version: 66.06
glider: 139
mission: 7
dive: 239
start: 5 10 110 1 21 24
data:
$ID,139
$MISSION,7
$DIVE,239
$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,-2127279.8
$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
$GPS1,011121,2058.390,-15748.648,99,2.9,118,9.8
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.0
$GPS2,012033,2058.484,-15748.667,36,2.6,55,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.144,-0.115
$KALMAN_X,-95319.4,-284.7,-307.9,121356.0,922.8
$KALMAN_Y,42962.0,-440.8,-163.9,-59554.6,934.5
$MHEAD_RNG_PITCHd_Wd,221.6,2316,-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,-55.33,0.000,2,0.000,0.000,424,1913,3298,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.6,-6.2,10,94,10.73,2.35,-1.35,0.000,4,0.139,0.041,2403,3320,3369,0,0,0,0,0,0
$GC,240,-1.40,-77.9,38.8,-14.7,41,247,0.00,2.42,0.00,0.000,6,0.000,0.031,2403,1900,3371,0,0,0,0,0,0
$GC,503,-1.28,-77.9,81.5,-14.8,66,508,0.15,2.42,0.00,0.000,4,0.104,0.044,2431,493,3371,0,0,0,0,0,0
$GC,522,-1.15,-77.9,84.7,-14.5,67,528,0.15,2.33,0.00,0.000,6,0.101,0.020,2463,1945,3371,0,0,0,0,0,0
$GC,783,-1.21,-77.9,110.3,-10.0,92,787,0.00,2.50,0.00,0.000,4,0.000,0.044,2456,484,3372,0,0,0,0,0,0
$GC,860,-1.21,-77.9,119.2,-12.1,100,865,0.00,2.28,0.00,0.000,6,0.000,0.020,2463,1898,3372,0,0,0,0,0,0
$GC,1121,-1.28,-77.9,145.9,-10.7,124,1126,0.12,2.42,0.00,0.000,4,0.064,0.044,2413,487,3373,0,0,0,0,0,0
$GC,1167,-1.25,-77.9,151.9,-12.9,128,1174,0.00,2.30,0.00,0.000,6,0.000,0.020,2421,1901,3373,0,0,0,0,0,0
$GC,1430,-1.25,-77.9,180.6,-11.0,153,1434,0.00,2.40,0.00,0.000,4,0.000,0.044,2418,493,3373,0,0,0,0,0,0
$GC,1516,-1.25,-77.9,191.0,-12.2,162,1522,0.00,2.28,0.00,0.000,6,0.000,0.021,2421,1900,3374,0,0,0,0,0,0
$GC,1773,-1.29,-77.9,218.1,-9.6,179,1777,0.00,2.42,0.00,0.000,4,0.000,0.044,2420,490,3374,0,0,0,0,0,0
$GC,1832,-1.29,-77.9,223.6,-8.7,181,1837,0.00,2.28,0.00,0.000,6,0.000,0.021,2421,1906,3374,0,0,0,0,0,0
$GC,2150,-1.35,-77.9,247.1,-7.1,197,2154,0.00,2.45,0.00,0.000,4,0.000,0.046,2419,487,3374,0,0,0,0,0,0
$GC,2173,-1.35,-77.9,249.6,-9.2,198,2177,0.00,2.28,0.00,0.000,6,0.000,0.022,2421,1897,3375,0,0,0,0,0,0
$GC,2497,-1.41,-77.9,279.9,-9.5,214,2504,0.00,2.40,0.00,0.000,4,0.000,0.047,2421,495,3374,0,0,0,0,0,0
$GC,2572,-1.41,-77.9,286.8,-9.3,217,2576,0.00,2.28,0.00,0.000,6,0.000,0.024,2420,1899,3374,0,0,0,0,0,0
$GC,2894,-1.49,-77.9,316.6,-9.8,229,2899,0.15,2.45,0.00,0.000,4,0.060,0.049,2376,495,3372,0,0,0,0,0,0
$GC,3005,-1.43,-77.9,331.3,-12.8,231,3010,0.12,2.28,0.00,0.000,6,0.103,0.025,2400,1895,3372,0,0,0,0,0,0
$GC,3351,-1.48,-77.9,364.3,-8.8,240,3355,0.00,2.47,0.00,0.000,4,0.000,0.051,2402,491,3371,0,0,0,0,0,0
$GC,3415,-1.48,-77.9,370.2,-9.1,241,3419,0.00,2.30,0.00,0.000,6,0.000,0.026,2401,1897,3370,0,0,0,0,0,0
$GC,3765,-1.54,-77.9,401.2,-9.0,250,3770,0.10,2.45,0.00,0.000,4,0.081,0.053,2370,497,3367,0,0,0,0,0,0
$GC,3846,-1.49,-77.9,409.7,-10.1,251,3850,0.00,2.33,0.00,0.000,6,0.000,0.028,2372,1901,3367,0,0,0,0,0,0
$GC,4180,-1.49,-77.9,442.0,-9.8,259,4184,0.00,2.47,0.00,0.000,4,0.000,0.055,2371,497,3365,0,0,0,0,0,0
$GC,4235,-1.46,-77.9,448.6,-10.8,260,4240,0.12,2.35,0.00,0.000,6,0.107,0.030,2396,1905,3364,0,0,0,0,0,0
$STATE,4252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4252,begin apogee
$GC,4257,-0.31,0.0,450.4,9.8,260,4325,1.12,0.00,64.30,0.876,6,0.075,0.000,2641,2062,3050,0,0,0,0,0,0
$STATE,4326,end apogee,CONTROL_FINISHED_OK
$STATE,4326,begin climb
$GC,4328,1.40,77.9,451.5,0.0,262,4402,1.65,2.45,64.70,0.854,4,0.035,0.047,3026,3411,2732,0,0,0,0,0,0
$GC,4435,1.25,144.2,451.0,3.5,264,4499,0.20,2.40,56.72,0.849,6,0.113,0.037,2988,2030,2462,0,0,0,0,0,0
$GC,4823,1.14,144.2,414.0,10.4,274,4824,0.15,0.00,0.00,0.000,6,0.120,0.000,2961,2030,2453,0,0,0,0,0,0
$GC,5147,1.09,144.2,382.3,9.5,282,5152,0.00,2.47,0.00,0.000,4,0.000,0.055,2962,631,2450,0,0,0,0,0,0
$GC,5175,0.96,144.2,379.6,9.6,282,5180,0.20,2.35,0.00,0.000,6,0.116,0.031,2924,2026,2448,0,0,0,0,0,0
$GC,5511,1.02,161.4,355.4,6.8,291,5532,0.00,2.55,13.65,0.782,4,0.000,0.054,2925,635,2391,0,0,0,0,0,0
$GC,5582,1.02,161.4,349.7,8.2,292,5586,0.00,2.38,0.00,0.000,6,0.000,0.031,2924,2034,2388,0,0,0,0,0,0
$GC,5927,1.07,161.4,323.2,8.4,301,5931,0.00,2.47,0.00,0.000,4,0.000,0.053,2925,628,2387,0,0,0,0,0,0
$GC,6042,1.07,161.4,312.6,8.8,303,6046,0.00,2.38,0.00,0.000,6,0.000,0.030,2925,2038,2384,0,0,0,0,0,0
$GC,6365,1.12,166.7,287.2,7.7,315,6378,0.15,2.50,4.95,0.585,4,0.071,0.050,2962,629,2369,0,0,0,0,0,0
$GC,6557,1.04,166.7,269.1,10.4,323,6562,0.12,2.38,0.00,0.000,6,0.125,0.028,2940,2043,2367,0,0,0,0,0,0
$GC,6879,1.04,167.2,244.1,8.0,339,6884,0.00,2.47,0.00,0.000,4,0.000,0.049,2940,630,2367,0,0,0,0,0,0
$GC,6923,1.01,170.3,240.5,7.8,341,6932,0.00,2.35,4.30,0.519,6,0.000,0.028,2940,2037,2355,0,0,0,0,0,0
$GC,7256,1.09,195.4,219.0,6.3,357,7284,0.00,2.42,23.50,0.725,4,0.000,0.038,2941,3428,2252,0,0,0,0,0,0
$GC,7362,1.20,206.4,210.8,7.3,361,7380,0.20,2.40,11.23,0.664,6,0.056,0.034,2986,2026,2208,0,0,0,0,0,0
$GC,7706,1.17,206.4,179.3,9.7,388,7710,0.00,2.42,0.00,0.000,4,0.000,0.048,2989,629,2204,0,0,0,0,0,0
$GC,7892,1.09,206.4,158.7,10.5,408,7897,0.20,2.33,0.00,0.000,6,0.104,0.025,2953,2038,2200,0,0,0,0,0,0
$GC,8153,1.17,206.4,138.6,8.4,432,8154,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2043,2200,0,0,0,0,0,0
$GC,8408,1.25,206.4,117.0,8.1,456,8412,0.15,2.45,0.00,0.000,4,0.064,0.045,2993,619,2200,0,0,0,0,0,0
$GC,8625,1.19,206.4,95.1,10.1,479,8631,0.00,2.33,0.00,0.000,6,0.000,0.023,2992,2045,2199,0,0,0,0,0,0
$GC,8888,1.20,211.9,76.6,7.6,504,8899,0.00,2.45,5.12,0.449,4,0.000,0.042,2992,624,2185,0,0,0,0,0,0
$GC,8957,1.15,211.9,69.7,9.9,511,8964,0.12,2.33,0.00,0.000,6,0.084,0.021,2965,2037,2184,0,0,0,0,0,0
$GC,9220,1.27,234.0,51.8,6.5,536,9251,0.10,2.50,20.98,0.553,4,0.079,0.042,2996,629,2094,0,0,0,0,0,0
$GC,9440,1.27,236.6,31.0,7.8,560,9446,0.00,2.33,0.00,0.000,6,0.000,0.021,2997,2047,2090,0,0,0,0,0,0
$GC,9705,1.32,236.6,9.4,9.4,608,9712,0.00,2.47,0.00,0.000,4,0.000,0.042,2997,622,2090,0,0,0,0,0,0
$GC,9778,1.27,236.6,3.3,8.2,624,9785,0.00,2.30,0.00,0.000,6,0.000,0.021,2997,2061,2090,0,0,0,0,0,0
$STATE,9790,end climb,SURFACE_DEPTH_REACHED
$STATE,9790,begin surface coast
$FINISH,0.4,1.022957
$STATE,9830,end surface coast,CONTROL_FINISHED_OK
$STATE,9830,begin surface
$SM_CCo,9849,33.00,0.511,0,0,1826,300.00
$SM_GC,1.53,0.00,0.00,33.00,0.000,0.000,0.511,431,1863,1826,-10.50,-1.02,300.00
$IRIDIUM_FIX,2050.21,-15749.62,030899,222218
$TT8_MAMPS,0.029146
$HUMID,44.88
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,21.397
$10V_AH,10.0,20.475
$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,27.050,115.250,269.450,33.000,0.000,61.242,116.157,174.076,5.000,0.000,56.102,1233.446,6326.138,358.888,2003.729,512.313,33.362,1197.421,0.000,1928.727,0.000,35.008,0.000
$DEVICE_MAMPS,138.827,55.224,875.914,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.577,409.932,937.461,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,34937,633
$CAP_FILE_SIZE,118597,0
$CFSIZE,260165632,244936704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100510,040827,2058.154,-15749.303,85,2.4,104,9.8