version: 66.06
glider: 139
mission: 7
dive: 494
start: 6 11 110 6 34 36
data:
$ID,139
$MISSION,7
$DIVE,494
$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,-2139677
$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
$GPS1,061631,2102.401,-15745.537,104,1.8,104,9.8
$_CALLS,4
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-68.0
$GPS2,063344,2102.475,-15745.625,13,1.8,13,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.100,-0.154
$KALMAN_X,-237940.0,738.1,98.2,253182.2,-682.2
$KALMAN_Y,15544.4,229.2,194.6,-24179.8,-345.4
$MHEAD_RNG_PITCHd_Wd,203.1,11175,-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,15,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-51.58,0.000,2,0.000,0.000,427,1865,3229,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.9,-7.4,10,96,10.55,2.45,-2.65,0.000,4,0.132,0.054,2403,467,3371,0,0,0,0,0,0
$GC,206,-1.18,-77.9,33.4,-18.9,36,211,0.25,2.33,0.00,0.000,6,0.091,0.020,2454,1908,3372,0,0,0,0,0,0
$GC,471,-1.18,-77.9,70.2,-11.3,60,475,0.00,2.47,0.00,0.000,4,0.000,0.043,2453,461,3372,0,0,0,0,0,0
$GC,575,-1.18,-77.9,83.2,-11.5,71,579,0.00,2.28,0.00,0.000,6,0.000,0.019,2453,1876,3373,0,0,0,0,0,0
$GC,839,-1.18,-77.9,113.0,-11.1,95,843,0.00,2.42,0.00,0.000,4,0.000,0.042,2452,467,3374,0,0,0,0,0,0
$GC,900,-1.18,-77.9,119.9,-10.4,101,905,0.00,2.28,0.00,0.000,6,0.000,0.019,2453,1889,3374,0,0,0,0,0,0
$GC,1166,-1.25,-77.9,147.7,-10.4,126,1171,0.00,2.42,0.00,0.000,4,0.000,0.042,2452,463,3374,0,0,0,0,0,0
$GC,1193,-1.25,-77.9,150.7,-10.8,128,1200,0.00,2.28,0.00,0.000,6,0.000,0.019,2420,1878,3374,0,0,0,0,0,0
$GC,1457,-1.34,-77.9,173.4,-8.7,153,1462,0.12,2.42,0.00,0.000,4,0.061,0.043,2407,462,3375,0,0,0,0,0,0
$GC,1486,-1.28,-77.9,176.7,-11.7,155,1492,0.12,2.25,0.00,0.000,6,0.100,0.019,2427,1883,3375,0,0,0,0,0,0
$GC,1747,-1.33,-77.9,200.0,-8.3,180,1751,0.00,2.42,0.00,0.000,4,0.000,0.043,2434,463,3376,0,0,0,0,0,0
$GC,1775,-1.33,-77.9,202.8,-10.2,181,1779,0.00,2.25,0.00,0.000,6,0.000,0.020,2432,1871,3375,0,0,0,0,0,0
$GC,2097,-1.40,-77.9,235.0,-10.3,197,2101,0.12,2.42,0.00,0.000,4,0.064,0.044,2391,469,3376,0,0,0,0,0,0
$GC,2121,-1.36,-77.9,238.3,-12.7,198,2126,0.12,2.22,0.00,0.000,6,0.097,0.021,2415,1872,3375,0,0,0,0,0,0
$GC,2452,-1.43,-77.9,269.5,-8.6,214,2456,0.00,2.42,0.00,0.000,4,0.000,0.044,2417,460,3375,0,0,0,0,0,0
$GC,2545,-1.47,-77.9,277.4,-8.8,218,2550,0.10,2.28,0.00,0.000,6,0.073,0.021,2381,1875,3375,0,0,0,0,0,0
$GC,2869,-1.47,-77.9,308.0,-8.7,232,2873,0.00,2.40,0.00,0.000,4,0.000,0.045,2381,469,3374,0,0,0,0,0,0
$GC,2901,-1.42,-77.9,311.0,-8.8,232,2906,0.12,2.28,0.00,0.000,6,0.099,0.022,2407,1881,3374,0,0,0,0,0,0
$GC,3233,-1.48,-77.9,340.2,-9.4,240,3238,0.00,2.45,0.00,0.000,4,0.000,0.048,2407,469,3372,0,0,0,0,0,0
$GC,3284,-1.48,-77.9,346.0,-11.2,241,3288,0.00,2.30,0.00,0.000,6,0.000,0.025,2407,1881,3372,0,0,0,0,0,0
$GC,3604,-1.54,-77.9,377.2,-9.6,249,3609,0.12,2.47,0.00,0.000,4,0.066,0.051,2369,471,3370,0,0,0,0,0,0
$GC,3689,-1.46,-77.9,387.0,-12.5,250,3695,0.12,2.30,0.00,0.000,6,0.100,0.026,2394,1873,3369,0,0,0,0,0,0
$GC,4020,-1.49,-77.9,419.4,-9.3,259,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1878,3366,0,0,0,0,0,0
$STATE,4344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4344,begin apogee
$GC,4350,-0.31,0.0,453.7,11.0,267,4418,1.17,0.00,64.25,0.878,6,0.073,0.000,2647,2024,3050,0,0,0,0,0,0
$STATE,4418,end apogee,CONTROL_FINISHED_OK
$STATE,4418,begin climb
$GC,4421,1.40,77.9,455.5,0.0,268,4496,1.60,2.45,64.95,0.856,4,0.031,0.044,3025,3381,2732,0,0,0,0,0,0
$GC,4674,1.21,113.0,453.3,5.6,273,4712,0.22,2.38,30.30,0.839,6,0.113,0.037,2982,2009,2588,0,0,0,0,0,0
$GC,5021,1.11,129.4,428.0,6.9,282,5042,0.15,2.47,14.32,0.798,4,0.120,0.041,2940,3385,2522,0,0,0,0,0,0
$GC,5105,1.06,133.2,422.2,7.8,283,5116,0.00,2.38,4.75,0.594,6,0.000,0.038,2957,2007,2507,0,0,0,0,0,0
$GC,5441,1.02,136.6,396.0,7.8,292,5447,0.00,0.00,4.20,0.558,6,0.000,0.000,2957,2006,2493,0,0,0,0,0,0
$GC,5766,1.01,161.2,373.0,6.3,300,5795,0.12,2.58,22.52,0.822,4,0.120,0.055,2934,605,2392,0,0,0,0,0,0
$GC,5953,0.97,161.2,356.4,9.1,304,5957,0.00,2.33,0.00,0.000,6,0.000,0.030,2933,1990,2387,0,0,0,0,0,0
$GC,6280,0.97,164.0,331.1,7.8,312,6285,0.00,2.45,0.00,0.000,4,0.000,0.053,2934,598,2385,0,0,0,0,0,0
$GC,6327,0.94,175.1,327.5,7.3,313,6346,0.00,2.40,12.45,0.761,6,0.000,0.031,2933,2024,2336,0,0,0,0,0,0
$GC,6694,1.01,197.2,303.3,6.5,322,6722,0.00,2.58,20.85,0.780,4,0.000,0.052,2934,602,2245,0,0,0,0,0,0
$GC,6773,1.01,197.2,295.8,11.2,324,6777,0.00,2.38,0.00,0.000,6,0.000,0.030,2934,2007,2240,0,0,0,0,0,0
$GC,7093,1.08,197.2,266.5,9.3,340,7097,0.00,2.47,0.00,0.000,4,0.000,0.051,2934,602,2240,0,0,0,0,0,0
$GC,7189,1.08,199.8,257.8,7.8,344,7193,0.00,2.35,0.00,0.000,6,0.000,0.029,2934,2014,2237,0,0,0,0,0,0
$GC,7510,1.21,227.9,239.0,6.1,360,7544,0.20,2.60,27.27,0.742,4,0.060,0.051,2985,597,2119,0,0,0,0,0,0
$GC,7632,1.14,227.9,225.7,13.0,365,7636,0.00,2.38,0.00,0.000,6,0.000,0.028,2985,2020,2115,0,0,0,0,0,0
$GC,7955,1.14,227.9,194.3,9.5,383,7960,0.12,2.53,0.00,0.000,4,0.110,0.049,2962,594,2114,0,0,0,0,0,0
$GC,8073,1.14,227.9,182.0,11.2,395,8077,0.00,2.35,0.00,0.000,6,0.000,0.027,2962,2016,2111,0,0,0,0,0,0
$GC,8337,1.20,227.9,155.2,9.8,419,8342,0.00,2.47,0.00,0.000,4,0.000,0.047,2962,599,2111,0,0,0,0,0,0
$GC,8375,1.20,227.9,151.1,10.1,422,8381,0.00,2.38,0.00,0.000,6,0.000,0.025,2962,2020,2111,0,0,0,0,0,0
$GC,8639,1.31,237.7,130.4,7.3,447,8659,0.15,2.35,8.82,0.571,4,0.063,0.029,3003,3412,2079,0,0,0,0,0,0
$GC,8711,1.34,237.7,124.0,8.8,454,8718,0.00,2.42,0.00,0.000,6,0.000,0.031,3004,2000,2079,0,0,0,0,0,0
$GC,8974,1.34,237.7,100.5,8.9,479,8978,0.00,2.40,0.00,0.000,4,0.000,0.044,3004,602,2079,0,0,0,0,0,0
$GC,9020,1.31,237.7,95.6,10.5,483,9025,0.00,2.33,0.00,0.000,6,0.000,0.022,3005,2026,2077,0,0,0,0,0,0
$GC,9283,1.31,237.7,72.3,9.2,508,9287,0.00,2.28,0.00,0.000,4,0.000,0.028,3004,3407,2077,0,0,0,0,0,0
$GC,9347,1.35,237.7,65.9,9.0,515,9352,0.00,2.35,0.00,0.000,6,0.000,0.028,3004,2004,2077,0,0,0,0,0,0
$GC,9612,1.41,259.8,46.7,6.5,539,9642,0.00,2.40,20.42,0.543,4,0.000,0.041,3005,605,1989,0,0,0,0,0,0
$GC,9860,1.41,259.8,23.8,10.9,573,9866,0.00,2.28,0.00,0.000,6,0.000,0.020,3005,2023,1985,0,0,0,0,0,0
$GC,10065,1.45,259.8,4.5,9.6,610,10072,0.12,2.47,0.00,0.000,4,0.064,0.040,3046,603,1985,0,0,0,0,0,0
$STATE,10076,end climb,SURFACE_DEPTH_REACHED
$STATE,10076,begin surface coast
$FINISH,0.4,1.023300
$STATE,10110,end surface coast,CONTROL_FINISHED_OK
$STATE,10110,begin surface
$SM_CCo,10133,24.25,0.506,0,0,1826,300.00
$SM_GC,1.85,0.00,0.00,24.25,0.000,0.000,0.506,428,1884,1826,-10.52,0.23,300.00
$IRIDIUM_FIX,2057.14,-15748.75,050999,060602
$TT8_MAMPS,0.029146
$HUMID,50.11
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,43.832
$10V_AH,10.0,41.453
$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,26.950,119.275,295.125,24.250,0.000,118.874,150.580,445.675,4.500,0.000,14.018,1212.746,6790.595,375.371,1844.196,966.968,33.385,1199.729,0.000,1821.408,0.000,29.261,0.000
$DEVICE_MAMPS,131.924,55.224,878.215,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.663,396.211,775.314,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,34946,619
$CAP_FILE_SIZE,129544,0
$CFSIZE,260165632,229789696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110610,092539,2101.402,-15746.634,69,1.5,69,9.8