version: 66.06
glider: 139
mission: 7
dive: 178
start: 5 2 110 15 2 37
data:
$ID,139
$MISSION,7
$DIVE,178
$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,-2125416.8
$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
$GPS1,145657,2108.345,-15759.156,73,2.3,92,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-71.2
$GPS2,150146,2108.374,-15759.227,14,2.5,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.018
$KALMAN_X,-42772.7,-130.9,1094.2,48988.5,-4853.0
$KALMAN_Y,2878.8,-22.9,-439.4,-1297.9,677.8
$MHEAD_RNG_PITCHd_Wd,85.9,28575,-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,12,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,-59.17,0.000,6,0.000,0.000,428,1900,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.8,-6.3,11,97,10.70,2.38,0.00,0.000,4,0.138,0.024,2403,3319,3371,0,0,0,0,0,0
$GC,189,-1.40,-77.9,27.8,-14.6,35,195,0.00,2.45,0.00,0.000,6,0.000,0.034,2403,1896,3372,0,0,0,0,0,0
$GC,389,-1.29,-77.9,59.6,-15.7,55,394,0.15,2.42,0.00,0.000,4,0.104,0.046,2434,488,3372,0,0,0,0,0,0
$GC,414,-1.17,-77.9,63.4,-14.8,57,419,0.12,2.33,0.00,0.000,6,0.105,0.020,2458,1937,3372,0,0,0,0,0,0
$GC,677,-1.24,-77.9,88.0,-8.5,81,681,0.00,2.47,0.00,0.000,4,0.000,0.044,2457,491,3373,0,0,0,0,0,0
$GC,715,-1.28,-77.9,91.9,-9.7,84,722,0.08,2.28,0.00,0.000,6,0.039,0.021,2424,1893,3373,0,0,0,0,0,0
$GC,976,-1.28,-77.9,121.7,-12.5,109,980,0.00,2.40,0.00,0.000,4,0.000,0.044,2422,491,3375,0,0,0,0,0,0
$GC,1031,-1.28,-77.9,129.5,-13.2,114,1037,0.00,2.30,0.00,0.000,6,0.000,0.021,2423,1896,3375,0,0,0,0,0,0
$GC,1293,-1.28,-77.9,159.0,-10.7,139,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1901,3375,0,0,0,0,0,0
$GC,1548,-1.31,-77.9,188.4,-11.1,163,1553,0.00,2.40,0.00,0.000,4,0.000,0.045,2423,492,3376,0,0,0,0,0,0
$GC,1603,-1.31,-77.9,195.3,-11.7,168,1610,0.00,2.30,0.00,0.000,6,0.000,0.021,2422,1903,3376,0,0,0,0,0,0
$GC,1860,-1.37,-77.9,217.8,-7.8,183,1864,0.00,2.42,0.00,0.000,4,0.000,0.046,2423,488,3377,0,0,0,0,0,0
$GC,1909,-1.37,-77.9,222.0,-8.4,185,1913,0.00,2.30,0.00,0.000,6,0.000,0.021,2421,1908,3377,0,0,0,0,0,0
$GC,2231,-1.44,-77.9,243.1,-7.0,201,2235,0.00,2.45,0.00,0.000,4,0.000,0.048,2424,485,3377,0,0,0,0,0,0
$GC,2351,-1.48,-77.9,256.2,-10.6,206,2356,0.15,2.28,0.00,0.000,6,0.059,0.023,2377,1897,3377,0,0,0,0,0,0
$GC,2672,-1.48,-77.9,296.5,-11.2,222,2676,0.00,2.42,0.00,0.000,4,0.000,0.048,2378,492,3376,0,0,0,0,0,0
$GC,2705,-1.39,-77.9,300.1,-11.4,223,2709,0.17,2.28,0.00,0.000,6,0.092,0.025,2413,1899,3376,0,0,0,0,0,0
$GC,3036,-1.46,-77.9,322.4,-6.7,231,3040,0.00,2.45,0.00,0.000,4,0.000,0.051,2414,485,3375,0,0,0,0,0,0
$GC,3129,-1.50,-77.9,330.4,-8.8,233,3134,0.12,2.33,0.00,0.000,6,0.067,0.026,2376,1898,3374,0,0,0,0,0,0
$GC,3452,-1.50,-77.9,366.7,-12.1,241,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1904,3373,0,0,0,0,0,0
$STATE,3693,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3694,begin apogee
$GC,3699,-0.31,0.0,395.3,11.6,247,3768,1.25,0.00,65.38,0.834,6,0.078,0.000,2641,2063,3050,0,0,0,0,0,0
$STATE,3768,end apogee,CONTROL_FINISHED_OK
$STATE,3768,begin climb
$GC,3770,1.40,77.9,397.0,0.0,248,3845,1.65,2.42,64.03,0.815,4,0.034,0.044,3026,3404,2732,0,0,0,0,0,0
$GC,4108,1.26,140.6,390.7,3.7,255,4172,0.17,2.35,53.20,0.816,6,0.120,0.037,2991,2030,2475,0,0,0,0,0,0
$GC,4495,1.14,140.6,361.0,8.3,265,4500,0.15,2.40,0.00,0.000,4,0.119,0.041,2968,3415,2469,0,0,0,0,0,0
$GC,4579,1.09,140.6,353.7,8.7,266,4585,0.00,2.40,0.00,0.000,6,0.000,0.038,2967,2031,2468,0,0,0,0,0,0
$GC,4910,1.03,140.6,320.1,10.5,275,4912,0.15,0.00,0.00,0.000,6,0.121,0.000,2941,2031,2465,0,0,0,0,0,0
$GC,5216,1.04,147.3,296.3,7.6,283,5227,0.00,2.50,4.95,0.580,4,0.000,0.052,2941,623,2448,0,0,0,0,0,0
$GC,5342,1.00,158.0,286.3,7.3,288,5359,0.00,2.35,10.65,0.713,6,0.000,0.028,2941,2024,2405,0,0,0,0,0,0
$GC,5686,1.02,172.0,260.9,7.1,305,5708,0.00,2.45,13.27,0.720,4,0.000,0.038,2941,3425,2347,0,0,0,0,0,0
$GC,5740,1.09,190.0,257.0,6.8,307,5764,0.00,2.40,17.10,0.728,6,0.000,0.036,2942,2026,2275,0,0,0,0,0,0
$GC,6085,1.14,210.0,234.7,6.6,324,6109,0.00,2.50,18.65,0.720,4,0.000,0.050,2941,628,2192,0,0,0,0,0,0
$GC,6302,1.14,210.0,214.9,11.7,333,6306,0.00,2.35,0.00,0.000,6,0.000,0.027,2941,2040,2186,0,0,0,0,0,0
$GC,6628,1.20,210.0,178.5,10.4,358,6633,0.15,2.47,0.00,0.000,4,0.067,0.050,2980,619,2185,0,0,0,0,0,0
$GC,6745,1.12,210.0,164.8,12.1,370,6750,0.12,2.38,0.00,0.000,6,0.121,0.026,2959,2044,2183,0,0,0,0,0,0
$GC,7007,1.16,212.5,140.1,7.9,394,7011,0.00,2.47,0.00,0.000,4,0.000,0.048,2958,629,2183,0,0,0,0,0,0
$GC,7068,1.16,212.5,134.8,9.0,400,7072,0.00,2.33,0.00,0.000,6,0.000,0.025,2958,2046,2182,0,0,0,0,0,0
$GC,7329,1.21,212.5,114.8,8.9,424,7334,0.00,2.47,0.00,0.000,4,0.000,0.046,2958,621,2181,0,0,0,0,0,0
$GC,7356,1.21,212.5,111.7,10.8,426,7363,0.00,2.35,0.00,0.000,6,0.000,0.024,2957,2033,2180,0,0,0,0,0,0
$GC,7619,1.27,212.5,86.1,9.6,451,7624,0.15,2.45,0.00,0.000,4,0.061,0.045,3000,627,2181,0,0,0,0,0,0
$GC,7699,1.18,212.5,76.4,12.5,459,7704,0.15,2.33,0.00,0.000,6,0.106,0.022,2970,2050,2181,0,0,0,0,0,0
$GC,7963,1.23,218.4,53.2,7.6,483,7976,0.00,2.53,6.88,0.492,4,0.000,0.043,2972,627,2159,0,0,0,0,0,0
$GC,8053,1.23,218.4,45.3,9.0,493,8057,0.00,2.30,0.00,0.000,6,0.000,0.021,2972,2037,2157,0,0,0,0,0,0
$GC,8316,1.29,225.5,26.4,7.5,521,8329,0.10,2.45,7.85,0.486,4,0.077,0.041,3004,621,2130,0,0,0,0,0,0
$GC,8405,1.20,225.5,17.9,10.2,540,8412,0.10,2.33,0.00,0.000,6,0.084,0.021,2981,2030,2127,0,0,0,0,0,0
$STATE,8562,end climb,SURFACE_DEPTH_REACHED
$STATE,8562,begin surface coast
$FINISH,0.4,1.001609
$STATE,8596,end surface coast,CONTROL_FINISHED_OK
$STATE,8596,begin surface
$SM_CCo,8615,38.05,0.528,0,0,1826,300.00
$SM_GC,1.55,0.00,0.00,38.05,0.000,0.000,0.528,427,1879,1826,-10.52,-0.59,300.00
$IRIDIUM_FIX,2059.45,-15801.19,270799,121230
$TT8_MAMPS,0.029146
$HUMID,45.19
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,361.7,60.7
$24V_AH,23.4,16.349
$10V_AH,10.0,15.384
$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,26.600,96.050,261.950,38.050,0.000,27.431,25.872,122.983,3.750,0.000,34.563,1113.112,5391.184,353.677,1771.689,317.032,33.340,1098.851,0.000,1728.863,0.000,25.982,0.000
$DEVICE_MAMPS,138.060,52.156,833.729,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,388.849,386.108,884.847,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,31860,575
$CAP_FILE_SIZE,102855,0
$CFSIZE,260165632,248459264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020510,172854,2108.427,-15759.500,78,1.8,88,9.8