version: 66.06
glider: 139
mission: 7
dive: 22
start: 4 14 110 15 23 26
data:
$ID,139
$MISSION,7
$DIVE,22
$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,-2119609.8
$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,2708
$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,2035
$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
$GPS1,151744,2110.724,-15800.606,19,1.4,19,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-69.2
$GPS2,152236,2110.683,-15800.578,38,1.8,44,9.8
$SPEED_LIMITS,0.144,0.186
$TGT_NAME,WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.155,-0.103
$KALMAN_X,16889.8,-142.5,-930.2,-27779.5,2208.8
$KALMAN_Y,-5372.4,266.8,-24.1,-5676.6,-1168.6
$MHEAD_RNG_PITCHd_Wd,226.6,5052,-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,-77.9,0.0,0.0,0,78,0.00,0.00,-59.67,0.000,6,0.000,0.000,431,2048,3369,0,0,0,0,0,0
$GC,80,-1.44,-77.9,3.7,-6.6,11,98,10.70,2.38,0.00,0.000,4,0.143,0.030,2388,3447,3371,0,0,0,0,0,0
$GC,311,-1.44,-77.9,49.0,-15.5,50,316,0.00,2.40,0.00,0.000,6,0.000,0.033,2388,2029,3372,0,0,0,0,0,0
$GC,571,-1.44,-77.9,90.9,-16.1,74,576,0.00,2.42,0.00,0.000,4,0.000,0.046,2388,618,3373,0,0,0,0,0,0
$GC,594,-1.44,-77.9,94.7,-15.9,76,599,0.00,2.35,0.00,0.000,6,0.000,0.021,2388,2071,3373,0,0,0,0,0,0
$GC,855,-1.44,-77.9,135.9,-14.0,100,859,0.00,2.50,0.00,0.000,4,0.000,0.044,2388,622,3374,0,0,0,0,0,0
$GC,889,-1.44,-77.9,140.4,-13.3,103,893,0.00,2.30,0.00,0.000,6,0.000,0.021,2388,2043,3375,0,0,0,0,0,0
$GC,1151,-1.44,-77.9,178.0,-15.9,127,1155,0.00,2.42,0.00,0.000,4,0.000,0.045,2388,623,3376,0,0,0,0,0,0
$GC,1242,-1.44,-77.9,192.6,-13.4,136,1248,0.00,2.30,0.00,0.000,6,0.000,0.022,2388,2029,3376,0,0,0,0,0,0
$GC,1496,-1.44,-77.9,221.2,-11.4,152,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2033,3376,0,0,0,0,0,0
$GC,1807,-1.44,-77.9,261.1,-13.5,167,1811,0.00,2.42,0.00,0.000,4,0.000,0.048,2388,629,3377,0,0,0,0,0,0
$GC,1913,-1.44,-77.9,276.8,-14.8,171,1919,0.00,2.30,0.00,0.000,6,0.000,0.025,2388,2033,3377,0,0,0,0,0,0
$GC,2246,-1.44,-77.9,315.2,-11.0,185,2250,0.00,2.42,0.00,0.000,4,0.000,0.051,2388,629,3376,0,0,0,0,0,0
$GC,2324,-1.44,-77.9,323.9,-11.3,186,2328,0.00,2.30,0.00,0.000,6,0.000,0.027,2388,2031,3376,0,0,0,0,0,0
$GC,2654,-1.44,-77.9,355.6,-9.4,194,2658,0.00,2.42,0.00,0.000,4,0.000,0.052,2388,632,3375,0,0,0,0,0,0
$GC,2737,-1.44,-77.9,363.4,-8.8,195,2742,0.00,2.33,0.00,0.000,6,0.000,0.028,2388,2037,3374,0,0,0,0,0,0
$GC,3067,-1.44,-77.9,389.4,-8.0,204,3072,0.00,2.45,0.00,0.000,4,0.000,0.054,2388,631,3373,0,0,0,0,0,0
$GC,3145,-1.44,-77.9,396.9,-9.5,205,3149,0.00,2.33,0.00,0.000,6,0.000,0.030,2388,2033,3373,0,0,0,0,0,0
$GC,3476,-1.44,-77.9,428.8,-9.7,213,3480,0.00,2.45,0.00,0.000,4,0.000,0.057,2388,633,3371,0,0,0,0,0,0
$GC,3535,-1.44,-77.9,435.8,-12.0,214,3539,0.00,2.35,0.00,0.000,6,0.000,0.031,2388,2037,3370,0,0,0,0,0,0
$STATE,3679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3679,begin apogee
$GC,3683,-0.31,0.0,450.4,10.0,218,3751,1.20,0.00,64.95,0.876,6,0.085,0.000,2641,2041,3050,0,0,0,0,0,0
$STATE,3752,end apogee,CONTROL_FINISHED_OK
$STATE,3752,begin climb
$GC,3754,1.44,77.9,451.3,0.0,219,3828,1.70,2.53,64.38,0.855,4,0.041,0.047,3026,3430,2732,0,0,0,0,0,0
$GC,3931,1.54,162.9,450.8,2.3,223,4010,0.00,2.42,71.95,0.855,6,0.000,0.038,3027,2036,2387,0,0,0,0,0,0
$GC,4334,1.54,162.9,405.5,13.4,232,4338,0.00,2.45,0.00,0.000,4,0.000,0.041,3026,3442,2377,0,0,0,0,0,0
$GC,4564,1.54,162.9,374.8,11.7,237,4568,0.00,2.45,0.00,0.000,6,0.000,0.041,3026,2037,2376,0,0,0,0,0,0
$GC,4886,1.54,162.9,338.5,10.7,245,4890,0.00,2.50,0.00,0.000,4,0.000,0.056,3026,629,2372,0,0,0,0,0,0
$GC,4945,1.54,162.9,331.3,13.2,246,4949,0.00,2.40,0.00,0.000,6,0.000,0.032,3026,2043,2370,0,0,0,0,0,0
$GC,5274,1.54,162.9,290.8,13.5,256,5278,0.00,2.38,0.00,0.000,4,0.000,0.041,3026,3439,2370,0,0,0,0,0,0
$GC,5324,1.54,162.9,284.3,11.9,258,5329,0.00,2.42,0.00,0.000,6,0.000,0.038,3026,2032,2369,0,0,0,0,0,0
$GC,5644,1.54,162.9,254.0,9.0,274,5648,0.00,2.47,0.00,0.000,4,0.000,0.054,3026,626,2368,0,0,0,0,0,0
$GC,5664,1.54,162.9,251.9,10.6,275,5668,0.00,2.38,0.00,0.000,6,0.000,0.031,3026,2039,2367,0,0,0,0,0,0
$GC,5994,1.56,174.4,226.6,7.5,291,6007,0.00,2.42,7.60,0.640,4,0.000,0.040,3026,3440,2339,0,0,0,0,0,0
$GC,6163,1.57,186.0,212.1,7.5,298,6181,0.10,2.40,12.12,0.676,6,0.087,0.036,3053,2034,2291,0,0,0,0,0,0
$GC,6501,1.57,186.0,179.1,12.1,323,6506,0.00,2.45,0.00,0.000,4,0.000,0.050,3053,629,2287,0,0,0,0,0,0
$GC,6553,1.57,186.0,172.9,11.7,328,6558,0.00,2.35,0.00,0.000,6,0.000,0.026,3053,2043,2285,0,0,0,0,0,0
$GC,6814,1.57,186.0,138.0,13.5,352,6819,0.00,2.35,0.00,0.000,4,0.000,0.035,3053,3439,2285,0,0,0,0,0,0
$GC,6837,1.57,186.0,135.2,11.9,354,6842,0.00,2.38,0.00,0.000,6,0.000,0.031,3053,2030,2285,0,0,0,0,0,0
$GC,7098,1.57,186.0,111.1,8.8,378,7102,0.00,2.42,0.00,0.000,4,0.000,0.047,3053,623,2285,0,0,0,0,0,0
$GC,7125,1.57,186.0,108.5,8.9,380,7132,0.00,2.35,0.00,0.000,6,0.000,0.025,3054,2041,2285,0,0,0,0,0,0
$GC,7388,1.57,186.0,86.1,9.6,405,7392,0.00,2.42,0.00,0.000,4,0.000,0.044,3053,631,2285,0,0,0,0,0,0
$GC,7433,1.57,186.0,80.8,11.3,409,7438,0.00,2.30,0.00,0.000,6,0.000,0.024,3053,2040,2284,0,0,0,0,0,0
$GC,7695,1.58,192.7,55.0,7.9,434,7707,0.00,2.45,6.62,0.468,4,0.000,0.043,3053,623,2263,0,0,0,0,0,0
$GC,7720,1.58,192.7,52.5,9.2,436,7727,0.00,2.33,0.00,0.000,6,0.000,0.023,3053,2034,2262,0,0,0,0,0,0
$GC,7983,1.58,192.7,28.4,9.3,462,7990,0.00,2.33,0.00,0.000,4,0.000,0.031,3053,3423,2262,0,0,0,0,0,0
$GC,8165,1.58,192.7,10.4,8.6,504,8172,0.00,2.35,0.00,0.000,6,0.000,0.029,3053,2028,2262,0,0,0,0,0,0
$STATE,8248,end climb,SURFACE_DEPTH_REACHED
$STATE,8248,begin surface coast
$FINISH,0.6,1.023556
$STATE,8282,end surface coast,CONTROL_FINISHED_OK
$STATE,8282,begin surface
$SM_CCo,8301,53.65,0.523,0,0,1827,300.00
$SM_GC,1.26,0.00,0.00,53.65,0.000,0.000,0.523,431,2023,1827,-10.47,-0.37,300.00
$IRIDIUM_FIX,2101.76,-15803.33,090799,131308
$TT8_MAMPS,0.029146
$HUMID,42.71
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.3,3.786
$10V_AH,9.9,3.348
$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,24.925,100.550,227.625,53.650,0.000,31.479,33.071,111.701,0.000,0.000,44.170,1013.138,5341.745,342.433,1658.536,296.595,33.348,1046.376,0.000,1619.963,0.000,0.537,0.000
$DEVICE_MAMPS,143.429,56.758,875.914,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,355.047,338.045,795.220,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,28593,525
$CAP_FILE_SIZE,91668,0
$CFSIZE,260165632,256790528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140410,174421,2109.882,-15800.915,46,2.5,65,9.8