version: 66.06
glider: 139
mission: 7
dive: 24
start: 4 14 110 20 28 57
data:
$ID,139
$MISSION,7
$DIVE,24
$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,-2119686.2
$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,2710
$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,2000
$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
$GPS1,202257,2109.274,-15800.718,51,4.0,70,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-71.0
$GPS2,202807,2109.238,-15800.690,37,0.9,37,9.8
$SPEED_LIMITS,0.144,0.186
$TGT_NAME,WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.164,0.087
$KALMAN_X,18817.2,-162.1,387.6,-31206.2,1916.7
$KALMAN_Y,-6091.5,38.9,171.9,-7602.5,-837.5
$MHEAD_RNG_PITCHd_Wd,288.0,2905,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-54.97,0.000,2,0.000,0.000,429,2035,3238,0,0,0,0,0,0
$GC,75,-1.44,-77.9,3.0,-4.8,10,94,10.73,2.33,-2.65,0.000,4,0.143,0.041,2392,3426,3368,0,0,0,0,0,0
$GC,212,-1.44,-77.9,31.0,-16.4,40,219,0.00,2.45,0.00,0.000,6,0.000,0.033,2392,1995,3369,0,0,0,0,0,0
$GC,474,-1.44,-77.9,73.2,-17.3,65,478,0.00,2.42,0.00,0.000,4,0.000,0.046,2392,588,3370,0,0,0,0,0,0
$GC,534,-1.44,-77.9,84.7,-19.6,71,538,0.00,2.35,0.00,0.000,6,0.000,0.021,2392,2027,3370,0,0,0,0,0,0
$GC,796,-1.44,-77.9,125.6,-15.2,95,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2031,3371,0,0,0,0,0,0
$GC,1051,-1.44,-77.9,162.5,-12.1,119,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2031,3372,0,0,0,0,0,0
$GC,1305,-1.44,-77.9,193.1,-12.7,143,1309,0.00,2.47,0.00,0.000,4,0.000,0.046,2392,589,3373,0,0,0,0,0,0
$GC,1392,-1.44,-77.9,206.5,-16.6,150,1396,0.00,2.30,0.00,0.000,6,0.000,0.023,2392,2004,3373,0,0,0,0,0,0
$GC,1720,-1.44,-77.9,243.7,-11.2,166,1724,0.00,2.45,0.00,0.000,4,0.000,0.047,2392,585,3374,0,0,0,0,0,0
$GC,1770,-1.44,-77.9,250.5,-13.5,168,1774,0.00,2.28,0.00,0.000,6,0.000,0.024,2392,2000,3374,0,0,0,0,0,0
$GC,2089,-1.44,-77.9,288.0,-10.2,184,2093,0.00,2.45,0.00,0.000,4,0.000,0.048,2392,587,3373,0,0,0,0,0,0
$GC,2148,-1.44,-77.9,293.6,-8.8,186,2155,0.00,2.33,0.00,0.000,6,0.000,0.025,2392,1996,3374,0,0,0,0,0,0
$GC,2460,-1.44,-77.9,310.6,-4.5,197,2464,0.00,2.45,0.00,0.000,4,0.000,0.051,2392,594,3373,0,0,0,0,0,0
$GC,2511,-1.44,-77.9,313.9,-7.2,198,2515,0.00,2.33,0.00,0.000,6,0.000,0.027,2392,2006,3373,0,0,0,0,0,0
$GC,2832,-1.44,-77.9,345.6,-11.1,206,2836,0.00,2.50,0.00,0.000,4,0.000,0.055,2392,586,3372,0,0,0,0,0,0
$GC,2938,-1.44,-77.9,357.9,-11.7,208,2942,0.00,2.30,0.00,0.000,6,0.000,0.028,2392,1994,3371,0,0,0,0,0,0
$GC,3286,-1.44,-77.9,398.4,-11.6,217,3291,0.00,2.47,0.00,0.000,4,0.000,0.056,2392,593,3369,0,0,0,0,0,0
$GC,3347,-1.44,-77.9,406.3,-12.8,218,3352,0.00,2.35,0.00,0.000,6,0.000,0.031,2392,2004,3369,0,0,0,0,0,0
$GC,3696,-1.44,-77.9,438.5,-8.0,227,3700,0.00,2.50,0.00,0.000,4,0.000,0.058,2392,596,3366,0,0,0,0,0,0
$GC,3756,-1.44,-77.9,443.9,-8.7,228,3760,0.00,2.35,0.00,0.000,6,0.000,0.032,2392,2002,3366,0,0,0,0,0,0
$STATE,3859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3859,begin apogee
$GC,3863,-0.31,0.0,451.9,7.7,231,3931,1.17,0.00,64.38,0.882,6,0.084,0.000,2640,2006,3050,0,0,0,0,0,0
$STATE,3932,end apogee,CONTROL_FINISHED_OK
$STATE,3932,begin climb
$GC,3934,1.44,77.9,452.4,0.0,232,4008,1.70,2.58,64.65,0.860,4,0.038,0.047,3027,3427,2732,0,0,0,0,0,0
$GC,4124,1.47,101.5,448.1,6.6,236,4153,0.00,2.40,20.73,0.826,6,0.000,0.041,3027,2035,2636,0,0,0,0,0,0
$GC,4477,1.47,101.5,415.9,8.9,245,4482,0.00,2.55,0.00,0.000,4,0.000,0.058,3027,626,2631,0,0,0,0,0,0
$GC,4486,1.48,110.3,415.1,7.7,245,4499,0.00,2.40,8.12,0.731,6,0.000,0.033,3027,2039,2600,0,0,0,0,0,0
$GC,4839,1.52,140.7,392.7,6.2,254,4872,0.00,2.50,26.75,0.837,4,0.000,0.047,3027,3425,2476,0,0,0,0,0,0
$GC,4959,1.52,140.7,382.0,8.6,256,4964,0.00,2.42,0.00,0.000,6,0.000,0.043,3027,2027,2474,0,0,0,0,0,0
$GC,5294,1.52,145.0,355.9,8.0,265,5305,0.00,2.47,4.60,0.590,4,0.000,0.043,3027,3431,2457,0,0,0,0,0,0
$GC,5425,1.52,145.0,342.3,10.3,267,5431,0.00,2.42,0.00,0.000,6,0.000,0.041,3027,2027,2457,0,0,0,0,0,0
$GC,5756,1.52,145.0,306.9,10.8,276,5760,0.00,2.47,0.00,0.000,4,0.000,0.056,3027,628,2454,0,0,0,0,0,0
$GC,5881,1.52,145.0,294.5,9.2,279,5886,0.00,2.38,0.00,0.000,6,0.000,0.033,3027,2041,2452,0,0,0,0,0,0
$GC,6196,1.52,146.7,267.7,8.2,294,6200,0.00,2.40,0.00,0.000,4,0.000,0.044,3027,3436,2451,0,0,0,0,0,0
$GC,6416,1.53,154.5,250.9,7.8,303,6429,0.00,2.40,8.38,0.681,6,0.000,0.038,3027,2032,2420,0,0,0,0,0,0
$GC,6750,1.54,160.3,224.1,7.9,320,6762,0.00,2.53,6.43,0.621,4,0.000,0.053,3026,626,2395,0,0,0,0,0,0
$GC,6773,1.54,160.3,222.0,9.8,321,6778,0.00,2.40,0.00,0.000,6,0.000,0.030,3027,2049,2395,0,0,0,0,0,0
$GC,7094,1.55,166.0,194.2,7.9,339,7104,0.00,0.00,6.25,0.590,6,0.000,0.000,3027,2054,2373,0,0,0,0,0,0
$GC,7359,1.55,166.0,171.7,9.6,364,7364,0.00,2.50,0.00,0.000,4,0.000,0.049,3027,625,2372,0,0,0,0,0,0
$GC,7477,1.55,166.0,158.8,10.9,376,7484,0.00,2.38,0.00,0.000,6,0.000,0.027,3027,2040,2371,0,0,0,0,0,0
$GC,7739,1.55,166.0,133.0,9.9,401,7743,0.00,2.35,0.00,0.000,4,0.000,0.035,3027,3436,2371,0,0,0,0,0,0
$GC,7897,1.56,176.2,121.1,7.6,418,7916,0.00,2.38,10.35,0.593,6,0.000,0.029,3027,2021,2331,0,0,0,0,0,0
$GC,8170,1.56,176.2,96.5,8.4,444,8175,0.10,2.40,0.00,0.000,4,0.085,0.033,3055,3434,2329,0,0,0,0,0,0
$GC,8217,1.56,176.2,92.8,8.5,448,8224,0.00,2.38,0.00,0.000,6,0.000,0.030,3055,2037,2330,0,0,0,0,0,0
$GC,8479,1.59,197.5,74.4,6.8,473,8509,0.00,2.40,19.60,0.582,4,0.000,0.030,3055,3443,2245,0,0,0,0,0,0
$GC,8531,1.59,197.5,69.7,10.0,478,8537,0.00,2.40,0.00,0.000,6,0.000,0.031,3055,2042,2244,0,0,0,0,0,0
$GC,8793,1.59,197.5,45.2,9.6,503,8797,0.00,2.35,0.00,0.000,4,0.000,0.031,3055,3442,2243,0,0,0,0,0,0
$GC,8845,1.59,197.5,39.9,10.4,508,8849,0.00,2.38,0.00,0.000,6,0.000,0.029,3055,2024,2243,0,0,0,0,0,0
$GC,9108,1.59,197.5,13.6,9.8,547,9114,0.00,2.40,0.00,0.000,4,0.000,0.044,3055,634,2243,0,0,0,0,0,0
$STATE,9203,end climb,SURFACE_DEPTH_REACHED
$STATE,9203,begin surface coast
$FINISH,1.0,1.023613
$STATE,9218,end surface coast,CONTROL_FINISHED_OK
$STATE,9218,begin surface
$SM_CCo,9240,53.97,0.532,0,0,1826,300.00
$SM_GC,1.25,0.00,0.00,53.97,0.000,0.000,0.532,432,2009,1826,-10.48,0.25,300.00
$IRIDIUM_FIX,2101.76,-15801.19,090799,171729
$TT8_MAMPS,0.029146
$HUMID,42.24
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.20
$XPDR_PINGS,2
$24V_AH,23.4,3.932
$10V_AH,9.9,3.494
$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,25.050,105.975,240.225,53.975,0.000,28.909,34.058,134.982,0.500,0.000,37.657,1100.558,6037.655,359.987,1786.476,324.454,33.348,1123.702,0.000,1750.528,0.000,0.538,0.000
$DEVICE_MAMPS,142.662,58.292,882.050,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,386.960,363.521,825.256,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,31740,572
$CAP_FILE_SIZE,99783,0
$CFSIZE,260165632,256684032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140410,230456,2109.287,-15800.815,30,1.8,30,9.8