version: 66.06
glider: 140
mission: 8
dive: 221
start: 12 5 109 18 18 18
data:
$ID,140
$MISSION,8
$DIVE,221
$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,-48313.562
$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,100
$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
$GPS1,181136,6340.423,207.084,37,0.8,38,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.43
$_SM_ANGLEo,-63.9
$GPS2,181756,6340.423,207.057,9,1.1,9,-3.8
$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,321.2,215391,-13.7,-6.875
$D_GRID,1426
$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,-8.15,0.000,2,0.000,0.000,213,2254,2053,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.4,-0.0,1,121,9.25,2.25,-77.70,0.000,4,0.243,0.051,2506,3706,3481,0,0,0,0,0,0
$GC,371,-0.71,-116.7,23.3,-8.9,62,377,0.00,2.05,0.00,0.000,6,0.000,0.024,2507,2324,3483,0,0,0,0,0,0
$GC,710,-0.62,-116.7,52.9,-7.9,123,716,0.20,2.12,0.00,0.000,4,0.186,0.040,2561,3705,3482,0,0,0,0,0,0
$GC,849,-0.62,-116.7,61.3,-5.9,148,856,0.00,2.08,0.00,0.000,6,0.000,0.024,2561,2294,3483,0,0,0,0,0,0
$GC,1189,-0.62,-116.7,86.7,-7.1,209,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2294,3483,0,0,0,0,0,0
$GC,1524,-0.62,-116.7,117.2,-11.4,270,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2293,3483,0,0,0,0,0,0
$GC,1842,-0.62,-116.7,144.2,-5.7,289,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2292,3483,0,0,0,0,0,0
$GC,2149,-0.62,-116.7,171.2,-6.7,304,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2292,3483,0,0,0,0,0,0
$GC,2460,-0.62,-116.7,193.4,-6.5,319,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2292,3483,0,0,0,0,0,0
$GC,2769,-0.62,-116.7,215.0,-7.0,334,2773,0.00,2.12,0.00,0.000,4,0.000,0.041,2561,3705,3483,0,0,0,0,0,0
$GC,2841,-0.65,-116.7,220.2,-7.3,337,2845,0.00,2.00,0.00,0.000,6,0.000,0.023,2561,2294,3483,0,0,0,0,0,0
$GC,3162,-0.65,-116.7,241.7,-7.0,353,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2294,3483,0,0,0,0,0,0
$GC,3471,-0.65,-116.7,263.9,-7.6,368,3475,0.00,2.12,0.00,0.000,4,0.000,0.040,2561,3708,3483,0,0,0,0,0,0
$GC,3537,-0.70,-116.7,268.9,-7.5,371,3541,0.00,2.03,0.00,0.000,6,0.000,0.023,2561,2306,3483,0,0,0,0,0,0
$GC,3864,-0.73,-116.7,293.0,-7.3,387,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2306,3483,0,0,0,0,0,0
$GC,4182,-0.76,-116.7,316.5,-7.3,399,4186,0.12,2.12,0.00,0.000,4,0.133,0.041,2520,3705,3483,0,0,0,0,0,0
$GC,4253,-0.72,-116.7,323.1,-9.6,401,4257,0.00,2.00,0.00,0.000,6,0.000,0.023,2520,2290,3483,0,0,0,0,0,0
$GC,4583,-0.66,-116.7,352.6,-8.9,412,4587,0.10,2.03,0.00,0.000,4,0.193,0.035,2544,916,3483,0,0,0,0,0,0
$GC,4654,-0.66,-116.7,358.8,-8.3,414,4658,0.00,2.08,0.00,0.000,6,0.000,0.028,2543,2314,3483,0,0,0,0,0,0
$GC,4983,-0.66,-116.7,385.1,-8.3,425,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2314,3483,0,0,0,0,0,0
$GC,5289,-0.66,-116.7,409.0,-7.6,435,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2315,3483,0,0,0,0,0,0
$GC,5596,-0.66,-116.7,432.9,-8.1,445,5600,0.00,2.08,0.00,0.000,4,0.000,0.041,2543,3709,3483,0,0,0,0,0,0
$GC,5679,-0.66,-116.7,439.6,-8.1,447,5683,0.00,2.03,0.00,0.000,6,0.000,0.023,2544,2304,3483,0,0,0,0,0,0
$GC,6003,-0.66,-116.7,462.6,-6.7,458,6007,0.00,2.03,0.00,0.000,4,0.000,0.035,2544,920,3483,0,0,0,0,0,0
$GC,6051,-0.66,-116.7,466.4,-7.9,459,6056,0.00,2.05,0.00,0.000,6,0.000,0.028,2544,2299,3483,0,0,0,0,0,0
$GC,6376,-0.66,-116.7,488.5,-6.7,470,6377,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2299,3483,0,0,0,0,0,0
$GC,6681,-0.66,-116.7,507.6,-6.1,478,6685,0.00,2.08,0.00,0.000,4,0.000,0.041,2544,3700,3482,0,0,0,0,0,0
$GC,6747,-0.70,-116.7,511.7,-6.2,479,6751,0.00,2.00,0.00,0.000,6,0.000,0.023,2543,2289,3482,0,0,0,0,0,0
$GC,7113,-0.70,-116.7,533.6,-6.0,485,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2288,3481,0,0,0,0,0,0
$GC,7415,-0.70,-116.7,553.2,-6.6,490,7416,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2289,3481,0,0,0,0,0,0
$GC,7718,-0.70,-116.7,574.5,-7.1,495,7722,0.00,2.15,0.00,0.000,4,0.000,0.041,2543,3702,3480,0,0,0,0,0,0
$GC,7784,-0.74,-116.7,579.6,-7.7,496,7788,0.00,2.05,0.00,0.000,6,0.000,0.024,2544,2295,3480,0,0,0,0,0,0
$GC,8149,-0.74,-116.7,606.7,-7.5,502,8150,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2295,3479,0,0,0,0,0,0
$GC,8452,-0.74,-116.7,628.2,-7.0,507,8456,0.00,2.12,0.00,0.000,4,0.000,0.041,2544,3697,3477,0,0,0,0,0,0
$GC,8535,-0.78,-116.7,634.1,-6.8,508,8539,0.00,2.03,0.00,0.000,6,0.000,0.025,2544,2285,3477,0,0,0,0,0,0
$GC,8883,-0.78,-116.7,657.1,-6.6,514,8887,0.00,2.15,0.00,0.000,4,0.000,0.041,2544,3704,3476,0,0,0,0,0,0
$GC,8972,-0.82,-116.7,663.1,-6.1,515,8976,0.12,2.03,0.00,0.000,6,0.138,0.025,2503,2285,3475,0,0,0,0,0,0
$GC,9309,-0.77,-116.7,689.7,-8.0,521,9310,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2284,3474,0,0,0,0,0,0
$GC,9611,-0.71,-116.7,714.2,-8.1,526,9616,0.12,2.05,0.00,0.000,4,0.190,0.039,2535,915,3473,0,0,0,0,0,0
$GC,9688,-0.71,-116.7,720.0,-7.0,527,9692,0.00,2.08,0.00,0.000,6,0.000,0.031,2534,2295,3473,0,0,0,0,0,0
$GC,10043,-0.71,-116.7,743.5,-6.6,533,10047,0.00,2.10,0.00,0.000,4,0.000,0.043,2535,3701,3471,0,0,0,0,0,0
$GC,10132,-0.71,-116.7,749.8,-7.5,534,10136,0.00,2.05,0.00,0.000,6,0.000,0.025,2535,2300,3471,0,0,0,0,0,0
$GC,10481,-0.71,-116.7,772.8,-6.6,540,10482,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2300,3470,0,0,0,0,0,0
$GC,10784,-0.71,-116.7,792.7,-6.6,545,10788,0.00,2.15,0.00,0.000,4,0.000,0.044,2535,3710,3469,0,0,0,0,0,0
$GC,10857,-0.74,-116.7,797.7,-6.6,546,10861,0.00,2.03,0.00,0.000,6,0.000,0.026,2535,2304,3469,0,0,0,0,0,0
$GC,11216,-0.74,-116.7,820.8,-6.5,552,11220,0.00,2.15,0.00,0.000,4,0.000,0.044,2535,3707,3468,0,0,0,0,0,0
$GC,11266,-0.74,-116.7,824.2,-6.6,552,11270,0.00,2.08,0.00,0.000,6,0.000,0.026,2535,2304,3468,0,0,0,0,0,0
$GC,11586,-0.74,-116.7,844.1,-6.2,558,11587,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2304,3467,0,0,0,0,0,0
$GC,11890,-0.74,-116.7,862.8,-6.2,563,11894,0.00,2.15,0.00,0.000,4,0.000,0.044,2535,3704,3466,0,0,0,0,0,0
$GC,11939,-0.78,-116.7,866.1,-7.1,563,11943,0.00,2.08,0.00,0.000,6,0.000,0.026,2535,2298,3466,0,0,0,0,0,0
$GC,12260,-0.78,-116.7,886.7,-6.5,569,12261,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2299,3465,0,0,0,0,0,0
$GC,12563,-0.78,-116.7,906.1,-6.4,574,12567,0.00,2.15,0.00,0.000,4,0.000,0.044,2535,3700,3464,0,0,0,0,0,0
$GC,12618,-0.81,-116.7,909.8,-6.2,574,12622,0.00,2.08,0.00,0.000,6,0.000,0.026,2535,2270,3464,0,0,0,0,0,0
$GC,12933,-0.81,-116.7,929.0,-6.1,580,12934,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2270,3463,0,0,0,0,0,0
$GC,13236,-0.81,-116.7,947.8,-6.2,585,13240,0.00,2.20,0.00,0.000,4,0.000,0.044,2535,3698,3463,0,0,0,0,0,0
$GC,13332,-0.85,-116.7,953.9,-6.7,586,13336,0.12,2.05,0.00,0.000,6,0.139,0.026,2496,2283,3463,0,0,0,0,0,0
$GC,13668,-0.79,-116.7,979.9,-7.8,592,13669,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2283,3462,0,0,0,0,0,0
$STATE,13848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13848,begin apogee
$GC,13853,-0.24,0.0,994.5,8.0,595,13955,0.65,0.00,98.10,1.538,6,0.168,0.000,2685,2656,3007,0,0,0,0,0,0
$STATE,13955,end apogee,CONTROL_FINISHED_OK
$STATE,13955,begin climb
$GC,13957,0.80,116.7,996.7,0.0,596,14073,1.05,2.38,106.45,1.447,4,0.109,0.047,3014,4035,2528,0,0,0,0,0,0
$GC,14117,0.55,116.7,992.4,8.7,599,14122,0.30,2.17,0.00,0.000,6,0.171,0.025,2950,2653,2524,0,0,0,0,0,0
$GC,14466,0.54,137.3,971.3,6.1,605,14490,0.00,2.33,17.70,1.412,4,0.000,0.047,2950,4053,2446,0,0,0,0,0,0
$GC,14514,0.47,143.7,968.1,6.6,605,14531,0.15,2.15,7.47,1.200,6,0.188,0.027,2919,2641,2420,0,0,0,0,0,0
$GC,14833,0.54,170.0,949.3,5.8,611,14859,0.00,0.00,24.62,1.427,6,0.000,0.000,2919,2641,2312,0,0,0,0,0,0
$GC,15136,0.62,182.5,930.1,6.4,616,15151,0.15,0.00,12.02,1.377,6,0.107,0.000,2974,2640,2262,0,0,0,0,0,0
$GC,15439,0.62,182.5,905.2,8.4,621,15443,0.00,2.20,0.00,0.000,4,0.000,0.047,2974,4049,2257,0,0,0,0,0,0
$GC,15461,0.55,182.5,903.1,9.1,621,15466,0.15,2.08,0.00,0.000,6,0.181,0.028,2945,2647,2256,0,0,0,0,0,0
$GC,15804,0.55,182.5,877.8,7.2,627,15808,0.00,2.17,0.00,0.000,4,0.000,0.047,2944,4040,2255,0,0,0,0,0,0
$GC,15819,0.55,182.5,876.5,7.3,627,15824,0.00,2.10,0.00,0.000,6,0.000,0.028,2951,2652,2255,0,0,0,0,0,0
$GC,16174,0.55,182.5,850.5,7.3,633,16175,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2652,2255,0,0,0,0,0,0
$GC,16476,0.55,182.5,828.9,7.1,638,16478,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2652,2254,0,0,0,0,0,0
$GC,16780,0.56,184.6,808.3,6.8,643,16784,0.00,2.15,0.00,0.000,4,0.000,0.047,2951,4043,2254,0,0,0,0,0,0
$GC,16801,0.56,184.6,806.7,7.3,643,16806,0.00,2.10,0.00,0.000,6,0.000,0.028,2951,2648,2254,0,0,0,0,0,0
$GC,17145,0.57,193.6,784.3,6.5,649,17157,0.00,0.00,10.48,1.378,6,0.000,0.000,2951,2647,2216,0,0,0,0,0,0
$GC,17448,0.57,193.6,763.4,6.9,654,17449,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2647,2213,0,0,0,0,0,0
$GC,17750,0.57,193.6,741.1,7.4,659,17754,0.00,2.15,0.00,0.000,4,0.000,0.047,2951,4040,2212,0,0,0,0,0,0
$GC,17760,0.57,193.6,740.3,7.5,659,17764,0.00,2.10,0.00,0.000,6,0.000,0.028,2951,2648,2212,0,0,0,0,0,0
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$STATE,27141,end climb,SURFACE_DEPTH_REACHED
$STATE,27141,begin surface coast
$FINISH,2.5,1.027277
$STATE,27209,end surface coast,CONTROL_FINISHED_OK
$STATE,27209,begin surface
$SM_CCo,27225,31.62,0.748,0,0,1883,275.23
$SM_GC,3.76,0.00,0.00,31.62,0.000,0.000,0.748,216,2284,1883,-7.97,-0.45,275.23
$IRIDIUM_FIX,6313.04,210.67,010399,101055
$TT8_MAMPS,0.026845
$HUMID,1078347732
$INTERNAL_PRESSURE,8.32063
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,22.5,36.762
$10V_AH,9.9,24.233
$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,21.700,173.900,320.325,31.625,0.000,30.720,32.348,190.347,0.000,0.000,10.345,2380.312,21518.490,526.223,2661.453,540.085,0.000,1827.878,0.000,2640.414,0.000,0.535,0.000
$DEVICE_MAMPS,243.139,50.622,1537.835,747.825,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,802.696,1064.246,650.555,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235064
$DATA_FILE_SIZE,66445,1165
$CAP_FILE_SIZE,204853,0
$CFSIZE,260165632,236679168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,151.4,1
$GPS,061209,015354,6341.012,204.104,41,1.0,42,-3.8