version: 66.06
glider: 139
mission: 7
dive: 237
start: 5 9 110 19 21 10
data:
$ID,139
$MISSION,7
$DIVE,237
$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,-2127207
$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
$GPS1,191424,2059.972,-15747.387,52,1.9,70,9.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-69.8
$GPS2,192019,2100.010,-15747.367,18,2.0,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.110,-0.148
$KALMAN_X,-96156.9,-254.6,173.2,123925.6,685.4
$KALMAN_Y,42274.5,-100.3,-138.9,-56413.1,1167.6
$MHEAD_RNG_PITCHd_Wd,206.8,5796,-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,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,73,0.00,0.00,-53.85,0.000,2,0.000,0.000,428,1890,3242,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.3,-5.9,10,94,10.60,2.40,-2.47,0.000,4,0.135,0.051,2402,485,3369,0,0,0,0,0,0
$GC,174,-1.17,-77.9,29.0,-20.0,31,181,0.20,2.35,0.00,0.000,6,0.088,0.020,2455,1930,3370,0,0,0,0,0,0
$GC,371,-1.17,-77.9,57.0,-14.1,50,376,0.00,2.47,0.00,0.000,4,0.000,0.045,2455,490,3371,0,0,0,0,0,0
$GC,416,-1.11,-77.9,63.6,-14.5,54,423,0.00,2.28,0.00,0.000,6,0.000,0.020,2455,1894,3371,0,0,0,0,0,0
$GC,678,-1.11,-77.9,91.4,-11.1,79,682,0.00,2.40,0.00,0.000,4,0.000,0.043,2454,488,3372,0,0,0,0,0,0
$GC,730,-1.11,-77.9,97.6,-11.3,84,734,0.00,2.28,0.00,0.000,6,0.000,0.019,2455,1903,3372,0,0,0,0,0,0
$GC,993,-1.16,-77.9,123.2,-9.7,108,997,0.00,2.40,0.00,0.000,4,0.000,0.043,2455,492,3373,0,0,0,0,0,0
$GC,1062,-1.16,-77.9,130.7,-10.6,115,1067,0.00,2.28,0.00,0.000,6,0.000,0.019,2455,1913,3373,0,0,0,0,0,0
$GC,1325,-1.23,-77.9,155.5,-8.6,139,1329,0.00,2.45,0.00,0.000,4,0.000,0.043,2454,485,3374,0,0,0,0,0,0
$GC,1362,-1.27,-77.9,159.3,-9.5,142,1368,0.00,2.28,0.00,0.000,6,0.000,0.020,2455,1892,3374,0,0,0,0,0,0
$GC,1625,-1.35,-77.9,181.0,-8.8,167,1630,0.17,2.42,0.00,0.000,4,0.051,0.044,2400,491,3374,0,0,0,0,0,0
$GC,1725,-1.26,-77.9,193.5,-14.3,177,1730,0.17,2.25,0.00,0.000,6,0.092,0.020,2438,1895,3375,0,0,0,0,0,0
$GC,1991,-1.31,-77.9,221.2,-9.9,192,1996,0.00,2.45,0.00,0.000,4,0.000,0.045,2436,485,3375,0,0,0,0,0,0
$GC,2057,-1.31,-77.9,227.7,-8.9,195,2062,0.00,2.28,0.00,0.000,6,0.000,0.021,2437,1898,3375,0,0,0,0,0,0
$GC,2389,-1.40,-77.9,252.7,-7.9,211,2393,0.12,2.45,0.00,0.000,4,0.065,0.045,2394,486,3375,0,0,0,0,0,0
$GC,2444,-1.37,-77.9,259.4,-12.6,213,2448,0.00,2.30,0.00,0.000,6,0.000,0.021,2396,1908,3375,0,0,0,0,0,0
$GC,2759,-1.37,-77.9,290.9,-9.7,228,2763,0.00,2.30,0.00,0.000,4,0.000,0.031,2396,3298,3375,0,0,0,0,0,0
$GC,2781,-1.41,-77.9,292.6,-9.2,229,2785,0.00,2.35,0.00,0.000,6,0.000,0.032,2396,1897,3375,0,0,0,0,0,0
$GC,3106,-1.41,-77.9,325.7,-10.3,239,3110,0.00,2.42,0.00,0.000,4,0.000,0.048,2395,491,3374,0,0,0,0,0,0
$GC,3216,-1.41,-77.9,337.7,-10.7,241,3220,0.00,2.30,0.00,0.000,6,0.000,0.024,2395,1896,3374,0,0,0,0,0,0
$GC,3562,-1.44,-77.9,366.8,-8.1,250,3567,0.00,2.42,0.00,0.000,4,0.000,0.051,2395,494,3373,0,0,0,0,0,0
$GC,3604,-1.44,-77.9,370.9,-9.2,251,3609,0.00,2.33,0.00,0.000,6,0.000,0.027,2394,1904,3372,0,0,0,0,0,0
$GC,3932,-1.48,-77.9,400.1,-9.3,259,3936,0.00,2.45,0.00,0.000,4,0.000,0.054,2396,497,3370,0,0,0,0,0,0
$GC,3978,-1.48,-77.9,404.7,-10.4,260,3982,0.00,2.33,0.00,0.000,6,0.000,0.028,2396,1900,3370,0,0,0,0,0,0
$GC,4300,-1.53,-77.9,435.1,-9.4,268,4305,0.00,2.47,0.00,0.000,4,0.000,0.054,2392,495,3368,0,0,0,0,0,0
$STATE,4355,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4355,begin apogee
$GC,4363,-0.31,0.0,440.7,10.1,269,4433,1.15,0.00,64.28,0.866,6,0.079,0.000,2643,2043,3050,0,0,0,0,0,0
$STATE,4434,end apogee,CONTROL_FINISHED_OK
$STATE,4434,begin climb
$GC,4435,1.40,77.9,443.1,0.0,271,4510,1.65,2.50,64.55,0.847,4,0.035,0.045,3027,3431,2731,0,0,0,0,0,0
$GC,4742,1.21,112.3,435.0,5.7,277,4779,0.22,2.42,29.35,0.832,6,0.113,0.038,2983,2028,2591,0,0,0,0,0,0
$GC,5119,1.10,114.5,405.7,7.9,287,5121,0.15,0.00,0.00,0.000,6,0.118,0.000,2956,2027,2586,0,0,0,0,0,0
$GC,5444,1.07,139.0,384.9,6.3,295,5469,0.00,0.00,22.70,0.820,6,0.000,0.000,2956,2028,2483,0,0,0,0,0,0
$GC,5769,1.03,139.0,358.0,8.9,303,5773,0.00,2.45,0.00,0.000,4,0.000,0.041,2959,3439,2479,0,0,0,0,0,0
$GC,5801,1.03,139.0,355.0,8.7,303,5805,0.00,2.42,0.00,0.000,6,0.000,0.038,2958,2034,2479,0,0,0,0,0,0
$GC,6132,1.00,139.7,327.2,8.0,311,6137,0.12,2.50,0.00,0.000,4,0.125,0.054,2935,623,2476,0,0,0,0,0,0
$GC,6176,0.96,144.7,323.9,7.7,312,6188,0.00,2.38,5.20,0.611,6,0.000,0.031,2936,2047,2459,0,0,0,0,0,0
$GC,6507,1.04,178.0,304.5,5.7,320,6543,0.00,2.60,29.90,0.795,4,0.000,0.053,2935,631,2323,0,0,0,0,0,0
$GC,6612,1.04,178.0,296.3,8.4,322,6619,0.00,2.40,0.00,0.000,6,0.000,0.030,2936,2033,2319,0,0,0,0,0,0
$GC,6927,1.09,178.0,271.4,8.2,338,6932,0.00,2.40,0.00,0.000,4,0.000,0.039,2936,3434,2317,0,0,0,0,0,0
$GC,6964,1.16,178.0,268.2,8.7,339,6970,0.15,2.40,0.00,0.000,6,0.067,0.035,2973,2034,2317,0,0,0,0,0,0
$GC,7280,1.16,178.0,240.2,10.3,355,7284,0.00,2.45,0.00,0.000,4,0.000,0.051,2972,629,2316,0,0,0,0,0,0
$GC,7497,1.09,178.0,217.9,9.5,364,7502,0.10,2.35,0.00,0.000,6,0.126,0.026,2956,2043,2313,0,0,0,0,0,0
$GC,7814,1.15,198.2,195.4,6.6,382,7837,0.00,2.53,17.20,0.683,4,0.000,0.048,2955,625,2241,0,0,0,0,0,0
$GC,7884,1.15,198.2,189.6,9.1,389,7889,0.00,2.35,0.00,0.000,6,0.000,0.025,2955,2037,2238,0,0,0,0,0,0
$GC,8148,1.21,202.7,168.6,7.7,413,8158,0.00,2.45,5.03,0.507,4,0.000,0.044,2955,628,2223,0,0,0,0,0,0
$GC,8316,1.21,202.7,151.0,10.9,431,8322,0.00,2.33,0.00,0.000,6,0.000,0.024,2955,2043,2221,0,0,0,0,0,0
$GC,8578,1.27,202.7,125.6,10.1,456,8583,0.15,2.47,0.00,0.000,4,0.064,0.045,2997,625,2221,0,0,0,0,0,0
$GC,8660,1.19,202.7,115.7,11.8,464,8667,0.08,2.33,0.00,0.000,6,0.091,0.023,2978,2030,2221,0,0,0,0,0,0
$GC,8924,1.25,220.3,93.7,6.8,489,8946,0.00,2.47,16.95,0.582,4,0.000,0.044,2978,625,2150,0,0,0,0,0,0
$GC,9042,1.25,220.3,83.3,9.5,502,9046,0.00,2.30,0.00,0.000,6,0.000,0.022,2978,2041,2146,0,0,0,0,0,0
$GC,9304,1.30,220.3,60.5,8.3,526,9309,0.00,2.42,0.00,0.000,4,0.000,0.042,2978,621,2146,0,0,0,0,0,0
$GC,9373,1.30,220.3,54.4,8.6,533,9378,0.00,2.30,0.00,0.000,6,0.000,0.021,2978,2039,2145,0,0,0,0,0,0
$GC,9637,1.41,235.9,35.3,7.0,557,9658,0.17,2.45,14.68,0.522,4,0.054,0.041,3028,625,2087,0,0,0,0,0,0
$GC,9819,1.32,235.9,16.3,11.4,592,9826,0.10,2.30,0.00,0.000,6,0.080,0.021,3004,2030,2083,0,0,0,0,0,0
$STATE,9959,end climb,SURFACE_DEPTH_REACHED
$STATE,9959,begin surface coast
$FINISH,0.4,1.023379
$STATE,9987,end surface coast,CONTROL_FINISHED_OK
$STATE,9987,begin surface
$SM_CCo,10007,33.05,0.513,0,0,1827,300.00
$SM_GC,1.37,0.00,0.00,33.05,0.000,0.000,0.513,428,1880,1827,-10.52,-0.57,300.00
$IRIDIUM_FIX,2052.52,-15749.62,030899,161611
$TT8_MAMPS,0.029146
$HUMID,45.86
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.2,30.3
$24V_AH,23.4,21.234
$10V_AH,10.0,20.305
$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,26.425,119.925,269.825,33.050,0.000,29.540,35.303,147.374,5.000,0.000,34.462,1222.422,6470.823,358.907,1944.755,399.274,33.364,1186.080,0.000,1895.708,0.000,35.059,0.000
$DEVICE_MAMPS,134.992,54.457,865.943,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,420.876,399.725,899.679,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,34925,623
$CAP_FILE_SIZE,116997,0
$CFSIZE,260165632,245055488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090510,221006,2059.144,-15747.914,61,1.9,61,9.8