version: 66.06
glider: 139
mission: 7
dive: 23
start: 4 14 110 17 49 54
data:
$ID,139
$MISSION,7
$DIVE,23
$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,-2119647.8
$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
$GPS1,174421,2109.882,-15800.915,46,2.5,65,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.0
$GPS2,174904,2109.834,-15800.877,17,7.0,36,9.8
$SPEED_LIMITS,0.144,0.186
$TGT_NAME,WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.173,-0.068
$KALMAN_X,17670.3,-75.7,-701.5,-29375.2,2766.3
$KALMAN_Y,-5693.8,122.9,28.1,-6837.7,-887.7
$MHEAD_RNG_PITCHd_Wd,238.8,3454,-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,13,begin dive
$GC,15,-1.44,-77.9,0.0,0.0,0,77,0.00,0.00,-58.65,0.000,6,0.000,0.000,430,2022,3368,0,0,0,0,0,0
$GC,80,-1.44,-77.9,4.1,-7.7,11,98,10.70,2.42,0.00,0.000,4,0.142,0.027,2391,3454,3370,0,0,0,0,0,0
$GC,328,-1.44,-77.9,55.1,-18.4,51,332,0.00,2.40,0.00,0.000,6,0.000,0.030,2392,2030,3371,0,0,0,0,0,0
$GC,590,-1.44,-77.9,99.3,-16.5,75,594,0.00,2.40,0.00,0.000,4,0.000,0.046,2392,630,3372,0,0,0,0,0,0
$GC,633,-1.44,-77.9,106.9,-16.9,79,637,0.00,2.33,0.00,0.000,6,0.000,0.021,2392,2061,3372,0,0,0,0,0,0
$GC,895,-1.44,-77.9,145.0,-13.7,103,899,0.00,2.45,0.00,0.000,4,0.000,0.044,2392,628,3373,0,0,0,0,0,0
$GC,931,-1.44,-77.9,149.4,-11.3,106,937,0.00,2.30,0.00,0.000,6,0.000,0.022,2392,2030,3373,0,0,0,0,0,0
$GC,1193,-1.44,-77.9,177.3,-13.5,131,1197,0.00,2.40,0.00,0.000,4,0.000,0.045,2391,626,3374,0,0,0,0,0,0
$GC,1236,-1.44,-77.9,183.9,-15.3,135,1240,0.00,2.30,0.00,0.000,6,0.000,0.022,2391,2041,3374,0,0,0,0,0,0
$GC,1503,-1.44,-77.9,219.2,-12.8,153,1507,0.00,2.42,0.00,0.000,4,0.000,0.046,2392,620,3375,0,0,0,0,0,0
$GC,1592,-1.44,-77.9,231.0,-13.9,157,1597,0.00,2.30,0.00,0.000,6,0.000,0.023,2391,2031,3375,0,0,0,0,0,0
$GC,1922,-1.44,-77.9,270.9,-12.0,173,1926,0.00,2.42,0.00,0.000,4,0.000,0.048,2392,631,3375,0,0,0,0,0,0
$GC,1981,-1.44,-77.9,278.4,-11.7,175,1986,0.00,2.30,0.00,0.000,6,0.000,0.025,2392,2044,3375,0,0,0,0,0,0
$GC,2314,-1.44,-77.9,313.2,-10.0,189,2318,0.00,2.45,0.00,0.000,4,0.000,0.049,2391,632,3375,0,0,0,0,0,0
$GC,2430,-1.44,-77.9,325.8,-11.0,191,2434,0.00,2.30,0.00,0.000,6,0.000,0.025,2391,2034,3375,0,0,0,0,0,0
$GC,2770,-1.44,-77.9,355.9,-8.3,200,2774,0.00,2.42,0.00,0.000,4,0.000,0.052,2391,633,3374,0,0,0,0,0,0
$GC,2820,-1.44,-77.9,360.7,-9.5,201,2824,0.00,2.30,0.00,0.000,6,0.000,0.027,2391,2031,3374,0,0,0,0,0,0
$GC,3137,-1.44,-77.9,385.3,-7.9,209,3142,0.00,2.47,0.00,0.000,4,0.000,0.054,2391,633,3373,0,0,0,0,0,0
$GC,3239,-1.44,-77.9,394.8,-9.7,211,3243,0.00,2.33,0.00,0.000,6,0.000,0.029,2392,2032,3373,0,0,0,0,0,0
$GC,3551,-1.44,-77.9,421.6,-8.4,219,3555,0.00,2.47,0.00,0.000,4,0.000,0.056,2391,630,3370,0,0,0,0,0,0
$GC,3629,-1.44,-77.9,428.3,-8.2,220,3634,0.00,2.35,0.00,0.000,6,0.000,0.030,2391,2042,3370,0,0,0,0,0,0
$GC,3960,-1.44,-77.9,447.1,-4.8,228,3964,0.00,2.50,0.00,0.000,4,0.000,0.058,2392,632,3368,0,0,0,0,0,0
$GC,4010,-1.44,-77.9,449.4,-3.9,229,4015,0.00,2.35,0.00,0.000,6,0.000,0.031,2391,2034,3367,0,0,0,0,0,0
$STATE,4027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4027,begin apogee
$GC,4031,-0.31,0.0,450.1,3.4,229,4099,1.15,0.00,64.45,0.876,6,0.083,0.000,2637,2038,3050,0,0,0,0,0,0
$STATE,4100,end apogee,CONTROL_FINISHED_OK
$STATE,4100,begin climb
$GC,4101,1.44,77.9,448.3,0.0,231,4176,1.70,2.53,64.38,0.852,4,0.039,0.046,3025,3433,2731,0,0,0,0,0,0
$GC,4360,1.44,77.9,428.5,8.5,236,4365,0.00,2.42,0.00,0.000,6,0.000,0.040,3025,2039,2729,0,0,0,0,0,0
$GC,4691,1.51,133.8,411.2,4.3,244,4744,0.00,2.53,46.55,0.845,4,0.000,0.044,3025,3437,2505,0,0,0,0,0,0
$GC,4777,1.51,133.8,405.3,9.5,246,4781,0.00,2.47,0.00,0.000,6,0.000,0.042,3025,2031,2504,0,0,0,0,0,0
$GC,5105,1.51,133.8,375.1,9.5,254,5109,0.00,2.42,0.00,0.000,4,0.000,0.044,3025,3434,2497,0,0,0,0,0,0
$GC,5220,1.51,133.8,363.1,9.5,256,5224,0.00,2.45,0.00,0.000,6,0.000,0.042,3025,2031,2497,0,0,0,0,0,0
$GC,5559,1.51,133.8,329.0,10.5,265,5563,0.00,2.50,0.00,0.000,4,0.000,0.058,3025,626,2494,0,0,0,0,0,0
$GC,5629,1.51,133.8,322.0,8.8,266,5634,0.00,2.40,0.00,0.000,6,0.000,0.032,3025,2043,2492,0,0,0,0,0,0
$GC,5950,1.51,133.8,294.2,9.2,275,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2048,2492,0,0,0,0,0,0
$GC,6258,1.56,176.9,273.1,5.3,290,6299,0.10,0.00,36.22,0.779,6,0.089,0.000,3050,2048,2328,0,0,0,0,0,0
$GC,6609,1.56,176.9,242.4,9.9,307,6613,0.00,2.53,0.00,0.000,4,0.000,0.053,3050,622,2321,0,0,0,0,0,0
$GC,6652,1.56,176.9,236.8,13.6,309,6656,0.00,2.38,0.00,0.000,6,0.000,0.030,3050,2038,2318,0,0,0,0,0,0
$GC,6971,1.56,176.9,195.7,11.8,326,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2043,2318,0,0,0,0,0,0
$GC,7226,1.56,176.9,165.2,11.0,350,7230,0.00,2.47,0.00,0.000,4,0.000,0.050,3050,627,2318,0,0,0,0,0,0
$GC,7297,1.56,176.9,156.7,11.5,357,7303,0.00,2.35,0.00,0.000,6,0.000,0.027,3050,2040,2316,0,0,0,0,0,0
$GC,7559,1.58,191.3,133.3,7.3,382,7578,0.00,2.40,12.05,0.607,4,0.000,0.035,3050,3430,2269,0,0,0,0,0,0
$GC,7608,1.58,191.3,129.3,8.4,387,7612,0.00,2.38,0.00,0.000,6,0.000,0.031,3050,2029,2269,0,0,0,0,0,0
$GC,7871,1.59,201.8,105.3,7.6,411,7890,0.00,2.42,10.43,0.568,4,0.000,0.032,3050,3429,2227,0,0,0,0,0,0
$GC,7923,1.59,204.4,101.0,8.1,416,7933,0.00,2.40,4.40,0.430,6,0.000,0.032,3050,2030,2215,0,0,0,0,0,0
$GC,8193,1.59,204.4,79.3,8.7,442,8197,0.00,2.42,0.00,0.000,4,0.000,0.044,3050,621,2213,0,0,0,0,0,0
$GC,8217,1.59,204.4,77.1,9.9,444,8222,0.00,2.35,0.00,0.000,6,0.000,0.023,3050,2054,2212,0,0,0,0,0,0
$GC,8480,1.59,204.4,53.5,9.2,468,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2059,2212,0,0,0,0,0,0
$GC,8734,1.59,204.4,29.0,10.9,492,8740,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2059,2212,0,0,0,0,0,0
$GC,8934,1.59,204.4,8.2,10.1,529,8940,0.00,2.47,0.00,0.000,4,0.000,0.043,3050,628,2211,0,0,0,0,0,0
$STATE,8983,end climb,SURFACE_DEPTH_REACHED
$STATE,8983,begin surface coast
$FINISH,0.5,1.023588
$STATE,9006,end surface coast,CONTROL_FINISHED_OK
$STATE,9006,begin surface
$SM_CCo,9027,49.35,0.525,0,0,1826,300.00
$SM_GC,1.09,0.00,0.00,49.35,0.000,0.000,0.525,430,2036,1826,-10.48,0.03,300.00
$IRIDIUM_FIX,2104.07,-15758.18,090799,151558
$TT8_MAMPS,0.029146
$HUMID,42.55
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,3.858
$10V_AH,9.9,3.419
$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,25.025,101.025,238.475,49.350,0.000,28.108,30.909,114.199,0.000,0.000,37.261,1046.435,5991.270,356.282,1676.761,293.374,33.346,1073.538,0.000,1642.099,0.000,0.538,0.000
$DEVICE_MAMPS,141.895,58.292,875.914,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,368.276,342.553,780.244,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,28616,545
$CAP_FILE_SIZE,95021,0
$CFSIZE,260165632,256741376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140410,202257,2109.274,-15800.718,51,4.0,70,9.8