version: 66.06
glider: 140
mission: 8
dive: 127
start: 11 6 109 11 59 7
data:
$ID,140
$MISSION,8
$DIVE,127
$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,-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,-46635.82
$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,70
$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
$GPS1,115306,6411.181,57.628,28,1.0,29,-4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.50
$_SM_ANGLEo,-61.4
$GPS2,115843,6411.249,57.550,11,1.0,16,-4.5
$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,322.4,136687,-13.7,-6.875
$D_GRID,2326
$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,-8.00,0.000,2,0.000,0.000,216,2285,2044,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.5,-0.0,1,124,9.05,2.08,-81.12,0.000,4,0.245,0.049,2506,917,3482,0,0,0,0,0,0
$GC,375,-0.66,-116.7,25.4,-9.7,63,381,0.17,2.08,0.00,0.000,6,0.196,0.028,2552,2316,3483,0,0,0,0,0,0
$GC,709,-0.66,-116.7,53.1,-8.0,124,717,0.00,2.15,0.00,0.000,4,0.000,0.035,2553,909,3484,0,0,0,0,0,0
$GC,872,-0.62,-116.7,66.9,-8.9,143,876,0.00,2.05,0.00,0.000,6,0.000,0.028,2553,2306,3485,0,0,0,0,0,0
$GC,1194,-0.62,-116.7,90.4,-7.1,159,1198,0.00,2.08,0.00,0.000,4,0.000,0.041,2553,3700,3485,0,0,0,0,0,0
$GC,1243,-0.62,-116.7,94.1,-7.2,161,1247,0.00,2.05,0.00,0.000,6,0.000,0.024,2553,2289,3485,0,0,0,0,0,0
$GC,1565,-0.62,-116.7,116.3,-6.9,177,1569,0.00,2.00,0.00,0.000,4,0.000,0.035,2553,926,3485,0,0,0,0,0,0
$GC,1637,-0.62,-116.7,122.0,-7.6,180,1641,0.00,2.05,0.00,0.000,6,0.000,0.028,2553,2300,3485,0,0,0,0,0,0
$GC,1964,-0.62,-116.7,143.3,-6.4,196,1968,0.00,2.10,0.00,0.000,4,0.000,0.041,2552,3706,3486,0,0,0,0,0,0
$GC,2025,-0.62,-116.7,147.4,-6.8,198,2032,0.00,2.03,0.00,0.000,6,0.000,0.024,2553,2297,3486,0,0,0,0,0,0
$GC,2340,-0.62,-116.7,169.6,-7.4,214,2344,0.00,2.00,0.00,0.000,4,0.000,0.035,2553,930,3486,0,0,0,0,0,0
$GC,2400,-0.62,-116.7,174.5,-7.7,216,2408,0.00,2.05,0.00,0.000,6,0.000,0.028,2553,2308,3487,0,0,0,0,0,0
$GC,2715,-0.62,-116.7,198.7,-7.7,232,2719,0.00,2.05,0.00,0.000,4,0.000,0.035,2553,919,3487,0,0,0,0,0,0
$GC,2799,-0.62,-116.7,205.3,-8.0,236,2803,0.00,2.03,0.00,0.000,6,0.000,0.028,2553,2311,3487,0,0,0,0,0,0
$GC,3124,-0.62,-116.7,229.3,-7.1,252,3128,0.00,2.05,0.00,0.000,4,0.000,0.041,2553,3705,3487,0,0,0,0,0,0
$GC,3232,-0.62,-116.7,236.3,-6.0,257,3236,0.00,1.98,0.00,0.000,6,0.000,0.024,2553,2302,3486,0,0,0,0,0,0
$GC,3564,-0.62,-116.7,256.6,-6.0,273,3568,0.00,2.00,0.00,0.000,4,0.000,0.035,2553,925,3486,0,0,0,0,0,0
$GC,3619,-0.62,-116.7,260.5,-6.9,275,3623,0.00,2.05,0.00,0.000,6,0.000,0.028,2553,2304,3486,0,0,0,0,0,0
$GC,3942,-0.62,-116.7,281.3,-6.5,291,3946,0.00,2.05,0.00,0.000,4,0.000,0.035,2553,918,3486,0,0,0,0,0,0
$GC,3996,-0.62,-116.7,285.5,-7.4,293,4002,0.00,2.05,0.00,0.000,6,0.000,0.029,2553,2300,3486,0,0,0,0,0,0
$GC,4311,-0.62,-116.7,309.4,-7.7,307,4315,0.00,2.05,0.00,0.000,4,0.000,0.041,2553,3697,3485,0,0,0,0,0,0
$GC,4360,-0.62,-116.7,313.4,-8.1,308,4364,0.00,2.00,0.00,0.000,6,0.000,0.024,2553,2306,3485,0,0,0,0,0,0
$GC,4678,-0.62,-116.7,334.8,-6.5,319,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2304,3485,0,0,0,0,0,0
$GC,4985,-0.62,-116.7,357.1,-7.7,329,4989,0.00,2.10,0.00,0.000,4,0.000,0.042,2553,3704,3483,0,0,0,0,0,0
$GC,5034,-0.65,-116.7,361.1,-7.5,330,5038,0.00,2.03,0.00,0.000,6,0.000,0.025,2553,2302,3483,0,0,0,0,0,0
$GC,5353,-0.65,-116.7,383.5,-6.8,341,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2301,3482,0,0,0,0,0,0
$GC,5659,-0.65,-116.7,404.5,-6.7,351,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2301,3482,0,0,0,0,0,0
$GC,5965,-0.65,-116.7,425.1,-6.6,361,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2301,3481,0,0,0,0,0,0
$GC,6271,-0.65,-116.7,444.8,-6.2,371,6275,0.00,2.10,0.00,0.000,4,0.000,0.043,2553,3697,3480,0,0,0,0,0,0
$GC,6333,-0.69,-116.7,448.9,-7.1,373,6337,0.00,2.00,0.00,0.000,6,0.000,0.026,2553,2298,3480,0,0,0,0,0,0
$GC,6673,-0.69,-116.7,471.9,-6.8,384,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2297,3479,0,0,0,0,0,0
$GC,6979,-0.69,-116.7,490.7,-5.8,394,6980,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2297,3479,0,0,0,0,0,0
$GC,7284,-0.69,-116.7,509.7,-6.4,402,7288,0.00,2.12,0.00,0.000,4,0.000,0.044,2553,3702,3478,0,0,0,0,0,0
$GC,7373,-0.72,-116.7,515.7,-6.6,403,7377,0.00,2.00,0.00,0.000,6,0.000,0.026,2553,2303,3477,0,0,0,0,0,0
$GC,7716,-0.72,-116.7,539.3,-6.9,409,7717,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2296,3476,0,0,0,0,0,0
$GC,8018,-0.72,-116.7,561.1,-7.2,414,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2296,3475,0,0,0,0,0,0
$GC,8321,-0.72,-116.7,582.4,-7.1,419,8325,0.00,2.12,0.00,0.000,4,0.000,0.044,2553,3704,3475,0,0,0,0,0,0
$GC,8387,-0.77,-116.7,587.4,-7.4,420,8392,0.08,2.05,0.00,0.000,6,0.116,0.027,2523,2296,3475,0,0,0,0,0,0
$GC,8753,-0.73,-116.7,616.9,-8.2,426,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2295,3474,0,0,0,0,0,0
$GC,9056,-0.70,-116.7,641.1,-8.0,431,9059,0.00,2.12,0.00,0.000,4,0.000,0.044,2523,3702,3473,0,0,0,0,0,0
$GC,9116,-0.70,-116.7,646.3,-8.4,431,9122,0.00,2.05,0.00,0.000,6,0.000,0.026,2522,2301,3474,0,0,0,0,0,0
$GC,9426,-0.67,-116.7,670.7,-7.9,437,9428,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2300,3472,0,0,0,0,0,0
$GC,9729,-0.63,-116.7,695.0,-8.0,442,9733,0.12,2.12,0.00,0.000,4,0.199,0.045,2554,3695,3472,0,0,0,0,0,0
$GC,9795,-0.68,-116.7,699.7,-6.9,443,9799,0.00,2.05,0.00,0.000,6,0.000,0.027,2554,2294,3472,0,0,0,0,0,0
$GC,10161,-0.72,-116.7,723.9,-6.6,449,10165,0.00,2.12,0.00,0.000,4,0.000,0.044,2554,3699,3471,0,0,0,0,0,0
$GC,10233,-0.78,-116.7,728.8,-6.9,450,10238,0.05,2.05,0.00,0.000,6,0.095,0.027,2517,2300,3471,0,0,0,0,0,0
$GC,10599,-0.74,-116.7,755.8,-7.4,456,10603,0.00,2.12,0.00,0.000,4,0.000,0.044,2516,3705,3470,0,0,0,0,0,0
$GC,10648,-0.70,-116.7,759.6,-7.9,456,10652,0.00,2.05,0.00,0.000,6,0.000,0.028,2516,2305,3470,0,0,0,0,0,0
$GC,10963,-0.67,-116.7,783.3,-7.6,462,10968,0.12,2.12,0.00,0.000,4,0.195,0.045,2548,3697,3470,0,0,0,0,0,0
$GC,11007,-0.71,-116.7,786.4,-6.6,462,11011,0.00,2.03,0.00,0.000,6,0.000,0.027,2548,2297,3470,0,0,0,0,0,0
$GC,11327,-0.71,-116.7,806.7,-6.2,468,11331,0.00,2.12,0.00,0.000,4,0.000,0.045,2548,3698,3470,0,0,0,0,0,0
$GC,11429,-0.75,-116.7,813.0,-6.2,469,11432,0.00,2.03,0.00,0.000,6,0.000,0.027,2548,2297,3470,0,0,0,0,0,0
$GC,11760,-0.75,-116.7,832.1,-5.8,475,11764,0.00,2.12,0.00,0.000,4,0.000,0.045,2547,3697,3469,0,0,0,0,0,0
$GC,11889,-0.79,-116.7,839.8,-5.8,476,11896,0.12,2.03,0.00,0.000,6,0.144,0.027,2508,2288,3469,0,0,0,0,0,0
$GC,12198,-0.74,-116.7,861.9,-7.2,482,12202,0.00,2.12,0.00,0.000,4,0.000,0.045,2508,3695,3469,0,0,0,0,0,0
$GC,12292,-0.70,-116.7,869.2,-7.7,483,12297,0.08,2.05,0.00,0.000,6,0.176,0.028,2543,2297,3469,0,0,0,0,0,0
$GC,12636,-0.70,-116.7,892.3,-6.8,489,12640,0.00,2.12,0.00,0.000,4,0.000,0.045,2543,3702,3468,0,0,0,0,0,0
$GC,12771,-0.73,-116.7,901.6,-6.8,491,12775,0.00,2.03,0.00,0.000,6,0.000,0.027,2543,2301,3468,0,0,0,0,0,0
$GC,13136,-0.73,-116.7,926.1,-6.7,497,13140,0.00,2.12,0.00,0.000,4,0.000,0.045,2543,3697,3468,0,0,0,0,0,0
$GC,13299,-0.77,-116.7,937.6,-6.3,499,13302,0.00,2.03,0.00,0.000,6,0.000,0.027,2543,2288,3468,0,0,0,0,0,0
$GC,13636,-0.77,-116.7,960.8,-6.9,505,13640,0.00,2.12,0.00,0.000,4,0.000,0.045,2544,3695,3468,0,0,0,0,0,0
$GC,13781,-0.81,-116.7,971.1,-6.9,507,13786,0.12,2.03,0.00,0.000,6,0.145,0.028,2503,2288,3467,0,0,0,0,0,0
$STATE,14066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14066,begin apogee
$GC,14072,-0.24,0.0,994.4,8.2,512,14173,0.60,0.00,98.00,1.562,6,0.171,0.000,2682,2648,3006,0,0,0,0,0,0
$STATE,14174,end apogee,CONTROL_FINISHED_OK
$STATE,14174,begin climb
$GC,14176,0.80,116.7,996.8,0.0,513,14292,1.05,2.45,105.32,1.464,4,0.120,0.046,3006,4036,2528,0,0,0,0,0,0
$GC,14347,0.57,116.7,990.7,9.2,515,14352,0.22,2.22,0.00,0.000,6,0.175,0.027,2945,2656,2524,0,0,0,0,0,0
$GC,14668,0.59,134.6,970.8,6.2,521,14685,0.00,0.00,15.55,1.414,6,0.000,0.000,2945,2656,2457,0,0,0,0,0,0
$GC,14971,0.60,145.2,951.4,6.5,526,14983,0.00,0.00,10.62,1.382,6,0.000,0.000,2945,2656,2414,0,0,0,0,0,0
$GC,15273,0.60,147.2,930.8,6.8,531,15275,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2656,2411,0,0,0,0,0,0
$GC,15577,0.62,156.6,911.0,6.5,536,15590,0.00,0.00,11.30,1.409,6,0.000,0.000,2945,2656,2367,0,0,0,0,0,0
$GC,15880,0.62,164.2,891.3,6.6,541,15890,0.00,0.00,8.23,1.344,6,0.000,0.000,2945,2656,2336,0,0,0,0,0,0
$GC,16183,0.63,167.9,871.0,6.7,546,16190,0.00,0.00,4.85,1.130,6,0.000,0.000,2945,2656,2321,0,0,0,0,0,0
$GC,16486,0.64,178.6,851.3,6.4,551,16502,0.00,2.15,11.25,1.380,4,0.000,0.037,2953,1255,2277,0,0,0,0,0,0
$GC,16507,0.66,193.5,849.9,6.3,551,16527,0.00,2.15,14.82,1.311,6,0.000,0.035,2953,2654,2217,0,0,0,0,0,0
$GC,16848,0.66,193.5,824.3,7.6,557,16850,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2654,2211,0,0,0,0,0,0
$GC,17151,0.66,193.5,800.4,7.9,562,17152,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2654,2210,0,0,0,0,0,0
$GC,17454,0.66,193.5,777.4,7.5,567,17455,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2654,2209,0,0,0,0,0,0
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$STATE,27589,end climb,SURFACE_DEPTH_REACHED
$STATE,27589,begin surface coast
$FINISH,2.8,1.003553
$STATE,27714,end surface coast,CONTROL_FINISHED_OK
$STATE,27714,begin surface
$SM_CCo,27791,0.00,0.000,0,0,1773,302.21
$SM_GC,3.51,8.10,0.00,0.00,0.099,0.000,0.000,214,2280,1773,-7.95,-0.57,302.21
$IRIDIUM_FIX,6342.00,54.17,310199,040428
$TT8_MAMPS,0.026845
$HUMID,1078351603
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,19.90
$XPDR_PINGS,4
$24V_AH,22.7,22.048
$10V_AH,10.1,13.914
$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,20.500,159.450,374.825,0.000,0.000,22.747,32.621,159.248,1.000,0.000,16.287,2128.967,22496.309,515.319,2508.409,471.126,0.000,1761.161,0.000,2472.581,0.000,0.534,0.000
$DEVICE_MAMPS,245.440,49.088,1562.379,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,698.737,1031.933,592.413,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241520
$DATA_FILE_SIZE,57013,1010
$CAP_FILE_SIZE,194362,0
$CFSIZE,260165632,244830208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,302.3,1
$GPS,061109,194331,6414.107,50.775,38,1.6,39,-4.6