version: 66.06
glider: 139
mission: 7
dive: 322
start: 5 20 110 8 17 27
data:
$ID,139
$MISSION,7
$DIVE,322
$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,-2132432.5
$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
$GPS1,080651,2106.744,-15749.846,64,2.8,83,9.8
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.4
$GPS2,081636,2106.834,-15749.830,16,1.5,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.172,-0.064
$KALMAN_X,849.2,469.5,-688.6,8181.5,-434.4
$KALMAN_Y,16747.2,185.1,81.1,-17152.9,486.6
$MHEAD_RNG_PITCHd_Wd,100.7,12092,-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,-53.17,0.000,2,0.000,0.000,426,1859,3210,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.1,-4.6,10,95,10.55,2.45,-3.20,0.000,4,0.133,0.055,2401,463,3370,0,0,0,0,0,0
$GC,138,-1.12,-77.9,21.0,-22.3,23,144,0.32,2.30,0.00,0.000,6,0.091,0.020,2466,1907,3371,0,0,0,0,0,0
$GC,341,-1.12,-77.9,47.3,-13.1,47,346,0.00,2.47,0.00,0.000,4,0.000,0.044,2467,467,3372,0,0,0,0,0,0
$GC,393,-1.05,-77.9,54.5,-13.3,52,397,0.00,2.25,0.00,0.000,6,0.000,0.019,2466,1875,3372,0,0,0,0,0,0
$GC,660,-1.05,-77.9,83.5,-10.1,77,665,0.12,2.30,0.00,0.000,4,0.108,0.025,2492,3267,3372,0,0,0,0,0,0
$GC,713,-1.29,-77.9,87.6,-6.7,82,719,0.25,2.33,0.00,0.000,6,0.041,0.028,2415,1865,3373,0,0,0,0,0,0
$GC,973,-1.29,-77.9,116.7,-10.6,106,978,0.00,2.35,0.00,0.000,4,0.000,0.043,2418,472,3374,0,0,0,0,0,0
$GC,1026,-1.23,-77.9,122.7,-11.6,111,1031,0.12,2.25,0.00,0.000,6,0.100,0.019,2443,1871,3374,0,0,0,0,0,0
$GC,1288,-1.30,-77.9,146.9,-8.8,135,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1878,3374,0,0,0,0,0,0
$GC,1544,-1.37,-77.9,170.2,-8.9,159,1549,0.12,2.40,0.00,0.000,4,0.064,0.044,2401,472,3375,0,0,0,0,0,0
$GC,1600,-1.31,-77.9,177.0,-11.8,164,1607,0.10,2.28,0.00,0.000,6,0.074,0.020,2426,1876,3375,0,0,0,0,0,0
$GC,1859,-1.31,-77.9,202.3,-10.2,188,1863,0.00,2.40,0.00,0.000,4,0.000,0.044,2425,466,3375,0,0,0,0,0,0
$GC,1886,-1.31,-77.9,205.5,-12.1,189,1890,0.00,2.25,0.00,0.000,6,0.000,0.021,2424,1881,3375,0,0,0,0,0,0
$GC,2207,-1.36,-77.9,234.9,-8.9,205,2211,0.00,2.42,0.00,0.000,4,0.000,0.044,2425,471,3375,0,0,0,0,0,0
$GC,2257,-1.36,-77.9,239.8,-8.7,207,2264,0.00,2.25,0.00,0.000,6,0.000,0.021,2424,1885,3375,0,0,0,0,0,0
$GC,2586,-1.44,-77.9,267.4,-8.4,223,2591,0.12,2.42,0.00,0.000,4,0.064,0.047,2384,474,3375,0,0,0,0,0,0
$GC,2633,-1.37,-77.9,272.6,-11.2,225,2638,0.15,2.25,0.00,0.000,6,0.094,0.022,2415,1872,3375,0,0,0,0,0,0
$GC,2961,-1.42,-77.9,301.2,-8.1,241,2965,0.00,2.40,0.00,0.000,4,0.000,0.048,2415,471,3374,0,0,0,0,0,0
$GC,3058,-1.46,-77.9,310.6,-8.5,243,3062,0.00,2.25,0.00,0.000,6,0.000,0.024,2415,1873,3374,0,0,0,0,0,0
$GC,3385,-1.52,-77.9,337.9,-8.4,251,3390,0.15,2.45,0.00,0.000,4,0.060,0.050,2370,474,3373,0,0,0,0,0,0
$GC,3465,-1.44,-77.9,346.7,-11.9,252,3470,0.15,2.30,0.00,0.000,6,0.097,0.025,2399,1879,3372,0,0,0,0,0,0
$GC,3797,-1.49,-77.9,376.1,-9.0,260,3801,0.00,2.42,0.00,0.000,4,0.000,0.051,2400,475,3371,0,0,0,0,0,0
$GC,3880,-1.49,-77.9,385.0,-9.8,261,3885,0.00,2.28,0.00,0.000,6,0.000,0.027,2401,1871,3370,0,0,0,0,0,0
$GC,4211,-1.54,-77.9,408.8,-7.0,270,4215,0.00,2.45,0.00,0.000,4,0.000,0.053,2396,475,3367,0,0,0,0,0,0
$GC,4272,-1.54,-77.9,413.5,-7.4,271,4276,0.00,2.33,0.00,0.000,6,0.000,0.028,2401,1878,3367,0,0,0,0,0,0
$GC,4622,-1.60,-77.9,439.2,-7.4,280,4627,0.15,2.50,0.00,0.000,4,0.064,0.055,2359,471,3364,0,0,0,0,0,0
$GC,4716,-1.53,-77.9,448.2,-9.7,282,4721,0.10,2.35,0.00,0.000,6,0.117,0.029,2378,1882,3363,0,0,0,0,0,0
$STATE,4737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4737,begin apogee
$GC,4743,-0.31,0.0,450.4,8.7,282,4811,1.23,0.00,64.10,0.881,6,0.079,0.000,2641,2027,3050,0,0,0,0,0,0
$STATE,4811,end apogee,CONTROL_FINISHED_OK
$STATE,4811,begin climb
$GC,4813,1.40,77.9,450.9,0.0,284,4888,1.65,2.45,64.47,0.858,4,0.034,0.046,3026,3380,2731,0,0,0,0,0,0
$GC,5023,1.21,106.8,445.0,6.0,288,5055,0.25,2.35,25.00,0.830,6,0.110,0.038,2980,2013,2614,0,0,0,0,0,0
$GC,5365,1.14,137.8,423.8,5.9,297,5397,0.00,2.58,26.77,0.835,4,0.000,0.053,2972,607,2487,0,0,0,0,0,0
$GC,5485,0.97,137.8,414.2,9.8,299,5490,0.28,2.35,0.00,0.000,6,0.113,0.031,2930,1991,2483,0,0,0,0,0,0
$GC,5821,0.99,149.2,389.7,7.2,308,5833,0.00,0.00,10.35,0.760,6,0.000,0.000,2930,1996,2441,0,0,0,0,0,0
$GC,6146,1.01,169.8,365.9,6.6,316,6170,0.00,2.53,19.00,0.807,4,0.000,0.054,2929,606,2357,0,0,0,0,0,0
$GC,6207,1.01,169.8,361.3,8.3,317,6212,0.00,2.38,0.00,0.000,6,0.000,0.031,2929,2016,2353,0,0,0,0,0,0
$GC,6557,1.06,174.7,336.1,7.7,326,6569,0.00,2.53,5.07,0.592,4,0.000,0.052,2929,607,2336,0,0,0,0,0,0
$GC,6652,1.06,174.7,326.7,10.5,328,6656,0.00,2.35,0.00,0.000,6,0.000,0.031,2928,2011,2334,0,0,0,0,0,0
$GC,6974,1.11,174.7,300.0,8.4,336,6979,0.12,2.50,0.00,0.000,4,0.078,0.052,2959,599,2333,0,0,0,0,0,0
$GC,7090,1.05,174.7,288.2,11.1,341,7094,0.00,2.38,0.00,0.000,6,0.000,0.030,2959,2009,2331,0,0,0,0,0,0
$GC,7419,1.05,174.7,254.4,9.5,357,7424,0.00,2.47,0.00,0.000,4,0.000,0.050,2959,604,2331,0,0,0,0,0,0
$GC,7488,0.99,174.7,247.6,10.0,360,7493,0.15,2.35,0.00,0.000,6,0.123,0.029,2933,2020,2330,0,0,0,0,0,0
$GC,7815,1.09,194.8,226.1,6.6,376,7838,0.00,2.40,17.98,0.723,4,0.000,0.035,2934,3411,2255,0,0,0,0,0,0
$GC,7853,1.19,194.8,223.0,8.2,377,7858,0.17,2.40,0.00,0.000,6,0.061,0.034,2977,2010,2255,0,0,0,0,0,0
$GC,8169,1.19,194.8,195.8,8.4,394,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2010,2252,0,0,0,0,0,0
$GC,8423,1.19,194.8,173.1,8.9,418,8424,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2010,2251,0,0,0,0,0,0
$GC,8679,1.19,194.8,150.4,9.3,442,8683,0.00,2.45,0.00,0.000,4,0.000,0.045,2977,602,2251,0,0,0,0,0,0
$GC,8697,1.16,194.8,148.6,10.3,443,8702,0.00,2.35,0.00,0.000,6,0.000,0.025,2978,2031,2249,0,0,0,0,0,0
$GC,8959,1.16,197.8,128.0,7.8,468,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2036,2249,0,0,0,0,0,0
$GC,9213,1.22,222.6,109.5,6.3,492,9244,0.00,2.58,24.62,0.612,4,0.000,0.044,2977,601,2141,0,0,0,0,0,0
$GC,9335,1.23,226.7,100.6,7.7,505,9345,0.00,2.30,4.65,0.437,6,0.000,0.022,2977,2020,2125,0,0,0,0,0,0
$GC,9601,1.28,226.7,78.9,9.6,530,9605,0.00,2.42,0.00,0.000,4,0.000,0.044,2978,602,2125,0,0,0,0,0,0
$GC,9749,1.28,226.7,64.5,10.0,546,9753,0.00,2.28,0.00,0.000,6,0.000,0.021,2978,2015,2123,0,0,0,0,0,0
$GC,10017,1.37,248.3,43.4,6.5,571,10048,0.15,2.35,20.27,0.539,4,0.059,0.027,3021,3394,2037,0,0,0,0,0,0
$GC,10053,1.37,248.3,39.7,9.5,574,10060,0.00,2.40,0.00,0.000,6,0.000,0.031,3021,2002,2036,0,0,0,0,0,0
$GC,10321,1.37,248.3,13.0,10.6,614,10327,0.00,2.42,0.00,0.000,4,0.000,0.041,3021,597,2034,0,0,0,0,0,0
$GC,10414,1.28,248.3,3.4,10.5,634,10421,0.12,2.30,0.00,0.000,6,0.081,0.020,2993,2004,2032,0,0,0,0,0,0
$STATE,10425,end climb,SURFACE_DEPTH_REACHED
$STATE,10425,begin surface coast
$FINISH,0.5,0.999908
$STATE,10449,end surface coast,CONTROL_FINISHED_OK
$STATE,10449,begin surface
$SM_CCo,10469,27.40,0.509,0,0,1826,300.00
$SM_GC,0.92,0.00,0.00,27.40,0.000,0.000,0.509,429,1863,1826,-10.51,-0.34,300.00
$IRIDIUM_FIX,2059.45,-15745.74,140899,080816
$TT8_MAMPS,0.029146
$HUMID,46.61
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,28.366
$10V_AH,10.1,27.208
$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,27.650,119.350,282.300,27.400,0.000,53.469,74.426,269.182,4.750,0.000,32.222,1254.745,6973.221,371.068,1893.348,589.919,33.370,1207.410,0.000,1855.674,0.000,32.083,0.000
$DEVICE_MAMPS,132.691,56.758,880.516,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.095,414.001,802.490,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,34970,640
$CAP_FILE_SIZE,124538,0
$CFSIZE,260165632,240087040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200510,111416,2106.582,-15749.147,57,2.3,76,9.8