version: 66.06
glider: 139
mission: 7
dive: 497
start: 6 11 110 15 53 7
data:
$ID,139
$MISSION,7
$DIVE,497
$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,-2139833.8
$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,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
$GPS1,153538,2058.335,-15748.831,111,1.6,111,9.8
$_CALLS,4
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-68.9
$GPS2,155216,2058.412,-15748.834,15,9.6,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.168,0.075
$KALMAN_X,-239152.9,-711.2,-536.0,250930.6,457.2
$KALMAN_Y,14696.9,-312.5,-391.3,-29728.7,299.9
$MHEAD_RNG_PITCHd_Wd,284.4,29325,-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,16,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-52.70,0.000,2,0.000,0.000,426,1863,3230,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.7,-6.6,10,96,10.55,2.40,-2.67,0.000,4,0.132,0.036,2401,3295,3370,0,0,0,0,0,0
$GC,250,-1.40,-77.9,37.8,-15.3,43,254,0.00,2.38,0.00,0.000,6,0.000,0.031,2402,1874,3371,0,0,0,0,0,0
$GC,513,-1.24,-77.9,81.2,-16.4,67,518,0.20,2.42,0.00,0.000,4,0.095,0.043,2442,463,3372,0,0,0,0,0,0
$GC,578,-1.16,-77.9,91.2,-14.0,73,584,0.00,2.33,0.00,0.000,6,0.000,0.019,2441,1914,3372,0,0,0,0,0,0
$GC,840,-1.16,-77.9,122.0,-11.3,98,845,0.00,2.50,0.00,0.000,4,0.000,0.042,2442,463,3373,0,0,0,0,0,0
$GC,911,-1.13,-77.9,131.2,-12.7,105,916,0.12,2.28,0.00,0.000,6,0.100,0.019,2467,1879,3373,0,0,0,0,0,0
$GC,1174,-1.21,-77.9,156.7,-8.9,129,1178,0.00,2.40,0.00,0.000,4,0.000,0.042,2467,469,3374,0,0,0,0,0,0
$GC,1256,-1.29,-77.9,164.6,-9.0,137,1262,0.15,2.28,0.00,0.000,6,0.055,0.019,2416,1890,3374,0,0,0,0,0,0
$GC,1517,-1.29,-77.9,192.4,-10.7,162,1521,0.00,2.25,0.00,0.000,4,0.000,0.025,2418,3272,3374,0,0,0,0,0,0
$GC,1535,-1.33,-77.9,194.1,-10.3,163,1539,0.00,2.33,0.00,0.000,6,0.000,0.027,2417,1863,3374,0,0,0,0,0,0
$GC,1801,-1.37,-77.9,219.6,-9.0,178,1806,0.00,2.38,0.00,0.000,4,0.000,0.043,2416,466,3374,0,0,0,0,0,0
$GC,1865,-1.37,-77.9,225.9,-9.7,180,1872,0.00,2.28,0.00,0.000,6,0.000,0.020,2416,1878,3375,0,0,0,0,0,0
$GC,2182,-1.43,-77.9,251.3,-7.3,196,2186,0.00,2.42,0.00,0.000,4,0.000,0.043,2417,464,3375,0,0,0,0,0,0
$GC,2265,-1.48,-77.9,257.7,-7.7,199,2271,0.12,2.25,0.00,0.000,6,0.063,0.021,2374,1868,3375,0,0,0,0,0,0
$GC,2584,-1.45,-77.9,287.4,-10.2,215,2589,0.12,2.40,0.00,0.000,4,0.100,0.045,2400,471,3374,0,0,0,0,0,0
$GC,2599,-1.41,-77.9,289.3,-10.2,215,2604,0.00,2.28,0.00,0.000,6,0.000,0.022,2400,1883,3374,0,0,0,0,0,0
$GC,2932,-1.41,-77.9,322.7,-10.2,227,2936,0.00,2.42,0.00,0.000,4,0.000,0.046,2400,468,3373,0,0,0,0,0,0
$GC,3038,-1.41,-77.9,334.1,-10.7,229,3043,0.00,2.25,0.00,0.000,6,0.000,0.023,2399,1874,3372,0,0,0,0,0,0
$GC,3388,-1.45,-77.9,366.4,-9.1,238,3392,0.00,2.45,0.00,0.000,4,0.000,0.049,2400,467,3370,0,0,0,0,0,0
$GC,3448,-1.45,-77.9,373.2,-11.5,239,3452,0.00,2.30,0.00,0.000,6,0.000,0.025,2400,1872,3369,0,0,0,0,0,0
$GC,3798,-1.50,-77.9,407.4,-8.8,248,3802,0.00,2.42,0.00,0.000,4,0.000,0.051,2400,471,3367,0,0,0,0,0,0
$GC,3900,-1.50,-77.9,415.1,-6.8,250,3904,0.00,2.33,0.00,0.000,6,0.000,0.027,2400,1881,3366,0,0,0,0,0,0
$GC,4214,-1.56,-77.9,434.3,-6.5,258,4219,0.12,2.47,0.00,0.000,4,0.069,0.054,2364,475,3363,0,0,0,0,0,0
$GC,4305,-1.50,-77.9,443.6,-11.0,260,4310,0.10,2.33,0.00,0.000,6,0.115,0.028,2384,1880,3363,0,0,0,0,0,0
$STATE,4387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4387,begin apogee
$GC,4393,-0.31,0.0,451.2,8.6,262,4460,1.20,0.00,64.12,0.871,6,0.073,0.000,2643,2032,3050,0,0,0,0,0,0
$STATE,4461,end apogee,CONTROL_FINISHED_OK
$STATE,4461,begin climb
$GC,4464,1.40,77.9,452.2,0.0,263,4539,1.62,2.42,65.15,0.851,4,0.031,0.043,3022,3377,2731,0,0,0,0,0,0
$GC,4690,1.23,130.6,448.9,4.4,268,4743,0.20,2.38,45.15,0.845,6,0.112,0.035,2986,2004,2516,0,0,0,0,0,0
$GC,5063,1.11,130.6,419.9,8.5,277,5068,0.15,2.47,0.00,0.000,4,0.119,0.051,2957,598,2509,0,0,0,0,0,0
$GC,5074,0.99,130.6,418.6,8.9,277,5079,0.15,2.33,0.00,0.000,6,0.120,0.030,2933,1989,2508,0,0,0,0,0,0
$GC,5388,1.01,143.0,394.8,7.2,285,5404,0.00,2.53,10.25,0.759,4,0.000,0.052,2933,608,2467,0,0,0,0,0,0
$GC,5519,0.96,143.0,383.7,8.5,287,5525,0.00,2.35,0.00,0.000,6,0.000,0.030,2932,2009,2464,0,0,0,0,0,0
$GC,5850,0.96,143.0,356.5,8.5,296,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2013,2463,0,0,0,0,0,0
$GC,6175,0.96,143.0,327.1,8.9,304,6179,0.00,2.45,0.00,0.000,4,0.000,0.051,2933,605,2461,0,0,0,0,0,0
$GC,6328,0.92,147.2,313.5,7.7,307,6337,0.00,2.35,3.78,0.500,6,0.000,0.030,2933,2016,2450,0,0,0,0,0,0
$GC,6663,0.98,195.0,293.8,4.7,318,6713,0.00,2.58,43.38,0.792,4,0.000,0.051,2933,612,2254,0,0,0,0,0,0
$GC,6804,0.98,195.0,282.2,9.1,324,6808,0.00,2.38,0.00,0.000,6,0.000,0.030,2933,2014,2248,0,0,0,0,0,0
$GC,7125,1.05,201.9,257.0,7.5,340,7133,0.00,0.00,6.28,0.614,6,0.000,0.000,2934,2018,2226,0,0,0,0,0,0
$GC,7435,1.15,220.1,233.1,6.8,355,7461,0.15,2.58,17.77,0.714,4,0.069,0.050,2970,607,2151,0,0,0,0,0,0
$GC,7688,1.11,220.1,208.3,10.5,366,7692,0.00,2.38,0.00,0.000,6,0.000,0.028,2971,2023,2144,0,0,0,0,0,0
$GC,8013,1.15,220.1,180.1,8.1,392,8017,0.00,2.47,0.00,0.000,4,0.000,0.047,2971,602,2144,0,0,0,0,0,0
$GC,8113,1.15,220.1,170.6,9.8,402,8119,0.00,2.38,0.00,0.000,6,0.000,0.026,2971,2013,2142,0,0,0,0,0,0
$GC,8377,1.21,220.1,150.2,8.1,427,8382,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2018,2142,0,0,0,0,0,0
$GC,8638,1.30,250.9,132.1,5.9,452,8675,0.12,2.47,27.08,0.630,4,0.069,0.044,3007,602,2024,0,0,0,0,0,0
$GC,8755,1.24,250.9,122.2,8.8,464,8762,0.10,2.35,0.00,0.000,6,0.086,0.023,2985,2012,2020,0,0,0,0,0,0
$GC,9017,1.29,250.9,101.7,8.3,489,9021,0.00,2.45,0.00,0.000,4,0.000,0.044,2984,599,2020,0,0,0,0,0,0
$GC,9036,1.29,250.9,99.9,9.2,490,9042,0.00,2.35,0.00,0.000,6,0.000,0.023,2984,2016,2019,0,0,0,0,0,0
$GC,9299,1.38,250.9,78.2,8.4,515,9304,0.12,2.42,0.00,0.000,4,0.067,0.043,3022,597,2019,0,0,0,0,0,0
$GC,9460,1.34,250.9,58.6,12.3,532,9468,0.00,2.33,0.00,0.000,6,0.000,0.021,3022,2016,2019,0,0,0,0,0,0
$GC,9724,1.34,250.9,34.3,8.4,557,9728,0.00,2.40,0.00,0.000,4,0.000,0.041,3022,601,2019,0,0,0,0,0,0
$GC,9815,1.28,250.9,25.4,10.7,571,9821,0.15,2.25,0.00,0.000,6,0.100,0.020,2993,2014,2019,0,0,0,0,0,0
$GC,10020,1.38,257.9,6.6,7.5,608,10032,0.00,0.00,6.82,0.434,6,0.000,0.000,2992,2019,1997,0,0,0,0,0,0
$STATE,10074,end climb,SURFACE_DEPTH_REACHED
$STATE,10074,begin surface coast
$FINISH,0.6,1.023255
$STATE,10120,end surface coast,CONTROL_FINISHED_OK
$STATE,10120,begin surface
$SM_CCo,10141,23.55,0.500,0,0,1826,300.00
$SM_GC,1.06,0.00,0.00,23.55,0.000,0.000,0.500,425,1842,1826,-10.53,-0.96,300.00
$IRIDIUM_FIX,2047.91,-15745.35,050999,151548
$TT8_MAMPS,0.029146
$HUMID,49.80
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,44.119
$10V_AH,10.0,41.705
$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,26.475,110.000,289.775,23.550,0.000,117.075,148.405,376.357,5.000,0.000,35.685,1225.208,6706.764,372.618,1943.061,913.994,33.383,1224.040,0.000,1895.816,0.000,35.071,0.000
$DEVICE_MAMPS,131.924,54.457,871.312,500.084,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.814,404.531,762.524,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,34857,626
$CAP_FILE_SIZE,127800,0
$CFSIZE,260165632,229613568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110610,184451,2058.982,-15749.985,82,2.7,101,9.8