version: 66.06
glider: 139
mission: 7
dive: 179
start: 5 2 110 17 38 53
data:
$ID,139
$MISSION,7
$DIVE,179
$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,-2125431.8
$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
$GPS1,172854,2108.427,-15759.500,78,1.8,88,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-70.8
$GPS2,173801,2108.549,-15759.610,13,2.0,13,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.017
$KALMAN_X,-43844.1,-73.7,-449.0,50891.0,-2922.6
$KALMAN_Y,2870.6,-113.6,173.5,-1493.5,339.3
$MHEAD_RNG_PITCHd_Wd,85.4,29283,-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,-58.67,0.000,6,0.000,0.000,427,1879,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,4.1,-7.3,11,98,10.62,2.42,0.00,0.000,4,0.135,0.024,2404,3325,3370,0,0,0,0,0,0
$GC,198,-1.40,-77.9,28.2,-14.6,37,205,0.00,2.45,0.00,0.000,6,0.000,0.033,2404,1900,3372,0,0,0,0,0,0
$GC,403,-1.29,-77.9,58.1,-15.0,57,408,0.15,2.45,0.00,0.000,4,0.103,0.046,2433,492,3371,0,0,0,0,0,0
$GC,429,-1.16,-77.9,62.3,-15.6,59,434,0.12,2.33,0.00,0.000,6,0.105,0.020,2457,1931,3372,0,0,0,0,0,0
$GC,692,-1.23,-77.9,92.7,-10.7,83,696,0.00,2.47,0.00,0.000,4,0.000,0.044,2457,488,3372,0,0,0,0,0,0
$GC,761,-1.27,-77.9,100.9,-11.0,90,765,0.00,2.25,0.00,0.000,6,0.000,0.020,2457,1898,3373,0,0,0,0,0,0
$GC,1023,-1.36,-77.9,125.4,-7.5,114,1025,0.17,0.00,0.00,0.000,6,0.051,0.000,2405,1903,3374,0,0,0,0,0,0
$GC,1276,-1.36,-77.9,151.3,-9.5,138,1280,0.00,2.40,0.00,0.000,4,0.000,0.045,2399,494,3374,0,0,0,0,0,0
$GC,1294,-1.28,-77.9,153.4,-11.4,139,1300,0.15,2.25,0.00,0.000,6,0.097,0.021,2434,1910,3374,0,0,0,0,0,0
$GC,1555,-1.34,-77.9,180.5,-11.0,164,1560,0.00,2.42,0.00,0.000,4,0.000,0.045,2434,494,3375,0,0,0,0,0,0
$GC,1626,-1.34,-77.9,188.7,-12.0,171,1630,0.00,2.25,0.00,0.000,6,0.000,0.021,2422,1898,3375,0,0,0,0,0,0
$GC,1893,-1.39,-77.9,216.7,-9.6,188,1894,0.12,0.00,0.00,0.000,6,0.065,0.000,2394,1904,3375,0,0,0,0,0,0
$GC,2203,-1.39,-77.9,249.5,-9.3,203,2207,0.00,2.45,0.00,0.000,4,0.000,0.048,2394,488,3375,0,0,0,0,0,0
$GC,2240,-1.32,-77.9,253.4,-11.1,204,2247,0.12,2.30,0.00,0.000,6,0.073,0.022,2421,1893,3375,0,0,0,0,0,0
$GC,2555,-1.39,-77.9,278.7,-8.5,220,2559,0.00,2.42,0.00,0.000,4,0.000,0.051,2426,494,3375,0,0,0,0,0,0
$GC,2702,-1.39,-77.9,296.3,-13.0,226,2706,0.00,2.28,0.00,0.000,6,0.000,0.024,2421,1904,3375,0,0,0,0,0,0
$GC,3037,-1.46,-77.9,330.9,-9.4,236,3042,0.15,2.50,0.00,0.000,4,0.059,0.053,2380,487,3374,0,0,0,0,0,0
$GC,3130,-1.37,-77.9,342.1,-11.8,238,3135,0.17,2.30,0.00,0.000,6,0.092,0.025,2416,1902,3373,0,0,0,0,0,0
$GC,3457,-1.44,-77.9,372.8,-9.2,246,3461,0.00,2.35,0.00,0.000,4,0.000,0.036,2416,3301,3372,0,0,0,0,0,0
$GC,3485,-1.55,-77.9,375.4,-9.1,246,3490,0.17,2.38,0.00,0.000,6,0.055,0.038,2363,1900,3372,0,0,0,0,0,0
$STATE,3535,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3535,begin apogee
$GC,3540,-0.31,0.0,381.1,11.2,248,3608,1.33,0.00,64.88,0.809,6,0.076,0.000,2646,2057,3050,0,0,0,0,0,0
$STATE,3609,end apogee,CONTROL_FINISHED_OK
$STATE,3609,begin climb
$GC,3611,1.40,77.9,382.7,0.0,249,3686,1.62,2.45,64.10,0.793,4,0.030,0.040,3031,3413,2731,0,0,0,0,0,0
$GC,3816,1.24,134.0,381.9,4.2,254,3869,0.25,2.38,46.83,0.789,6,0.111,0.035,2985,2021,2503,0,0,0,0,0,0
$GC,4205,1.13,142.6,353.7,7.4,264,4219,0.12,2.42,7.95,0.668,4,0.124,0.036,2965,3415,2467,0,0,0,0,0,0
$GC,4267,1.11,162.1,348.7,6.7,265,4293,0.00,2.38,18.35,0.752,6,0.000,0.036,2959,2031,2387,0,0,0,0,0,0
$GC,4618,1.09,181.7,325.5,6.7,274,4642,0.00,2.50,17.17,0.750,4,0.000,0.052,2964,630,2308,0,0,0,0,0,0
$GC,4801,1.02,181.7,307.7,9.5,278,4806,0.15,2.33,0.00,0.000,6,0.120,0.028,2938,2020,2302,0,0,0,0,0,0
$GC,5133,1.05,181.7,276.5,9.8,292,5137,0.00,2.47,0.00,0.000,4,0.000,0.051,2937,624,2301,0,0,0,0,0,0
$GC,5376,1.05,181.7,246.6,12.5,302,5382,0.00,2.38,0.00,0.000,6,0.000,0.028,2938,2027,2298,0,0,0,0,0,0
$GC,5691,1.14,203.3,222.6,6.5,318,5716,0.10,2.42,18.27,0.703,4,0.086,0.035,2965,3434,2221,0,0,0,0,0,0
$GC,5863,1.17,203.3,209.4,8.3,325,5868,0.00,2.38,0.00,0.000,6,0.000,0.034,2962,2033,2220,0,0,0,0,0,0
$GC,6192,1.17,203.3,180.1,9.5,351,6196,0.00,2.45,0.00,0.000,4,0.000,0.048,2965,619,2217,0,0,0,0,0,0
$GC,6247,1.13,203.3,174.0,9.9,356,6253,0.00,2.38,0.00,0.000,6,0.000,0.025,2963,2046,2214,0,0,0,0,0,0
$GC,6509,1.13,203.3,148.9,9.5,381,6513,0.00,2.47,0.00,0.000,4,0.000,0.045,2964,619,2215,0,0,0,0,0,0
$GC,6572,1.08,203.3,141.8,10.9,387,6578,0.00,2.33,0.00,0.000,6,0.000,0.024,2962,2049,2214,0,0,0,0,0,0
$GC,6834,1.12,203.3,115.3,9.0,412,6835,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2054,2214,0,0,0,0,0,0
$GC,7088,1.20,225.7,95.1,6.5,436,7117,0.00,2.53,19.90,0.593,4,0.000,0.044,2964,633,2127,0,0,0,0,0,0
$GC,7174,1.20,225.7,88.7,8.6,445,7178,0.00,2.30,0.00,0.000,6,0.000,0.022,2961,2048,2124,0,0,0,0,0,0
$GC,7437,1.28,241.9,71.3,6.9,469,7458,0.15,2.50,15.10,0.558,4,0.061,0.042,3005,618,2062,0,0,0,0,0,0
$GC,7533,1.22,241.9,60.1,12.8,479,7540,0.10,2.33,0.00,0.000,6,0.084,0.021,2983,2031,2058,0,0,0,0,0,0
$GC,7796,1.25,241.9,34.5,9.6,504,7800,0.00,2.42,0.00,0.000,4,0.000,0.043,2983,625,2058,0,0,0,0,0,0
$GC,7901,1.25,241.9,22.6,11.6,523,7908,0.00,2.33,0.00,0.000,6,0.000,0.021,2981,2040,2057,0,0,0,0,0,0
$STATE,8096,end climb,SURFACE_DEPTH_REACHED
$STATE,8096,begin surface coast
$FINISH,0.6,1.023742
$STATE,8130,end surface coast,CONTROL_FINISHED_OK
$STATE,8130,begin surface
$SM_CCo,8149,29.02,0.518,0,0,1827,300.00
$SM_GC,1.20,0.00,0.00,29.02,0.000,0.000,0.518,424,1872,1827,-10.53,-0.79,300.00
$IRIDIUM_FIX,2101.76,-15801.19,270799,151508
$TT8_MAMPS,0.029146
$HUMID,44.56
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,340.4,66.5
$24V_AH,23.5,16.428
$10V_AH,10.0,15.461
$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,26.725,91.250,272.550,29.025,0.000,93.154,100.821,133.336,3.500,0.000,14.315,1085.212,5072.905,346.392,1736.983,489.189,33.351,1086.466,0.000,1728.059,0.000,24.432,0.000
$DEVICE_MAMPS,134.992,52.923,809.185,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,381.336,380.322,869.206,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,31854,565
$CAP_FILE_SIZE,101722,0
$CFSIZE,260165632,248410112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020510,195636,2108.741,-15759.576,38,1.7,49,9.8