version: 66.06
glider: 139
mission: 7
dive: 30
start: 4 15 110 12 9 18
data:
$ID,139
$MISSION,7
$DIVE,30
$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,-2119826.8
$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,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,1960
$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
$GPS1,120407,2106.897,-15757.536,54,2.0,54,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.9
$GPS2,120826,2106.893,-15757.567,14,1.9,14,9.8
$SPEED_LIMITS,0.144,0.186
$TGT_NAME,SOUTH
$TGT_LATLONG,2057.918,-15744.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.140,-0.122
$KALMAN_X,688.5,48.3,96.7,6274.8,-112.0
$KALMAN_Y,753.1,31.5,31.0,-4967.0,264.8
$MHEAD_RNG_PITCHd_Wd,121.4,27554,-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,-59.42,0.000,6,0.000,0.000,426,1937,3369,0,0,0,0,0,0
$GC,79,-1.44,-77.9,3.9,-6.8,11,97,10.70,2.42,0.00,0.000,4,0.141,0.041,2391,546,3370,0,0,0,0,0,0
$GC,125,-1.44,-77.9,20.5,-30.3,20,131,0.00,2.38,0.00,0.000,6,0.000,0.021,2392,1987,3371,0,0,0,0,0,0
$GC,324,-1.44,-77.9,54.3,-15.9,43,328,0.00,2.47,0.00,0.000,4,0.000,0.046,2392,552,3372,0,0,0,0,0,0
$GC,339,-1.44,-77.9,56.7,-16.0,44,344,0.00,2.28,0.00,0.000,6,0.000,0.021,2392,1972,3372,0,0,0,0,0,0
$GC,599,-1.44,-77.9,95.8,-12.9,68,604,0.00,2.45,0.00,0.000,4,0.000,0.045,2392,548,3372,0,0,0,0,0,0
$GC,622,-1.44,-77.9,99.2,-15.0,70,627,0.00,2.28,0.00,0.000,6,0.000,0.021,2392,1961,3373,0,0,0,0,0,0
$GC,883,-1.44,-77.9,134.7,-11.9,94,887,0.00,2.42,0.00,0.000,4,0.000,0.045,2392,549,3374,0,0,0,0,0,0
$GC,927,-1.44,-77.9,140.9,-13.2,98,934,0.00,2.30,0.00,0.000,6,0.000,0.021,2391,1954,3374,0,0,0,0,0,0
$GC,1189,-1.44,-77.9,170.1,-12.4,123,1193,0.00,2.42,0.00,0.000,4,0.000,0.048,2392,545,3375,0,0,0,0,0,0
$GC,1304,-1.44,-77.9,185.8,-13.3,135,1309,0.00,2.30,0.00,0.000,6,0.000,0.022,2392,1956,3376,0,0,0,0,0,0
$GC,1562,-1.44,-77.9,215.5,-12.2,153,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1961,3376,0,0,0,0,0,0
$GC,1870,-1.44,-77.9,250.8,-11.0,168,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1961,3376,0,0,0,0,0,0
$GC,2180,-1.44,-77.9,283.5,-10.2,183,2185,0.00,2.42,0.00,0.000,4,0.000,0.050,2391,553,3376,0,0,0,0,0,0
$GC,2217,-1.44,-77.9,287.4,-10.2,184,2223,0.00,2.33,0.00,0.000,6,0.000,0.026,2391,1956,3377,0,0,0,0,0,0
$GC,2529,-1.44,-77.9,316.4,-9.7,196,2533,0.00,2.50,0.00,0.000,4,0.000,0.053,2391,544,3376,0,0,0,0,0,0
$GC,2607,-1.44,-77.9,325.1,-11.0,197,2611,0.00,2.33,0.00,0.000,6,0.000,0.028,2391,1957,3376,0,0,0,0,0,0
$GC,2937,-1.44,-77.9,361.3,-11.6,205,2941,0.00,2.47,0.00,0.000,4,0.000,0.054,2391,554,3374,0,0,0,0,0,0
$GC,3020,-1.44,-77.9,371.0,-10.4,206,3025,0.00,2.33,0.00,0.000,6,0.000,0.028,2392,1959,3374,0,0,0,0,0,0
$GC,3350,-1.44,-77.9,398.0,-7.6,215,3354,0.00,2.47,0.00,0.000,4,0.000,0.056,2391,546,3373,0,0,0,0,0,0
$GC,3392,-1.44,-77.9,401.3,-7.7,216,3397,0.00,2.35,0.00,0.000,6,0.000,0.031,2392,1956,3373,0,0,0,0,0,0
$GC,3719,-1.44,-77.9,432.3,-10.6,224,3723,0.00,2.50,0.00,0.000,4,0.000,0.058,2392,551,3371,0,0,0,0,0,0
$GC,3802,-1.44,-77.9,442.3,-12.4,225,3807,0.00,2.38,0.00,0.000,6,0.000,0.031,2391,1970,3370,0,0,0,0,0,0
$STATE,3886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3887,begin apogee
$GC,3892,-0.31,0.0,451.9,11.3,228,3960,1.17,0.00,65.05,0.886,6,0.081,0.000,2640,2051,3050,0,0,0,0,0,0
$STATE,3961,end apogee,CONTROL_FINISHED_OK
$STATE,3961,begin climb
$GC,3963,1.44,77.9,454.0,0.0,229,4037,1.70,2.47,64.45,0.867,4,0.036,0.045,3032,3419,2732,0,0,0,0,0,0
$GC,4111,1.55,166.6,458.2,2.0,232,4193,0.00,2.42,75.65,0.865,6,0.000,0.040,3032,2028,2370,0,0,0,0,0,0
$GC,4502,1.55,166.6,410.7,15.0,242,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2028,2360,0,0,0,0,0,0
$GC,4827,1.55,166.6,369.3,11.1,250,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2028,2357,0,0,0,0,0,0
$GC,5152,1.55,166.6,327.6,13.4,258,5156,0.00,2.47,0.00,0.000,4,0.000,0.058,3032,630,2355,0,0,0,0,0,0
$GC,5169,1.55,166.6,324.9,14.3,258,5174,0.00,2.38,0.00,0.000,6,0.000,0.032,3031,2026,2353,0,0,0,0,0,0
$GC,5496,1.55,166.6,283.8,11.0,269,5500,0.00,2.42,0.00,0.000,4,0.000,0.042,3032,3433,2352,0,0,0,0,0,0
$GC,5555,1.55,166.6,276.9,11.9,271,5561,0.00,2.42,0.00,0.000,6,0.000,0.041,3032,2035,2352,0,0,0,0,0,0
$GC,5871,1.55,166.6,239.6,11.2,287,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2035,2351,0,0,0,0,0,0
$GC,6179,1.55,166.6,207.7,9.1,302,6183,0.00,2.40,0.00,0.000,4,0.000,0.039,3031,3434,2349,0,0,0,0,0,0
$GC,6252,1.55,166.6,200.9,9.2,305,6256,0.00,2.40,0.00,0.000,6,0.000,0.036,3032,2032,2349,0,0,0,0,0,0
$GC,6581,1.58,189.8,174.2,6.7,335,6603,0.00,2.50,17.25,0.676,4,0.000,0.051,3032,630,2276,0,0,0,0,0,0
$GC,6630,1.58,189.8,170.0,8.7,340,6637,0.00,2.38,0.00,0.000,6,0.000,0.027,3032,2038,2273,0,0,0,0,0,0
$GC,6893,1.58,189.8,139.6,12.9,365,6897,0.00,2.47,0.00,0.000,4,0.000,0.048,3031,628,2272,0,0,0,0,0,0
$GC,6935,1.58,189.8,133.7,14.1,369,6940,0.00,2.35,0.00,0.000,6,0.000,0.025,3032,2045,2271,0,0,0,0,0,0
$GC,7198,1.58,189.8,108.5,9.4,393,7202,0.00,2.35,0.00,0.000,4,0.000,0.034,3032,3432,2271,0,0,0,0,0,0
$GC,7259,1.58,189.8,102.6,9.5,399,7263,0.00,2.38,0.00,0.000,6,0.000,0.034,3032,2026,2270,0,0,0,0,0,0
$GC,7521,1.58,189.8,78.4,9.6,423,7522,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2026,2271,0,0,0,0,0,0
$GC,7775,1.58,189.8,56.0,8.8,447,7776,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2026,2271,0,0,0,0,0,0
$GC,8030,1.58,190.1,32.8,8.3,471,8034,0.00,2.38,0.00,0.000,4,0.000,0.043,3032,619,2271,0,0,0,0,0,0
$GC,8055,1.58,194.7,31.0,8.0,473,8067,0.10,2.33,5.12,0.426,6,0.080,0.022,3064,2058,2256,0,0,0,0,0,0
$GC,8324,1.58,194.7,7.4,9.0,521,8330,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2058,2256,0,0,0,0,0,0
$STATE,8367,end climb,SURFACE_DEPTH_REACHED
$STATE,8367,begin surface coast
$FINISH,0.5,1.023643
$STATE,8395,end surface coast,CONTROL_FINISHED_OK
$STATE,8396,begin surface
$SM_CCo,8415,53.70,0.530,0,0,1827,300.00
$SM_GC,1.04,0.00,0.00,53.70,0.000,0.000,0.530,424,1948,1827,-10.51,-0.34,300.00
$IRIDIUM_FIX,2057.14,-15756.91,100799,090932
$TT8_MAMPS,0.029146
$HUMID,42.91
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.50
$XPDR_PINGS,1
$24V_AH,23.3,4.373
$10V_AH,9.9,3.912
$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,25.050,86.550,227.525,53.700,0.000,30.516,26.044,113.015,0.250,0.000,14.485,983.492,5641.204,339.080,1483.077,288.222,33.354,978.231,0.000,1478.910,0.000,0.537,0.000
$DEVICE_MAMPS,141.128,98.943,885.885,529.997,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,361.082,345.362,790.230,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,28649,534
$CAP_FILE_SIZE,86127,0
$CFSIZE,260165632,256421888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150410,143154,2106.283,-15757.360,42,1.2,52,9.8