version: 66.06
glider: 139
mission: 7
dive: 226
start: 5 8 110 11 56 27
data:
$ID,139
$MISSION,7
$DIVE,226
$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,187
$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,-2126911
$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,2714
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$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
$GPS1,114051,2104.920,-15743.678,86,2.6,105,9.8
$_CALLS,4
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.9
$GPS2,115536,2105.064,-15743.728,15,1.7,25,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.040,-0.179
$KALMAN_X,-102765.6,295.1,-298.8,136738.9,-345.5
$KALMAN_Y,33838.9,-170.8,-143.2,-38537.8,1015.2
$MHEAD_RNG_PITCHd_Wd,182.9,16961,-20.8,-8.021
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,74,0.00,0.00,-55.33,0.000,2,0.000,0.000,429,1932,3331,0,0,0,0,0,0
$GC,76,-1.40,-77.9,4.0,-7.5,10,95,10.65,2.50,-0.68,0.000,4,0.137,0.048,2404,485,3369,0,0,0,0,0,0
$GC,179,-1.18,-77.9,32.5,-20.0,31,184,0.25,2.33,0.00,0.000,6,0.096,0.020,2454,1939,3370,0,0,0,0,0,0
$GC,443,-1.18,-77.9,66.5,-12.7,55,447,0.00,2.50,0.00,0.000,4,0.000,0.044,2453,494,3371,0,0,0,0,0,0
$GC,485,-1.18,-77.9,72.3,-13.5,59,489,0.00,2.25,0.00,0.000,6,0.000,0.020,2454,1908,3370,0,0,0,0,0,0
$GC,749,-1.21,-77.9,100.9,-11.2,83,753,0.00,2.42,0.00,0.000,4,0.000,0.043,2453,492,3371,0,0,0,0,0,0
$GC,770,-1.21,-77.9,104.1,-12.6,85,776,0.00,2.25,0.00,0.000,6,0.000,0.020,2454,1908,3372,0,0,0,0,0,0
$GC,1032,-1.27,-77.9,131.1,-9.9,110,1036,0.00,2.42,0.00,0.000,4,0.000,0.044,2452,486,3372,0,0,0,0,0,0
$GC,1116,-1.27,-77.9,139.8,-10.4,119,1121,0.00,2.25,0.00,0.000,6,0.000,0.020,2454,1891,3372,0,0,0,0,0,0
$GC,1382,-1.34,-77.9,166.3,-9.9,144,1386,0.15,2.42,0.00,0.000,4,0.057,0.044,2405,488,3373,0,0,0,0,0,0
$GC,1409,-1.27,-77.9,169.8,-12.5,146,1417,0.10,2.28,0.00,0.000,6,0.074,0.021,2433,1891,3373,0,0,0,0,0,0
$GC,1671,-1.32,-77.9,197.0,-10.7,171,1675,0.00,2.40,0.00,0.000,4,0.000,0.044,2431,494,3373,0,0,0,0,0,0
$GC,1716,-1.32,-77.9,202.1,-10.9,175,1720,0.00,2.25,0.00,0.000,6,0.000,0.021,2433,1908,3373,0,0,0,0,0,0
$GC,2041,-1.41,-77.9,233.8,-10.3,191,2046,0.12,2.45,0.00,0.000,4,0.067,0.045,2390,494,3373,0,0,0,0,0,0
$GC,2110,-1.38,-77.9,242.9,-13.0,194,2115,0.00,2.25,0.00,0.000,6,0.000,0.021,2393,1904,3373,0,0,0,0,0,0
$GC,2434,-1.38,-77.9,273.7,-9.6,210,2438,0.00,2.45,0.00,0.000,4,0.000,0.046,2391,485,3373,0,0,0,0,0,0
$GC,2530,-1.38,-77.9,283.8,-9.6,214,2534,0.10,2.28,0.00,0.000,6,0.111,0.023,2412,1907,3373,0,0,0,0,0,0
$GC,2870,-1.45,-77.9,309.8,-7.2,228,2874,0.00,2.45,0.00,0.000,4,0.000,0.048,2413,494,3372,0,0,0,0,0,0
$GC,2939,-1.48,-77.9,316.0,-9.4,229,2943,0.00,2.28,0.00,0.000,6,0.000,0.025,2410,1893,3371,0,0,0,0,0,0
$GC,3283,-1.56,-77.9,347.7,-9.0,238,3288,0.17,2.45,0.00,0.000,4,0.058,0.051,2365,495,3370,0,0,0,0,0,0
$GC,3367,-1.49,-77.9,357.1,-10.8,239,3374,0.12,2.28,0.00,0.000,6,0.105,0.027,2389,1897,3369,0,0,0,0,0,0
$GC,3697,-1.49,-77.9,387.3,-9.2,248,3702,0.00,2.47,0.00,0.000,4,0.000,0.053,2390,488,3367,0,0,0,0,0,0
$GC,3748,-1.49,-77.9,392.4,-10.4,249,3752,0.00,2.35,0.00,0.000,6,0.000,0.028,2390,1905,3366,0,0,0,0,0,0
$GC,4067,-1.53,-77.9,420.9,-8.9,257,4071,0.00,2.47,0.00,0.000,4,0.000,0.054,2390,497,3364,0,0,0,0,0,0
$GC,4117,-1.53,-77.9,426.0,-9.7,258,4121,0.00,2.33,0.00,0.000,6,0.000,0.029,2389,1908,3363,0,0,0,0,0,0
$STATE,4433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4433,begin apogee
$GC,4438,-0.31,0.0,451.2,7.3,266,4505,1.20,0.00,63.72,0.882,6,0.076,0.000,2646,2053,3050,0,0,0,0,0,0
$STATE,4506,end apogee,CONTROL_FINISHED_OK
$STATE,4506,begin climb
$GC,4508,1.40,77.9,451.8,0.0,267,4582,1.62,2.45,64.93,0.858,4,0.035,0.045,3024,3409,2732,0,0,0,0,0,0
$GC,4847,1.19,89.4,436.3,7.2,274,4863,0.25,2.35,10.48,0.768,6,0.117,0.038,2977,2034,2684,0,0,0,0,0,0
$GC,5195,1.11,120.4,414.0,5.9,283,5228,0.00,2.47,26.77,0.841,4,0.000,0.044,2978,3402,2559,0,0,0,0,0,0
$GC,5311,1.02,120.4,405.9,8.1,285,5316,0.22,2.40,0.00,0.000,6,0.112,0.040,2937,2026,2557,0,0,0,0,0,0
$GC,5651,1.06,151.9,386.0,5.9,294,5684,0.00,2.55,27.75,0.838,4,0.000,0.058,2935,630,2430,0,0,0,0,0,0
$GC,5742,1.00,151.9,379.3,8.6,296,5746,0.00,2.35,0.00,0.000,6,0.000,0.031,2935,2020,2425,0,0,0,0,0,0
$GC,6064,1.01,157.9,353.9,7.6,304,6071,0.00,0.00,5.55,0.643,6,0.000,0.000,2935,2026,2406,0,0,0,0,0,0
$GC,6389,1.02,164.3,329.2,7.6,312,6401,0.00,2.53,6.88,0.686,4,0.000,0.054,2935,634,2380,0,0,0,0,0,0
$GC,6476,0.98,164.3,321.7,8.3,313,6482,0.00,2.38,0.00,0.000,6,0.000,0.031,2936,2037,2377,0,0,0,0,0,0
$GC,6787,1.02,166.0,297.0,7.9,322,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2041,2377,0,0,0,0,0,0
$GC,7100,1.07,178.4,273.3,7.2,337,7122,0.00,2.60,13.52,0.747,4,0.000,0.052,2936,614,2320,0,0,0,0,0,0
$GC,7197,1.07,178.4,265.5,8.5,341,7201,0.00,2.40,0.00,0.000,6,0.000,0.030,2936,2041,2318,0,0,0,0,0,0
$GC,7523,1.13,179.3,240.8,8.0,357,7528,0.10,2.53,0.00,0.000,4,0.088,0.051,2961,621,2317,0,0,0,0,0,0
$GC,7763,1.08,179.3,217.7,8.7,367,7767,0.00,2.38,0.00,0.000,6,0.000,0.028,2961,2043,2315,0,0,0,0,0,0
$GC,8080,1.10,194.3,193.1,7.0,386,8100,0.00,2.53,14.40,0.680,4,0.000,0.047,2961,622,2256,0,0,0,0,0,0
$GC,8303,1.10,194.3,174.8,8.8,410,8310,0.00,2.38,0.00,0.000,6,0.000,0.025,2961,2037,2252,0,0,0,0,0,0
$GC,8567,1.15,210.9,155.0,6.9,435,8589,0.00,2.45,15.57,0.640,4,0.000,0.032,2962,3441,2189,0,0,0,0,0,0
$GC,8632,1.24,218.5,149.8,7.5,442,8647,0.10,2.40,8.62,0.578,6,0.080,0.031,2989,2028,2158,0,0,0,0,0,0
$GC,8907,1.24,218.5,123.4,10.0,468,8911,0.00,2.40,0.00,0.000,4,0.000,0.044,2989,630,2155,0,0,0,0,0,0
$GC,9051,1.20,218.5,107.9,12.2,483,9057,0.00,2.30,0.00,0.000,6,0.000,0.022,2988,2044,2153,0,0,0,0,0,0
$GC,9312,1.20,218.5,84.4,9.0,508,9316,0.00,2.30,0.00,0.000,4,0.000,0.030,2989,3429,2152,0,0,0,0,0,0
$GC,9391,1.20,220.0,77.7,7.9,516,9395,0.00,2.35,0.00,0.000,6,0.000,0.028,2987,2024,2153,0,0,0,0,0,0
$GC,9653,1.20,220.0,54.4,9.9,540,9658,0.00,2.38,0.00,0.000,4,0.000,0.043,2988,631,2153,0,0,0,0,0,0
$GC,9724,1.20,220.0,47.2,10.3,547,9728,0.00,2.30,0.00,0.000,6,0.000,0.021,2989,2050,2153,0,0,0,0,0,0
$GC,9987,1.26,242.4,25.2,6.5,577,10016,0.00,2.33,21.70,0.531,4,0.000,0.026,2989,3420,2060,0,0,0,0,0,0
$GC,10079,1.34,242.4,17.8,10.1,596,10086,0.00,2.35,0.00,0.000,6,0.000,0.028,2989,2034,2060,0,0,0,0,0,0
$STATE,10220,end climb,SURFACE_DEPTH_REACHED
$STATE,10220,begin surface coast
$FINISH,0.5,1.023502
$STATE,10248,end surface coast,CONTROL_FINISHED_OK
$STATE,10248,begin surface
$SM_CCo,10267,32.33,0.515,0,0,1826,300.00
$SM_GC,1.42,0.00,0.00,32.33,0.000,0.000,0.515,427,1877,1826,-10.52,-0.68,300.00
$IRIDIUM_FIX,2059.45,-15746.61,020899,111155
$TT8_MAMPS,0.029146
$HUMID,45.27
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.70
$XPDR_PINGS,1
$24V_AH,23.4,20.323
$10V_AH,10.0,19.388
$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,26.250,114.975,279.900,32.325,0.000,126.686,139.893,307.053,4.750,0.000,25.979,1233.731,6857.286,361.730,1970.228,763.599,33.375,1209.696,0.000,1936.211,0.000,29.259,0.000
$DEVICE_MAMPS,136.526,57.525,882.050,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.992,401.546,885.266,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,35014,627
$CAP_FILE_SIZE,123353,0
$CFSIZE,260165632,245673984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080510,145150,2104.342,-15743.816,168,2.9,187,9.8