version: 66.06
glider: 140
mission: 8
dive: 123
start: 11 5 109 5 20 7
data:
$ID,140
$MISSION,8
$DIVE,123
$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,-46566.867
$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,68
$R_STBD_OVSHOOT,46
$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
$GPS1,051407,6356.216,127.559,37,2.0,37,-4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.42
$_SM_ANGLEo,-64.5
$GPS2,051943,6356.250,127.510,10,1.3,15,-4.2
$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,322.5,172964,-13.7,-6.875
$D_GRID,2031
$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,-116.7,0.0,0.0,0,23,0.00,0.00,-7.30,0.000,2,0.000,0.000,214,2292,2028,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.5,-0.0,1,123,9.10,2.15,-78.60,0.000,4,0.250,0.051,2500,908,3483,0,0,0,0,0,0
$GC,179,-0.61,-116.7,9.3,-9.3,28,187,0.20,2.12,0.00,0.000,6,0.172,0.028,2561,2305,3484,0,0,0,0,0,0
$GC,518,-0.61,-116.7,34.0,-6.7,89,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2305,3485,0,0,0,0,0,0
$GC,864,-0.61,-116.7,62.2,-8.8,150,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2305,3485,0,0,0,0,0,0
$GC,1175,-0.61,-116.7,86.8,-7.9,165,1179,0.00,2.08,0.00,0.000,4,0.000,0.041,2561,3702,3485,0,0,0,0,0,0
$GC,1246,-0.61,-116.7,92.8,-8.6,168,1250,0.00,2.05,0.00,0.000,6,0.000,0.023,2562,2286,3485,0,0,0,0,0,0
$GC,1567,-0.61,-116.7,118.2,-8.3,184,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2285,3485,0,0,0,0,0,0
$GC,1878,-0.61,-116.7,141.7,-7.5,199,1881,0.00,2.00,0.00,0.000,4,0.000,0.035,2562,920,3486,0,0,0,0,0,0
$GC,1977,-0.61,-116.7,149.9,-8.1,203,1982,0.00,2.08,0.00,0.000,6,0.000,0.028,2562,2309,3486,0,0,0,0,0,0
$GC,2300,-0.61,-116.7,173.2,-7.3,219,2304,0.00,2.05,0.00,0.000,4,0.000,0.041,2562,3698,3487,0,0,0,0,0,0
$GC,2371,-0.61,-116.7,178.4,-7.3,222,2376,0.00,2.03,0.00,0.000,6,0.000,0.023,2561,2288,3486,0,0,0,0,0,0
$GC,2693,-0.61,-116.7,199.1,-6.5,238,2696,0.00,1.98,0.00,0.000,4,0.000,0.035,2561,929,3486,0,0,0,0,0,0
$GC,2753,-0.61,-116.7,203.2,-7.1,240,2759,0.00,2.03,0.00,0.000,6,0.000,0.028,2561,2299,3486,0,0,0,0,0,0
$GC,3068,-0.61,-116.7,223.8,-6.9,256,3072,0.00,2.05,0.00,0.000,4,0.000,0.041,2561,3698,3487,0,0,0,0,0,0
$GC,3163,-0.65,-116.7,230.9,-7.7,260,3167,0.00,1.98,0.00,0.000,6,0.000,0.023,2561,2289,3487,0,0,0,0,0,0
$GC,3484,-0.65,-116.7,253.3,-7.4,276,3485,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2288,3487,0,0,0,0,0,0
$GC,3794,-0.65,-116.7,274.8,-6.7,291,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2288,3487,0,0,0,0,0,0
$GC,4103,-0.65,-116.7,294.1,-6.1,306,4107,0.00,2.12,0.00,0.000,4,0.000,0.041,2561,3706,3487,0,0,0,0,0,0
$GC,4192,-0.70,-116.7,299.7,-6.1,310,4196,0.00,1.98,0.00,0.000,6,0.000,0.024,2561,2307,3487,0,0,0,0,0,0
$GC,4515,-0.70,-116.7,319.6,-6.1,321,4519,0.00,2.10,0.00,0.000,4,0.000,0.041,2561,3706,3486,0,0,0,0,0,0
$GC,4571,-0.75,-116.7,323.1,-6.6,322,4579,0.12,2.00,0.00,0.000,6,0.135,0.025,2521,2288,3486,0,0,0,0,0,0
$GC,4883,-0.69,-116.7,346.7,-7.6,333,4887,0.00,1.98,0.00,0.000,4,0.000,0.037,2521,929,3486,0,0,0,0,0,0
$GC,4951,-0.62,-116.7,352.1,-8.0,335,4956,0.15,2.00,0.00,0.000,6,0.193,0.030,2559,2303,3485,0,0,0,0,0,0
$GC,5285,-0.62,-116.7,373.2,-6.4,346,5289,0.00,2.08,0.00,0.000,4,0.000,0.042,2559,3705,3485,0,0,0,0,0,0
$GC,5419,-0.66,-116.7,382.2,-7.0,350,5423,0.00,2.00,0.00,0.000,6,0.000,0.025,2559,2297,3484,0,0,0,0,0,0
$GC,5760,-0.70,-116.7,405.4,-7.0,361,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2290,3483,0,0,0,0,0,0
$GC,6067,-0.73,-116.7,426.3,-6.7,371,6070,0.00,2.12,0.00,0.000,4,0.000,0.043,2559,3706,3482,0,0,0,0,0,0
$GC,6156,-0.77,-116.7,432.7,-6.8,373,6163,0.15,2.00,0.00,0.000,6,0.130,0.025,2509,2292,3482,0,0,0,0,0,0
$GC,6468,-0.70,-116.7,458.2,-8.3,384,6470,0.10,0.00,0.00,0.000,6,0.205,0.000,2533,2289,3481,0,0,0,0,0,0
$GC,6774,-0.70,-116.7,480.6,-7.3,394,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2289,3480,0,0,0,0,0,0
$GC,7112,-0.70,-116.7,505.4,-7.4,404,7116,0.00,2.12,0.00,0.000,4,0.000,0.044,2533,3703,3479,0,0,0,0,0,0
$GC,7189,-0.70,-116.7,511.4,-7.6,405,7193,0.00,2.03,0.00,0.000,6,0.000,0.026,2533,2313,3478,0,0,0,0,0,0
$GC,7544,-0.70,-116.7,536.9,-7.2,411,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2311,3477,0,0,0,0,0,0
$GC,7846,-0.70,-116.7,558.9,-7.3,416,7850,0.00,2.08,0.00,0.000,4,0.000,0.044,2533,3695,3476,0,0,0,0,0,0
$GC,7924,-0.70,-116.7,564.9,-7.6,417,7928,0.00,2.05,0.00,0.000,6,0.000,0.027,2533,2295,3476,0,0,0,0,0,0
$GC,8278,-0.70,-116.7,590.3,-7.2,423,8282,0.00,2.12,0.00,0.000,4,0.000,0.044,2533,3705,3475,0,0,0,0,0,0
$GC,8333,-0.70,-116.7,594.7,-7.6,423,8338,0.00,2.05,0.00,0.000,6,0.000,0.027,2533,2303,3475,0,0,0,0,0,0
$GC,8647,-0.70,-116.7,616.7,-7.0,429,8648,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2302,3474,0,0,0,0,0,0
$GC,8951,-0.70,-116.7,637.2,-6.8,434,8955,0.00,2.10,0.00,0.000,4,0.000,0.044,2533,3698,3474,0,0,0,0,0,0
$GC,9029,-0.70,-116.7,642.6,-6.8,435,9033,0.00,2.03,0.00,0.000,6,0.000,0.027,2533,2288,3474,0,0,0,0,0,0
$GC,9388,-0.70,-116.7,667.0,-6.9,441,9389,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2287,3472,0,0,0,0,0,0
$GC,9691,-0.70,-116.7,688.9,-7.3,446,9695,0.00,2.12,0.00,0.000,4,0.000,0.044,2533,3700,3472,0,0,0,0,0,0
$GC,9779,-0.70,-116.7,696.0,-8.1,447,9783,0.00,2.05,0.00,0.000,6,0.000,0.027,2533,2302,3472,0,0,0,0,0,0
$GC,10127,-0.70,-116.7,723.3,-8.0,453,10129,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2300,3471,0,0,0,0,0,0
$GC,10431,-0.70,-116.7,747.6,-8.0,458,10434,0.00,2.12,0.00,0.000,4,0.000,0.046,2533,3695,3470,0,0,0,0,0,0
$GC,10536,-0.70,-116.7,756.2,-8.0,459,10540,0.00,2.00,0.00,0.000,6,0.000,0.027,2533,2300,3470,0,0,0,0,0,0
$GC,10862,-0.70,-116.7,781.7,-7.8,465,10863,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2299,3470,0,0,0,0,0,0
$GC,11165,-0.70,-116.7,803.6,-7.2,470,11169,0.00,2.10,0.00,0.000,4,0.000,0.044,2533,3694,3469,0,0,0,0,0,0
$GC,11259,-0.70,-116.7,810.4,-8.0,471,11263,0.00,2.05,0.00,0.000,6,0.000,0.028,2533,2294,3469,0,0,0,0,0,0
$GC,11596,-0.70,-116.7,832.2,-6.5,477,11597,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2293,3469,0,0,0,0,0,0
$GC,11899,-0.70,-116.7,851.3,-6.3,482,11903,0.00,2.12,0.00,0.000,4,0.000,0.044,2533,3702,3468,0,0,0,0,0,0
$GC,11994,-0.70,-116.7,857.4,-6.2,483,11998,0.00,2.05,0.00,0.000,6,0.000,0.028,2533,2304,3468,0,0,0,0,0,0
$GC,12331,-0.70,-116.7,879.1,-6.5,489,12332,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2303,3468,0,0,0,0,0,0
$GC,12635,-0.70,-116.7,898.9,-6.5,494,12639,0.00,2.10,0.00,0.000,4,0.000,0.045,2533,3695,3468,0,0,0,0,0,0
$GC,12741,-0.70,-116.7,906.0,-6.6,495,12745,0.00,2.03,0.00,0.000,6,0.000,0.028,2533,2292,3467,0,0,0,0,0,0
$GC,13067,-0.70,-116.7,927.1,-6.4,501,13071,0.00,2.12,0.00,0.000,4,0.000,0.044,2533,3697,3467,0,0,0,0,0,0
$GC,13128,-0.70,-116.7,931.1,-6.0,501,13133,0.00,2.03,0.00,0.000,6,0.000,0.028,2533,2289,3467,0,0,0,0,0,0
$GC,13438,-0.70,-116.7,950.3,-6.2,507,13441,0.00,2.12,0.00,0.000,4,0.000,0.045,2533,3697,3467,0,0,0,0,0,0
$GC,13493,-0.70,-116.7,953.8,-6.1,507,13499,0.00,2.05,0.00,0.000,6,0.000,0.028,2533,2304,3467,0,0,0,0,0,0
$GC,13802,-0.70,-116.7,972.0,-5.9,513,13803,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2303,3466,0,0,0,0,0,0
$GC,14105,-0.70,-116.7,989.8,-5.9,518,14109,0.00,2.05,0.00,0.000,3,0.000,0.045,2533,3666,3466,0,0,0,0,0,0
$STATE,14110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14110,begin apogee
$GC,14116,-0.24,0.0,990.1,5.9,518,14217,0.47,0.00,97.22,1.560,6,0.166,0.000,2679,2631,3006,0,0,0,0,0,0
$STATE,14218,end apogee,CONTROL_FINISHED_OK
$STATE,14218,begin climb
$GC,14220,0.80,116.7,992.1,0.0,519,14329,1.05,0.00,105.45,1.460,6,0.120,0.000,3009,2631,2530,0,0,0,0,0,0
$GC,14585,0.64,116.7,968.9,8.4,525,14590,0.15,2.25,0.00,0.000,4,0.173,0.046,2966,4035,2520,0,0,0,0,0,0
$GC,14606,0.50,116.7,966.8,7.9,525,14611,0.17,2.08,0.00,0.000,6,0.184,0.028,2932,2665,2520,0,0,0,0,0,0
$GC,14950,0.51,132.3,945.2,6.3,531,14965,0.00,0.00,13.20,1.416,6,0.000,0.000,2932,2665,2466,0,0,0,0,0,0
$GC,15252,0.53,145.9,926.0,6.3,536,15267,0.00,0.00,13.45,1.406,6,0.000,0.000,2932,2665,2411,0,0,0,0,0,0
$GC,15555,0.56,169.1,907.9,5.9,541,15583,0.00,2.20,21.73,1.425,4,0.000,0.036,2940,1261,2314,0,0,0,0,0,0
$GC,15590,0.62,219.9,906.0,4.8,541,15644,0.00,2.15,47.10,1.403,6,0.000,0.034,2940,2636,2108,0,0,0,0,0,0
$GC,15982,0.67,221.1,879.5,6.8,548,15984,0.12,0.00,0.00,0.000,6,0.118,0.000,2983,2636,2097,0,0,0,0,0,0
$GC,16285,0.64,221.1,854.0,8.5,553,16289,0.00,2.17,0.00,0.000,4,0.000,0.046,2981,4053,2095,0,0,0,0,0,0
$GC,16301,0.59,221.1,852.5,8.4,553,16306,0.12,2.10,0.00,0.000,6,0.192,0.028,2960,2635,2095,0,0,0,0,0,0
$GC,16649,0.59,221.1,827.0,7.3,559,16650,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2635,2093,0,0,0,0,0,0
$GC,16952,0.59,221.1,804.4,7.5,564,16953,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2635,2093,0,0,0,0,0,0
$GC,17255,0.59,221.1,781.1,7.8,569,17259,0.00,2.17,0.00,0.000,4,0.000,0.047,2953,4051,2092,0,0,0,0,0,0
$GC,17286,0.59,221.1,778.2,9.8,569,17291,0.00,2.10,0.00,0.000,6,0.000,0.029,2961,2649,2092,0,0,0,0,0,0
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$STATE,26425,end climb,SURFACE_DEPTH_REACHED
$STATE,26426,begin surface coast
$FINISH,2.8,1.027178
$STATE,26463,end surface coast,CONTROL_FINISHED_OK
$STATE,26463,begin surface
$SM_CCo,26480,10.30,0.805,0,0,1884,275.23
$SM_GC,4.18,0.00,0.00,10.30,0.000,0.000,0.805,216,2254,1884,-7.97,-1.27,275.23
$IRIDIUM_FIX,6332.30,137.78,290199,212146
$TT8_MAMPS,0.027612
$HUMID,1078391603
$INTERNAL_PRESSURE,8.26204
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,22.8,21.450
$10V_AH,10.1,13.484
$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,21.650,166.500,337.125,10.300,0.000,26.020,36.071,152.628,0.000,0.000,15.680,2043.675,21427.123,494.951,2378.317,476.653,0.000,1695.765,0.000,2351.191,0.000,0.534,0.000
$DEVICE_MAMPS,250.042,51.389,1560.078,805.350,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,653.655,967.136,534.871,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235192
$DATA_FILE_SIZE,53732,944
$CAP_FILE_SIZE,193226,0
$CFSIZE,260165632,245161984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121,299.5,1
$GPS,051109,124254,6359.555,119.268,39,1.4,40,-4.3