version: 66.06
glider: 139
mission: 7
dive: 168
start: 5 1 110 14 5 57
data:
$ID,139
$MISSION,7
$DIVE,168
$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,-2124231.5
$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,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
$GPS1,140007,2107.705,-15759.855,51,2.0,51,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.2
$GPS2,140506,2107.697,-15759.944,32,1.0,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.179,-0.042
$KALMAN_X,-24869.3,455.9,476.4,29889.6,-3538.2
$KALMAN_Y,1859.9,-192.8,-305.5,-1502.9,656.3
$MHEAD_RNG_PITCHd_Wd,93.5,29625,-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,-77.9,0.0,0.0,0,77,0.00,0.00,-58.67,0.000,6,0.000,0.000,426,1922,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,4.2,-7.6,11,98,10.77,2.47,0.00,0.000,4,0.140,0.037,2404,492,3370,0,0,0,0,0,0
$GC,156,-1.25,-77.9,25.6,-17.8,27,163,0.15,2.35,0.00,0.000,6,0.081,0.021,2439,1919,3372,0,0,0,0,0,0
$GC,356,-1.25,-77.9,53.2,-13.7,48,361,0.00,2.47,0.00,0.000,4,0.000,0.045,2439,494,3372,0,0,0,0,0,0
$GC,401,-1.18,-77.9,60.1,-15.3,52,407,0.00,2.30,0.00,0.000,6,0.000,0.021,2438,1903,3372,0,0,0,0,0,0
$GC,662,-1.18,-77.9,95.4,-13.0,77,667,0.00,2.42,0.00,0.000,4,0.000,0.044,2439,487,3373,0,0,0,0,0,0
$GC,724,-1.18,-77.9,102.8,-11.3,83,728,0.00,2.28,0.00,0.000,6,0.000,0.020,2437,1909,3374,0,0,0,0,0,0
$GC,986,-1.22,-77.9,128.6,-8.5,107,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,1914,3375,0,0,0,0,0,0
$GC,1242,-1.29,-77.9,147.2,-7.4,131,1246,0.00,2.42,0.00,0.000,4,0.000,0.044,2438,493,3375,0,0,0,0,0,0
$GC,1311,-1.32,-77.9,153.4,-8.4,138,1315,0.00,2.28,0.00,0.000,6,0.000,0.021,2437,1902,3376,0,0,0,0,0,0
$GC,1572,-1.41,-77.9,178.3,-9.9,162,1577,0.12,2.42,0.00,0.000,4,0.064,0.045,2397,495,3376,0,0,0,0,0,0
$GC,1663,-1.36,-77.9,188.8,-11.8,171,1668,0.12,2.25,0.00,0.000,6,0.100,0.021,2420,1900,3377,0,0,0,0,0,0
$GC,1933,-1.41,-77.9,214.0,-8.4,189,1937,0.00,2.42,0.00,0.000,4,0.000,0.046,2421,485,3377,0,0,0,0,0,0
$GC,1987,-1.41,-77.9,219.1,-8.6,191,1991,0.00,2.30,0.00,0.000,6,0.000,0.022,2422,1900,3377,0,0,0,0,0,0
$GC,2302,-1.48,-77.9,246.4,-8.3,206,2307,0.15,2.45,0.00,0.000,4,0.060,0.047,2379,495,3377,0,0,0,0,0,0
$GC,2430,-1.42,-77.9,261.2,-12.2,211,2436,0.12,2.28,0.00,0.000,6,0.102,0.023,2404,1901,3377,0,0,0,0,0,0
$GC,2747,-1.46,-77.9,291.7,-10.1,227,2751,0.00,2.42,0.00,0.000,4,0.000,0.049,2405,495,3376,0,0,0,0,0,0
$GC,2829,-1.46,-77.9,301.1,-11.0,230,2836,0.00,2.33,0.00,0.000,6,0.000,0.025,2403,1899,3376,0,0,0,0,0,0
$GC,3160,-1.50,-77.9,332.0,-8.7,239,3164,0.00,2.45,0.00,0.000,4,0.000,0.051,2404,497,3375,0,0,0,0,0,0
$GC,3210,-1.50,-77.9,336.6,-9.4,240,3214,0.00,2.28,0.00,0.000,6,0.000,0.026,2404,1899,3375,0,0,0,0,0,0
$GC,3529,-1.55,-77.9,361.2,-7.7,248,3534,0.12,2.47,0.00,0.000,4,0.071,0.053,2368,497,3373,0,0,0,0,0,0
$GC,3576,-1.49,-77.9,366.2,-11.0,249,3581,0.10,2.30,0.00,0.000,6,0.113,0.028,2387,1898,3373,0,0,0,0,0,0
$GC,3898,-1.49,-77.9,393.3,-8.0,257,3902,0.00,2.45,0.00,0.000,4,0.000,0.051,2386,497,3371,0,0,0,0,0,0
$GC,3930,-1.49,-77.9,396.0,-8.6,257,3934,0.00,2.33,0.00,0.000,6,0.000,0.028,2387,1899,3370,0,0,0,0,0,0
$GC,4261,-1.49,-77.9,419.3,-7.2,265,4265,0.00,2.47,0.00,0.000,4,0.000,0.054,2386,497,3368,0,0,0,0,0,0
$GC,4288,-1.49,-77.9,421.7,-8.9,265,4292,0.00,2.33,0.00,0.000,6,0.000,0.029,2387,1907,3368,0,0,0,0,0,0
$STATE,4621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4621,begin apogee
$GC,4626,-0.31,0.0,450.6,9.2,274,4694,1.20,0.00,64.70,0.891,6,0.078,0.000,2642,2054,3051,0,0,0,0,0,0
$STATE,4695,end apogee,CONTROL_FINISHED_OK
$STATE,4695,begin climb
$GC,4697,1.40,77.9,452.3,0.0,275,4772,1.65,2.47,64.85,0.872,4,0.035,0.046,3024,3412,2732,0,0,0,0,0,0
$GC,5035,1.25,137.9,446.2,3.9,282,5093,0.17,2.40,51.40,0.870,6,0.120,0.039,2991,2033,2487,0,0,0,0,0,0
$GC,5418,1.13,137.9,416.7,8.5,291,5420,0.15,0.00,0.00,0.000,6,0.121,0.000,2965,2033,2479,0,0,0,0,0,0
$GC,5743,1.06,137.9,388.4,9.3,299,5748,0.00,2.47,0.00,0.000,4,0.000,0.055,2965,628,2476,0,0,0,0,0,0
$GC,5757,0.97,137.9,387.0,9.6,299,5762,0.20,2.33,0.00,0.000,6,0.124,0.031,2930,2017,2475,0,0,0,0,0,0
$GC,6107,0.98,144.2,358.4,7.6,308,6118,0.00,2.47,4.62,0.594,4,0.000,0.054,2931,630,2461,0,0,0,0,0,0
$GC,6176,0.94,144.2,353.1,8.0,309,6180,0.00,2.38,0.00,0.000,6,0.000,0.031,2931,2034,2459,0,0,0,0,0,0
$GC,6520,1.00,196.5,335.4,4.4,318,6573,0.00,2.58,46.92,0.832,4,0.000,0.054,2930,630,2248,0,0,0,0,0,0
$GC,6614,1.02,208.6,330.2,7.2,320,6631,0.00,2.40,11.60,0.746,6,0.000,0.031,2931,2041,2199,0,0,0,0,0,0
$GC,6972,1.08,208.6,302.2,8.3,329,6977,0.00,2.50,0.00,0.000,4,0.000,0.054,2930,632,2194,0,0,0,0,0,0
$GC,7114,1.08,208.6,286.7,11.9,334,7118,0.00,2.35,0.00,0.000,6,0.000,0.030,2931,2034,2190,0,0,0,0,0,0
$GC,7434,1.15,208.6,252.1,10.3,350,7439,0.15,2.47,0.00,0.000,4,0.071,0.052,2967,625,2190,0,0,0,0,0,0
$GC,7614,1.07,208.6,229.6,13.1,358,7618,0.00,2.35,0.00,0.000,6,0.000,0.028,2967,2038,2187,0,0,0,0,0,0
$GC,7943,1.11,237.6,199.4,6.0,374,7974,0.00,2.58,25.08,0.722,4,0.000,0.051,2967,632,2081,0,0,0,0,0,0
$GC,8121,1.06,237.6,182.3,11.9,393,8127,0.00,2.35,0.00,0.000,6,0.000,0.027,2967,2037,2075,0,0,0,0,0,0
$GC,8383,1.06,237.6,152.6,11.3,418,8387,0.00,2.45,0.00,0.000,4,0.000,0.049,2967,630,2074,0,0,0,0,0,0
$GC,8628,1.06,237.6,125.4,11.6,444,8635,0.08,2.35,0.00,0.000,6,0.102,0.025,2951,2037,2072,0,0,0,0,0,0
$GC,8891,1.15,237.6,101.6,9.2,469,8895,0.00,2.45,0.00,0.000,4,0.000,0.047,2950,628,2072,0,0,0,0,0,0
$GC,8998,1.15,237.6,88.9,12.2,480,9002,0.00,2.30,0.00,0.000,6,0.000,0.023,2950,2041,2072,0,0,0,0,0,0
$GC,9261,1.25,237.6,61.8,8.6,504,9266,0.17,2.45,0.00,0.000,4,0.059,0.044,2997,623,2072,0,0,0,0,0,0
$GC,9279,1.25,237.6,59.5,10.4,505,9286,0.00,2.33,0.00,0.000,6,0.000,0.023,2997,2034,2071,0,0,0,0,0,0
$GC,9542,1.25,237.6,33.2,10.4,530,9546,0.00,2.40,0.00,0.000,4,0.000,0.044,2996,629,2071,0,0,0,0,0,0
$GC,9645,1.20,237.6,20.9,12.3,549,9651,0.00,2.33,0.00,0.000,6,0.000,0.021,2993,2040,2072,0,0,0,0,0,0
$STATE,9815,end climb,SURFACE_DEPTH_REACHED
$STATE,9815,begin surface coast
$FINISH,0.4,1.016388
$STATE,9843,end surface coast,CONTROL_FINISHED_OK
$STATE,9843,begin surface
$SM_CCo,9862,32.22,0.534,0,0,1827,300.00
$SM_GC,1.49,0.00,0.00,32.22,0.000,0.000,0.534,430,1874,1827,-10.51,-0.71,300.00
$IRIDIUM_FIX,2059.45,-15801.19,260799,111140
$TT8_MAMPS,0.029146
$HUMID,46.14
$INTERNAL_PRESSURE,9.63558
$TCM_TEMP,20.30
$XPDR_PINGS,0
$24V_AH,23.4,15.608
$10V_AH,10.0,14.627
$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,26.525,110.525,269.175,32.225,0.000,31.037,28.742,126.220,4.500,0.000,32.532,1157.773,6481.567,353.384,1858.317,345.525,33.352,1161.384,0.000,1822.020,0.000,29.232,0.000
$DEVICE_MAMPS,140.361,57.525,891.254,533.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.452,368.282,815.207,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,31796,585
$CAP_FILE_SIZE,110664,0
$CFSIZE,260165632,248971264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010510,165214,2107.629,-15800.600,28,1.7,47,9.8