version: 66.06
glider: 139
mission: 7
dive: 231
start: 5 9 110 2 57 8
data:
$ID,139
$MISSION,7
$DIVE,231
$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,-2127039.2
$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
$GPS1,025025,2102.129,-15744.994,304,1.7,304,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-67.0
$GPS2,025616,2102.185,-15744.961,19,1.7,19,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.151,-0.105
$KALMAN_X,-99948.7,180.8,-260.5,131872.7,1198.8
$KALMAN_Y,36925.1,124.3,36.8,-47435.4,719.7
$MHEAD_RNG_PITCHd_Wd,225.3,11587,-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,-77.9,0.0,0.0,0,72,0.00,0.00,-54.65,0.000,2,0.000,0.000,427,1913,3280,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.6,-6.3,10,93,10.80,2.33,-1.65,0.000,4,0.143,0.038,2402,3322,3369,0,0,0,0,0,0
$GC,193,-1.40,-77.9,31.5,-15.0,35,198,0.00,2.40,0.00,0.000,6,0.000,0.031,2404,1897,3371,0,0,0,0,0,0
$GC,456,-1.30,-77.9,74.9,-16.3,59,458,0.12,0.00,0.00,0.000,6,0.119,0.000,2427,1897,3371,0,0,0,0,0,0
$GC,712,-1.27,-77.9,106.6,-11.8,83,716,0.00,2.40,0.00,0.000,4,0.000,0.044,2427,494,3371,0,0,0,0,0,0
$GC,727,-1.20,-77.9,109.2,-13.0,84,732,0.12,2.33,0.00,0.000,6,0.116,0.020,2451,1946,3371,0,0,0,0,0,0
$GC,987,-1.25,-77.9,134.8,-9.9,108,991,0.00,2.50,0.00,0.000,4,0.000,0.043,2451,492,3373,0,0,0,0,0,0
$GC,1042,-1.25,-77.9,141.1,-11.2,113,1047,0.00,2.25,0.00,0.000,6,0.000,0.020,2451,1895,3372,0,0,0,0,0,0
$GC,1303,-1.30,-77.9,166.6,-9.3,138,1307,0.00,2.40,0.00,0.000,4,0.000,0.044,2451,486,3373,0,0,0,0,0,0
$GC,1366,-1.34,-77.9,173.3,-10.0,144,1373,0.10,2.30,0.00,0.000,6,0.032,0.020,2406,1899,3373,0,0,0,0,0,0
$GC,1625,-1.34,-77.9,203.6,-12.1,168,1630,0.00,2.40,0.00,0.000,4,0.000,0.044,2404,491,3374,0,0,0,0,0,0
$GC,1699,-1.29,-77.9,212.7,-11.9,171,1704,0.12,2.28,0.00,0.000,6,0.110,0.021,2429,1906,3374,0,0,0,0,0,0
$GC,2023,-1.37,-77.9,241.3,-7.4,187,2027,0.00,2.40,0.00,0.000,4,0.000,0.045,2429,495,3374,0,0,0,0,0,0
$GC,2066,-1.40,-77.9,244.7,-8.4,189,2070,0.00,2.28,0.00,0.000,6,0.000,0.021,2430,1905,3374,0,0,0,0,0,0
$GC,2398,-1.49,-77.9,270.3,-8.0,205,2402,0.17,2.42,0.00,0.000,4,0.051,0.047,2372,497,3374,0,0,0,0,0,0
$GC,2435,-1.42,-77.9,274.5,-11.3,206,2443,0.10,2.30,0.00,0.000,6,0.085,0.023,2398,1900,3374,0,0,0,0,0,0
$GC,2770,-1.46,-77.9,308.8,-10.8,221,2775,0.00,2.42,0.00,0.000,4,0.000,0.048,2397,488,3373,0,0,0,0,0,0
$GC,2816,-1.46,-77.9,314.1,-10.5,222,2820,0.00,2.30,0.00,0.000,6,0.000,0.025,2398,1898,3373,0,0,0,0,0,0
$GC,3140,-1.50,-77.9,345.4,-9.8,230,3144,0.00,2.42,0.00,0.000,4,0.000,0.049,2397,494,3371,0,0,0,0,0,0
$GC,3204,-1.50,-77.9,352.7,-10.7,231,3208,0.00,2.30,0.00,0.000,6,0.000,0.026,2397,1897,3371,0,0,0,0,0,0
$GC,3549,-1.54,-77.9,385.3,-9.4,240,3553,0.00,2.42,0.00,0.000,4,0.000,0.052,2397,498,3369,0,0,0,0,0,0
$GC,3591,-1.54,-77.9,389.6,-10.1,241,3595,0.00,2.33,0.00,0.000,6,0.000,0.028,2396,1903,3369,0,0,0,0,0,0
$GC,3918,-1.60,-77.9,418.8,-8.5,249,3923,0.15,2.47,0.00,0.000,4,0.061,0.054,2348,497,3366,0,0,0,0,0,0
$GC,3974,-1.51,-77.9,424.8,-11.0,250,3979,0.15,2.33,0.00,0.000,6,0.112,0.029,2382,1899,3366,0,0,0,0,0,0
$STATE,4286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4286,begin apogee
$GC,4292,-0.31,0.0,453.3,8.9,258,4360,1.25,0.00,64.38,0.882,6,0.087,0.000,2642,2059,3049,0,0,0,0,0,0
$STATE,4361,end apogee,CONTROL_FINISHED_OK
$STATE,4361,begin climb
$GC,4363,1.40,77.9,454.2,0.0,259,4437,1.67,2.45,65.20,0.859,4,0.041,0.047,3023,3410,2732,0,0,0,0,0,0
$GC,4568,1.22,108.3,449.5,5.9,263,4601,0.05,2.40,26.58,0.835,6,0.170,0.038,3010,2028,2607,0,0,0,0,0,0
$GC,4914,1.03,108.3,421.4,8.3,272,4919,0.32,2.40,0.00,0.000,4,0.107,0.041,2950,3408,2602,0,0,0,0,0,0
$GC,4943,1.00,119.5,419.0,7.3,272,4960,0.00,2.38,10.15,0.761,6,0.000,0.038,2945,2033,2562,0,0,0,0,0,0
$GC,5288,0.97,127.7,393.4,7.5,281,5301,0.00,2.53,7.68,0.721,4,0.000,0.054,2949,628,2529,0,0,0,0,0,0
$GC,5412,0.87,127.7,384.0,8.1,283,5417,0.22,2.35,0.00,0.000,6,0.110,0.031,2905,2014,2527,0,0,0,0,0,0
$GC,5742,0.97,154.2,364.3,6.2,291,5772,0.00,2.50,23.73,0.823,4,0.000,0.054,2907,632,2421,0,0,0,0,0,0
$GC,5891,0.97,154.2,353.0,8.4,294,5895,0.00,2.40,0.00,0.000,6,0.000,0.031,2906,2045,2416,0,0,0,0,0,0
$GC,6240,1.08,175.1,328.8,6.6,303,6265,0.20,2.58,18.62,0.795,4,0.059,0.052,2956,626,2336,0,0,0,0,0,0
$GC,6357,1.01,175.1,317.6,10.5,305,6361,0.00,2.40,0.00,0.000,6,0.000,0.031,2951,2041,2331,0,0,0,0,0,0
$GC,6679,1.03,189.4,292.8,7.0,315,6697,0.00,0.00,13.80,0.754,6,0.000,0.000,2956,2046,2276,0,0,0,0,0,0
$GC,7008,1.04,194.1,267.0,7.7,331,7020,0.00,2.53,5.15,0.584,4,0.000,0.051,2956,628,2257,0,0,0,0,0,0
$GC,7157,1.00,194.1,250.8,11.0,337,7162,0.12,2.35,0.00,0.000,6,0.122,0.028,2934,2042,2254,0,0,0,0,0,0
$GC,7472,1.08,194.1,223.6,8.6,352,7473,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2047,2254,0,0,0,0,0,0
$GC,7783,1.17,202.8,199.3,7.4,367,7802,0.15,2.47,8.57,0.632,4,0.065,0.047,2974,629,2223,0,0,0,0,0,0
$GC,7972,1.13,202.8,179.3,11.1,387,7977,0.00,2.33,0.00,0.000,6,0.000,0.025,2974,2041,2220,0,0,0,0,0,0
$GC,8233,1.13,202.8,155.9,9.0,412,8237,0.00,2.45,0.00,0.000,4,0.000,0.046,2975,628,2219,0,0,0,0,0,0
$GC,8433,1.09,202.8,137.7,8.3,433,8439,0.12,2.33,0.00,0.000,6,0.119,0.024,2953,2044,2219,0,0,0,0,0,0
$GC,8695,1.19,211.8,118.8,7.4,458,8709,0.10,2.47,9.12,0.565,4,0.078,0.044,2983,619,2186,0,0,0,0,0,0
$GC,8779,1.19,211.8,110.8,10.3,466,8785,0.00,2.35,0.00,0.000,6,0.000,0.022,2982,2042,2184,0,0,0,0,0,0
$GC,9041,1.19,211.8,84.1,10.5,491,9045,0.00,2.30,0.00,0.000,4,0.000,0.029,2983,3429,2184,0,0,0,0,0,0
$GC,9129,1.26,211.8,74.5,9.9,500,9134,0.00,2.35,0.00,0.000,6,0.000,0.030,2983,2029,2184,0,0,0,0,0,0
$GC,9394,1.33,233.3,52.7,6.5,524,9424,0.00,2.42,20.20,0.555,4,0.000,0.042,2983,631,2097,0,0,0,0,0,0
$GC,9507,1.36,233.3,41.3,10.6,536,9515,0.08,2.30,0.00,0.000,6,0.041,0.021,3018,2037,2095,0,0,0,0,0,0
$GC,9769,1.36,233.3,17.5,9.0,573,9776,0.00,2.45,0.00,0.000,4,0.000,0.044,3018,630,2095,0,0,0,0,0,0
$GC,9859,1.29,233.3,9.7,9.2,593,9866,0.08,2.30,0.00,0.000,6,0.088,0.021,2999,2040,2094,0,0,0,0,0,0
$STATE,9931,end climb,SURFACE_DEPTH_REACHED
$STATE,9932,begin surface coast
$FINISH,0.5,1.023397
$STATE,9966,end surface coast,CONTROL_FINISHED_OK
$STATE,9966,begin surface
$SM_CCo,9985,33.67,0.515,0,0,1826,300.00
$SM_GC,1.71,0.00,0.00,33.67,0.000,0.000,0.515,428,1879,1826,-10.52,-0.65,300.00
$IRIDIUM_FIX,2052.52,-15744.48,030899,000054
$TT8_MAMPS,0.029146
$HUMID,45.70
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,442.7,37.9
$24V_AH,23.4,20.734
$10V_AH,10.0,19.818
$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,27.200,110.175,273.175,33.675,0.000,30.892,32.792,180.834,4.750,0.000,19.680,1204.115,6485.956,369.573,1900.820,411.636,33.376,1187.439,0.000,1869.665,0.000,32.207,0.000
$DEVICE_MAMPS,170.274,54.457,882.050,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.422,391.931,874.921,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,34914,612
$CAP_FILE_SIZE,117134,0
$CFSIZE,260165632,245387264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090510,054837,2102.124,-15745.416,234,1.4,234,9.8