version: 66.06
glider: 139
mission: 7
dive: 176
start: 5 2 110 10 7 57
data:
$ID,139
$MISSION,7
$DIVE,176
$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,-2125365.2
$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
$GPS1,100200,2108.600,-15759.730,54,2.0,59,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.6
$GPS2,100706,2108.581,-15759.763,32,0.9,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,0.026
$KALMAN_X,-40071.2,1022.2,79.5,45218.2,-2959.1
$KALMAN_Y,3035.4,-89.4,153.3,-1601.1,-131.5
$MHEAD_RNG_PITCHd_Wd,72.0,29553,-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,-58.85,0.000,6,0.000,0.000,425,1921,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,4.1,-7.6,11,97,10.73,2.38,0.00,0.000,4,0.138,0.030,2406,3318,3371,0,0,0,0,0,0
$GC,301,-1.40,-77.9,45.3,-13.4,48,306,0.00,2.40,0.00,0.000,6,0.000,0.031,2407,1895,3372,0,0,0,0,0,0
$GC,563,-1.34,-77.9,81.6,-13.7,72,567,0.00,2.40,0.00,0.000,4,0.000,0.046,2403,490,3374,0,0,0,0,0,0
$GC,617,-1.22,-77.9,90.7,-15.8,77,623,0.20,2.30,0.00,0.000,6,0.095,0.021,2446,1930,3373,0,0,0,0,0,0
$GC,881,-1.27,-77.9,120.9,-10.6,102,885,0.00,2.47,0.00,0.000,4,0.000,0.044,2444,487,3374,0,0,0,0,0,0
$GC,970,-1.32,-77.9,130.5,-10.2,111,974,0.00,2.28,0.00,0.000,6,0.000,0.021,2446,1906,3375,0,0,0,0,0,0
$GC,1233,-1.40,-77.9,153.2,-8.1,135,1238,0.17,2.45,0.00,0.000,4,0.052,0.045,2388,487,3375,0,0,0,0,0,0
$GC,1306,-1.31,-77.9,161.5,-11.5,142,1313,0.12,2.30,0.00,0.000,6,0.075,0.021,2423,1893,3375,0,0,0,0,0,0
$GC,1569,-1.31,-77.9,185.3,-9.3,167,1573,0.00,2.42,0.00,0.000,4,0.000,0.045,2424,490,3376,0,0,0,0,0,0
$GC,1594,-1.31,-77.9,187.8,-9.2,169,1598,0.00,2.28,0.00,0.000,6,0.000,0.021,2424,1908,3376,0,0,0,0,0,0
$GC,1863,-1.34,-77.9,211.4,-9.1,188,1867,0.00,2.45,0.00,0.000,4,0.000,0.047,2425,490,3376,0,0,0,0,0,0
$GC,1894,-1.34,-77.9,215.1,-10.8,189,1899,0.00,2.28,0.00,0.000,6,0.000,0.022,2418,1901,3376,0,0,0,0,0,0
$GC,2210,-1.39,-77.9,242.1,-9.4,204,2214,0.00,2.45,0.00,0.000,4,0.000,0.047,2425,490,3376,0,0,0,0,0,0
$GC,2323,-1.43,-77.9,253.8,-10.4,209,2328,0.00,2.28,0.00,0.000,6,0.000,0.023,2421,1902,3376,0,0,0,0,0,0
$GC,2654,-1.51,-77.9,277.4,-6.3,225,2656,0.17,0.00,0.00,0.000,6,0.055,0.000,2376,1908,3376,0,0,0,0,0,0
$GC,2981,-1.51,-77.9,304.7,-8.6,240,2985,0.00,2.42,0.00,0.000,4,0.000,0.050,2375,497,3375,0,0,0,0,0,0
$GC,3041,-1.46,-77.9,310.2,-8.8,241,3046,0.10,2.28,0.00,0.000,6,0.112,0.025,2395,1896,3374,0,0,0,0,0,0
$GC,3391,-1.46,-77.9,339.8,-9.5,250,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1900,3373,0,0,0,0,0,0
$GC,3715,-1.46,-77.9,370.6,-9.2,258,3719,0.00,2.50,0.00,0.000,4,0.000,0.054,2395,491,3372,0,0,0,0,0,0
$GC,3752,-1.42,-77.9,374.2,-10.1,258,3757,0.00,2.33,0.00,0.000,6,0.000,0.028,2396,1897,3372,0,0,0,0,0,0
$STATE,3877,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3878,begin apogee
$GC,3883,-0.31,0.0,385.2,8.8,262,3951,1.15,0.00,64.80,0.825,6,0.074,0.000,2642,2059,3050,0,0,0,0,0,0
$STATE,3952,end apogee,CONTROL_FINISHED_OK
$STATE,3952,begin climb
$GC,3954,1.40,77.9,386.1,0.0,263,4028,1.65,2.45,63.83,0.805,4,0.034,0.042,3027,3411,2732,0,0,0,0,0,0
$GC,4137,1.25,136.2,384.4,4.0,267,4194,0.20,2.35,49.12,0.801,6,0.120,0.036,2987,2034,2494,0,0,0,0,0,0
$GC,4503,1.14,136.2,351.4,10.0,276,4508,0.12,2.47,0.00,0.000,4,0.127,0.053,2969,631,2487,0,0,0,0,0,0
$GC,4565,1.02,136.2,344.7,10.8,277,4570,0.17,2.33,0.00,0.000,6,0.120,0.028,2937,2019,2485,0,0,0,0,0,0
$GC,4915,1.02,142.1,317.5,7.6,286,4922,0.00,0.00,4.82,0.565,6,0.000,0.000,2937,2023,2470,0,0,0,0,0,0
$GC,5222,1.02,142.1,291.7,8.9,295,5226,0.00,2.42,0.00,0.000,4,0.000,0.040,2939,3430,2468,0,0,0,0,0,0
$GC,5244,1.02,142.1,289.4,9.3,296,5248,0.00,2.40,0.00,0.000,6,0.000,0.036,2938,2035,2467,0,0,0,0,0,0
$GC,5568,1.07,177.0,267.9,5.6,312,5606,0.00,2.53,30.65,0.762,4,0.000,0.051,2938,631,2326,0,0,0,0,0,0
$GC,5750,1.11,215.6,257.0,5.4,320,5793,0.00,2.38,34.45,0.748,6,0.000,0.028,2937,2038,2171,0,0,0,0,0,0
$GC,6103,1.18,225.6,233.9,7.3,337,6120,0.15,2.47,9.43,0.657,4,0.071,0.050,2975,632,2129,0,0,0,0,0,0
$GC,6227,1.10,225.6,217.5,14.7,342,6231,0.00,2.35,0.00,0.000,6,0.000,0.028,2975,2038,2124,0,0,0,0,0,0
$GC,6552,1.10,225.6,178.8,12.0,366,6556,0.00,2.47,0.00,0.000,4,0.000,0.049,2974,629,2124,0,0,0,0,0,0
$GC,6595,1.04,225.6,173.1,14.0,370,6600,0.17,2.33,0.00,0.000,6,0.115,0.026,2943,2039,2122,0,0,0,0,0,0
$GC,6856,1.11,225.6,142.8,10.9,394,6860,0.00,2.45,0.00,0.000,4,0.000,0.048,2943,629,2122,0,0,0,0,0,0
$GC,7016,1.11,225.6,126.8,9.1,411,7020,0.00,2.33,0.00,0.000,6,0.000,0.025,2943,2037,2120,0,0,0,0,0,0
$GC,7279,1.23,251.8,110.4,6.2,435,7308,0.17,2.50,22.85,0.623,4,0.061,0.044,2989,629,2022,0,0,0,0,0,0
$GC,7410,1.17,251.8,96.4,11.9,449,7414,0.00,2.33,0.00,0.000,6,0.000,0.023,2988,2041,2017,0,0,0,0,0,0
$GC,7672,1.17,251.8,64.9,13.4,473,7677,0.00,2.42,0.00,0.000,4,0.000,0.044,2989,628,2017,0,0,0,0,0,0
$GC,7750,1.14,251.8,53.5,14.8,481,7755,0.12,2.30,0.00,0.000,6,0.114,0.022,2963,2040,2016,0,0,0,0,0,0
$GC,8012,1.21,251.8,25.2,10.0,509,8018,0.00,2.47,0.00,0.000,4,0.000,0.045,2966,627,2015,0,0,0,0,0,0
$GC,8100,1.21,251.8,15.7,10.3,529,8107,0.00,2.33,0.00,0.000,6,0.000,0.021,2966,2041,2015,0,0,0,0,0,0
$STATE,8225,end climb,SURFACE_DEPTH_REACHED
$STATE,8226,begin surface coast
$FINISH,0.5,1.023597
$STATE,8254,end surface coast,CONTROL_FINISHED_OK
$STATE,8254,begin surface
$SM_CCo,8273,25.83,0.526,0,0,1826,300.00
$SM_GC,1.15,0.00,0.00,25.83,0.000,0.000,0.526,426,1876,1826,-10.52,-0.68,300.00
$IRIDIUM_FIX,2101.76,-15801.19,270799,070743
$TT8_MAMPS,0.029146
$HUMID,46.29
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,20.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,343.9,68.1
$24V_AH,23.4,16.203
$10V_AH,10.1,15.233
$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,26.375,91.175,279.950,25.825,0.000,30.414,28.828,133.586,3.750,0.000,32.264,1062.115,5188.805,345.616,1679.698,331.266,33.343,1056.336,0.000,1642.535,0.000,24.436,0.000
$DEVICE_MAMPS,138.060,53.690,825.292,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,377.136,376.222,837.371,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,31821,557
$CAP_FILE_SIZE,97258,0
$CFSIZE,260165632,248569856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020510,122720,2108.542,-15759.199,28,1.4,28,9.8