version: 66.06
glider: 140
mission: 8
dive: 120
start: 11 4 109 5 59 2
data:
$ID,140
$MISSION,8
$DIVE,120
$D_SURF,4
$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,-1
$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,-46521.648
$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,83
$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
$GPS1,055301,6346.083,147.357,42,1.1,43,-4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.20
$_SM_ANGLEo,-62.3
$GPS2,055838,6346.107,147.364,15,1.1,15,-4.0
$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,322.6,197292,-13.7,-6.875
$D_GRID,1645
$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,-7.97,0.000,2,0.000,0.000,215,2281,2045,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.2,-0.0,1,124,9.00,2.08,-80.65,0.000,4,0.244,0.054,2503,913,3482,0,0,0,0,0,0
$GC,146,-1.19,-116.7,2.5,0.1,21,152,0.35,2.10,0.00,0.000,6,0.101,0.028,2384,2320,3482,0,0,0,0,0,0
$GC,479,-0.83,-116.7,51.7,-16.5,82,487,0.38,2.12,0.00,0.000,4,0.204,0.033,2488,933,3483,0,0,0,0,0,0
$GC,735,-0.66,-116.7,82.0,-11.1,102,739,0.15,2.05,0.00,0.000,6,0.178,0.028,2546,2303,3483,0,0,0,0,0,0
$GC,1056,-0.62,-116.7,105.3,-6.8,118,1060,0.00,2.05,0.00,0.000,4,0.000,0.035,2546,921,3484,0,0,0,0,0,0
$GC,1190,-0.57,-116.7,115.3,-7.7,124,1195,0.12,2.03,0.00,0.000,6,0.201,0.028,2579,2305,3483,0,0,0,0,0,0
$GC,1512,-0.61,-116.7,135.0,-6.4,140,1516,0.00,2.05,0.00,0.000,4,0.000,0.041,2579,3697,3484,0,0,0,0,0,0
$GC,1612,-0.67,-116.7,141.7,-6.5,144,1620,0.00,2.00,0.00,0.000,6,0.000,0.023,2579,2297,3484,0,0,0,0,0,0
$GC,1927,-0.71,-116.7,163.4,-7.2,160,1931,0.15,2.12,0.00,0.000,4,0.123,0.041,2529,3702,3484,0,0,0,0,0,0
$GC,1975,-0.65,-116.7,167.7,-8.9,162,1979,0.00,1.98,0.00,0.000,6,0.000,0.023,2529,2295,3484,0,0,0,0,0,0
$GC,2302,-0.59,-116.7,196.1,-8.7,178,2304,0.17,0.00,0.00,0.000,6,0.186,0.000,2576,2291,3484,0,0,0,0,0,0
$GC,2612,-0.63,-116.7,215.7,-5.8,193,2616,0.00,2.10,0.00,0.000,4,0.000,0.041,2576,3700,3484,0,0,0,0,0,0
$GC,2668,-0.69,-116.7,219.1,-5.8,195,2673,0.00,1.98,0.00,0.000,6,0.000,0.023,2576,2290,3484,0,0,0,0,0,0
$GC,2983,-0.74,-116.7,236.7,-5.6,211,2985,0.15,0.00,0.00,0.000,6,0.123,0.000,2527,2288,3484,0,0,0,0,0,0
$GC,3293,-0.67,-116.7,260.8,-8.1,226,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2288,3484,0,0,0,0,0,0
$GC,3602,-0.62,-116.7,285.9,-8.0,241,3607,0.12,2.12,0.00,0.000,4,0.195,0.041,2557,3696,3484,0,0,0,0,0,0
$GC,3657,-0.62,-116.7,290.1,-7.0,243,3661,0.00,2.00,0.00,0.000,6,0.000,0.023,2557,2300,3484,0,0,0,0,0,0
$GC,3997,-0.62,-116.7,312.8,-6.5,257,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2299,3484,0,0,0,0,0,0
$GC,4303,-0.62,-116.7,331.4,-6.0,267,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2299,3484,0,0,0,0,0,0
$GC,4609,-0.62,-116.7,351.5,-6.5,277,4613,0.00,2.08,0.00,0.000,4,0.000,0.041,2558,3697,3484,0,0,0,0,0,0
$GC,4671,-0.65,-116.7,355.4,-6.3,278,4676,0.00,1.95,0.00,0.000,6,0.000,0.024,2558,2300,3484,0,0,0,0,0,0
$GC,4983,-0.65,-116.7,374.3,-6.1,289,4987,0.00,2.00,0.00,0.000,4,0.000,0.035,2558,923,3484,0,0,0,0,0,0
$GC,5038,-0.65,-116.7,378.2,-7.4,290,5042,0.00,2.05,0.00,0.000,6,0.000,0.028,2557,2305,3484,0,0,0,0,0,0
$GC,5357,-0.65,-116.7,398.0,-6.2,301,5361,0.00,2.05,0.00,0.000,4,0.000,0.041,2557,3702,3483,0,0,0,0,0,0
$GC,5418,-0.69,-116.7,402.2,-7.1,302,5423,0.00,1.98,0.00,0.000,6,0.000,0.024,2558,2289,3483,0,0,0,0,0,0
$GC,5730,-0.69,-116.7,423.7,-7.0,313,5734,0.00,1.98,0.00,0.000,4,0.000,0.036,2558,930,3482,0,0,0,0,0,0
$GC,5785,-0.69,-116.7,428.0,-7.4,314,5789,0.00,2.03,0.00,0.000,6,0.000,0.029,2558,2295,3482,0,0,0,0,0,0
$GC,6104,-0.69,-116.7,449.9,-6.9,325,6108,0.00,2.08,0.00,0.000,4,0.000,0.041,2558,3700,3482,0,0,0,0,0,0
$GC,6161,-0.73,-116.7,453.8,-6.4,326,6165,0.00,1.95,0.00,0.000,6,0.000,0.025,2557,2305,3482,0,0,0,0,0,0
$GC,6480,-0.76,-116.7,475.6,-7.1,337,6481,0.12,0.00,0.00,0.000,6,0.139,0.000,2517,2298,3481,0,0,0,0,0,0
$GC,6785,-0.71,-116.7,501.7,-8.6,347,6789,0.00,2.10,0.00,0.000,4,0.000,0.042,2516,3703,3480,0,0,0,0,0,0
$GC,6847,-0.65,-116.7,507.1,-8.7,348,6852,0.12,2.00,0.00,0.000,6,0.189,0.025,2548,2289,3480,0,0,0,0,0,0
$GC,7217,-0.65,-116.7,534.2,-7.2,354,7218,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2288,3478,0,0,0,0,0,0
$GC,7521,-0.65,-116.7,554.8,-6.8,359,7525,0.00,2.12,0.00,0.000,4,0.000,0.043,2548,3705,3478,0,0,0,0,0,0
$GC,7570,-0.65,-116.7,558.5,-7.5,359,7574,0.00,2.03,0.00,0.000,6,0.000,0.026,2548,2307,3477,0,0,0,0,0,0
$GC,7885,-0.65,-116.7,580.9,-7.2,365,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2306,3476,0,0,0,0,0,0
$GC,8188,-0.65,-116.7,601.8,-6.9,370,8192,0.00,2.10,0.00,0.000,4,0.000,0.044,2548,3704,3475,0,0,0,0,0,0
$GC,8237,-0.65,-116.7,605.3,-7.0,370,8241,0.00,2.05,0.00,0.000,6,0.000,0.026,2548,2302,3475,0,0,0,0,0,0
$GC,8552,-0.65,-116.7,626.7,-6.8,376,8553,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2300,3474,0,0,0,0,0,0
$GC,8855,-0.65,-116.7,646.7,-6.5,381,8859,0.00,2.12,0.00,0.000,4,0.000,0.045,2548,3697,3473,0,0,0,0,0,0
$GC,8939,-0.65,-116.7,652.0,-6.7,382,8943,0.00,2.00,0.00,0.000,6,0.000,0.027,2548,2293,3473,0,0,0,0,0,0
$GC,9287,-0.65,-116.7,672.5,-5.9,388,9291,0.00,2.12,0.00,0.000,4,0.000,0.044,2548,3705,3471,0,0,0,0,0,0
$GC,9337,-0.68,-116.7,675.6,-6.2,388,9341,0.00,2.00,0.00,0.000,6,0.000,0.027,2548,2306,3471,0,0,0,0,0,0
$GC,9652,-0.68,-116.7,694.6,-6.0,394,9653,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2302,3470,0,0,0,0,0,0
$GC,9955,-0.68,-116.7,712.5,-5.9,399,9959,0.00,2.10,0.00,0.000,4,0.000,0.044,2548,3698,3469,0,0,0,0,0,0
$GC,10027,-0.68,-116.7,717.1,-6.8,400,10031,0.00,2.05,0.00,0.000,6,0.000,0.027,2548,2296,3469,0,0,0,0,0,0
$GC,10387,-0.68,-116.7,739.0,-6.1,406,10388,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2295,3469,0,0,0,0,0,0
$GC,10690,-0.68,-116.7,757.2,-5.9,411,10694,0.00,2.12,0.00,0.000,4,0.000,0.044,2548,3705,3468,0,0,0,0,0,0
$GC,10796,-0.72,-116.7,763.6,-5.7,412,10800,0.00,2.03,0.00,0.000,6,0.000,0.028,2548,2300,3468,0,0,0,0,0,0
$GC,11122,-0.72,-116.7,782.8,-5.8,418,11123,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2294,3467,0,0,0,0,0,0
$GC,11425,-0.72,-116.7,801.2,-6.1,423,11429,0.00,2.12,0.00,0.000,4,0.000,0.044,2549,3705,3467,0,0,0,0,0,0
$GC,11531,-0.76,-116.7,807.8,-5.8,424,11535,0.00,2.03,0.00,0.000,6,0.000,0.028,2548,2300,3466,0,0,0,0,0,0
$GC,11857,-0.76,-116.7,827.4,-5.9,430,11861,0.00,2.12,0.00,0.000,4,0.000,0.045,2548,3702,3466,0,0,0,0,0,0
$GC,11906,-0.79,-116.7,830.5,-6.6,430,11911,0.12,2.03,0.00,0.000,6,0.141,0.028,2509,2291,3465,0,0,0,0,0,0
$GC,12221,-0.73,-116.7,853.9,-7.5,436,12222,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2289,3465,0,0,0,0,0,0
$GC,12524,-0.68,-116.7,877.1,-7.7,441,12526,0.12,0.00,0.00,0.000,6,0.198,0.000,2540,2288,3465,0,0,0,0,0,0
$GC,12827,-0.68,-116.7,896.8,-6.5,446,12828,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2288,3464,0,0,0,0,0,0
$GC,13130,-0.68,-116.7,916.3,-6.4,451,13134,0.00,2.15,0.00,0.000,4,0.000,0.045,2540,3704,3464,0,0,0,0,0,0
$GC,13224,-0.68,-116.7,922.4,-5.8,452,13228,0.00,2.05,0.00,0.000,6,0.000,0.028,2540,2306,3464,0,0,0,0,0,0
$GC,13567,-0.68,-116.7,943.9,-6.4,458,13568,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2304,3463,0,0,0,0,0,0
$GC,13870,-0.68,-116.7,963.2,-6.4,463,13874,0.00,2.12,0.00,0.000,4,0.000,0.045,2541,3705,3463,0,0,0,0,0,0
$GC,13932,-0.71,-116.7,967.4,-6.7,463,13937,0.00,2.03,0.00,0.000,6,0.000,0.028,2541,2300,3463,0,0,0,0,0,0
$GC,14241,-0.71,-116.7,985.5,-5.8,469,14242,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2298,3463,0,0,0,0,0,0
$STATE,14359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14360,begin apogee
$GC,14365,-0.24,0.0,992.5,5.7,471,14465,0.47,0.00,97.25,1.562,6,0.173,0.000,2683,2644,3006,0,0,0,0,0,0
$STATE,14466,end apogee,CONTROL_FINISHED_OK
$STATE,14466,begin climb
$GC,14468,0.80,116.7,994.1,0.0,472,14584,1.08,2.45,104.90,1.461,4,0.118,0.047,3016,4039,2528,0,0,0,0,0,0
$GC,14600,0.56,116.7,990.3,7.6,474,14607,0.32,2.22,0.00,0.000,6,0.181,0.027,2948,2652,2525,0,0,0,0,0,0
$GC,14909,0.53,121.2,969.5,6.7,480,14911,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2652,2518,0,0,0,0,0,0
$GC,15213,0.51,128.6,949.6,6.6,485,15227,0.00,2.17,9.73,1.390,4,0.000,0.038,2957,1252,2480,0,0,0,0,0,0
$GC,15256,0.48,136.9,946.6,6.5,485,15270,0.12,2.17,9.15,1.287,6,0.189,0.035,2922,2653,2447,0,0,0,0,0,0
$GC,15580,0.51,159.4,927.1,6.0,491,15605,0.00,2.20,20.80,1.431,4,0.000,0.036,2931,1258,2355,0,0,0,0,0,0
$GC,15628,0.59,190.6,924.2,5.6,491,15662,0.00,2.17,29.35,1.404,6,0.000,0.034,2928,2651,2228,0,0,0,0,0,0
$GC,16008,0.65,190.6,898.3,6.9,498,16013,0.15,2.15,0.00,0.000,4,0.108,0.037,2991,1258,2218,0,0,0,0,0,0
$GC,16029,0.65,190.6,896.5,7.4,498,16033,0.00,2.17,0.00,0.000,6,0.000,0.035,2991,2645,2218,0,0,0,0,0,0
$GC,16372,0.58,190.6,865.1,9.1,504,16374,0.15,0.00,0.00,0.000,6,0.183,0.000,2953,2645,2217,0,0,0,0,0,0
$GC,16675,0.58,190.6,841.8,7.7,509,16676,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2645,2216,0,0,0,0,0,0
$GC,16978,0.58,190.6,819.5,7.3,514,16979,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2645,2216,0,0,0,0,0,0
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$STATE,27542,end climb,SURFACE_DEPTH_REACHED
$STATE,27542,begin surface coast
$FINISH,2.6,1.004489
$STATE,27602,end surface coast,CONTROL_FINISHED_OK
$STATE,27602,begin surface
$SM_CCo,27618,32.10,0.786,0,0,1884,275.23
$SM_GC,3.72,0.00,0.00,32.10,0.000,0.000,0.786,214,2282,1884,-7.97,-0.48,275.23
$IRIDIUM_FIX,6317.84,156.49,280199,222251
$TT8_MAMPS,0.027612
$HUMID,1078333539
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,22.8,20.995
$10V_AH,10.0,13.171
$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
$DEVICE_SECS,21.675,151.100,309.725,32.100,0.000,28.073,33.072,155.565,0.000,0.000,15.212,1986.743,22850.850,492.171,2186.796,465.437,0.000,1619.378,0.000,2161.128,0.000,0.535,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235236
$DATA_FILE_SIZE,53828,924
$CAP_FILE_SIZE,189257,0
$CFSIZE,260165632,245403648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119, 26.2,1
$GPS,041109,134107,6349.925,144.475,37,1.2,38,-4.0