version: 66.06
glider: 140
mission: 8
dive: 145
start: 11 12 109 4 58 36
data:
$ID,140
$MISSION,8
$DIVE,145
$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,-46937.375
$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,69
$R_STBD_OVSHOOT,44
$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
$GPS1,044954,6500.056,-51.080,41,0.9,42,-5.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.71
$_SM_ANGLEo,-66.3
$GPS2,045813,6500.101,-50.980,11,1.0,16,-5.7
$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,332.9,12993,-13.7,-6.875
$D_GRID,2895
$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,-8.32,0.000,2,0.000,0.000,212,2281,2049,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.6,-0.0,1,125,9.15,2.15,-82.57,0.000,4,0.248,0.051,2505,912,3481,0,0,0,0,0,0
$GC,376,-0.65,-116.7,27.4,-11.3,63,382,0.17,2.10,0.00,0.000,6,0.199,0.030,2551,2315,3483,0,0,0,0,0,0
$GC,712,-0.62,-116.7,55.9,-8.8,124,720,0.00,2.15,0.00,0.000,4,0.000,0.037,2551,916,3484,0,0,0,0,0,0
$GC,835,-0.58,-116.7,67.3,-8.3,135,839,0.00,2.10,0.00,0.000,6,0.000,0.030,2551,2299,3484,0,0,0,0,0,0
$GC,1158,-0.58,-116.7,91.8,-7.4,151,1161,0.00,2.10,0.00,0.000,4,0.000,0.043,2551,3706,3484,0,0,0,0,0,0
$GC,1251,-0.58,-116.7,99.6,-8.0,155,1255,0.00,2.08,0.00,0.000,6,0.000,0.025,2551,2295,3485,0,0,0,0,0,0
$GC,1573,-0.58,-116.7,123.7,-7.5,171,1577,0.00,2.05,0.00,0.000,4,0.000,0.037,2551,904,3485,0,0,0,0,0,0
$GC,1650,-0.58,-116.7,130.1,-7.6,174,1658,0.00,2.10,0.00,0.000,6,0.000,0.030,2551,2306,3485,0,0,0,0,0,0
$GC,1965,-0.58,-116.7,151.9,-7.5,190,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2307,3485,0,0,0,0,0,0
$GC,2277,-0.58,-116.7,174.3,-6.8,205,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2306,3486,0,0,0,0,0,0
$GC,2584,-0.58,-116.7,198.0,-7.6,220,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2307,3486,0,0,0,0,0,0
$GC,2894,-0.58,-116.7,217.1,-5.9,235,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2307,3485,0,0,0,0,0,0
$GC,3203,-0.58,-116.7,237.4,-6.9,250,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2307,3485,0,0,0,0,0,0
$GC,3513,-0.58,-116.7,259.5,-7.3,265,3517,0.00,2.08,0.00,0.000,4,0.000,0.038,2552,913,3484,0,0,0,0,0,0
$GC,3567,-0.58,-116.7,264.0,-8.3,267,3573,0.00,2.08,0.00,0.000,6,0.000,0.030,2551,2301,3484,0,0,0,0,0,0
$GC,3883,-0.58,-116.7,286.5,-6.9,283,3887,0.00,2.08,0.00,0.000,4,0.000,0.044,2551,3703,3483,0,0,0,0,0,0
$GC,3955,-0.58,-116.7,291.7,-6.8,286,3959,0.00,2.05,0.00,0.000,6,0.000,0.025,2551,2302,3484,0,0,0,0,0,0
$GC,4274,-0.58,-116.7,313.9,-7.1,299,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2301,3483,0,0,0,0,0,0
$GC,4581,-0.58,-116.7,336.1,-7.5,309,4585,0.00,2.12,0.00,0.000,4,0.000,0.044,2551,3706,3483,0,0,0,0,0,0
$GC,4658,-0.61,-116.7,342.4,-8.1,311,4662,0.00,2.05,0.00,0.000,6,0.000,0.026,2551,2305,3482,0,0,0,0,0,0
$GC,4987,-0.61,-116.7,368.6,-8.0,322,4988,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2305,3482,0,0,0,0,0,0
$GC,5294,-0.61,-116.7,391.3,-7.5,332,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2305,3481,0,0,0,0,0,0
$GC,5600,-0.61,-116.7,413.9,-7.3,342,5604,0.00,2.12,0.00,0.000,4,0.000,0.044,2551,3702,3480,0,0,0,0,0,0
$GC,5672,-0.64,-116.7,419.1,-7.1,344,5676,0.00,2.05,0.00,0.000,6,0.000,0.026,2552,2304,3480,0,0,0,0,0,0
$GC,6007,-0.64,-116.7,442.0,-6.6,355,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2304,3480,0,0,0,0,0,0
$GC,6313,-0.64,-116.7,461.7,-6.4,365,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2304,3479,0,0,0,0,0,0
$GC,6619,-0.64,-116.7,481.2,-6.6,375,6623,0.00,2.10,0.00,0.000,4,0.000,0.045,2551,3700,3478,0,0,0,0,0,0
$GC,6691,-0.69,-116.7,486.0,-6.4,377,6695,0.00,2.03,0.00,0.000,6,0.000,0.027,2551,2288,3478,0,0,0,0,0,0
$GC,7049,-0.69,-116.7,507.3,-5.9,387,7050,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2288,3477,0,0,0,0,0,0
$GC,7352,-0.69,-116.7,526.7,-6.4,392,7355,0.00,2.15,0.00,0.000,4,0.000,0.045,2551,3706,3476,0,0,0,0,0,0
$GC,7418,-0.73,-116.7,531.4,-7.3,393,7422,0.00,2.03,0.00,0.000,6,0.000,0.028,2551,2304,3477,0,0,0,0,0,0
$GC,7783,-0.73,-116.7,556.1,-6.8,399,7785,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2304,3476,0,0,0,0,0,0
$GC,8086,-0.73,-116.7,576.1,-6.6,404,8090,0.00,2.12,0.00,0.000,4,0.000,0.045,2551,3707,3476,0,0,0,0,0,0
$GC,8150,-0.77,-116.7,580.2,-6.4,405,8154,0.12,2.05,0.00,0.000,6,0.140,0.028,2513,2285,3475,0,0,0,0,0,0
$GC,8514,-0.72,-116.7,608.8,-7.9,411,8515,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2284,3475,0,0,0,0,0,0
$GC,8818,-0.67,-116.7,633.0,-8.1,416,8819,0.12,0.00,0.00,0.000,6,0.201,0.000,2543,2281,3474,0,0,0,0,0,0
$GC,9121,-0.67,-116.7,654.0,-6.8,421,9125,0.00,2.15,0.00,0.000,4,0.000,0.046,2543,3702,3474,0,0,0,0,0,0
$GC,9182,-0.67,-116.7,658.3,-7.0,422,9186,0.00,2.03,0.00,0.000,6,0.000,0.028,2543,2302,3474,0,0,0,0,0,0
$GC,9552,-0.67,-116.7,683.2,-6.6,428,9553,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2302,3473,0,0,0,0,0,0
$GC,9855,-0.67,-116.7,701.6,-5.9,433,9859,0.00,2.12,0.00,0.000,4,0.000,0.046,2543,3708,3472,0,0,0,0,0,0
$GC,9945,-0.70,-116.7,707.2,-6.3,434,9949,0.00,2.05,0.00,0.000,6,0.000,0.028,2543,2289,3472,0,0,0,0,0,0
$GC,10293,-0.70,-116.7,729.1,-6.3,440,10294,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2289,3472,0,0,0,0,0,0
$GC,10596,-0.70,-116.7,748.5,-6.5,445,10600,0.00,2.15,0.00,0.000,4,0.000,0.046,2544,3698,3471,0,0,0,0,0,0
$GC,10697,-0.73,-116.7,755.3,-6.7,446,10701,0.00,2.03,0.00,0.000,6,0.000,0.028,2544,2297,3471,0,0,0,0,0,0
$GC,11033,-0.73,-116.7,778.4,-6.9,452,11034,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2297,3471,0,0,0,0,0,0
$GC,11337,-0.73,-116.7,798.7,-6.6,457,11341,0.00,2.15,0.00,0.000,4,0.000,0.046,2544,3708,3471,0,0,0,0,0,0
$GC,11437,-0.77,-116.7,805.7,-7.1,458,11441,0.00,2.05,0.00,0.000,6,0.000,0.028,2543,2289,3471,0,0,0,0,0,0
$GC,11773,-0.77,-116.7,829.2,-7.1,464,11775,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2289,3470,0,0,0,0,0,0
$GC,12077,-0.77,-116.7,849.9,-6.8,469,12081,0.00,2.15,0.00,0.000,4,0.000,0.046,2543,3709,3470,0,0,0,0,0,0
$GC,12178,-0.81,-116.7,856.8,-6.6,470,12183,0.12,2.05,0.00,0.000,6,0.142,0.028,2503,2289,3470,0,0,0,0,0,0
$GC,12509,-0.74,-116.7,883.0,-8.0,476,12513,0.00,2.05,0.00,0.000,4,0.000,0.042,2503,910,3469,0,0,0,0,0,0
$GC,12577,-0.66,-116.7,888.7,-7.9,477,12582,0.17,2.05,0.00,0.000,6,0.193,0.033,2549,2302,3469,0,0,0,0,0,0
$GC,12949,-0.69,-116.7,912.5,-6.4,483,12953,0.00,2.08,0.00,0.000,4,0.000,0.046,2549,3698,3469,0,0,0,0,0,0
$GC,13061,-0.75,-116.7,919.7,-6.0,484,13065,0.00,2.03,0.00,0.000,6,0.000,0.028,2549,2300,3469,0,0,0,0,0,0
$GC,13382,-0.79,-116.7,938.7,-5.9,490,13387,0.12,2.15,0.00,0.000,4,0.140,0.046,2509,3702,3469,0,0,0,0,0,0
$GC,13448,-0.75,-116.7,943.8,-7.7,491,13452,0.00,2.08,0.00,0.000,6,0.000,0.028,2509,2297,3469,0,0,0,0,0,0
$GC,13814,-0.70,-116.7,970.5,-7.2,497,13815,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2297,3469,0,0,0,0,0,0
$STATE,14114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14115,begin apogee
$GC,14120,-0.24,0.0,993.0,7.5,502,14222,0.60,0.00,98.75,1.568,6,0.175,0.000,2686,2656,3006,0,0,0,0,0,0
$STATE,14222,end apogee,CONTROL_FINISHED_OK
$STATE,14222,begin climb
$GC,14224,0.80,116.7,995.0,0.0,503,14339,1.08,2.38,105.72,1.461,4,0.117,0.048,3018,4035,2529,0,0,0,0,0,0
$GC,14383,0.54,116.7,989.7,8.5,506,14389,0.35,2.20,0.00,0.000,6,0.184,0.027,2943,2650,2524,0,0,0,0,0,0
$GC,14721,0.56,135.8,968.7,6.1,512,14744,0.00,2.33,16.70,1.417,4,0.000,0.049,2940,4037,2451,0,0,0,0,0,0
$GC,14767,0.50,144.0,965.6,6.5,512,14784,0.00,2.12,9.35,1.290,6,0.000,0.028,2949,2649,2417,0,0,0,0,0,0
$GC,15085,0.50,144.0,943.4,6.9,518,15089,0.00,2.20,0.00,0.000,4,0.000,0.048,2949,4042,2412,0,0,0,0,0,0
$GC,15118,0.41,144.0,940.9,7.3,518,15123,0.20,2.12,0.00,0.000,6,0.189,0.028,2905,2647,2412,0,0,0,0,0,0
$GC,15449,0.53,181.4,923.0,5.4,524,15489,0.00,2.33,33.05,1.449,4,0.000,0.049,2900,4042,2265,0,0,0,0,0,0
$GC,15500,0.67,234.3,920.1,4.8,524,15557,0.22,2.15,49.58,1.419,6,0.097,0.028,2982,2647,2050,0,0,0,0,0,0
$GC,15877,0.67,234.3,886.8,9.0,531,15881,0.00,2.22,0.00,0.000,4,0.000,0.048,2982,4044,2038,0,0,0,0,0,0
$GC,15920,0.58,234.3,882.3,10.7,531,15925,0.15,2.10,0.00,0.000,6,0.185,0.028,2956,2647,2037,0,0,0,0,0,0
$GC,16235,0.58,234.3,858.5,7.5,537,16236,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2646,2035,0,0,0,0,0,0
$GC,16538,0.61,234.3,834.4,8.0,542,16539,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2646,2034,0,0,0,0,0,0
$GC,16840,0.61,234.3,810.1,8.0,547,16844,0.00,2.17,0.00,0.000,4,0.000,0.049,2954,4049,2033,0,0,0,0,0,0
$GC,16849,0.61,234.3,809.2,8.1,547,16854,0.00,2.10,0.00,0.000,6,0.000,0.029,2962,2656,2033,0,0,0,0,0,0
$GC,17210,0.61,234.3,779.1,8.3,553,17214,0.00,2.15,0.00,0.000,4,0.000,0.049,2962,4041,2033,0,0,0,0,0,0
$GC,17220,0.61,234.3,778.0,8.4,553,17224,0.00,2.10,0.00,0.000,6,0.000,0.028,2969,2648,2033,0,0,0,0,0,0
$GC,17574,0.61,234.3,748.9,8.1,559,17578,0.00,2.15,0.00,0.000,4,0.000,0.049,2967,4040,2032,0,0,0,0,0,0
$GC,17583,0.61,234.3,748.0,8.1,559,17588,0.00,2.10,0.00,0.000,6,0.000,0.029,2974,2649,2032,0,0,0,0,0,0
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$STATE,26466,end climb,SURFACE_DEPTH_REACHED
$STATE,26466,begin surface coast
$FINISH,2.9,1.002004
$STATE,26527,end surface coast,CONTROL_FINISHED_OK
$STATE,26527,begin surface
$SM_CCo,26544,30.10,0.816,0,0,1884,275.23
$SM_GC,3.97,0.00,0.00,30.10,0.000,0.000,0.816,221,2268,1884,-7.95,-0.90,275.23
$IRIDIUM_FIX,6431.40,-45.77,060299,050534
$TT8_MAMPS,0.027612
$HUMID,1078396764
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,19.60
$XPDR_PINGS,1
$24V_AH,22.6,24.769
$10V_AH,10.0,15.768
$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,21.650,186.650,313.150,30.100,0.000,46.065,111.589,157.452,0.250,0.000,17.132,2081.631,21443.074,492.505,2460.847,588.357,0.000,1734.969,0.000,2429.350,0.000,0.535,0.000
$DEVICE_MAMPS,247.741,51.389,1567.748,816.088,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,662.893,980.016,552.625,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241472
$DATA_FILE_SIZE,53925,956
$CAP_FILE_SIZE,198411,0
$CFSIZE,260165632,243363840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,  8.6,1
$GPS,121109,122237,6503.744,-55.131,29,0.8,30,-5.8