version: 66.06
glider: 139
mission: 7
dive: 334
start: 5 21 110 21 58 57
data:
$ID,139
$MISSION,7
$DIVE,334
$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,-2132970.5
$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
$GPS1,213927,2105.735,-15744.321,46,4.2,65,9.8
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-60.8
$GPS2,215806,2105.840,-15744.398,12,1.2,28,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.180,-0.038
$KALMAN_X,-13134.8,-246.5,-589.8,32170.3,-277.5
$KALMAN_Y,20486.9,-158.1,-24.2,-22281.2,392.7
$MHEAD_RNG_PITCHd_Wd,92.2,2558,-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,-77.9,0.0,0.0,0,123,0.00,0.00,-105.20,0.000,2,0.000,0.000,421,1898,3280,0,0,0,0,0,0
$GC,126,-1.40,-77.9,3.2,-4.6,20,144,10.60,2.45,-1.80,0.000,4,0.133,0.048,2402,461,3369,0,0,0,0,0,0
$GC,186,-1.12,-77.9,20.4,-22.4,32,193,0.28,2.35,0.00,0.000,6,0.081,0.020,2468,1904,3370,0,0,0,0,0,0
$GC,395,-1.12,-77.9,48.2,-12.4,56,399,0.00,2.50,0.00,0.000,4,0.000,0.044,2469,462,3370,0,0,0,0,0,0
$GC,464,-1.12,-77.9,57.7,-12.7,63,468,0.00,2.28,0.00,0.000,6,0.000,0.020,2468,1886,3370,0,0,0,0,0,0
$GC,727,-1.17,-77.9,90.8,-12.6,87,731,0.00,2.25,0.00,0.000,4,0.000,0.025,2468,3268,3370,0,0,0,0,0,0
$GC,788,-1.32,-77.9,98.0,-10.9,93,793,0.17,2.35,0.00,0.000,6,0.050,0.028,2413,1867,3371,0,0,0,0,0,0
$GC,1050,-1.27,-77.9,131.5,-11.8,117,1052,0.10,0.00,0.00,0.000,6,0.108,0.000,2435,1866,3371,0,0,0,0,0,0
$GC,1305,-1.27,-77.9,159.8,-10.6,141,1312,0.00,2.35,0.00,0.000,4,0.000,0.043,2435,471,3371,0,0,0,0,0,0
$GC,1376,-1.27,-77.9,168.0,-11.0,148,1382,0.00,2.28,0.00,0.000,6,0.000,0.020,2435,1876,3371,0,0,0,0,0,0
$GC,1638,-1.32,-77.9,194.7,-10.4,173,1642,0.00,2.25,0.00,0.000,4,0.000,0.026,2430,3268,3371,0,0,0,0,0,0
$GC,1657,-1.39,-77.9,196.9,-10.3,174,1664,0.08,2.35,0.00,0.000,6,0.038,0.028,2397,1874,3371,0,0,0,0,0,0
$GC,1923,-1.36,-77.9,226.7,-10.5,189,1927,0.00,2.40,0.00,0.000,4,0.000,0.043,2397,466,3371,0,0,0,0,0,0
$GC,1951,-1.28,-77.9,230.2,-12.0,190,1955,0.17,2.25,0.00,0.000,6,0.088,0.021,2434,1879,3371,0,0,0,0,0,0
$GC,2276,-1.36,-77.9,259.3,-9.1,206,2280,0.00,2.42,0.00,0.000,4,0.000,0.045,2434,469,3370,0,0,0,0,0,0
$GC,2358,-1.43,-77.9,267.9,-10.9,209,2363,0.15,2.22,0.00,0.000,6,0.055,0.021,2385,1874,3370,0,0,0,0,0,0
$GC,2676,-1.43,-77.9,300.6,-10.4,224,2680,0.00,2.42,0.00,0.000,4,0.000,0.047,2385,466,3369,0,0,0,0,0,0
$GC,2713,-1.38,-77.9,305.0,-11.3,224,2719,0.12,2.28,0.00,0.000,6,0.098,0.022,2411,1871,3369,0,0,0,0,0,0
$GC,3045,-1.45,-77.9,333.6,-8.6,233,3049,0.00,2.40,0.00,0.000,4,0.000,0.048,2410,473,3368,0,0,0,0,0,0
$GC,3166,-1.48,-77.9,345.3,-9.4,235,3170,0.00,2.28,0.00,0.000,6,0.000,0.024,2412,1881,3367,0,0,0,0,0,0
$GC,3502,-1.55,-77.9,370.5,-7.3,244,3507,0.17,2.45,0.00,0.000,4,0.054,0.051,2362,475,3364,0,0,0,0,0,0
$GC,3586,-1.46,-77.9,379.0,-11.3,245,3592,0.17,2.30,0.00,0.000,6,0.091,0.026,2396,1877,3364,0,0,0,0,0,0
$GC,3917,-1.50,-77.9,408.1,-8.6,254,3921,0.00,2.47,0.00,0.000,4,0.000,0.053,2396,468,3361,0,0,0,0,0,0
$GC,3995,-1.50,-77.9,416.0,-10.1,255,3999,0.00,2.30,0.00,0.000,6,0.000,0.028,2397,1872,3361,0,0,0,0,0,0
$GC,4326,-1.55,-77.9,443.4,-8.0,263,4331,0.00,2.47,0.00,0.000,4,0.000,0.056,2396,472,3358,0,0,0,0,0,0
$STATE,4403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4403,begin apogee
$GC,4410,-0.31,0.0,450.1,8.5,264,4476,1.12,0.00,62.78,0.874,6,0.076,0.000,2640,2004,3050,0,0,0,0,0,0
$STATE,4477,end apogee,CONTROL_FINISHED_OK
$STATE,4477,begin climb
$GC,4479,1.40,77.9,451.0,0.0,266,4554,1.65,2.55,64.43,0.853,4,0.033,0.045,3024,3415,2731,0,0,0,0,0,0
$GC,4800,1.22,114.0,438.1,5.5,273,4839,0.22,2.40,30.73,0.839,6,0.110,0.038,2983,2013,2584,0,0,0,0,0,0
$GC,5163,1.12,130.0,413.9,6.9,282,5184,0.12,2.58,13.80,0.792,4,0.121,0.054,2956,605,2520,0,0,0,0,0,0
$GC,5256,0.99,133.2,406.7,7.8,284,5266,0.15,2.38,4.10,0.542,6,0.120,0.031,2933,2020,2507,0,0,0,0,0,0
$GC,5585,1.03,163.4,386.5,5.9,292,5618,0.00,2.58,27.35,0.833,4,0.000,0.054,2932,600,2383,0,0,0,0,0,0
$GC,5726,0.99,163.4,375.3,8.5,295,5731,0.00,2.38,0.00,0.000,6,0.000,0.031,2933,2014,2377,0,0,0,0,0,0
$GC,6049,1.02,163.4,347.6,8.9,303,6053,0.00,2.50,0.00,0.000,4,0.000,0.053,2932,605,2375,0,0,0,0,0,0
$GC,6104,1.02,163.4,342.0,9.7,304,6108,0.00,2.38,0.00,0.000,6,0.000,0.031,2934,2015,2373,0,0,0,0,0,0
$GC,6417,1.05,163.4,316.1,8.2,312,6421,0.00,2.50,0.00,0.000,4,0.000,0.052,2932,602,2373,0,0,0,0,0,0
$GC,6478,1.05,163.4,310.4,9.1,313,6482,0.00,2.35,0.00,0.000,6,0.000,0.031,2934,2012,2371,0,0,0,0,0,0
$GC,6810,1.11,163.4,282.5,8.4,326,6814,0.00,2.47,0.00,0.000,4,0.000,0.051,2933,602,2370,0,0,0,0,0,0
$GC,6956,1.11,163.4,270.3,8.8,332,6960,0.00,2.35,0.00,0.000,6,0.000,0.029,2934,2020,2369,0,0,0,0,0,0
$GC,7273,1.21,197.4,251.7,5.7,347,7310,0.20,2.55,28.48,0.755,4,0.061,0.048,2984,604,2244,0,0,0,0,0,0
$GC,7317,1.15,197.4,248.3,8.5,349,7322,0.00,2.40,0.00,0.000,6,0.000,0.028,2984,2021,2241,0,0,0,0,0,0
$GC,7647,1.15,197.4,218.2,8.9,365,7651,0.00,2.35,0.00,0.000,4,0.000,0.034,2983,3411,2239,0,0,0,0,0,0
$GC,7725,1.15,197.4,211.2,8.7,368,7729,0.00,2.38,0.00,0.000,6,0.000,0.033,2984,2007,2239,0,0,0,0,0,0
$GC,8046,1.15,197.4,181.7,9.3,391,8047,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2007,2238,0,0,0,0,0,0
$GC,8301,1.15,197.4,159.4,9.1,415,8305,0.00,2.35,0.00,0.000,4,0.000,0.031,2984,3415,2237,0,0,0,0,0,0
$GC,8334,1.15,197.4,155.9,10.7,418,8338,0.00,2.38,0.00,0.000,6,0.000,0.031,2979,2007,2237,0,0,0,0,0,0
$GC,8595,1.15,197.4,130.2,8.7,442,8599,0.00,2.40,0.00,0.000,4,0.000,0.045,2984,604,2237,0,0,0,0,0,0
$GC,8641,1.10,197.4,125.5,10.1,446,8648,0.10,2.33,0.00,0.000,6,0.088,0.023,2960,2014,2235,0,0,0,0,0,0
$GC,8903,1.18,208.8,106.0,7.2,471,8923,0.00,2.35,9.98,0.556,4,0.000,0.029,2961,3392,2198,0,0,0,0,0,0
$GC,8945,1.27,215.7,102.7,7.5,475,8958,0.15,2.33,7.80,0.523,6,0.060,0.028,3002,2007,2170,0,0,0,0,0,0
$GC,9214,1.27,215.7,78.6,8.4,500,9215,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2007,2168,0,0,0,0,0,0
$GC,9470,1.27,215.7,56.2,9.5,524,9474,0.00,2.30,0.00,0.000,4,0.000,0.028,3003,3403,2168,0,0,0,0,0,0
$GC,9529,1.28,219.8,51.2,7.7,530,9540,0.00,2.30,5.15,0.427,6,0.000,0.027,3002,2008,2152,0,0,0,0,0,0
$GC,9794,1.28,219.8,30.8,8.7,555,9799,0.00,2.38,0.00,0.000,4,0.000,0.042,3003,602,2152,0,0,0,0,0,0
$GC,9979,1.24,219.8,13.2,9.5,594,9986,0.00,2.30,0.00,0.000,6,0.000,0.021,3003,2019,2150,0,0,0,0,0,0
$STATE,10107,end climb,SURFACE_DEPTH_REACHED
$STATE,10107,begin surface coast
$FINISH,0.5,1.010205
$STATE,10152,end surface coast,CONTROL_FINISHED_OK
$STATE,10152,begin surface
$SM_CCo,10171,41.90,0.514,0,0,1826,300.00
$SM_GC,1.96,0.00,0.00,41.90,0.000,0.000,0.514,425,1864,1826,-10.53,-0.31,300.00
$IRIDIUM_FIX,2059.45,-15741.46,150899,212122
$TT8_MAMPS,0.029146
$HUMID,47.79
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,29.625
$10V_AH,10.0,28.225
$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,26.825,119.400,254.575,41.900,0.000,87.142,109.725,576.820,4.500,0.000,29.322,1213.388,6776.426,395.290,1888.085,1059.775,33.379,1233.579,0.000,1850.082,0.000,29.262,0.000
$DEVICE_MAMPS,133.458,55.991,873.613,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.024,398.802,784.738,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355788
$DATA_FILE_SIZE,34930,625
$CAP_FILE_SIZE,127338,0
$CFSIZE,260165632,239370240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220510,005846,2105.705,-15743.501,520,2.8,539,9.8