version: 66.06
glider: 139
mission: 7
dive: 333
start: 5 21 110 18 46 7
data:
$ID,139
$MISSION,7
$DIVE,333
$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,-2132940.5
$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
$GPS1,182527,2106.092,-15744.342,76,3.6,95,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.1
$GPS2,184516,2106.144,-15744.474,17,3.2,36,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.173,-0.061
$KALMAN_X,-11856.7,-355.7,50.7,30226.4,-1624.8
$KALMAN_Y,20470.1,-65.5,-228.3,-21592.2,614.6
$MHEAD_RNG_PITCHd_Wd,99.7,2756,-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,-77.9,0.0,0.0,0,70,0.00,0.00,-51.70,0.000,2,0.000,0.000,424,1901,3183,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.1,-5.1,10,94,10.57,2.35,-3.70,0.000,4,0.133,0.039,2403,3299,3370,0,0,0,0,0,0
$GC,113,-0.95,-77.9,16.1,-28.9,18,120,0.43,2.45,0.00,0.000,6,0.074,0.031,2504,1869,3371,0,0,0,0,0,0
$GC,318,-1.04,-77.9,39.7,-10.4,47,323,0.00,2.40,0.00,0.000,4,0.000,0.044,2504,470,3371,0,0,0,0,0,0
$GC,397,-1.10,-77.9,48.2,-10.6,55,402,0.15,2.33,0.00,0.000,6,0.057,0.019,2453,1916,3372,0,0,0,0,0,0
$GC,660,-1.10,-77.9,80.4,-12.3,79,664,0.10,2.22,0.00,0.000,4,0.108,0.025,2473,3272,3372,0,0,0,0,0,0
$GC,679,-1.16,-77.9,83.2,-12.7,80,686,0.00,2.35,0.00,0.000,6,0.000,0.029,2472,1879,3372,0,0,0,0,0,0
$GC,942,-1.23,-77.9,112.1,-10.6,105,944,0.12,0.00,0.00,0.000,6,0.062,0.000,2428,1879,3373,0,0,0,0,0,0
$GC,1197,-1.23,-77.9,141.5,-11.4,129,1201,0.00,2.40,0.00,0.000,4,0.000,0.044,2427,470,3373,0,0,0,0,0,0
$GC,1344,-1.19,-77.9,160.0,-10.2,145,1348,0.12,2.22,0.00,0.000,6,0.097,0.019,2453,1876,3374,0,0,0,0,0,0
$GC,1605,-1.26,-77.9,183.1,-9.1,169,1610,0.00,2.42,0.00,0.000,4,0.000,0.044,2453,463,3373,0,0,0,0,0,0
$GC,1667,-1.34,-77.9,189.1,-8.9,175,1672,0.15,2.25,0.00,0.000,6,0.054,0.020,2402,1875,3374,0,0,0,0,0,0
$GC,1933,-1.34,-77.9,217.2,-9.5,192,1938,0.10,2.40,0.00,0.000,4,0.108,0.044,2422,470,3374,0,0,0,0,0,0
$GC,1954,-1.34,-77.9,219.1,-9.7,193,1958,0.00,2.25,0.00,0.000,6,0.000,0.021,2422,1876,3374,0,0,0,0,0,0
$GC,2286,-1.39,-77.9,250.2,-8.9,209,2290,0.00,2.40,0.00,0.000,4,0.000,0.044,2422,466,3374,0,0,0,0,0,0
$GC,2364,-1.43,-77.9,258.1,-9.7,212,2368,0.00,2.28,0.00,0.000,6,0.000,0.021,2422,1881,3374,0,0,0,0,0,0
$GC,2681,-1.50,-77.9,284.6,-8.4,227,2686,0.15,2.42,0.00,0.000,4,0.057,0.047,2374,471,3373,0,0,0,0,0,0
$GC,2764,-1.43,-77.9,294.2,-11.4,230,2772,0.08,2.30,0.00,0.000,6,0.077,0.023,2396,1874,3373,0,0,0,0,0,0
$GC,3076,-1.43,-77.9,321.9,-8.6,240,3081,0.00,2.40,0.00,0.000,4,0.000,0.048,2395,472,3372,0,0,0,0,0,0
$GC,3099,-1.43,-77.9,324.3,-10.2,240,3103,0.00,2.30,0.00,0.000,6,0.000,0.024,2396,1884,3372,0,0,0,0,0,0
$GC,3445,-1.47,-77.9,355.3,-9.3,249,3449,0.00,2.47,0.00,0.000,4,0.000,0.050,2395,464,3370,0,0,0,0,0,0
$GC,3519,-1.47,-77.9,363.1,-9.5,250,3523,0.00,2.30,0.00,0.000,6,0.000,0.025,2396,1870,3370,0,0,0,0,0,0
$GC,3854,-1.50,-77.9,394.5,-9.2,259,3858,0.00,2.45,0.00,0.000,4,0.000,0.052,2395,473,3367,0,0,0,0,0,0
$GC,3891,-1.50,-77.9,398.2,-9.7,259,3896,0.00,2.30,0.00,0.000,6,0.000,0.027,2396,1881,3367,0,0,0,0,0,0
$GC,4221,-1.55,-77.9,428.9,-9.3,268,4226,0.00,2.47,0.00,0.000,4,0.000,0.054,2395,474,3364,0,0,0,0,0,0
$GC,4313,-1.55,-77.9,438.6,-10.4,270,4317,0.00,2.30,0.00,0.000,6,0.000,0.028,2395,1876,3363,0,0,0,0,0,0
$STATE,4471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4471,begin apogee
$GC,4477,-0.31,0.0,452.7,8.8,274,4544,1.15,0.00,63.83,0.874,6,0.072,0.000,2643,2033,3050,0,0,0,0,0,0
$STATE,4545,end apogee,CONTROL_FINISHED_OK
$STATE,4545,begin climb
$GC,4547,1.40,77.9,453.9,0.0,275,4621,1.62,2.45,64.85,0.851,4,0.032,0.046,3018,3383,2732,0,0,0,0,0,0
$GC,4682,1.25,146.2,454.0,3.3,278,4749,0.20,2.38,58.70,0.845,6,0.109,0.037,2987,2004,2454,0,0,0,0,0,0
$GC,5090,1.15,146.2,415.4,10.5,288,5095,0.12,2.47,0.00,0.000,4,0.117,0.054,2963,605,2444,0,0,0,0,0,0
$GC,5127,1.02,146.2,411.0,11.8,288,5134,0.15,2.35,0.00,0.000,6,0.115,0.030,2938,1993,2442,0,0,0,0,0,0
$GC,5458,1.02,146.2,381.4,8.7,297,5462,0.00,2.47,0.00,0.000,4,0.000,0.054,2936,604,2440,0,0,0,0,0,0
$GC,5536,0.96,146.2,374.1,9.0,298,5541,0.00,2.35,0.00,0.000,6,0.000,0.031,2938,2014,2438,0,0,0,0,0,0
$GC,5867,0.96,146.2,346.4,8.4,306,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2018,2437,0,0,0,0,0,0
$GC,6192,0.96,146.2,320.9,8.1,314,6196,0.00,2.47,0.00,0.000,4,0.000,0.052,2937,601,2435,0,0,0,0,0,0
$GC,6275,0.92,146.2,312.9,9.8,315,6281,0.12,2.38,0.00,0.000,6,0.116,0.030,2915,2016,2433,0,0,0,0,0,0
$GC,6587,1.04,186.5,293.6,5.2,326,6625,0.10,2.45,32.53,0.788,4,0.085,0.040,2941,3407,2288,0,0,0,0,0,0
$GC,6665,1.09,197.6,288.6,7.3,329,6681,0.00,2.42,11.20,0.710,6,0.000,0.037,2941,2012,2244,0,0,0,0,0,0
$GC,7012,1.15,199.4,262.2,7.9,346,7017,0.10,2.50,0.00,0.000,4,0.084,0.052,2967,602,2238,0,0,0,0,0,0
$GC,7171,1.09,199.4,246.0,11.1,353,7176,0.00,2.35,0.00,0.000,6,0.000,0.028,2967,2016,2234,0,0,0,0,0,0
$GC,7502,1.09,199.4,218.4,8.3,369,7506,0.00,2.47,0.00,0.000,4,0.000,0.049,2967,595,2234,0,0,0,0,0,0
$GC,7572,1.05,199.4,212.4,8.7,372,7577,0.12,2.38,0.00,0.000,6,0.117,0.027,2945,2022,2232,0,0,0,0,0,0
$GC,7903,1.12,199.4,186.2,8.7,395,7907,0.00,2.45,0.00,0.000,4,0.000,0.047,2945,601,2232,0,0,0,0,0,0
$GC,7990,1.12,199.4,177.9,8.5,404,7995,0.00,2.30,0.00,0.000,6,0.000,0.025,2945,2015,2232,0,0,0,0,0,0
$GC,8252,1.22,212.1,158.4,7.1,428,8272,0.15,2.53,12.02,0.617,4,0.064,0.046,2987,603,2184,0,0,0,0,0,0
$GC,8375,1.15,212.1,145.9,10.3,441,8380,0.12,2.30,0.00,0.000,6,0.112,0.023,2964,2015,2181,0,0,0,0,0,0
$GC,8637,1.22,212.1,124.6,8.8,465,8641,0.00,2.45,0.00,0.000,4,0.000,0.044,2964,600,2181,0,0,0,0,0,0
$GC,8761,1.22,212.1,112.4,9.2,478,8766,0.00,2.28,0.00,0.000,6,0.000,0.022,2962,2013,2181,0,0,0,0,0,0
$GC,9023,1.29,221.6,91.1,7.4,502,9035,0.15,0.00,9.57,0.535,6,0.061,0.000,3007,2018,2146,0,0,0,0,0,0
$GC,9291,1.29,221.6,67.9,8.6,527,9295,0.00,2.30,0.00,0.000,4,0.000,0.028,3008,3404,2146,0,0,0,0,0,0
$GC,9324,1.29,221.6,64.9,8.6,530,9328,0.00,2.35,0.00,0.000,6,0.000,0.027,3007,1995,2145,0,0,0,0,0,0
$GC,9592,1.29,225.5,42.9,7.8,555,9603,0.00,2.35,5.38,0.427,4,0.000,0.025,3008,3407,2129,0,0,0,0,0,0
$GC,9632,1.33,225.5,39.3,10.0,559,9636,0.00,2.33,0.00,0.000,6,0.000,0.028,3007,2007,2129,0,0,0,0,0,0
$GC,9900,1.33,225.5,16.6,8.9,597,9905,0.00,2.40,0.00,0.000,4,0.000,0.042,3007,598,2129,0,0,0,0,0,0
$STATE,10034,end climb,SURFACE_DEPTH_REACHED
$STATE,10034,begin surface coast
$FINISH,0.6,1.022937
$STATE,10065,end surface coast,CONTROL_FINISHED_OK
$STATE,10065,begin surface
$SM_CCo,10087,211.68,0.506,0,0,449,637.78
$SM_GC,1.07,0.00,0.00,211.68,0.000,0.000,0.506,422,1898,449,-10.54,0.62,637.78
$IRIDIUM_FIX,2059.45,-15743.60,150899,181822
$TT8_MAMPS,0.029146
$HUMID,44.40
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,29.517
$10V_AH,10.1,28.138
$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,27.150,118.675,258.075,211.675,0.000,121.727,179.172,443.486,4.500,0.000,37.457,1227.915,6877.948,534.641,1847.626,1001.537,33.381,1329.917,0.000,1802.161,0.000,29.255,0.000
$DEVICE_MAMPS,132.691,54.457,874.380,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.299,407.860,800.147,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,35050,634
$CAP_FILE_SIZE,128977,0
$CFSIZE,260165632,239423488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210510,213927,2105.735,-15744.321,46,4.2,65,9.8