version: 66.06
glider: 139
mission: 7
dive: 165
start: 5 1 110 5 26 58
data:
$ID,139
$MISSION,7
$DIVE,165
$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,-2124141.8
$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,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
$GPS1,051007,2107.718,-15800.912,49,1.8,49,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-71.0
$GPS2,052607,2107.888,-15801.044,39,1.7,39,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,-0.005
$KALMAN_X,-19260.0,137.5,-589.6,23770.0,-1483.0
$KALMAN_Y,1710.6,119.5,272.8,-1894.5,-15.2
$MHEAD_RNG_PITCHd_Wd,81.7,31553,-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,-77.9,0.0,0.0,0,76,0.00,0.00,-58.05,0.000,6,0.000,0.000,427,1880,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,4.0,-7.6,11,97,10.77,2.45,0.00,0.000,4,0.141,0.031,2404,3315,3371,0,0,0,0,0,0
$GC,104,-0.06,-77.9,15.2,-34.4,15,112,1.38,2.42,0.00,0.000,6,0.091,0.030,2695,1899,3371,0,0,0,0,0,0
$GC,305,-0.74,-77.9,27.4,-7.8,52,313,0.62,2.40,0.00,0.000,4,0.047,0.041,2545,494,3372,0,0,0,0,0,0
$GC,365,-0.97,-77.9,31.7,-6.5,62,373,0.15,2.35,0.00,0.000,6,0.030,0.020,2489,1947,3372,0,0,0,0,0,0
$GC,629,-1.08,-77.9,55.2,-9.3,87,634,0.00,2.50,0.00,0.000,4,0.000,0.044,2490,487,3373,0,0,0,0,0,0
$GC,656,-1.13,-77.9,58.3,-9.0,89,663,0.08,2.30,0.00,0.000,6,0.038,0.020,2454,1897,3373,0,0,0,0,0,0
$GC,917,-1.17,-77.9,86.7,-10.4,114,921,0.00,2.42,0.00,0.000,4,0.000,0.043,2454,488,3373,0,0,0,0,0,0
$GC,970,-1.17,-77.9,92.5,-10.9,119,976,0.00,2.25,0.00,0.000,6,0.000,0.020,2453,1904,3374,0,0,0,0,0,0
$GC,1232,-1.24,-77.9,119.8,-9.8,144,1239,0.00,2.40,0.00,0.000,4,0.000,0.044,2454,492,3375,0,0,0,0,0,0
$GC,1293,-1.30,-77.9,126.3,-10.5,150,1301,0.08,2.28,0.00,0.000,6,0.037,0.020,2416,1894,3375,0,0,0,0,0,0
$GC,1555,-1.30,-77.9,154.3,-11.3,175,1559,0.00,2.40,0.00,0.000,4,0.000,0.044,2417,488,3375,0,0,0,0,0,0
$GC,1582,-1.23,-77.9,157.9,-13.2,177,1588,0.15,2.25,0.00,0.000,6,0.096,0.021,2446,1901,3375,0,0,0,0,0,0
$GC,1842,-1.31,-77.9,181.9,-8.1,202,1846,0.00,2.42,0.00,0.000,4,0.000,0.044,2448,493,3375,0,0,0,0,0,0
$GC,1884,-1.34,-77.9,185.6,-9.4,206,1889,0.12,2.25,0.00,0.000,6,0.064,0.021,2404,1901,3375,0,0,0,0,0,0
$GC,2151,-1.34,-77.9,217.6,-11.7,224,2155,0.00,2.40,0.00,0.000,4,0.000,0.045,2405,493,3375,0,0,0,0,0,0
$GC,2226,-1.30,-77.9,226.7,-11.3,227,2231,0.12,2.28,0.00,0.000,6,0.100,0.021,2430,1906,3375,0,0,0,0,0,0
$GC,2548,-1.37,-77.9,257.8,-10.4,243,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,1911,3375,0,0,0,0,0,0
$GC,2856,-1.45,-77.9,284.9,-8.2,258,2860,0.15,2.45,0.00,0.000,4,0.059,0.048,2384,488,3375,0,0,0,0,0,0
$GC,2911,-1.40,-77.9,290.6,-10.7,260,2916,0.12,2.28,0.00,0.000,6,0.103,0.023,2410,1897,3375,0,0,0,0,0,0
$GC,3223,-1.44,-77.9,318.3,-8.7,270,3227,0.00,2.45,0.00,0.000,4,0.000,0.049,2409,489,3374,0,0,0,0,0,0
$GC,3303,-1.44,-77.9,325.8,-9.2,271,3307,0.00,2.28,0.00,0.000,6,0.000,0.025,2409,1897,3374,0,0,0,0,0,0
$GC,3634,-1.50,-77.9,353.6,-8.2,279,3638,0.00,2.42,0.00,0.000,4,0.000,0.051,2410,495,3372,0,0,0,0,0,0
$GC,3730,-1.50,-77.9,363.4,-10.4,281,3735,0.00,2.28,0.00,0.000,6,0.000,0.026,2409,1898,3372,0,0,0,0,0,0
$GC,4048,-1.56,-77.9,391.7,-8.5,289,4050,0.15,0.00,0.00,0.000,6,0.061,0.000,2367,1903,3370,0,0,0,0,0,0
$GC,4373,-1.56,-77.9,424.7,-10.1,297,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1903,3368,0,0,0,0,0,0
$STATE,4657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4657,begin apogee
$GC,4662,-0.31,0.0,453.1,9.8,304,4730,1.30,0.00,64.97,0.878,6,0.079,0.000,2642,2062,3050,0,0,0,0,0,0
$STATE,4731,end apogee,CONTROL_FINISHED_OK
$STATE,4731,begin climb
$GC,4733,1.40,77.9,454.6,0.0,305,4808,1.65,2.42,65.07,0.858,4,0.034,0.046,3025,3398,2731,0,0,0,0,0,0
$GC,4905,1.23,125.0,453.7,4.8,308,4953,0.22,2.38,40.38,0.848,6,0.116,0.038,2983,2032,2540,0,0,0,0,0,0
$GC,5276,1.13,125.0,419.6,10.2,318,5281,0.12,2.50,0.00,0.000,4,0.127,0.054,2959,624,2533,0,0,0,0,0,0
$GC,5384,0.99,125.0,407.6,11.4,320,5389,0.17,2.33,0.00,0.000,6,0.121,0.030,2931,2014,2531,0,0,0,0,0,0
$GC,5734,0.99,125.0,375.2,8.7,329,5738,0.00,2.45,0.00,0.000,4,0.000,0.043,2932,3430,2529,0,0,0,0,0,0
$GC,5784,0.99,125.0,370.9,8.5,330,5788,0.00,2.38,0.00,0.000,6,0.000,0.037,2932,2035,2529,0,0,0,0,0,0
$GC,6101,1.05,166.0,350.4,5.2,338,6141,0.00,0.00,34.70,0.825,6,0.000,0.000,2932,2035,2372,0,0,0,0,0,0
$GC,6466,1.11,191.5,328.8,6.3,347,6495,0.10,2.55,22.83,0.798,4,0.088,0.054,2954,629,2269,0,0,0,0,0,0
$GC,6583,1.04,191.5,319.0,10.6,349,6587,0.00,2.40,0.00,0.000,6,0.000,0.029,2955,2043,2263,0,0,0,0,0,0
$GC,6904,1.04,191.5,285.6,11.0,360,6908,0.00,2.53,0.00,0.000,4,0.000,0.053,2955,623,2262,0,0,0,0,0,0
$GC,7046,1.00,191.5,266.7,13.1,366,7051,0.12,2.38,0.00,0.000,6,0.123,0.029,2934,2046,2259,0,0,0,0,0,0
$GC,7367,1.08,199.8,236.2,7.5,382,7376,0.00,0.00,7.22,0.639,6,0.000,0.000,2934,2050,2235,0,0,0,0,0,0
$GC,7677,1.19,226.7,213.3,6.2,397,7710,0.17,2.53,25.17,0.719,4,0.064,0.048,2976,630,2124,0,0,0,0,0,0
$GC,7858,1.12,226.7,194.1,12.3,408,7862,0.00,2.33,0.00,0.000,6,0.000,0.026,2977,2037,2118,0,0,0,0,0,0
$GC,8118,1.12,226.7,166.8,10.4,432,8123,0.00,2.45,0.00,0.000,4,0.000,0.048,2977,626,2118,0,0,0,0,0,0
$GC,8228,1.06,226.7,152.9,13.5,443,8234,0.17,2.35,0.00,0.000,6,0.112,0.025,2945,2046,2116,0,0,0,0,0,0
$GC,8489,1.15,226.7,129.0,9.0,468,8494,0.00,2.45,0.00,0.000,4,0.000,0.047,2945,629,2116,0,0,0,0,0,0
$GC,8617,1.18,226.7,114.4,11.4,481,8623,0.12,2.30,0.00,0.000,6,0.072,0.023,2978,2044,2115,0,0,0,0,0,0
$GC,8878,1.22,226.7,88.5,9.7,506,8883,0.00,2.45,0.00,0.000,4,0.000,0.045,2979,628,2115,0,0,0,0,0,0
$GC,9109,1.22,226.7,65.4,9.9,531,9113,0.00,2.30,0.00,0.000,6,0.000,0.021,2978,2045,2115,0,0,0,0,0,0
$GC,9376,1.26,226.7,40.9,9.7,556,9380,0.00,2.30,0.00,0.000,4,0.000,0.030,2977,3433,2115,0,0,0,0,0,0
$GC,9436,1.33,226.7,35.3,9.3,562,9441,0.12,2.33,0.00,0.000,6,0.067,0.029,3015,2029,2115,0,0,0,0,0,0
$GC,9699,1.33,226.7,9.1,10.0,605,9705,0.00,2.40,0.00,0.000,4,0.000,0.043,3015,633,2116,0,0,0,0,0,0
$STATE,9756,end climb,SURFACE_DEPTH_REACHED
$STATE,9757,begin surface coast
$FINISH,1.1,1.023665
$STATE,9771,end surface coast,CONTROL_FINISHED_OK
$STATE,9771,begin surface
$SM_CCo,9792,37.83,0.527,0,0,1827,300.00
$SM_GC,1.72,0.00,0.00,37.83,0.000,0.000,0.527,425,1915,1827,-10.53,0.45,300.00
$IRIDIUM_FIX,2101.76,-15801.19,260799,050519
$TT8_MAMPS,0.029146
$HUMID,45.03
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.30
$XPDR_PINGS,1
$24V_AH,23.4,15.371
$10V_AH,10.1,14.392
$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,29.350,104.675,260.350,37.825,0.000,142.212,198.356,248.094,4.750,0.000,39.843,1198.602,6572.192,377.055,1887.693,756.468,33.362,1152.253,0.000,1843.799,0.000,29.256,0.000
$DEVICE_MAMPS,141.128,54.457,878.215,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,420.196,401.036,932.429,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,34903,621
$CAP_FILE_SIZE,115945,0
$CFSIZE,260165632,249135104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010510,081227,2107.766,-15800.579,44,2.6,63,9.8