version: 66.06
glider: 139
mission: 7
dive: 233
start: 5 9 110 9 9 37
data:
$ID,139
$MISSION,7
$DIVE,233
$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,-2127069.5
$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
$GPS1,085531,2101.426,-15745.701,95,1.9,101,9.8
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-67.5
$GPS2,090844,2101.464,-15745.705,14,1.8,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.114,-0.144
$KALMAN_X,-98676.8,135.9,290.6,128804.4,-58.2
$KALMAN_Y,38556.6,-57.6,-23.1,-50157.2,388.3
$MHEAD_RNG_PITCHd_Wd,208.6,9736,-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,-55.45,0.000,2,0.000,0.000,430,1883,3291,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.5,-5.7,10,94,10.55,2.40,-1.50,0.000,4,0.133,0.036,2403,3333,3370,0,0,0,0,0,0
$GC,335,-1.40,-77.9,52.2,-14.0,52,339,0.00,2.40,0.00,0.000,6,0.000,0.031,2403,1897,3371,0,0,0,0,0,0
$GC,596,-1.31,-77.9,87.8,-12.4,76,601,0.12,2.42,0.00,0.000,4,0.109,0.043,2427,489,3372,0,0,0,0,0,0
$GC,615,-1.22,-77.9,90.5,-12.7,77,621,0.00,2.33,0.00,0.000,6,0.000,0.020,2428,1938,3372,0,0,0,0,0,0
$GC,878,-1.22,-77.9,121.5,-11.4,102,882,0.00,2.47,0.00,0.000,4,0.000,0.043,2427,488,3373,0,0,0,0,0,0
$GC,897,-1.17,-77.9,124.2,-12.0,103,903,0.15,2.28,0.00,0.000,6,0.097,0.020,2459,1916,3373,0,0,0,0,0,0
$GC,1158,-1.24,-77.9,149.5,-9.1,128,1162,0.00,2.42,0.00,0.000,4,0.000,0.043,2458,491,3373,0,0,0,0,0,0
$GC,1204,-1.31,-77.9,153.9,-9.6,132,1212,0.10,2.28,0.00,0.000,6,0.034,0.020,2417,1894,3373,0,0,0,0,0,0
$GC,1466,-1.31,-77.9,184.3,-11.8,157,1470,0.00,2.40,0.00,0.000,4,0.000,0.044,2415,496,3373,0,0,0,0,0,0
$GC,1538,-1.31,-77.9,193.4,-11.6,164,1544,0.00,2.28,0.00,0.000,6,0.000,0.021,2417,1894,3374,0,0,0,0,0,0
$STATE,1791,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1791,begin apogee
$GC,1797,-0.31,0.0,220.1,10.7,180,1863,1.05,0.00,63.17,0.647,6,0.072,0.000,2642,2071,3049,0,0,0,0,0,0
$STATE,1864,end apogee,CONTROL_FINISHED_OK
$STATE,1864,begin climb
$GC,1866,1.40,77.9,222.7,0.0,183,1938,1.62,2.30,61.62,0.637,4,0.034,0.030,3022,3393,2732,0,0,0,0,0,0
$GC,2200,1.37,198.8,218.2,-0.3,197,2306,0.00,2.28,97.82,0.643,6,0.000,0.026,3023,2022,2238,0,0,0,0,0,0
$GC,2628,1.29,198.8,171.0,13.7,228,2633,0.15,2.33,0.00,0.000,4,0.106,0.029,2994,3397,2232,0,0,0,0,0,0
$GC,2717,1.29,198.8,161.3,10.5,237,2721,0.00,2.28,0.00,0.000,6,0.000,0.028,2994,2042,2232,0,0,0,0,0,0
$GC,2980,1.29,198.8,135.7,9.9,261,2984,0.00,2.40,0.00,0.000,4,0.000,0.044,2994,629,2229,0,0,0,0,0,0
$GC,3158,1.22,198.8,114.1,12.0,280,3162,0.00,2.25,0.00,0.000,6,0.000,0.021,2994,2019,2225,0,0,0,0,0,0
$GC,3419,1.22,198.8,89.6,9.6,304,3423,0.00,2.30,0.00,0.000,4,0.000,0.029,2992,3422,2226,0,0,0,0,0,0
$GC,3507,1.22,198.8,81.8,8.9,313,3511,0.00,2.33,0.00,0.000,6,0.000,0.028,2995,2028,2226,0,0,0,0,0,0
$GC,3770,1.23,208.1,61.1,7.4,337,3783,0.00,2.45,7.00,0.458,4,0.000,0.041,2994,629,2201,0,0,0,0,0,0
$GC,3870,1.19,208.1,51.1,10.3,348,3875,0.10,2.28,0.00,0.000,6,0.119,0.020,2976,2039,2198,0,0,0,0,0,0
$GC,4139,1.29,237.8,31.2,6.0,373,4168,0.00,0.00,26.15,0.518,6,0.000,0.000,2977,2044,2080,0,0,0,0,0,0
$GC,4364,1.38,237.8,13.3,9.8,413,4371,0.17,2.47,0.00,0.000,4,0.053,0.044,3029,627,2076,0,0,0,0,0,0
$GC,4433,1.30,237.8,4.5,13.6,428,4440,0.12,2.30,0.00,0.000,6,0.081,0.020,3000,2040,2074,0,0,0,0,0,0
$STATE,4445,end climb,SURFACE_DEPTH_REACHED
$STATE,4445,begin surface coast
$FINISH,0.9,1.023417
$STATE,4469,end surface coast,CONTROL_FINISHED_OK
$STATE,4469,begin surface
$SM_CCo,4488,31.10,0.493,0,0,1827,300.00
$SM_GC,1.62,0.00,0.00,31.10,0.000,0.000,0.493,428,1897,1827,-10.52,-0.11,300.00
$IRIDIUM_FIX,2052.52,-15759.92,030899,090922
$TT8_MAMPS,0.029146
$HUMID,43.85
$INTERNAL_PRESSURE,9.75277
$TCM_TEMP,22.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,180.6,68.0
$24V_AH,23.6,20.920
$10V_AH,10.1,19.974
$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,25.175,52.025,255.775,31.100,0.000,77.618,111.375,357.471,1.500,0.000,14.794,784.743,2257.425,296.869,1282.951,693.656,33.374,829.906,0.000,1277.761,0.000,11.897,0.000
$DEVICE_MAMPS,132.691,52.923,647.348,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,290.739,317.510,780.263,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,22299,434
$CAP_FILE_SIZE,75302,0
$CFSIZE,260165632,245325824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090510,102657,2101.314,-15745.999,65,2.5,84,9.8