version: 66.06
glider: 139
mission: 7
dive: 25
start: 4 14 110 23 10 11
data:
$ID,139
$MISSION,7
$DIVE,25
$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,-2119698.2
$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
$GPS1,230456,2109.287,-15800.815,30,1.8,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-70.4
$GPS2,230919,2109.249,-15800.807,11,1.5,11,9.8
$SPEED_LIMITS,0.144,0.186
$TGT_NAME,WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.184,0.024
$KALMAN_X,20161.9,-262.6,698.9,-32963.9,760.6
$KALMAN_Y,-6940.4,-7.4,151.0,-6661.4,-1217.1
$MHEAD_RNG_PITCHd_Wd,267.6,2756,-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,-59.30,0.000,6,0.000,0.000,432,2009,3369,0,0,0,0,0,0
$GC,79,-1.44,-77.9,3.7,-6.6,11,97,10.70,2.38,0.00,0.000,4,0.142,0.028,2392,3414,3371,0,0,0,0,0,0
$GC,225,-1.44,-77.9,34.4,-14.8,41,231,0.00,2.42,0.00,0.000,6,0.000,0.033,2392,1997,3372,0,0,0,0,0,0
$GC,486,-1.44,-77.9,76.3,-16.2,66,490,0.00,2.42,0.00,0.000,4,0.000,0.045,2392,589,3373,0,0,0,0,0,0
$GC,510,-1.44,-77.9,80.2,-15.9,68,515,0.00,2.33,0.00,0.000,6,0.000,0.021,2392,2033,3373,0,0,0,0,0,0
$GC,771,-1.44,-77.9,120.5,-17.0,92,775,0.00,2.50,0.00,0.000,4,0.000,0.045,2392,587,3374,0,0,0,0,0,0
$GC,823,-1.44,-77.9,128.9,-14.6,97,827,0.00,2.30,0.00,0.000,6,0.000,0.021,2392,2000,3374,0,0,0,0,0,0
$GC,1085,-1.44,-77.9,160.4,-11.2,121,1090,0.00,2.45,0.00,0.000,4,0.000,0.046,2392,584,3375,0,0,0,0,0,0
$GC,1112,-1.44,-77.9,164.0,-12.6,123,1118,0.00,2.30,0.00,0.000,6,0.000,0.022,2392,2002,3375,0,0,0,0,0,0
$GC,1373,-1.44,-77.9,191.2,-9.9,148,1377,0.00,2.42,0.00,0.000,4,0.000,0.047,2392,588,3376,0,0,0,0,0,0
$GC,1461,-1.44,-77.9,201.2,-10.9,157,1465,0.00,2.30,0.00,0.000,6,0.000,0.023,2391,1996,3376,0,0,0,0,0,0
$GC,1791,-1.44,-77.9,234.0,-10.4,173,1795,0.00,2.47,0.00,0.000,4,0.000,0.048,2392,585,3376,0,0,0,0,0,0
$GC,1849,-1.44,-77.9,241.2,-11.3,175,1855,0.00,2.30,0.00,0.000,6,0.000,0.025,2392,2006,3376,0,0,0,0,0,0
$GC,2165,-1.44,-77.9,276.8,-10.7,191,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2009,3376,0,0,0,0,0,0
$GC,2493,-1.44,-77.9,311.0,-11.4,205,2497,0.00,2.45,0.00,0.000,4,0.000,0.051,2392,586,3375,0,0,0,0,0,0
$GC,2584,-1.44,-77.9,322.7,-13.3,207,2589,0.00,2.33,0.00,0.000,6,0.000,0.026,2391,1999,3375,0,0,0,0,0,0
$GC,2906,-1.44,-77.9,358.7,-10.9,215,2911,0.00,2.47,0.00,0.000,4,0.000,0.053,2392,587,3374,0,0,0,0,0,0
$GC,2924,-1.44,-77.9,360.9,-11.2,215,2928,0.00,2.33,0.00,0.000,6,0.000,0.028,2392,2004,3374,0,0,0,0,0,0
$GC,3268,-1.44,-77.9,391.1,-8.4,224,3272,0.00,2.50,0.00,0.000,4,0.000,0.055,2392,587,3373,0,0,0,0,0,0
$GC,3347,-1.44,-77.9,398.0,-8.9,225,3352,0.00,2.33,0.00,0.000,6,0.000,0.030,2392,1997,3373,0,0,0,0,0,0
$GC,3677,-1.44,-77.9,427.1,-9.1,233,3682,0.00,2.53,0.00,0.000,4,0.000,0.058,2392,587,3371,0,0,0,0,0,0
$GC,3738,-1.44,-77.9,433.5,-10.3,234,3743,0.00,2.33,0.00,0.000,6,0.000,0.031,2391,1997,3370,0,0,0,0,0,0
$STATE,3923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3923,begin apogee
$GC,3927,-0.31,0.0,450.9,9.3,239,3996,1.17,0.00,65.07,0.878,6,0.083,0.000,2640,2002,3050,0,0,0,0,0,0
$STATE,3996,end apogee,CONTROL_FINISHED_OK
$STATE,3997,begin climb
$GC,3998,1.44,77.9,452.5,0.0,240,4073,1.67,2.60,64.75,0.859,4,0.036,0.047,3027,3433,2732,0,0,0,0,0,0
$GC,4336,1.51,139.3,448.9,3.9,247,4394,0.00,2.45,52.12,0.860,6,0.000,0.041,3026,2030,2482,0,0,0,0,0,0
$GC,4719,1.51,139.3,409.2,11.9,256,4723,0.00,2.45,0.00,0.000,4,0.000,0.044,3027,3432,2475,0,0,0,0,0,0
$GC,4797,1.51,139.3,399.1,12.6,257,4801,0.00,2.45,0.00,0.000,6,0.000,0.043,3027,2035,2474,0,0,0,0,0,0
$GC,5127,1.51,139.3,358.8,12.1,265,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2034,2471,0,0,0,0,0,0
$GC,5452,1.51,139.3,328.2,8.6,273,5456,0.00,2.42,0.00,0.000,4,0.000,0.043,3027,3433,2470,0,0,0,0,0,0
$GC,5563,1.54,159.6,320.3,6.9,275,5586,0.00,2.42,16.55,0.780,6,0.000,0.041,3027,2032,2399,0,0,0,0,0,0
$GC,5891,1.54,159.6,286.8,11.7,286,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2032,2394,0,0,0,0,0,0
$GC,6202,1.54,159.6,253.1,10.1,301,6206,0.00,2.42,0.00,0.000,4,0.000,0.041,3027,3439,2393,0,0,0,0,0,0
$GC,6293,1.54,159.6,243.8,9.3,305,6297,0.00,2.42,0.00,0.000,6,0.000,0.038,3027,2029,2393,0,0,0,0,0,0
$GC,6618,1.54,159.6,211.8,10.5,321,6622,0.00,2.42,0.00,0.000,4,0.000,0.041,3027,3439,2391,0,0,0,0,0,0
$GC,6667,1.54,159.6,206.2,11.5,323,6671,0.00,2.40,0.00,0.000,6,0.000,0.036,3027,2032,2391,0,0,0,0,0,0
$GC,6995,1.54,159.6,171.8,11.5,351,6999,0.00,2.42,0.00,0.000,4,0.000,0.051,3027,628,2391,0,0,0,0,0,0
$GC,7258,1.54,162.5,145.8,8.1,379,7264,0.00,2.33,0.00,0.000,6,0.000,0.027,3027,2046,2389,0,0,0,0,0,0
$GC,7519,1.54,162.5,122.0,9.8,404,7524,0.00,2.47,0.00,0.000,4,0.000,0.048,3027,625,2389,0,0,0,0,0,0
$GC,7609,1.54,162.5,113.4,9.4,413,7615,0.00,2.33,0.00,0.000,6,0.000,0.025,3027,2041,2389,0,0,0,0,0,0
$GC,7871,1.58,191.8,95.4,6.2,438,7907,0.12,2.50,27.27,0.618,4,0.074,0.044,3061,619,2266,0,0,0,0,0,0
$GC,7912,1.59,200.8,92.1,7.7,442,7928,0.00,2.38,9.15,0.545,6,0.000,0.025,3061,2039,2231,0,0,0,0,0,0
$GC,8183,1.59,200.8,64.3,11.1,468,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2039,2227,0,0,0,0,0,0
$GC,8438,1.59,200.8,37.5,10.0,492,8443,0.00,2.42,0.00,0.000,4,0.000,0.044,3061,620,2227,0,0,0,0,0,0
$GC,8688,1.59,200.8,7.8,11.3,542,8695,0.00,2.33,0.00,0.000,6,0.000,0.023,3061,2029,2225,0,0,0,0,0,0
$STATE,8734,end climb,SURFACE_DEPTH_REACHED
$STATE,8734,begin surface coast
$FINISH,0.4,1.023652
$STATE,8761,end surface coast,CONTROL_FINISHED_OK
$STATE,8761,begin surface
$SM_CCo,8780,52.15,0.537,0,0,1827,300.00
$SM_GC,1.54,0.00,0.00,52.15,0.000,0.000,0.537,428,1974,1827,-10.50,-0.74,300.00
$IRIDIUM_FIX,2059.45,-15759.05,090799,202006
$TT8_MAMPS,0.029913
$HUMID,42.83
$INTERNAL_PRESSURE,9.64535
$TCM_TEMP,21.20
$XPDR_PINGS,1
$24V_AH,23.4,4.004
$10V_AH,10.0,3.565
$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,25.075,91.550,234.925,52.150,0.000,27.981,26.237,122.915,0.250,0.000,11.190,1047.741,5735.113,343.911,1671.678,302.916,33.349,1057.248,0.000,1666.516,0.000,0.537,0.000
$DEVICE_MAMPS,141.895,142.662,878.215,536.900,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,375.490,354.064,807.700,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,31846,555
$CAP_FILE_SIZE,91473,0
$CFSIZE,260165632,256643072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150410,013930,2109.139,-15801.710,92,1.3,92,9.8