version: 66.06
glider: 139
mission: 7
dive: 167
start: 5 1 110 11 10 13
data:
$ID,139
$MISSION,7
$DIVE,167
$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,-2124198.2
$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
$GPS1,110427,2107.737,-15759.876,44,2.6,63,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.2
$GPS2,110922,2107.693,-15759.942,16,2.7,35,9.8
$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,-23182.2,596.2,697.4,27844.9,-2882.9
$KALMAN_Y,1822.1,-145.2,-269.2,-1555.3,46.6
$MHEAD_RNG_PITCHd_Wd,78.8,29621,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-54.78,0.000,2,0.000,0.000,431,1884,3240,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.1,-4.9,10,93,10.68,0.00,-2.60,0.000,6,0.138,0.000,2403,1885,3369,0,0,0,0,0,0
$GC,294,-1.28,-77.9,43.5,-15.7,42,299,0.15,2.40,0.00,0.000,4,0.107,0.046,2433,494,3371,0,0,0,0,0,0
$GC,328,-1.15,-77.9,48.9,-15.6,45,333,0.15,2.33,0.00,0.000,6,0.100,0.021,2463,1939,3371,0,0,0,0,0,0
$GC,591,-1.21,-77.9,79.2,-11.7,69,595,0.00,2.47,0.00,0.000,4,0.000,0.044,2463,494,3372,0,0,0,0,0,0
$GC,652,-1.28,-77.9,86.7,-11.4,75,657,0.12,2.28,0.00,0.000,6,0.064,0.020,2421,1908,3372,0,0,0,0,0,0
$GC,914,-1.28,-77.9,119.4,-12.0,99,921,0.00,2.45,0.00,0.000,4,0.000,0.044,2421,481,3374,0,0,0,0,0,0
$GC,945,-1.23,-77.9,123.9,-14.0,102,950,0.12,2.28,0.00,0.000,6,0.101,0.020,2446,1910,3374,0,0,0,0,0,0
$GC,1205,-1.31,-77.9,154.0,-11.1,126,1210,0.00,2.42,0.00,0.000,4,0.000,0.044,2446,492,3375,0,0,0,0,0,0
$GC,1312,-1.37,-77.9,165.2,-9.7,137,1317,0.12,2.28,0.00,0.000,6,0.064,0.021,2399,1900,3375,0,0,0,0,0,0
$GC,1573,-1.37,-77.9,193.8,-10.8,161,1578,0.00,2.42,0.00,0.000,4,0.000,0.045,2405,484,3375,0,0,0,0,0,0
$GC,1647,-1.33,-77.9,202.6,-12.3,168,1652,0.17,2.25,0.00,0.000,6,0.091,0.021,2424,1897,3375,0,0,0,0,0,0
$GC,1968,-1.42,-77.9,231.9,-9.9,184,1973,0.15,2.45,0.00,0.000,4,0.060,0.047,2394,491,3375,0,0,0,0,0,0
$GC,2011,-1.35,-77.9,237.2,-13.2,186,2016,0.12,2.28,0.00,0.000,6,0.102,0.022,2419,1905,3376,0,0,0,0,0,0
$GC,2342,-1.41,-77.9,271.5,-11.1,202,2346,0.00,2.42,0.00,0.000,4,0.000,0.048,2421,494,3375,0,0,0,0,0,0
$GC,2442,-1.46,-77.9,283.3,-10.8,206,2447,0.12,2.30,0.00,0.000,6,0.066,0.023,2382,1903,3375,0,0,0,0,0,0
$GC,2756,-1.46,-77.9,319.1,-11.0,217,2761,0.00,2.45,0.00,0.000,4,0.000,0.048,2381,494,3375,0,0,0,0,0,0
$GC,2802,-1.41,-77.9,323.8,-10.1,218,2807,0.12,2.30,0.00,0.000,6,0.104,0.025,2406,1909,3375,0,0,0,0,0,0
$GC,3127,-1.45,-77.9,344.7,-5.5,226,3131,0.00,2.45,0.00,0.000,4,0.000,0.051,2407,493,3373,0,0,0,0,0,0
$GC,3196,-1.45,-77.9,348.0,-5.0,227,3200,0.00,2.30,0.00,0.000,6,0.000,0.025,2407,1903,3373,0,0,0,0,0,0
$GC,3536,-1.50,-77.9,362.6,-4.6,236,3540,0.00,2.45,0.00,0.000,4,0.000,0.052,2407,494,3372,0,0,0,0,0,0
$GC,3676,-1.50,-77.9,371.2,-6.1,239,3680,0.00,2.30,0.00,0.000,6,0.000,0.027,2407,1900,3371,0,0,0,0,0,0
$GC,3999,-1.57,-77.9,391.4,-6.6,247,4004,0.17,2.47,0.00,0.000,4,0.058,0.055,2358,495,3369,0,0,0,0,0,0
$GC,4027,-1.47,-77.9,394.0,-9.5,247,4032,0.17,2.30,0.00,0.000,6,0.097,0.028,2393,1898,3369,0,0,0,0,0,0
$GC,4363,-1.51,-77.9,426.4,-10.2,256,4367,0.00,2.47,0.00,0.000,4,0.000,0.055,2394,497,3367,0,0,0,0,0,0
$GC,4395,-1.51,-77.9,430.1,-11.1,256,4399,0.00,2.33,0.00,0.000,6,0.000,0.029,2393,1908,3367,0,0,0,0,0,0
$STATE,4601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4602,begin apogee
$GC,4606,-0.31,0.0,452.4,10.7,261,4675,1.17,0.00,64.97,0.888,6,0.076,0.000,2645,2054,3050,0,0,0,0,0,0
$STATE,4676,end apogee,CONTROL_FINISHED_OK
$STATE,4676,begin climb
$GC,4678,1.40,77.9,454.0,0.0,262,4752,1.62,2.45,65.25,0.867,4,0.034,0.046,3021,3415,2732,0,0,0,0,0,0
$GC,4984,1.23,127.8,448.2,4.6,268,5035,0.20,2.40,42.90,0.861,6,0.118,0.039,2986,2025,2528,0,0,0,0,0,0
$GC,5359,1.12,127.8,411.2,10.5,278,5364,0.15,2.45,0.00,0.000,4,0.122,0.043,2960,3412,2521,0,0,0,0,0,0
$GC,5387,1.08,127.8,408.3,10.5,278,5391,0.00,2.40,0.00,0.000,6,0.000,0.041,2960,2033,2521,0,0,0,0,0,0
$GC,5722,1.02,127.8,376.1,9.7,287,5727,0.12,2.40,0.00,0.000,4,0.130,0.042,2938,3412,2518,0,0,0,0,0,0
$GC,5812,1.02,127.8,368.4,9.1,289,5816,0.00,2.38,0.00,0.000,6,0.000,0.039,2939,2032,2518,0,0,0,0,0,0
$GC,6138,1.05,150.0,345.8,6.5,297,6162,0.00,2.58,18.35,0.808,4,0.000,0.055,2938,627,2437,0,0,0,0,0,0
$GC,6177,1.01,158.7,342.7,7.4,297,6193,0.00,2.38,8.88,0.718,6,0.000,0.029,2938,2025,2403,0,0,0,0,0,0
$GC,6510,1.01,158.7,313.5,8.4,306,6515,0.00,2.45,0.00,0.000,4,0.000,0.054,2938,629,2398,0,0,0,0,0,0
$GC,6589,0.97,158.7,306.7,8.8,307,6593,0.00,2.35,0.00,0.000,6,0.000,0.030,2939,2033,2397,0,0,0,0,0,0
$GC,6903,1.00,180.3,283.9,6.5,320,6928,0.00,2.58,19.70,0.775,4,0.000,0.052,2938,632,2313,0,0,0,0,0,0
$GC,6979,1.00,180.3,278.0,8.5,323,6983,0.00,2.38,0.00,0.000,6,0.000,0.030,2938,2044,2309,0,0,0,0,0,0
$GC,7301,1.05,190.2,254.0,7.3,339,7317,0.00,2.55,9.50,0.693,4,0.000,0.051,2938,623,2273,0,0,0,0,0,0
$GC,7330,1.05,190.2,251.3,8.2,340,7335,0.00,2.38,0.00,0.000,6,0.000,0.028,2938,2037,2271,0,0,0,0,0,0
$GC,7650,1.11,190.2,221.5,8.3,356,7654,0.00,2.47,0.00,0.000,4,0.000,0.050,2938,625,2270,0,0,0,0,0,0
$GC,7829,1.11,190.2,206.8,8.2,364,7834,0.00,2.38,0.00,0.000,6,0.000,0.027,2939,2045,2267,0,0,0,0,0,0
$GC,8157,1.17,190.2,177.0,8.2,391,8162,0.15,2.47,0.00,0.000,4,0.070,0.048,2976,628,2267,0,0,0,0,0,0
$GC,8172,1.17,190.2,175.5,8.7,392,8176,0.00,2.33,0.00,0.000,6,0.000,0.026,2976,2043,2268,0,0,0,0,0,0
$GC,8433,1.17,190.2,153.4,8.1,416,8437,0.00,2.45,0.00,0.000,4,0.000,0.047,2977,626,2267,0,0,0,0,0,0
$GC,8594,1.10,190.2,137.6,11.2,433,8598,0.12,2.30,0.00,0.000,6,0.121,0.025,2955,2036,2267,0,0,0,0,0,0
$GC,8857,1.16,201.0,115.6,7.3,457,8877,0.00,2.53,9.93,0.586,4,0.000,0.046,2954,625,2229,0,0,0,0,0,0
$GC,9033,1.18,223.4,102.0,6.5,476,9062,0.00,2.33,20.85,0.616,6,0.000,0.023,2954,2043,2138,0,0,0,0,0,0
$GC,9317,1.30,250.2,83.7,6.2,503,9346,0.20,0.00,24.48,0.598,6,0.055,0.000,3006,2043,2028,0,0,0,0,0,0
$GC,9601,1.30,250.2,53.8,11.3,530,9605,0.00,2.45,0.00,0.000,4,0.000,0.044,3007,626,2025,0,0,0,0,0,0
$GC,9728,1.23,250.2,36.9,14.1,543,9735,0.10,2.33,0.00,0.000,6,0.082,0.021,2984,2033,2022,0,0,0,0,0,0
$GC,9991,1.28,250.2,8.0,10.5,586,9997,0.00,2.47,0.00,0.000,4,0.000,0.044,2983,619,2022,0,0,0,0,0,0
$STATE,10036,end climb,SURFACE_DEPTH_REACHED
$STATE,10036,begin surface coast
$FINISH,0.4,1.023732
$STATE,10059,end surface coast,CONTROL_FINISHED_OK
$STATE,10059,begin surface
$SM_CCo,10080,26.73,0.527,0,0,1827,300.00
$SM_GC,1.24,0.00,0.00,26.73,0.000,0.000,0.527,426,1923,1827,-10.52,0.68,300.00
$IRIDIUM_FIX,2059.45,-15759.05,260799,080842
$TT8_MAMPS,0.029913
$HUMID,45.90
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,20.90
$XPDR_PINGS,0
$24V_AH,23.4,15.528
$10V_AH,10.1,14.551
$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,27.300,119.750,284.800,26.725,0.000,27.956,28.948,121.762,4.500,0.000,36.711,1199.433,6579.684,371.249,1917.515,337.046,33.358,1202.130,0.000,1872.706,0.000,29.246,0.000
$DEVICE_MAMPS,138.060,56.758,888.186,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.131,385.344,832.723,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,34949,601
$CAP_FILE_SIZE,117672,0
$CFSIZE,260165632,249020416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010510,140007,2107.705,-15759.855,51,2.0,51,9.8