version: 66.06
glider: 139
mission: 7
dive: 502
start: 6 12 110 7 18 5
data:
$ID,139
$MISSION,7
$DIVE,502
$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,-2139985.2
$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
$GPS1,071149,2101.774,-15753.890,76,1.9,76,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.2
$GPS2,071714,2101.774,-15753.899,23,1.9,23,9.8
$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,-242738.1,424.0,-10.8,244106.4,-778.5
$KALMAN_Y,12847.3,161.6,82.8,-22599.6,-394.2
$MHEAD_RNG_PITCHd_Wd,324.0,18614,-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,14,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,67,0.00,0.00,-47.75,0.000,2,0.000,0.000,431,1842,3112,0,0,0,0,0,0
$GC,69,-1.40,-77.9,3.7,-7.6,9,91,10.55,2.35,-4.88,0.000,4,0.134,0.051,2401,467,3371,0,0,0,0,0,0
$GC,212,-1.17,-77.9,35.9,-18.9,36,217,0.28,2.33,0.00,0.000,6,0.091,0.020,2457,1903,3372,0,0,0,0,0,0
$GC,476,-1.14,-77.9,72.0,-13.0,60,480,0.00,2.47,0.00,0.000,4,0.000,0.043,2457,469,3373,0,0,0,0,0,0
$GC,529,-1.14,-77.9,79.5,-12.2,65,535,0.00,2.30,0.00,0.000,6,0.000,0.020,2457,1882,3373,0,0,0,0,0,0
$GC,791,-1.18,-77.9,105.6,-9.4,90,795,0.00,2.45,0.00,0.000,4,0.000,0.044,2456,462,3375,0,0,0,0,0,0
$GC,827,-1.18,-77.9,109.6,-10.7,93,833,0.00,2.28,0.00,0.000,6,0.000,0.019,2456,1889,3375,0,0,0,0,0,0
$GC,1089,-1.23,-77.9,133.1,-9.1,118,1094,0.00,2.45,0.00,0.000,4,0.000,0.041,2456,460,3375,0,0,0,0,0,0
$GC,1153,-1.23,-77.9,139.5,-9.3,124,1160,0.00,2.28,0.00,0.000,6,0.000,0.019,2456,1873,3376,0,0,0,0,0,0
$GC,1415,-1.32,-77.9,161.4,-8.6,149,1420,0.15,2.42,0.00,0.000,4,0.055,0.043,2406,466,3376,0,0,0,0,0,0
$GC,1531,-1.29,-77.9,174.5,-10.1,161,1536,0.12,2.25,0.00,0.000,6,0.098,0.020,2433,1875,3377,0,0,0,0,0,0
$GC,1794,-1.33,-77.9,199.3,-8.7,185,1798,0.00,2.28,0.00,0.000,4,0.000,0.026,2433,3267,3377,0,0,0,0,0,0
$GC,1815,-1.42,-77.9,201.0,-8.3,187,1820,0.12,2.33,0.00,0.000,6,0.063,0.028,2391,1871,3377,0,0,0,0,0,0
$GC,2148,-1.38,-77.9,234.8,-11.0,203,2153,0.10,2.40,0.00,0.000,4,0.110,0.044,2410,473,3377,0,0,0,0,0,0
$GC,2222,-1.38,-77.9,242.8,-10.9,206,2227,0.00,2.25,0.00,0.000,6,0.000,0.021,2411,1870,3377,0,0,0,0,0,0
$GC,2542,-1.42,-77.9,270.9,-9.4,222,2546,0.00,2.42,0.00,0.000,4,0.000,0.044,2411,472,3377,0,0,0,0,0,0
$GC,2570,-1.42,-77.9,273.7,-9.8,223,2574,0.00,2.28,0.00,0.000,6,0.000,0.021,2411,1886,3377,0,0,0,0,0,0
$GC,2910,-1.47,-77.9,304.1,-8.0,239,2914,0.00,2.45,0.00,0.000,4,0.000,0.045,2411,466,3376,0,0,0,0,0,0
$GC,3021,-1.47,-77.9,313.1,-8.2,241,3025,0.00,2.28,0.00,0.000,6,0.000,0.023,2411,1872,3376,0,0,0,0,0,0
$GC,3368,-1.51,-77.9,340.6,-8.6,250,3373,0.12,2.45,0.00,0.000,4,0.065,0.048,2373,470,3375,0,0,0,0,0,0
$GC,3448,-1.44,-77.9,349.2,-10.8,251,3453,0.12,2.28,0.00,0.000,6,0.102,0.024,2397,1872,3374,0,0,0,0,0,0
$GC,3785,-1.47,-77.9,380.3,-9.5,260,3789,0.00,2.42,0.00,0.000,4,0.000,0.049,2397,475,3373,0,0,0,0,0,0
$GC,3845,-1.47,-77.9,386.7,-10.3,261,3849,0.00,2.30,0.00,0.000,6,0.000,0.025,2397,1881,3372,0,0,0,0,0,0
$GC,4195,-1.51,-77.9,419.7,-9.2,270,4200,0.00,2.45,0.00,0.000,4,0.000,0.051,2398,472,3370,0,0,0,0,0,0
$GC,4232,-1.51,-77.9,423.9,-11.7,270,4236,0.00,2.30,0.00,0.000,6,0.000,0.027,2398,1874,3370,0,0,0,0,0,0
$STATE,4480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4480,begin apogee
$GC,4486,-0.31,0.0,450.5,11.0,276,4555,1.15,0.00,65.40,0.869,6,0.075,0.000,2644,2028,3050,0,0,0,0,0,0
$STATE,4556,end apogee,CONTROL_FINISHED_OK
$STATE,4556,begin climb
$GC,4558,1.40,77.9,452.1,0.0,277,4632,1.62,2.42,65.03,0.850,4,0.031,0.042,3021,3377,2732,0,0,0,0,0,0
$GC,4807,1.22,119.9,448.0,5.1,282,4849,0.22,2.35,36.05,0.836,6,0.114,0.035,2982,2011,2561,0,0,0,0,0,0
$GC,5194,1.13,134.8,419.5,7.0,292,5210,0.00,0.00,13.25,0.782,6,0.000,0.000,2982,2011,2500,0,0,0,0,0,0
$GC,5524,1.03,134.8,389.2,9.5,300,5529,0.22,2.38,0.00,0.000,4,0.110,0.038,2940,3386,2496,0,0,0,0,0,0
$GC,5539,0.98,134.8,387.9,9.1,300,5544,0.00,2.38,0.00,0.000,6,0.000,0.036,2942,2011,2496,0,0,0,0,0,0
$GC,5889,1.00,158.1,364.0,6.4,309,5916,0.00,2.55,20.60,0.805,4,0.000,0.051,2941,595,2403,0,0,0,0,0,0
$GC,5926,0.99,176.2,361.5,6.8,309,5951,0.00,2.38,17.38,0.777,6,0.000,0.030,2941,2001,2331,0,0,0,0,0,0
$GC,6262,1.01,193.9,338.0,6.8,318,6283,0.00,2.50,16.25,0.772,4,0.000,0.051,2941,605,2259,0,0,0,0,0,0
$GC,6450,1.01,193.9,321.1,9.5,322,6455,0.00,2.38,0.00,0.000,6,0.000,0.029,2941,2014,2253,0,0,0,0,0,0
$GC,6770,1.05,193.9,291.1,10.4,332,6774,0.00,2.47,0.00,0.000,4,0.000,0.052,2941,604,2253,0,0,0,0,0,0
$GC,6921,1.05,193.9,274.2,11.1,338,6928,0.00,2.38,0.00,0.000,6,0.000,0.029,2941,2005,2250,0,0,0,0,0,0
$GC,7236,1.13,193.9,245.3,9.0,354,7241,0.00,2.47,0.00,0.000,4,0.000,0.050,2941,598,2250,0,0,0,0,0,0
$GC,7291,1.13,193.9,240.0,9.5,356,7296,0.00,2.38,0.00,0.000,6,0.000,0.028,2941,2016,2248,0,0,0,0,0,0
$GC,7609,1.22,215.3,216.6,6.6,371,7635,0.17,2.58,18.60,0.704,4,0.063,0.051,2985,603,2172,0,0,0,0,0,0
$GC,7713,1.15,215.3,206.1,10.6,375,7718,0.00,2.35,0.00,0.000,6,0.000,0.027,2986,2019,2167,0,0,0,0,0,0
$GC,8036,1.15,215.3,175.3,10.0,402,8040,0.00,2.35,0.00,0.000,4,0.000,0.033,2986,3412,2167,0,0,0,0,0,0
$GC,8052,1.15,215.3,173.9,9.8,403,8056,0.00,2.40,0.00,0.000,6,0.000,0.032,2986,2003,2167,0,0,0,0,0,0
$GC,8315,1.15,215.3,150.8,8.1,427,8319,0.00,2.42,0.00,0.000,4,0.000,0.046,2986,601,2167,0,0,0,0,0,0
$GC,8445,1.11,215.3,138.0,9.3,440,8452,0.12,2.35,0.00,0.000,6,0.095,0.025,2959,2015,2165,0,0,0,0,0,0
$GC,8708,1.24,254.6,120.5,5.3,465,8749,0.12,2.53,34.85,0.628,4,0.071,0.045,2994,597,2011,0,0,0,0,0,0
$GC,8827,1.21,254.6,109.7,10.4,478,8832,0.00,2.35,0.00,0.000,6,0.000,0.023,2995,2021,2006,0,0,0,0,0,0
$GC,9090,1.27,254.6,87.7,8.2,502,9094,0.00,2.45,0.00,0.000,4,0.000,0.043,2995,595,2006,0,0,0,0,0,0
$GC,9117,1.27,254.6,85.0,9.1,504,9124,0.00,2.35,0.00,0.000,6,0.000,0.022,2995,2017,2004,0,0,0,0,0,0
$GC,9381,1.35,266.4,64.6,7.2,529,9402,0.00,2.53,10.88,0.524,4,0.000,0.043,2995,602,1963,0,0,0,0,0,0
$GC,9450,1.35,266.4,58.6,9.6,536,9454,0.00,2.28,0.00,0.000,6,0.000,0.021,2995,2019,1961,0,0,0,0,0,0
$GC,9713,1.44,272.2,38.2,7.6,560,9726,0.15,2.45,6.50,0.449,4,0.058,0.041,3038,602,1939,0,0,0,0,0,0
$GC,9796,1.35,272.2,28.7,12.3,569,9803,0.15,2.28,0.00,0.000,6,0.102,0.020,3009,2006,1937,0,0,0,0,0,0
$GC,10001,1.40,282.2,6.4,7.3,606,10018,0.00,2.45,10.40,0.472,4,0.000,0.041,3009,595,1898,0,0,0,0,0,0
$STATE,10037,end climb,SURFACE_DEPTH_REACHED
$STATE,10037,begin surface coast
$FINISH,0.6,1.023291
$STATE,10057,end surface coast,CONTROL_FINISHED_OK
$STATE,10057,begin surface
$SM_CCo,10079,12.27,0.481,0,0,1827,300.00
$SM_GC,2.58,0.00,0.00,12.27,0.000,0.000,0.481,425,1850,1827,-10.53,-0.71,300.00
$IRIDIUM_FIX,2054.83,-15751.76,060999,040421
$TT8_MAMPS,0.029146
$HUMID,50.66
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,44.618
$10V_AH,10.0,42.127
$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,26.700,123.900,315.175,12.275,0.000,28.726,32.084,142.898,4.500,0.000,23.412,1206.973,6542.340,370.611,1872.173,421.880,33.387,1208.201,0.000,1835.151,0.000,30.653,0.000
$DEVICE_MAMPS,134.225,52.923,869.011,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.969,395.866,775.028,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34919,617
$CAP_FILE_SIZE,118322,0
$CFSIZE,260165632,229322752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120610,100829,2102.435,-15754.700,75,3.2,94,9.8