version: 66.06
glider: 139
mission: 7
dive: 19
start: 4 14 110 7 43 42
data:
$ID,139
$MISSION,7
$DIVE,19
$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,-2119514.2
$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,2708
$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
$GPS1,073836,2110.488,-15759.181,52,1.0,64,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.6
$GPS2,074250,2110.448,-15759.158,13,1.0,13,9.8
$SPEED_LIMITS,0.144,0.186
$TGT_NAME,WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.182,0.040
$KALMAN_X,13149.1,-384.4,261.3,-22550.1,1945.9
$KALMAN_Y,-3214.5,80.2,-43.6,-8066.1,-441.3
$MHEAD_RNG_PITCHd_Wd,272.6,6365,-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,-77.9,0.0,0.0,0,76,0.00,0.00,-59.03,0.000,6,0.000,0.000,431,2043,3369,0,0,0,0,0,0
$GC,79,-1.44,-77.9,3.7,-6.3,11,97,10.70,2.38,0.00,0.000,4,0.143,0.030,2388,3446,3370,0,0,0,0,0,0
$GC,258,-1.44,-77.9,39.7,-15.3,44,262,0.00,2.38,0.00,0.000,6,0.000,0.033,2388,2032,3371,0,0,0,0,0,0
$GC,519,-1.44,-77.9,77.0,-13.3,68,523,0.00,2.42,0.00,0.000,4,0.000,0.045,2388,619,3371,0,0,0,0,0,0
$GC,571,-1.44,-77.9,84.5,-15.4,73,575,0.00,2.33,0.00,0.000,6,0.000,0.021,2388,2062,3372,0,0,0,0,0,0
$GC,833,-1.44,-77.9,120.4,-14.5,97,837,0.00,2.47,0.00,0.000,4,0.000,0.045,2388,628,3373,0,0,0,0,0,0
$GC,876,-1.44,-77.9,126.6,-13.6,101,880,0.00,2.30,0.00,0.000,6,0.000,0.022,2388,2045,3373,0,0,0,0,0,0
$GC,1138,-1.44,-77.9,161.4,-13.0,125,1143,0.00,2.45,0.00,0.000,4,0.000,0.044,2388,618,3375,0,0,0,0,0,0
$GC,1165,-1.44,-77.9,165.5,-14.0,127,1171,0.00,2.30,0.00,0.000,6,0.000,0.022,2388,2036,3375,0,0,0,0,0,0
$GC,1426,-1.44,-77.9,198.0,-12.0,152,1430,0.00,2.30,0.00,0.000,4,0.000,0.031,2388,3426,3375,0,0,0,0,0,0
$GC,1457,-1.44,-77.9,201.8,-11.3,154,1461,0.00,2.33,0.00,0.000,6,0.000,0.031,2388,2032,3375,0,0,0,0,0,0
$GC,1773,-1.44,-77.9,235.7,-10.0,169,1777,0.00,2.38,0.00,0.000,4,0.000,0.046,2388,629,3376,0,0,0,0,0,0
$GC,1915,-1.44,-77.9,252.0,-12.3,175,1919,0.00,2.25,0.00,0.000,6,0.000,0.024,2388,2032,3376,0,0,0,0,0,0
$GC,2236,-1.44,-77.9,282.1,-8.6,191,2240,0.00,2.42,0.00,0.000,4,0.000,0.048,2388,632,3376,0,0,0,0,0,0
$GC,2290,-1.44,-77.9,288.2,-11.4,193,2294,0.00,2.30,0.00,0.000,6,0.000,0.026,2388,2033,3376,0,0,0,0,0,0
$GC,2622,-1.44,-77.9,319.3,-9.4,204,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2037,3375,0,0,0,0,0,0
$GC,2947,-1.44,-77.9,355.3,-11.4,212,2951,0.00,2.45,0.00,0.000,4,0.000,0.052,2388,632,3373,0,0,0,0,0,0
$GC,3020,-1.44,-77.9,364.1,-12.0,213,3025,0.00,2.33,0.00,0.000,6,0.000,0.029,2388,2034,3373,0,0,0,0,0,0
$GC,3355,-1.44,-77.9,397.3,-9.2,222,3360,0.00,2.47,0.00,0.000,4,0.000,0.055,2388,629,3371,0,0,0,0,0,0
$GC,3415,-1.44,-77.9,403.1,-9.1,223,3419,0.00,2.35,0.00,0.000,6,0.000,0.031,2388,2037,3371,0,0,0,0,0,0
$GC,3763,-1.44,-77.9,433.4,-9.1,232,3768,0.00,2.45,0.00,0.000,4,0.000,0.056,2388,633,3369,0,0,0,0,0,0
$GC,3828,-1.44,-77.9,439.2,-8.6,233,3832,0.00,2.33,0.00,0.000,6,0.000,0.031,2388,2041,3368,0,0,0,0,0,0
$STATE,4130,end dive,NO_VERTICAL_VELOCITY
$STATE,4130,begin apogee
$GC,4134,-0.31,0.0,441.6,0.0,241,4201,1.10,0.00,64.18,0.881,6,0.041,0.000,2650,2045,3050,0,0,0,0,0,0
$STATE,4202,end apogee,CONTROL_FINISHED_OK
$STATE,4202,begin climb
$GC,4204,1.44,77.9,441.5,0.0,242,4279,1.65,2.58,64.85,0.854,4,0.037,0.054,3025,633,2730,0,0,0,0,0,0
$GC,4541,1.53,153.8,434.0,2.9,250,4611,0.00,2.38,64.12,0.856,6,0.000,0.033,3025,2034,2422,0,0,0,0,0,0
$GC,4936,1.53,153.8,391.3,12.3,260,4940,0.00,2.53,0.00,0.000,4,0.000,0.058,3025,632,2413,0,0,0,0,0,0
$GC,5194,1.53,153.8,354.0,12.7,265,5198,0.00,2.40,0.00,0.000,6,0.000,0.035,3025,2036,2409,0,0,0,0,0,0
$GC,5529,1.53,153.8,313.1,11.9,274,5533,0.00,2.50,0.00,0.000,4,0.000,0.056,3024,634,2408,0,0,0,0,0,0
$GC,5538,1.53,153.8,312.1,11.1,274,5542,0.00,2.38,0.00,0.000,6,0.000,0.035,3025,2040,2407,0,0,0,0,0,0
$GC,5853,1.54,158.3,285.1,8.0,286,5857,0.00,2.40,0.00,0.000,4,0.000,0.044,3025,3434,2406,0,0,0,0,0,0
$GC,6114,1.54,158.3,258.6,10.8,297,6118,0.00,2.40,0.00,0.000,6,0.000,0.039,3025,2036,2406,0,0,0,0,0,0
$GC,6428,1.54,159.9,229.8,8.2,312,6432,0.00,2.47,0.00,0.000,4,0.000,0.053,3025,625,2404,0,0,0,0,0,0
$GC,6684,1.54,159.9,207.2,9.3,323,6688,0.00,2.38,0.00,0.000,6,0.000,0.029,3025,2054,2401,0,0,0,0,0,0
$GC,7015,1.56,177.0,179.2,7.1,350,7038,0.10,2.38,17.30,0.680,4,0.087,0.038,3052,3430,2328,0,0,0,0,0,0
$GC,7052,1.58,190.8,176.4,7.3,353,7070,0.00,2.40,13.45,0.644,6,0.000,0.033,3052,2028,2272,0,0,0,0,0,0
$GC,7327,1.58,190.8,147.2,10.2,379,7331,0.00,2.38,0.00,0.000,4,0.000,0.034,3052,3431,2268,0,0,0,0,0,0
$GC,7425,1.58,190.8,138.0,9.2,389,7429,0.00,2.38,0.00,0.000,6,0.000,0.033,3052,2035,2268,0,0,0,0,0,0
$GC,7687,1.58,190.8,116.8,10.1,413,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2035,2267,0,0,0,0,0,0
$GC,7941,1.58,190.8,90.4,12.0,437,7945,0.00,2.38,0.00,0.000,4,0.000,0.032,3052,3434,2267,0,0,0,0,0,0
$GC,8056,1.58,190.8,76.4,11.0,449,8060,0.00,2.33,0.00,0.000,6,0.000,0.030,3052,2033,2268,0,0,0,0,0,0
$GC,8318,1.58,190.8,49.0,11.2,473,8319,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2033,2267,0,0,0,0,0,0
$GC,8573,1.61,214.9,28.6,6.6,498,8596,0.00,0.00,21.38,0.539,6,0.000,0.000,3052,2033,2174,0,0,0,0,0,0
$GC,8788,1.61,214.9,9.7,8.5,538,8795,0.00,2.42,0.00,0.000,4,0.000,0.044,3051,632,2171,0,0,0,0,0,0
$GC,8836,1.61,214.9,4.1,12.5,548,8843,0.00,2.33,0.00,0.000,6,0.000,0.022,3052,2049,2169,0,0,0,0,0,0
$STATE,8848,end climb,SURFACE_DEPTH_REACHED
$STATE,8848,begin surface coast
$FINISH,0.4,1.023489
$STATE,8869,end surface coast,CONTROL_FINISHED_OK
$STATE,8869,begin surface
$SM_CCo,8888,43.62,0.521,0,0,1827,300.00
$SM_GC,1.04,0.00,0.00,43.62,0.000,0.000,0.521,432,2052,1827,-10.47,0.48,300.00
$IRIDIUM_FIX,2104.07,-15800.33,090799,050554
$TT8_MAMPS,0.029913
$HUMID,42.47
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.50
$XPDR_PINGS,1
$24V_AH,23.4,3.572
$10V_AH,10.0,3.138
$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,24.875,90.750,245.275,43.625,0.000,29.614,24.068,112.783,0.250,0.000,13.572,1070.890,5707.432,343.704,1774.401,294.047,33.353,1093.702,0.000,1766.749,0.000,0.538,0.000
$DEVICE_MAMPS,142.662,57.525,880.516,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,374.589,355.719,817.769,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,31859,554
$CAP_FILE_SIZE,94598,0
$CFSIZE,260165632,256925696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140410,101406,2110.412,-15759.041,52,1.5,57,9.8