version: 66.06
glider: 139
mission: 7
dive: 77
start: 4 20 110 18 58 40
data:
$ID,139
$MISSION,7
$DIVE,77
$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,2
$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,-2121330.8
$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,2712
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$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
$GPS1,185220,2059.327,-15748.189,59,1.6,59,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.6
$GPS2,185822,2059.341,-15748.216,12,2.9,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.177,0.048
$KALMAN_X,-10622.7,142.5,584.3,29179.9,-1774.9
$KALMAN_Y,-1714.3,205.2,435.2,-12797.6,-689.5
$MHEAD_RNG_PITCHd_Wd,27.6,15084,-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,14,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-55.12,0.000,2,0.000,0.000,424,1886,3263,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.1,-4.6,10,93,10.77,2.40,-2.08,0.000,4,0.140,0.051,2406,492,3368,0,0,0,0,0,0
$GC,104,-0.32,-77.9,13.7,-31.0,15,112,1.08,2.38,0.00,0.000,6,0.088,0.021,2640,1936,3369,0,0,0,0,0,0
$GC,307,-0.79,-77.9,23.6,-4.0,52,314,0.43,2.53,0.00,0.000,4,0.057,0.042,2540,495,3370,0,0,0,0,0,0
$GC,372,-1.01,-77.9,28.0,-6.9,66,380,0.17,2.30,0.00,0.000,6,0.030,0.021,2479,1898,3371,0,0,0,0,0,0
$GC,578,-1.09,-77.9,48.1,-10.2,87,583,0.00,2.42,0.00,0.000,4,0.000,0.046,2478,495,3371,0,0,0,0,0,0
$GC,614,-1.13,-77.9,52.5,-11.3,90,621,0.00,2.30,0.00,0.000,6,0.000,0.021,2479,1901,3372,0,0,0,0,0,0
$GC,876,-1.21,-77.9,78.1,-9.8,115,881,0.15,2.45,0.00,0.000,4,0.058,0.046,2432,492,3372,0,0,0,0,0,0
$GC,929,-1.18,-77.9,84.8,-13.4,120,934,0.10,2.28,0.00,0.000,6,0.112,0.021,2452,1896,3372,0,0,0,0,0,0
$GC,1191,-1.23,-77.9,115.6,-10.0,144,1195,0.00,2.42,0.00,0.000,4,0.000,0.045,2452,493,3373,0,0,0,0,0,0
$GC,1214,-1.23,-77.9,118.2,-11.0,146,1218,0.00,2.25,0.00,0.000,6,0.000,0.021,2452,1905,3373,0,0,0,0,0,0
$GC,1475,-1.31,-77.9,144.8,-10.5,170,1480,0.12,2.45,0.00,0.000,4,0.067,0.047,2411,487,3374,0,0,0,0,0,0
$GC,1504,-1.23,-77.9,149.0,-14.7,172,1511,0.12,2.30,0.00,0.000,6,0.076,0.021,2442,1897,3374,0,0,0,0,0,0
$GC,1767,-1.30,-77.9,176.9,-10.3,197,1771,0.00,2.45,0.00,0.000,4,0.000,0.048,2442,487,3374,0,0,0,0,0,0
$GC,1828,-1.34,-77.9,183.7,-10.5,203,1832,0.00,2.25,0.00,0.000,6,0.000,0.021,2442,1894,3375,0,0,0,0,0,0
$GC,2098,-1.42,-77.9,208.7,-8.1,223,2103,0.17,2.45,0.00,0.000,4,0.055,0.048,2390,490,3375,0,0,0,0,0,0
$GC,2196,-1.38,-77.9,218.7,-10.1,227,2200,0.00,2.28,0.00,0.000,6,0.000,0.021,2391,1906,3375,0,0,0,0,0,0
$GC,2516,-1.38,-77.9,254.1,-11.6,243,2521,0.10,2.33,0.00,0.000,4,0.115,0.031,2409,3296,3375,0,0,0,0,0,0
$GC,2544,-1.47,-77.9,257.5,-11.4,244,2549,0.00,2.33,0.00,0.000,6,0.000,0.032,2411,1898,3375,0,0,0,0,0,0
$GC,2864,-1.53,-77.9,281.4,-6.2,260,2869,0.15,2.42,0.00,0.000,4,0.061,0.049,2365,489,3375,0,0,0,0,0,0
$GC,2897,-1.44,-77.9,284.0,-8.6,261,2902,0.15,2.28,0.00,0.000,6,0.101,0.023,2397,1902,3375,0,0,0,0,0,0
$GC,3231,-1.48,-77.9,312.9,-9.5,274,3235,0.00,2.45,0.00,0.000,4,0.000,0.050,2396,497,3375,0,0,0,0,0,0
$GC,3304,-1.48,-77.9,320.4,-9.8,275,3308,0.00,2.28,0.00,0.000,6,0.000,0.025,2397,1896,3375,0,0,0,0,0,0
$GC,3639,-1.52,-77.9,350.2,-8.4,284,3644,0.00,2.42,0.00,0.000,4,0.000,0.052,2397,498,3373,0,0,0,0,0,0
$GC,3676,-1.52,-77.9,353.5,-8.8,284,3681,0.00,2.30,0.00,0.000,6,0.000,0.027,2397,1899,3373,0,0,0,0,0,0
$GC,4007,-1.56,-77.9,379.2,-7.9,293,4009,0.12,0.00,0.00,0.000,6,0.073,0.000,2363,1903,3371,0,0,0,0,0,0
$GC,4331,-1.56,-77.9,411.0,-10.1,301,4335,0.00,2.45,0.00,0.000,4,0.000,0.055,2360,498,3368,0,0,0,0,0,0
$GC,4386,-1.49,-77.9,417.1,-11.0,302,4391,0.12,2.33,0.00,0.000,6,0.111,0.029,2386,1896,3368,0,0,0,0,0,0
$GC,4700,-1.49,-77.9,446.1,-8.9,310,4704,0.00,2.50,0.00,0.000,4,0.000,0.058,2386,498,3366,0,0,0,0,0,0
$STATE,4740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4740,begin apogee
$GC,4747,-0.31,0.0,450.2,10.4,311,4816,1.23,0.00,64.93,0.887,6,0.086,0.000,2641,2040,3050,0,0,0,0,0,0
$STATE,4817,end apogee,CONTROL_FINISHED_OK
$STATE,4817,begin climb
$GC,4819,1.40,77.9,451.6,0.0,312,4893,1.65,2.53,65.05,0.863,4,0.037,0.046,3023,3435,2731,0,0,0,0,0,0
$GC,4899,1.32,199.4,452.4,-0.3,313,5010,0.12,2.45,104.65,0.860,6,0.127,0.038,3003,2036,2237,0,0,0,0,0,0
$GC,5355,1.22,199.4,394.1,15.1,325,5360,0.12,2.55,0.00,0.000,4,0.131,0.060,2980,629,2226,0,0,0,0,0,0
$GC,5477,1.12,199.4,374.5,17.0,327,5482,0.12,2.38,0.00,0.000,6,0.130,0.031,2959,2038,2222,0,0,0,0,0,0
$GC,5812,1.12,199.4,331.8,12.2,336,5817,0.00,2.53,0.00,0.000,4,0.000,0.058,2958,630,2220,0,0,0,0,0,0
$GC,5840,1.04,199.4,327.9,14.0,336,5844,0.00,2.38,0.00,0.000,6,0.000,0.031,2958,2039,2219,0,0,0,0,0,0
$GC,6155,1.04,199.4,291.6,11.2,346,6159,0.00,2.53,0.00,0.000,4,0.000,0.057,2958,629,2218,0,0,0,0,0,0
$GC,6222,0.99,199.4,283.2,13.6,349,6227,0.15,2.40,0.00,0.000,6,0.125,0.030,2931,2045,2216,0,0,0,0,0,0
$GC,6553,1.07,199.4,252.2,8.8,365,6558,0.00,2.50,0.00,0.000,4,0.000,0.054,2931,626,2216,0,0,0,0,0,0
$GC,6682,1.07,199.4,240.2,8.0,370,6689,0.00,2.40,0.00,0.000,6,0.000,0.028,2931,2040,2213,0,0,0,0,0,0
$GC,6997,1.16,199.4,215.4,8.1,386,7002,0.15,2.47,0.00,0.000,4,0.074,0.051,2967,629,2213,0,0,0,0,0,0
$GC,7040,1.12,199.4,211.1,10.3,388,7044,0.00,2.35,0.00,0.000,6,0.000,0.028,2966,2048,2212,0,0,0,0,0,0
$GC,7364,1.13,205.6,185.4,7.6,412,7369,0.00,2.50,0.00,0.000,4,0.000,0.049,2966,619,2212,0,0,0,0,0,0
$GC,7518,1.09,205.6,169.8,11.3,428,7524,0.00,2.38,0.00,0.000,6,0.000,0.025,2966,2040,2211,0,0,0,0,0,0
$GC,7779,1.09,205.6,143.6,10.3,453,7784,0.00,2.47,0.00,0.000,4,0.000,0.048,2966,618,2211,0,0,0,0,0,0
$GC,7932,1.09,205.6,125.4,11.9,469,7936,0.00,2.33,0.00,0.000,6,0.000,0.024,2966,2046,2211,0,0,0,0,0,0
$GC,8195,1.14,205.6,101.4,8.5,493,8199,0.00,2.45,0.00,0.000,4,0.000,0.046,2966,618,2211,0,0,0,0,0,0
$GC,8323,1.15,211.7,90.2,7.6,506,8338,0.00,2.35,7.20,0.522,6,0.000,0.023,2966,2048,2187,0,0,0,0,0,0
$GC,8595,1.22,215.4,70.2,7.8,532,8606,0.00,2.47,5.50,0.463,4,0.000,0.044,2966,615,2170,0,0,0,0,0,0
$GC,8699,1.22,215.4,60.7,8.4,543,8706,0.00,2.33,0.00,0.000,6,0.000,0.022,2966,2026,2168,0,0,0,0,0,0
$GC,8962,1.30,230.0,40.4,7.0,568,8984,0.12,2.45,14.32,0.538,4,0.073,0.042,2999,618,2111,0,0,0,0,0,0
$GC,9033,1.25,230.0,33.3,10.9,575,9040,0.00,2.35,0.00,0.000,6,0.000,0.021,3000,2044,2108,0,0,0,0,0,0
$GC,9295,1.25,230.0,5.9,10.6,621,9302,0.00,2.47,0.00,0.000,4,0.000,0.043,3000,622,2108,0,0,0,0,0,0
$GC,9317,1.21,230.0,3.1,12.9,625,9324,0.10,2.33,0.00,0.000,6,0.092,0.021,2977,2038,2107,0,0,0,0,0,0
$STATE,9329,end climb,SURFACE_DEPTH_REACHED
$STATE,9329,begin surface coast
$FINISH,0.5,1.011051
$STATE,9353,end surface coast,CONTROL_FINISHED_OK
$STATE,9353,begin surface
$SM_CCo,9372,36.75,0.528,0,0,1826,300.00
$SM_GC,1.65,0.00,0.00,36.75,0.000,0.000,0.528,430,1871,1826,-10.50,-0.82,300.00
$IRIDIUM_FIX,2052.52,-15749.62,150799,161632
$TT8_MAMPS,0.029146
$HUMID,43.22
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.4,8.133
$10V_AH,10.0,7.405
$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,28.600,125.175,261.650,36.750,0.000,25.013,34.676,193.118,0.000,0.000,32.232,1197.981,5928.003,366.311,1876.645,406.110,0.000,1162.941,0.000,1849.395,0.000,0.538,0.000
$DEVICE_MAMPS,139.594,59.826,886.652,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.303,410.789,981.315,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,34846,631
$CAP_FILE_SIZE,113770,0
$CFSIZE,260165632,254029824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200410,213824,2059.336,-15747.896,123,1.9,140,9.8