version: 66.06
glider: 139
mission: 7
dive: 230
start: 5 8 110 23 56 23
data:
$ID,139
$MISSION,7
$DIVE,230
$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,-2127018.8
$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,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
$GPS1,234557,2102.399,-15744.570,95,2.2,114,9.8
$_CALLS,2
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.7
$GPS2,235532,2102.506,-15744.539,35,1.9,35,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.128,-0.132
$KALMAN_X,-100415.8,29.1,-349.3,133304.4,844.3
$KALMAN_Y,36324.1,124.5,-246.6,-45953.4,937.6
$MHEAD_RNG_PITCHd_Wd,214.2,12525,-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,-55.40,0.000,2,0.000,0.000,430,1944,3305,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.7,-6.8,10,94,10.65,2.28,-1.20,0.000,4,0.137,0.039,2403,3322,3369,0,0,0,0,0,0
$GC,317,-1.36,-77.9,48.1,-13.9,50,321,0.00,2.40,0.00,0.000,6,0.000,0.031,2404,1891,3371,0,0,0,0,0,0
$GC,579,-1.27,-77.9,86.4,-15.0,74,583,0.15,2.40,0.00,0.000,4,0.100,0.044,2434,490,3371,0,0,0,0,0,0
$GC,596,-1.18,-77.9,88.8,-14.4,75,601,0.10,2.33,0.00,0.000,6,0.119,0.020,2453,1944,3371,0,0,0,0,0,0
$GC,858,-1.22,-77.9,119.3,-11.9,99,862,0.00,2.47,0.00,0.000,4,0.000,0.044,2453,495,3372,0,0,0,0,0,0
$GC,916,-1.22,-77.9,126.5,-10.9,105,922,0.00,2.25,0.00,0.000,6,0.000,0.020,2453,1894,3372,0,0,0,0,0,0
$GC,1178,-1.28,-77.9,153.5,-11.0,130,1182,0.00,2.42,0.00,0.000,4,0.000,0.044,2452,485,3373,0,0,0,0,0,0
$GC,1241,-1.32,-77.9,160.8,-9.8,136,1248,0.10,2.30,0.00,0.000,6,0.035,0.020,2411,1902,3373,0,0,0,0,0,0
$GC,1503,-1.32,-77.9,193.3,-11.9,161,1507,0.00,2.42,0.00,0.000,4,0.000,0.044,2409,492,3373,0,0,0,0,0,0
$GC,1548,-1.28,-77.9,199.7,-12.6,165,1555,0.12,2.25,0.00,0.000,6,0.101,0.021,2435,1900,3373,0,0,0,0,0,0
$GC,1803,-1.35,-77.9,222.0,-8.5,178,1807,0.00,2.42,0.00,0.000,4,0.000,0.044,2436,488,3374,0,0,0,0,0,0
$GC,1870,-1.41,-77.9,228.1,-9.2,181,1875,0.15,2.28,0.00,0.000,6,0.057,0.021,2389,1899,3374,0,0,0,0,0,0
$GC,2202,-1.41,-77.9,259.3,-9.1,197,2206,0.00,2.40,0.00,0.000,4,0.000,0.045,2386,494,3374,0,0,0,0,0,0
$GC,2245,-1.36,-77.9,263.8,-10.7,199,2250,0.15,2.28,0.00,0.000,6,0.094,0.022,2419,1897,3374,0,0,0,0,0,0
$GC,2577,-1.45,-77.9,292.6,-8.8,215,2581,0.00,2.42,0.00,0.000,4,0.000,0.048,2419,487,3373,0,0,0,0,0,0
$GC,2604,-1.45,-77.9,295.3,-8.9,216,2609,0.00,2.28,0.00,0.000,6,0.000,0.025,2420,1898,3373,0,0,0,0,0,0
$GC,2921,-1.52,-77.9,321.3,-8.4,226,2926,0.17,2.47,0.00,0.000,4,0.054,0.050,2369,488,3372,0,0,0,0,0,0
$GC,2986,-1.46,-77.9,328.4,-10.9,227,2991,0.12,2.30,0.00,0.000,6,0.101,0.026,2394,1901,3372,0,0,0,0,0,0
$GC,3336,-1.50,-77.9,359.1,-8.6,236,3340,0.00,2.47,0.00,0.000,4,0.000,0.052,2395,491,3369,0,0,0,0,0,0
$GC,3425,-1.50,-77.9,367.6,-9.1,238,3429,0.00,2.33,0.00,0.000,6,0.000,0.027,2394,1901,3369,0,0,0,0,0,0
$GC,3752,-1.54,-77.9,394.7,-8.0,246,3756,0.00,2.45,0.00,0.000,4,0.000,0.053,2393,495,3366,0,0,0,0,0,0
$GC,3817,-1.54,-77.9,400.4,-9.4,247,3821,0.00,2.33,0.00,0.000,6,0.000,0.028,2395,1897,3366,0,0,0,0,0,0
$GC,4162,-1.59,-77.9,430.0,-8.7,256,4167,0.12,2.50,0.00,0.000,4,0.072,0.056,2357,494,3363,0,0,0,0,0,0
$GC,4280,-1.52,-77.9,442.8,-10.2,258,4285,0.12,2.35,0.00,0.000,6,0.110,0.029,2383,1900,3362,0,0,0,0,0,0
$STATE,4335,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4335,begin apogee
$GC,4340,-0.31,0.0,448.0,9.3,260,4407,1.23,0.00,64.12,0.881,6,0.077,0.000,2644,2060,3050,0,0,0,0,0,0
$STATE,4408,end apogee,CONTROL_FINISHED_OK
$STATE,4408,begin climb
$GC,4410,1.40,77.9,448.9,0.0,261,4485,1.62,2.45,64.82,0.858,4,0.034,0.047,3024,3411,2732,0,0,0,0,0,0
$GC,4598,1.23,120.7,445.0,5.1,265,4643,0.20,2.40,37.03,0.843,6,0.114,0.038,2986,2031,2557,0,0,0,0,0,0
$GC,4961,1.11,120.7,415.4,8.5,274,4963,0.15,0.00,0.00,0.000,6,0.119,0.000,2959,2031,2550,0,0,0,0,0,0
$GC,5287,1.06,120.7,389.3,8.3,282,5291,0.00,2.47,0.00,0.000,4,0.000,0.054,2959,630,2548,0,0,0,0,0,0
$GC,5337,0.93,120.7,384.7,9.8,283,5343,0.22,2.35,0.00,0.000,6,0.113,0.031,2916,2013,2546,0,0,0,0,0,0
$GC,5656,1.00,146.3,362.5,6.3,291,5684,0.00,2.53,21.05,0.817,4,0.000,0.054,2916,629,2451,0,0,0,0,0,0
$GC,5781,1.00,146.3,352.0,8.3,293,5785,0.00,2.40,0.00,0.000,6,0.000,0.031,2916,2041,2449,0,0,0,0,0,0
$GC,6112,1.09,174.7,331.5,6.1,301,6145,0.15,2.60,25.50,0.808,4,0.071,0.053,2953,632,2336,0,0,0,0,0,0
$GC,6188,1.01,174.7,324.9,9.9,302,6192,0.00,2.40,0.00,0.000,6,0.000,0.031,2951,2037,2332,0,0,0,0,0,0
$GC,6504,1.01,174.7,295.4,9.8,311,6508,0.00,2.50,0.00,0.000,4,0.000,0.053,2953,629,2330,0,0,0,0,0,0
$GC,6648,0.95,174.7,279.9,10.5,317,6653,0.17,2.38,0.00,0.000,6,0.114,0.030,2921,2036,2328,0,0,0,0,0,0
$GC,6972,1.04,183.7,254.2,7.4,333,6985,0.00,2.53,7.68,0.667,4,0.000,0.052,2921,628,2301,0,0,0,0,0,0
$GC,7041,1.08,187.3,248.8,7.8,336,7053,0.12,2.40,4.75,0.555,6,0.071,0.030,2954,2050,2286,0,0,0,0,0,0
$GC,7370,1.10,208.2,222.9,6.6,352,7396,0.00,2.58,20.10,0.728,4,0.000,0.051,2954,633,2201,0,0,0,0,0,0
$GC,7446,1.10,208.2,215.9,8.4,355,7450,0.00,2.38,0.00,0.000,6,0.000,0.028,2955,2038,2196,0,0,0,0,0,0
$GC,7772,1.16,208.2,188.6,8.7,377,7776,0.00,2.47,0.00,0.000,4,0.000,0.048,2954,630,2196,0,0,0,0,0,0
$GC,7918,1.16,208.2,175.0,8.2,392,7924,0.00,2.38,0.00,0.000,6,0.000,0.026,2954,2044,2193,0,0,0,0,0,0
$GC,8181,1.23,208.2,153.0,8.6,417,8186,0.12,2.47,0.00,0.000,4,0.072,0.046,2988,618,2193,0,0,0,0,0,0
$GC,8335,1.16,208.2,136.7,11.1,433,8340,0.12,2.35,0.00,0.000,6,0.113,0.024,2966,2044,2192,0,0,0,0,0,0
$GC,8597,1.22,208.2,114.6,8.1,457,8601,0.00,2.45,0.00,0.000,4,0.000,0.044,2965,626,2192,0,0,0,0,0,0
$GC,8760,1.22,208.2,99.6,9.5,474,8767,0.00,2.33,0.00,0.000,6,0.000,0.022,2965,2038,2192,0,0,0,0,0,0
$GC,9023,1.27,208.2,77.5,8.1,499,9027,0.12,2.28,0.00,0.000,4,0.069,0.029,3001,3426,2192,0,0,0,0,0,0
$GC,9079,1.27,208.2,72.5,8.9,505,9084,0.00,2.35,0.00,0.000,6,0.000,0.029,3002,2022,2192,0,0,0,0,0,0
$GC,9343,1.28,212.6,51.3,7.7,529,9355,0.00,2.38,4.38,0.400,4,0.000,0.041,3001,627,2182,0,0,0,0,0,0
$GC,9402,1.23,212.6,45.9,9.8,535,9406,0.00,2.28,0.00,0.000,6,0.000,0.021,3002,2043,2182,0,0,0,0,0,0
$GC,9663,1.23,214.3,25.5,7.9,564,9670,0.00,2.30,0.00,0.000,4,0.000,0.029,3001,3422,2182,0,0,0,0,0,0
$GC,9757,1.27,214.3,18.1,8.5,585,9764,0.00,2.33,0.00,0.000,6,0.000,0.027,3001,2034,2182,0,0,0,0,0,0
$GC,9957,1.32,257.8,6.1,5.0,622,10003,0.00,2.50,40.42,0.522,4,0.000,0.041,3002,626,1997,0,0,0,0,0,0
$STATE,10008,end climb,SURFACE_DEPTH_REACHED
$STATE,10008,begin surface coast
$FINISH,0.3,1.023483
$STATE,10061,end surface coast,CONTROL_FINISHED_OK
$STATE,10061,begin surface
$SM_CCo,10082,19.58,0.494,0,0,1826,300.00
$SM_GC,1.00,0.00,0.00,19.58,0.000,0.000,0.494,427,1914,1826,-10.52,0.40,300.00
$IRIDIUM_FIX,2054.83,-15746.61,020899,232313
$TT8_MAMPS,0.029146
$HUMID,44.68
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.0,36.0
$24V_AH,23.4,20.653
$10V_AH,10.0,19.731
$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,27.375,124.300,289.850,19.575,0.000,55.886,55.899,279.326,4.750,0.000,36.576,1259.542,6464.277,358.103,2022.949,573.097,33.371,1219.840,0.000,1980.620,0.000,33.494,0.000
$DEVICE_MAMPS,136.526,55.991,880.516,493.948,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.733,415.624,962.773,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34996,643
$CAP_FILE_SIZE,126335,0
$CFSIZE,260165632,245440512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090510,025025,2102.129,-15744.994,304,1.7,304,9.8