version: 66.06
glider: 139
mission: 7
dive: 235
start: 5 9 110 13 21 43
data:
$ID,139
$MISSION,7
$DIVE,235
$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,-2127134.2
$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
$GPS1,131519,2100.787,-15746.718,47,1.4,47,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-68.6
$GPS2,132051,2100.831,-15746.701,13,5.4,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.092,-0.159
$KALMAN_X,-97363.9,17.1,-339.0,126533.6,1097.6
$KALMAN_Y,40709.6,24.8,-206.1,-53376.6,1856.8
$MHEAD_RNG_PITCHd_Wd,200.1,7678,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-54.88,0.000,2,0.000,0.000,429,1874,3274,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.5,-6.2,10,93,10.60,2.38,-1.83,0.000,4,0.135,0.054,2404,491,3369,0,0,0,0,0,0
$GC,221,-1.19,-77.9,39.1,-19.3,37,226,0.25,2.30,0.00,0.000,6,0.096,0.020,2455,1929,3371,0,0,0,0,0,0
$GC,483,-1.19,-77.9,74.4,-11.3,61,487,0.00,2.45,0.00,0.000,4,0.000,0.042,2454,494,3371,0,0,0,0,0,0
$GC,509,-1.19,-77.9,78.4,-13.0,63,516,0.00,2.30,0.00,0.000,6,0.000,0.019,2455,1912,3371,0,0,0,0,0,0
$GC,771,-1.24,-77.9,108.2,-11.6,88,775,0.00,2.42,0.00,0.000,4,0.000,0.044,2454,492,3372,0,0,0,0,0,0
$GC,794,-1.24,-77.9,111.2,-12.0,90,798,0.00,2.28,0.00,0.000,6,0.000,0.019,2455,1916,3372,0,0,0,0,0,0
$GC,1056,-1.30,-77.9,137.4,-8.0,114,1060,0.10,2.47,0.00,0.000,4,0.074,0.043,2417,484,3373,0,0,0,0,0,0
$GC,1115,-1.30,-77.9,143.9,-10.4,120,1122,0.00,2.28,0.00,0.000,6,0.000,0.020,2418,1888,3373,0,0,0,0,0,0
$GC,1378,-1.30,-77.9,172.5,-11.8,145,1382,0.00,2.38,0.00,0.000,4,0.000,0.044,2417,491,3374,0,0,0,0,0,0
$GC,1416,-1.25,-77.9,177.4,-12.7,148,1422,0.08,2.28,0.00,0.000,6,0.078,0.020,2438,1897,3374,0,0,0,0,0,0
$GC,1685,-1.32,-77.9,204.8,-9.8,172,1690,0.00,2.40,0.00,0.000,4,0.000,0.044,2437,485,3374,0,0,0,0,0,0
$GC,1722,-1.32,-77.9,208.9,-11.3,173,1727,0.00,2.28,0.00,0.000,6,0.000,0.021,2438,1910,3375,0,0,0,0,0,0
$GC,2038,-1.41,-77.9,238.1,-8.5,189,2043,0.15,2.42,0.00,0.000,4,0.058,0.044,2390,494,3375,0,0,0,0,0,0
$GC,2084,-1.37,-77.9,243.1,-11.0,191,2089,0.12,2.28,0.00,0.000,6,0.101,0.021,2416,1908,3375,0,0,0,0,0,0
$GC,2411,-1.43,-77.9,268.2,-8.0,207,2415,0.00,2.42,0.00,0.000,4,0.000,0.046,2414,488,3375,0,0,0,0,0,0
$GC,2501,-1.43,-77.9,276.9,-10.0,211,2505,0.00,2.28,0.00,0.000,6,0.000,0.023,2416,1897,3375,0,0,0,0,0,0
$GC,2830,-1.50,-77.9,303.7,-8.6,226,2832,0.12,0.00,0.00,0.000,6,0.067,0.000,2378,1901,3374,0,0,0,0,0,0
$GC,3155,-1.50,-77.9,334.6,-10.4,234,3159,0.00,2.42,0.00,0.000,4,0.000,0.051,2377,492,3372,0,0,0,0,0,0
$GC,3183,-1.44,-77.9,337.9,-11.2,234,3188,0.12,2.30,0.00,0.000,6,0.102,0.026,2401,1897,3372,0,0,0,0,0,0
$GC,3519,-1.49,-77.9,367.8,-9.4,243,3523,0.00,2.45,0.00,0.000,4,0.000,0.052,2391,497,3370,0,0,0,0,0,0
$GC,3588,-1.49,-77.9,374.3,-9.4,244,3592,0.00,2.33,0.00,0.000,6,0.000,0.027,2401,1904,3370,0,0,0,0,0,0
$GC,3928,-1.56,-77.9,404.2,-8.7,253,3933,0.12,2.50,0.00,0.000,4,0.071,0.054,2364,495,3367,0,0,0,0,0,0
$GC,4036,-1.49,-77.9,417.0,-12.8,255,4041,0.12,2.33,0.00,0.000,6,0.106,0.028,2389,1898,3367,0,0,0,0,0,0
$GC,4386,-1.53,-77.9,448.7,-8.8,264,4391,0.00,2.47,0.00,0.000,4,0.000,0.056,2389,497,3364,0,0,0,0,0,0
$STATE,4398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4398,begin apogee
$GC,4405,-0.31,0.0,450.2,8.8,264,4473,1.17,0.00,63.90,0.882,6,0.078,0.000,2641,2044,3050,0,0,0,0,0,0
$STATE,4474,end apogee,CONTROL_FINISHED_OK
$STATE,4474,begin climb
$GC,4476,1.40,77.9,451.8,0.0,266,4550,1.65,2.50,64.75,0.861,4,0.033,0.046,3029,3430,2732,0,0,0,0,0,0
$GC,4814,1.19,103.7,440.2,6.2,273,4843,0.28,2.42,22.38,0.833,6,0.110,0.038,2978,2029,2626,0,0,0,0,0,0
$GC,5166,1.10,115.2,415.9,7.2,282,5183,0.12,2.55,10.27,0.769,4,0.124,0.055,2956,630,2580,0,0,0,0,0,0
$GC,5322,0.97,115.2,402.6,9.6,285,5327,0.15,2.38,0.00,0.000,6,0.125,0.031,2928,2036,2577,0,0,0,0,0,0
$GC,5671,0.99,132.8,377.0,6.8,294,5691,0.00,0.00,15.75,0.805,6,0.000,0.000,2929,2040,2508,0,0,0,0,0,0
$GC,6000,1.00,136.8,350.8,7.7,302,6012,0.00,2.53,4.53,0.580,4,0.000,0.052,2929,625,2491,0,0,0,0,0,0
$GC,6082,0.93,138.4,344.1,7.9,303,6087,0.00,2.38,0.00,0.000,6,0.000,0.031,2930,2041,2490,0,0,0,0,0,0
$GC,6413,0.96,163.0,321.8,6.3,311,6439,0.00,0.00,23.95,0.806,6,0.000,0.000,2930,2045,2385,0,0,0,0,0,0
$GC,6739,1.02,180.0,299.7,6.9,319,6761,0.00,2.60,15.70,0.766,4,0.000,0.054,2930,626,2316,0,0,0,0,0,0
$GC,6811,1.02,180.0,293.4,9.5,322,6815,0.00,2.40,0.00,0.000,6,0.000,0.031,2930,2038,2312,0,0,0,0,0,0
$GC,7131,1.09,182.4,267.4,7.9,338,7135,0.00,2.50,0.00,0.000,4,0.000,0.053,2929,629,2311,0,0,0,0,0,0
$GC,7222,1.09,182.4,258.5,9.7,342,7227,0.00,2.38,0.00,0.000,6,0.000,0.030,2930,2036,2308,0,0,0,0,0,0
$GC,7547,1.18,201.9,234.1,6.7,358,7573,0.17,2.58,19.85,0.737,4,0.066,0.051,2972,626,2226,0,0,0,0,0,0
$GC,7772,1.12,201.9,213.2,9.5,367,7778,0.00,2.38,0.00,0.000,6,0.000,0.028,2973,2043,2220,0,0,0,0,0,0
$GC,8091,1.12,201.9,186.9,8.6,390,8092,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2047,2219,0,0,0,0,0,0
$GC,8346,1.12,201.9,165.0,9.7,414,8350,0.00,2.47,0.00,0.000,4,0.000,0.047,2973,619,2219,0,0,0,0,0,0
$GC,8446,1.08,201.9,154.4,11.2,424,8453,0.08,2.38,0.00,0.000,6,0.096,0.025,2955,2043,2218,0,0,0,0,0,0
$GC,8708,1.15,201.9,130.9,8.6,449,8713,0.00,2.45,0.00,0.000,4,0.000,0.044,2955,625,2217,0,0,0,0,0,0
$GC,8897,1.15,201.9,114.0,8.5,469,8901,0.00,2.30,0.00,0.000,6,0.000,0.023,2955,2047,2217,0,0,0,0,0,0
$GC,9160,1.23,204.1,95.3,7.9,493,9165,0.12,2.28,0.00,0.000,4,0.070,0.029,2992,3427,2217,0,0,0,0,0,0
$GC,9211,1.23,204.1,90.7,9.5,498,9215,0.00,2.33,0.00,0.000,6,0.000,0.029,2991,2023,2218,0,0,0,0,0,0
$GC,9474,1.23,204.1,67.5,8.9,522,9478,0.00,2.33,0.00,0.000,4,0.000,0.029,2985,3433,2217,0,0,0,0,0,0
$GC,9533,1.23,204.1,62.7,8.6,528,9537,0.00,2.30,0.00,0.000,6,0.000,0.028,2991,2032,2218,0,0,0,0,0,0
$GC,9796,1.24,216.8,42.9,7.1,552,9817,0.00,2.38,13.38,0.527,4,0.000,0.029,2991,3426,2166,0,0,0,0,0,0
$GC,9864,1.32,233.6,38.1,6.9,559,9885,0.00,2.33,16.08,0.528,6,0.000,0.028,2991,2033,2097,0,0,0,0,0,0
$GC,10142,1.36,233.6,15.1,9.6,600,10148,0.00,2.40,0.00,0.000,4,0.000,0.043,2991,642,2095,0,0,0,0,0,0
$GC,10235,1.36,233.6,5.6,10.1,621,10242,0.00,2.30,0.00,0.000,6,0.000,0.021,2991,2040,2092,0,0,0,0,0,0
$STATE,10280,end climb,SURFACE_DEPTH_REACHED
$STATE,10280,begin surface coast
$FINISH,0.3,1.023179
$STATE,10347,end surface coast,CONTROL_FINISHED_OK
$STATE,10347,begin surface
$SM_CCo,10366,34.58,0.514,0,0,1826,300.00
$SM_GC,1.34,0.00,0.00,34.58,0.000,0.000,0.514,424,1887,1826,-10.53,-0.37,300.00
$IRIDIUM_FIX,2052.52,-15747.49,030899,101009
$TT8_MAMPS,0.029146
$HUMID,45.90
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,423.5,59.4
$24V_AH,23.4,21.076
$10V_AH,10.0,20.138
$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,26.575,115.050,270.525,34.575,0.000,24.196,34.423,157.081,4.750,0.000,33.931,1249.730,6735.376,365.452,1994.992,390.764,33.385,1208.205,0.000,1956.908,0.000,30.695,0.000
$DEVICE_MAMPS,134.992,55.991,882.050,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.641,414.237,927.143,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34864,641
$CAP_FILE_SIZE,118536,0
$CFSIZE,260165632,245170176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090510,161750,2100.183,-15746.921,111,2.9,130,9.8