version: 66.06
glider: 139
mission: 7
dive: 10
start: 4 13 110 9 31 0
data:
$ID,139
$MISSION,7
$DIVE,10
$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,-2119323.2
$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,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
$GPS1,092536,2113.722,-15755.224,27,1.5,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-69.5
$GPS2,093008,2113.736,-15755.208,13,1.4,13,9.8
$SPEED_LIMITS,0.157,0.190
$TGT_NAME,TRANSIT
$TGT_LATLONG,2112.000,-15757.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.180,-0.062
$KALMAN_X,3781.5,19.2,167.2,-6673.7,1226.3
$KALMAN_Y,279.9,50.1,-3.0,-5474.2,25.7
$MHEAD_RNG_PITCHd_Wd,241.3,4462,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.53,-77.9,0.0,0.0,0,87,0.00,0.00,-68.07,0.000,6,0.000,0.000,430,2084,3364,0,0,0,0,0,0
$GC,89,-1.53,-77.9,3.8,-7.9,13,108,10.45,2.40,0.00,0.000,4,0.140,0.030,2362,3497,3365,0,0,0,0,0,0
$GC,346,-1.53,-77.9,57.8,-18.0,54,350,0.00,2.38,0.00,0.000,6,0.000,0.034,2362,2078,3366,0,0,0,0,0,0
$GC,606,-1.53,-77.9,101.9,-14.7,78,610,0.00,2.40,0.00,0.000,4,0.000,0.044,2362,668,3367,0,0,0,0,0,0
$GC,683,-1.53,-77.9,113.8,-15.2,86,688,0.00,2.33,0.00,0.000,6,0.000,0.022,2362,2102,3367,0,0,0,0,0,0
$GC,944,-1.53,-77.9,149.8,-14.1,110,949,0.00,2.47,0.00,0.000,4,0.000,0.045,2362,662,3368,0,0,0,0,0,0
$GC,1086,-1.53,-77.9,172.2,-13.4,125,1090,0.00,2.30,0.00,0.000,6,0.000,0.024,2362,2076,3369,0,0,0,0,0,0
$GC,1347,-1.53,-77.9,205.5,-11.8,147,1351,0.00,2.42,0.00,0.000,4,0.000,0.047,2362,663,3369,0,0,0,0,0,0
$GC,1406,-1.53,-77.9,213.3,-13.7,149,1411,0.00,2.30,0.00,0.000,6,0.000,0.024,2362,2083,3370,0,0,0,0,0,0
$GC,1722,-1.53,-77.9,254.0,-12.0,165,1726,0.00,2.42,0.00,0.000,4,0.000,0.046,2362,669,3370,0,0,0,0,0,0
$GC,1741,-1.53,-77.9,256.2,-11.1,166,1745,0.00,2.30,0.00,0.000,6,0.000,0.025,2362,2077,3370,0,0,0,0,0,0
$GC,2069,-1.53,-77.9,293.8,-11.2,182,2073,0.00,2.42,0.00,0.000,4,0.000,0.049,2361,670,3370,0,0,0,0,0,0
$GC,2169,-1.53,-77.9,305.9,-11.0,186,2173,0.00,2.33,0.00,0.000,6,0.000,0.027,2361,2086,3370,0,0,0,0,0,0
$GC,2481,-1.53,-77.9,332.9,-8.4,194,2486,0.00,2.45,0.00,0.000,4,0.000,0.051,2362,662,3369,0,0,0,0,0,0
$GC,2518,-1.53,-77.9,336.6,-10.4,194,2523,0.00,2.35,0.00,0.000,6,0.000,0.029,2362,2083,3368,0,0,0,0,0,0
$GC,2848,-1.53,-77.9,370.3,-10.2,203,2852,0.00,2.45,0.00,0.000,4,0.000,0.053,2362,672,3367,0,0,0,0,0,0
$GC,2963,-1.53,-77.9,382.9,-11.4,205,2967,0.00,2.35,0.00,0.000,6,0.000,0.031,2362,2085,3366,0,0,0,0,0,0
$GC,3302,-1.53,-77.9,416.7,-10.0,214,3306,0.00,2.47,0.00,0.000,4,0.000,0.056,2362,673,3364,0,0,0,0,0,0
$GC,3338,-1.53,-77.9,421.1,-11.9,214,3344,0.00,2.35,0.00,0.000,6,0.000,0.031,2362,2083,3364,0,0,0,0,0,0
$STATE,3626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3626,begin apogee
$GC,3631,-0.31,0.0,450.3,10.0,222,3698,1.27,0.00,63.65,0.898,6,0.087,0.000,2630,2087,3046,0,0,0,0,0,0
$STATE,3699,end apogee,CONTROL_FINISHED_OK
$STATE,3699,begin climb
$GC,3701,1.53,77.9,451.3,0.0,223,3775,1.77,2.50,64.22,0.874,4,0.041,0.046,3035,3476,2728,0,0,0,0,0,0
$GC,4038,1.56,103.4,437.7,7.1,230,4067,0.00,2.42,21.92,0.845,6,0.000,0.039,3036,2078,2623,0,0,0,0,0,0
$GC,4389,1.56,103.4,401.8,10.9,239,4393,0.00,2.50,0.00,0.000,4,0.000,0.056,3035,664,2618,0,0,0,0,0,0
$GC,4412,1.56,103.4,399.1,12.0,239,4416,0.00,2.40,0.00,0.000,6,0.000,0.033,3035,2077,2618,0,0,0,0,0,0
$GC,4751,1.56,103.4,365.2,9.6,248,4755,0.00,2.50,0.00,0.000,4,0.000,0.057,3035,671,2616,0,0,0,0,0,0
$GC,4787,1.57,109.9,362.0,8.5,248,4800,0.00,2.40,5.82,0.663,6,0.000,0.034,3035,2086,2597,0,0,0,0,0,0
$GC,5123,1.63,157.5,339.7,5.4,257,5166,0.00,0.00,41.47,0.841,6,0.000,0.000,3035,2087,2403,0,0,0,0,0,0
$GC,5487,1.63,157.5,302.8,11.1,266,5492,0.00,2.53,0.00,0.000,4,0.000,0.058,3035,671,2396,0,0,0,0,0,0
$GC,5502,1.63,157.5,300.9,11.5,266,5506,0.00,2.40,0.00,0.000,6,0.000,0.034,3035,2083,2394,0,0,0,0,0,0
$GC,5835,1.63,157.5,259.9,10.4,282,5836,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2088,2394,0,0,0,0,0,0
$GC,6146,1.63,157.5,229.4,9.4,297,6150,0.00,2.40,0.00,0.000,4,0.000,0.043,3035,3485,2393,0,0,0,0,0,0
$GC,6311,1.65,171.4,215.4,8.0,304,6330,0.10,2.40,11.32,0.707,6,0.089,0.037,3061,2076,2347,0,0,0,0,0,0
$GC,6654,1.65,174.5,184.3,8.8,328,6665,0.00,2.45,4.07,0.491,4,0.000,0.040,3061,3478,2334,0,0,0,0,0,0
$GC,6693,1.65,174.5,180.2,10.8,332,6697,0.00,2.40,0.00,0.000,6,0.000,0.037,3062,2072,2334,0,0,0,0,0,0
$GC,6954,1.65,174.5,150.9,10.1,356,6955,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2072,2333,0,0,0,0,0,0
$GC,7208,1.65,174.5,126.0,10.2,380,7212,0.00,2.42,0.00,0.000,4,0.000,0.049,3061,669,2333,0,0,0,0,0,0
$GC,7314,1.65,174.5,113.8,10.0,391,7318,0.00,2.35,0.00,0.000,6,0.000,0.027,3061,2091,2331,0,0,0,0,0,0
$GC,7577,1.66,183.2,89.5,8.4,415,7595,0.00,2.45,8.77,0.574,4,0.000,0.045,3061,670,2298,0,0,0,0,0,0
$GC,7716,1.66,183.2,75.3,9.4,430,7720,0.00,2.33,0.00,0.000,6,0.000,0.025,3061,2083,2296,0,0,0,0,0,0
$GC,7979,1.70,213.9,58.3,6.7,454,8012,0.00,2.40,27.45,0.601,4,0.000,0.034,3061,3473,2173,0,0,0,0,0,0
$GC,8223,1.70,213.9,35.1,10.1,481,8230,0.00,2.38,0.00,0.000,6,0.000,0.029,3061,2071,2173,0,0,0,0,0,0
$GC,8486,1.70,213.9,6.4,13.6,524,8493,0.00,2.40,0.00,0.000,4,0.000,0.044,3061,677,2171,0,0,0,0,0,0
$STATE,8510,end climb,SURFACE_DEPTH_REACHED
$STATE,8511,begin surface coast
$FINISH,0.4,1.023663
$STATE,8533,end surface coast,CONTROL_FINISHED_OK
$STATE,8533,begin surface
$SM_CCo,8554,66.88,0.553,0,0,1618,350.04
$SM_GC,1.03,0.00,0.00,66.88,0.000,0.000,0.553,431,2092,1618,-10.44,0.37,350.04
$IRIDIUM_FIX,2104.07,-15757.32,080799,070722
$TT8_MAMPS,0.029146
$HUMID,43.54
$INTERNAL_PRESSURE,9.64535
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,2.898
$10V_AH,9.9,2.507
$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,24.975,91.250,248.725,66.875,0.000,27.693,42.237,116.703,0.000,0.000,13.445,1018.108,5534.763,384.052,1662.550,301.490,33.337,1098.494,0.000,1645.637,0.000,0.538,0.000
$DEVICE_MAMPS,139.594,57.525,898.157,553.007,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,360.731,337.685,782.727,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,28691,534
$CAP_FILE_SIZE,90706,0
$CFSIZE,260165632,257343488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130410,115627,2113.318,-15756.016,50,2.1,69,9.8