version: 66.06
glider: 139
mission: 7
dive: 332
start: 5 21 110 15 40 8
data:
$ID,139
$MISSION,7
$DIVE,332
$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,-2132902.2
$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
$GPS1,153227,2106.189,-15744.738,82,3.8,101,9.8
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.1
$GPS2,153917,2106.205,-15744.710,49,2.5,68,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.016
$KALMAN_X,-10897.9,-247.7,632.7,28170.4,-2015.6
$KALMAN_Y,20131.8,38.0,-65.2,-21412.1,170.6
$MHEAD_RNG_PITCHd_Wd,85.2,3179,-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,-53.42,0.000,2,0.000,0.000,422,1871,3229,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.7,-6.2,10,91,10.73,0.00,-2.62,0.000,6,0.137,0.000,2407,1872,3370,0,0,0,0,0,0
$GC,293,-1.25,-77.9,47.2,-15.9,40,298,0.15,2.42,0.00,0.000,4,0.103,0.046,2437,467,3372,0,0,0,0,0,0
$GC,354,-1.18,-77.9,55.9,-13.7,46,359,0.00,2.30,0.00,0.000,6,0.000,0.020,2437,1910,3372,0,0,0,0,0,0
$GC,615,-1.18,-77.9,88.6,-12.1,70,619,0.10,2.22,0.00,0.000,4,0.117,0.025,2457,3274,3374,0,0,0,0,0,0
$GC,650,-1.28,-77.9,92.1,-10.7,73,654,0.00,2.33,0.00,0.000,6,0.000,0.028,2453,1872,3374,0,0,0,0,0,0
$GC,913,-1.33,-77.9,120.3,-10.4,97,918,0.15,2.40,0.00,0.000,4,0.056,0.044,2408,467,3374,0,0,0,0,0,0
$GC,1006,-1.24,-77.9,133.9,-15.9,106,1013,0.12,2.28,0.00,0.000,6,0.071,0.020,2440,1868,3375,0,0,0,0,0,0
$GC,1268,-1.29,-77.9,161.3,-9.4,131,1271,0.00,2.40,0.00,0.000,4,0.000,0.043,2440,461,3375,0,0,0,0,0,0
$GC,1324,-1.29,-77.9,167.3,-11.1,137,1328,0.00,2.25,0.00,0.000,6,0.000,0.020,2441,1879,3375,0,0,0,0,0,0
$GC,1587,-1.35,-77.9,192.5,-9.4,161,1591,0.00,2.40,0.00,0.000,4,0.000,0.044,2441,468,3376,0,0,0,0,0,0
$GC,1639,-1.35,-77.9,197.6,-10.1,166,1643,0.00,2.25,0.00,0.000,6,0.000,0.021,2440,1883,3376,0,0,0,0,0,0
$GC,1895,-1.41,-77.9,220.3,-8.8,179,1900,0.15,2.42,0.00,0.000,4,0.057,0.044,2393,470,3376,0,0,0,0,0,0
$GC,1909,-1.41,-77.9,222.3,-9.6,179,1915,0.00,2.25,0.00,0.000,6,0.000,0.021,2392,1894,3376,0,0,0,0,0,0
$GC,2225,-1.41,-77.9,259.0,-11.9,195,2229,0.00,2.45,0.00,0.000,4,0.000,0.044,2393,469,3376,0,0,0,0,0,0
$GC,2252,-1.33,-77.9,262.5,-12.5,196,2257,0.15,2.22,0.00,0.000,6,0.093,0.021,2424,1870,3376,0,0,0,0,0,0
$GC,2574,-1.39,-77.9,286.5,-7.3,212,2578,0.00,2.42,0.00,0.000,4,0.000,0.046,2424,466,3376,0,0,0,0,0,0
$GC,2648,-1.44,-77.9,293.0,-8.2,215,2653,0.12,2.28,0.00,0.000,6,0.064,0.022,2384,1880,3376,0,0,0,0,0,0
$GC,2986,-1.44,-77.9,326.0,-9.8,226,2990,0.00,2.42,0.00,0.000,4,0.000,0.048,2381,467,3375,0,0,0,0,0,0
$GC,3050,-1.44,-77.9,333.4,-11.3,227,3054,0.00,2.30,0.00,0.000,6,0.000,0.024,2383,1880,3375,0,0,0,0,0,0
$GC,3398,-1.44,-77.9,369.5,-10.4,236,3402,0.00,2.45,0.00,0.000,4,0.000,0.049,2384,470,3373,0,0,0,0,0,0
$GC,3435,-1.40,-77.9,373.5,-11.3,236,3441,0.12,2.28,0.00,0.000,6,0.101,0.025,2408,1873,3373,0,0,0,0,0,0
$GC,3766,-1.46,-77.9,404.3,-9.2,245,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1879,3371,0,0,0,0,0,0
$GC,4092,-1.53,-77.9,430.6,-7.7,253,4096,0.12,2.47,0.00,0.000,4,0.068,0.054,2371,474,3369,0,0,0,0,0,0
$GC,4190,-1.48,-77.9,439.6,-8.3,255,4194,0.00,2.30,0.00,0.000,6,0.000,0.028,2372,1869,3368,0,0,0,0,0,0
$STATE,4343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4343,begin apogee
$GC,4349,-0.31,0.0,453.6,9.1,259,4417,1.27,0.00,64.75,0.871,6,0.075,0.000,2644,2030,3050,0,0,0,0,0,0
$STATE,4418,end apogee,CONTROL_FINISHED_OK
$STATE,4418,begin climb
$GC,4420,1.40,77.9,454.4,0.0,260,4494,1.65,2.45,64.93,0.849,4,0.033,0.045,3024,3383,2732,0,0,0,0,0,0
$GC,4527,1.25,143.5,453.4,3.5,263,4590,0.20,2.38,55.92,0.842,6,0.117,0.035,2990,2008,2465,0,0,0,0,0,0
$GC,4915,1.14,143.5,410.6,12.6,272,4920,0.15,2.40,0.00,0.000,4,0.118,0.041,2964,3391,2456,0,0,0,0,0,0
$GC,4962,1.11,143.5,405.2,10.3,273,4966,0.00,2.38,0.00,0.000,6,0.000,0.038,2963,2007,2456,0,0,0,0,0,0
$GC,5284,1.06,143.5,374.2,9.1,281,5288,0.00,2.38,0.00,0.000,4,0.000,0.041,2962,3385,2453,0,0,0,0,0,0
$GC,5335,1.02,143.5,369.5,8.2,282,5340,0.15,2.38,0.00,0.000,6,0.111,0.038,2936,2001,2453,0,0,0,0,0,0
$GC,5659,1.03,151.1,344.6,7.5,290,5671,0.00,2.42,5.38,0.622,4,0.000,0.039,2936,3392,2433,0,0,0,0,0,0
$GC,5694,1.05,169.8,342.2,6.7,290,5718,0.00,2.40,18.00,0.784,6,0.000,0.038,2936,2008,2356,0,0,0,0,0,0
$GC,6033,1.10,174.0,316.4,7.7,299,6044,0.00,2.47,4.38,0.545,4,0.000,0.052,2936,604,2340,0,0,0,0,0,0
$GC,6174,1.10,174.0,305.2,9.0,302,6178,0.00,2.35,0.00,0.000,6,0.000,0.029,2936,2001,2336,0,0,0,0,0,0
$GC,6501,1.15,174.0,276.8,8.3,316,6506,0.12,2.47,0.00,0.000,4,0.077,0.051,2966,604,2336,0,0,0,0,0,0
$GC,6579,1.08,174.0,269.2,9.4,319,6583,0.00,2.35,0.00,0.000,6,0.000,0.028,2967,2019,2334,0,0,0,0,0,0
$GC,6895,1.09,187.8,245.7,7.1,334,6917,0.00,2.53,12.73,0.708,4,0.000,0.048,2967,594,2282,0,0,0,0,0,0
$GC,6927,1.05,187.8,243.0,8.5,335,6932,0.12,2.40,0.00,0.000,6,0.124,0.028,2945,2019,2281,0,0,0,0,0,0
$GC,7250,1.10,187.8,216.8,8.9,351,7254,0.00,2.50,0.00,0.000,4,0.000,0.049,2944,596,2280,0,0,0,0,0,0
$GC,7332,1.10,187.8,208.2,9.7,354,7339,0.00,2.38,0.00,0.000,6,0.000,0.027,2945,2008,2278,0,0,0,0,0,0
$GC,7655,1.20,218.2,185.6,5.9,380,7691,0.12,2.53,27.27,0.682,4,0.074,0.046,2979,598,2158,0,0,0,0,0,0
$GC,7751,1.14,218.2,176.0,11.1,390,7757,0.00,2.38,0.00,0.000,6,0.000,0.025,2979,2016,2155,0,0,0,0,0,0
$GC,8013,1.14,218.2,150.6,10.6,415,8017,0.00,2.47,0.00,0.000,4,0.000,0.046,2979,599,2154,0,0,0,0,0,0
$GC,8110,1.14,218.2,138.9,12.3,425,8115,0.00,2.33,0.00,0.000,6,0.000,0.024,2979,2015,2151,0,0,0,0,0,0
$GC,8374,1.14,218.2,113.8,8.5,449,8378,0.00,2.45,0.00,0.000,4,0.000,0.044,2979,601,2151,0,0,0,0,0,0
$GC,8480,1.14,218.2,103.4,10.7,460,8484,0.00,2.30,0.00,0.000,6,0.000,0.022,2978,2020,2151,0,0,0,0,0,0
$GC,8742,1.20,232.7,83.4,7.0,484,8760,0.00,0.00,12.90,0.555,6,0.000,0.000,2978,2026,2101,0,0,0,0,0,0
$GC,9018,1.26,236.2,63.2,7.8,510,9029,0.00,2.30,4.82,0.421,4,0.000,0.027,2979,3405,2086,0,0,0,0,0,0
$GC,9059,1.33,236.9,59.8,8.0,514,9064,0.12,2.38,0.00,0.000,6,0.067,0.028,3018,1992,2086,0,0,0,0,0,0
$GC,9321,1.33,236.9,36.3,8.2,538,9325,0.00,2.38,0.00,0.000,4,0.000,0.042,3016,601,2086,0,0,0,0,0,0
$GC,9436,1.28,236.9,25.7,9.4,555,9442,0.12,2.28,0.00,0.000,6,0.109,0.020,2993,2028,2084,0,0,0,0,0,0
$GC,9640,1.33,236.9,9.5,8.4,592,9647,0.00,2.45,0.00,0.000,4,0.000,0.041,2993,609,2084,0,0,0,0,0,0
$STATE,9710,end climb,SURFACE_DEPTH_REACHED
$STATE,9710,begin surface coast
$FINISH,0.4,1.020193
$STATE,9733,end surface coast,CONTROL_FINISHED_OK
$STATE,9733,begin surface
$SM_CCo,9754,31.98,0.508,0,0,1827,300.00
$SM_GC,1.23,0.00,0.00,31.98,0.000,0.000,0.508,425,1901,1827,-10.53,0.74,300.00
$IRIDIUM_FIX,2059.45,-15743.60,150899,121247
$TT8_MAMPS,0.029146
$HUMID,47.24
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,29.388
$10V_AH,10.0,28.050
$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,26.900,118.625,271.075,31.975,0.000,30.168,31.022,194.003,4.500,0.000,69.440,1186.647,6394.162,372.042,1817.172,427.850,33.376,1155.679,0.000,1741.097,0.000,30.178,0.000
$DEVICE_MAMPS,137.293,53.690,871.312,507.754,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.995,391.916,772.819,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355612
$DATA_FILE_SIZE,34895,612
$CAP_FILE_SIZE,115366,0
$CFSIZE,260165632,239501312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4
$GPS,210510,182527,2106.092,-15744.342,76,3.6,95,9.8