version: 66.06
glider: 139
mission: 7
dive: 330
start: 5 21 110 9 30 21
data:
$ID,139
$MISSION,7
$DIVE,330
$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,-2132796.5
$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
$GPS1,090950,2105.860,-15746.029,70,21.9,89,9.8
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,10
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-61.2
$GPS2,092930,2106.071,-15746.024,39,1.4,39,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.180,-0.036
$KALMAN_X,-8365.9,319.3,-650.5,24086.9,-659.8
$KALMAN_Y,19176.7,174.5,120.7,-21024.4,286.2
$MHEAD_RNG_PITCHd_Wd,91.6,5388,-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,-77.9,0.0,0.0,0,120,0.00,0.00,-101.28,0.000,2,0.000,0.000,424,1866,3175,0,0,0,0,0,0
$GC,123,-1.40,-77.9,3.1,-5.3,19,145,10.60,2.45,-3.85,0.000,4,0.134,0.054,2402,464,3369,0,0,0,0,0,0
$GC,263,-1.19,-77.9,36.5,-17.4,45,268,0.25,2.30,0.00,0.000,6,0.093,0.020,2451,1899,3370,0,0,0,0,0,0
$GC,525,-1.19,-77.9,74.0,-12.2,69,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1904,3370,0,0,0,0,0,0
$GC,781,-1.19,-77.9,103.6,-11.1,93,785,0.00,2.47,0.00,0.000,4,0.000,0.043,2452,462,3370,0,0,0,0,0,0
$GC,814,-1.15,-77.9,108.1,-13.0,96,818,0.00,2.25,0.00,0.000,6,0.000,0.019,2451,1887,3371,0,0,0,0,0,0
$GC,1075,-1.15,-77.9,137.4,-12.0,120,1080,0.00,2.45,0.00,0.000,4,0.000,0.045,2452,468,3371,0,0,0,0,0,0
$GC,1120,-1.15,-77.9,143.5,-12.3,124,1127,0.00,2.25,0.00,0.000,6,0.000,0.019,2451,1869,3371,0,0,0,0,0,0
$GC,1383,-1.23,-77.9,166.5,-8.7,149,1388,0.00,2.40,0.00,0.000,4,0.000,0.043,2452,469,3370,0,0,0,0,0,0
$GC,1421,-1.23,-77.9,170.5,-10.1,152,1427,0.00,2.28,0.00,0.000,6,0.000,0.020,2450,1880,3370,0,0,0,0,0,0
$GC,1684,-1.32,-77.9,195.0,-8.9,177,1689,0.12,2.42,0.00,0.000,4,0.064,0.044,2410,463,3370,0,0,0,0,0,0
$GC,1713,-1.26,-77.9,198.5,-12.4,179,1719,0.12,2.25,0.00,0.000,6,0.098,0.021,2435,1882,3370,0,0,0,0,0,0
$GC,1978,-1.34,-77.9,222.6,-8.3,193,1983,0.00,2.42,0.00,0.000,4,0.000,0.044,2437,470,3370,0,0,0,0,0,0
$GC,2016,-1.38,-77.9,226.0,-8.5,194,2023,0.08,2.28,0.00,0.000,6,0.040,0.021,2400,1883,3370,0,0,0,0,0,0
$GC,2330,-1.38,-77.9,255.7,-8.9,210,2334,0.00,2.45,0.00,0.000,4,0.000,0.045,2401,462,3370,0,0,0,0,0,0
$GC,2444,-1.38,-77.9,266.5,-9.6,215,2448,0.00,2.25,0.00,0.000,6,0.000,0.021,2400,1875,3369,0,0,0,0,0,0
$GC,2773,-1.38,-77.9,297.6,-10.2,231,2777,0.00,2.42,0.00,0.000,4,0.000,0.047,2400,470,3368,0,0,0,0,0,0
$GC,2847,-1.38,-77.9,305.7,-10.6,233,2851,0.00,2.25,0.00,0.000,6,0.000,0.023,2401,1873,3368,0,0,0,0,0,0
$GC,3184,-1.38,-77.9,342.4,-11.3,242,3188,0.00,2.45,0.00,0.000,4,0.000,0.048,2401,463,3365,0,0,0,0,0,0
$GC,3211,-1.38,-77.9,345.8,-11.6,242,3215,0.00,2.30,0.00,0.000,6,0.000,0.025,2399,1871,3365,0,0,0,0,0,0
$GC,3547,-1.42,-77.9,375.8,-8.0,251,3551,0.00,2.45,0.00,0.000,4,0.000,0.051,2399,464,3363,0,0,0,0,0,0
$GC,3663,-1.42,-77.9,385.6,-8.8,253,3667,0.00,2.33,0.00,0.000,6,0.000,0.026,2401,1878,3362,0,0,0,0,0,0
$GC,4003,-1.47,-77.9,411.6,-8.0,262,4007,0.00,2.47,0.00,0.000,4,0.000,0.052,2401,467,3359,0,0,0,0,0,0
$GC,4064,-1.47,-77.9,417.0,-8.9,263,4068,0.00,2.30,0.00,0.000,6,0.000,0.028,2401,1877,3359,0,0,0,0,0,0
$GC,4413,-1.52,-77.9,448.0,-8.8,272,4418,0.00,2.45,0.00,0.000,4,0.000,0.054,2401,471,3357,0,0,0,0,0,0
$STATE,4434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4434,begin apogee
$GC,4442,-0.31,0.0,450.3,9.9,272,4508,1.12,0.00,62.65,0.873,6,0.077,0.000,2643,2004,3050,0,0,0,0,0,0
$STATE,4509,end apogee,CONTROL_FINISHED_OK
$STATE,4509,begin climb
$GC,4511,1.40,77.9,451.9,0.0,274,4586,1.65,2.53,65.07,0.853,4,0.035,0.045,3024,3403,2732,0,0,0,0,0,0
$GC,4651,1.24,136.3,450.9,4.0,277,4708,0.22,2.40,50.42,0.844,6,0.116,0.037,2985,2009,2493,0,0,0,0,0,0
$GC,5053,1.13,136.3,415.3,9.3,287,5058,0.12,2.42,0.00,0.000,4,0.124,0.041,2964,3409,2484,0,0,0,0,0,0
$GC,5235,1.08,136.3,398.8,8.9,291,5239,0.00,2.40,0.00,0.000,6,0.000,0.039,2964,2013,2484,0,0,0,0,0,0
$GC,5562,1.03,136.3,371.8,8.1,299,5567,0.12,2.47,0.00,0.000,4,0.123,0.054,2940,602,2480,0,0,0,0,0,0
$GC,5646,0.95,136.3,364.5,9.3,300,5652,0.00,2.38,0.00,0.000,6,0.000,0.031,2940,2022,2478,0,0,0,0,0,0
$GC,5977,0.95,138.3,338.2,7.9,309,5981,0.00,2.38,0.00,0.000,4,0.000,0.041,2941,3405,2477,0,0,0,0,0,0
$GC,6032,0.97,151.4,334.0,7.1,310,6048,0.00,2.42,11.23,0.753,6,0.000,0.038,2941,2001,2432,0,0,0,0,0,0
$GC,6389,0.97,153.3,306.5,7.9,319,6393,0.00,2.47,0.00,0.000,4,0.000,0.054,2941,597,2428,0,0,0,0,0,0
$GC,6502,0.93,153.3,296.2,8.9,322,6507,0.12,2.38,0.00,0.000,6,0.123,0.031,2920,2018,2427,0,0,0,0,0,0
$GC,6833,1.03,174.2,274.8,6.6,338,6859,0.00,2.45,20.27,0.759,4,0.000,0.040,2920,3398,2339,0,0,0,0,0,0
$GC,6873,1.15,195.3,272.1,6.6,339,6902,0.20,2.42,20.27,0.744,6,0.061,0.035,2968,2002,2252,0,0,0,0,0,0
$GC,7208,1.15,195.3,241.9,9.2,356,7213,0.00,2.45,0.00,0.000,4,0.000,0.052,2968,602,2246,0,0,0,0,0,0
$GC,7286,1.10,195.3,233.8,10.4,359,7290,0.00,2.38,0.00,0.000,6,0.000,0.028,2968,2016,2243,0,0,0,0,0,0
$GC,7601,1.10,195.3,203.5,9.4,374,7605,0.00,2.47,0.00,0.000,4,0.000,0.048,2967,603,2243,0,0,0,0,0,0
$GC,7628,1.05,195.3,200.8,10.2,375,7633,0.12,2.35,0.00,0.000,6,0.127,0.027,2946,2022,2241,0,0,0,0,0,0
$GC,7958,1.16,226.3,176.6,5.9,406,7990,0.00,2.55,26.27,0.680,4,0.000,0.048,2947,598,2126,0,0,0,0,0,0
$GC,8014,1.16,226.3,172.5,8.1,412,8018,0.00,2.38,0.00,0.000,6,0.000,0.025,2946,2016,2123,0,0,0,0,0,0
$GC,8276,1.24,226.3,151.1,8.4,436,8281,0.17,2.50,0.00,0.000,4,0.061,0.047,2993,598,2122,0,0,0,0,0,0
$GC,8384,1.17,226.3,138.0,13.5,447,8389,0.12,2.33,0.00,0.000,6,0.112,0.024,2970,2014,2120,0,0,0,0,0,0
$GC,8646,1.22,226.3,113.7,8.1,471,8647,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2018,2120,0,0,0,0,0,0
$GC,8901,1.29,226.3,90.6,9.1,495,8906,0.12,2.47,0.00,0.000,4,0.068,0.045,3006,594,2119,0,0,0,0,0,0
$GC,8992,1.23,226.3,80.5,11.4,504,8997,0.12,2.30,0.00,0.000,6,0.108,0.022,2983,2019,2119,0,0,0,0,0,0
$GC,9255,1.28,226.3,56.9,8.3,528,9259,0.00,2.25,0.00,0.000,4,0.000,0.028,2983,3398,2119,0,0,0,0,0,0
$GC,9298,1.38,226.3,53.2,9.0,532,9303,0.15,2.30,0.00,0.000,6,0.061,0.028,3026,2003,2119,0,0,0,0,0,0
$GC,9559,1.38,226.3,32.1,9.1,556,9563,0.00,2.35,0.00,0.000,4,0.000,0.042,3025,606,2119,0,0,0,0,0,0
$GC,9584,1.31,226.3,29.8,9.8,558,9592,0.10,2.28,0.00,0.000,6,0.080,0.021,3002,2005,2119,0,0,0,0,0,0
$GC,9792,1.31,226.3,15.3,8.8,595,9798,0.00,2.38,0.00,0.000,4,0.000,0.042,3002,605,2119,0,0,0,0,0,0
$GC,9804,1.31,226.3,14.4,8.2,597,9810,0.00,2.25,0.00,0.000,6,0.000,0.020,3001,2033,2119,0,0,0,0,0,0
$STATE,9948,end climb,SURFACE_DEPTH_REACHED
$STATE,9950,begin surface coast
$FINISH,0.5,1.011200
$STATE,9995,end surface coast,CONTROL_FINISHED_OK
$STATE,9996,begin surface
$SM_CCo,10015,207.73,0.506,0,0,449,637.78
$SM_GC,0.98,0.00,0.00,207.73,0.000,0.000,0.506,422,1859,449,-10.54,-0.45,637.78
$IRIDIUM_FIX,2059.45,-15748.75,150899,090911
$TT8_MAMPS,0.029146
$HUMID,44.32
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.70
$XPDR_PINGS,1
$24V_AH,23.4,29.215
$10V_AH,10.1,27.888
$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,26.650,124.325,256.200,207.725,0.000,141.968,168.880,466.360,4.750,0.000,39.367,1218.637,6772.981,554.198,1860.849,996.130,33.377,1380.570,0.000,1815.218,0.000,29.252,0.000
$DEVICE_MAMPS,134.225,54.457,872.846,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.985,402.324,790.356,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,34961,631
$CAP_FILE_SIZE,128296,0
$CFSIZE,260165632,239599616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210510,122227,2106.004,-15745.510,47,3.1,66,9.8