version: 66.06
glider: 139
mission: 7
dive: 498
start: 6 11 110 19 7 47
data:
$ID,139
$MISSION,7
$DIVE,498
$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,-2139852
$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
$GPS1,184451,2058.982,-15749.985,82,2.7,101,9.8
$_CALLS,5
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.1
$GPS2,190655,2059.048,-15750.031,14,1.6,17,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.160,0.091
$KALMAN_X,-240063.0,-524.2,9.8,249049.8,387.5
$KALMAN_Y,14407.6,-242.2,158.9,-28883.7,142.6
$MHEAD_RNG_PITCHd_Wd,289.8,26978,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-52.20,0.000,2,0.000,0.000,424,1841,3190,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.1,-4.4,10,96,10.62,2.45,-3.58,0.000,4,0.133,0.038,2403,3294,3370,0,0,0,0,0,0
$GC,250,-1.36,-77.9,35.8,-14.7,44,254,0.00,2.40,0.00,0.000,6,0.000,0.030,2402,1873,3370,0,0,0,0,0,0
$GC,513,-1.23,-77.9,75.0,-15.5,68,518,0.20,2.42,0.00,0.000,4,0.097,0.043,2442,466,3372,0,0,0,0,0,0
$GC,560,-1.12,-77.9,82.7,-15.3,72,567,0.10,2.33,0.00,0.000,6,0.082,0.019,2466,1906,3371,0,0,0,0,0,0
$GC,822,-1.16,-77.9,111.5,-10.2,97,826,0.00,2.47,0.00,0.000,4,0.000,0.043,2466,469,3371,0,0,0,0,0,0
$GC,875,-1.22,-77.9,117.2,-10.6,102,879,0.00,2.25,0.00,0.000,6,0.000,0.019,2465,1873,3372,0,0,0,0,0,0
$GC,1136,-1.30,-77.9,145.1,-8.9,126,1141,0.15,2.40,0.00,0.000,4,0.054,0.043,2414,470,3372,0,0,0,0,0,0
$GC,1254,-1.24,-77.9,158.8,-11.3,138,1261,0.10,2.28,0.00,0.000,6,0.071,0.019,2440,1876,3373,0,0,0,0,0,0
$GC,1519,-1.31,-77.9,183.8,-8.6,163,1523,0.00,2.42,0.00,0.000,4,0.000,0.042,2441,460,3373,0,0,0,0,0,0
$GC,1602,-1.35,-77.9,191.9,-9.4,171,1607,0.00,2.25,0.00,0.000,6,0.000,0.020,2439,1879,3373,0,0,0,0,0,0
$GC,1869,-1.43,-77.9,213.3,-8.1,189,1874,0.17,2.42,0.00,0.000,4,0.051,0.042,2387,470,3374,0,0,0,0,0,0
$GC,1931,-1.32,-77.9,220.3,-13.1,191,1938,0.20,2.25,0.00,0.000,6,0.087,0.020,2428,1883,3373,0,0,0,0,0,0
$GC,2250,-1.40,-77.9,249.4,-8.2,207,2254,0.00,2.42,0.00,0.000,4,0.000,0.044,2429,470,3373,0,0,0,0,0,0
$GC,2283,-1.44,-77.9,252.7,-9.3,208,2288,0.12,2.22,0.00,0.000,6,0.062,0.021,2385,1871,3373,0,0,0,0,0,0
$GC,2600,-1.44,-77.9,281.9,-8.5,223,2605,0.00,2.28,0.00,0.000,4,0.000,0.028,2386,3264,3372,0,0,0,0,0,0
$GC,2652,-1.51,-77.9,286.8,-9.1,225,2657,0.00,2.33,0.00,0.000,6,0.000,0.031,2383,1870,3372,0,0,0,0,0,0
$GC,2991,-1.51,-77.9,321.2,-10.3,237,2995,0.00,2.38,0.00,0.000,4,0.000,0.047,2386,471,3371,0,0,0,0,0,0
$GC,3037,-1.46,-77.9,326.7,-12.1,238,3041,0.00,2.28,0.00,0.000,6,0.000,0.023,2386,1877,3371,0,0,0,0,0,0
$GC,3362,-1.46,-77.9,360.9,-10.7,246,3366,0.00,2.45,0.00,0.000,4,0.000,0.048,2386,464,3369,0,0,0,0,0,0
$GC,3417,-1.46,-77.9,367.5,-11.2,247,3422,0.00,2.30,0.00,0.000,6,0.000,0.025,2386,1875,3368,0,0,0,0,0,0
$GC,3730,-1.46,-77.9,400.0,-10.2,255,3738,0.00,2.45,0.00,0.000,4,0.000,0.050,2387,459,3366,0,0,0,0,0,0
$GC,3798,-1.46,-77.9,407.3,-11.0,256,3803,0.00,2.33,0.00,0.000,6,0.000,0.027,2386,1871,3365,0,0,0,0,0,0
$GC,4147,-1.46,-77.9,439.4,-8.7,265,4152,0.00,2.45,0.00,0.000,4,0.000,0.052,2386,472,3362,0,0,0,0,0,0
$GC,4231,-1.46,-77.9,447.4,-9.9,266,4236,0.00,2.33,0.00,0.000,6,0.000,0.028,2385,1885,3362,0,0,0,0,0,0
$STATE,4275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4275,begin apogee
$GC,4281,-0.31,0.0,451.5,8.9,268,4348,1.20,0.00,63.92,0.868,6,0.072,0.000,2644,2034,3050,0,0,0,0,0,0
$STATE,4349,end apogee,CONTROL_FINISHED_OK
$STATE,4349,begin climb
$GC,4351,1.40,77.9,452.5,0.0,269,4427,1.62,2.42,64.97,0.847,4,0.031,0.043,3007,3382,2732,0,0,0,0,0,0
$GC,4530,1.24,140.2,451.5,3.7,273,4592,0.20,2.35,53.58,0.841,6,0.113,0.036,2987,2010,2477,0,0,0,0,0,0
$GC,4903,1.12,140.2,418.0,9.7,282,4908,0.15,2.50,0.00,0.000,4,0.118,0.052,2961,604,2469,0,0,0,0,0,0
$GC,4978,1.00,140.2,410.4,9.4,283,4983,0.15,2.30,0.00,0.000,6,0.123,0.029,2935,1994,2467,0,0,0,0,0,0
$GC,5315,1.03,161.8,387.4,6.5,292,5339,0.00,2.47,17.80,0.800,4,0.000,0.051,2934,604,2389,0,0,0,0,0,0
$GC,5465,0.99,161.8,375.2,9.3,295,5469,0.00,2.38,0.00,0.000,6,0.000,0.030,2933,2014,2385,0,0,0,0,0,0
$GC,5779,1.03,173.0,352.6,7.2,303,5795,0.00,2.55,10.25,0.742,4,0.000,0.052,2934,609,2344,0,0,0,0,0,0
$GC,5897,1.03,173.0,342.9,8.6,305,5901,0.00,2.38,0.00,0.000,6,0.000,0.031,2934,2018,2340,0,0,0,0,0,0
$GC,6241,1.11,204.6,320.9,5.9,314,6277,0.00,2.58,28.95,0.795,4,0.000,0.051,2935,598,2215,0,0,0,0,0,0
$GC,6338,1.11,204.6,313.3,8.5,316,6342,0.00,2.38,0.00,0.000,6,0.000,0.030,2935,2015,2210,0,0,0,0,0,0
$GC,6660,1.18,204.6,285.4,8.9,327,6664,0.15,2.38,0.00,0.000,4,0.069,0.038,2973,3408,2209,0,0,0,0,0,0
$GC,6693,1.18,204.6,281.9,9.9,328,6697,0.00,2.40,0.00,0.000,6,0.000,0.036,2973,2012,2209,0,0,0,0,0,0
$GC,7009,1.18,204.6,254.0,8.4,343,7014,0.00,2.45,0.00,0.000,4,0.000,0.051,2973,598,2207,0,0,0,0,0,0
$GC,7078,1.13,204.6,246.8,9.9,346,7082,0.00,2.38,0.00,0.000,6,0.000,0.028,2973,2018,2204,0,0,0,0,0,0
$GC,7403,1.14,212.4,220.4,7.5,362,7415,0.00,2.53,6.40,0.595,4,0.000,0.049,2972,607,2184,0,0,0,0,0,0
$GC,7427,1.14,212.4,218.3,9.2,363,7432,0.00,2.35,0.00,0.000,6,0.000,0.028,2973,2015,2183,0,0,0,0,0,0
$GC,7750,1.14,212.4,188.2,8.4,384,7755,0.00,2.45,0.00,0.000,4,0.000,0.048,2973,602,2182,0,0,0,0,0,0
$GC,7919,1.14,212.6,172.6,8.0,402,7923,0.00,2.33,0.00,0.000,6,0.000,0.025,2973,2012,2180,0,0,0,0,0,0
$GC,8182,1.21,233.8,156.2,6.6,426,8212,0.00,2.42,20.12,0.649,4,0.000,0.031,2973,3402,2096,0,0,0,0,0,0
$GC,8218,1.28,242.6,153.6,7.4,429,8234,0.00,2.40,9.30,0.575,6,0.000,0.031,2973,2000,2061,0,0,0,0,0,0
$GC,8489,1.34,242.6,130.9,8.3,455,8494,0.15,2.42,0.00,0.000,4,0.063,0.047,3014,598,2057,0,0,0,0,0,0
$GC,8609,1.24,242.6,118.1,10.6,467,8616,0.15,2.33,0.00,0.000,6,0.107,0.023,2986,2019,2054,0,0,0,0,0,0
$GC,8872,1.28,242.6,97.3,8.4,492,8876,0.00,2.42,0.00,0.000,4,0.000,0.043,2986,602,2055,0,0,0,0,0,0
$GC,8896,1.28,242.6,95.0,9.4,494,8900,0.00,2.28,0.00,0.000,6,0.000,0.022,2986,2014,2054,0,0,0,0,0,0
$GC,9160,1.39,279.3,77.7,5.5,518,9201,0.15,2.50,32.60,0.574,4,0.060,0.043,3030,596,1910,0,0,0,0,0,0
$GC,9321,1.34,279.3,59.0,12.9,535,9326,0.12,2.28,0.00,0.000,6,0.104,0.021,3006,2011,1905,0,0,0,0,0,0
$GC,9584,1.39,279.3,36.6,8.5,559,9589,0.00,2.42,0.00,0.000,4,0.000,0.043,3006,594,1904,0,0,0,0,0,0
$GC,9705,1.39,279.3,24.4,10.7,577,9711,0.00,2.30,0.00,0.000,6,0.000,0.020,3005,2020,1903,0,0,0,0,0,0
$GC,9910,1.45,279.3,4.9,8.7,614,9918,0.12,2.45,0.00,0.000,4,0.065,0.040,3045,598,1903,0,0,0,0,0,0
$STATE,9928,end climb,SURFACE_DEPTH_REACHED
$STATE,9928,begin surface coast
$FINISH,1.6,1.023241
$STATE,9938,end surface coast,CONTROL_FINISHED_OK
$STATE,9938,begin surface
$SM_CCo,9961,14.38,0.487,0,0,1826,300.00
$SM_GC,2.83,0.00,0.00,14.38,0.000,0.000,0.487,431,1880,1826,-10.50,0.11,300.00
$IRIDIUM_FIX,2050.21,-15747.49,050999,191905
$TT8_MAMPS,0.029146
$HUMID,50.00
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,44.241
$10V_AH,10.0,41.794
$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,27.125,128.600,307.900,14.375,0.000,148.536,151.663,636.797,4.500,0.000,17.385,1220.188,6618.313,378.165,1876.649,1204.914,33.392,1226.016,0.000,1851.921,0.000,29.264,0.000
$DEVICE_MAMPS,133.458,54.457,868.244,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.575,397.434,765.028,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355768
$DATA_FILE_SIZE,34910,619
$CAP_FILE_SIZE,137804,0
$CFSIZE,260165632,229543936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110610,215637,2059.761,-15750.898,117,1.9,117,9.8