version: 66.06
glider: 139
mission: 7
dive: 21
start: 4 14 110 12 54 12
data:
$ID,139
$MISSION,7
$DIVE,21
$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,-2119564.8
$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,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
$GPS1,124906,2110.402,-15759.777,48,1.5,58,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.2
$GPS2,125320,2110.406,-15759.739,14,1.5,14,9.8
$SPEED_LIMITS,0.144,0.186
$TGT_NAME,WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.140,0.122
$KALMAN_X,16311.6,-363.5,-108.1,-26358.4,1610.9
$KALMAN_Y,-4797.7,315.6,128.3,-6964.8,-1224.5
$MHEAD_RNG_PITCHd_Wd,301.1,5555,-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,-54.97,0.000,2,0.000,0.000,430,2034,3227,0,0,0,0,0,0
$GC,74,-1.44,-77.9,3.1,-4.9,10,93,10.65,2.38,-2.88,0.000,4,0.141,0.041,2389,3459,3369,0,0,0,0,0,0
$GC,125,-1.44,-77.9,17.2,-21.1,20,132,0.00,2.45,0.00,0.000,6,0.000,0.034,2389,2035,3370,0,0,0,0,0,0
$GC,329,-1.44,-77.9,54.7,-17.1,45,333,0.00,2.47,0.00,0.000,4,0.000,0.048,2389,617,3371,0,0,0,0,0,0
$GC,415,-1.44,-77.9,72.3,-21.3,54,419,0.00,2.35,0.00,0.000,6,0.000,0.022,2389,2059,3372,0,0,0,0,0,0
$GC,675,-1.44,-77.9,118.7,-15.7,78,680,0.00,2.45,0.00,0.000,4,0.000,0.044,2389,625,3373,0,0,0,0,0,0
$GC,718,-1.44,-77.9,125.5,-15.9,82,722,0.00,2.30,0.00,0.000,6,0.000,0.022,2389,2037,3373,0,0,0,0,0,0
$GC,978,-1.44,-77.9,164.2,-13.1,106,982,0.00,2.45,0.00,0.000,4,0.000,0.045,2389,618,3374,0,0,0,0,0,0
$GC,1013,-1.44,-77.9,169.4,-14.2,109,1020,0.00,2.33,0.00,0.000,6,0.000,0.023,2389,2043,3374,0,0,0,0,0,0
$GC,1285,-1.44,-77.9,203.0,-11.6,134,1289,0.00,2.45,0.00,0.000,4,0.000,0.046,2389,622,3375,0,0,0,0,0,0
$GC,1367,-1.44,-77.9,213.3,-12.3,137,1372,0.00,2.30,0.00,0.000,6,0.000,0.024,2389,2034,3375,0,0,0,0,0,0
$GC,1682,-1.44,-77.9,254.3,-11.8,153,1687,0.00,2.45,0.00,0.000,4,0.000,0.047,2389,617,3376,0,0,0,0,0,0
$GC,1709,-1.44,-77.9,258.0,-13.4,154,1714,0.00,2.33,0.00,0.000,6,0.000,0.025,2389,2037,3376,0,0,0,0,0,0
$GC,2028,-1.44,-77.9,289.8,-8.8,170,2033,0.00,2.42,0.00,0.000,4,0.000,0.049,2389,628,3375,0,0,0,0,0,0
$GC,2064,-1.44,-77.9,293.5,-9.8,171,2070,0.00,2.33,0.00,0.000,6,0.000,0.026,2389,2039,3375,0,0,0,0,0,0
$GC,2396,-1.44,-77.9,326.1,-10.6,182,2400,0.00,2.47,0.00,0.000,4,0.000,0.052,2388,626,3375,0,0,0,0,0,0
$GC,2484,-1.44,-77.9,337.0,-12.9,184,2488,0.00,2.33,0.00,0.000,6,0.000,0.028,2389,2033,3374,0,0,0,0,0,0
$GC,2810,-1.44,-77.9,376.6,-12.4,192,2815,0.00,2.47,0.00,0.000,4,0.000,0.054,2389,626,3373,0,0,0,0,0,0
$GC,2902,-1.44,-77.9,388.9,-13.0,194,2906,0.00,2.35,0.00,0.000,6,0.000,0.030,2388,2036,3372,0,0,0,0,0,0
$GC,3224,-1.44,-77.9,425.9,-10.8,202,3228,0.00,2.47,0.00,0.000,4,0.000,0.056,2389,630,3370,0,0,0,0,0,0
$GC,3312,-1.44,-77.9,433.4,-8.1,204,3317,0.00,2.35,0.00,0.000,6,0.000,0.031,2388,2037,3370,0,0,0,0,0,0
$STATE,3556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3556,begin apogee
$GC,3560,-0.31,0.0,452.3,7.6,210,3628,1.17,0.00,64.72,0.877,6,0.083,0.000,2637,2041,3050,0,0,0,0,0,0
$STATE,3629,end apogee,CONTROL_FINISHED_OK
$STATE,3629,begin climb
$GC,3631,1.44,77.9,452.7,0.0,211,3705,1.70,2.53,64.38,0.854,4,0.039,0.046,3025,3431,2731,0,0,0,0,0,0
$GC,3825,1.44,77.9,442.5,8.9,215,3830,0.00,2.45,0.00,0.000,6,0.000,0.040,3025,2032,2730,0,0,0,0,0,0
$GC,4174,1.50,124.4,423.2,5.0,224,4216,0.00,0.00,38.88,0.847,6,0.000,0.000,3025,2032,2542,0,0,0,0,0,0
$GC,4541,1.50,124.4,389.4,9.7,233,4545,0.00,2.50,0.00,0.000,4,0.000,0.058,3025,630,2536,0,0,0,0,0,0
$GC,4558,1.50,124.4,387.6,9.6,233,4563,0.00,2.40,0.00,0.000,6,0.000,0.033,3025,2037,2535,0,0,0,0,0,0
$GC,4902,1.50,129.7,358.8,8.0,242,4914,0.00,2.55,4.60,0.585,4,0.000,0.056,3025,622,2520,0,0,0,0,0,0
$GC,4964,1.50,129.7,353.3,8.5,243,4969,0.00,2.40,0.00,0.000,6,0.000,0.032,3025,2040,2519,0,0,0,0,0,0
$GC,5313,1.55,166.0,329.4,5.7,252,5348,0.00,0.00,32.65,0.809,6,0.000,0.000,3025,2045,2373,0,0,0,0,0,0
$GC,5638,1.55,166.0,295.3,12.2,260,5642,0.00,2.53,0.00,0.000,4,0.000,0.055,3025,624,2367,0,0,0,0,0,0
$GC,5658,1.55,166.0,293.0,12.4,261,5662,0.00,2.40,0.00,0.000,6,0.000,0.032,3025,2038,2365,0,0,0,0,0,0
$GC,5987,1.55,166.0,251.7,11.5,277,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2043,2365,0,0,0,0,0,0
$GC,6296,1.55,169.6,222.6,8.1,292,6300,0.00,2.38,0.00,0.000,4,0.000,0.041,3025,3438,2364,0,0,0,0,0,0
$GC,6362,1.55,169.6,216.8,9.5,295,6366,0.00,2.42,0.00,0.000,6,0.000,0.038,3025,2027,2364,0,0,0,0,0,0
$GC,6687,1.58,195.6,188.3,6.5,317,6717,0.12,2.50,25.20,0.703,4,0.077,0.051,3057,629,2252,0,0,0,0,0,0
$GC,6750,1.58,195.6,181.9,11.8,324,6755,0.00,2.38,0.00,0.000,6,0.000,0.028,3057,2039,2248,0,0,0,0,0,0
$GC,7011,1.58,195.6,153.6,10.9,348,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2044,2247,0,0,0,0,0,0
$GC,7265,1.58,195.6,127.4,10.0,372,7270,0.00,2.45,0.00,0.000,4,0.000,0.049,3057,627,2246,0,0,0,0,0,0
$GC,7415,1.58,195.6,107.3,11.7,388,7419,0.00,2.35,0.00,0.000,6,0.000,0.025,3057,2050,2244,0,0,0,0,0,0
$GC,7676,1.58,195.6,80.0,9.7,412,7680,0.00,2.45,0.00,0.000,4,0.000,0.046,3057,626,2244,0,0,0,0,0,0
$GC,7726,1.58,195.6,74.5,11.4,417,7730,0.00,2.33,0.00,0.000,6,0.000,0.024,3057,2041,2244,0,0,0,0,0,0
$GC,7988,1.58,195.6,49.5,9.7,441,7993,0.00,2.45,0.00,0.000,4,0.000,0.044,3057,618,2244,0,0,0,0,0,0
$GC,7997,1.58,195.6,48.2,9.7,441,8004,0.00,2.35,0.00,0.000,6,0.000,0.024,3057,2044,2244,0,0,0,0,0,0
$GC,8258,1.58,195.6,22.5,10.6,472,8264,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2050,2244,0,0,0,0,0,0
$STATE,8457,end climb,SURFACE_DEPTH_REACHED
$STATE,8457,begin surface coast
$FINISH,0.4,1.023597
$STATE,8487,end surface coast,CONTROL_FINISHED_OK
$STATE,8487,begin surface
$SM_CCo,8505,52.30,0.527,0,0,1826,300.00
$SM_GC,0.93,0.00,0.00,52.30,0.000,0.000,0.527,432,2049,1826,-10.47,0.37,300.00
$IRIDIUM_FIX,2101.76,-15758.18,090799,101018
$TT8_MAMPS,0.029913
$HUMID,43.18
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.4,3.715
$10V_AH,10.0,3.278
$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,25.000,91.700,230.425,52.300,0.000,23.112,28.111,115.021,0.000,0.000,14.729,977.742,5713.143,350.330,1495.769,281.814,33.345,995.765,0.000,1489.534,0.000,0.537,0.000
$DEVICE_MAMPS,141.128,58.292,876.681,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,348.212,324.679,735.205,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,28612,514
$CAP_FILE_SIZE,87032,0
$CFSIZE,260165632,256839680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140410,151744,2110.724,-15800.606,19,1.4,19,9.8