version: 66.06
glider: 139
mission: 7
dive: 509
start: 6 13 110 4 18 19
data:
$ID,139
$MISSION,7
$DIVE,509
$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,-2140238.2
$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
$GPS1,040754,2107.868,-15800.533,75,1.5,75,9.8
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.3
$GPS2,041728,2107.917,-15800.620,17,3.2,36,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.131,0.072
$KALMAN_X,-249581.4,693.3,-523.3,239580.9,-1018.7
$KALMAN_Y,11525.9,455.9,-105.1,-10016.0,-27.2
$MHEAD_RNG_PITCHd_Wd,288.8,2612,-25.7,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.67,-51.3,0.0,0.0,0,72,0.00,0.00,-52.78,0.000,2,0.000,0.000,427,1846,3195,0,0,0,0,0,0
$GC,74,-1.70,-69.9,3.6,-6.1,10,96,10.20,2.47,-2.78,0.000,4,0.132,0.038,2339,3301,3337,0,0,0,0,0,0
$GC,233,-1.65,-69.9,38.6,-17.6,39,237,0.00,2.40,0.00,0.000,6,0.000,0.031,2339,1871,3338,0,0,0,0,0,0
$GC,497,-1.50,-69.9,87.9,-19.2,63,502,0.22,2.38,0.00,0.000,4,0.105,0.039,2384,467,3339,0,0,0,0,0,0
$GC,517,-1.34,-69.9,92.9,-20.6,64,524,0.15,2.33,0.00,0.000,6,0.085,0.020,2417,1903,3339,0,0,0,0,0,0
$GC,779,-1.43,-69.9,121.6,-10.1,89,783,0.00,2.45,0.00,0.000,4,0.000,0.042,2418,466,3340,0,0,0,0,0,0
$GC,804,-1.47,-69.9,125.2,-14.8,91,809,0.10,2.28,0.00,0.000,6,0.075,0.019,2384,1889,3341,0,0,0,0,0,0
$GC,1067,-1.52,-69.9,162.1,-11.7,115,1071,0.00,2.42,0.00,0.000,4,0.000,0.041,2384,463,3342,0,0,0,0,0,0
$GC,1148,-1.52,-69.9,171.9,-11.9,123,1154,0.00,2.25,0.00,0.000,6,0.000,0.019,2384,1877,3342,0,0,0,0,0,0
$GC,1419,-1.59,-69.9,202.6,-11.6,148,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1882,3342,0,0,0,0,0,0
$GC,1730,-1.68,-69.9,237.7,-11.2,163,1735,0.15,2.45,0.00,0.000,4,0.060,0.044,2338,462,3342,0,0,0,0,0,0
$GC,1829,-1.68,-69.9,250.0,-11.2,167,1833,0.00,2.25,0.00,0.000,6,0.000,0.020,2338,1873,3342,0,0,0,0,0,0
$GC,2150,-1.68,-69.9,284.9,-10.3,183,2154,0.00,2.28,0.00,0.000,4,0.000,0.028,2337,3261,3342,0,0,0,0,0,0
$GC,2187,-1.77,-69.9,289.1,-10.4,184,2193,0.00,2.35,0.00,0.000,6,0.000,0.031,2338,1873,3342,0,0,0,0,0,0
$GC,2500,-1.82,-69.9,325.1,-12.2,195,2504,0.00,2.40,0.00,0.000,4,0.000,0.045,2338,470,3342,0,0,0,0,0,0
$GC,2592,-1.82,-69.9,336.9,-12.8,197,2596,0.00,2.28,0.00,0.000,6,0.000,0.022,2338,1877,3341,0,0,0,0,0,0
$GC,2917,-1.86,-69.9,369.2,-9.7,205,2922,0.12,2.33,0.00,0.000,4,0.067,0.031,2291,3267,3341,0,0,0,0,0,0
$GC,2950,-1.86,-69.9,373.3,-11.7,205,2954,0.00,2.35,0.00,0.000,6,0.000,0.033,2299,1877,3340,0,0,0,0,0,0
$GC,3285,-1.86,-69.9,414.5,-12.3,214,3289,0.00,2.42,0.00,0.000,4,0.000,0.048,2299,470,3339,0,0,0,0,0,0
$GC,3309,-1.77,-69.9,417.4,-12.6,214,3314,0.12,2.28,0.00,0.000,6,0.114,0.025,2324,1868,3338,0,0,0,0,0,0
$STATE,3649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3649,begin apogee
$GC,3655,-0.31,0.0,453.6,10.7,223,3717,1.52,0.00,58.60,0.859,6,0.081,0.000,2645,2033,3050,0,0,0,0,0,0
$STATE,3718,end apogee,CONTROL_FINISHED_OK
$STATE,3718,begin climb
$GC,3721,1.70,69.9,455.2,0.0,224,3788,1.90,2.40,58.12,0.841,4,0.031,0.041,3081,3391,2764,0,0,0,0,0,0
$GC,4052,1.55,109.1,448.9,3.9,231,4093,0.17,2.38,33.20,0.833,6,0.119,0.035,3052,2006,2605,0,0,0,0,0,0
$GC,4408,1.44,109.1,418.2,9.8,240,4412,0.12,2.40,0.00,0.000,4,0.130,0.039,3022,3386,2600,0,0,0,0,0,0
$GC,4622,1.40,113.0,398.8,7.6,244,4630,0.00,2.38,3.80,0.503,6,0.000,0.035,3032,2005,2589,0,0,0,0,0,0
$GC,4957,1.34,113.0,372.9,8.3,252,4962,0.12,2.45,0.00,0.000,4,0.127,0.051,3010,604,2587,0,0,0,0,0,0
$GC,5066,1.25,113.0,361.8,11.9,254,5071,0.12,2.30,0.00,0.000,6,0.131,0.028,2988,1991,2585,0,0,0,0,0,0
$GC,5417,1.30,119.9,333.2,7.3,263,5429,0.00,2.47,6.47,0.648,4,0.000,0.039,2989,3404,2561,0,0,0,0,0,0
$GC,5638,1.36,135.4,317.6,6.4,267,5659,0.00,2.40,14.77,0.759,6,0.000,0.035,2990,2005,2497,0,0,0,0,0,0
$GC,5981,1.43,144.0,295.3,7.1,277,5992,0.15,0.00,8.38,0.685,6,0.066,0.000,3028,2005,2463,0,0,0,0,0,0
$GC,6287,1.44,157.7,272.4,6.6,292,6310,0.00,2.50,12.93,0.719,4,0.000,0.049,3026,601,2405,0,0,0,0,0,0
$GC,6395,1.38,157.7,263.8,8.4,296,6399,0.00,2.35,0.00,0.000,6,0.000,0.028,3027,2012,2403,0,0,0,0,0,0
$GC,6712,1.39,167.5,240.6,7.0,311,6723,0.00,0.00,9.40,0.663,6,0.000,0.000,3027,2016,2367,0,0,0,0,0,0
$GC,7019,1.40,171.3,219.3,7.6,326,7031,0.00,2.50,4.85,0.528,4,0.000,0.046,3028,597,2350,0,0,0,0,0,0
$GC,7050,1.35,171.3,216.7,8.8,327,7054,0.00,2.35,0.00,0.000,6,0.000,0.028,3028,2015,2350,0,0,0,0,0,0
$GC,7374,1.39,171.3,189.2,9.0,348,7379,0.00,2.45,0.00,0.000,4,0.000,0.046,3027,598,2350,0,0,0,0,0,0
$GC,7464,1.35,171.3,179.7,10.8,357,7468,0.00,2.35,0.00,0.000,6,0.000,0.026,3028,2016,2348,0,0,0,0,0,0
$GC,7728,1.40,175.4,159.3,7.6,381,7738,0.00,2.33,4.97,0.495,4,0.000,0.032,3027,3402,2333,0,0,0,0,0,0
$GC,7752,1.47,184.3,157.4,7.1,383,7768,0.00,2.38,9.40,0.589,6,0.000,0.029,3028,1997,2298,0,0,0,0,0,0
$GC,8024,1.56,204.9,140.9,5.9,409,8052,0.12,2.47,19.50,0.622,4,0.070,0.044,3063,610,2213,0,0,0,0,0,0
$GC,8309,1.52,204.9,117.3,8.2,440,8316,0.00,2.33,0.00,0.000,6,0.000,0.023,3063,2011,2208,0,0,0,0,0,0
$GC,8573,1.60,233.2,99.2,5.1,465,8603,0.00,0.00,25.48,0.587,6,0.000,0.000,3063,2015,2098,0,0,0,0,0,0
$GC,8863,1.66,233.2,75.9,8.6,492,8867,0.00,2.33,0.00,0.000,4,0.000,0.028,3062,3408,2096,0,0,0,0,0,0
$GC,8941,1.74,233.2,69.1,8.1,500,8946,0.15,2.35,0.00,0.000,6,0.059,0.028,3106,2005,2096,0,0,0,0,0,0
$GC,9203,1.74,233.2,45.2,9.1,524,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2005,2096,0,0,0,0,0,0
$GC,9462,1.74,233.2,16.1,12.7,558,9469,0.00,2.40,0.00,0.000,4,0.000,0.041,3107,607,2096,0,0,0,0,0,0
$GC,9484,1.69,233.2,13.5,12.1,562,9491,0.10,2.30,0.00,0.000,6,0.089,0.020,3083,2022,2094,0,0,0,0,0,0
$STATE,9579,end climb,SURFACE_DEPTH_REACHED
$STATE,9580,begin surface coast
$FINISH,0.5,1.012914
$STATE,9606,end surface coast,CONTROL_FINISHED_OK
$STATE,9606,begin surface
$SM_CCo,9626,34.83,0.503,0,0,1826,300.00
$SM_GC,1.25,0.00,0.00,34.83,0.000,0.000,0.503,428,1852,1826,-10.52,-0.65,300.00
$IRIDIUM_FIX,2057.14,-15759.05,070999,040425
$TT8_MAMPS,0.029146
$HUMID,49.56
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,45.213
$10V_AH,10.0,42.685
$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,27.000,95.350,269.875,34.825,0.000,55.103,63.821,252.914,4.500,0.000,37.405,1148.801,6335.523,365.588,1801.828,582.861,33.379,1144.425,0.000,1751.440,0.000,31.179,0.000
$DEVICE_MAMPS,131.924,51.389,859.040,503.152,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,393.201,375.315,717.498,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,31612,584
$CAP_FILE_SIZE,114362,0
$CFSIZE,260165632,228929536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130610,070102,2108.591,-15801.572,64,1.8,64,9.8