version: 66.06
glider: 139
mission: 7
dive: 234
start: 5 9 110 10 32 57
data:
$ID,139
$MISSION,7
$DIVE,234
$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,-2127099.5
$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
$GPS1,102657,2101.314,-15745.999,65,2.5,84,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-71.2
$GPS2,103206,2101.329,-15746.004,13,1.3,29,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.101,-0.154
$KALMAN_X,-97392.8,46.1,-136.1,127515.9,1824.7
$KALMAN_Y,40042.7,-10.1,-195.3,-51780.3,2377.2
$MHEAD_RNG_PITCHd_Wd,203.6,9186,-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,-54.90,0.000,2,0.000,0.000,427,1893,3249,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.2,-4.6,10,94,10.57,2.40,-2.38,0.000,4,0.133,0.052,2405,491,3368,0,0,0,0,0,0
$GC,293,-1.21,-77.9,53.1,-16.6,46,300,0.17,2.33,0.00,0.000,6,0.080,0.020,2446,1924,3370,0,0,0,0,0,0
$GC,555,-1.21,-77.9,83.4,-10.6,71,560,0.00,2.45,0.00,0.000,4,0.000,0.042,2445,484,3370,0,0,0,0,0,0
$GC,583,-1.14,-77.9,87.0,-12.9,73,588,0.00,2.28,0.00,0.000,6,0.000,0.019,2446,1912,3370,0,0,0,0,0,0
$GC,844,-1.14,-77.9,115.8,-12.2,98,848,0.00,2.42,0.00,0.000,4,0.000,0.044,2445,490,3370,0,0,0,0,0,0
$GC,879,-1.09,-77.9,120.2,-14.1,101,884,0.15,2.25,0.00,0.000,6,0.100,0.020,2476,1901,3370,0,0,0,0,0,0
$GC,1144,-1.20,-77.9,147.1,-9.7,126,1149,0.12,2.45,0.00,0.000,4,0.064,0.044,2432,488,3371,0,0,0,0,0,0
$GC,1233,-1.20,-77.9,157.2,-9.9,135,1238,0.00,2.25,0.00,0.000,6,0.000,0.020,2432,1896,3371,0,0,0,0,0,0
$GC,1497,-1.24,-77.9,183.8,-9.6,159,1501,0.00,2.42,0.00,0.000,4,0.000,0.045,2431,491,3371,0,0,0,0,0,0
$GC,1557,-1.24,-77.9,190.4,-10.4,165,1562,0.00,2.25,0.00,0.000,6,0.000,0.020,2432,1900,3371,0,0,0,0,0,0
$GC,1824,-1.28,-77.9,218.2,-12.2,182,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,1906,3371,0,0,0,0,0,0
$GC,2135,-1.39,-77.9,248.0,-7.8,197,2139,0.00,2.42,0.00,0.000,4,0.000,0.045,2431,489,3371,0,0,0,0,0,0
$GC,2206,-1.42,-77.9,253.1,-7.3,200,2210,0.12,2.28,0.00,0.000,6,0.064,0.021,2391,1910,3372,0,0,0,0,0,0
$GC,2531,-1.42,-77.9,288.3,-13.7,216,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1915,3371,0,0,0,0,0,0
$GC,2857,-1.42,-77.9,320.6,-8.6,227,2862,0.00,2.42,0.00,0.000,4,0.000,0.048,2390,495,3369,0,0,0,0,0,0
$GC,2885,-1.37,-77.9,324.2,-13.2,227,2890,0.12,2.28,0.00,0.000,6,0.103,0.025,2415,1893,3370,0,0,0,0,0,0
$GC,3221,-1.44,-77.9,357.4,-10.0,236,3225,0.00,2.42,0.00,0.000,4,0.000,0.050,2415,495,3368,0,0,0,0,0,0
$GC,3300,-1.49,-77.9,365.0,-8.8,237,3304,0.00,2.30,0.00,0.000,6,0.000,0.025,2411,1899,3367,0,0,0,0,0,0
$GC,3632,-1.58,-77.9,392.6,-8.5,245,3637,0.20,2.47,0.00,0.000,4,0.053,0.053,2360,493,3364,0,0,0,0,0,0
$GC,3693,-1.51,-77.9,399.9,-12.3,246,3698,0.12,2.33,0.00,0.000,6,0.106,0.028,2385,1900,3364,0,0,0,0,0,0
$GC,4007,-1.51,-77.9,432.8,-10.3,254,4011,0.00,2.47,0.00,0.000,4,0.000,0.058,2380,497,3361,0,0,0,0,0,0
$GC,4068,-1.51,-77.9,439.7,-11.6,255,4072,0.00,2.33,0.00,0.000,6,0.000,0.029,2383,1896,3361,0,0,0,0,0,0
$STATE,4176,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4176,begin apogee
$GC,4181,-0.31,0.0,451.5,10.6,258,4248,1.23,0.00,63.30,0.871,6,0.076,0.000,2644,2057,3050,0,0,0,0,0,0
$STATE,4249,end apogee,CONTROL_FINISHED_OK
$STATE,4249,begin climb
$GC,4251,1.40,77.9,453.0,0.0,259,4325,1.62,2.45,64.40,0.848,4,0.032,0.045,3028,3411,2732,0,0,0,0,0,0
$GC,4423,1.28,161.5,452.5,2.3,262,4502,0.17,2.40,70.97,0.850,6,0.116,0.039,2995,2032,2390,0,0,0,0,0,0
$GC,4838,1.16,161.5,409.6,12.6,273,4843,0.15,2.47,0.00,0.000,4,0.116,0.055,2969,623,2381,0,0,0,0,0,0
$GC,4932,1.04,161.5,397.4,12.1,275,4937,0.12,2.35,0.00,0.000,6,0.127,0.031,2945,2023,2377,0,0,0,0,0,0
$GC,5255,1.04,161.5,365.4,9.1,283,5259,0.00,2.45,0.00,0.000,4,0.000,0.053,2943,629,2375,0,0,0,0,0,0
$GC,5420,0.97,161.5,350.2,8.1,286,5425,0.00,2.38,0.00,0.000,6,0.000,0.030,2946,2038,2374,0,0,0,0,0,0
$GC,5755,0.97,161.5,319.8,9.9,295,5760,0.00,2.47,0.00,0.000,4,0.000,0.051,2944,630,2372,0,0,0,0,0,0
$GC,5815,0.91,161.5,313.9,9.5,296,5820,0.17,2.38,0.00,0.000,6,0.113,0.031,2914,2041,2371,0,0,0,0,0,0
$GC,6146,1.00,179.0,293.1,6.8,306,6169,0.00,2.53,12.73,0.742,4,0.000,0.050,2913,629,2318,0,0,0,0,0,0
$GC,6194,1.04,179.0,289.0,9.2,308,6198,0.12,2.35,0.00,0.000,6,0.074,0.030,2947,2035,2317,0,0,0,0,0,0
$GC,6524,1.07,179.0,258.8,9.3,324,6528,0.00,2.47,0.00,0.000,4,0.000,0.050,2945,626,2315,0,0,0,0,0,0
$GC,6642,1.03,179.0,248.5,9.3,329,6646,0.00,2.35,0.00,0.000,6,0.000,0.028,2947,2044,2314,0,0,0,0,0,0
$GC,6972,1.07,179.0,222.4,8.3,345,6976,0.00,2.47,0.00,0.000,4,0.000,0.048,2946,625,2314,0,0,0,0,0,0
$GC,7115,1.07,179.0,209.0,8.4,351,7119,0.00,2.33,0.00,0.000,6,0.000,0.027,2946,2042,2312,0,0,0,0,0,0
$GC,7442,1.15,196.6,185.2,6.8,376,7463,0.00,2.55,15.82,0.668,4,0.000,0.048,2947,626,2247,0,0,0,0,0,0
$GC,7497,1.15,198.1,180.7,7.9,382,7501,0.00,2.35,0.00,0.000,6,0.000,0.025,2947,2038,2245,0,0,0,0,0,0
$GC,7759,1.23,201.3,160.0,7.8,406,7770,0.15,2.47,5.22,0.509,4,0.066,0.044,2986,618,2228,0,0,0,0,0,0
$GC,7864,1.16,201.3,149.6,9.9,417,7868,0.00,2.35,0.00,0.000,6,0.000,0.025,2987,2041,2226,0,0,0,0,0,0
$GC,8127,1.16,201.3,126.1,8.5,441,8131,0.00,2.42,0.00,0.000,4,0.000,0.044,2987,623,2226,0,0,0,0,0,0
$GC,8237,1.10,201.3,115.2,9.5,452,8245,0.12,2.33,0.00,0.000,6,0.087,0.022,2958,2034,2225,0,0,0,0,0,0
$GC,8501,1.19,215.8,97.1,7.0,477,8520,0.00,2.45,14.20,0.575,4,0.000,0.042,2958,627,2169,0,0,0,0,0,0
$GC,8531,1.23,215.8,94.3,8.7,480,8536,0.10,2.30,0.00,0.000,6,0.081,0.022,2987,2043,2167,0,0,0,0,0,0
$GC,8793,1.28,222.4,69.0,7.6,504,8805,0.00,2.30,7.15,0.490,4,0.000,0.026,2986,3422,2142,0,0,0,0,0,0
$GC,8905,1.34,222.4,59.5,8.9,516,8909,0.00,2.33,0.00,0.000,6,0.000,0.028,2986,2028,2142,0,0,0,0,0,0
$GC,9169,1.40,223.6,40.4,7.9,540,9173,0.12,2.40,0.00,0.000,4,0.067,0.042,3026,628,2142,0,0,0,0,0,0
$GC,9220,1.31,223.6,35.6,10.1,545,9225,0.15,2.28,0.00,0.000,6,0.100,0.020,2997,2041,2141,0,0,0,0,0,0
$GC,9485,1.34,223.6,11.6,9.8,587,9491,0.00,2.42,0.00,0.000,4,0.000,0.041,2996,636,2141,0,0,0,0,0,0
$GC,9584,1.37,244.6,3.1,6.6,609,9592,0.00,2.28,3.03,0.276,2,0.000,0.020,2996,2030,2135,0,0,0,0,0,0
$STATE,9593,end climb,SURFACE_DEPTH_REACHED
$STATE,9593,begin surface coast
$FINISH,2.0,1.023403
$STATE,9598,end surface coast,CONTROL_FINISHED_OK
$STATE,9599,begin surface
$SM_CCo,9618,41.85,0.515,0,0,1826,300.00
$SM_GC,1.90,0.00,0.00,41.85,0.000,0.000,0.515,429,1874,1826,-10.51,-0.71,300.00
$IRIDIUM_FIX,2054.83,-15749.62,030899,090955
$TT8_MAMPS,0.029146
$HUMID,45.15
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,20.997
$10V_AH,10.0,20.054
$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,27.100,114.700,256.825,41.850,0.000,31.202,30.725,139.731,4.500,0.000,29.231,1201.735,6159.648,355.669,1883.662,376.306,33.365,1156.238,0.000,1853.424,0.000,29.267,0.000
$DEVICE_MAMPS,133.458,57.525,871.312,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.025,400.094,895.283,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,34972,611
$CAP_FILE_SIZE,114855,0
$CFSIZE,260165632,245227520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090510,131519,2100.787,-15746.718,47,1.4,47,9.8