version: 66.06
glider: 139
mission: 7
dive: 513
start: 6 13 110 16 23 29
data:
$ID,139
$MISSION,7
$DIVE,513
$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,-2140383
$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,1875
$C_ROLL_CLIMB,2010
$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
$GPS1,161608,2109.113,-15800.031,81,1.7,88,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.2
$GPS2,162236,2109.132,-15800.049,40,1.3,43,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.156,-0.097
$KALMAN_X,-251996.6,-458.2,-629.5,244242.8,-371.0
$KALMAN_Y,14172.3,-180.3,-149.6,-9727.0,801.0
$MHEAD_RNG_PITCHd_Wd,112.0,30230,-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,12,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,70,0.00,0.00,-52.72,0.000,2,0.000,0.000,428,1867,3223,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.6,-6.1,10,95,10.65,2.42,-2.78,0.000,4,0.137,0.052,2400,471,3371,0,0,0,0,0,0
$GC,180,-1.18,-77.9,31.6,-20.9,32,185,0.28,2.30,0.00,0.000,6,0.089,0.020,2456,1906,3372,0,0,0,0,0,0
$GC,445,-1.13,-77.9,69.5,-12.5,56,450,0.00,2.47,0.00,0.000,4,0.000,0.043,2457,462,3373,0,0,0,0,0,0
$GC,508,-1.06,-77.9,78.9,-13.1,62,515,0.10,2.30,0.00,0.000,6,0.079,0.019,2481,1878,3373,0,0,0,0,0,0
$GC,771,-1.15,-77.9,105.5,-9.4,87,776,0.00,2.40,0.00,0.000,4,0.000,0.041,2481,466,3374,0,0,0,0,0,0
$GC,853,-1.22,-77.9,114.5,-10.5,95,860,0.15,2.25,0.00,0.000,6,0.056,0.019,2433,1879,3374,0,0,0,0,0,0
$GC,1114,-1.22,-77.9,146.3,-10.0,120,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,1883,3376,0,0,0,0,0,0
$GC,1369,-1.22,-77.9,172.3,-10.2,144,1373,0.00,2.42,0.00,0.000,4,0.000,0.042,2433,464,3376,0,0,0,0,0,0
$GC,1423,-1.22,-77.9,178.4,-11.1,149,1429,0.00,2.25,0.00,0.000,6,0.000,0.019,2433,1880,3376,0,0,0,0,0,0
$GC,1694,-1.27,-77.9,206.0,-9.3,172,1698,0.00,2.42,0.00,0.000,4,0.000,0.043,2432,465,3377,0,0,0,0,0,0
$GC,1744,-1.27,-77.9,211.1,-9.3,174,1749,0.00,2.25,0.00,0.000,6,0.000,0.020,2432,1878,3377,0,0,0,0,0,0
$GC,2067,-1.31,-77.9,239.7,-7.8,190,2072,0.00,2.40,0.00,0.000,4,0.000,0.040,2432,459,3377,0,0,0,0,0,0
$GC,2086,-1.31,-77.9,241.4,-7.5,190,2093,0.00,2.28,0.00,0.000,6,0.000,0.021,2432,1880,3377,0,0,0,0,0,0
$GC,2402,-1.40,-77.9,258.5,-6.9,206,2407,0.10,2.45,0.00,0.000,4,0.076,0.044,2396,462,3377,0,0,0,0,0,0
$GC,2486,-1.37,-77.9,267.9,-11.3,209,2492,0.00,2.25,0.00,0.000,6,0.000,0.021,2396,1871,3377,0,0,0,0,0,0
$GC,2804,-1.37,-77.9,297.6,-9.9,225,2808,0.00,2.45,0.00,0.000,4,0.000,0.046,2397,462,3376,0,0,0,0,0,0
$GC,2817,-1.37,-77.9,299.4,-10.5,225,2826,0.00,2.28,0.00,0.000,6,0.000,0.022,2396,1881,3376,0,0,0,0,0,0
$GC,3148,-1.37,-77.9,330.1,-8.3,234,3152,0.00,2.45,0.00,0.000,4,0.000,0.046,2396,460,3375,0,0,0,0,0,0
$GC,3171,-1.33,-77.9,332.2,-8.9,234,3176,0.12,2.28,0.00,0.000,6,0.099,0.023,2422,1868,3375,0,0,0,0,0,0
$GC,3513,-1.41,-77.9,350.4,-5.3,243,3517,0.00,2.40,0.00,0.000,4,0.000,0.047,2422,465,3374,0,0,0,0,0,0
$GC,3621,-1.45,-77.9,358.5,-7.5,245,3626,0.12,2.30,0.00,0.000,6,0.066,0.024,2383,1879,3373,0,0,0,0,0,0
$STATE,3971,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3971,begin apogee
$GC,3977,-0.31,0.0,392.3,9.9,254,4045,1.23,0.00,64.75,0.808,6,0.074,0.000,2643,2034,3050,0,0,0,0,0,0
$STATE,4046,end apogee,CONTROL_FINISHED_OK
$STATE,4046,begin climb
$GC,4049,1.40,77.9,393.9,0.0,255,4123,1.62,2.40,63.95,0.790,4,0.031,0.038,3023,3376,2732,0,0,0,0,0,0
$GC,4387,1.23,121.1,384.7,5.1,263,4429,0.22,2.33,36.12,0.781,6,0.109,0.031,2983,2001,2556,0,0,0,0,0,0
$GC,4739,1.12,121.1,351.0,9.8,272,4744,0.12,2.35,0.00,0.000,4,0.123,0.035,2961,3376,2551,0,0,0,0,0,0
$GC,4839,1.08,121.1,342.8,8.5,274,4843,0.00,2.35,0.00,0.000,6,0.000,0.035,2962,2005,2551,0,0,0,0,0,0
$GC,5162,1.04,126.7,317.7,7.6,282,5174,0.00,2.45,5.05,0.567,4,0.000,0.048,2962,598,2532,0,0,0,0,0,0
$GC,5415,1.02,195.3,305.7,3.3,287,5483,0.12,2.30,59.47,0.767,6,0.127,0.028,2941,1998,2254,0,0,0,0,0,0
$GC,5812,1.07,195.3,276.0,8.8,303,5816,0.00,2.45,0.00,0.000,4,0.000,0.050,2940,605,2246,0,0,0,0,0,0
$GC,5856,1.07,195.3,271.7,9.6,305,5860,0.00,2.33,0.00,0.000,6,0.000,0.028,2941,2009,2244,0,0,0,0,0,0
$GC,6187,1.14,197.7,246.5,7.9,321,6192,0.10,2.50,0.00,0.000,4,0.084,0.049,2967,598,2243,0,0,0,0,0,0
$GC,6263,1.10,197.7,239.5,8.7,324,6267,0.00,2.33,0.00,0.000,6,0.000,0.027,2967,2011,2241,0,0,0,0,0,0
$GC,6583,1.10,202.7,213.6,7.7,340,6590,0.00,0.00,5.65,0.547,6,0.000,0.000,2967,2017,2223,0,0,0,0,0,0
$GC,6913,1.11,210.4,186.7,7.5,363,6927,0.00,2.47,8.45,0.595,4,0.000,0.046,2967,598,2191,0,0,0,0,0,0
$GC,6957,1.07,210.4,183.0,8.6,367,6962,0.00,2.33,0.00,0.000,6,0.000,0.025,2967,2015,2188,0,0,0,0,0,0
$GC,7222,1.14,233.8,164.8,6.4,391,7250,0.00,2.53,21.73,0.644,4,0.000,0.044,2967,596,2095,0,0,0,0,0,0
$GC,7280,1.14,235.2,160.7,7.9,397,7284,0.00,2.33,0.00,0.000,6,0.000,0.025,2967,2011,2092,0,0,0,0,0,0
$GC,7544,1.23,248.9,142.4,7.1,421,7563,0.00,2.50,13.80,0.596,4,0.000,0.045,2967,600,2035,0,0,0,0,0,0
$GC,7586,1.23,248.9,138.7,8.9,425,7592,0.00,2.30,0.00,0.000,6,0.000,0.023,2967,2015,2032,0,0,0,0,0,0
$GC,7849,1.34,248.9,115.5,8.9,450,7854,0.17,2.47,0.00,0.000,4,0.058,0.044,3015,600,2032,0,0,0,0,0,0
$GC,7965,1.29,248.9,101.9,11.9,462,7970,0.00,2.30,0.00,0.000,6,0.000,0.022,3015,2024,2030,0,0,0,0,0,0
$GC,8228,1.30,257.2,80.2,7.4,486,8242,0.00,2.50,8.07,0.499,4,0.000,0.043,3015,605,2001,0,0,0,0,0,0
$GC,8341,1.27,270.0,71.9,7.1,498,8361,0.08,2.30,12.77,0.529,6,0.087,0.021,2996,2014,1948,0,0,0,0,0,0
$GC,8623,1.34,271.8,50.5,7.9,525,8627,0.00,2.40,0.00,0.000,4,0.000,0.041,2996,602,1947,0,0,0,0,0,0
$GC,8727,1.34,271.8,40.2,9.7,536,8734,0.00,2.30,0.00,0.000,6,0.000,0.020,2996,2011,1944,0,0,0,0,0,0
$GC,8995,1.41,271.8,17.8,10.1,573,9001,0.12,2.42,0.00,0.000,4,0.065,0.043,3036,600,1944,0,0,0,0,0,0
$GC,9101,1.31,271.8,5.7,11.4,595,9108,0.17,2.25,0.00,0.000,6,0.095,0.019,3001,2014,1944,0,0,0,0,0,0
$STATE,9117,end climb,SURFACE_DEPTH_REACHED
$STATE,9117,begin surface coast
$FINISH,0.7,1.023306
$STATE,9141,end surface coast,CONTROL_FINISHED_OK
$STATE,9141,begin surface
$SM_CCo,9162,18.38,0.491,0,0,1826,300.00
$SM_GC,1.72,0.00,0.00,18.38,0.000,0.000,0.491,427,1858,1826,-10.52,-0.48,300.00
$IRIDIUM_FIX,2059.45,-15801.19,070999,131321
$TT8_MAMPS,0.029146
$HUMID,48.74
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,23.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,360.0,62.2
$24V_AH,23.4,45.543
$10V_AH,10.1,43.013
$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,26.575,104.625,299.825,18.375,0.000,26.346,27.845,187.092,3.750,0.000,43.212,1158.867,5746.576,364.075,1832.389,466.264,33.380,1156.952,0.000,1787.077,0.000,26.023,0.000
$DEVICE_MAMPS,137.293,55.991,807.651,490.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.371,403.564,789.660,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34920,602
$CAP_FILE_SIZE,111160,0
$CFSIZE,260165632,228683776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130610,185755,2108.819,-15759.396,43,1.8,48,9.8