version: 66.06
glider: 139
mission: 7
dive: 164
start: 5 1 110 2 21 14
data:
$ID,139
$MISSION,7
$DIVE,164
$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,-2124101.2
$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,1900
$C_ROLL_CLIMB,2035
$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
$GPS1,021436,2107.555,-15800.617,62,1.5,62,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-71.1
$GPS2,022022,2107.588,-15800.751,12,2.9,31,9.8
$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,-17180.9,-202.1,224.5,21718.1,-2810.0
$KALMAN_Y,1317.1,213.8,-162.8,-1711.2,258.6
$MHEAD_RNG_PITCHd_Wd,85.2,30987,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-54.90,0.000,2,0.000,0.000,431,1876,3260,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.2,-5.5,10,93,10.70,2.42,-2.17,0.000,4,0.139,0.038,2403,3329,3369,0,0,0,0,0,0
$GC,145,-1.40,-77.9,20.3,-15.7,25,152,0.00,2.45,0.00,0.000,6,0.000,0.032,2404,1900,3371,0,0,0,0,0,0
$GC,345,-1.28,-77.9,53.5,-16.1,49,347,0.15,0.00,0.00,0.000,6,0.104,0.000,2434,1900,3371,0,0,0,0,0,0
$GC,599,-1.28,-77.9,85.8,-11.5,73,604,0.00,2.42,0.00,0.000,4,0.000,0.045,2434,489,3372,0,0,0,0,0,0
$GC,637,-1.20,-77.9,90.1,-11.4,76,644,0.00,2.35,0.00,0.000,6,0.000,0.020,2432,1935,3373,0,0,0,0,0,0
$GC,900,-1.20,-77.9,114.0,-8.1,101,904,0.00,2.47,0.00,0.000,4,0.000,0.044,2433,490,3374,0,0,0,0,0,0
$GC,925,-1.20,-77.9,116.3,-8.9,103,929,0.10,2.25,0.00,0.000,6,0.112,0.021,2452,1902,3374,0,0,0,0,0,0
$GC,1186,-1.29,-77.9,138.1,-8.6,127,1190,0.00,2.42,0.00,0.000,4,0.000,0.045,2453,487,3375,0,0,0,0,0,0
$GC,1240,-1.34,-77.9,143.9,-10.4,132,1247,0.10,2.30,0.00,0.000,6,0.035,0.021,2410,1903,3375,0,0,0,0,0,0
$GC,1502,-1.34,-77.9,175.8,-13.1,157,1506,0.00,2.45,0.00,0.000,4,0.000,0.045,2411,485,3376,0,0,0,0,0,0
$GC,1520,-1.30,-77.9,178.5,-12.5,158,1528,0.08,2.30,0.00,0.000,6,0.077,0.021,2430,1896,3376,0,0,0,0,0,0
$GC,1779,-1.37,-77.9,206.2,-9.1,180,1783,0.00,2.40,0.00,0.000,4,0.000,0.046,2431,494,3376,0,0,0,0,0,0
$GC,1857,-1.42,-77.9,213.2,-7.7,183,1862,0.12,2.25,0.00,0.000,6,0.064,0.021,2387,1901,3376,0,0,0,0,0,0
$GC,2173,-1.42,-77.9,236.8,-7.8,198,2176,0.00,2.42,0.00,0.000,4,0.000,0.046,2390,488,3376,0,0,0,0,0,0
$GC,2236,-1.38,-77.9,243.2,-9.7,200,2244,0.05,2.30,0.00,0.000,6,0.089,0.023,2405,1894,3376,0,0,0,0,0,0
$GC,2551,-1.42,-77.9,272.7,-9.2,216,2555,0.00,2.42,0.00,0.000,4,0.000,0.048,2406,487,3376,0,0,0,0,0,0
$GC,2664,-1.42,-77.9,283.3,-9.3,221,2668,0.00,2.28,0.00,0.000,6,0.000,0.025,2406,1896,3376,0,0,0,0,0,0
$GC,2991,-1.46,-77.9,312.6,-9.5,234,2995,0.00,2.42,0.00,0.000,4,0.000,0.051,2406,496,3374,0,0,0,0,0,0
$GC,3061,-1.46,-77.9,320.0,-10.8,235,3065,0.00,2.28,0.00,0.000,6,0.000,0.025,2406,1900,3374,0,0,0,0,0,0
$GC,3400,-1.51,-77.9,357.6,-11.7,244,3405,0.00,2.45,0.00,0.000,4,0.000,0.052,2406,493,3372,0,0,0,0,0,0
$GC,3432,-1.51,-77.9,361.7,-13.0,244,3436,0.00,2.30,0.00,0.000,6,0.000,0.027,2406,1898,3372,0,0,0,0,0,0
$GC,3762,-1.57,-77.9,395.0,-9.2,252,3767,0.17,2.47,0.00,0.000,4,0.059,0.054,2359,492,3370,0,0,0,0,0,0
$GC,3806,-1.49,-77.9,400.0,-11.6,253,3811,0.15,2.30,0.00,0.000,6,0.102,0.028,2393,1898,3370,0,0,0,0,0,0
$GC,4140,-1.53,-77.9,428.9,-8.0,261,4144,0.00,2.45,0.00,0.000,4,0.000,0.055,2392,497,3368,0,0,0,0,0,0
$GC,4176,-1.53,-77.9,432.4,-8.7,261,4180,0.00,2.30,0.00,0.000,6,0.000,0.029,2393,1895,3368,0,0,0,0,0,0
$STATE,4423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4423,begin apogee
$GC,4428,-0.31,0.0,451.7,7.9,267,4497,1.17,0.00,65.38,0.887,6,0.075,0.000,2644,2059,3049,0,0,0,0,0,0
$STATE,4498,end apogee,CONTROL_FINISHED_OK
$STATE,4498,begin climb
$GC,4500,1.40,77.9,452.5,0.0,268,4574,1.65,2.42,65.78,0.864,4,0.034,0.048,3028,3407,2732,0,0,0,0,0,0
$GC,4667,1.23,133.2,450.8,4.2,271,4721,0.22,2.38,47.72,0.857,6,0.116,0.038,2986,2028,2507,0,0,0,0,0,0
$GC,5045,1.12,133.2,417.9,9.6,281,5050,0.15,2.42,0.00,0.000,4,0.123,0.040,2961,3411,2499,0,0,0,0,0,0
$GC,5139,1.07,133.2,409.3,9.0,283,5144,0.00,2.40,0.00,0.000,6,0.000,0.039,2958,2032,2499,0,0,0,0,0,0
$GC,5462,1.04,150.3,385.7,6.8,291,5479,0.00,0.00,14.52,0.802,6,0.000,0.000,2958,2031,2437,0,0,0,0,0,0
$GC,5787,1.00,150.3,357.7,9.4,299,5791,0.15,2.40,0.00,0.000,4,0.123,0.038,2934,3412,2432,0,0,0,0,0,0
$GC,5819,1.00,150.3,354.6,8.7,299,5823,0.00,2.38,0.00,0.000,6,0.000,0.037,2934,2033,2432,0,0,0,0,0,0
$GC,6150,1.00,153.7,328.3,7.8,307,6154,0.00,2.47,0.00,0.000,4,0.000,0.054,2933,629,2430,0,0,0,0,0,0
$GC,6205,0.96,153.7,323.5,8.9,308,6209,0.00,2.35,0.00,0.000,6,0.000,0.029,2934,2025,2429,0,0,0,0,0,0
$GC,6517,0.96,153.7,298.9,8.2,316,6522,0.00,2.45,0.00,0.000,4,0.000,0.052,2933,630,2429,0,0,0,0,0,0
$GC,6584,0.93,154.6,293.7,8.0,319,6593,0.00,2.35,3.72,0.499,6,0.000,0.030,2934,2039,2419,0,0,0,0,0,0
$GC,6914,0.93,154.6,268.2,8.2,335,6918,0.00,2.50,0.00,0.000,4,0.000,0.052,2933,623,2419,0,0,0,0,0,0
$GC,7181,0.95,175.5,247.0,6.6,346,7209,0.00,2.38,19.62,0.752,6,0.000,0.028,2934,2038,2333,0,0,0,0,0,0
$GC,7521,1.03,189.4,224.4,7.1,363,7542,0.00,2.53,13.32,0.706,4,0.000,0.050,2933,630,2276,0,0,0,0,0,0
$GC,7805,1.03,189.4,200.2,9.6,375,7809,0.00,2.35,0.00,0.000,6,0.000,0.027,2934,2036,2271,0,0,0,0,0,0
$GC,8134,1.14,215.1,174.1,6.3,406,8163,0.12,2.53,23.40,0.688,4,0.076,0.047,2965,620,2172,0,0,0,0,0,0
$GC,8342,1.11,215.1,153.6,12.4,428,8348,0.00,2.38,0.00,0.000,6,0.000,0.025,2965,2036,2166,0,0,0,0,0,0
$GC,8605,1.12,223.0,131.5,7.5,453,8617,0.00,2.50,7.72,0.564,4,0.000,0.046,2965,619,2140,0,0,0,0,0,0
$GC,8648,1.07,223.0,127.7,9.3,457,8652,0.00,2.33,0.00,0.000,6,0.000,0.025,2965,2037,2137,0,0,0,0,0,0
$GC,8910,1.09,234.7,107.3,7.2,481,8930,0.00,2.53,11.82,0.584,4,0.000,0.047,2965,628,2092,0,0,0,0,0,0
$GC,9061,1.09,234.7,92.2,11.6,497,9065,0.00,2.30,0.00,0.000,6,0.000,0.022,2965,2040,2089,0,0,0,0,0,0
$GC,9325,1.16,234.7,65.3,10.5,521,9329,0.00,2.42,0.00,0.000,4,0.000,0.044,2965,628,2089,0,0,0,0,0,0
$GC,9439,1.16,234.7,51.7,11.1,533,9446,0.00,2.33,0.00,0.000,6,0.000,0.022,2964,2041,2088,0,0,0,0,0,0
$GC,9704,1.24,236.0,27.0,7.9,561,9710,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2046,2088,0,0,0,0,0,0
$GC,9906,1.31,236.0,9.7,10.2,598,9913,0.15,2.47,0.00,0.000,4,0.061,0.044,3007,629,2088,0,0,0,0,0,0
$GC,9928,1.31,236.0,7.1,11.0,602,9935,0.00,2.33,0.00,0.000,6,0.000,0.021,3007,2046,2088,0,0,0,0,0,0
$STATE,9968,end climb,SURFACE_DEPTH_REACHED
$STATE,9968,begin surface coast
$FINISH,0.3,1.013213
$STATE,9996,end surface coast,CONTROL_FINISHED_OK
$STATE,9996,begin surface
$SM_CCo,10015,33.25,0.525,0,0,1826,300.00
$SM_GC,1.61,0.00,0.00,33.25,0.000,0.000,0.525,427,1880,1826,-10.52,-0.57,300.00
$IRIDIUM_FIX,2057.14,-15853.94,250799,232328
$TT8_MAMPS,0.029146
$HUMID,45.58
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.4,15.274
$10V_AH,10.0,14.306
$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,26.325,115.225,273.025,33.250,0.000,30.875,29.553,171.943,4.500,0.000,32.856,1203.584,6484.500,370.989,1935.626,402.757,33.352,1206.199,0.000,1904.873,0.000,29.249,0.000
$DEVICE_MAMPS,138.827,55.224,886.652,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.263,401.376,878.633,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,34870,614
$CAP_FILE_SIZE,116748,0
$CFSIZE,260165632,249192448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010510,051007,2107.718,-15800.912,49,1.8,49,9.8