version: 66.06
glider: 139
mission: 7
dive: 12
start: 4 13 110 14 30 25
data:
$ID,139
$MISSION,7
$DIVE,12
$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,-2119363.5
$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
$GPS1,142510,2112.791,-15756.752,29,2.1,48,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-69.6
$GPS2,142935,2112.778,-15756.732,24,1.0,27,9.8
$SPEED_LIMITS,0.157,0.190
$TGT_NAME,WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.167,-0.090
$KALMAN_X,5040.8,-52.5,-280.9,-10043.3,859.7
$KALMAN_Y,219.4,51.5,-134.5,-7059.4,172.6
$MHEAD_RNG_PITCHd_Wd,232.0,12352,-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,-68.03,0.000,6,0.000,0.000,426,2089,3363,0,0,0,0,0,0
$GC,90,-1.53,-77.9,4.1,-9.2,13,108,10.48,2.47,0.00,0.000,4,0.140,0.042,2362,668,3365,0,0,0,0,0,0
$GC,269,-1.53,-77.9,50.8,-21.9,42,274,0.00,2.33,0.00,0.000,6,0.000,0.022,2362,2101,3366,0,0,0,0,0,0
$GC,530,-1.53,-77.9,99.0,-15.3,66,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2105,3367,0,0,0,0,0,0
$GC,784,-1.53,-77.9,136.9,-15.0,90,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2105,3368,0,0,0,0,0,0
$GC,1039,-1.53,-77.9,176.8,-15.8,114,1044,0.00,2.45,0.00,0.000,4,0.000,0.046,2362,664,3368,0,0,0,0,0,0
$GC,1155,-1.53,-77.9,194.5,-13.8,126,1159,0.00,2.30,0.00,0.000,6,0.000,0.024,2362,2077,3369,0,0,0,0,0,0
$GC,1419,-1.53,-77.9,234.7,-15.0,140,1423,0.00,2.40,0.00,0.000,4,0.000,0.046,2362,669,3370,0,0,0,0,0,0
$GC,1515,-1.53,-77.9,248.7,-14.2,144,1519,0.00,2.30,0.00,0.000,6,0.000,0.025,2362,2079,3370,0,0,0,0,0,0
$GC,1834,-1.53,-77.9,284.2,-10.2,160,1838,0.00,2.40,0.00,0.000,4,0.000,0.048,2362,670,3370,0,0,0,0,0,0
$GC,1946,-1.53,-77.9,296.4,-10.3,165,1951,0.00,2.30,0.00,0.000,6,0.000,0.026,2362,2076,3370,0,0,0,0,0,0
$GC,2270,-1.53,-77.9,336.5,-13.4,174,2274,0.00,2.42,0.00,0.000,4,0.000,0.051,2362,666,3369,0,0,0,0,0,0
$GC,2353,-1.53,-77.9,348.0,-12.9,175,2358,0.00,2.33,0.00,0.000,6,0.000,0.028,2362,2075,3369,0,0,0,0,0,0
$GC,2683,-1.53,-77.9,385.4,-11.3,184,2687,0.00,2.42,0.00,0.000,4,0.000,0.053,2362,671,3367,0,0,0,0,0,0
$GC,2761,-1.53,-77.9,394.6,-11.4,185,2765,0.00,2.35,0.00,0.000,6,0.000,0.031,2362,2084,3367,0,0,0,0,0,0
$GC,3091,-1.53,-77.9,427.3,-9.7,193,3095,0.00,2.47,0.00,0.000,4,0.000,0.056,2362,673,3365,0,0,0,0,0,0
$GC,3197,-1.53,-77.9,439.5,-12.6,195,3201,0.00,2.35,0.00,0.000,6,0.000,0.032,2362,2076,3364,0,0,0,0,0,0
$STATE,3300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3300,begin apogee
$GC,3304,-0.31,0.0,451.7,11.8,198,3372,1.27,0.00,64.22,0.894,6,0.087,0.000,2629,2080,3047,0,0,0,0,0,0
$STATE,3373,end apogee,CONTROL_FINISHED_OK
$STATE,3373,begin climb
$GC,3375,1.53,77.9,453.1,0.0,199,3449,1.77,2.53,64.35,0.873,4,0.041,0.048,3036,3474,2728,0,0,0,0,0,0
$GC,3666,1.55,90.2,439.2,8.1,205,3683,0.00,2.42,11.12,0.785,6,0.000,0.041,3036,2082,2677,0,0,0,0,0,0
$GC,4013,1.58,115.9,412.7,7.0,214,4042,0.00,2.60,22.10,0.845,4,0.000,0.058,3035,667,2572,0,0,0,0,0,0
$GC,4083,1.58,115.9,406.5,10.6,215,4087,0.00,2.42,0.00,0.000,6,0.000,0.034,3035,2082,2570,0,0,0,0,0,0
$GC,4422,1.58,115.9,371.8,9.8,224,4427,0.00,2.45,0.00,0.000,4,0.000,0.047,3035,3489,2568,0,0,0,0,0,0
$GC,4440,1.58,115.9,369.9,9.4,224,4444,0.00,2.45,0.00,0.000,6,0.000,0.041,3036,2075,2568,0,0,0,0,0,0
$GC,4784,1.60,137.2,340.1,7.4,233,4809,0.00,2.53,18.12,0.814,4,0.000,0.045,3036,3477,2486,0,0,0,0,0,0
$GC,4875,1.62,150.3,333.3,8.0,235,4895,0.00,2.45,12.65,0.775,6,0.000,0.041,3036,2073,2433,0,0,0,0,0,0
$GC,5203,1.64,162.8,305.6,8.1,243,5217,0.00,0.00,11.70,0.758,6,0.000,0.000,3036,2074,2382,0,0,0,0,0,0
$GC,5511,1.64,162.8,274.7,11.5,256,5515,0.00,2.47,0.00,0.000,4,0.000,0.055,3035,669,2378,0,0,0,0,0,0
$GC,5531,1.64,162.8,272.7,10.6,257,5536,0.00,2.40,0.00,0.000,6,0.000,0.033,3036,2085,2377,0,0,0,0,0,0
$GC,5861,1.64,162.8,243.0,9.1,273,5865,0.00,2.50,0.00,0.000,4,0.000,0.054,3035,668,2376,0,0,0,0,0,0
$GC,6095,1.64,162.8,219.8,9.2,283,6099,0.00,2.38,0.00,0.000,6,0.000,0.029,3036,2092,2374,0,0,0,0,0,0
$GC,6417,1.64,162.8,187.7,11.5,304,6421,0.00,2.35,0.00,0.000,4,0.000,0.038,3036,3483,2374,0,0,0,0,0,0
$GC,6478,1.64,162.8,181.0,10.6,310,6482,0.00,2.40,0.00,0.000,6,0.000,0.033,3036,2063,2374,0,0,0,0,0,0
$GC,6739,1.64,162.8,154.2,9.6,334,6743,0.00,2.40,0.00,0.000,4,0.000,0.048,3036,667,2375,0,0,0,0,0,0
$GC,6873,1.64,162.8,140.5,9.9,348,6881,0.00,2.35,0.00,0.000,6,0.000,0.026,3036,2079,2373,0,0,0,0,0,0
$GC,7136,1.64,163.6,109.6,9.0,373,7140,0.00,2.33,0.00,0.000,4,0.000,0.035,3036,3481,2374,0,0,0,0,0,0
$GC,7245,1.66,181.2,100.3,7.7,384,7271,0.08,2.38,15.93,0.611,6,0.051,0.031,3064,2079,2307,0,0,0,0,0,0
$GC,7525,1.70,216.3,80.3,6.3,411,7563,0.00,2.42,31.20,0.612,4,0.000,0.033,3064,3471,2163,0,0,0,0,0,0
$GC,7768,1.70,216.3,56.4,10.9,438,7772,0.00,2.35,0.00,0.000,6,0.000,0.031,3064,2078,2162,0,0,0,0,0,0
$GC,8031,1.70,216.3,28.8,10.4,463,8038,0.00,2.38,0.00,0.000,4,0.000,0.032,3064,3479,2159,0,0,0,0,0,0
$GC,8213,1.70,216.3,7.2,14.0,505,8219,0.00,2.38,0.00,0.000,6,0.000,0.030,3064,2077,2159,0,0,0,0,0,0
$STATE,8251,end climb,SURFACE_DEPTH_REACHED
$STATE,8251,begin surface coast
$FINISH,0.4,1.010766
$STATE,8273,end surface coast,CONTROL_FINISHED_OK
$STATE,8273,begin surface
$SM_CCo,8292,66.12,0.548,0,0,1619,350.04
$SM_GC,1.00,0.00,0.00,66.12,0.000,0.000,0.548,428,2072,1619,-10.45,-0.20,350.04
$IRIDIUM_FIX,2104.07,-15755.17,080799,121232
$TT8_MAMPS,0.029146
$HUMID,43.58
$INTERNAL_PRESSURE,9.64535
$TCM_TEMP,21.40
$XPDR_PINGS,1
$24V_AH,23.4,3.052
$10V_AH,9.9,2.645
$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,25.000,86.625,251.400,66.125,0.000,30.449,26.523,109.383,0.250,0.000,27.986,995.618,5323.496,370.658,1661.026,277.957,33.336,1088.766,0.000,1632.239,0.000,0.537,0.000
$DEVICE_MAMPS,139.594,57.525,894.322,548.405,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,348.792,327.485,747.454,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,28663,516
$CAP_FILE_SIZE,89826,0
$CFSIZE,260165632,257261568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130410,165104,2112.217,-15757.065,26,2.8,45,9.8