version: 66.06
glider: 139
mission: 7
dive: 20
start: 4 14 110 10 19 42
data:
$ID,139
$MISSION,7
$DIVE,20
$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,-2119549.2
$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
$GPS1,101406,2110.412,-15759.041,52,1.5,57,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.7
$GPS2,101852,2110.385,-15759.013,14,4.0,33,9.8
$SPEED_LIMITS,0.144,0.186
$TGT_NAME,WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.175,0.063
$KALMAN_X,15141.0,-502.9,604.4,-24517.4,1677.6
$KALMAN_Y,-4061.4,241.2,98.0,-7633.3,-829.9
$MHEAD_RNG_PITCHd_Wd,279.9,6497,-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,14,begin dive
$GC,15,-1.44,-77.9,0.0,0.0,0,78,0.00,0.00,-59.05,0.000,6,0.000,0.000,432,2054,3369,0,0,0,0,0,0
$GC,80,-1.44,-77.9,3.8,-6.6,11,98,10.65,2.38,0.00,0.000,4,0.141,0.028,2389,3455,3370,0,0,0,0,0,0
$GC,329,-1.44,-77.9,52.2,-15.1,52,333,0.00,2.40,0.00,0.000,6,0.000,0.031,2389,2021,3371,0,0,0,0,0,0
$GC,589,-1.44,-77.9,93.5,-14.1,76,593,0.00,2.40,0.00,0.000,4,0.000,0.045,2389,621,3372,0,0,0,0,0,0
$GC,622,-1.44,-77.9,98.7,-16.6,79,627,0.00,2.35,0.00,0.000,6,0.000,0.022,2389,2063,3372,0,0,0,0,0,0
$GC,884,-1.44,-77.9,134.0,-12.0,103,889,0.00,2.47,0.00,0.000,4,0.000,0.045,2388,627,3373,0,0,0,0,0,0
$GC,964,-1.44,-77.9,144.2,-12.6,111,968,0.00,2.28,0.00,0.000,6,0.000,0.022,2389,2043,3374,0,0,0,0,0,0
$GC,1226,-1.44,-77.9,176.0,-12.4,135,1230,0.00,2.45,0.00,0.000,4,0.000,0.046,2388,623,3375,0,0,0,0,0,0
$GC,1276,-1.44,-77.9,182.7,-12.6,140,1280,0.00,2.30,0.00,0.000,6,0.000,0.023,2389,2038,3374,0,0,0,0,0,0
$GC,1533,-1.44,-77.9,207.5,-9.1,160,1538,0.00,2.40,0.00,0.000,4,0.000,0.046,2388,629,3375,0,0,0,0,0,0
$GC,1624,-1.44,-77.9,218.2,-13.3,164,1628,0.00,2.30,0.00,0.000,6,0.000,0.024,2388,2038,3375,0,0,0,0,0,0
$GC,1948,-1.44,-77.9,257.7,-12.5,180,1952,0.00,2.45,0.00,0.000,4,0.000,0.048,2388,621,3375,0,0,0,0,0,0
$GC,2016,-1.44,-77.9,267.2,-13.9,183,2020,0.00,2.33,0.00,0.000,6,0.000,0.025,2388,2041,3375,0,0,0,0,0,0
$GC,2359,-1.44,-77.9,309.7,-11.7,198,2363,0.00,2.45,0.00,0.000,4,0.000,0.051,2388,631,3375,0,0,0,0,0,0
$GC,2409,-1.44,-77.9,315.8,-11.8,199,2413,0.00,2.33,0.00,0.000,6,0.000,0.027,2388,2040,3375,0,0,0,0,0,0
$GC,2726,-1.44,-77.9,347.3,-9.6,207,2731,0.00,2.47,0.00,0.000,4,0.000,0.053,2388,626,3374,0,0,0,0,0,0
$GC,2744,-1.44,-77.9,349.3,-10.2,207,2748,0.00,2.33,0.00,0.000,6,0.000,0.028,2388,2044,3373,0,0,0,0,0,0
$GC,3088,-1.44,-77.9,386.8,-11.4,216,3092,0.00,2.50,0.00,0.000,4,0.000,0.055,2388,623,3372,0,0,0,0,0,0
$GC,3176,-1.44,-77.9,396.1,-9.8,218,3181,0.00,2.33,0.00,0.000,6,0.000,0.030,2388,2033,3372,0,0,0,0,0,0
$GC,3503,-1.44,-77.9,426.2,-9.7,226,3507,0.00,2.47,0.00,0.000,4,0.000,0.057,2388,632,3370,0,0,0,0,0,0
$GC,3562,-1.44,-77.9,431.8,-9.6,227,3567,0.00,2.35,0.00,0.000,6,0.000,0.031,2388,2039,3369,0,0,0,0,0,0
$STATE,3787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3787,begin apogee
$GC,3792,-0.31,0.0,451.7,8.8,233,3860,1.17,0.00,64.45,0.876,6,0.083,0.000,2636,2043,3050,0,0,0,0,0,0
$STATE,3860,end apogee,CONTROL_FINISHED_OK
$STATE,3861,begin climb
$GC,3862,1.44,77.9,452.9,0.0,234,3937,1.70,2.50,64.20,0.854,4,0.038,0.046,3027,3428,2732,0,0,0,0,0,0
$GC,4200,1.50,131.2,445.2,4.5,241,4252,0.00,2.42,44.83,0.850,6,0.000,0.041,3026,2037,2515,0,0,0,0,0,0
$GC,4587,1.50,131.2,410.9,9.5,251,4591,0.00,2.45,0.00,0.000,4,0.000,0.045,3027,3435,2508,0,0,0,0,0,0
$GC,4729,1.52,142.5,399.2,7.5,254,4745,0.00,2.45,9.95,0.753,6,0.000,0.041,3027,2029,2469,0,0,0,0,0,0
$GC,5090,1.52,142.5,369.4,8.9,263,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2029,2465,0,0,0,0,0,0
$GC,5415,1.52,142.5,333.3,11.3,271,5419,0.00,2.45,0.00,0.000,4,0.000,0.044,3027,3436,2463,0,0,0,0,0,0
$GC,5635,1.52,142.5,308.5,10.8,275,5641,0.00,2.42,0.00,0.000,6,0.000,0.040,3027,2030,2462,0,0,0,0,0,0
$GC,5950,1.52,142.5,278.7,8.9,289,5954,0.00,2.42,0.00,0.000,4,0.000,0.042,3027,3436,2461,0,0,0,0,0,0
$GC,6023,1.53,152.4,272.6,7.6,292,6038,0.00,2.42,8.50,0.692,6,0.000,0.038,3027,2026,2427,0,0,0,0,0,0
$GC,6345,1.54,160.2,248.2,7.8,308,6358,0.00,2.47,7.93,0.655,4,0.000,0.041,3027,3441,2396,0,0,0,0,0,0
$GC,6367,1.55,169.1,246.5,7.7,309,6385,0.00,2.42,9.43,0.675,6,0.000,0.038,3027,2037,2360,0,0,0,0,0,0
$GC,6696,1.56,177.8,219.8,7.7,325,6712,0.00,2.50,8.68,0.653,4,0.000,0.053,3027,621,2324,0,0,0,0,0,0
$GC,6757,1.56,177.8,214.1,9.6,327,6763,0.00,2.38,0.00,0.000,6,0.000,0.029,3027,2039,2322,0,0,0,0,0,0
$GC,7077,1.57,187.1,189.9,7.7,349,7097,0.10,2.50,9.35,0.641,4,0.088,0.051,3053,627,2285,0,0,0,0,0,0
$GC,7209,1.57,187.1,171.8,13.8,363,7214,0.00,2.35,0.00,0.000,6,0.000,0.028,3053,2044,2283,0,0,0,0,0,0
$GC,7471,1.57,187.1,133.3,17.0,387,7475,0.00,2.35,0.00,0.000,4,0.000,0.036,3053,3435,2282,0,0,0,0,0,0
$GC,7489,1.57,187.1,130.0,15.7,388,7496,0.00,2.42,0.00,0.000,6,0.000,0.034,3053,2025,2282,0,0,0,0,0,0
$GC,7751,1.57,187.1,93.9,11.7,413,7756,0.00,2.42,0.00,0.000,4,0.000,0.048,3053,623,2282,0,0,0,0,0,0
$GC,7769,1.57,187.1,91.7,10.4,414,7776,0.00,2.35,0.00,0.000,6,0.000,0.026,3053,2043,2282,0,0,0,0,0,0
$GC,8032,1.57,187.1,66.6,10.0,439,8036,0.00,2.30,0.00,0.000,4,0.000,0.032,3053,3434,2282,0,0,0,0,0,0
$GC,8047,1.57,187.1,64.8,11.0,440,8051,0.00,2.38,0.00,0.000,6,0.000,0.033,3053,2029,2282,0,0,0,0,0,0
$GC,8309,1.57,187.1,40.3,9.3,464,8313,0.00,2.40,0.00,0.000,4,0.000,0.045,3053,629,2282,0,0,0,0,0,0
$GC,8563,1.57,187.1,20.1,8.6,508,8570,0.00,2.30,0.00,0.000,6,0.000,0.022,3053,2031,2282,0,0,0,0,0,0
$STATE,8763,end climb,SURFACE_DEPTH_REACHED
$STATE,8763,begin surface coast
$FINISH,0.5,1.023640
$STATE,8796,end surface coast,CONTROL_FINISHED_OK
$STATE,8796,begin surface
$SM_CCo,8815,56.78,0.535,0,0,1827,300.00
$SM_GC,1.22,0.00,0.00,56.78,0.000,0.000,0.535,430,2035,1827,-10.48,0.03,300.00
$IRIDIUM_FIX,2104.07,-15758.18,090799,070746
$TT8_MAMPS,0.029913
$HUMID,43.77
$INTERNAL_PRESSURE,9.64535
$TCM_TEMP,21.00
$XPDR_PINGS,1
$24V_AH,23.4,3.644
$10V_AH,9.9,3.212
$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,24.875,100.825,227.300,56.775,0.000,30.329,31.023,117.878,0.250,0.000,34.323,1064.073,5667.475,349.668,1773.452,307.551,33.346,1099.215,0.000,1740.970,0.000,0.537,0.000
$DEVICE_MAMPS,141.128,56.758,875.914,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,373.254,352.123,827.697,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,31826,551
$CAP_FILE_SIZE,95939,0
$CFSIZE,260165632,256876544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140410,124906,2110.402,-15759.777,48,1.5,58,9.8