version: 66.06
glider: 140
mission: 8
dive: 32
start: 10 8 109 18 26 7
data:
$ID,140
$MISSION,8
$DIVE,32
$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,-44890.031
$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,2300
$C_ROLL_CLIMB,2650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,73
$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,0
$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
$GPS1,181957,6445.085,-6.026,40,99.0,59,-5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.60
$_SM_ANGLEo,-62.6
$GPS2,182544,6445.065,-6.119,11,1.2,11,-5.2
$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,317.9,57170,-13.7,-6.875
$D_GRID,2729
$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,-7.57,0.000,2,0.000,0.000,216,2267,1994,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.5,-0.0,1,128,9.48,2.10,-81.78,0.000,4,0.267,0.054,2507,912,3482,0,0,0,0,0,0
$GC,142,-0.83,-116.7,4.2,-3.1,21,148,0.00,2.10,0.00,0.000,6,0.000,0.033,2507,2303,3483,0,0,0,0,0,0
$GC,477,-0.68,-116.7,38.6,-12.4,82,483,0.12,0.00,0.00,0.000,6,0.221,0.000,2538,2303,3484,0,0,0,0,0,0
$GC,809,-0.64,-116.7,66.7,-7.7,131,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2303,3485,0,0,0,0,0,0
$GC,1117,-0.59,-116.7,89.1,-7.5,146,1122,0.12,2.12,0.00,0.000,4,0.213,0.044,2569,3713,3486,0,0,0,0,0,0
$GC,1183,-0.64,-116.7,93.3,-6.0,149,1187,0.00,2.03,0.00,0.000,6,0.000,0.025,2569,2303,3486,0,0,0,0,0,0
$GC,1511,-0.68,-116.7,112.4,-6.0,165,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2302,3486,0,0,0,0,0,0
$GC,1820,-0.72,-116.7,132.2,-6.5,180,1824,0.12,2.08,0.00,0.000,4,0.144,0.040,2530,909,3486,0,0,0,0,0,0
$GC,1882,-0.65,-116.7,137.4,-9.0,183,1886,0.00,2.08,0.00,0.000,6,0.000,0.031,2530,2315,3486,0,0,0,0,0,0
$GC,2210,-0.60,-116.7,164.9,-8.2,199,2215,0.15,2.08,0.00,0.000,4,0.203,0.044,2568,3705,3487,0,0,0,0,0,0
$GC,2311,-0.64,-116.7,172.0,-6.8,203,2318,0.00,2.00,0.00,0.000,6,0.000,0.025,2568,2297,3487,0,0,0,0,0,0
$GC,2628,-0.68,-116.7,193.0,-6.5,219,2632,0.00,2.10,0.00,0.000,4,0.000,0.044,2568,3699,3487,0,0,0,0,0,0
$GC,2716,-0.74,-116.7,199.6,-7.4,223,2721,0.10,2.03,0.00,0.000,6,0.105,0.027,2529,2305,3486,0,0,0,0,0,0
$GC,3044,-0.69,-116.7,226.3,-8.1,239,3048,0.00,2.05,0.00,0.000,4,0.000,0.040,2529,908,3486,0,0,0,0,0,0
$GC,3128,-0.63,-116.7,233.6,-8.9,243,3133,0.12,2.05,0.00,0.000,6,0.212,0.032,2559,2301,3486,0,0,0,0,0,0
$GC,3455,-0.63,-116.7,256.0,-6.8,259,3459,0.00,2.08,0.00,0.000,4,0.000,0.044,2559,3704,3485,0,0,0,0,0,0
$GC,3527,-0.66,-116.7,261.3,-7.0,262,3531,0.00,2.05,0.00,0.000,6,0.000,0.027,2559,2300,3485,0,0,0,0,0,0
$GC,3847,-0.66,-116.7,283.9,-7.2,278,3851,0.00,2.10,0.00,0.000,4,0.000,0.045,2559,3701,3485,0,0,0,0,0,0
$GC,3903,-0.70,-116.7,288.1,-7.3,280,3907,0.00,2.00,0.00,0.000,6,0.000,0.027,2559,2300,3485,0,0,0,0,0,0
$GC,4232,-0.70,-116.7,310.3,-6.6,294,4236,0.00,2.12,0.00,0.000,4,0.000,0.046,2559,3709,3484,0,0,0,0,0,0
$GC,4289,-0.74,-116.7,314.1,-7.1,295,4293,0.00,2.03,0.00,0.000,6,0.000,0.028,2559,2302,3484,0,0,0,0,0,0
$GC,4606,-0.74,-116.7,335.2,-6.9,306,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2297,3483,0,0,0,0,0,0
$GC,4913,-0.77,-116.7,356.7,-7.0,316,4918,0.12,2.12,0.00,0.000,4,0.146,0.046,2519,3702,3483,0,0,0,0,0,0
$GC,4985,-0.72,-116.7,362.9,-8.6,318,4989,0.00,2.03,0.00,0.000,6,0.000,0.028,2519,2292,3483,0,0,0,0,0,0
$GC,5314,-0.67,-116.7,391.4,-8.7,329,5316,0.12,0.00,0.00,0.000,6,0.208,0.000,2550,2288,3482,0,0,0,0,0,0
$GC,5620,-0.67,-116.7,414.3,-7.4,339,5623,0.00,2.12,0.00,0.000,4,0.000,0.047,2550,3699,3481,0,0,0,0,0,0
$GC,5663,-0.67,-116.7,417.7,-7.8,340,5668,0.00,2.05,0.00,0.000,6,0.000,0.028,2551,2298,3481,0,0,0,0,0,0
$GC,5992,-0.67,-116.7,442.7,-7.5,351,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2296,3480,0,0,0,0,0,0
$GC,6298,-0.67,-116.7,465.1,-7.3,361,6302,0.00,2.12,0.00,0.000,4,0.000,0.047,2550,3709,3479,0,0,0,0,0,0
$GC,6364,-0.67,-116.7,470.0,-7.6,363,6368,0.00,2.08,0.00,0.000,6,0.000,0.028,2551,2295,3479,0,0,0,0,0,0
$GC,6698,-0.67,-116.7,494.0,-7.0,374,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2294,3478,0,0,0,0,0,0
$GC,7033,-0.67,-116.7,516.4,-6.7,381,7037,0.00,2.12,0.00,0.000,4,0.000,0.047,2550,3706,3478,0,0,0,0,0,0
$GC,7116,-0.67,-116.7,522.2,-6.6,382,7120,0.00,2.08,0.00,0.000,6,0.000,0.029,2550,2294,3477,0,0,0,0,0,0
$GC,7465,-0.67,-116.7,544.9,-6.5,388,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2293,3477,0,0,0,0,0,0
$GC,7768,-0.67,-116.7,564.8,-6.5,393,7772,0.00,2.12,0.00,0.000,4,0.000,0.047,2551,3708,3477,0,0,0,0,0,0
$GC,7840,-0.70,-116.7,569.7,-6.1,394,7844,0.00,2.03,0.00,0.000,6,0.000,0.029,2551,2296,3476,0,0,0,0,0,0
$GC,8200,-0.70,-116.7,592.7,-6.3,400,8204,0.00,2.12,0.00,0.000,4,0.000,0.048,2551,3708,3476,0,0,0,0,0,0
$GC,8249,-0.74,-116.7,596.0,-6.4,400,8253,0.00,2.03,0.00,0.000,6,0.000,0.029,2550,2300,3475,0,0,0,0,0,0
$GC,8564,-0.74,-116.7,615.6,-6.2,406,8565,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2299,3475,0,0,0,0,0,0
$GC,8867,-0.74,-116.7,635.1,-6.5,411,8871,0.00,2.10,0.00,0.000,4,0.000,0.048,2551,3698,3475,0,0,0,0,0,0
$GC,8978,-0.77,-116.7,642.6,-7.1,412,8982,0.08,2.05,0.00,0.000,6,0.120,0.029,2506,2298,3474,0,0,0,0,0,0
$GC,9298,-0.71,-116.7,668.9,-8.3,418,9303,0.12,2.08,0.00,0.000,4,0.210,0.044,2536,912,3474,0,0,0,0,0,0
$GC,9386,-0.71,-116.7,676.0,-7.8,419,9391,0.00,2.08,0.00,0.000,6,0.000,0.035,2536,2294,3474,0,0,0,0,0,0
$GC,9735,-0.71,-116.7,700.6,-7.0,425,9739,0.00,2.10,0.00,0.000,4,0.000,0.048,2537,3709,3473,0,0,0,0,0,0
$GC,9801,-0.71,-116.7,705.2,-6.7,426,9805,0.00,2.08,0.00,0.000,6,0.000,0.029,2537,2297,3473,0,0,0,0,0,0
$GC,10167,-0.71,-116.7,729.7,-6.7,432,10168,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2295,3473,0,0,0,0,0,0
$GC,10469,-0.71,-116.7,749.9,-6.7,437,10473,0.00,2.12,0.00,0.000,4,0.000,0.048,2536,3708,3472,0,0,0,0,0,0
$GC,10524,-0.71,-116.7,753.7,-6.7,437,10530,0.00,2.08,0.00,0.000,6,0.000,0.030,2536,2296,3472,0,0,0,0,0,0
$GC,10834,-0.71,-116.7,773.6,-6.4,443,10835,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2295,3472,0,0,0,0,0,0
$GC,11137,-0.71,-116.7,792.9,-6.4,448,11141,0.00,2.12,0.00,0.000,4,0.000,0.048,2537,3705,3472,0,0,0,0,0,0
$GC,11187,-0.71,-116.7,796.3,-6.9,448,11191,0.00,2.08,0.00,0.000,6,0.000,0.029,2537,2293,3471,0,0,0,0,0,0
$GC,11502,-0.71,-116.7,816.2,-6.3,454,11503,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2292,3471,0,0,0,0,0,0
$GC,11805,-0.71,-116.7,835.1,-6.2,459,11809,0.00,2.12,0.00,0.000,4,0.000,0.048,2537,3704,3471,0,0,0,0,0,0
$GC,11867,-0.71,-116.7,839.0,-6.8,460,11870,0.00,2.03,0.00,0.000,6,0.000,0.030,2537,2300,3471,0,0,0,0,0,0
$GC,12237,-0.71,-116.7,861.1,-5.9,466,12239,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2297,3471,0,0,0,0,0,0
$GC,12541,-0.71,-116.7,879.2,-6.0,471,12545,0.00,2.12,0.00,0.000,4,0.000,0.048,2537,3706,3471,0,0,0,0,0,0
$GC,12607,-0.71,-116.7,883.5,-5.7,472,12611,0.00,2.08,0.00,0.000,6,0.000,0.030,2537,2295,3470,0,0,0,0,0,0
$GC,12973,-0.71,-116.7,906.8,-6.4,478,12977,0.00,2.12,0.00,0.000,4,0.000,0.048,2537,3703,3470,0,0,0,0,0,0
$GC,13034,-0.71,-116.7,910.8,-6.8,479,13038,0.00,2.03,0.00,0.000,6,0.000,0.030,2537,2300,3470,0,0,0,0,0,0
$GC,13405,-0.71,-116.7,934.4,-6.3,485,13409,0.00,2.12,0.00,0.000,4,0.000,0.048,2537,3708,3470,0,0,0,0,0,0
$GC,13454,-0.71,-116.7,937.7,-6.9,485,13458,0.00,2.08,0.00,0.000,6,0.000,0.030,2537,2299,3469,0,0,0,0,0,0
$GC,13775,-0.71,-116.7,958.2,-6.4,491,13776,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2298,3469,0,0,0,0,0,0
$GC,14078,-0.71,-116.7,977.9,-6.5,496,14082,0.00,2.12,0.00,0.000,4,0.000,0.048,2537,3705,3469,0,0,0,0,0,0
$GC,14161,-0.71,-116.7,983.7,-6.8,497,14165,0.00,2.05,0.00,0.000,6,0.000,0.030,2537,2277,3469,0,0,0,0,0,0
$STATE,14270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14270,begin apogee
$GC,14275,-0.24,0.0,990.9,6.5,499,14377,0.50,0.00,98.62,1.555,6,0.183,0.000,2687,2656,3006,0,0,0,0,0,0
$STATE,14378,end apogee,CONTROL_FINISHED_OK
$STATE,14378,begin climb
$GC,14380,0.80,116.7,992.8,0.0,500,14496,1.05,2.40,104.97,1.456,4,0.130,0.050,3007,4043,2528,0,0,0,0,0,0
$GC,14563,0.56,116.7,985.7,8.4,502,14569,0.28,2.17,0.00,0.000,6,0.207,0.029,2951,2652,2520,0,0,0,0,0,0
$GC,14873,0.53,133.6,966.2,6.2,508,14892,0.00,2.28,14.27,1.397,4,0.000,0.050,2940,4045,2460,0,0,0,0,0,0
$GC,14920,0.45,136.1,962.8,6.8,508,14925,0.15,2.15,0.00,0.000,6,0.206,0.030,2915,2647,2459,0,0,0,0,0,0
$GC,15235,0.53,173.7,945.5,5.4,514,15273,0.00,0.00,37.03,1.440,6,0.000,0.000,2915,2646,2297,0,0,0,0,0,0
$GC,15538,0.61,189.8,927.0,6.2,519,15555,0.15,0.00,14.98,1.395,6,0.126,0.000,2962,2645,2232,0,0,0,0,0,0
$GC,15841,0.61,189.8,903.4,7.8,524,15842,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2644,2227,0,0,0,0,0,0
$GC,16143,0.61,189.8,879.3,8.0,529,16147,0.00,2.17,0.00,0.000,4,0.000,0.050,2962,4040,2225,0,0,0,0,0,0
$GC,16153,0.57,189.8,878.4,8.1,529,16157,0.00,2.08,0.00,0.000,6,0.000,0.031,2973,2647,2226,0,0,0,0,0,0
$GC,16508,0.53,189.8,848.1,8.6,535,16512,0.15,2.20,0.00,0.000,4,0.203,0.050,2926,4045,2224,0,0,0,0,0,0
$GC,16545,0.53,189.8,844.7,8.7,535,16549,0.00,2.10,0.00,0.000,6,0.000,0.031,2936,2651,2224,0,0,0,0,0,0
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$STATE,27201,end climb,SURFACE_DEPTH_REACHED
$STATE,27201,begin surface coast
$FINISH,2.9,1.015221
$STATE,27229,end surface coast,CONTROL_FINISHED_OK
$STATE,27229,begin surface
$SM_CCo,27245,12.43,0.810,0,0,1884,275.23
$SM_GC,4.58,0.00,0.00,12.43,0.000,0.000,0.810,221,2261,1884,-7.95,-1.13,275.23
$IRIDIUM_FIX,6416.43,5.04,020199,101011
$TT8_MAMPS,0.027612
$HUMID,1078395474
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,23.1,7.520
$10V_AH,10.0,4.488
$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,22.025,164.825,329.125,12.425,0.000,24.415,49.391,160.182,0.000,0.000,11.757,2072.230,22163.336,496.296,2388.974,479.135,0.000,1700.131,0.000,2361.533,0.000,0.534,0.000
$DEVICE_MAMPS,266.916,54.457,1554.709,809.952,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,664.370,980.360,540.705,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241612
$DATA_FILE_SIZE,53834,958
$CAP_FILE_SIZE,196833,0
$CFSIZE,260165632,252321792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,238.1,1
$GPS,091009,020137,6446.986,-12.667,34,0.9,35,-5.3