version: 66.06
glider: 139
mission: 7
dive: 206
start: 5 5 110 23 28 6
data:
$ID,139
$MISSION,7
$DIVE,206
$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,-2126184.5
$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
$GPS1,232106,2108.509,-15754.289,51,1.5,67,9.8
$_CALLS,1
$_XMS_NAKs,23
$_XMS_TOUTs,1
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.5
$GPS2,232714,2108.503,-15754.348,13,1.5,13,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.165,-0.082
$KALMAN_X,-87298.6,7.8,22.8,102890.0,-1034.0
$KALMAN_Y,18081.2,-48.3,210.9,-16891.7,710.9
$MHEAD_RNG_PITCHd_Wd,106.6,20367,-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,-55.10,0.000,2,0.000,0.000,424,1934,3266,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.3,-5.8,10,94,10.70,2.47,-2.00,0.000,4,0.137,0.050,2404,487,3368,0,0,0,0,0,0
$GC,110,-0.46,-77.9,15.2,-32.5,16,117,0.95,2.38,0.00,0.000,6,0.091,0.021,2609,1940,3369,0,0,0,0,0,0
$GC,311,-0.84,-77.9,26.4,-4.3,53,319,0.32,2.50,0.00,0.000,4,0.050,0.041,2525,491,3370,0,0,0,0,0,0
$GC,413,-1.02,-77.9,34.5,-8.5,70,418,0.15,2.28,0.00,0.000,6,0.056,0.020,2474,1904,3370,0,0,0,0,0,0
$GC,676,-1.11,-77.9,63.6,-11.5,94,680,0.00,2.45,0.00,0.000,4,0.000,0.044,2474,484,3372,0,0,0,0,0,0
$GC,756,-1.17,-77.9,74.1,-11.8,102,763,0.00,2.28,0.00,0.000,6,0.000,0.020,2474,1890,3372,0,0,0,0,0,0
$GC,1018,-1.25,-77.9,103.5,-11.1,127,1023,0.15,2.40,0.00,0.000,4,0.057,0.044,2426,492,3372,0,0,0,0,0,0
$GC,1092,-1.20,-77.9,113.8,-14.3,134,1100,0.08,2.30,0.00,0.000,6,0.077,0.020,2447,1905,3373,0,0,0,0,0,0
$GC,1354,-1.24,-77.9,144.6,-11.4,159,1358,0.00,2.40,0.00,0.000,4,0.000,0.044,2447,494,3373,0,0,0,0,0,0
$GC,1397,-1.24,-77.9,149.7,-11.8,163,1401,0.00,2.28,0.00,0.000,6,0.000,0.020,2447,1908,3374,0,0,0,0,0,0
$GC,1660,-1.31,-77.9,173.9,-9.0,187,1665,0.00,2.42,0.00,0.000,4,0.000,0.044,2447,493,3373,0,0,0,0,0,0
$GC,1675,-1.36,-77.9,175.4,-8.8,188,1680,0.15,2.28,0.00,0.000,6,0.058,0.021,2399,1914,3374,0,0,0,0,0,0
$GC,1936,-1.36,-77.9,203.5,-11.1,211,1940,0.00,2.42,0.00,0.000,4,0.000,0.044,2399,491,3374,0,0,0,0,0,0
$GC,2042,-1.33,-77.9,216.1,-11.3,215,2048,0.12,2.25,0.00,0.000,6,0.100,0.021,2424,1894,3374,0,0,0,0,0,0
$GC,2359,-1.40,-77.9,245.1,-8.8,231,2363,0.00,2.30,0.00,0.000,4,0.000,0.029,2424,3292,3375,0,0,0,0,0,0
$GC,2373,-1.48,-77.9,246.7,-9.3,231,2379,0.15,2.33,0.00,0.000,6,0.058,0.029,2377,1896,3375,0,0,0,0,0,0
$GC,2689,-1.48,-77.9,279.4,-9.7,247,2693,0.00,2.40,0.00,0.000,4,0.000,0.046,2377,494,3374,0,0,0,0,0,0
$GC,2744,-1.44,-77.9,285.1,-9.9,249,2749,0.10,2.28,0.00,0.000,6,0.110,0.023,2397,1898,3374,0,0,0,0,0,0
$GC,3062,-1.44,-77.9,310.6,-7.5,262,3066,0.00,2.30,0.00,0.000,4,0.000,0.033,2395,3294,3373,0,0,0,0,0,0
$GC,3108,-1.52,-77.9,314.2,-7.4,263,3112,0.00,2.33,0.00,0.000,6,0.000,0.034,2398,1903,3373,0,0,0,0,0,0
$GC,3431,-1.56,-77.9,339.8,-8.2,271,3436,0.10,2.45,0.00,0.000,4,0.080,0.051,2367,494,3372,0,0,0,0,0,0
$GC,3505,-1.48,-77.9,348.1,-11.5,272,3510,0.12,2.28,0.00,0.000,6,0.104,0.026,2392,1897,3371,0,0,0,0,0,0
$GC,3846,-1.48,-77.9,376.6,-8.3,281,3850,0.00,2.42,0.00,0.000,4,0.000,0.051,2391,496,3369,0,0,0,0,0,0
$GC,3919,-1.48,-77.9,383.3,-9.1,282,3923,0.00,2.28,0.00,0.000,6,0.000,0.028,2391,1896,3368,0,0,0,0,0,0
$GC,4254,-1.52,-77.9,413.1,-9.2,291,4258,0.00,2.47,0.00,0.000,4,0.000,0.054,2389,490,3366,0,0,0,0,0,0
$GC,4315,-1.52,-77.9,419.2,-10.6,292,4319,0.00,2.35,0.00,0.000,6,0.000,0.028,2391,1909,3366,0,0,0,0,0,0
$GC,4664,-1.56,-77.9,449.6,-8.3,301,4668,0.00,2.05,0.00,0.000,3,0.000,0.054,2389,732,3363,0,0,0,0,0,0
$STATE,4669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4669,begin apogee
$GC,4675,-0.31,0.0,450.0,8.3,301,4743,1.17,0.00,63.83,0.882,6,0.082,0.000,2642,2043,3050,0,0,0,0,0,0
$STATE,4744,end apogee,CONTROL_FINISHED_OK
$STATE,4744,begin climb
$GC,4746,1.40,77.9,451.1,0.0,302,4820,1.65,2.50,64.95,0.861,4,0.035,0.045,3025,3429,2732,0,0,0,0,0,0
$GC,4924,1.23,124.0,448.6,4.9,306,4969,0.17,2.42,39.33,0.848,6,0.120,0.038,2991,2032,2544,0,0,0,0,0,0
$GC,5292,1.10,124.0,417.1,8.9,315,5294,0.20,0.00,0.00,0.000,6,0.112,0.000,2955,2032,2537,0,0,0,0,0,0
$GC,5618,1.07,138.1,393.9,7.1,323,5635,0.00,2.50,11.98,0.782,4,0.000,0.055,2956,630,2486,0,0,0,0,0,0
$GC,5677,0.95,138.1,388.9,8.5,324,5682,0.17,2.40,0.00,0.000,6,0.120,0.030,2925,2044,2483,0,0,0,0,0,0
$GC,6027,0.99,144.9,361.9,7.6,333,6039,0.00,2.58,6.55,0.683,4,0.000,0.053,2925,630,2459,0,0,0,0,0,0
$GC,6063,0.95,144.9,358.7,8.5,333,6067,0.00,2.38,0.00,0.000,6,0.000,0.031,2925,2046,2458,0,0,0,0,0,0
$GC,6394,1.03,175.8,336.8,5.9,341,6429,0.00,2.55,28.23,0.818,4,0.000,0.052,2925,630,2332,0,0,0,0,0,0
$GC,6567,1.03,175.8,321.5,10.2,344,6573,0.00,2.35,0.00,0.000,6,0.000,0.030,2925,2035,2326,0,0,0,0,0,0
$GC,6879,1.08,175.8,293.7,8.7,354,6884,0.12,2.47,0.00,0.000,4,0.077,0.052,2956,625,2325,0,0,0,0,0,0
$GC,6922,1.01,175.8,289.7,9.9,356,6927,0.12,2.38,0.00,0.000,6,0.123,0.030,2934,2046,2324,0,0,0,0,0,0
$GC,7252,1.08,198.1,265.5,6.5,372,7279,0.00,2.60,19.52,0.755,4,0.000,0.051,2934,627,2242,0,0,0,0,0,0
$GC,7353,1.08,198.1,256.2,10.1,376,7357,0.00,2.38,0.00,0.000,6,0.000,0.028,2934,2038,2237,0,0,0,0,0,0
$GC,7673,1.15,198.1,228.4,8.5,392,7678,0.15,2.50,0.00,0.000,4,0.071,0.051,2970,630,2237,0,0,0,0,0,0
$GC,7740,1.08,198.1,221.9,10.1,395,7745,0.12,2.35,0.00,0.000,6,0.124,0.028,2950,2037,2234,0,0,0,0,0,0
$GC,8062,1.15,209.6,196.8,7.2,412,8081,0.00,2.40,10.75,0.663,4,0.000,0.034,2950,3437,2194,0,0,0,0,0,0
$GC,8093,1.22,209.6,194.3,8.5,415,8098,0.12,2.42,0.00,0.000,6,0.071,0.034,2983,2025,2194,0,0,0,0,0,0
$GC,8355,1.22,209.6,168.7,10.6,439,8359,0.00,2.40,0.00,0.000,4,0.000,0.048,2983,628,2192,0,0,0,0,0,0
$GC,8462,1.16,209.6,155.8,12.2,450,8467,0.00,2.33,0.00,0.000,6,0.000,0.025,2983,2046,2190,0,0,0,0,0,0
$GC,8724,1.16,209.6,129.7,9.1,474,8728,0.00,2.47,0.00,0.000,4,0.000,0.045,2983,618,2190,0,0,0,0,0,0
$GC,8751,1.10,209.6,126.8,9.9,476,8758,0.12,2.35,0.00,0.000,6,0.092,0.024,2955,2034,2189,0,0,0,0,0,0
$GC,9014,1.17,213.5,105.7,7.8,501,9024,0.00,2.45,4.40,0.441,4,0.000,0.044,2956,627,2178,0,0,0,0,0,0
$GC,9127,1.17,213.5,95.8,8.6,513,9131,0.00,2.30,0.00,0.000,6,0.000,0.022,2954,2049,2177,0,0,0,0,0,0
$GC,9390,1.29,241.1,78.4,6.1,537,9424,0.17,2.55,25.80,0.588,4,0.058,0.043,3001,628,2065,0,0,0,0,0,0
$GC,9581,1.22,241.1,57.1,13.4,558,9586,0.12,2.30,0.00,0.000,6,0.110,0.021,2978,2043,2061,0,0,0,0,0,0
$GC,9843,1.27,241.1,29.9,10.0,582,9849,0.00,2.45,0.00,0.000,4,0.000,0.044,2979,630,2061,0,0,0,0,0,0
$GC,9958,1.27,241.1,17.4,10.9,608,9965,0.00,2.30,0.00,0.000,6,0.000,0.021,2979,2032,2060,0,0,0,0,0,0
$STATE,10093,end climb,SURFACE_DEPTH_REACHED
$STATE,10094,begin surface coast
$FINISH,0.6,1.023517
$STATE,10122,end surface coast,CONTROL_FINISHED_OK
$STATE,10122,begin surface
$SM_CCo,10141,29.80,0.519,0,0,1826,300.00
$SM_GC,1.14,0.00,0.00,29.80,0.000,0.000,0.519,426,1881,1826,-10.52,-0.54,300.00
$IRIDIUM_FIX,2059.45,-15753.90,300799,202052
$TT8_MAMPS,0.029913
$HUMID,45.62
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,18.604
$10V_AH,10.0,17.679
$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,28.475,128.825,275.325,29.800,0.000,31.146,30.936,212.133,4.500,0.000,14.015,1245.516,6571.902,355.848,1934.817,435.563,33.365,1202.207,0.000,1908.177,0.000,29.260,0.000
$DEVICE_MAMPS,137.293,55.224,882.050,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.527,410.278,947.785,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34925,638
$CAP_FILE_SIZE,123608,0
$CFSIZE,260165632,246837248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060510,021930,2108.316,-15753.435,71,1.5,77,9.8