version: 66.06
glider: 139
mission: 7
dive: 200
start: 5 5 110 5 47 55
data:
$ID,139
$MISSION,7
$DIVE,200
$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,-2125995.5
$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
$GPS1,054136,2107.945,-15755.534,67,1.4,67,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.5
$GPS2,054702,2107.956,-15755.617,13,1.8,13,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.178,-0.044
$KALMAN_X,-78689.7,742.2,59.2,91313.4,-3033.8
$KALMAN_Y,13808.4,59.0,-186.8,-13340.8,679.6
$MHEAD_RNG_PITCHd_Wd,94.0,22298,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-55.35,0.000,2,0.000,0.000,426,1928,3261,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.3,-5.5,10,94,10.62,2.47,-2.12,0.000,4,0.135,0.052,2402,491,3368,0,0,0,0,0,0
$GC,118,-0.86,-77.9,17.4,-30.2,18,126,0.52,2.38,0.00,0.000,6,0.084,0.021,2523,1930,3370,0,0,0,0,0,0
$GC,320,-1.04,-77.9,36.6,-8.5,48,325,0.15,2.53,0.00,0.000,4,0.055,0.045,2472,488,3370,0,0,0,0,0,0
$GC,381,-1.10,-77.9,43.5,-11.0,54,385,0.00,2.30,0.00,0.000,6,0.000,0.020,2471,1912,3371,0,0,0,0,0,0
$GC,644,-1.18,-77.9,70.5,-9.6,78,648,0.00,2.45,0.00,0.000,4,0.000,0.044,2471,487,3372,0,0,0,0,0,0
$GC,714,-1.25,-77.9,77.2,-9.4,85,719,0.15,2.28,0.00,0.000,6,0.056,0.020,2424,1898,3372,0,0,0,0,0,0
$GC,977,-1.25,-77.9,105.5,-9.8,109,981,0.00,2.40,0.00,0.000,4,0.000,0.044,2423,494,3373,0,0,0,0,0,0
$GC,1020,-1.19,-77.9,110.4,-11.2,113,1025,0.15,2.25,0.00,0.000,6,0.094,0.020,2455,1905,3373,0,0,0,0,0,0
$GC,1282,-1.28,-77.9,130.2,-8.2,137,1286,0.00,2.42,0.00,0.000,4,0.000,0.044,2454,487,3374,0,0,0,0,0,0
$GC,1371,-1.34,-77.9,138.8,-9.7,146,1376,0.15,2.25,0.00,0.000,6,0.055,0.021,2406,1896,3375,0,0,0,0,0,0
$GC,1631,-1.34,-77.9,170.0,-11.7,170,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1901,3375,0,0,0,0,0,0
$GC,1886,-1.34,-77.9,195.2,-10.0,194,1890,0.00,2.42,0.00,0.000,4,0.000,0.044,2406,490,3375,0,0,0,0,0,0
$GC,1927,-1.34,-77.9,199.7,-11.3,198,1932,0.00,2.25,0.00,0.000,6,0.000,0.021,2406,1899,3375,0,0,0,0,0,0
$GC,2188,-1.34,-77.9,220.0,-6.8,211,2192,0.00,2.42,0.00,0.000,4,0.000,0.045,2406,491,3375,0,0,0,0,0,0
$GC,2201,-1.34,-77.9,221.3,-7.1,211,2207,0.00,2.28,0.00,0.000,6,0.000,0.022,2406,1914,3376,0,0,0,0,0,0
$GC,2518,-1.38,-77.9,250.4,-9.6,227,2522,0.00,2.45,0.00,0.000,4,0.000,0.047,2405,487,3375,0,0,0,0,0,0
$GC,2586,-1.38,-77.9,256.8,-8.8,230,2590,0.00,2.30,0.00,0.000,6,0.000,0.023,2404,1902,3375,0,0,0,0,0,0
$GC,2912,-1.43,-77.9,280.5,-7.1,246,2917,0.00,2.45,0.00,0.000,4,0.000,0.048,2406,493,3375,0,0,0,0,0,0
$GC,2967,-1.43,-77.9,285.4,-8.8,248,2971,0.00,2.28,0.00,0.000,6,0.000,0.024,2406,1900,3375,0,0,0,0,0,0
$GC,3280,-1.48,-77.9,312.5,-9.7,260,3284,0.00,2.42,0.00,0.000,4,0.000,0.050,2407,497,3374,0,0,0,0,0,0
$GC,3303,-1.48,-77.9,315.2,-11.2,260,3307,0.00,2.30,0.00,0.000,6,0.000,0.025,2406,1901,3373,0,0,0,0,0,0
$GC,3642,-1.53,-77.9,348.9,-9.4,269,3647,0.12,2.47,0.00,0.000,4,0.067,0.052,2369,497,3372,0,0,0,0,0,0
$GC,3698,-1.47,-77.9,355.4,-11.8,270,3703,0.12,2.30,0.00,0.000,6,0.103,0.027,2393,1896,3372,0,0,0,0,0,0
$GC,4017,-1.50,-77.9,388.4,-10.5,278,4021,0.00,2.47,0.00,0.000,4,0.000,0.054,2394,491,3370,0,0,0,0,0,0
$GC,4087,-1.50,-77.9,396.3,-11.2,279,4091,0.00,2.33,0.00,0.000,6,0.000,0.028,2394,1909,3370,0,0,0,0,0,0
$GC,4427,-1.54,-77.9,427.0,-8.3,288,4431,0.00,2.50,0.00,0.000,4,0.000,0.054,2393,491,3368,0,0,0,0,0,0
$GC,4529,-1.54,-77.9,435.3,-7.4,290,4533,0.00,2.30,0.00,0.000,6,0.000,0.028,2394,1897,3367,0,0,0,0,0,0
$STATE,4758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4758,begin apogee
$GC,4764,-0.31,0.0,450.4,6.4,296,4832,1.17,0.00,64.47,0.884,6,0.075,0.000,2645,2056,3049,0,0,0,0,0,0
$STATE,4832,end apogee,CONTROL_FINISHED_OK
$STATE,4833,begin climb
$GC,4834,1.40,77.9,450.7,0.0,297,4909,1.62,2.45,64.68,0.862,4,0.033,0.045,3024,3405,2731,0,0,0,0,0,0
$GC,5173,1.19,91.9,431.6,7.1,304,5195,0.20,2.38,12.50,0.787,6,0.115,0.037,2982,2032,2675,0,0,0,0,0,0
$GC,5520,1.08,105.3,406.2,7.1,313,5540,0.17,2.42,12.30,0.788,4,0.114,0.040,2956,3412,2619,0,0,0,0,0,0
$GC,5704,1.03,115.5,392.9,7.3,317,5720,0.00,2.38,9.80,0.757,6,0.000,0.038,2957,2029,2578,0,0,0,0,0,0
$GC,6035,1.00,126.9,368.7,7.2,325,6052,0.12,2.55,10.57,0.765,4,0.126,0.054,2934,630,2532,0,0,0,0,0,0
$GC,6173,0.94,126.9,358.1,8.3,328,6177,0.00,2.35,0.00,0.000,6,0.000,0.029,2934,2019,2529,0,0,0,0,0,0
$GC,6499,0.98,160.0,337.6,5.7,336,6536,0.00,2.55,29.38,0.821,4,0.000,0.053,2934,634,2396,0,0,0,0,0,0
$GC,6665,0.94,160.0,323.3,9.8,339,6669,0.00,2.38,0.00,0.000,6,0.000,0.031,2934,2033,2390,0,0,0,0,0,0
$GC,7001,1.02,187.3,299.9,6.1,348,7030,0.00,2.58,24.12,0.789,4,0.000,0.053,2934,635,2286,0,0,0,0,0,0
$GC,7103,1.02,187.3,292.3,8.3,352,7108,0.00,2.38,0.00,0.000,6,0.000,0.030,2934,2045,2281,0,0,0,0,0,0
$GC,7421,1.07,187.3,267.3,8.2,367,7425,0.00,2.53,0.00,0.000,4,0.000,0.051,2933,622,2280,0,0,0,0,0,0
$GC,7464,1.07,187.3,263.1,9.4,369,7468,0.00,2.40,0.00,0.000,6,0.000,0.028,2934,2044,2278,0,0,0,0,0,0
$GC,7795,1.13,187.3,235.3,8.0,385,7800,0.12,2.50,0.00,0.000,4,0.075,0.051,2965,626,2278,0,0,0,0,0,0
$GC,8045,1.09,187.3,207.4,10.9,396,8049,0.00,2.38,0.00,0.000,6,0.000,0.027,2965,2044,2275,0,0,0,0,0,0
$GC,8370,1.09,187.3,179.1,8.7,422,8374,0.00,2.50,0.00,0.000,4,0.000,0.049,2966,618,2275,0,0,0,0,0,0
$GC,8431,1.05,187.3,173.4,10.3,428,8436,0.12,2.38,0.00,0.000,6,0.121,0.027,2944,2044,2274,0,0,0,0,0,0
$GC,8693,1.13,197.8,153.5,7.3,452,8707,0.00,2.47,8.77,0.605,4,0.000,0.047,2943,628,2242,0,0,0,0,0,0
$GC,8813,1.16,197.8,144.0,8.1,465,8818,0.10,2.33,0.00,0.000,6,0.081,0.025,2971,2045,2241,0,0,0,0,0,0
$GC,9075,1.16,197.8,123.5,8.8,489,9079,0.00,2.33,0.00,0.000,4,0.000,0.032,2969,3434,2241,0,0,0,0,0,0
$GC,9127,1.21,197.8,119.1,8.6,494,9131,0.00,2.38,0.00,0.000,6,0.000,0.031,2969,2028,2240,0,0,0,0,0,0
$GC,9389,1.28,214.1,98.8,6.9,518,9411,0.00,2.42,15.60,0.595,4,0.000,0.030,2969,3429,2177,0,0,0,0,0,0
$GC,9466,1.35,214.1,93.0,8.1,526,9474,0.12,2.38,0.00,0.000,6,0.038,0.030,3011,2035,2176,0,0,0,0,0,0
$GC,9730,1.31,214.1,69.5,8.2,551,9734,0.00,2.45,0.00,0.000,4,0.000,0.044,3006,622,2176,0,0,0,0,0,0
$GC,9755,1.21,214.1,67.2,9.2,553,9760,0.15,2.30,0.00,0.000,6,0.101,0.021,2981,2047,2174,0,0,0,0,0,0
$GC,10016,1.25,215.3,47.1,7.9,577,10021,0.00,2.45,0.00,0.000,4,0.000,0.042,2981,621,2174,0,0,0,0,0,0
$GC,10088,1.25,215.3,40.1,9.4,584,10094,0.00,2.33,0.00,0.000,6,0.000,0.021,2970,2041,2174,0,0,0,0,0,0
$GC,10352,1.29,215.3,16.4,9.5,622,10358,0.00,2.45,0.00,0.000,4,0.000,0.043,2978,630,2174,0,0,0,0,0,0
$STATE,10482,end climb,SURFACE_DEPTH_REACHED
$STATE,10483,begin surface coast
$FINISH,0.4,1.008711
$STATE,10518,end surface coast,CONTROL_FINISHED_OK
$STATE,10518,begin surface
$SM_CCo,10539,42.88,0.524,0,0,1826,300.00
$SM_GC,1.38,0.00,0.00,42.88,0.000,0.000,0.524,424,1929,1826,-10.53,0.82,300.00
$IRIDIUM_FIX,2059.45,-15758.18,300799,030359
$TT8_MAMPS,0.029146
$HUMID,44.21
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,18.081
$10V_AH,10.0,17.181
$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,26.825,129.300,252.200,42.875,0.000,28.481,26.070,175.347,4.500,0.000,14.029,1321.077,6703.221,361.651,2108.551,418.449,33.360,1259.100,0.000,2094.493,0.000,29.242,0.000
$DEVICE_MAMPS,134.992,54.457,883.584,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.497,432.399,970.283,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,38185,660
$CAP_FILE_SIZE,126055,0
$CFSIZE,260165632,247181312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050510,084559,2108.005,-15755.498,47,3.1,66,9.8