version: 66.06
glider: 139
mission: 7
dive: 321
start: 5 20 110 5 18 13
data:
$ID,139
$MISSION,7
$DIVE,321
$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,-2132399.5
$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
$GPS1,050116,2106.780,-15749.951,75,5.1,94,9.8
$_CALLS,4
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.3
$GPS2,051722,2106.852,-15750.181,13,5.7,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.171,-0.068
$KALMAN_X,1744.6,274.5,-69.2,6264.5,-1526.1
$KALMAN_Y,16374.7,115.2,-201.6,-16395.0,697.7
$MHEAD_RNG_PITCHd_Wd,101.8,12696,-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,-53.47,0.000,2,0.000,0.000,429,1862,3235,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.5,-5.7,10,95,10.65,2.42,-2.55,0.000,4,0.138,0.052,2402,467,3370,0,0,0,0,0,0
$GC,129,-1.11,-77.9,20.9,-24.5,21,135,0.32,2.33,0.00,0.000,6,0.089,0.020,2467,1902,3371,0,0,0,0,0,0
$GC,337,-1.11,-77.9,50.0,-12.3,45,341,0.00,2.45,0.00,0.000,4,0.000,0.042,2468,469,3372,0,0,0,0,0,0
$GC,371,-1.07,-77.9,54.4,-14.4,48,375,0.00,2.28,0.00,0.000,6,0.000,0.020,2466,1877,3372,0,0,0,0,0,0
$GC,634,-1.13,-77.9,77.4,-8.5,72,638,0.00,2.40,0.00,0.000,4,0.000,0.042,2468,470,3372,0,0,0,0,0,0
$GC,704,-1.20,-77.9,84.7,-9.6,79,708,0.00,2.28,0.00,0.000,6,0.000,0.019,2467,1890,3372,0,0,0,0,0,0
$GC,967,-1.29,-77.9,108.8,-8.7,103,972,0.15,2.45,0.00,0.000,4,0.057,0.044,2419,465,3373,0,0,0,0,0,0
$GC,1031,-1.23,-77.9,117.1,-12.0,109,1038,0.10,2.25,0.00,0.000,6,0.073,0.020,2443,1883,3374,0,0,0,0,0,0
$GC,1292,-1.27,-77.9,144.5,-9.1,134,1296,0.00,2.22,0.00,0.000,4,0.000,0.025,2444,3266,3374,0,0,0,0,0,0
$GC,1308,-1.33,-77.9,145.9,-9.8,135,1312,0.00,2.30,0.00,0.000,6,0.000,0.028,2443,1871,3374,0,0,0,0,0,0
$GC,1571,-1.40,-77.9,168.6,-8.8,159,1576,0.15,2.40,0.00,0.000,4,0.057,0.044,2396,463,3374,0,0,0,0,0,0
$GC,1661,-1.34,-77.9,179.8,-11.9,168,1666,0.12,2.25,0.00,0.000,6,0.100,0.020,2420,1884,3374,0,0,0,0,0,0
$GC,1925,-1.34,-77.9,206.8,-10.4,190,1929,0.00,2.40,0.00,0.000,4,0.000,0.044,2422,472,3374,0,0,0,0,0,0
$GC,1945,-1.34,-77.9,209.0,-11.6,191,1949,0.00,2.25,0.00,0.000,6,0.000,0.021,2420,1875,3374,0,0,0,0,0,0
$GC,2276,-1.39,-77.9,243.9,-9.9,207,2280,0.00,2.40,0.00,0.000,4,0.000,0.044,2422,465,3374,0,0,0,0,0,0
$GC,2299,-1.39,-77.9,246.4,-9.7,208,2303,0.00,2.28,0.00,0.000,6,0.000,0.021,2420,1883,3374,0,0,0,0,0,0
$GC,2623,-1.46,-77.9,275.5,-8.8,224,2628,0.12,2.45,0.00,0.000,4,0.066,0.048,2379,466,3374,0,0,0,0,0,0
$GC,2746,-1.38,-77.9,290.3,-12.3,229,2751,0.15,2.25,0.00,0.000,6,0.098,0.023,2412,1869,3373,0,0,0,0,0,0
$GC,3059,-1.42,-77.9,319.1,-9.0,239,3063,0.00,2.42,0.00,0.000,4,0.000,0.048,2412,471,3373,0,0,0,0,0,0
$GC,3133,-1.46,-77.9,326.8,-10.2,240,3137,0.00,2.30,0.00,0.000,6,0.000,0.025,2412,1881,3373,0,0,0,0,0,0
$GC,3470,-1.51,-77.9,355.6,-8.5,249,3474,0.12,2.47,0.00,0.000,4,0.067,0.051,2374,473,3371,0,0,0,0,0,0
$GC,3507,-1.43,-77.9,359.8,-11.3,249,3515,0.12,2.30,0.00,0.000,6,0.103,0.025,2398,1880,3370,0,0,0,0,0,0
$GC,3838,-1.47,-77.9,391.5,-9.5,258,3843,0.00,2.45,0.00,0.000,4,0.000,0.051,2400,475,3368,0,0,0,0,0,0
$GC,3884,-1.47,-77.9,396.2,-9.9,259,3888,0.00,2.30,0.00,0.000,6,0.000,0.027,2400,1872,3367,0,0,0,0,0,0
$GC,4207,-1.51,-77.9,423.2,-8.4,267,4211,0.00,2.42,0.00,0.000,4,0.000,0.052,2399,476,3365,0,0,0,0,0,0
$GC,4262,-1.51,-77.9,428.4,-9.5,268,4266,0.00,2.30,0.00,0.000,6,0.000,0.028,2400,1877,3365,0,0,0,0,0,0
$STATE,4537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4537,begin apogee
$GC,4542,-0.31,0.0,453.6,9.3,275,4610,1.12,0.00,63.97,0.872,6,0.073,0.000,2642,2038,3050,0,0,0,0,0,0
$STATE,4611,end apogee,CONTROL_FINISHED_OK
$STATE,4611,begin climb
$GC,4612,1.40,77.9,455.0,0.0,276,4687,1.65,2.42,64.72,0.853,4,0.033,0.045,3026,3380,2732,0,0,0,0,0,0
$GC,4822,1.23,125.0,452.4,4.8,280,4868,0.22,2.38,40.08,0.843,6,0.112,0.037,2984,2013,2541,0,0,0,0,0,0
$GC,5199,1.12,125.0,418.9,9.6,290,5204,0.12,2.40,0.00,0.000,4,0.123,0.041,2962,3384,2533,0,0,0,0,0,0
$GC,5308,1.08,136.0,410.2,7.3,292,5324,0.00,2.38,9.57,0.746,6,0.000,0.038,2962,2009,2495,0,0,0,0,0,0
$GC,5660,1.04,140.6,383.7,7.7,301,5673,0.12,2.55,5.40,0.630,4,0.122,0.053,2937,604,2475,0,0,0,0,0,0
$GC,5678,1.00,140.6,382.1,8.3,301,5682,0.00,2.33,0.00,0.000,6,0.000,0.030,2939,1992,2474,0,0,0,0,0,0
$GC,6027,1.00,144.6,354.9,7.7,310,6038,0.00,2.47,4.55,0.574,4,0.000,0.051,2938,605,2459,0,0,0,0,0,0
$GC,6076,0.95,144.6,350.8,8.1,311,6080,0.00,2.38,0.00,0.000,6,0.000,0.030,2939,2017,2458,0,0,0,0,0,0
$GC,6398,0.97,166.3,328.4,6.5,319,6423,0.00,2.45,19.58,0.785,4,0.000,0.041,2940,3408,2372,0,0,0,0,0,0
$GC,6475,1.03,181.2,323.1,7.0,320,6496,0.00,2.42,14.90,0.758,6,0.000,0.036,2940,2005,2310,0,0,0,0,0,0
$GC,6816,1.07,181.2,295.5,8.9,330,6820,0.00,2.47,0.00,0.000,4,0.000,0.052,2939,601,2305,0,0,0,0,0,0
$GC,6875,1.07,181.2,288.4,12.1,332,6882,0.00,2.40,0.00,0.000,6,0.000,0.029,2939,2012,2303,0,0,0,0,0,0
$GC,7191,1.12,181.2,256.1,9.2,348,7195,0.00,2.50,0.00,0.000,4,0.000,0.051,2939,596,2302,0,0,0,0,0,0
$GC,7370,1.16,210.3,241.5,6.0,356,7402,0.12,2.35,25.35,0.737,6,0.076,0.028,2972,2021,2192,0,0,0,0,0,0
$GC,7722,1.16,210.3,213.9,8.8,373,7727,0.00,2.35,0.00,0.000,4,0.000,0.036,2972,3399,2187,0,0,0,0,0,0
$GC,7813,1.20,210.3,204.9,10.5,377,7817,0.00,2.38,0.00,0.000,6,0.000,0.033,2972,2009,2186,0,0,0,0,0,0
$GC,8140,1.20,210.3,171.1,9.8,405,8144,0.00,2.45,0.00,0.000,4,0.000,0.047,2971,594,2186,0,0,0,0,0,0
$GC,8165,1.15,210.3,168.5,11.3,407,8169,0.00,2.35,0.00,0.000,6,0.000,0.025,2972,2014,2183,0,0,0,0,0,0
$GC,8428,1.15,210.3,141.7,8.2,431,8433,0.00,2.45,0.00,0.000,4,0.000,0.045,2971,601,2183,0,0,0,0,0,0
$GC,8545,1.11,210.3,130.3,10.0,443,8550,0.00,2.33,0.00,0.000,6,0.000,0.023,2971,2021,2183,0,0,0,0,0,0
$GC,8809,1.18,221.8,108.9,7.2,467,8829,0.00,2.53,10.02,0.561,4,0.000,0.044,2972,596,2144,0,0,0,0,0,0
$GC,8867,1.18,221.8,103.9,9.6,473,8872,0.00,2.30,0.00,0.000,6,0.000,0.023,2971,2011,2142,0,0,0,0,0,0
$GC,9131,1.25,221.8,80.4,9.3,497,9135,0.00,2.42,0.00,0.000,4,0.000,0.043,2972,593,2142,0,0,0,0,0,0
$GC,9183,1.27,237.0,75.8,7.0,502,9203,0.00,2.35,14.62,0.556,6,0.000,0.021,2971,2030,2083,0,0,0,0,0,0
$GC,9460,1.40,260.8,58.0,6.4,528,9491,0.22,2.33,22.02,0.551,4,0.048,0.028,3034,3384,1985,0,0,0,0,0,0
$GC,9521,1.40,260.8,51.9,11.9,534,9525,0.00,2.33,0.00,0.000,6,0.000,0.029,3033,2000,1985,0,0,0,0,0,0
$GC,9784,1.40,260.8,20.7,14.0,564,9791,0.00,2.40,0.00,0.000,4,0.000,0.042,3033,610,1983,0,0,0,0,0,0
$GC,9856,1.32,260.8,10.7,14.3,579,9862,0.17,2.25,0.00,0.000,6,0.098,0.020,2999,2015,1981,0,0,0,0,0,0
$STATE,9927,end climb,SURFACE_DEPTH_REACHED
$STATE,9927,begin surface coast
$FINISH,0.4,1.023425
$STATE,9958,end surface coast,CONTROL_FINISHED_OK
$STATE,9958,begin surface
$SM_CCo,9978,19.73,0.497,0,0,1827,300.00
$SM_GC,1.26,0.00,0.00,19.73,0.000,0.000,0.497,426,1859,1827,-10.52,-0.45,300.00
$IRIDIUM_FIX,2059.45,-15750.89,140899,050542
$TT8_MAMPS,0.029146
$HUMID,47.36
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,28.277
$10V_AH,10.1,27.126
$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,26.875,128.575,294.800,19.725,0.000,107.664,176.524,333.139,4.750,0.000,33.510,1180.133,6745.580,371.136,1822.649,844.721,33.368,1188.659,0.000,1778.052,0.000,32.099,0.000
$DEVICE_MAMPS,138.060,52.923,872.079,497.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.819,376.521,755.328,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,34893,597
$CAP_FILE_SIZE,126981,0
$CFSIZE,260165632,240144384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200510,080651,2106.744,-15749.846,64,2.8,83,9.8