version: 66.06
glider: 139
mission: 7
dive: 177
start: 5 2 110 12 32 42
data:
$ID,139
$MISSION,7
$DIVE,177
$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,-2125381.5
$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
$GPS1,122720,2108.542,-15759.199,28,1.4,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.3
$GPS2,123150,2108.531,-15759.253,15,1.7,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,-0.006
$KALMAN_X,-42084.4,563.4,1488.1,47174.7,-5084.7
$KALMAN_Y,3265.8,-81.6,-482.1,-1296.1,607.8
$MHEAD_RNG_PITCHd_Wd,82.1,28670,-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,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,78,0.00,0.00,-59.55,0.000,6,0.000,0.000,426,1876,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.8,-6.0,11,98,10.73,2.45,0.00,0.000,4,0.139,0.028,2404,3318,3370,0,0,0,0,0,0
$GC,279,-1.40,-77.9,43.5,-13.0,46,285,0.00,2.42,0.00,0.000,6,0.000,0.031,2407,1900,3372,0,0,0,0,0,0
$GC,541,-1.31,-77.9,83.6,-14.6,71,545,0.10,2.35,0.00,0.000,4,0.119,0.026,2426,3319,3373,0,0,0,0,0,0
$GC,556,-1.26,-77.9,86.0,-14.2,72,561,0.00,2.40,0.00,0.000,6,0.000,0.028,2426,1888,3372,0,0,0,0,0,0
$GC,817,-1.26,-77.9,114.8,-10.3,96,821,0.00,2.38,0.00,0.000,4,0.000,0.045,2425,491,3373,0,0,0,0,0,0
$GC,877,-1.21,-77.9,121.8,-11.9,102,882,0.12,2.33,0.00,0.000,6,0.100,0.021,2452,1930,3374,0,0,0,0,0,0
$GC,1139,-1.30,-77.9,143.1,-9.2,126,1143,0.00,2.47,0.00,0.000,4,0.000,0.044,2452,495,3375,0,0,0,0,0,0
$GC,1173,-1.33,-77.9,146.4,-9.8,129,1178,0.15,2.28,0.00,0.000,6,0.057,0.021,2405,1904,3375,0,0,0,0,0,0
$GC,1434,-1.33,-77.9,177.4,-12.2,153,1438,0.00,2.42,0.00,0.000,4,0.000,0.045,2404,487,3375,0,0,0,0,0,0
$GC,1486,-1.28,-77.9,184.2,-12.7,158,1491,0.12,2.30,0.00,0.000,6,0.100,0.021,2431,1905,3376,0,0,0,0,0,0
$GC,1744,-1.36,-77.9,215.2,-11.6,176,1748,0.00,2.45,0.00,0.000,4,0.000,0.046,2431,488,3377,0,0,0,0,0,0
$GC,1789,-1.39,-77.9,221.0,-12.3,178,1793,0.00,2.30,0.00,0.000,6,0.000,0.021,2429,1905,3376,0,0,0,0,0,0
$GC,2113,-1.47,-77.9,254.3,-9.2,194,2118,0.17,2.45,0.00,0.000,4,0.054,0.048,2380,490,3377,0,0,0,0,0,0
$GC,2203,-1.42,-77.9,264.0,-10.7,198,2208,0.12,2.30,0.00,0.000,6,0.101,0.023,2401,1904,3377,0,0,0,0,0,0
$GC,2533,-1.47,-77.9,289.1,-7.5,214,2538,0.00,2.42,0.00,0.000,4,0.000,0.048,2405,495,3377,0,0,0,0,0,0
$GC,2611,-1.47,-77.9,295.6,-8.3,217,2615,0.00,2.30,0.00,0.000,6,0.000,0.024,2402,1899,3376,0,0,0,0,0,0
$GC,2923,-1.51,-77.9,322.3,-8.7,226,2927,0.00,2.35,0.00,0.000,4,0.000,0.035,2406,3300,3375,0,0,0,0,0,0
$GC,2950,-1.61,-77.9,324.9,-9.3,226,2956,0.20,2.38,0.00,0.000,6,0.052,0.035,2349,1894,3375,0,0,0,0,0,0
$GC,3291,-1.54,-77.9,364.9,-12.4,235,3295,0.12,2.47,0.00,0.000,4,0.107,0.054,2375,489,3374,0,0,0,0,0,0
$GC,3334,-1.49,-77.9,370.6,-11.3,236,3338,0.00,2.30,0.00,0.000,6,0.000,0.027,2375,1896,3374,0,0,0,0,0,0
$STATE,3660,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3661,begin apogee
$GC,3666,-0.31,0.0,403.7,9.8,244,3735,1.27,0.00,65.25,0.842,6,0.078,0.000,2645,2055,3050,0,0,0,0,0,0
$STATE,3735,end apogee,CONTROL_FINISHED_OK
$STATE,3736,begin climb
$GC,3737,1.40,77.9,405.2,0.0,245,3812,1.62,2.45,64.12,0.825,4,0.031,0.043,3028,3409,2732,0,0,0,0,0,0
$GC,4076,1.22,119.1,397.3,5.2,252,4117,0.20,2.38,34.90,0.815,6,0.115,0.037,2989,2024,2564,0,0,0,0,0,0
$GC,4426,1.10,119.1,368.7,8.6,261,4431,0.20,2.47,0.00,0.000,4,0.112,0.052,2955,628,2558,0,0,0,0,0,0
$GC,4437,0.97,119.1,367.9,8.4,261,4442,0.15,2.35,0.00,0.000,6,0.123,0.029,2930,2017,2557,0,0,0,0,0,0
$GC,4750,1.02,155.9,349.7,5.5,269,4787,0.00,2.53,31.25,0.805,4,0.000,0.054,2929,627,2414,0,0,0,0,0,0
$GC,4800,1.02,155.9,345.4,9.0,270,4805,0.00,2.40,0.00,0.000,6,0.000,0.030,2930,2032,2411,0,0,0,0,0,0
$GC,5118,1.08,155.9,314.0,9.4,278,5122,0.00,2.50,0.00,0.000,4,0.000,0.052,2929,625,2407,0,0,0,0,0,0
$GC,5207,1.05,155.9,304.8,10.9,280,5211,0.00,2.40,0.00,0.000,6,0.000,0.030,2930,2043,2405,0,0,0,0,0,0
$GC,5538,1.09,155.9,277.2,8.5,294,5543,0.00,2.50,0.00,0.000,4,0.000,0.053,2929,622,2404,0,0,0,0,0,0
$GC,5620,1.09,158.2,270.0,7.9,297,5626,0.00,2.38,0.00,0.000,6,0.000,0.029,2930,2036,2403,0,0,0,0,0,0
$GC,5937,1.19,203.7,251.4,4.9,313,5984,0.20,2.47,41.10,0.764,4,0.064,0.040,2978,3436,2219,0,0,0,0,0,0
$GC,6011,1.19,203.7,245.9,9.0,316,6015,0.00,2.45,0.00,0.000,6,0.000,0.038,2978,2033,2218,0,0,0,0,0,0
$GC,6329,1.16,203.7,213.8,11.9,331,6333,0.00,2.47,0.00,0.000,4,0.000,0.051,2978,627,2213,0,0,0,0,0,0
$GC,6458,1.08,203.7,193.5,14.2,339,6464,0.15,2.38,0.00,0.000,6,0.121,0.027,2952,2048,2208,0,0,0,0,0,0
$GC,6719,1.12,203.7,163.7,10.7,364,6723,0.00,2.47,0.00,0.000,4,0.000,0.049,2951,626,2208,0,0,0,0,0,0
$GC,6746,1.12,203.7,160.4,11.2,366,6753,0.00,2.38,0.00,0.000,6,0.000,0.026,2951,2038,2207,0,0,0,0,0,0
$GC,7009,1.18,209.4,137.4,7.6,391,7019,0.00,2.47,4.43,0.471,4,0.000,0.047,2952,621,2196,0,0,0,0,0,0
$GC,7175,1.18,209.4,121.1,9.8,409,7179,0.00,2.35,0.00,0.000,6,0.000,0.024,2951,2044,2194,0,0,0,0,0,0
$GC,7438,1.26,209.4,98.2,9.2,433,7443,0.17,2.47,0.00,0.000,4,0.059,0.046,2997,625,2193,0,0,0,0,0,0
$GC,7563,1.18,209.4,83.0,13.5,446,7568,0.12,2.30,0.00,0.000,6,0.112,0.023,2973,2043,2193,0,0,0,0,0,0
$GC,7825,1.21,209.4,58.4,9.0,470,7829,0.00,2.42,0.00,0.000,4,0.000,0.044,2975,624,2193,0,0,0,0,0,0
$GC,7886,1.21,209.4,52.2,10.9,476,7890,0.00,2.30,0.00,0.000,6,0.000,0.022,2973,2045,2193,0,0,0,0,0,0
$GC,8149,1.27,209.4,28.5,8.3,501,8155,0.00,2.47,0.00,0.000,4,0.000,0.043,2974,621,2193,0,0,0,0,0,0
$GC,8195,1.27,209.4,24.1,9.7,511,8202,0.00,2.33,0.00,0.000,6,0.000,0.021,2974,2039,2193,0,0,0,0,0,0
$GC,8396,1.33,209.4,6.5,9.6,548,8403,0.15,2.47,0.00,0.000,4,0.061,0.044,3018,625,2193,0,0,0,0,0,0
$STATE,8430,end climb,SURFACE_DEPTH_REACHED
$STATE,8430,begin surface coast
$FINISH,0.4,1.000165
$STATE,8460,end surface coast,CONTROL_FINISHED_OK
$STATE,8461,begin surface
$SM_CCo,8481,44.92,0.529,0,0,1827,300.00
$SM_GC,1.36,0.00,0.00,44.92,0.000,0.000,0.529,429,1900,1827,-10.52,0.00,300.00
$IRIDIUM_FIX,2059.45,-15758.18,270799,101016
$TT8_MAMPS,0.029146
$HUMID,44.76
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,364.9,65.8
$24V_AH,23.4,16.276
$10V_AH,10.0,15.307
$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,27.225,110.400,241.050,44.925,0.000,28.672,28.661,118.172,3.750,0.000,15.608,1100.777,5300.286,348.972,1736.050,316.707,33.345,1088.530,0.000,1711.135,0.000,26.828,0.000
$DEVICE_MAMPS,138.827,53.690,842.166,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,380.639,372.763,852.703,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31816,562
$CAP_FILE_SIZE,104630,0
$CFSIZE,260165632,248512512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020510,145657,2108.345,-15759.156,73,2.3,92,9.8