version: 66.06
glider: 139
mission: 7
dive: 421
start: 6 1 110 20 21 52
data:
$ID,139
$MISSION,7
$DIVE,421
$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,-2136008.8
$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
$GPS1,201352,2106.652,-15750.544,34,10.0,53,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.4
$GPS2,202100,2106.757,-15750.498,122,0.9,122,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,0.020
$KALMAN_X,-107475.9,-195.9,-472.8,115803.4,-706.7
$KALMAN_Y,23022.7,67.1,93.2,-23466.4,-400.5
$MHEAD_RNG_PITCHd_Wd,74.0,13213,-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,16,-1.40,-77.9,0.0,0.0,0,67,0.00,0.00,-48.72,0.000,2,0.000,0.000,424,1877,3132,0,0,0,0,0,0
$GC,69,-1.40,-77.9,3.3,-5.6,9,91,10.55,2.42,-4.57,0.000,4,0.133,0.053,2401,465,3370,0,0,0,0,0,0
$GC,106,-0.59,-77.9,16.1,-30.7,16,114,0.82,2.35,0.00,0.000,6,0.090,0.021,2580,1896,3370,0,0,0,0,0,0
$GC,315,-0.85,-77.9,33.7,-7.7,49,320,0.22,2.45,0.00,0.000,4,0.044,0.042,2513,470,3371,0,0,0,0,0,0
$GC,395,-0.92,-77.9,42.8,-11.4,57,399,0.00,2.25,0.00,0.000,6,0.000,0.019,2514,1884,3372,0,0,0,0,0,0
$GC,659,-1.03,-77.9,70.9,-10.8,81,664,0.10,2.47,0.00,0.000,4,0.075,0.044,2477,461,3372,0,0,0,0,0,0
$GC,838,-1.09,-77.9,92.8,-9.5,100,845,0.00,2.28,0.00,0.000,6,0.000,0.019,2477,1876,3373,0,0,0,0,0,0
$GC,1102,-1.19,-77.9,112.2,-7.5,125,1106,0.00,2.40,0.00,0.000,4,0.000,0.042,2477,463,3374,0,0,0,0,0,0
$GC,1156,-1.29,-77.9,117.2,-8.6,130,1164,0.15,2.28,0.00,0.000,6,0.030,0.019,2421,1876,3375,0,0,0,0,0,0
$GC,1418,-1.29,-77.9,146.6,-12.0,155,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,1882,3375,0,0,0,0,0,0
$GC,1673,-1.29,-77.9,174.2,-9.5,179,1677,0.00,2.40,0.00,0.000,4,0.000,0.042,2420,463,3376,0,0,0,0,0,0
$GC,1726,-1.29,-77.9,179.4,-9.9,184,1731,0.00,2.25,0.00,0.000,6,0.000,0.020,2420,1882,3376,0,0,0,0,0,0
$GC,1992,-1.29,-77.9,205.0,-10.3,207,1996,0.00,2.42,0.00,0.000,4,0.000,0.044,2420,459,3376,0,0,0,0,0,0
$GC,2033,-1.29,-77.9,209.6,-10.2,208,2040,0.00,2.30,0.00,0.000,6,0.000,0.021,2420,1879,3376,0,0,0,0,0,0
$GC,2349,-1.33,-77.9,240.6,-10.0,224,2354,0.00,2.42,0.00,0.000,4,0.000,0.044,2420,465,3376,0,0,0,0,0,0
$GC,2422,-1.33,-77.9,248.2,-10.1,227,2426,0.00,2.28,0.00,0.000,6,0.000,0.021,2419,1884,3376,0,0,0,0,0,0
$GC,2744,-1.39,-77.9,274.9,-8.4,243,2748,0.00,2.42,0.00,0.000,4,0.000,0.045,2420,465,3376,0,0,0,0,0,0
$GC,2817,-1.43,-77.9,282.4,-10.9,246,2821,0.00,2.25,0.00,0.000,6,0.000,0.022,2420,1872,3376,0,0,0,0,0,0
$GC,3156,-1.50,-77.9,312.4,-9.2,260,3161,0.15,2.45,0.00,0.000,4,0.057,0.048,2374,468,3375,0,0,0,0,0,0
$GC,3208,-1.41,-77.9,319.1,-14.2,261,3213,0.15,2.30,0.00,0.000,6,0.094,0.024,2405,1881,3375,0,0,0,0,0,0
$GC,3528,-1.45,-77.9,354.0,-10.6,269,3532,0.00,2.42,0.00,0.000,4,0.000,0.049,2405,471,3373,0,0,0,0,0,0
$GC,3601,-1.45,-77.9,362.1,-10.4,270,3606,0.00,2.28,0.00,0.000,6,0.000,0.025,2406,1875,3373,0,0,0,0,0,0
$GC,3943,-1.50,-77.9,391.9,-8.2,279,3948,0.00,2.42,0.00,0.000,4,0.000,0.051,2405,471,3371,0,0,0,0,0,0
$GC,4008,-1.50,-77.9,398.2,-9.0,280,4012,0.00,2.30,0.00,0.000,6,0.000,0.027,2405,1881,3370,0,0,0,0,0,0
$GC,4354,-1.56,-77.9,429.5,-9.1,289,4359,0.15,2.50,0.00,0.000,4,0.061,0.053,2363,467,3368,0,0,0,0,0,0
$GC,4479,-1.51,-77.9,444.0,-11.5,291,4484,0.12,2.30,0.00,0.000,6,0.104,0.028,2388,1874,3367,0,0,0,0,0,0
$STATE,4564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4564,begin apogee
$GC,4570,-0.31,0.0,452.5,9.9,293,4638,1.20,0.00,64.75,0.872,6,0.074,0.000,2644,2035,3050,0,0,0,0,0,0
$STATE,4639,end apogee,CONTROL_FINISHED_OK
$STATE,4639,begin climb
$GC,4641,1.40,77.9,453.6,0.0,294,4716,1.62,2.42,64.70,0.851,4,0.034,0.043,3022,3377,2732,0,0,0,0,0,0
$GC,4786,1.23,126.0,453.4,4.7,297,4835,0.22,2.38,41.20,0.841,6,0.113,0.036,2984,2006,2535,0,0,0,0,0,0
$GC,5144,1.12,126.0,423.8,8.6,306,5149,0.15,2.47,0.00,0.000,4,0.118,0.052,2956,602,2529,0,0,0,0,0,0
$GC,5211,1.00,126.0,418.0,8.5,307,5216,0.12,2.33,0.00,0.000,6,0.126,0.029,2935,1994,2527,0,0,0,0,0,0
$GC,5556,1.03,147.4,393.9,6.6,316,5580,0.00,2.55,17.80,0.805,4,0.000,0.052,2935,604,2448,0,0,0,0,0,0
$GC,5627,0.98,147.4,388.4,9.0,317,5631,0.00,2.38,0.00,0.000,6,0.000,0.031,2935,2018,2446,0,0,0,0,0,0
$GC,5967,0.98,150.2,361.3,7.8,326,5971,0.00,2.50,0.00,0.000,4,0.000,0.051,2935,604,2443,0,0,0,0,0,0
$GC,6060,0.93,150.2,353.5,8.8,328,6064,0.00,2.38,0.00,0.000,6,0.000,0.030,2935,2016,2441,0,0,0,0,0,0
$GC,6382,0.96,174.6,331.0,6.3,336,6412,0.00,2.58,23.73,0.798,4,0.000,0.052,2935,596,2337,0,0,0,0,0,0
$GC,6480,0.96,174.6,323.5,8.5,338,6484,0.00,2.38,0.00,0.000,6,0.000,0.030,2935,2013,2333,0,0,0,0,0,0
$GC,6794,1.02,183.1,300.0,7.4,346,6807,0.00,2.53,8.20,0.687,4,0.000,0.051,2935,604,2303,0,0,0,0,0,0
$GC,6881,1.02,183.1,292.4,9.3,350,6885,0.00,2.35,0.00,0.000,6,0.000,0.029,2935,2011,2299,0,0,0,0,0,0
$GC,7210,1.08,183.1,266.9,8.2,366,7214,0.00,2.47,0.00,0.000,4,0.000,0.050,2935,603,2299,0,0,0,0,0,0
$GC,7315,1.08,183.1,257.1,8.9,370,7322,0.00,2.38,0.00,0.000,6,0.000,0.028,2935,2014,2297,0,0,0,0,0,0
$GC,7631,1.19,213.1,236.7,6.0,386,7666,0.17,2.58,27.05,0.729,4,0.064,0.048,2979,599,2180,0,0,0,0,0,0
$GC,7809,1.14,213.1,220.5,10.0,393,7815,0.00,2.35,0.00,0.000,6,0.000,0.027,2978,2015,2174,0,0,0,0,0,0
$GC,8127,1.14,213.1,188.8,10.1,414,8131,0.00,2.33,0.00,0.000,4,0.000,0.034,2979,3405,2174,0,0,0,0,0,0
$GC,8234,1.14,213.1,179.1,9.3,425,8239,0.00,2.38,0.00,0.000,6,0.000,0.033,2979,2007,2174,0,0,0,0,0,0
$GC,8498,1.16,235.3,159.2,6.5,449,8525,0.00,2.50,19.98,0.647,4,0.000,0.046,2979,611,2089,0,0,0,0,0,0
$GC,8618,1.13,235.3,148.8,9.8,462,8622,0.00,2.33,0.00,0.000,6,0.000,0.024,2979,2016,2085,0,0,0,0,0,0
$GC,8880,1.16,235.3,125.7,10.0,486,8884,0.00,2.45,0.00,0.000,4,0.000,0.045,2979,604,2085,0,0,0,0,0,0
$GC,8904,1.13,235.3,122.9,12.0,488,8908,0.00,2.30,0.00,0.000,6,0.000,0.023,2979,2015,2084,0,0,0,0,0,0
$GC,9171,1.17,235.3,96.0,9.9,513,9172,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2020,2084,0,0,0,0,0,0
$GC,9426,1.23,235.3,72.8,10.7,537,9430,0.00,2.45,0.00,0.000,4,0.000,0.044,2979,598,2084,0,0,0,0,0,0
$GC,9494,1.23,235.3,64.4,11.8,544,9498,0.00,2.30,0.00,0.000,6,0.000,0.021,2979,2019,2083,0,0,0,0,0,0
$GC,9762,1.32,248.8,41.7,7.1,569,9781,0.10,0.00,12.62,0.521,6,0.077,0.000,3011,2025,2034,0,0,0,0,0,0
$GC,10038,1.33,253.2,20.0,7.7,606,10050,0.00,2.47,5.25,0.410,4,0.000,0.042,3011,597,2016,0,0,0,0,0,0
$GC,10138,1.33,253.2,11.8,8.9,627,10144,0.00,2.28,0.00,0.000,6,0.000,0.021,3011,2023,2014,0,0,0,0,0,0
$STATE,10238,end climb,SURFACE_DEPTH_REACHED
$STATE,10238,begin surface coast
$FINISH,0.8,1.022941
$STATE,10266,end surface coast,CONTROL_FINISHED_OK
$STATE,10266,begin surface
$SM_CCo,10287,25.27,0.509,0,0,1827,300.00
$SM_GC,1.33,0.00,0.00,25.27,0.000,0.000,0.509,425,1857,1827,-10.53,-0.51,300.00
$IRIDIUM_FIX,2059.45,-15748.75,260899,171723
$TT8_MAMPS,0.029146
$HUMID,48.97
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,37.277
$10V_AH,10.0,35.331
$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,27.150,119.850,285.275,25.275,0.000,30.766,26.857,156.785,4.500,0.000,122.747,1263.957,6636.302,366.455,2057.823,416.651,33.373,1224.452,0.000,1926.544,0.000,30.863,0.000
$DEVICE_MAMPS,132.691,52.923,872.079,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,438.823,420.633,824.674,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,38095,650
$CAP_FILE_SIZE,120428,0
$CFSIZE,260165632,234205184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,010610,231528,2106.692,-15749.661,48,2.6,67,9.8