version: 66.06
glider: 139
mission: 7
dive: 76
start: 4 20 110 16 12 54
data:
$ID,139
$MISSION,7
$DIVE,76
$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,-2121297.8
$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
$GPS1,160720,2059.653,-15748.035,96,1.6,109,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-67.4
$GPS2,161237,2059.669,-15748.058,13,1.7,30,9.8
$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,28.2,14435,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,79,0.00,0.00,-59.05,0.000,6,0.000,0.000,429,1880,3369,0,0,0,0,0,0
$GC,81,-1.40,-77.9,3.8,-7.1,11,100,10.75,2.45,0.00,0.000,4,0.140,0.030,2404,3314,3371,0,0,0,0,0,0
$GC,199,-1.40,-77.9,30.5,-13.3,37,204,0.00,2.40,0.00,0.000,6,0.000,0.033,2404,1892,3372,0,0,0,0,0,0
$GC,462,-1.32,-77.9,72.7,-15.7,61,467,0.10,2.40,0.00,0.000,4,0.121,0.046,2422,494,3372,0,0,0,0,0,0
$GC,489,-1.22,-77.9,77.5,-16.8,63,497,0.08,2.35,0.00,0.000,6,0.087,0.021,2442,1925,3373,0,0,0,0,0,0
$GC,751,-1.26,-77.9,112.3,-13.8,88,755,0.00,2.28,0.00,0.000,4,0.000,0.028,2442,3304,3373,0,0,0,0,0,0
$GC,804,-1.38,-77.9,119.1,-12.4,93,810,0.12,2.35,0.00,0.000,6,0.067,0.031,2404,1891,3373,0,0,0,0,0,0
$GC,1065,-1.38,-77.9,149.5,-11.5,118,1069,0.00,2.40,0.00,0.000,4,0.000,0.045,2403,492,3374,0,0,0,0,0,0
$GC,1137,-1.31,-77.9,158.5,-11.7,125,1143,0.10,2.30,0.00,0.000,6,0.114,0.021,2423,1916,3375,0,0,0,0,0,0
$GC,1398,-1.31,-77.9,185.5,-10.9,150,1402,0.00,2.45,0.00,0.000,4,0.000,0.045,2423,487,3375,0,0,0,0,0,0
$GC,1452,-1.31,-77.9,192.8,-13.3,155,1457,0.00,2.30,0.00,0.000,6,0.000,0.021,2424,1905,3375,0,0,0,0,0,0
$GC,1708,-1.35,-77.9,217.8,-7.8,171,1712,0.00,2.45,0.00,0.000,4,0.000,0.045,2423,487,3376,0,0,0,0,0,0
$GC,1740,-1.35,-77.9,220.6,-8.3,172,1744,0.00,2.30,0.00,0.000,6,0.000,0.021,2423,1906,3376,0,0,0,0,0,0
$GC,2056,-1.40,-77.9,245.3,-8.0,187,2060,0.00,2.28,0.00,0.000,4,0.000,0.030,2422,3294,3376,0,0,0,0,0,0
$GC,2079,-1.52,-77.9,247.3,-8.1,188,2084,0.20,2.33,0.00,0.000,6,0.051,0.032,2368,1899,3376,0,0,0,0,0,0
$GC,2405,-1.48,-77.9,283.4,-10.4,204,2409,0.00,2.40,0.00,0.000,4,0.000,0.047,2368,494,3377,0,0,0,0,0,0
$GC,2477,-1.41,-77.9,291.1,-9.8,207,2482,0.17,2.28,0.00,0.000,6,0.094,0.023,2404,1906,3376,0,0,0,0,0,0
$GC,2795,-1.46,-77.9,318.0,-9.0,218,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1911,3375,0,0,0,0,0,0
$GC,3119,-1.51,-77.9,351.1,-10.8,226,3124,0.00,2.45,0.00,0.000,4,0.000,0.052,2404,495,3375,0,0,0,0,0,0
$GC,3161,-1.51,-77.9,356.2,-11.7,227,3166,0.00,2.30,0.00,0.000,6,0.000,0.026,2403,1896,3375,0,0,0,0,0,0
$GC,3490,-1.56,-77.9,388.8,-9.2,235,3495,0.15,2.47,0.00,0.000,4,0.065,0.054,2363,497,3373,0,0,0,0,0,0
$GC,3560,-1.48,-77.9,395.8,-10.1,236,3565,0.12,2.30,0.00,0.000,6,0.109,0.028,2388,1900,3373,0,0,0,0,0,0
$GC,3900,-1.51,-77.9,419.5,-6.3,245,3905,0.00,2.45,0.00,0.000,4,0.000,0.054,2386,496,3371,0,0,0,0,0,0
$GC,3937,-1.51,-77.9,422.3,-7.5,245,3943,0.00,2.33,0.00,0.000,6,0.000,0.028,2388,1900,3371,0,0,0,0,0,0
$GC,4268,-1.55,-77.9,446.2,-7.4,254,4272,0.00,2.50,0.00,0.000,4,0.000,0.057,2388,489,3369,0,0,0,0,0,0
$STATE,4312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4312,begin apogee
$GC,4319,-0.31,0.0,450.3,9.0,255,4388,1.17,0.00,64.70,0.879,6,0.084,0.000,2639,2035,3050,0,0,0,0,0,0
$STATE,4389,end apogee,CONTROL_FINISHED_OK
$STATE,4389,begin climb
$GC,4391,1.40,77.9,451.1,0.0,256,4465,1.67,2.53,64.93,0.858,4,0.037,0.044,3022,3434,2731,0,0,0,0,0,0
$GC,4729,1.19,82.7,432.2,7.7,263,4742,0.25,2.42,5.15,0.618,6,0.116,0.038,2974,2033,2712,0,0,0,0,0,0
$GC,5079,1.14,136.6,413.8,4.3,272,5131,0.00,2.60,46.20,0.851,4,0.000,0.058,2973,632,2491,0,0,0,0,0,0
$GC,5275,0.99,136.6,392.4,11.6,276,5280,0.25,2.40,0.00,0.000,6,0.118,0.030,2930,2042,2485,0,0,0,0,0,0
$GC,5624,0.99,136.6,356.7,9.1,285,5629,0.00,2.53,0.00,0.000,4,0.000,0.055,2930,631,2484,0,0,0,0,0,0
$GC,5860,0.98,155.1,338.9,6.8,290,5881,0.00,2.38,15.48,0.782,6,0.000,0.030,2930,2040,2417,0,0,0,0,0,0
$GC,6222,1.01,157.2,311.2,7.9,299,6226,0.00,2.47,0.00,0.000,4,0.000,0.054,2930,632,2413,0,0,0,0,0,0
$GC,6264,1.01,157.2,307.6,8.8,300,6268,0.00,2.38,0.00,0.000,6,0.000,0.030,2930,2037,2412,0,0,0,0,0,0
$GC,6595,1.05,157.2,278.7,9.2,313,6600,0.00,2.50,0.00,0.000,4,0.000,0.053,2930,627,2411,0,0,0,0,0,0
$GC,6645,1.05,157.2,273.8,9.3,315,6649,0.00,2.35,0.00,0.000,6,0.000,0.029,2930,2036,2409,0,0,0,0,0,0
$GC,6966,1.17,205.0,255.0,4.7,331,7016,0.17,2.58,43.72,0.767,4,0.071,0.052,2971,633,2213,0,0,0,0,0,0
$GC,7062,1.13,205.0,245.8,13.3,335,7066,0.00,2.35,0.00,0.000,6,0.000,0.028,2971,2034,2208,0,0,0,0,0,0
$GC,7382,1.13,205.0,205.9,14.6,351,7386,0.00,2.38,0.00,0.000,4,0.000,0.037,2972,3443,2206,0,0,0,0,0,0
$GC,7433,1.16,205.0,198.8,13.5,354,7437,0.00,2.42,0.00,0.000,6,0.000,0.035,2972,2029,2206,0,0,0,0,0,0
$GC,7694,1.16,205.0,168.5,10.7,378,7698,0.00,2.45,0.00,0.000,4,0.000,0.050,2972,628,2204,0,0,0,0,0,0
$GC,7848,1.12,205.0,153.0,9.6,394,7854,0.00,2.38,0.00,0.000,6,0.000,0.025,2971,2046,2201,0,0,0,0,0,0
$GC,8111,1.18,225.7,134.1,6.6,419,8133,0.00,2.53,17.45,0.632,4,0.000,0.048,2971,629,2130,0,0,0,0,0,0
$GC,8288,1.18,225.7,116.2,12.7,438,8292,0.00,2.33,0.00,0.000,6,0.000,0.023,2971,2040,2125,0,0,0,0,0,0
$GC,8549,1.24,225.7,89.7,9.2,462,8553,0.00,2.45,0.00,0.000,4,0.000,0.045,2972,629,2125,0,0,0,0,0,0
$GC,8583,1.24,225.7,86.3,10.1,465,8587,0.00,2.30,0.00,0.000,6,0.000,0.022,2971,2047,2124,0,0,0,0,0,0
$GC,8847,1.30,225.7,60.6,10.0,489,8854,0.10,0.00,0.00,0.000,6,0.082,0.000,3000,2052,2124,0,0,0,0,0,0
$GC,9108,1.30,225.7,33.4,9.9,514,9113,0.00,2.42,0.00,0.000,4,0.000,0.043,2999,625,2124,0,0,0,0,0,0
$GC,9133,1.25,225.7,30.5,11.8,516,9137,0.00,2.30,0.00,0.000,6,0.000,0.021,2999,2037,2124,0,0,0,0,0,0
$STATE,9385,end climb,SURFACE_DEPTH_REACHED
$STATE,9386,begin surface coast
$FINISH,0.6,1.023869
$STATE,9414,end surface coast,CONTROL_FINISHED_OK
$STATE,9414,begin surface
$SM_CCo,9433,38.10,0.529,0,0,1826,300.00
$SM_GC,1.79,0.00,0.00,38.10,0.000,0.000,0.529,425,1885,1826,-10.52,-0.42,300.00
$IRIDIUM_FIX,2052.52,-15749.62,150799,131342
$TT8_MAMPS,0.029146
$HUMID,44.09
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,23.4,8.051
$10V_AH,10.0,7.323
$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,26.550,110.775,257.625,38.100,0.000,30.728,26.035,153.885,0.000,0.000,31.018,1116.997,6176.924,341.146,1811.339,345.221,0.000,1132.409,0.000,1776.262,0.000,0.537,0.000
$DEVICE_MAMPS,140.361,57.525,878.982,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,383.551,354.506,800.252,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,31715,567
$CAP_FILE_SIZE,107893,0
$CFSIZE,260165632,254095360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200410,185220,2059.327,-15748.189,59,1.6,59,9.8