version: 66.06
glider: 139
mission: 7
dive: 495
start: 6 11 110 9 41 1
data:
$ID,139
$MISSION,7
$DIVE,495
$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,-2139758.2
$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
$GPS1,092539,2101.402,-15746.634,69,1.5,69,9.8
$_CALLS,4
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.3
$GPS2,094008,2101.433,-15746.749,80,1.0,80,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.004,-0.184
$KALMAN_X,-238827.7,182.5,720.2,252063.5,-2411.1
$KALMAN_Y,15419.7,19.3,329.3,-25912.6,-911.3
$MHEAD_RNG_PITCHd_Wd,171.5,8446,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,70,0.00,0.00,-52.75,0.000,2,0.000,0.000,427,1884,3233,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.7,-7.0,10,95,10.55,2.47,-2.62,0.000,4,0.132,0.052,2404,462,3371,0,0,0,0,0,0
$GC,189,-1.19,-77.9,31.2,-17.3,34,195,0.20,2.35,0.00,0.000,6,0.081,0.020,2457,1906,3372,0,0,0,0,0,0
$GC,451,-1.19,-77.9,63.4,-10.9,59,456,0.00,2.45,0.00,0.000,4,0.000,0.041,2456,467,3373,0,0,0,0,0,0
$GC,532,-1.19,-77.9,73.1,-12.4,67,538,0.00,2.28,0.00,0.000,6,0.000,0.019,2456,1875,3373,0,0,0,0,0,0
$GC,792,-1.19,-77.9,99.9,-9.9,92,799,0.00,2.42,0.00,0.000,4,0.000,0.042,2457,464,3374,0,0,0,0,0,0
$GC,851,-1.15,-77.9,105.9,-10.2,98,855,0.00,2.25,0.00,0.000,6,0.000,0.019,2455,1889,3374,0,0,0,0,0,0
$GC,1113,-1.20,-77.9,129.7,-10.1,122,1118,0.00,2.45,0.00,0.000,4,0.000,0.041,2455,460,3374,0,0,0,0,0,0
$GC,1168,-1.23,-77.9,136.9,-13.1,127,1173,0.00,2.25,0.00,0.000,6,0.000,0.019,2456,1878,3375,0,0,0,0,0,0
$GC,1429,-1.30,-77.9,162.3,-9.4,152,1433,0.12,2.28,0.00,0.000,4,0.062,0.026,2413,3262,3375,0,0,0,0,0,0
$GC,1493,-1.37,-77.9,169.8,-11.5,158,1500,0.00,2.35,0.00,0.000,6,0.000,0.028,2413,1866,3375,0,0,0,0,0,0
$GC,1757,-1.37,-77.9,197.0,-10.5,183,1761,0.00,2.35,0.00,0.000,4,0.000,0.042,2412,468,3376,0,0,0,0,0,0
$GC,1785,-1.32,-77.9,200.6,-11.9,185,1790,0.00,2.22,0.00,0.000,6,0.000,0.019,2411,1878,3376,0,0,0,0,0,0
$GC,2107,-1.32,-77.9,232.6,-9.5,201,2111,0.00,2.40,0.00,0.000,4,0.000,0.042,2412,473,3376,0,0,0,0,0,0
$GC,2151,-1.32,-77.9,237.2,-9.6,203,2155,0.00,2.22,0.00,0.000,6,0.000,0.020,2413,1880,3376,0,0,0,0,0,0
$GC,2483,-1.37,-77.9,263.9,-7.1,219,2487,0.00,2.25,0.00,0.000,4,0.000,0.028,2412,3264,3376,0,0,0,0,0,0
$GC,2506,-1.45,-77.9,265.5,-5.4,220,2510,0.00,2.33,0.00,0.000,6,0.000,0.028,2413,1866,3376,0,0,0,0,0,0
$GC,2834,-1.52,-77.9,285.4,-7.7,236,2839,0.12,2.40,0.00,0.000,4,0.063,0.044,2372,473,3375,0,0,0,0,0,0
$GC,2895,-1.46,-77.9,291.9,-11.1,238,2902,0.08,2.28,0.00,0.000,6,0.077,0.022,2391,1868,3375,0,0,0,0,0,0
$GC,3207,-1.46,-77.9,318.4,-8.1,249,3211,0.00,2.38,0.00,0.000,4,0.000,0.045,2392,474,3374,0,0,0,0,0,0
$GC,3342,-1.46,-77.9,330.7,-10.6,252,3346,0.00,2.25,0.00,0.000,6,0.000,0.023,2392,1877,3373,0,0,0,0,0,0
$GC,3671,-1.50,-77.9,360.1,-8.6,260,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1881,3372,0,0,0,0,0,0
$GC,3994,-1.50,-77.9,388.8,-8.8,268,3998,0.00,2.42,0.00,0.000,4,0.000,0.049,2392,471,3369,0,0,0,0,0,0
$GC,4040,-1.50,-77.9,393.3,-8.9,269,4044,0.00,2.30,0.00,0.000,6,0.000,0.026,2392,1870,3369,0,0,0,0,0,0
$GC,4364,-1.50,-77.9,421.9,-9.1,277,4368,0.00,2.47,0.00,0.000,4,0.000,0.052,2392,467,3366,0,0,0,0,0,0
$GC,4419,-1.50,-77.9,427.4,-9.8,278,4423,0.00,2.33,0.00,0.000,6,0.000,0.027,2392,1877,3366,0,0,0,0,0,0
$STATE,4689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4689,begin apogee
$GC,4695,-0.31,0.0,451.4,8.9,285,4762,1.17,0.00,64.18,0.874,6,0.071,0.000,2645,2043,3050,0,0,0,0,0,0
$STATE,4763,end apogee,CONTROL_FINISHED_OK
$STATE,4763,begin climb
$GC,4766,1.40,77.9,452.4,0.0,286,4841,1.62,2.40,64.75,0.851,4,0.029,0.043,3015,3375,2732,0,0,0,0,0,0
$GC,5037,1.19,104.1,444.1,6.2,292,5066,0.28,2.33,22.83,0.822,6,0.109,0.035,2977,2012,2625,0,0,0,0,0,0
$GC,5407,1.09,122.1,418.1,6.8,301,5426,0.12,0.00,15.82,0.801,6,0.123,0.000,2955,2012,2552,0,0,0,0,0,0
$GC,5732,1.08,154.6,397.9,5.8,309,5763,0.00,0.00,29.27,0.832,6,0.000,0.000,2955,2012,2419,0,0,0,0,0,0
$GC,6057,1.05,154.6,372.4,8.1,317,6061,0.00,2.45,0.00,0.000,4,0.000,0.051,2955,605,2413,0,0,0,0,0,0
$GC,6108,0.96,154.6,367.9,9.1,318,6113,0.15,2.30,0.00,0.000,6,0.119,0.029,2927,1987,2411,0,0,0,0,0,0
$GC,6427,1.02,171.8,344.9,6.8,326,6446,0.00,0.00,14.88,0.774,6,0.000,0.000,2929,1991,2348,0,0,0,0,0,0
$GC,6757,1.10,206.5,325.0,5.6,334,6794,0.12,2.50,31.83,0.798,4,0.076,0.051,2960,602,2207,0,0,0,0,0,0
$GC,7044,1.06,206.5,292.6,13.1,339,7050,0.00,2.38,0.00,0.000,6,0.000,0.030,2959,2019,2200,0,0,0,0,0,0
$GC,7361,1.07,214.8,263.9,7.4,355,7373,0.00,2.58,7.28,0.644,4,0.000,0.055,2960,599,2174,0,0,0,0,0,0
$GC,7471,1.07,214.8,253.0,11.9,359,7477,0.00,2.38,0.00,0.000,6,0.000,0.029,2960,2021,2171,0,0,0,0,0,0
$GC,7788,1.11,214.8,222.5,9.6,375,7792,0.00,2.47,0.00,0.000,4,0.000,0.049,2960,601,2171,0,0,0,0,0,0
$GC,7816,1.08,214.8,219.3,11.0,376,7820,0.00,2.35,0.00,0.000,6,0.000,0.028,2961,2016,2170,0,0,0,0,0,0
$GC,8142,1.16,234.1,192.0,6.7,397,8169,0.00,2.50,18.25,0.677,4,0.000,0.048,2960,605,2094,0,0,0,0,0,0
$GC,8210,1.16,234.1,186.0,9.4,404,8217,0.00,2.38,0.00,0.000,6,0.000,0.026,2961,2013,2090,0,0,0,0,0,0
$GC,8475,1.26,251.2,166.6,6.8,429,8496,0.12,0.00,15.65,0.638,6,0.071,0.000,2996,2020,2026,0,0,0,0,0,0
$GC,8751,1.26,251.2,139.2,10.8,455,8755,0.00,2.45,0.00,0.000,4,0.000,0.044,2996,595,2023,0,0,0,0,0,0
$GC,8957,1.26,251.2,115.8,9.7,477,8962,0.00,2.35,0.00,0.000,6,0.000,0.023,2996,2026,2020,0,0,0,0,0,0
$GC,9222,1.31,251.2,90.0,10.1,501,9226,0.00,2.45,0.00,0.000,4,0.000,0.043,2997,598,2020,0,0,0,0,0,0
$GC,9283,1.31,251.2,83.5,9.3,507,9288,0.00,2.33,0.00,0.000,6,0.000,0.022,2996,2024,2020,0,0,0,0,0,0
$GC,9549,1.37,251.2,59.5,8.9,531,9553,0.00,2.45,0.00,0.000,4,0.000,0.041,2996,600,2020,0,0,0,0,0,0
$GC,9760,1.37,251.2,38.4,8.5,554,9764,0.00,2.28,0.00,0.000,6,0.000,0.021,2996,2013,2020,0,0,0,0,0,0
$GC,10032,1.49,291.0,19.5,5.3,593,10073,0.17,2.45,35.10,0.525,4,0.052,0.038,3050,601,1863,0,0,0,0,0,0
$STATE,10173,end climb,SURFACE_DEPTH_REACHED
$STATE,10173,begin surface coast
$FINISH,0.6,1.023246
$STATE,10196,end surface coast,CONTROL_FINISHED_OK
$STATE,10196,begin surface
$SM_CCo,10218,5.45,0.397,0,0,1826,300.00
$SM_GC,2.55,0.00,0.00,5.45,0.000,0.000,0.397,428,1902,1826,-10.52,0.76,300.00
$IRIDIUM_FIX,2054.83,-15744.48,050999,060632
$TT8_MAMPS,0.029146
$HUMID,49.48
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.40
$XPDR_PINGS,2
$24V_AH,23.4,43.927
$10V_AH,10.0,41.537
$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,26.100,104.200,319.825,5.450,0.000,129.245,192.514,184.585,5.250,0.000,80.596,1209.762,6841.656,382.231,1931.875,728.312,33.411,1195.219,0.000,1840.490,0.000,32.151,0.000
$DEVICE_MAMPS,131.924,55.224,873.613,397.306,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.084,398.624,781.636,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,34905,628
$CAP_FILE_SIZE,115201,0
$CFSIZE,260165632,229740544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110610,123421,2059.687,-15747.530,118,5.8,137,9.8