version: 66.06
glider: 139
mission: 7
dive: 232
start: 5 9 110 6 8 25
data:
$ID,139
$MISSION,7
$DIVE,232
$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,-2127054
$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
$GPS1,054837,2102.124,-15745.416,234,1.4,234,9.8
$_CALLS,5
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-67.4
$GPS2,060732,2102.225,-15745.312,13,1.5,13,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.123,-0.137
$KALMAN_X,-99486.2,225.3,316.6,130182.6,297.3
$KALMAN_Y,37989.2,46.1,308.3,-48622.6,443.0
$MHEAD_RNG_PITCHd_Wd,212.0,11204,-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,-55.15,0.000,2,0.000,0.000,427,1881,3302,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.5,-6.6,10,94,10.62,2.38,-1.30,0.000,4,0.135,0.052,2404,491,3368,0,0,0,0,0,0
$GC,196,-1.15,-77.9,36.5,-21.5,33,201,0.28,2.33,0.00,0.000,6,0.094,0.020,2459,1936,3370,0,0,0,0,0,0
$GC,461,-1.19,-77.9,73.7,-12.3,57,464,0.00,2.20,0.00,0.000,4,0.000,0.024,2459,3290,3370,0,0,0,0,0,0
$GC,469,-1.24,-77.9,75.5,-12.6,57,476,0.00,2.33,0.00,0.000,6,0.000,0.026,2460,1899,3370,0,0,0,0,0,0
$GC,731,-1.29,-77.9,103.5,-10.6,82,736,0.12,2.42,0.00,0.000,4,0.062,0.044,2417,492,3370,0,0,0,0,0,0
$GC,773,-1.21,-77.9,109.5,-14.9,86,778,0.15,2.25,0.00,0.000,6,0.095,0.019,2449,1898,3371,0,0,0,0,0,0
$GC,1034,-1.26,-77.9,139.1,-11.1,110,1038,0.00,2.40,0.00,0.000,4,0.000,0.043,2448,488,3371,0,0,0,0,0,0
$GC,1068,-1.26,-77.9,142.9,-11.2,113,1072,0.00,2.28,0.00,0.000,6,0.000,0.020,2449,1910,3371,0,0,0,0,0,0
$GC,1331,-1.34,-77.9,169.4,-9.3,137,1336,0.12,2.45,0.00,0.000,4,0.063,0.044,2405,494,3372,0,0,0,0,0,0
$GC,1413,-1.30,-77.9,180.0,-12.5,145,1420,0.12,2.25,0.00,0.000,6,0.100,0.020,2431,1904,3372,0,0,0,0,0,0
$GC,1673,-1.35,-77.9,207.8,-11.0,167,1677,0.00,2.40,0.00,0.000,4,0.000,0.044,2430,493,3371,0,0,0,0,0,0
$GC,1732,-1.38,-77.9,215.0,-11.2,169,1738,0.00,2.25,0.00,0.000,6,0.000,0.021,2431,1897,3372,0,0,0,0,0,0
$GC,2049,-1.44,-77.9,243.8,-8.8,185,2051,0.15,0.00,0.00,0.000,6,0.058,0.000,2384,1901,3371,0,0,0,0,0,0
$GC,2356,-1.44,-77.9,276.0,-11.0,200,2360,0.00,2.40,0.00,0.000,4,0.000,0.047,2383,495,3371,0,0,0,0,0,0
$GC,2457,-1.38,-77.9,287.9,-11.8,204,2462,0.15,2.25,0.00,0.000,6,0.095,0.022,2414,1895,3371,0,0,0,0,0,0
$GC,2771,-1.43,-77.9,316.1,-9.2,215,2775,0.00,2.40,0.00,0.000,4,0.000,0.048,2413,498,3370,0,0,0,0,0,0
$GC,2853,-1.43,-77.9,324.3,-9.0,216,2859,0.00,2.28,0.00,0.000,6,0.000,0.024,2415,1896,3370,0,0,0,0,0,0
$GC,3186,-1.50,-77.9,351.5,-7.8,225,3191,0.12,2.45,0.00,0.000,4,0.067,0.051,2375,498,3368,0,0,0,0,0,0
$GC,3276,-1.46,-77.9,361.0,-9.6,227,3280,0.00,2.30,0.00,0.000,6,0.000,0.025,2375,1897,3368,0,0,0,0,0,0
$GC,3603,-1.46,-77.9,390.8,-8.9,235,3607,0.00,2.42,0.00,0.000,4,0.000,0.052,2375,499,3366,0,0,0,0,0,0
$GC,3630,-1.39,-77.9,393.4,-9.9,235,3635,0.17,2.33,0.00,0.000,6,0.092,0.027,2411,1907,3366,0,0,0,0,0,0
$GC,3967,-1.47,-77.9,415.4,-6.6,244,3971,0.00,2.45,0.00,0.000,4,0.000,0.054,2410,499,3363,0,0,0,0,0,0
$GC,4031,-1.52,-77.9,420.6,-8.6,245,4036,0.12,2.33,0.00,0.000,6,0.067,0.028,2374,1903,3363,0,0,0,0,0,0
$STATE,4375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4375,begin apogee
$GC,4380,-0.31,0.0,452.7,9.2,254,4447,1.27,0.00,63.70,0.878,6,0.077,0.000,2646,2063,3050,0,0,0,0,0,0
$STATE,4448,end apogee,CONTROL_FINISHED_OK
$STATE,4448,begin climb
$GC,4450,1.40,77.9,453.6,0.0,255,4524,1.62,2.42,64.93,0.857,4,0.032,0.045,3028,3403,2731,0,0,0,0,0,0
$GC,4788,1.21,114.1,440.1,5.5,262,4826,0.25,2.35,31.20,0.842,6,0.107,0.038,2980,2032,2583,0,0,0,0,0,0
$GC,5139,1.10,118.3,411.7,7.7,271,5146,0.15,0.00,3.95,0.530,6,0.117,0.000,2953,2032,2567,0,0,0,0,0,0
$GC,5465,1.07,125.7,388.3,7.5,279,5477,0.00,2.53,7.62,0.716,4,0.000,0.055,2954,626,2536,0,0,0,0,0,0
$GC,5538,0.96,125.7,382.0,9.7,280,5543,0.15,2.35,0.00,0.000,6,0.119,0.031,2926,2015,2535,0,0,0,0,0,0
$GC,5874,0.99,150.8,359.1,6.3,289,5902,0.00,2.53,22.20,0.817,4,0.000,0.043,2927,3426,2435,0,0,0,0,0,0
$GC,5931,1.05,163.9,355.7,7.1,290,5951,0.00,2.42,13.23,0.770,6,0.000,0.038,2927,2030,2381,0,0,0,0,0,0
$GC,6287,1.12,188.5,331.9,6.3,299,6316,0.15,2.58,22.23,0.800,4,0.070,0.054,2963,627,2280,0,0,0,0,0,0
$GC,6404,1.05,188.5,318.4,13.7,301,6408,0.00,2.40,0.00,0.000,6,0.000,0.030,2959,2040,2275,0,0,0,0,0,0
$GC,6726,1.05,188.5,283.9,10.5,313,6731,0.00,2.50,0.00,0.000,4,0.000,0.054,2962,631,2274,0,0,0,0,0,0
$GC,6934,0.99,188.5,262.3,9.8,322,6939,0.17,2.38,0.00,0.000,6,0.110,0.028,2930,2047,2270,0,0,0,0,0,0
$GC,7260,1.09,210.8,239.1,6.5,338,7287,0.10,2.58,19.33,0.729,4,0.086,0.049,2955,630,2190,0,0,0,0,0,0
$GC,7423,1.09,210.8,224.2,10.2,345,7427,0.00,2.35,0.00,0.000,6,0.000,0.027,2956,2036,2185,0,0,0,0,0,0
$GC,7745,1.14,210.8,194.7,10.0,363,7749,0.00,2.35,0.00,0.000,4,0.000,0.035,2956,3440,2185,0,0,0,0,0,0
$GC,7778,1.20,210.8,191.4,9.2,366,7782,0.00,2.40,0.00,0.000,6,0.000,0.032,2956,2025,2184,0,0,0,0,0,0
$GC,8039,1.25,210.8,168.1,8.2,390,8044,0.12,2.42,0.00,0.000,4,0.071,0.047,2989,621,2184,0,0,0,0,0,0
$GC,8182,1.18,210.8,151.1,12.5,405,8186,0.00,2.35,0.00,0.000,6,0.000,0.024,2990,2049,2182,0,0,0,0,0,0
$GC,8445,1.18,210.8,123.3,10.6,429,8449,0.00,2.45,0.00,0.000,4,0.000,0.044,2990,629,2182,0,0,0,0,0,0
$GC,8526,1.11,210.8,113.9,11.1,437,8533,0.17,2.30,0.00,0.000,6,0.101,0.022,2957,2040,2182,0,0,0,0,0,0
$GC,8788,1.18,210.8,91.4,8.2,462,8792,0.00,2.42,0.00,0.000,4,0.000,0.044,2957,629,2182,0,0,0,0,0,0
$GC,8804,1.22,210.8,90.0,8.3,463,8809,0.10,2.28,0.00,0.000,6,0.081,0.022,2986,2043,2182,0,0,0,0,0,0
$GC,9067,1.22,210.8,66.1,9.0,487,9071,0.00,2.25,0.00,0.000,4,0.000,0.029,2985,3420,2182,0,0,0,0,0,0
$GC,9268,1.28,211.1,49.4,8.0,509,9272,0.00,2.33,0.00,0.000,6,0.000,0.028,2984,2022,2182,0,0,0,0,0,0
$GC,9531,1.36,242.4,31.3,5.9,533,9569,0.10,2.42,27.73,0.542,4,0.075,0.028,3020,3421,2060,0,0,0,0,0,0
$GC,9611,1.36,242.4,25.0,9.5,547,9618,0.00,2.35,0.00,0.000,6,0.000,0.028,3018,2038,2060,0,0,0,0,0,0
$STATE,9811,end climb,SURFACE_DEPTH_REACHED
$STATE,9811,begin surface coast
$FINISH,0.5,1.023485
$STATE,9839,end surface coast,CONTROL_FINISHED_OK
$STATE,9839,begin surface
$SM_CCo,9859,30.02,0.514,0,0,1827,300.00
$SM_GC,1.39,0.00,0.00,30.02,0.000,0.000,0.514,431,1883,1827,-10.50,-0.48,300.00
$IRIDIUM_FIX,2054.83,-15744.48,030899,060651
$TT8_MAMPS,0.029913
$HUMID,46.10
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.70
$XPDR_PINGS,8
$24V_AH,23.4,20.841
$10V_AH,10.1,19.907
$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,27.700,109.650,276.100,30.025,0.000,129.588,177.385,445.108,6.500,0.000,13.914,1182.916,6666.169,354.818,1860.676,963.990,33.374,1165.232,0.000,1837.741,0.000,29.260,0.000
$DEVICE_MAMPS,134.992,55.224,878.215,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.328,377.154,837.778,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31869,589
$CAP_FILE_SIZE,128893,0
$CFSIZE,260165632,245321728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090510,085531,2101.426,-15745.701,95,1.9,101,9.8