version: 66.06
glider: 139
mission: 7
dive: 496
start: 6 11 110 12 44 45
data:
$ID,139
$MISSION,7
$DIVE,496
$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,-2139797.2
$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
$GPS1,123421,2059.687,-15747.530,118,5.8,137,9.8
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.3
$GPS2,124354,2059.752,-15747.609,18,7.3,37,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.097,-0.156
$KALMAN_X,-238927.3,-442.6,-2.1,252014.3,-1472.8
$KALMAN_Y,15121.1,-205.5,-195.4,-27974.0,-482.6
$MHEAD_RNG_PITCHd_Wd,201.9,5167,-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,-77.9,0.0,0.0,0,70,0.00,0.00,-52.38,0.000,2,0.000,0.000,428,1905,3235,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.9,-7.0,10,95,10.52,2.53,-2.55,0.000,4,0.132,0.051,2403,459,3371,0,0,0,0,0,0
$GC,174,-1.18,-77.9,27.0,-16.3,31,181,0.25,2.35,0.00,0.000,6,0.091,0.020,2454,1912,3372,0,0,0,0,0,0
$GC,376,-1.14,-77.9,53.2,-13.2,51,381,0.25,2.50,0.00,0.000,4,0.085,0.042,2510,468,3372,0,0,0,0,0,0
$GC,448,-1.22,-77.9,61.6,-10.0,58,455,0.25,2.28,0.00,0.000,6,0.026,0.019,2429,1882,3373,0,0,0,0,0,0
$GC,712,-1.16,-77.9,95.5,-15.4,83,717,0.17,2.45,0.00,0.000,4,0.088,0.044,2466,459,3374,0,0,0,0,0,0
$GC,731,-1.11,-77.9,99.1,-15.1,84,738,0.00,2.28,0.00,0.000,6,0.000,0.019,2462,1868,3374,0,0,0,0,0,0
$GC,997,-1.16,-77.9,125.6,-9.2,109,1001,0.00,2.40,0.00,0.000,4,0.000,0.042,2465,468,3374,0,0,0,0,0,0
$GC,1070,-1.20,-77.9,133.7,-10.5,116,1077,0.00,2.28,0.00,0.000,6,0.000,0.019,2459,1876,3374,0,0,0,0,0,0
$GC,1335,-1.27,-77.9,155.9,-8.0,141,1340,0.12,2.45,0.00,0.000,4,0.062,0.043,2419,459,3375,0,0,0,0,0,0
$GC,1410,-1.24,-77.9,164.9,-12.1,148,1417,0.08,2.30,0.00,0.000,6,0.073,0.020,2439,1875,3376,0,0,0,0,0,0
$GC,1673,-1.29,-77.9,191.4,-7.9,173,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1879,3376,0,0,0,0,0,0
$GC,1923,-1.37,-77.9,209.4,-8.6,192,1927,0.12,2.42,0.00,0.000,4,0.062,0.044,2396,469,3376,0,0,0,0,0,0
$GC,1979,-1.30,-77.9,215.7,-12.1,194,1984,0.15,2.28,0.00,0.000,6,0.091,0.020,2429,1887,3376,0,0,0,0,0,0
$GC,2297,-1.36,-77.9,242.2,-8.9,209,2301,0.00,2.42,0.00,0.000,4,0.000,0.044,2429,462,3376,0,0,0,0,0,0
$GC,2348,-1.40,-77.9,247.0,-8.8,211,2352,0.00,2.28,0.00,0.000,6,0.000,0.021,2429,1881,3376,0,0,0,0,0,0
$GC,2671,-1.48,-77.9,270.3,-6.9,227,2676,0.17,2.45,0.00,0.000,4,0.051,0.044,2375,464,3376,0,0,0,0,0,0
$GC,2742,-1.39,-77.9,277.8,-12.2,230,2747,0.17,2.28,0.00,0.000,6,0.088,0.021,2411,1877,3376,0,0,0,0,0,0
$GC,3088,-1.44,-77.9,303.8,-8.2,246,3092,0.00,2.42,0.00,0.000,4,0.000,0.046,2412,470,3375,0,0,0,0,0,0
$GC,3144,-1.44,-77.9,308.1,-7.1,247,3149,0.00,2.25,0.00,0.000,6,0.000,0.022,2412,1870,3375,0,0,0,0,0,0
$GC,3462,-1.48,-77.9,338.6,-11.0,255,3467,0.00,2.45,0.00,0.000,4,0.000,0.048,2412,469,3373,0,0,0,0,0,0
$GC,3546,-1.48,-77.9,348.1,-12.1,256,3552,0.00,2.30,0.00,0.000,6,0.000,0.024,2412,1882,3373,0,0,0,0,0,0
$GC,3878,-1.54,-77.9,379.1,-9.7,265,3883,0.15,2.47,0.00,0.000,4,0.058,0.050,2367,471,3371,0,0,0,0,0,0
$GC,3948,-1.46,-77.9,386.3,-9.6,266,3953,0.12,2.30,0.00,0.000,6,0.099,0.025,2393,1872,3370,0,0,0,0,0,0
$GC,4289,-1.46,-77.9,415.6,-8.6,275,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1877,3368,0,0,0,0,0,0
$GC,4614,-1.50,-77.9,441.7,-7.4,283,4618,0.00,2.45,0.00,0.000,4,0.000,0.053,2392,471,3366,0,0,0,0,0,0
$STATE,4630,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4631,begin apogee
$GC,4639,-0.31,0.0,443.5,8.6,283,4707,1.15,0.00,64.28,0.858,6,0.073,0.000,2643,2017,3050,0,0,0,0,0,0
$STATE,4708,end apogee,CONTROL_FINISHED_OK
$STATE,4708,begin climb
$GC,4710,1.40,77.9,444.5,0.0,285,4785,1.62,2.47,64.62,0.838,4,0.029,0.042,3028,3398,2732,0,0,0,0,0,0
$GC,4851,1.25,143.7,443.4,3.5,288,4915,0.20,2.40,55.97,0.832,6,0.113,0.034,2989,2006,2464,0,0,0,0,0,0
$GC,5252,1.13,143.7,408.4,9.6,298,5253,0.15,0.00,0.00,0.000,6,0.116,0.000,2961,2006,2456,0,0,0,0,0,0
$GC,5576,1.09,148.6,381.6,7.7,306,5585,0.00,2.45,3.72,0.494,4,0.000,0.039,2960,3408,2444,0,0,0,0,0,0
$GC,5627,1.09,148.6,377.5,8.3,307,5631,0.00,2.42,0.00,0.000,6,0.000,0.036,2963,2005,2444,0,0,0,0,0,0
$GC,5946,1.04,152.6,351.5,7.7,315,5953,0.12,0.00,4.95,0.592,6,0.121,0.000,2941,2005,2427,0,0,0,0,0,0
$GC,6270,1.08,182.1,329.7,6.0,323,6302,0.00,2.55,26.77,0.793,4,0.000,0.053,2939,611,2307,0,0,0,0,0,0
$GC,6482,1.08,182.1,310.2,12.0,327,6487,0.00,2.38,0.00,0.000,6,0.000,0.029,2938,2019,2300,0,0,0,0,0,0
$GC,6800,1.13,182.1,283.8,8.5,340,6805,0.00,2.47,0.00,0.000,4,0.000,0.050,2939,604,2299,0,0,0,0,0,0
$GC,6897,1.14,185.8,276.4,7.8,344,6902,0.10,2.35,0.00,0.000,6,0.082,0.028,2967,2012,2297,0,0,0,0,0,0
$GC,7217,1.14,185.8,248.1,9.3,360,7222,0.00,2.47,0.00,0.000,4,0.000,0.050,2967,604,2297,0,0,0,0,0,0
$GC,7429,1.08,185.8,228.4,8.8,369,7433,0.00,2.33,0.00,0.000,6,0.000,0.028,2967,2016,2295,0,0,0,0,0,0
$GC,7750,1.08,185.8,201.4,9.4,385,7755,0.00,2.47,0.00,0.000,4,0.000,0.048,2967,600,2295,0,0,0,0,0,0
$GC,7861,1.03,185.8,191.3,8.7,396,7868,0.12,2.38,0.00,0.000,6,0.094,0.027,2941,2014,2295,0,0,0,0,0,0
$GC,8123,1.18,247.5,180.7,3.8,421,8183,0.15,0.00,56.38,0.689,6,0.066,0.000,2980,2018,2040,0,0,0,0,0,0
$GC,8438,1.25,268.1,153.7,6.6,451,8459,0.00,0.00,18.40,0.629,6,0.000,0.000,2980,2018,1957,0,0,0,0,0,0
$GC,8715,1.31,268.1,132.1,8.8,477,8719,0.00,2.47,0.00,0.000,4,0.000,0.046,2980,599,1953,0,0,0,0,0,0
$GC,8841,1.31,268.1,119.2,10.3,490,8846,0.00,2.35,0.00,0.000,6,0.000,0.023,2980,2026,1949,0,0,0,0,0,0
$GC,9104,1.42,294.0,99.5,6.2,514,9133,0.20,2.53,23.00,0.584,4,0.051,0.044,3036,598,1850,0,0,0,0,0,0
$GC,9175,1.34,294.0,92.9,11.0,521,9180,0.15,2.33,0.00,0.000,6,0.099,0.022,3007,2022,1847,0,0,0,0,0,0
$GC,9438,1.40,294.0,69.5,9.5,545,9442,0.00,2.47,0.00,0.000,4,0.000,0.043,3006,591,1847,0,0,0,0,0,0
$GC,9503,1.40,294.0,62.7,10.4,552,9508,0.00,2.30,0.00,0.000,6,0.000,0.021,3006,2018,1844,0,0,0,0,0,0
$GC,9767,1.46,294.0,39.5,9.3,576,9772,0.12,2.47,0.00,0.000,4,0.064,0.044,3047,598,1845,0,0,0,0,0,0
$GC,9957,1.37,294.0,15.0,15.5,608,9964,0.15,2.30,0.00,0.000,6,0.075,0.020,3012,2008,1844,0,0,0,0,0,0
$STATE,10053,end climb,SURFACE_DEPTH_REACHED
$STATE,10053,begin surface coast
$FINISH,0.6,1.011681
$STATE,10079,end surface coast,CONTROL_FINISHED_OK
$STATE,10079,begin surface
$SM_CCo,10100,4.18,0.354,0,0,1827,300.00
$SM_GC,2.73,0.00,0.00,4.18,0.000,0.000,0.354,427,1863,1827,-10.52,-0.34,300.00
$IRIDIUM_FIX,2057.14,-15445.60,050999,090936
$TT8_MAMPS,0.029146
$HUMID,50.35
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,422.8,50.1
$24V_AH,23.4,44.016
$10V_AH,10.0,41.619
$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,27.925,105.775,318.100,4.175,0.000,52.678,117.301,181.802,4.750,0.000,38.314,1209.906,6654.475,363.598,1846.637,601.642,33.385,1166.565,0.000,1801.982,0.000,33.590,0.000
$DEVICE_MAMPS,131.924,55.991,858.273,353.587,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.557,412.919,789.721,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,35001,630
$CAP_FILE_SIZE,116542,0
$CFSIZE,260165632,229683200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110610,153538,2058.335,-15748.831,111,1.6,111,9.8