version: 66.06
glider: 140
mission: 8
dive: 21
start: 10 5 109 10 21 25
data:
$ID,140
$MISSION,8
$DIVE,21
$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,-44693.527
$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,54
$R_STBD_OVSHOOT,42
$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
$GPS1,101157,6428.229,49.694,40,2.4,60,-4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.41
$_SM_ANGLEo,-64.5
$GPS2,102102,6428.204,49.828,15,2.0,15,-4.7
$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,314.0,110607,-13.7,-6.875
$D_GRID,2525
$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,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-7.30,0.000,2,0.000,0.000,221,2288,2030,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.3,-0.0,1,121,9.62,2.17,-78.85,0.000,4,0.273,0.058,2504,3683,3481,0,0,0,0,0,0
$GC,247,-0.67,-116.7,15.8,-10.4,40,253,0.12,2.12,0.00,0.000,6,0.186,0.026,2542,2255,3483,0,0,0,0,0,0
$GC,585,-0.60,-116.7,46.1,-8.7,101,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2254,3484,0,0,0,0,0,0
$GC,917,-0.56,-116.7,71.4,-7.5,142,921,0.15,2.20,0.00,0.000,4,0.202,0.046,2581,3690,3485,0,0,0,0,0,0
$GC,1052,-0.63,-116.7,80.6,-6.3,148,1056,0.00,2.05,0.00,0.000,6,0.000,0.026,2581,2274,3484,0,0,0,0,0,0
$GC,1379,-0.69,-116.7,101.4,-6.2,164,1381,0.12,0.00,0.00,0.000,6,0.137,0.000,2543,2271,3485,0,0,0,0,0,0
$GC,1689,-0.69,-116.7,125.2,-7.9,179,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2271,3485,0,0,0,0,0,0
$GC,1997,-0.69,-116.7,150.1,-8.1,194,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2271,3485,0,0,0,0,0,0
$GC,2308,-0.69,-116.7,172.9,-7.3,209,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2271,3486,0,0,0,0,0,0
$GC,2616,-0.69,-116.7,193.6,-6.7,224,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2271,3486,0,0,0,0,0,0
$GC,2925,-0.69,-116.7,214.6,-6.7,239,2929,0.00,2.12,0.00,0.000,4,0.000,0.046,2542,3691,3485,0,0,0,0,0,0
$GC,2979,-0.69,-116.7,218.5,-7.0,241,2985,0.00,2.08,0.00,0.000,6,0.000,0.027,2542,2275,3485,0,0,0,0,0,0
$GC,3295,-0.69,-116.7,240.3,-7.0,257,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2276,3485,0,0,0,0,0,0
$GC,3605,-0.69,-116.7,261.6,-7.2,272,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2276,3485,0,0,0,0,0,0
$GC,3913,-0.69,-116.7,284.8,-7.8,287,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2274,3484,0,0,0,0,0,0
$GC,4242,-0.69,-116.7,310.5,-7.7,301,4246,0.00,2.12,0.00,0.000,4,0.000,0.047,2542,3689,3483,0,0,0,0,0,0
$GC,4303,-0.69,-116.7,315.5,-8.1,302,4309,0.00,2.08,0.00,0.000,6,0.000,0.028,2543,2271,3483,0,0,0,0,0,0
$GC,4615,-0.69,-116.7,339.4,-7.7,313,4619,0.00,2.12,0.00,0.000,4,0.000,0.046,2542,3689,3482,0,0,0,0,0,0
$GC,4669,-0.69,-116.7,343.7,-7.8,314,4675,0.00,2.08,0.00,0.000,6,0.000,0.028,2542,2271,3482,0,0,0,0,0,0
$GC,4981,-0.69,-116.7,367.7,-7.9,325,4985,0.00,2.10,0.00,0.000,4,0.000,0.047,2542,3679,3481,0,0,0,0,0,0
$GC,5025,-0.69,-116.7,371.3,-8.5,326,5030,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2279,3481,0,0,0,0,0,0
$GC,5354,-0.69,-116.7,396.7,-7.5,337,5355,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2279,3481,0,0,0,0,0,0
$GC,5660,-0.69,-116.7,419.3,-7.1,347,5664,0.00,2.10,0.00,0.000,4,0.000,0.047,2542,3680,3479,0,0,0,0,0,0
$GC,5727,-0.69,-116.7,424.2,-7.4,349,5731,0.00,2.08,0.00,0.000,6,0.000,0.028,2542,2267,3479,0,0,0,0,0,0
$GC,6062,-0.69,-116.7,448.1,-7.3,360,6066,0.00,2.12,0.00,0.000,4,0.000,0.048,2543,3683,3478,0,0,0,0,0,0
$GC,6116,-0.69,-116.7,452.2,-7.7,361,6122,0.00,2.05,0.00,0.000,6,0.000,0.029,2542,2281,3478,0,0,0,0,0,0
$GC,6429,-0.69,-116.7,474.8,-7.4,372,6433,0.00,2.10,0.00,0.000,4,0.000,0.048,2542,3679,3477,0,0,0,0,0,0
$GC,6489,-0.69,-116.7,479.7,-7.7,373,6495,0.00,2.08,0.00,0.000,6,0.000,0.029,2542,2266,3477,0,0,0,0,0,0
$GC,6832,-0.69,-116.7,506.5,-7.8,384,6833,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2266,3476,0,0,0,0,0,0
$GC,7135,-0.69,-116.7,529.3,-7.5,389,7138,0.00,2.12,0.00,0.000,4,0.000,0.048,2542,3679,3476,0,0,0,0,0,0
$GC,7234,-0.69,-116.7,537.0,-7.5,390,7239,0.00,2.08,0.00,0.000,6,0.000,0.029,2542,2267,3475,0,0,0,0,0,0
$GC,7572,-0.69,-116.7,562.1,-7.6,396,7576,0.00,2.12,0.00,0.000,4,0.000,0.048,2542,3685,3475,0,0,0,0,0,0
$GC,7621,-0.69,-116.7,566.0,-7.7,396,7625,0.00,2.08,0.00,0.000,6,0.000,0.030,2542,2274,3474,0,0,0,0,0,0
$GC,7936,-0.69,-116.7,588.9,-7.2,402,7940,0.00,2.12,0.00,0.000,4,0.000,0.048,2542,3690,3473,0,0,0,0,0,0
$GC,7985,-0.69,-116.7,592.4,-7.0,402,7989,0.00,2.08,0.00,0.000,6,0.000,0.029,2542,2277,3474,0,0,0,0,0,0
$GC,8300,-0.69,-116.7,614.1,-6.9,408,8304,0.00,2.10,0.00,0.000,4,0.000,0.048,2542,3677,3473,0,0,0,0,0,0
$GC,8366,-0.69,-116.7,618.9,-7.1,409,8370,0.00,2.05,0.00,0.000,6,0.000,0.029,2542,2279,3473,0,0,0,0,0,0
$GC,8731,-0.69,-116.7,643.3,-6.7,415,8735,0.00,2.12,0.00,0.000,4,0.000,0.048,2542,3690,3472,0,0,0,0,0,0
$GC,8780,-0.69,-116.7,646.7,-7.0,415,8785,0.00,2.08,0.00,0.000,6,0.000,0.030,2542,2272,3472,0,0,0,0,0,0
$GC,9101,-0.69,-116.7,667.7,-6.6,421,9105,0.00,2.12,0.00,0.000,4,0.000,0.048,2542,3688,3472,0,0,0,0,0,0
$GC,9163,-0.69,-116.7,671.8,-6.8,422,9167,0.00,2.05,0.00,0.000,6,0.000,0.030,2543,2269,3472,0,0,0,0,0,0
$GC,9534,-0.69,-116.7,696.4,-6.7,428,9538,0.00,2.12,0.00,0.000,4,0.000,0.048,2542,3683,3471,0,0,0,0,0,0
$GC,9600,-0.69,-116.7,701.2,-7.5,429,9604,0.00,2.05,0.00,0.000,6,0.000,0.030,2542,2284,3471,0,0,0,0,0,0
$GC,9965,-0.69,-116.7,725.1,-6.5,435,9969,0.00,2.10,0.00,0.000,4,0.000,0.048,2542,3683,3470,0,0,0,0,0,0
$GC,10032,-0.69,-116.7,729.5,-6.6,436,10036,0.00,2.08,0.00,0.000,6,0.000,0.030,2542,2270,3470,0,0,0,0,0,0
$GC,10397,-0.69,-116.7,752.9,-6.3,442,10401,0.00,2.12,0.00,0.000,4,0.000,0.048,2542,3679,3470,0,0,0,0,0,0
$GC,10475,-0.69,-116.7,757.9,-6.3,443,10479,0.00,2.08,0.00,0.000,6,0.000,0.030,2542,2267,3470,0,0,0,0,0,0
$GC,10835,-0.69,-116.7,780.8,-6.3,449,10839,0.00,2.12,0.00,0.000,4,0.000,0.048,2542,3682,3469,0,0,0,0,0,0
$GC,10901,-0.69,-116.7,785.3,-6.5,450,10906,0.00,2.08,0.00,0.000,6,0.000,0.030,2542,2272,3470,0,0,0,0,0,0
$STATE,11204,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11204,begin apogee
$GC,11210,-0.24,0.0,804.4,6.3,455,11310,0.47,0.00,97.15,1.506,6,0.186,0.000,2682,2857,3006,0,0,0,0,0,0
$STATE,11311,end apogee,CONTROL_FINISHED_OK
$STATE,11311,begin climb
$GC,11313,0.80,116.7,806.4,0.0,456,11426,1.10,2.05,103.40,1.406,4,0.133,0.053,3013,4045,2529,0,0,0,0,0,0
$GC,11454,0.52,116.7,803.0,7.8,459,11459,0.28,1.90,0.00,0.000,6,0.207,0.028,2940,2850,2524,0,0,0,0,0,0
$GC,11819,0.53,128.4,779.5,6.4,465,11834,0.00,2.17,9.73,1.306,4,0.000,0.040,2949,1451,2482,0,0,0,0,0,0
$GC,11879,0.53,128.4,775.5,7.1,466,11883,0.00,2.20,0.00,0.000,6,0.000,0.039,2949,2853,2480,0,0,0,0,0,0
$GC,12244,0.50,129.4,750.7,6.8,472,12248,0.00,2.15,0.00,0.000,4,0.000,0.039,2954,1450,2479,0,0,0,0,0,0
$GC,12321,0.50,136.9,745.6,6.6,473,12336,0.00,2.20,8.75,1.302,6,0.000,0.040,2953,2849,2447,0,0,0,0,0,0
$GC,12674,0.47,143.4,722.4,6.6,479,12688,0.12,2.22,6.97,1.240,4,0.212,0.041,2924,1454,2421,0,0,0,0,0,0
$GC,12733,0.57,180.1,719.0,5.4,479,12774,0.00,2.17,34.25,1.430,6,0.000,0.040,2924,2860,2270,0,0,0,0,0,0
$GC,13108,0.62,188.2,694.9,6.6,486,13122,0.12,2.28,7.53,1.241,4,0.127,0.039,2975,1447,2238,0,0,0,0,0,0
$GC,13228,0.62,188.2,685.3,8.4,487,13233,0.00,2.20,0.00,0.000,6,0.000,0.039,2974,2841,2236,0,0,0,0,0,0
$GC,13543,0.58,188.2,659.2,8.3,493,13547,0.00,2.12,0.00,0.000,4,0.000,0.041,2975,1452,2234,0,0,0,0,0,0
$GC,13581,0.58,188.2,655.9,7.9,493,13586,0.00,2.17,0.00,0.000,6,0.000,0.039,2975,2845,2234,0,0,0,0,0,0
$GC,13908,0.53,188.2,628.9,8.3,499,13913,0.15,2.15,0.00,0.000,4,0.208,0.042,2939,1446,2233,0,0,0,0,0,0
$GC,13970,0.60,193.9,624.7,6.6,500,13981,0.00,2.15,5.95,1.160,6,0.000,0.040,2939,2856,2215,0,0,0,0,0,0
$GC,14337,0.63,198.5,600.0,6.7,506,14347,0.00,2.15,5.85,1.147,4,0.000,0.039,2939,1454,2195,0,0,0,0,0,0
$GC,14438,0.70,203.5,593.3,6.7,507,14449,0.15,2.15,6.18,1.158,6,0.127,0.040,2987,2858,2176,0,0,0,0,0,0
$GC,14764,0.65,203.5,564.7,9.0,513,14768,0.00,2.15,0.00,0.000,4,0.000,0.042,2991,1448,2174,0,0,0,0,0,0
$GC,14797,0.61,203.5,561.7,9.0,513,14801,0.00,2.17,0.00,0.000,6,0.000,0.040,2990,2869,2173,0,0,0,0,0,0
$GC,15129,0.55,203.5,532.0,8.9,519,15133,0.17,2.17,0.00,0.000,4,0.201,0.041,2948,1449,2173,0,0,0,0,0,0
$GC,15172,0.60,203.5,528.6,7.0,519,15176,0.00,2.12,0.00,0.000,6,0.000,0.040,2948,2849,2173,0,0,0,0,0,0
$GC,15492,0.60,203.5,505.8,7.2,525,15496,0.00,2.12,0.00,0.000,4,0.000,0.041,2950,1444,2173,0,0,0,0,0,0
$GC,15576,0.65,203.8,499.9,6.9,526,15580,0.00,2.12,0.00,0.000,6,0.000,0.040,2949,2849,2172,0,0,0,0,0,0
$GC,15902,0.65,203.8,476.1,7.4,536,15906,0.00,2.12,0.00,0.000,4,0.000,0.041,2949,1453,2172,0,0,0,0,0,0
$GC,15980,0.71,213.5,470.7,6.5,538,15997,0.08,2.15,10.05,1.243,6,0.106,0.040,2992,2850,2135,0,0,0,0,0,0
$GC,16303,0.66,213.5,441.9,9.1,549,16307,0.00,2.15,0.00,0.000,4,0.000,0.041,3001,1453,2132,0,0,0,0,0,0
$GC,16353,0.61,213.5,437.1,8.9,550,16358,0.12,2.17,0.00,0.000,6,0.187,0.040,2965,2854,2131,0,0,0,0,0,0
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$STATE,21770,end climb,SURFACE_DEPTH_REACHED
$STATE,21770,begin surface coast
$FINISH,2.7,1.013920
$STATE,21804,end surface coast,CONTROL_FINISHED_OK
$STATE,21804,begin surface
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$SM_GC,3.33,0.00,0.00,25.92,0.000,0.000,0.919,218,2258,1884,-7.96,-0.48,275.23
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$TT8_MAMPS,0.027612
$HUMID,1078399345
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$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,800.7,9.8
$24V_AH,23.3,5.854
$10V_AH,10.1,3.386
$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
$DEVICE_SECS,21.375,192.425,323.075,25.925,0.000,47.389,67.318,232.713,0.500,0.000,16.030,1939.903,16850.094,503.887,2501.839,589.825,0.000,1740.623,0.000,2454.727,0.000,5.445,0.000
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$SENSOR_SECS,610.740,901.205,565.569,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241608
$DATA_FILE_SIZE,50624,882
$CAP_FILE_SIZE,191074,0
$CFSIZE,260165632,253218816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061, 91.8,1
$GPS,051009,162637,6430.132,47.778,29,1.1,29,-4.7