version: 66.06
glider: 139
mission: 7
dive: 493
start: 6 11 110 3 23 11
data:
$ID,139
$MISSION,7
$DIVE,493
$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,-2139662.2
$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,1875
$C_ROLL_CLIMB,2010
$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
$GPS1,031443,2103.228,-15744.876,184,1.4,194,9.8
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,1
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-67.4
$GPS2,032220,2103.250,-15744.891,52,1.9,52,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.107,-0.150
$KALMAN_X,-237120.0,852.7,-767.6,254378.2,-25.8
$KALMAN_Y,15799.6,270.8,-342.5,-22499.8,273.2
$MHEAD_RNG_PITCHd_Wd,205.7,13091,-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,-77.9,0.0,0.0,0,67,0.00,0.00,-49.22,0.000,2,0.000,0.000,427,1853,3158,0,0,0,0,0,0
$GC,70,-1.40,-77.9,3.5,-6.6,9,92,10.57,2.38,-4.07,0.000,4,0.133,0.054,2401,468,3370,0,0,0,0,0,0
$GC,223,-1.15,-77.9,39.1,-21.3,37,230,0.25,2.35,0.00,0.000,6,0.080,0.021,2458,1901,3372,0,0,0,0,0,0
$GC,486,-1.15,-77.9,71.1,-10.0,62,490,0.00,2.47,0.00,0.000,4,0.000,0.044,2458,460,3373,0,0,0,0,0,0
$GC,511,-1.10,-77.9,74.4,-12.8,64,516,0.00,2.28,0.00,0.000,6,0.000,0.019,2456,1893,3372,0,0,0,0,0,0
$GC,779,-1.10,-77.9,104.4,-9.7,89,783,0.00,2.45,0.00,0.000,4,0.000,0.042,2457,468,3373,0,0,0,0,0,0
$GC,860,-1.10,-77.9,113.9,-10.9,97,866,0.00,2.25,0.00,0.000,6,0.000,0.019,2456,1878,3374,0,0,0,0,0,0
$GC,1123,-1.17,-77.9,139.3,-10.9,122,1128,0.00,2.40,0.00,0.000,4,0.000,0.041,2457,463,3374,0,0,0,0,0,0
$GC,1153,-1.17,-77.9,143.0,-12.6,125,1157,0.00,2.28,0.00,0.000,6,0.000,0.019,2457,1886,3374,0,0,0,0,0,0
$GC,1417,-1.26,-77.9,167.5,-8.1,149,1421,0.00,2.42,0.00,0.000,4,0.000,0.041,2456,468,3375,0,0,0,0,0,0
$GC,1445,-1.33,-77.9,170.0,-8.4,151,1451,0.15,2.25,0.00,0.000,6,0.055,0.020,2407,1873,3375,0,0,0,0,0,0
$GC,1708,-1.33,-77.9,200.6,-12.7,176,1712,0.00,2.40,0.00,0.000,4,0.000,0.043,2407,468,3375,0,0,0,0,0,0
$GC,1758,-1.33,-77.9,207.2,-11.7,178,1762,0.00,2.25,0.00,0.000,6,0.000,0.020,2408,1878,3375,0,0,0,0,0,0
$GC,2078,-1.37,-77.9,236.1,-8.6,194,2082,0.00,2.28,0.00,0.000,4,0.000,0.027,2407,3265,3375,0,0,0,0,0,0
$GC,2088,-1.41,-77.9,236.8,-8.0,194,2092,0.00,2.30,0.00,0.000,6,0.000,0.027,2408,1867,3376,0,0,0,0,0,0
$GC,2405,-1.45,-77.9,263.9,-8.9,209,2409,0.00,2.38,0.00,0.000,4,0.000,0.045,2408,474,3375,0,0,0,0,0,0
$GC,2484,-1.45,-77.9,271.7,-9.3,212,2488,0.00,2.25,0.00,0.000,6,0.000,0.021,2408,1871,3376,0,0,0,0,0,0
$GC,2807,-1.49,-77.9,300.0,-9.4,228,2812,0.00,2.42,0.00,0.000,4,0.000,0.046,2408,469,3375,0,0,0,0,0,0
$GC,2876,-1.49,-77.9,307.5,-9.7,229,2881,0.00,2.28,0.00,0.000,6,0.000,0.022,2408,1875,3375,0,0,0,0,0,0
$GC,3217,-1.55,-77.9,334.7,-7.4,238,3222,0.15,2.42,0.00,0.000,4,0.059,0.048,2364,475,3372,0,0,0,0,0,0
$GC,3279,-1.46,-77.9,340.3,-8.7,239,3284,0.15,2.28,0.00,0.000,6,0.094,0.024,2395,1870,3373,0,0,0,0,0,0
$GC,3632,-1.50,-77.9,364.7,-7.1,248,3636,0.00,2.45,0.00,0.000,4,0.000,0.050,2394,474,3370,0,0,0,0,0,0
$GC,3710,-1.50,-77.9,371.4,-8.8,249,3714,0.00,2.30,0.00,0.000,6,0.000,0.026,2395,1878,3369,0,0,0,0,0,0
$GC,4047,-1.53,-77.9,403.3,-10.2,258,4051,0.00,2.42,0.00,0.000,4,0.000,0.050,2394,474,3367,0,0,0,0,0,0
$GC,4083,-1.53,-77.9,407.9,-12.2,258,4089,0.00,2.30,0.00,0.000,6,0.000,0.027,2394,1875,3366,0,0,0,0,0,0
$GC,4414,-1.58,-77.9,442.1,-10.2,267,4419,0.12,2.47,0.00,0.000,4,0.070,0.053,2358,473,3364,0,0,0,0,0,0
$STATE,4477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4478,begin apogee
$GC,4486,-0.31,0.0,450.0,11.2,268,4554,1.33,0.00,64.03,0.877,6,0.080,0.000,2641,2011,3050,0,0,0,0,0,0
$STATE,4555,end apogee,CONTROL_FINISHED_OK
$STATE,4555,begin climb
$GC,4557,1.40,77.9,453.1,0.0,270,4632,1.65,2.53,64.93,0.856,4,0.032,0.044,3028,3411,2732,0,0,0,0,0,0
$GC,4897,1.23,135.5,447.0,4.1,277,4954,0.22,2.40,49.05,0.855,6,0.110,0.036,2985,2009,2497,0,0,0,0,0,0
$GC,5287,1.11,135.5,418.3,8.4,287,5292,0.15,2.47,0.00,0.000,4,0.114,0.053,2958,605,2489,0,0,0,0,0,0
$GC,5382,0.99,135.5,408.3,10.9,289,5387,0.12,2.38,0.00,0.000,6,0.123,0.030,2934,2013,2488,0,0,0,0,0,0
$GC,5706,1.00,143.3,382.1,7.5,297,5714,0.00,0.00,6.28,0.676,6,0.000,0.000,2936,2017,2465,0,0,0,0,0,0
$GC,6031,1.04,175.3,362.0,5.8,305,6067,0.00,2.55,29.15,0.827,4,0.000,0.052,2936,601,2334,0,0,0,0,0,0
$GC,6193,1.00,175.3,349.0,9.9,308,6197,0.00,2.38,0.00,0.000,6,0.000,0.030,2936,2016,2329,0,0,0,0,0,0
$GC,6533,1.04,175.3,315.5,10.6,317,6537,0.00,2.53,0.00,0.000,4,0.000,0.053,2936,595,2328,0,0,0,0,0,0
$GC,6616,1.04,175.3,306.2,10.8,318,6622,0.00,2.40,0.00,0.000,6,0.000,0.031,2936,2014,2326,0,0,0,0,0,0
$GC,6931,1.10,194.1,281.7,6.7,332,6954,0.00,0.00,16.67,0.762,6,0.000,0.000,2936,2018,2257,0,0,0,0,0,0
$GC,7262,1.15,194.1,253.3,9.0,348,7267,0.12,2.50,0.00,0.000,4,0.077,0.053,2967,604,2254,0,0,0,0,0,0
$GC,7391,1.09,194.1,239.4,10.0,353,7396,0.00,2.38,0.00,0.000,6,0.000,0.029,2967,2017,2251,0,0,0,0,0,0
$GC,7707,1.09,194.1,213.8,8.6,369,7711,0.00,2.50,0.00,0.000,4,0.000,0.051,2967,598,2251,0,0,0,0,0,0
$GC,7845,1.06,194.1,200.3,9.6,375,7850,0.12,2.35,0.00,0.000,6,0.121,0.028,2945,2016,2249,0,0,0,0,0,0
$GC,8175,1.16,211.6,177.6,6.8,405,8198,0.00,2.58,15.45,0.673,4,0.000,0.048,2945,601,2186,0,0,0,0,0,0
$GC,8377,1.20,211.6,159.9,8.9,427,8382,0.12,2.33,0.00,0.000,6,0.073,0.026,2978,2016,2182,0,0,0,0,0,0
$GC,8640,1.25,217.2,138.9,7.6,451,8652,0.00,2.40,5.82,0.523,4,0.000,0.031,2977,3403,2164,0,0,0,0,0,0
$GC,8671,1.34,230.5,136.3,7.1,454,8691,0.10,2.40,13.62,0.616,6,0.041,0.031,3012,2005,2110,0,0,0,0,0,0
$GC,8945,1.35,241.4,112.5,7.3,480,8966,0.00,2.45,11.00,0.576,4,0.000,0.043,3014,602,2064,0,0,0,0,0,0
$GC,9122,1.35,241.4,95.7,10.9,499,9126,0.00,2.30,0.00,0.000,6,0.000,0.023,3014,2011,2060,0,0,0,0,0,0
$GC,9385,1.35,241.4,73.0,8.4,523,9389,0.00,2.33,0.00,0.000,4,0.000,0.028,3013,3407,2060,0,0,0,0,0,0
$GC,9402,1.35,241.4,71.5,8.7,524,9406,0.00,2.35,0.00,0.000,6,0.000,0.028,3014,2003,2060,0,0,0,0,0,0
$GC,9669,1.38,263.3,52.9,6.5,549,9699,0.00,2.42,20.08,0.545,4,0.000,0.041,3014,605,1974,0,0,0,0,0,0
$GC,9912,1.31,263.3,31.2,12.2,576,9916,0.00,2.30,0.00,0.000,6,0.000,0.020,3014,2032,1971,0,0,0,0,0,0
$STATE,10185,end climb,SURFACE_DEPTH_REACHED
$STATE,10185,begin surface coast
$FINISH,0.5,1.023254
$STATE,10219,end surface coast,CONTROL_FINISHED_OK
$STATE,10219,begin surface
$SM_CCo,10239,19.23,0.495,0,0,1827,300.00
$SM_GC,1.69,0.00,0.00,19.23,0.000,0.000,0.495,428,1863,1827,-10.52,-0.31,300.00
$IRIDIUM_FIX,2057.14,-15743.60,050999,000058
$TT8_MAMPS,0.029146
$HUMID,49.96
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,421.3,71.2
$24V_AH,23.4,43.723
$10V_AH,10.0,41.368
$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,26.475,114.800,296.075,19.225,0.000,26.192,32.905,245.565,5.250,0.000,52.476,1230.898,6615.073,359.117,1991.459,518.242,33.384,1218.780,0.000,1918.829,0.000,33.597,0.000
$DEVICE_MAMPS,133.458,53.690,876.681,495.482,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.810,402.611,792.562,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,34988,631
$CAP_FILE_SIZE,118528,0
$CFSIZE,260165632,229859328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110610,061631,2102.401,-15745.537,104,1.8,104,9.8