version: 66.06
glider: 139
mission: 7
dive: 329
start: 5 21 110 6 11 2
data:
$ID,139
$MISSION,7
$DIVE,329
$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,637.77997
$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,-2132756.5
$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
$GPS1,054922,2106.049,-15745.988,86,2.9,105,9.8
$_CALLS,5
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-69.8
$GPS2,061010,2106.081,-15746.048,17,2.1,36,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.173,-0.063
$KALMAN_X,-7067.2,311.5,-43.4,22148.6,-1747.0
$KALMAN_Y,18905.0,121.6,-240.7,-20319.9,686.9
$MHEAD_RNG_PITCHd_Wd,100.2,5431,-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,-53.10,0.000,2,0.000,0.000,424,1868,3216,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.2,-5.3,10,95,10.65,2.45,-3.05,0.000,4,0.137,0.054,2403,466,3370,0,0,0,0,0,0
$GC,129,-1.11,-77.9,18.9,-22.3,21,135,0.32,2.33,0.00,0.000,6,0.093,0.020,2468,1906,3371,0,0,0,0,0,0
$GC,336,-1.11,-77.9,48.5,-12.9,46,340,0.00,2.47,0.00,0.000,4,0.000,0.043,2469,464,3371,0,0,0,0,0,0
$GC,380,-1.05,-77.9,54.6,-14.4,50,384,0.00,2.28,0.00,0.000,6,0.000,0.019,2468,1881,3372,0,0,0,0,0,0
$GC,642,-1.12,-77.9,80.3,-8.4,74,646,0.00,2.40,0.00,0.000,4,0.000,0.043,2469,469,3372,0,0,0,0,0,0
$GC,687,-1.12,-77.9,85.0,-10.4,78,694,0.00,2.28,0.00,0.000,6,0.000,0.019,2467,1879,3372,0,0,0,0,0,0
$GC,950,-1.19,-77.9,108.8,-10.5,103,954,0.00,2.42,0.00,0.000,4,0.000,0.044,2469,468,3373,0,0,0,0,0,0
$GC,1020,-1.28,-77.9,116.6,-9.9,110,1025,0.15,2.22,0.00,0.000,6,0.057,0.019,2419,1878,3373,0,0,0,0,0,0
$GC,1280,-1.28,-77.9,144.5,-10.4,134,1284,0.00,2.42,0.00,0.000,4,0.000,0.043,2419,465,3373,0,0,0,0,0,0
$GC,1322,-1.23,-77.9,149.5,-12.5,138,1327,0.12,2.25,0.00,0.000,6,0.100,0.020,2444,1872,3374,0,0,0,0,0,0
$GC,1582,-1.30,-77.9,176.1,-9.2,162,1586,0.00,2.40,0.00,0.000,4,0.000,0.043,2445,460,3374,0,0,0,0,0,0
$GC,1616,-1.30,-77.9,179.3,-10.1,165,1621,0.00,2.25,0.00,0.000,6,0.000,0.020,2444,1881,3374,0,0,0,0,0,0
$GC,1881,-1.39,-77.9,200.4,-7.0,189,1886,0.15,2.45,0.00,0.000,4,0.057,0.044,2397,468,3373,0,0,0,0,0,0
$GC,1925,-1.34,-77.9,205.1,-10.6,191,1930,0.12,2.22,0.00,0.000,6,0.100,0.021,2422,1871,3374,0,0,0,0,0,0
$GC,2258,-1.38,-77.9,233.8,-9.5,207,2262,0.00,2.40,0.00,0.000,4,0.000,0.044,2423,470,3374,0,0,0,0,0,0
$GC,2307,-1.38,-77.9,239.7,-10.7,209,2312,0.00,2.22,0.00,0.000,6,0.000,0.021,2421,1879,3374,0,0,0,0,0,0
$GC,2634,-1.44,-77.9,272.9,-9.6,225,2639,0.00,2.42,0.00,0.000,4,0.000,0.046,2422,470,3373,0,0,0,0,0,0
$GC,2746,-1.44,-77.9,284.3,-9.3,230,2750,0.00,2.25,0.00,0.000,6,0.000,0.022,2422,1879,3373,0,0,0,0,0,0
$GC,3079,-1.51,-77.9,310.8,-7.7,243,3084,0.17,2.45,0.00,0.000,4,0.054,0.048,2372,461,3372,0,0,0,0,0,0
$GC,3108,-1.41,-77.9,313.8,-11.2,243,3113,0.17,2.28,0.00,0.000,6,0.091,0.024,2408,1875,3372,0,0,0,0,0,0
$GC,3445,-1.45,-77.9,342.3,-8.5,252,3449,0.00,2.45,0.00,0.000,4,0.000,0.049,2408,465,3370,0,0,0,0,0,0
$GC,3476,-1.45,-77.9,345.6,-10.1,252,3481,0.00,2.28,0.00,0.000,6,0.000,0.025,2407,1871,3370,0,0,0,0,0,0
$GC,3809,-1.52,-77.9,376.2,-9.3,260,3813,0.12,2.45,0.00,0.000,4,0.067,0.051,2370,466,3368,0,0,0,0,0,0
$GC,3889,-1.47,-77.9,385.1,-10.5,261,3893,0.10,2.30,0.00,0.000,6,0.112,0.027,2391,1876,3367,0,0,0,0,0,0
$GC,4219,-1.50,-77.9,413.8,-8.6,269,4223,0.00,2.47,0.00,0.000,4,0.000,0.053,2391,464,3364,0,0,0,0,0,0
$GC,4284,-1.50,-77.9,419.7,-9.1,270,4289,0.00,2.30,0.00,0.000,6,0.000,0.028,2391,1870,3364,0,0,0,0,0,0
$STATE,4631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4632,begin apogee
$GC,4637,-0.31,0.0,450.3,9.0,279,4704,1.17,0.00,63.72,0.872,6,0.076,0.000,2642,2026,3050,0,0,0,0,0,0
$STATE,4705,end apogee,CONTROL_FINISHED_OK
$STATE,4705,begin climb
$GC,4706,1.40,77.9,451.5,0.0,280,4781,1.65,2.47,64.82,0.851,4,0.033,0.045,3027,3391,2732,0,0,0,0,0,0
$GC,5046,1.20,100.9,440.6,6.4,287,5071,0.25,2.38,19.92,0.819,6,0.113,0.038,2980,2010,2638,0,0,0,0,0,0
$GC,5394,1.09,109.1,415.8,7.5,296,5408,0.15,2.45,7.65,0.715,4,0.122,0.042,2953,3396,2605,0,0,0,0,0,0
$GC,5461,1.06,119.2,410.6,7.3,297,5477,0.00,2.38,10.25,0.757,6,0.000,0.037,2955,2010,2563,0,0,0,0,0,0
$GC,5808,1.01,119.2,382.9,8.3,306,5812,0.00,2.50,0.00,0.000,4,0.000,0.053,2953,596,2559,0,0,0,0,0,0
$GC,5873,0.89,119.2,377.4,8.3,307,5878,0.25,2.35,0.00,0.000,6,0.111,0.031,2907,1994,2558,0,0,0,0,0,0
$GC,6218,1.03,183.5,361.6,3.6,316,6281,0.15,2.55,55.50,0.834,4,0.071,0.054,2943,598,2301,0,0,0,0,0,0
$GC,6315,0.98,183.5,354.3,10.0,318,6319,0.00,2.40,0.00,0.000,6,0.000,0.031,2943,2016,2295,0,0,0,0,0,0
$GC,6627,0.98,183.5,321.0,11.0,326,6631,0.00,2.53,0.00,0.000,4,0.000,0.054,2943,599,2291,0,0,0,0,0,0
$GC,6697,0.95,183.5,313.3,11.3,327,6702,0.12,2.40,0.00,0.000,6,0.119,0.030,2921,2019,2289,0,0,0,0,0,0
$GC,7020,1.03,183.5,284.3,8.7,339,7025,0.00,2.50,0.00,0.000,4,0.000,0.052,2920,604,2288,0,0,0,0,0,0
$GC,7057,1.03,183.5,280.7,9.7,340,7063,0.00,2.40,0.00,0.000,6,0.000,0.030,2921,2015,2287,0,0,0,0,0,0
$GC,7372,1.13,183.5,255.4,8.2,356,7377,0.17,2.47,0.00,0.000,4,0.067,0.051,2961,600,2287,0,0,0,0,0,0
$GC,7419,1.08,183.5,250.7,11.1,358,7423,0.00,2.35,0.00,0.000,6,0.000,0.028,2963,2018,2285,0,0,0,0,0,0
$GC,7743,1.10,201.4,225.8,6.8,374,7767,0.00,2.58,14.27,0.693,4,0.000,0.049,2962,599,2226,0,0,0,0,0,0
$GC,7914,1.10,201.4,209.1,10.1,381,7918,0.00,2.35,0.00,0.000,6,0.000,0.026,2963,2019,2222,0,0,0,0,0,0
$GC,8242,1.10,201.4,180.4,8.4,407,8243,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2025,2222,0,0,0,0,0,0
$GC,8497,1.14,204.6,160.2,7.8,431,8501,0.00,2.47,0.00,0.000,4,0.000,0.046,2963,596,2222,0,0,0,0,0,0
$GC,8542,1.14,204.6,155.9,8.8,435,8548,0.00,2.33,0.00,0.000,6,0.000,0.024,2963,2018,2221,0,0,0,0,0,0
$GC,8804,1.21,222.0,136.7,6.8,460,8832,0.00,2.47,18.35,0.619,4,0.000,0.044,2963,602,2144,0,0,0,0,0,0
$GC,8866,1.21,222.0,131.4,9.8,466,8872,0.00,2.35,0.00,0.000,6,0.000,0.023,2963,2011,2140,0,0,0,0,0,0
$GC,9128,1.28,222.0,109.8,9.1,491,9130,0.12,0.00,0.00,0.000,6,0.069,0.000,2998,2015,2141,0,0,0,0,0,0
$GC,9382,1.28,222.0,83.8,10.0,515,9387,0.00,2.45,0.00,0.000,4,0.000,0.044,2999,591,2141,0,0,0,0,0,0
$GC,9552,1.24,222.0,66.1,10.3,533,9557,0.00,2.30,0.00,0.000,6,0.000,0.021,2999,2023,2140,0,0,0,0,0,0
$GC,9815,1.25,236.7,46.9,7.0,557,9836,0.00,2.33,14.15,0.524,4,0.000,0.027,2999,3416,2083,0,0,0,0,0,0
$GC,9892,1.31,239.1,41.4,7.9,565,9896,0.00,2.38,0.00,0.000,6,0.000,0.027,2998,1995,2083,0,0,0,0,0,0
$GC,10164,1.37,257.5,22.0,6.8,601,10190,0.00,2.40,18.92,0.513,4,0.000,0.043,2999,604,1999,0,0,0,0,0,0
$GC,10263,1.37,257.5,12.7,10.0,622,10270,0.00,2.30,0.00,0.000,6,0.000,0.021,2999,1998,1994,0,0,0,0,0,0
$STATE,10358,end climb,SURFACE_DEPTH_REACHED
$STATE,10358,begin surface coast
$FINISH,0.5,1.023383
$STATE,10386,end surface coast,CONTROL_FINISHED_OK
$STATE,10386,begin surface
$SM_CCo,10406,195.70,0.505,0,0,449,637.78
$SM_GC,0.97,0.00,0.00,195.70,0.000,0.000,0.505,425,1866,449,-10.53,-0.31,637.78
$IRIDIUM_FIX,2057.14,-15743.60,150899,060630
$TT8_MAMPS,0.029146
$HUMID,44.48
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,29.085
$10V_AH,10.0,27.800
$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,27.275,124.350,287.575,195.700,0.000,159.954,206.663,378.267,4.750,0.000,38.529,1251.519,7066.234,542.047,1927.975,1063.576,33.379,1388.160,0.000,1880.120,0.000,32.088,0.000
$DEVICE_MAMPS,136.526,55.991,872.079,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.692,411.522,817.849,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,34979,644
$CAP_FILE_SIZE,133198,0
$CFSIZE,260165632,239648768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210510,090950,2105.860,-15746.029,70,21.9,89,9.8