version: 66.06
glider: 139
mission: 7
dive: 228
start: 5 8 110 17 56 55
data:
$ID,139
$MISSION,7
$DIVE,228
$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,-2126946.5
$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,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
$GPS1,175006,2103.975,-15743.943,123,1.1,123,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.1
$GPS2,175602,2104.042,-15743.897,14,1.2,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.080,-0.165
$KALMAN_X,-101842.1,-129.7,524.1,135122.1,-102.2
$KALMAN_Y,35316.7,-114.9,139.9,-42254.1,750.2
$MHEAD_RNG_PITCHd_Wd,196.1,15329,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,73,0.00,0.00,-55.40,0.000,2,0.000,0.000,432,1914,3290,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.4,-5.7,10,94,10.62,2.45,-1.50,0.000,4,0.137,0.050,2403,483,3369,0,0,0,0,0,0
$GC,204,-1.22,-77.9,35.7,-18.6,35,209,0.20,2.33,0.00,0.000,6,0.098,0.021,2444,1931,3371,0,0,0,0,0,0
$GC,466,-1.22,-77.9,72.8,-12.9,59,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1936,3371,0,0,0,0,0,0
$GC,720,-1.22,-77.9,102.9,-11.9,83,724,0.00,2.47,0.00,0.000,4,0.000,0.044,2444,494,3372,0,0,0,0,0,0
$GC,801,-1.22,-77.9,112.5,-10.9,91,806,0.00,2.25,0.00,0.000,6,0.000,0.020,2444,1910,3373,0,0,0,0,0,0
$GC,1062,-1.25,-77.9,141.8,-11.7,116,1066,0.00,2.42,0.00,0.000,4,0.000,0.044,2443,488,3373,0,0,0,0,0,0
$GC,1097,-1.22,-77.9,146.2,-13.4,119,1101,0.00,2.25,0.00,0.000,6,0.000,0.020,2444,1903,3373,0,0,0,0,0,0
$GC,1359,-1.28,-77.9,171.1,-8.9,143,1363,0.00,2.42,0.00,0.000,4,0.000,0.044,2442,492,3374,0,0,0,0,0,0
$GC,1414,-1.32,-77.9,177.2,-10.1,148,1421,0.00,2.28,0.00,0.000,6,0.000,0.020,2444,1896,3374,0,0,0,0,0,0
$GC,1684,-1.39,-77.9,204.3,-10.1,172,1689,0.15,2.42,0.00,0.000,4,0.058,0.044,2396,494,3375,0,0,0,0,0,0
$GC,1717,-1.31,-77.9,208.6,-14.1,173,1722,0.15,2.28,0.00,0.000,6,0.094,0.021,2428,1905,3375,0,0,0,0,0,0
$GC,2033,-1.37,-77.9,239.6,-8.7,188,2037,0.00,2.42,0.00,0.000,4,0.000,0.044,2427,493,3375,0,0,0,0,0,0
$GC,2121,-1.43,-77.9,249.3,-10.6,191,2127,0.12,2.25,0.00,0.000,6,0.065,0.021,2387,1900,3375,0,0,0,0,0,0
$GC,2437,-1.43,-77.9,284.7,-11.0,207,2441,0.00,2.40,0.00,0.000,4,0.000,0.046,2386,494,3375,0,0,0,0,0,0
$GC,2542,-1.38,-77.9,297.3,-11.3,211,2547,0.12,2.28,0.00,0.000,6,0.101,0.022,2412,1900,3375,0,0,0,0,0,0
$GC,2874,-1.44,-77.9,325.9,-8.7,220,2878,0.00,2.45,0.00,0.000,4,0.000,0.048,2412,488,3375,0,0,0,0,0,0
$GC,2942,-1.44,-77.9,333.0,-9.7,221,2947,0.00,2.28,0.00,0.000,6,0.000,0.025,2409,1897,3375,0,0,0,0,0,0
$GC,3283,-1.51,-77.9,363.9,-9.1,230,3287,0.12,2.47,0.00,0.000,4,0.068,0.051,2375,491,3372,0,0,0,0,0,0
$GC,3381,-1.47,-77.9,374.6,-11.0,232,3385,0.00,2.28,0.00,0.000,6,0.000,0.026,2375,1896,3372,0,0,0,0,0,0
$GC,3700,-1.47,-77.9,406.3,-10.2,240,3705,0.00,2.45,0.00,0.000,4,0.000,0.053,2375,497,3370,0,0,0,0,0,0
$GC,3751,-1.43,-77.9,412.3,-11.7,241,3756,0.12,2.30,0.00,0.000,6,0.104,0.028,2400,1904,3370,0,0,0,0,0,0
$GC,4073,-1.50,-77.9,441.5,-8.9,249,4078,0.00,2.47,0.00,0.000,4,0.000,0.055,2399,496,3368,0,0,0,0,0,0
$STATE,4150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4150,begin apogee
$GC,4157,-0.31,0.0,450.1,10.5,250,4225,1.12,0.00,64.75,0.874,6,0.077,0.000,2642,2028,3050,0,0,0,0,0,0
$STATE,4226,end apogee,CONTROL_FINISHED_OK
$STATE,4226,begin climb
$GC,4228,1.40,77.9,451.9,0.0,252,4303,1.65,2.55,64.78,0.852,4,0.035,0.044,3024,3441,2732,0,0,0,0,0,0
$GC,4448,1.21,109.0,447.0,5.9,256,4481,0.22,2.42,27.08,0.832,6,0.115,0.037,2982,2029,2605,0,0,0,0,0,0
$GC,4822,1.10,115.1,419.7,7.6,266,4830,0.15,0.00,5.82,0.653,6,0.118,0.000,2955,2029,2580,0,0,0,0,0,0
$GC,5147,1.07,134.9,397.3,6.7,274,5167,0.00,0.00,17.65,0.812,6,0.000,0.000,2955,2030,2500,0,0,0,0,0,0
$GC,5477,1.04,134.9,371.8,8.0,282,5481,0.00,2.47,0.00,0.000,4,0.000,0.054,2956,629,2496,0,0,0,0,0,0
$GC,5523,0.92,134.9,367.9,8.1,283,5528,0.20,2.38,0.00,0.000,6,0.117,0.031,2919,2048,2495,0,0,0,0,0,0
$GC,5847,1.01,167.1,347.7,5.8,291,5882,0.00,2.58,28.45,0.815,4,0.000,0.052,2920,623,2367,0,0,0,0,0,0
$GC,6027,1.01,167.1,330.8,10.2,295,6031,0.00,2.38,0.00,0.000,6,0.000,0.030,2918,2040,2361,0,0,0,0,0,0
$GC,6353,1.08,167.1,302.0,8.6,303,6358,0.12,2.50,0.00,0.000,4,0.077,0.052,2950,628,2360,0,0,0,0,0,0
$GC,6428,1.03,167.1,294.4,10.8,305,6432,0.00,2.38,0.00,0.000,6,0.000,0.029,2949,2037,2358,0,0,0,0,0,0
$GC,6748,1.03,167.1,267.2,8.0,321,6752,0.00,2.47,0.00,0.000,4,0.000,0.051,2949,629,2358,0,0,0,0,0,0
$GC,6919,0.99,167.1,251.3,9.7,328,6924,0.00,2.35,0.00,0.000,6,0.000,0.028,2950,2037,2356,0,0,0,0,0,0
$GC,7235,0.99,167.1,226.2,8.3,343,7236,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2042,2356,0,0,0,0,0,0
$GC,7544,1.06,189.1,205.0,6.5,358,7568,0.00,2.50,18.67,0.699,4,0.000,0.046,2949,627,2276,0,0,0,0,0,0
$GC,7666,1.07,194.7,195.7,7.6,367,7679,0.00,2.33,5.65,0.552,6,0.000,0.026,2950,2044,2256,0,0,0,0,0,0
$GC,7941,1.13,202.6,175.1,7.5,393,7952,0.00,0.00,8.62,0.605,6,0.000,0.000,2950,2044,2224,0,0,0,0,0,0
$GC,8207,1.20,202.6,152.9,8.2,418,8211,0.12,2.45,0.00,0.000,4,0.074,0.047,2984,629,2223,0,0,0,0,0,0
$GC,8350,1.15,202.6,137.8,11.3,433,8354,0.00,2.33,0.00,0.000,6,0.000,0.023,2984,2044,2220,0,0,0,0,0,0
$GC,8613,1.15,202.6,112.3,8.5,457,8617,0.00,2.45,0.00,0.000,4,0.000,0.044,2984,622,2220,0,0,0,0,0,0
$GC,8749,1.10,202.6,97.6,11.8,471,8756,0.15,2.30,0.00,0.000,6,0.110,0.022,2954,2050,2220,0,0,0,0,0,0
$GC,9013,1.18,206.5,75.5,7.8,496,9024,0.00,2.45,4.90,0.438,4,0.000,0.041,2956,627,2207,0,0,0,0,0,0
$GC,9275,1.22,208.5,53.7,7.9,525,9281,0.08,2.30,0.00,0.000,6,0.048,0.021,2985,2036,2206,0,0,0,0,0,0
$GC,9537,1.28,218.6,36.0,7.3,550,9557,0.00,2.35,12.30,0.518,4,0.000,0.029,2985,3418,2158,0,0,0,0,0,0
$GC,9665,1.36,223.5,26.2,7.7,569,9678,0.08,2.35,5.95,0.435,6,0.042,0.027,3016,2024,2138,0,0,0,0,0,0
$GC,9875,1.36,223.5,7.5,9.3,607,9881,0.00,2.40,0.00,0.000,4,0.000,0.041,3017,629,2137,0,0,0,0,0,0
$STATE,9924,end climb,SURFACE_DEPTH_REACHED
$STATE,9924,begin surface coast
$FINISH,0.5,1.023473
$STATE,9951,end surface coast,CONTROL_FINISHED_OK
$STATE,9951,begin surface
$SM_CCo,9972,39.45,0.515,0,0,1826,300.00
$SM_GC,1.67,0.00,0.00,39.45,0.000,0.000,0.515,430,1931,1826,-10.51,0.88,300.00
$IRIDIUM_FIX,2057.14,-15716.59,020899,151531
$TT8_MAMPS,0.028379
$HUMID,44.64
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,441.5,56.4
$24V_AH,23.4,20.488
$10V_AH,10.1,19.557
$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,26.675,104.975,264.625,39.450,0.000,28.648,49.182,179.426,5.000,0.000,14.681,1226.776,6395.144,355.087,1970.733,424.446,33.366,1188.429,0.000,1944.506,0.000,32.265,0.000
$DEVICE_MAMPS,136.526,55.224,873.613,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.819,401.779,914.929,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,34953,624
$CAP_FILE_SIZE,115626,0
$CFSIZE,260165632,245563392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080510,204527,2103.246,-15744.162,44,2.7,63,9.8