version: 66.06
glider: 140
mission: 8
dive: 20
start: 10 5 109 3 6 19
data:
$ID,140
$MISSION,8
$DIVE,20
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$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,480
$T_MISSION,540
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,51390
$NAV_MODE,2
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5900
$TGT_DEFAULT_LON,-2030
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,4
$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,-44676.871
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,214
$PITCH_MAX,3926
$C_PITCH,2765
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,174
$ROLL_MAX,4054
$ROLL_DEG,40
$C_ROLL_DIVE,2275
$C_ROLL_CLIMB,2850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,67
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,550
$VBD_MAX,3938
$C_VBD,3006
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.173029
$PRESSURE_SLOPE,0.0001158875
$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,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,800
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$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,0.0044206623
$SEABIRD_T_H,0.00065338978
$SEABIRD_T_I,2.7511465e-05
$SEABIRD_T_J,3.0433071e-06
$SEABIRD_C_G,-10.080298
$SEABIRD_C_H,1.1283234
$SEABIRD_C_I,-0.0013448599
$SEABIRD_C_J,0.00017661104
$GPS1,030036,6426.214,51.988,39,1.7,44,-4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.31
$_SM_ANGLEo,-65.6
$GPS2,030556,6426.205,52.035,14,1.9,14,-4.6
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,OFFSHORE
$TGT_LATLONG,6506.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,314.8,114296,-13.7,-6.875
$D_GRID,2537
$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,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-7.25,0.000,2,0.000,0.000,214,2261,2025,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.3,-0.0,1,121,9.70,0.00,-80.62,0.000,6,0.272,0.000,2500,2261,3481,0,0,0,0,0,0
$GC,453,-0.65,-116.7,37.9,-10.1,78,459,0.20,0.00,0.00,0.000,6,0.209,0.000,2552,2261,3483,0,0,0,0,0,0
$GC,797,-0.65,-116.7,66.4,-7.3,129,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2261,3485,0,0,0,0,0,0
$GC,1104,-0.65,-116.7,87.6,-7.0,144,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2261,3485,0,0,0,0,0,0
$GC,1415,-0.65,-116.7,108.8,-6.8,159,1419,0.00,2.15,0.00,0.000,4,0.000,0.045,2552,3690,3486,0,0,0,0,0,0
$GC,1470,-0.65,-116.7,112.8,-6.8,161,1476,0.00,2.08,0.00,0.000,6,0.000,0.026,2552,2247,3486,0,0,0,0,0,0
$GC,1786,-0.65,-116.7,134.3,-7.0,177,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2247,3486,0,0,0,0,0,0
$GC,2095,-0.65,-116.7,157.8,-7.5,192,2099,0.00,2.17,0.00,0.000,4,0.000,0.044,2552,3694,3486,0,0,0,0,0,0
$GC,2150,-0.65,-116.7,162.0,-6.9,194,2157,0.00,2.08,0.00,0.000,6,0.000,0.026,2553,2271,3487,0,0,0,0,0,0
$GC,2465,-0.65,-116.7,183.8,-6.7,210,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2271,3487,0,0,0,0,0,0
$GC,2775,-0.65,-116.7,204.4,-6.4,225,2779,0.00,2.12,0.00,0.000,4,0.000,0.044,2552,3690,3487,0,0,0,0,0,0
$GC,2830,-0.65,-116.7,208.1,-6.7,227,2837,0.00,2.08,0.00,0.000,6,0.000,0.027,2552,2270,3487,0,0,0,0,0,0
$GC,3145,-0.65,-116.7,227.8,-5.9,243,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2270,3487,0,0,0,0,0,0
$GC,3455,-0.65,-116.7,246.3,-6.1,258,3459,0.00,2.12,0.00,0.000,4,0.000,0.045,2552,3687,3486,0,0,0,0,0,0
$GC,3561,-0.65,-116.7,253.0,-6.7,263,3565,0.00,2.03,0.00,0.000,6,0.000,0.027,2553,2276,3486,0,0,0,0,0,0
$GC,3893,-0.65,-116.7,275.3,-6.9,279,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2273,3485,0,0,0,0,0,0
$GC,4202,-0.65,-116.7,298.1,-7.5,294,4206,0.00,2.12,0.00,0.000,4,0.000,0.046,2552,3692,3484,0,0,0,0,0,0
$GC,4263,-0.68,-116.7,302.7,-7.7,297,4267,0.00,2.05,0.00,0.000,6,0.000,0.028,2552,2263,3484,0,0,0,0,0,0
$GC,4598,-0.68,-116.7,325.9,-6.7,308,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2263,3483,0,0,0,0,0,0
$GC,4904,-0.68,-116.7,345.2,-6.0,318,4908,0.00,2.12,0.00,0.000,4,0.000,0.046,2552,3682,3483,0,0,0,0,0,0
$GC,4987,-0.72,-116.7,350.6,-6.6,320,4991,0.00,2.03,0.00,0.000,6,0.000,0.028,2552,2266,3483,0,0,0,0,0,0
$GC,5305,-0.72,-116.7,370.5,-6.3,331,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2265,3482,0,0,0,0,0,0
$GC,5611,-0.72,-116.7,389.2,-6.0,341,5615,0.00,2.12,0.00,0.000,4,0.000,0.047,2553,3680,3482,0,0,0,0,0,0
$GC,5706,-0.75,-116.7,395.1,-6.2,343,5712,0.00,2.03,0.00,0.000,6,0.000,0.028,2552,2266,3481,0,0,0,0,0,0
$GC,6018,-0.75,-116.7,414.3,-6.2,354,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2266,3480,0,0,0,0,0,0
$GC,6324,-0.75,-116.7,434.0,-6.5,364,6328,0.00,2.12,0.00,0.000,4,0.000,0.047,2552,3681,3479,0,0,0,0,0,0
$GC,6436,-0.78,-116.7,441.6,-7.1,367,6441,0.10,2.05,0.00,0.000,6,0.116,0.028,2515,2271,3479,0,0,0,0,0,0
$GC,6764,-0.73,-116.7,467.5,-8.2,378,6765,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2272,3478,0,0,0,0,0,0
$GC,7071,-0.67,-116.7,492.8,-8.3,388,7073,0.12,0.00,0.00,0.000,6,0.212,0.000,2545,2267,3477,0,0,0,0,0,0
$GC,7374,-0.67,-116.7,514.1,-7.0,395,7378,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3684,3476,0,0,0,0,0,0
$GC,7474,-0.67,-116.7,521.3,-7.1,396,7479,0.00,2.05,0.00,0.000,6,0.000,0.028,2545,2286,3476,0,0,0,0,0,0
$GC,7806,-0.67,-116.7,544.2,-7.0,402,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2287,3475,0,0,0,0,0,0
$GC,8109,-0.67,-116.7,564.5,-6.6,407,8113,0.00,2.10,0.00,0.000,4,0.000,0.048,2545,3686,3475,0,0,0,0,0,0
$GC,8209,-0.67,-116.7,571.2,-6.4,408,8213,0.00,2.08,0.00,0.000,6,0.000,0.029,2545,2265,3474,0,0,0,0,0,0
$GC,8541,-0.67,-116.7,593.2,-6.7,414,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2265,3474,0,0,0,0,0,0
$GC,8844,-0.67,-116.7,614.3,-7.1,419,8848,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3680,3474,0,0,0,0,0,0
$GC,8944,-0.70,-116.7,621.6,-7.7,420,8948,0.00,2.05,0.00,0.000,6,0.000,0.029,2545,2279,3473,0,0,0,0,0,0
$GC,9275,-0.70,-116.7,644.8,-7.0,426,9279,0.00,2.10,0.00,0.000,4,0.000,0.048,2545,3680,3473,0,0,0,0,0,0
$GC,9342,-0.73,-116.7,649.7,-7.7,427,9346,0.00,2.05,0.00,0.000,6,0.000,0.029,2545,2278,3472,0,0,0,0,0,0
$GC,9707,-0.73,-116.7,675.2,-7.0,433,9711,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3691,3472,0,0,0,0,0,0
$GC,9796,-0.77,-116.7,681.7,-7.3,434,9800,0.00,2.05,0.00,0.000,6,0.000,0.029,2545,2265,3472,0,0,0,0,0,0
$GC,10144,-0.77,-116.7,706.9,-7.2,440,10148,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3680,3471,0,0,0,0,0,0
$GC,10210,-0.77,-116.7,711.9,-7.6,441,10215,0.00,2.05,0.00,0.000,6,0.000,0.029,2545,2277,3472,0,0,0,0,0,0
$GC,10576,-0.77,-116.7,739.4,-7.5,447,10580,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3691,3471,0,0,0,0,0,0
$GC,10631,-0.81,-116.7,743.8,-7.3,447,10639,0.05,2.08,0.00,0.000,6,0.101,0.030,2508,2270,3471,0,0,0,0,0,0
$GC,10940,-0.75,-116.7,771.8,-9.1,453,10941,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2270,3470,0,0,0,0,0,0
$GC,11243,-0.69,-116.7,799.2,-9.0,458,11248,0.12,2.15,0.00,0.000,4,0.220,0.050,2537,3686,3470,0,0,0,0,0,0
$GC,11297,-0.69,-116.7,803.7,-7.7,458,11304,0.00,2.08,0.00,0.000,6,0.000,0.030,2537,2274,3470,0,0,0,0,0,0
$GC,11609,-0.69,-116.7,828.1,-7.9,464,11610,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2274,3469,0,0,0,0,0,0
$GC,11911,-0.69,-116.7,851.0,-7.6,469,11915,0.00,2.12,0.00,0.000,4,0.000,0.049,2537,3688,3469,0,0,0,0,0,0
$GC,12016,-0.69,-116.7,859.3,-8.3,470,12020,0.00,2.08,0.00,0.000,6,0.000,0.030,2537,2277,3469,0,0,0,0,0,0
$GC,12343,-0.69,-116.7,883.1,-7.3,476,12346,0.00,2.12,0.00,0.000,4,0.000,0.048,2537,3692,3469,0,0,0,0,0,0
$GC,12404,-0.69,-116.7,887.5,-7.2,477,12408,0.00,2.05,0.00,0.000,6,0.000,0.030,2537,2267,3469,0,0,0,0,0,0
$GC,12768,-0.69,-116.7,912.1,-6.7,483,12772,0.00,2.12,0.00,0.000,4,0.000,0.049,2537,3680,3468,0,0,0,0,0,0
$GC,12840,-0.69,-116.7,917.1,-6.3,484,12844,0.00,2.08,0.00,0.000,6,0.000,0.030,2537,2269,3468,0,0,0,0,0,0
$GC,13200,-0.69,-116.7,940.6,-6.5,490,13204,0.00,2.12,0.00,0.000,4,0.000,0.048,2537,3683,3468,0,0,0,0,0,0
$GC,13272,-0.69,-116.7,945.5,-7.0,491,13276,0.00,2.08,0.00,0.000,6,0.000,0.030,2537,2269,3468,0,0,0,0,0,0
$STATE,13390,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13391,begin apogee
$GC,13396,-0.24,0.0,953.0,6.5,493,13498,0.50,0.00,99.30,1.618,6,0.189,0.000,2684,2854,3006,0,0,0,0,0,0
$STATE,13499,end apogee,CONTROL_FINISHED_OK
$STATE,13499,begin climb
$GC,13501,0.80,116.7,955.0,0.0,494,13618,1.08,2.08,106.18,1.522,4,0.133,0.053,3012,4047,2529,0,0,0,0,0,0
$GC,13702,0.54,116.7,946.7,9.7,497,13706,0.25,1.88,0.00,0.000,6,0.210,0.028,2947,2854,2521,0,0,0,0,0,0
$GC,14061,0.51,135.0,924.1,6.1,503,14082,0.00,2.20,15.75,1.481,4,0.000,0.038,2955,1452,2455,0,0,0,0,0,0
$GC,14104,0.52,165.1,921.3,5.7,503,14139,0.00,2.22,29.00,1.497,6,0.000,0.040,2953,2850,2333,0,0,0,0,0,0
$GC,14488,0.52,165.1,892.4,7.6,510,14492,0.00,2.17,0.00,0.000,4,0.000,0.038,2962,1450,2324,0,0,0,0,0,0
$GC,14555,0.52,165.1,887.1,7.2,511,14560,0.00,2.20,0.00,0.000,6,0.000,0.040,2962,2865,2324,0,0,0,0,0,0
$GC,14920,0.47,165.1,857.7,8.0,517,14925,0.17,2.15,0.00,0.000,4,0.198,0.038,2927,1454,2322,0,0,0,0,0,0
$GC,14959,0.55,185.1,855.2,6.1,517,14983,0.00,2.15,17.42,1.496,6,0.000,0.040,2926,2856,2251,0,0,0,0,0,0
$GC,15351,0.60,192.4,829.8,6.6,524,15365,0.00,2.25,7.78,1.337,4,0.000,0.039,2935,1450,2221,0,0,0,0,0,0
$GC,15450,0.67,207.8,823.2,6.3,525,15472,0.15,2.17,15.93,1.467,6,0.123,0.040,2987,2851,2158,0,0,0,0,0,0
$GC,15781,0.60,207.8,793.8,9.0,531,15785,0.00,2.15,0.00,0.000,4,0.000,0.039,2997,1451,2153,0,0,0,0,0,0
$GC,15808,0.55,207.8,791.4,8.4,531,15813,0.17,2.17,0.00,0.000,6,0.194,0.040,2949,2857,2153,0,0,0,0,0,0
$GC,16139,0.55,207.8,767.1,7.2,537,16143,0.00,2.15,0.00,0.000,4,0.000,0.041,2951,1450,2151,0,0,0,0,0,0
$GC,16177,0.59,211.4,764.5,6.7,537,16181,0.00,2.17,0.00,0.000,6,0.000,0.040,2951,2844,2152,0,0,0,0,0,0
$GC,16503,0.59,211.4,741.9,7.0,543,16506,0.00,2.10,0.00,0.000,4,0.000,0.040,2957,1454,2151,0,0,0,0,0,0
$GC,16557,0.59,211.4,738.1,7.0,543,16564,0.00,2.17,0.00,0.000,6,0.000,0.040,2955,2858,2151,0,0,0,0,0,0
$GC,16867,0.59,211.4,716.2,7.1,549,16871,0.00,2.12,0.00,0.000,4,0.000,0.040,2962,1451,2150,0,0,0,0,0,0
$GC,16928,0.61,229.3,711.8,6.2,550,16952,0.00,2.12,19.40,1.456,6,0.000,0.040,2962,2853,2071,0,0,0,0,0,0
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$STATE,25363,end climb,SURFACE_DEPTH_REACHED
$STATE,25363,begin surface coast
$FINISH,2.8,1.005786
$STATE,25398,end surface coast,CONTROL_FINISHED_OK
$STATE,25398,begin surface
$SM_CCo,25415,25.38,0.914,0,0,1884,275.23
$SM_GC,3.46,0.00,0.00,25.38,0.000,0.000,0.914,222,2290,1884,-7.95,0.42,275.23
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$TT8_MAMPS,0.027612
$HUMID,1078382571
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,953.0,7.0
$24V_AH,23.1,5.702
$10V_AH,10.1,3.284
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,21.975,212.100,322.600,25.375,0.000,24.361,39.216,145.708,2.000,0.000,14.688,2111.026,19923.426,520.830,2753.924,451.881,0.000,1896.536,0.000,2699.385,0.000,16.317,0.000
$DEVICE_MAMPS,272.285,52.923,1618.370,914.264,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
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$SENSOR_SECS,645.469,952.191,543.247,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241596
$DATA_FILE_SIZE,53851,932
$CAP_FILE_SIZE,211420,0
$CFSIZE,260165632,253276160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,109.7,1
$GPS,051009,101157,6428.229,49.694,40,2.4,60,-4.7