version: 66.06
glider: 139
mission: 7
dive: 8
start: 4 13 110 4 40 33
data:
$ID,139
$MISSION,7
$DIVE,8
$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,166
$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,350
$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,-2119278
$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,2700
$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,2079
$C_ROLL_CLIMB,2079
$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,3046
$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
$GPS1,042826,2114.591,-15754.619,73,2.1,92,9.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-67.9
$GPS2,043943,2114.570,-15754.687,16,2.0,33,9.8
$SPEED_LIMITS,0.157,0.190
$TGT_NAME,TRANSIT
$TGT_LATLONG,2112.000,-15757.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.153,-0.112
$KALMAN_X,1621.9,63.3,-102.8,-3390.8,683.5
$KALMAN_Y,45.6,-72.6,69.0,-3647.6,108.7
$MHEAD_RNG_PITCHd_Wd,224.1,6213,-23.0,-9.036
$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,-1.53,-77.9,0.0,0.0,0,88,0.00,0.00,-68.85,0.000,6,0.000,0.000,430,2072,3365,0,0,0,0,0,0
$GC,90,-1.53,-77.9,3.3,-6.7,13,109,10.40,2.42,0.00,0.000,4,0.138,0.041,2360,670,3366,0,0,0,0,0,0
$GC,247,-1.53,-77.9,41.2,-19.8,42,253,0.00,2.35,0.00,0.000,6,0.000,0.023,2360,2097,3366,0,0,0,0,0,0
$GC,508,-1.53,-77.9,84.2,-16.5,67,512,0.00,2.47,0.00,0.000,4,0.000,0.047,2361,661,3367,0,0,0,0,0,0
$GC,541,-1.53,-77.9,89.7,-16.5,70,545,0.00,2.33,0.00,0.000,6,0.000,0.022,2360,2094,3367,0,0,0,0,0,0
$GC,802,-1.53,-77.9,131.7,-14.5,94,806,0.00,2.45,0.00,0.000,4,0.000,0.045,2360,664,3368,0,0,0,0,0,0
$GC,890,-1.53,-77.9,147.4,-20.0,103,894,0.00,2.30,0.00,0.000,6,0.000,0.023,2361,2084,3368,0,0,0,0,0,0
$GC,1152,-1.53,-77.9,188.6,-14.3,127,1156,0.00,2.42,0.00,0.000,4,0.000,0.046,2360,667,3369,0,0,0,0,0,0
$GC,1194,-1.53,-77.9,195.3,-15.4,131,1198,0.00,2.30,0.00,0.000,6,0.000,0.024,2360,2084,3369,0,0,0,0,0,0
$GC,1459,-1.53,-77.9,228.8,-11.4,145,1464,0.00,2.40,0.00,0.000,4,0.000,0.046,2360,668,3369,0,0,0,0,0,0
$GC,1555,-1.53,-77.9,241.2,-12.0,149,1559,0.00,2.30,0.00,0.000,6,0.000,0.024,2360,2086,3369,0,0,0,0,0,0
$GC,1876,-1.53,-77.9,276.4,-11.0,165,1880,0.00,2.42,0.00,0.000,4,0.000,0.048,2360,660,3370,0,0,0,0,0,0
$GC,1940,-1.53,-77.9,284.9,-12.6,168,1944,0.00,2.30,0.00,0.000,6,0.000,0.026,2360,2081,3370,0,0,0,0,0,0
$GC,2270,-1.53,-77.9,325.0,-12.0,179,2274,0.00,2.42,0.00,0.000,4,0.000,0.050,2360,663,3369,0,0,0,0,0,0
$GC,2348,-1.53,-77.9,334.7,-11.8,180,2352,0.00,2.33,0.00,0.000,6,0.000,0.028,2360,2079,3368,0,0,0,0,0,0
$GC,2678,-1.53,-77.9,372.7,-11.5,188,2682,0.00,2.45,0.00,0.000,4,0.000,0.052,2360,669,3367,0,0,0,0,0,0
$GC,2798,-1.53,-77.9,386.9,-11.2,190,2802,0.00,2.33,0.00,0.000,6,0.000,0.030,2360,2077,3367,0,0,0,0,0,0
$GC,3137,-1.53,-77.9,419.8,-9.1,199,3141,0.00,2.45,0.00,0.000,4,0.000,0.056,2360,664,3365,0,0,0,0,0,0
$GC,3274,-1.53,-77.9,433.9,-9.4,202,3279,0.00,2.35,0.00,0.000,6,0.000,0.031,2360,2078,3363,0,0,0,0,0,0
$STATE,3473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3473,begin apogee
$GC,3477,-0.31,0.0,454.2,10.3,207,3544,1.27,0.00,63.83,0.899,6,0.085,0.000,2630,2079,3046,0,0,0,0,0,0
$STATE,3545,end apogee,CONTROL_FINISHED_OK
$STATE,3545,begin climb
$GC,3547,1.53,77.9,455.6,0.0,208,3621,1.77,2.53,63.92,0.877,4,0.041,0.047,3036,3479,2728,0,0,0,0,0,0
$GC,3737,1.62,148.6,452.9,3.6,212,3802,0.00,2.42,59.53,0.875,6,0.000,0.039,3036,2078,2440,0,0,0,0,0,0
$GC,4128,1.62,148.6,410.2,11.9,221,4132,0.00,2.45,0.00,0.000,4,0.000,0.044,3036,3486,2431,0,0,0,0,0,0
$GC,4142,1.62,148.6,408.5,12.0,221,4146,0.00,2.45,0.00,0.000,6,0.000,0.043,3036,2083,2431,0,0,0,0,0,0
$GC,4491,1.62,148.6,368.7,11.4,230,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2083,2428,0,0,0,0,0,0
$GC,4816,1.62,148.6,333.5,10.8,238,4820,0.00,2.50,0.00,0.000,4,0.000,0.058,3035,666,2426,0,0,0,0,0,0
$GC,4926,1.62,148.6,321.4,10.1,240,4930,0.00,2.38,0.00,0.000,6,0.000,0.033,3035,2085,2423,0,0,0,0,0,0
$GC,5255,1.64,165.7,292.4,7.7,250,5270,0.00,0.00,12.82,0.768,6,0.000,0.000,3035,2086,2370,0,0,0,0,0,0
$GC,5565,1.64,165.7,264.1,10.6,265,5570,0.00,2.38,0.00,0.000,4,0.000,0.043,3036,3484,2367,0,0,0,0,0,0
$GC,5701,1.64,165.7,248.4,12.6,271,5705,0.00,2.40,0.00,0.000,6,0.000,0.037,3036,2074,2367,0,0,0,0,0,0
$GC,6035,1.64,165.7,212.4,9.8,287,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2073,2366,0,0,0,0,0,0
$GC,6348,1.64,165.7,181.5,11.0,310,6352,0.00,2.42,0.00,0.000,4,0.000,0.050,3035,667,2365,0,0,0,0,0,0
$GC,6393,1.64,165.7,175.9,12.0,314,6400,0.00,2.38,0.00,0.000,6,0.000,0.028,3035,2090,2364,0,0,0,0,0,0
$GC,6656,1.64,166.4,153.5,9.0,339,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2094,2364,0,0,0,0,0,0
$GC,6910,1.66,179.4,132.4,8.0,363,6929,0.10,0.00,12.32,0.630,6,0.087,0.000,3064,2094,2314,0,0,0,0,0,0
$GC,7184,1.66,179.4,105.1,9.3,389,7188,0.00,2.45,0.00,0.000,4,0.000,0.046,3064,668,2312,0,0,0,0,0,0
$GC,7245,1.66,179.4,99.0,10.0,395,7249,0.00,2.33,0.00,0.000,6,0.000,0.025,3064,2087,2311,0,0,0,0,0,0
$GC,7507,1.66,186.6,75.2,8.5,419,7521,0.00,2.47,7.50,0.532,4,0.000,0.044,3064,674,2284,0,0,0,0,0,0
$GC,7540,1.66,186.6,72.1,9.4,422,7546,0.00,2.33,0.00,0.000,6,0.000,0.025,3064,2080,2284,0,0,0,0,0,0
$GC,7802,1.66,186.8,50.3,9.0,447,7806,0.00,2.30,0.00,0.000,4,0.000,0.034,3064,3477,2283,0,0,0,0,0,0
$GC,7961,1.69,210.2,38.7,7.2,464,7988,0.00,2.35,21.58,0.572,6,0.000,0.029,3064,2078,2188,0,0,0,0,0,0
$GC,8245,1.69,210.2,11.2,10.8,507,8251,0.00,2.42,0.00,0.000,4,0.000,0.044,3064,670,2186,0,0,0,0,0,0
$STATE,8311,end climb,SURFACE_DEPTH_REACHED
$STATE,8311,begin surface coast
$FINISH,0.7,1.023634
$STATE,8325,end surface coast,CONTROL_FINISHED_OK
$STATE,8325,begin surface
$SM_CCo,8347,69.15,0.554,0,0,1618,350.04
$SM_GC,1.17,0.00,0.00,69.15,0.000,0.000,0.554,427,2078,1618,-10.46,-0.03,350.04
$IRIDIUM_FIX,2108.69,-15755.17,080799,040447
$TT8_MAMPS,0.029146
$HUMID,44.01
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,2.744
$10V_AH,9.9,2.368
$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,24.975,86.075,241.500,69.150,0.000,60.975,72.374,355.745,0.000,0.000,33.876,992.755,5505.865,369.256,1604.051,627.631,33.322,1052.037,0.000,1574.793,0.000,0.539,0.000
$DEVICE_MAMPS,138.060,57.525,898.924,553.774,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,354.628,337.097,782.771,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,28674,525
$CAP_FILE_SIZE,95245,0
$CFSIZE,260165632,257429504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130410,070307,2114.154,-15754.887,90,1.2,102,9.8