,0,0,0,0,0,0
$GC,8072,1.58,190.7,88.5,7.6,446,8087,0.00,2.35,10.07,0.551,6,0.000,0.038,3049,2032,2272,0,0,0,0,0,0
$GC,8343,1.58,193.5,67.5,8.1,471,8355,0.00,2.45,3.92,0.384,4,0.000,0.046,3049,633,2261,0,0,0,0,0,0
$GC,8482,1.58,193.5,55.4,8.7,486,8489,0.00,2.33,0.00,0.000,6,0.000,0.023,3049,2041,2259,0,0,0,0,0,0
$GC,8744,1.61,214.3,37.8,6.9,511,8769,0.00,2.47,19.15,0.539,4,0.000,0.044,3050,632,2176,0,0,0,0,0,0
$GC,8798,1.61,214.3,33.2,9.6,516,8802,0.00,2.30,0.00,0.000,6,0.000,0.022,3049,2039,2173,0,0,0,0,0,0
$GC,9061,1.61,214.3,4.9,11.2,561,9068,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2044,2173,0,0,0,0,0,0
$STATE,9079,end climb,SURFACE_DEPTH_REACHED
$STATE,9079,begin surface coast
$FINISH,0.5,1.023670
$STATE,9108,end surface coast,CONTROL_FINISHED_OK
$STATE,9108,begin surface
$SM_CCo,9127,43.53,0.519,0,0,1826,300.00
$SM_GC,1.14,0.00,0.00,43.53,0.000,0.000,0.519,431,2042,1826,-10.46,0.20,300.00
$IRIDIUM_FIX,2104.07,-15800.33,090799,020224
$TT8_MAMPS,0.029146
$HUMID,42.32
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.40
$XPDR_PINGS,5
$24V_AH,23.4,3.500
$10V_AH,9.9,3.065
$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,24.950,100.550,253.075,43.525,0.000,30.274,28.680,124.145,1.250,0.000,13.508,1107.828,5817.824,349.081,1850.983,321.277,33.357,1148.894,0.000,1839.881,0.000,0.538,0.000
$DEVICE_MAMPS,141.128,55.991,871.312,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,384.375,363.136,827.564,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,31819,569
$CAP_FILE_SIZE,100814,0
$CFSIZE,260165632,256970752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140410,073836,2110.488,-15759.181,52,1.0,64,9.8