version: 66.06
glider: 139
mission: 7
dive: 238
start: 5 9 110 22 15 48
data:
$ID,139
$MISSION,7
$DIVE,238
$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,-2127223
$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
$GPS1,221006,2059.144,-15747.914,61,1.9,61,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.4
$GPS2,221456,2059.186,-15747.943,15,1.9,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.122,-0.138
$KALMAN_X,-95741.5,-381.2,102.0,122714.1,467.9
$KALMAN_Y,42578.7,-368.0,-78.6,-58029.5,904.3
$MHEAD_RNG_PITCHd_Wd,211.7,4062,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,74,0.00,0.00,-55.45,0.000,2,0.000,0.000,428,1881,3301,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.8,-7.3,10,95,10.65,2.40,-1.27,0.000,4,0.137,0.054,2405,483,3368,0,0,0,0,0,0
$GC,144,-1.14,-77.9,25.2,-22.4,24,152,0.25,2.38,0.00,0.000,6,0.084,0.021,2459,1929,3370,0,0,0,0,0,0
$GC,344,-1.14,-77.9,53.6,-13.8,45,349,0.00,2.47,0.00,0.000,4,0.000,0.044,2459,492,3370,0,0,0,0,0,0
$GC,441,-1.14,-77.9,66.9,-13.7,55,445,0.00,2.28,0.00,0.000,6,0.000,0.019,2459,1906,3370,0,0,0,0,0,0
$GC,703,-1.18,-77.9,97.3,-11.3,79,708,0.00,2.42,0.00,0.000,4,0.000,0.043,2459,487,3371,0,0,0,0,0,0
$GC,773,-1.21,-77.9,105.6,-11.5,86,777,0.00,2.25,0.00,0.000,6,0.000,0.019,2459,1901,3372,0,0,0,0,0,0
$GC,1041,-1.28,-77.9,130.3,-7.7,111,1046,0.12,2.42,0.00,0.000,4,0.064,0.044,2418,490,3372,0,0,0,0,0,0
$GC,1079,-1.22,-77.9,134.8,-12.1,114,1086,0.10,2.28,0.00,0.000,6,0.074,0.020,2444,1894,3373,0,0,0,0,0,0
$GC,1340,-1.29,-77.9,159.7,-9.9,139,1347,0.00,2.40,0.00,0.000,4,0.000,0.044,2443,484,3374,0,0,0,0,0,0
$GC,1418,-1.29,-77.9,168.0,-10.6,147,1422,0.00,2.28,0.00,0.000,6,0.000,0.020,2444,1903,3374,0,0,0,0,0,0
$GC,1681,-1.36,-77.9,192.7,-9.1,171,1686,0.10,2.42,0.00,0.000,4,0.075,0.044,2407,491,3374,0,0,0,0,0,0
$GC,1751,-1.30,-77.9,200.9,-11.3,178,1756,0.10,2.25,0.00,0.000,6,0.111,0.021,2428,1898,3374,0,0,0,0,0,0
$GC,2077,-1.35,-77.9,233.3,-9.5,194,2081,0.00,2.42,0.00,0.000,4,0.000,0.044,2427,487,3375,0,0,0,0,0,0
$GC,2150,-1.39,-77.9,240.6,-9.1,197,2154,0.00,2.28,0.00,0.000,6,0.000,0.021,2428,1898,3374,0,0,0,0,0,0
$GC,2471,-1.47,-77.9,265.7,-8.3,213,2476,0.15,2.42,0.00,0.000,4,0.059,0.047,2381,491,3374,0,0,0,0,0,0
$GC,2516,-1.40,-77.9,270.5,-11.8,215,2521,0.12,2.28,0.00,0.000,6,0.100,0.022,2408,1899,3374,0,0,0,0,0,0
$GC,2848,-1.44,-77.9,296.3,-8.3,231,2852,0.00,2.42,0.00,0.000,4,0.000,0.048,2407,494,3374,0,0,0,0,0,0
$GC,2940,-1.44,-77.9,305.8,-9.5,234,2944,0.00,2.30,0.00,0.000,6,0.000,0.024,2407,1906,3374,0,0,0,0,0,0
$GC,3262,-1.50,-77.9,334.8,-8.8,242,3267,0.00,2.45,0.00,0.000,4,0.000,0.049,2407,487,3372,0,0,0,0,0,0
$GC,3318,-1.53,-77.9,339.9,-9.2,243,3326,0.12,2.33,0.00,0.000,6,0.068,0.025,2368,1905,3372,0,0,0,0,0,0
$GC,3639,-1.53,-77.9,368.5,-9.0,251,3643,0.00,2.45,0.00,0.000,4,0.000,0.051,2369,489,3371,0,0,0,0,0,0
$GC,3685,-1.48,-77.9,373.5,-10.3,252,3690,0.10,2.33,0.00,0.000,6,0.114,0.027,2389,1898,3371,0,0,0,0,0,0
$GC,4013,-1.48,-77.9,403.4,-9.4,260,4017,0.00,2.45,0.00,0.000,4,0.000,0.053,2388,490,3368,0,0,0,0,0,0
$GC,4114,-1.48,-77.9,413.8,-9.7,262,4119,0.00,2.33,0.00,0.000,6,0.000,0.028,2389,1897,3368,0,0,0,0,0,0
$GC,4432,-1.51,-77.9,441.0,-8.7,270,4436,0.00,2.45,0.00,0.000,4,0.000,0.056,2387,497,3365,0,0,0,0,0,0
$GC,4500,-1.51,-77.9,448.5,-9.5,271,4505,0.00,2.35,0.00,0.000,6,0.000,0.030,2389,1906,3365,0,0,0,0,0,0
$STATE,4554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4554,begin apogee
$GC,4559,-0.31,0.0,453.6,9.6,273,4627,1.20,0.00,64.25,0.884,6,0.078,0.000,2644,2058,3050,0,0,0,0,0,0
$STATE,4628,end apogee,CONTROL_FINISHED_OK
$STATE,4628,begin climb
$GC,4629,1.40,77.9,454.4,0.0,274,4705,1.62,2.45,64.72,0.863,4,0.034,0.045,3023,3409,2731,0,0,0,0,0,0
$GC,4969,1.22,108.6,442.3,5.9,282,5002,0.22,2.40,26.33,0.841,6,0.115,0.039,2981,2027,2607,0,0,0,0,0,0
$GC,5325,1.11,115.7,416.9,7.5,291,5338,0.12,2.47,6.70,0.695,4,0.126,0.043,2961,3411,2578,0,0,0,0,0,0
$GC,5409,1.06,126.7,411.0,7.3,292,5426,0.00,2.40,11.02,0.773,6,0.000,0.038,2960,2028,2532,0,0,0,0,0,0
$GC,5750,1.02,139.9,387.5,7.1,301,5770,0.12,2.50,12.55,0.786,4,0.123,0.054,2938,629,2477,0,0,0,0,0,0
$GC,5871,0.96,139.9,377.2,9.5,303,5876,0.00,2.33,0.00,0.000,6,0.000,0.031,2938,2013,2475,0,0,0,0,0,0
$GC,6211,0.97,148.2,350.6,7.5,312,6224,0.00,2.50,7.70,0.709,4,0.000,0.054,2938,629,2445,0,0,0,0,0,0
$GC,6262,0.91,151.0,346.8,7.8,313,6271,0.12,2.40,3.83,0.512,6,0.123,0.031,2916,2043,2434,0,0,0,0,0,0
$GC,6581,1.01,181.6,327.0,5.9,321,6617,0.00,2.58,28.45,0.811,4,0.000,0.053,2916,629,2308,0,0,0,0,0,0
$GC,6686,1.01,181.6,318.5,9.0,323,6690,0.00,2.40,0.00,0.000,6,0.000,0.031,2916,2043,2303,0,0,0,0,0,0
$GC,7018,1.10,189.5,294.6,7.5,333,7031,0.17,2.55,7.22,0.673,4,0.066,0.052,2957,625,2277,0,0,0,0,0,0
$GC,7134,1.05,189.5,282.1,12.1,338,7138,0.00,2.38,0.00,0.000,6,0.000,0.029,2957,2036,2273,0,0,0,0,0,0
$GC,7457,1.05,189.5,250.0,10.5,354,7458,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2041,2272,0,0,0,0,0,0
$GC,7768,1.05,189.5,220.2,8.5,369,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2041,2272,0,0,0,0,0,0
$GC,8078,1.08,189.5,195.4,8.7,386,8082,0.00,2.47,0.00,0.000,4,0.000,0.048,2957,621,2271,0,0,0,0,0,0
$GC,8148,1.05,189.5,189.5,8.4,393,8153,0.00,2.35,0.00,0.000,6,0.000,0.027,2957,2041,2269,0,0,0,0,0,0
$GC,8412,1.09,192.1,167.8,7.8,417,8416,0.00,2.45,0.00,0.000,4,0.000,0.047,2957,626,2270,0,0,0,0,0,0
$GC,8575,1.09,192.1,153.0,9.3,434,8581,0.00,2.35,0.00,0.000,6,0.000,0.025,2957,2040,2269,0,0,0,0,0,0
$GC,8838,1.14,192.1,132.1,8.5,459,8842,0.00,2.30,0.00,0.000,4,0.000,0.031,2957,3434,2269,0,0,0,0,0,0
$GC,8856,1.20,192.1,130.3,8.2,460,8863,0.00,2.38,0.00,0.000,6,0.000,0.030,2956,2031,2269,0,0,0,0,0,0
$GC,9119,1.27,200.7,109.3,7.4,485,9139,0.15,2.45,10.15,0.569,4,0.064,0.044,2998,634,2231,0,0,0,0,0,0
$GC,9263,1.19,200.7,94.1,11.6,500,9271,0.10,2.33,0.00,0.000,6,0.087,0.023,2975,2043,2229,0,0,0,0,0,0
$GC,9526,1.27,222.8,73.5,6.5,525,9557,0.00,2.53,20.70,0.574,4,0.000,0.043,2976,624,2139,0,0,0,0,0,0
$GC,9691,1.27,222.8,58.2,9.7,543,9695,0.00,2.33,0.00,0.000,6,0.000,0.021,2975,2052,2136,0,0,0,0,0,0
$GC,9954,1.38,250.9,38.9,6.1,567,9985,0.17,2.50,25.12,0.545,4,0.054,0.041,3025,623,2025,0,0,0,0,0,0
$GC,10067,1.31,250.9,26.2,11.9,582,10074,0.10,2.33,0.00,0.000,6,0.081,0.021,3002,2036,2021,0,0,0,0,0,0
$GC,10271,1.31,250.9,6.7,10.3,619,10278,0.00,2.45,0.00,0.000,4,0.000,0.045,3001,637,2021,0,0,0,0,0,0
$STATE,10304,end climb,SURFACE_DEPTH_REACHED
$STATE,10304,begin surface coast
$FINISH,0.5,1.012599
$STATE,10331,end surface coast,CONTROL_FINISHED_OK
$STATE,10331,begin surface
$SM_CCo,10352,25.92,0.511,0,0,1826,300.00
$SM_GC,0.89,0.00,0.00,25.92,0.000,0.000,0.511,424,1913,1826,-10.53,0.37,300.00
$IRIDIUM_FIX,2052.52,-15746.61,030899,191947
$TT8_MAMPS,0.029146
$HUMID,45.51
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.80
$XPDR_PINGS,1
$24V_AH,23.4,21.313
$10V_AH,10.0,20.388
$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,27.000,124.300,288.750,25.925,0.000,25.564,27.505,139.706,5.500,0.000,15.278,1263.098,6630.725,372.651,2026.646,378.397,33.354,1262.792,0.000,2002.985,0.000,37.893,0.000
$DEVICE_MAMPS,136.526,56.758,884.351,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.186,408.031,894.601,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34801,632
$CAP_FILE_SIZE,124739,0
$CFSIZE,260165632,244989952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100510,011121,2058.390,-15748.648,99,2.9,118,9.8