version: 66.06
glider: 139
mission: 7
dive: 499
start: 6 11 110 22 5 11
data:
$ID,139
$MISSION,7
$DIVE,499
$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,-2139900
$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
$GPS1,215637,2059.761,-15750.898,117,1.9,117,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.7
$GPS2,220420,2059.763,-15750.922,47,1.8,47,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.081,0.165
$KALMAN_X,-240756.3,19.1,409.3,247257.1,-680.3
$KALMAN_Y,14236.1,-3.9,395.0,-27864.2,-539.0
$MHEAD_RNG_PITCHd_Wd,324.0,24949,-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,-77.9,0.0,0.0,0,71,0.00,0.00,-52.88,0.000,2,0.000,0.000,430,1882,3225,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.7,-6.4,10,96,10.55,2.38,-2.72,0.000,4,0.133,0.038,2401,3296,3370,0,0,0,0,0,0
$GC,179,-1.32,-77.9,26.8,-15.5,32,186,0.08,2.42,0.00,0.000,6,0.087,0.030,2421,1874,3372,0,0,0,0,0,0
$GC,387,-1.20,-77.9,60.0,-16.6,53,392,0.15,2.42,0.00,0.000,4,0.105,0.044,2450,464,3372,0,0,0,0,0,0
$GC,451,-1.11,-77.9,70.7,-14.8,59,458,0.08,2.33,0.00,0.000,6,0.085,0.020,2469,1897,3372,0,0,0,0,0,0
$GC,716,-1.11,-77.9,100.5,-11.3,84,720,0.00,2.47,0.00,0.000,4,0.000,0.043,2469,461,3373,0,0,0,0,0,0
$GC,796,-1.16,-77.9,109.6,-10.1,92,800,0.00,2.25,0.00,0.000,6,0.000,0.019,2468,1880,3374,0,0,0,0,0,0
$GC,1058,-1.23,-77.9,135.4,-9.7,116,1063,0.10,2.42,0.00,0.000,4,0.074,0.044,2430,467,3374,0,0,0,0,0,0
$GC,1112,-1.17,-77.9,141.7,-12.3,121,1117,0.15,2.25,0.00,0.000,6,0.091,0.019,2459,1876,3375,0,0,0,0,0,0
$GC,1374,-1.25,-77.9,165.8,-9.8,145,1378,0.00,2.42,0.00,0.000,4,0.000,0.042,2462,460,3375,0,0,0,0,0,0
$GC,1466,-1.33,-77.9,175.2,-10.0,154,1473,0.12,2.28,0.00,0.000,6,0.031,0.020,2410,1873,3376,0,0,0,0,0,0
$GC,1736,-1.33,-77.9,204.9,-10.3,178,1740,0.00,2.40,0.00,0.000,4,0.000,0.043,2412,468,3376,0,0,0,0,0,0
$GC,1791,-1.29,-77.9,211.0,-11.4,180,1796,0.10,2.25,0.00,0.000,6,0.107,0.020,2432,1880,3376,0,0,0,0,0,0
$GC,2110,-1.36,-77.9,236.7,-8.6,195,2114,0.00,2.40,0.00,0.000,4,0.000,0.044,2434,466,3377,0,0,0,0,0,0
$GC,2270,-1.40,-77.9,251.4,-8.8,202,2275,0.10,2.25,0.00,0.000,6,0.073,0.021,2396,1878,3376,0,0,0,0,0,0
$GC,2598,-1.40,-77.9,281.4,-8.9,218,2602,0.00,2.42,0.00,0.000,4,0.000,0.044,2396,465,3376,0,0,0,0,0,0
$GC,2645,-1.37,-77.9,285.9,-8.4,220,2649,0.00,2.25,0.00,0.000,6,0.000,0.021,2397,1869,3376,0,0,0,0,0,0
$GC,2969,-1.37,-77.9,310.5,-7.8,233,2973,0.00,2.28,0.00,0.000,4,0.000,0.028,2397,3265,3375,0,0,0,0,0,0
$GC,2997,-1.44,-77.9,313.1,-8.6,233,3001,0.00,2.33,0.00,0.000,6,0.000,0.031,2396,1873,3375,0,0,0,0,0,0
$GC,3333,-1.44,-77.9,343.1,-9.3,242,3337,0.00,2.40,0.00,0.000,4,0.000,0.048,2397,471,3374,0,0,0,0,0,0
$GC,3393,-1.44,-77.9,349.7,-10.5,243,3397,0.00,2.25,0.00,0.000,6,0.000,0.024,2396,1870,3373,0,0,0,0,0,0
$GC,3706,-1.44,-77.9,378.3,-9.0,251,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1875,3372,0,0,0,0,0,0
$GC,4031,-1.47,-77.9,407.3,-8.4,259,4035,0.00,2.42,0.00,0.000,4,0.000,0.051,2397,467,3369,0,0,0,0,0,0
$GC,4095,-1.47,-77.9,412.7,-8.3,260,4100,0.00,2.30,0.00,0.000,6,0.000,0.026,2396,1870,3369,0,0,0,0,0,0
$GC,4442,-1.47,-77.9,444.0,-9.7,269,4446,0.00,2.45,0.00,0.000,4,0.000,0.053,2396,473,3366,0,0,0,0,0,0
$STATE,4500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4500,begin apogee
$GC,4508,-0.31,0.0,450.4,9.9,270,4576,1.15,0.00,64.62,0.867,6,0.078,0.000,2642,2014,3050,0,0,0,0,0,0
$STATE,4577,end apogee,CONTROL_FINISHED_OK
$STATE,4577,begin climb
$GC,4580,1.40,77.9,452.6,0.0,272,4655,1.65,2.50,65.07,0.846,4,0.034,0.044,3019,3405,2732,0,0,0,0,0,0
$GC,4702,1.29,182.9,453.6,0.8,274,4801,0.15,2.40,90.43,0.845,6,0.120,0.034,2998,2009,2303,0,0,0,0,0,0
$GC,5126,1.19,182.9,407.9,12.5,285,5131,0.12,2.47,0.00,0.000,4,0.124,0.052,2976,598,2293,0,0,0,0,0,0
$GC,5231,1.06,182.9,393.4,13.7,287,5236,0.17,2.38,0.00,0.000,6,0.117,0.029,2946,2021,2289,0,0,0,0,0,0
$GC,5545,1.06,182.9,360.6,10.2,295,5549,0.00,2.47,0.00,0.000,4,0.000,0.051,2946,607,2288,0,0,0,0,0,0
$GC,5565,1.03,182.9,358.5,11.2,295,5569,0.00,2.38,0.00,0.000,6,0.000,0.029,2946,2016,2287,0,0,0,0,0,0
$GC,5909,1.03,182.9,323.0,9.7,304,5913,0.00,2.50,0.00,0.000,4,0.000,0.052,2946,601,2286,0,0,0,0,0,0
$GC,6031,0.99,182.9,309.9,10.0,306,6035,0.00,2.35,0.00,0.000,6,0.000,0.029,2946,2012,2283,0,0,0,0,0,0
$GC,6350,0.99,182.9,277.1,10.7,319,6355,0.00,2.38,0.00,0.000,4,0.000,0.039,2945,3406,2283,0,0,0,0,0,0
$GC,6396,1.04,182.9,272.2,10.0,321,6400,0.00,2.40,0.00,0.000,6,0.000,0.035,2947,2008,2283,0,0,0,0,0,0
$GC,6723,1.10,199.9,249.3,6.9,337,6744,0.00,2.47,12.45,0.704,4,0.000,0.049,2946,602,2232,0,0,0,0,0,0
$GC,6845,1.10,199.9,239.4,8.6,342,6849,0.00,2.35,0.00,0.000,6,0.000,0.028,2946,2019,2229,0,0,0,0,0,0
$GC,7165,1.19,218.8,217.2,6.7,358,7189,0.12,2.53,17.48,0.698,4,0.074,0.048,2979,603,2157,0,0,0,0,0,0
$GC,7204,1.14,223.8,214.1,7.7,359,7217,0.00,2.38,5.97,0.564,6,0.000,0.028,2979,2021,2136,0,0,0,0,0,0
$GC,7541,1.14,223.8,183.7,11.9,383,7546,0.00,2.45,0.00,0.000,4,0.000,0.048,2979,605,2134,0,0,0,0,0,0
$GC,7732,1.14,223.8,163.1,10.4,403,7736,0.00,2.30,0.00,0.000,6,0.000,0.025,2980,2014,2131,0,0,0,0,0,0
$GC,7996,1.21,243.4,144.6,6.7,427,8019,0.00,2.53,17.92,0.630,4,0.000,0.046,2980,596,2057,0,0,0,0,0,0
$GC,8135,1.21,243.4,132.0,9.5,442,8139,0.00,2.35,0.00,0.000,6,0.000,0.024,2980,2022,2051,0,0,0,0,0,0
$GC,8397,1.27,243.4,110.5,8.2,466,8401,0.00,2.45,0.00,0.000,4,0.000,0.043,2980,602,2052,0,0,0,0,0,0
$GC,8410,1.33,251.3,109.6,7.5,467,8423,0.12,2.33,7.70,0.526,6,0.069,0.023,3016,2029,2025,0,0,0,0,0,0
$GC,8685,1.33,251.3,84.6,8.7,493,8689,0.00,2.45,0.00,0.000,4,0.000,0.043,3016,602,2025,0,0,0,0,0,0
$GC,8898,1.30,253.1,65.0,7.9,516,8903,0.00,2.28,0.00,0.000,6,0.000,0.021,3016,2008,2022,0,0,0,0,0,0
$GC,9162,1.31,264.5,46.6,7.2,540,9183,0.00,2.47,13.23,0.516,4,0.000,0.042,3016,604,1970,0,0,0,0,0,0
$GC,9284,1.28,264.5,35.1,11.6,553,9289,0.12,2.28,0.00,0.000,6,0.107,0.020,2993,2014,1968,0,0,0,0,0,0
$GC,9551,1.35,264.5,13.1,8.1,596,9558,0.00,2.45,0.00,0.000,4,0.000,0.041,2992,599,1968,0,0,0,0,0,0
$GC,9587,1.35,264.5,9.9,9.7,603,9593,0.00,2.28,0.00,0.000,6,0.000,0.020,2991,2014,1968,0,0,0,0,0,0
$STATE,9668,end climb,SURFACE_DEPTH_REACHED
$STATE,9668,begin surface coast
$FINISH,0.5,1.023339
$STATE,9704,end surface coast,CONTROL_FINISHED_OK
$STATE,9704,begin surface
$SM_CCo,9725,18.25,0.488,0,0,1826,300.00
$SM_GC,1.28,0.00,0.00,18.25,0.000,0.000,0.488,424,1851,1826,-10.53,-0.68,300.00
$IRIDIUM_FIX,2050.21,-15752.63,050999,191924
$TT8_MAMPS,0.029146
$HUMID,49.29
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,44.329
$10V_AH,10.0,41.876
$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,26.125,119.450,294.875,18.250,0.000,24.164,29.724,264.294,4.500,0.000,47.235,1215.743,6176.355,353.201,1909.162,548.872,33.380,1187.395,0.000,1857.346,0.000,29.249,0.000
$DEVICE_MAMPS,133.458,52.923,867.477,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,420.656,405.688,792.193,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34931,624
$CAP_FILE_SIZE,117929,0
$CFSIZE,260165632,229498880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4
$GPS,120610,005021,2100.341,-15751.604,110,4.5,129,9.8