version: 66.06
glider: 140
mission: 8
dive: 250
start: 12 15 109 0 34 1
data:
$ID,140
$MISSION,8
$DIVE,250
$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,-48936.141
$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,66
$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
$GPS1,002706,6443.310,12.798,40,1.1,41,-5.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,4.03
$_SM_ANGLEo,-65.0
$GPS2,003338,6443.288,12.757,13,1.1,13,-5.1
$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,311.7,70625,-13.7,-6.875
$D_GRID,2663
$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,15,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-7.22,0.000,2,0.000,0.000,210,2282,2024,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.9,-0.0,1,121,9.07,2.25,-78.78,0.000,4,0.236,0.056,2500,3698,3481,0,0,0,0,0,0
$GC,284,-0.69,-116.7,19.8,-10.0,47,290,0.15,2.05,0.00,0.000,6,0.186,0.025,2540,2281,3483,0,0,0,0,0,0
$GC,621,-0.64,-116.7,51.1,-9.9,108,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2279,3484,0,0,0,0,0,0
$GC,962,-0.64,-116.7,79.1,-7.8,169,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2279,3484,0,0,0,0,0,0
$GC,1305,-0.64,-116.7,107.3,-8.7,230,1311,0.00,2.03,0.00,0.000,4,0.000,0.037,2540,919,3485,0,0,0,0,0,0
$GC,1361,-0.61,-116.7,112.5,-9.1,240,1368,0.00,2.10,0.00,0.000,6,0.000,0.029,2540,2309,3485,0,0,0,0,0,0
$GC,1685,-0.61,-116.7,137.0,-7.2,268,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2309,3485,0,0,0,0,0,0
$GC,1995,-0.61,-116.7,160.0,-7.5,283,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2309,3486,0,0,0,0,0,0
$GC,2304,-0.61,-116.7,181.5,-6.6,298,2308,0.00,2.08,0.00,0.000,4,0.000,0.041,2540,3700,3486,0,0,0,0,0,0
$GC,2359,-0.61,-116.7,185.6,-7.4,300,2367,0.00,2.03,0.00,0.000,6,0.000,0.024,2540,2309,3486,0,0,0,0,0,0
$GC,2675,-0.61,-116.7,207.0,-6.8,316,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2308,3486,0,0,0,0,0,0
$GC,2984,-0.61,-116.7,228.4,-7.3,331,2988,0.00,2.12,0.00,0.000,4,0.000,0.041,2540,3704,3486,0,0,0,0,0,0
$GC,3046,-0.61,-116.7,233.0,-7.6,334,3050,0.00,2.03,0.00,0.000,6,0.000,0.025,2540,2302,3486,0,0,0,0,0,0
$GC,3372,-0.61,-116.7,257.1,-7.5,350,3376,0.00,2.05,0.00,0.000,4,0.000,0.038,2540,916,3486,0,0,0,0,0,0
$GC,3427,-0.61,-116.7,261.8,-8.1,352,3433,0.00,2.08,0.00,0.000,6,0.000,0.029,2540,2297,3486,0,0,0,0,0,0
$GC,3742,-0.61,-116.7,285.9,-7.7,368,3746,0.00,2.10,0.00,0.000,4,0.000,0.042,2540,3700,3485,0,0,0,0,0,0
$GC,3792,-0.61,-116.7,289.8,-7.6,370,3796,0.00,2.05,0.00,0.000,6,0.000,0.025,2540,2301,3485,0,0,0,0,0,0
$GC,4111,-0.61,-116.7,315.2,-7.9,383,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2301,3484,0,0,0,0,0,0
$GC,4417,-0.61,-116.7,338.8,-7.6,393,4421,0.00,2.15,0.00,0.000,4,0.000,0.043,2540,3702,3484,0,0,0,0,0,0
$GC,4500,-0.61,-116.7,345.4,-7.8,395,4504,0.00,2.08,0.00,0.000,6,0.000,0.025,2540,2304,3484,0,0,0,0,0,0
$GC,4818,-0.61,-116.7,368.3,-7.2,406,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2303,3483,0,0,0,0,0,0
$GC,5124,-0.61,-116.7,390.2,-7.2,416,5128,0.00,2.12,0.00,0.000,4,0.000,0.043,2540,3698,3482,0,0,0,0,0,0
$GC,5187,-0.64,-116.7,394.7,-7.0,418,5191,0.00,2.05,0.00,0.000,6,0.000,0.025,2540,2292,3482,0,0,0,0,0,0
$GC,5526,-0.64,-116.7,419.4,-7.3,429,5530,0.00,2.15,0.00,0.000,4,0.000,0.043,2540,3699,3481,0,0,0,0,0,0
$GC,5576,-0.64,-116.7,423.3,-7.8,430,5580,0.00,2.08,0.00,0.000,6,0.000,0.026,2540,2301,3481,0,0,0,0,0,0
$GC,5893,-0.64,-116.7,446.2,-7.1,441,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2301,3481,0,0,0,0,0,0
$GC,6200,-0.64,-116.7,467.5,-6.9,451,6204,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3697,3480,0,0,0,0,0,0
$GC,6289,-0.67,-116.7,473.8,-7.3,453,6292,0.00,2.03,0.00,0.000,6,0.000,0.026,2540,2297,3479,0,0,0,0,0,0
$GC,6606,-0.67,-116.7,496.2,-7.0,464,6610,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3704,3479,0,0,0,0,0,0
$GC,6655,-0.70,-116.7,499.9,-7.9,465,6659,0.00,2.08,0.00,0.000,6,0.000,0.026,2540,2306,3479,0,0,0,0,0,0
$GC,6975,-0.70,-116.7,522.7,-7.2,471,6979,0.00,2.12,0.00,0.000,4,0.000,0.043,2540,3697,3478,0,0,0,0,0,0
$GC,7030,-0.73,-116.7,527.0,-7.4,471,7036,0.00,2.08,0.00,0.000,6,0.000,0.026,2540,2271,3478,0,0,0,0,0,0
$GC,7339,-0.73,-116.7,550.0,-7.5,477,7343,0.00,2.20,0.00,0.000,4,0.000,0.044,2540,3705,3477,0,0,0,0,0,0
$GC,7395,-0.77,-116.7,554.2,-7.5,477,7401,0.00,2.05,0.00,0.000,6,0.000,0.026,2540,2296,3477,0,0,0,0,0,0
$GC,7703,-0.77,-116.7,576.2,-7.0,483,7707,0.00,2.17,0.00,0.000,4,0.000,0.044,2540,3704,3477,0,0,0,0,0,0
$GC,7753,-0.81,-116.7,579.7,-7.3,483,7758,0.08,2.08,0.00,0.000,6,0.115,0.027,2510,2301,3477,0,0,0,0,0,0
$GC,8074,-0.77,-116.7,605.5,-8.1,489,8075,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2300,3476,0,0,0,0,0,0
$GC,8377,-0.73,-116.7,630.2,-8.1,494,8378,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2300,3476,0,0,0,0,0,0
$GC,8680,-0.69,-116.7,654.9,-8.1,499,8682,0.12,0.00,0.00,0.000,6,0.197,0.000,2541,2296,3475,0,0,0,0,0,0
$GC,8982,-0.69,-116.7,676.9,-7.2,504,8986,0.00,2.17,0.00,0.000,4,0.000,0.045,2541,3704,3474,0,0,0,0,0,0
$GC,9055,-0.74,-116.7,682.3,-7.6,505,9058,0.00,2.05,0.00,0.000,6,0.000,0.026,2541,2296,3474,0,0,0,0,0,0
$GC,9420,-0.77,-116.7,709.3,-7.3,511,9424,0.00,2.15,0.00,0.000,4,0.000,0.044,2541,3695,3473,0,0,0,0,0,0
$GC,9492,-0.82,-116.7,714.7,-7.4,512,9497,0.12,2.05,0.00,0.000,6,0.142,0.026,2502,2288,3473,0,0,0,0,0,0
$GC,9846,-0.77,-116.7,744.3,-8.4,518,9848,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2287,3473,0,0,0,0,0,0
$GC,10149,-0.72,-116.7,769.6,-8.4,523,10151,0.10,0.00,0.00,0.000,6,0.196,0.000,2526,2285,3473,0,0,0,0,0,0
$GC,10452,-0.72,-116.7,792.3,-7.4,528,10456,0.00,2.17,0.00,0.000,4,0.000,0.044,2526,3702,3472,0,0,0,0,0,0
$GC,10546,-0.72,-116.7,799.5,-7.9,529,10550,0.00,2.08,0.00,0.000,6,0.000,0.026,2526,2305,3472,0,0,0,0,0,0
$GC,10883,-0.72,-116.7,823.0,-6.9,535,10884,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2305,3472,0,0,0,0,0,0
$GC,11187,-0.72,-116.7,843.2,-6.6,540,11191,0.00,2.15,0.00,0.000,4,0.000,0.045,2527,3702,3471,0,0,0,0,0,0
$GC,11264,-0.72,-116.7,848.6,-6.8,541,11268,0.00,2.10,0.00,0.000,6,0.000,0.026,2526,2294,3471,0,0,0,0,0,0
$GC,11619,-0.72,-116.7,872.2,-6.7,547,11623,0.00,2.17,0.00,0.000,4,0.000,0.044,2526,3705,3471,0,0,0,0,0,0
$GC,11668,-0.72,-116.7,875.8,-7.1,547,11672,0.00,2.10,0.00,0.000,6,0.000,0.027,2526,2296,3471,0,0,0,0,0,0
$GC,11989,-0.72,-116.7,897.2,-6.8,553,11990,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2294,3471,0,0,0,0,0,0
$GC,12292,-0.72,-116.7,918.0,-6.9,558,12296,0.00,2.15,0.00,0.000,4,0.000,0.044,2527,3697,3471,0,0,0,0,0,0
$GC,12393,-0.75,-116.7,925.1,-5.9,559,12397,0.00,2.05,0.00,0.000,6,0.000,0.027,2526,2294,3470,0,0,0,0,0,0
$GC,12724,-0.75,-116.7,948.5,-7.1,565,12728,0.00,2.15,0.00,0.000,4,0.000,0.045,2526,3695,3470,0,0,0,0,0,0
$GC,12773,-0.75,-116.7,952.0,-7.5,565,12777,0.00,2.08,0.00,0.000,6,0.000,0.027,2526,2307,3470,0,0,0,0,0,0
$GC,13088,-0.75,-116.7,974.8,-7.3,571,13092,0.00,2.15,0.00,0.000,4,0.000,0.044,2527,3700,3470,0,0,0,0,0,0
$GC,13143,-0.78,-116.7,979.0,-7.1,571,13148,0.00,2.10,0.00,0.000,6,0.000,0.028,2526,2267,3470,0,0,0,0,0,0
$STATE,13328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13328,begin apogee
$GC,13334,-0.24,0.0,992.8,7.4,575,13438,0.52,0.00,101.20,1.549,6,0.166,0.000,2681,2654,3006,0,0,0,0,0,0
$STATE,13439,end apogee,CONTROL_FINISHED_OK
$STATE,13439,begin climb
$GC,13441,0.80,116.7,995.2,0.0,576,13559,1.10,2.42,108.97,1.455,4,0.111,0.046,3018,4045,2529,0,0,0,0,0,0
$GC,13610,0.55,116.7,992.0,8.0,579,13614,0.32,2.22,0.00,0.000,6,0.173,0.026,2948,2650,2523,0,0,0,0,0,0
$GC,13935,0.60,158.7,974.9,5.2,585,13979,0.00,2.35,37.53,1.442,4,0.000,0.048,2947,4036,2357,0,0,0,0,0,0
$GC,13998,0.59,172.5,971.2,6.3,586,14018,0.00,2.17,14.38,1.347,6,0.000,0.027,2954,2644,2301,0,0,0,0,0,0
$GC,14366,0.59,172.5,945.1,7.2,592,14367,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2644,2293,0,0,0,0,0,0
$GC,14669,0.59,172.5,923.2,7.3,597,14670,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2645,2292,0,0,0,0,0,0
$GC,14973,0.59,172.5,900.2,7.6,602,14974,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2644,2291,0,0,0,0,0,0
$GC,15275,0.59,172.5,877.6,7.5,607,15279,0.00,2.17,0.00,0.000,4,0.000,0.046,2953,4043,2290,0,0,0,0,0,0
$GC,15291,0.59,172.5,876.1,7.6,607,15295,0.00,2.10,0.00,0.000,6,0.000,0.028,2962,2650,2290,0,0,0,0,0,0
$GC,15645,0.59,172.5,848.8,7.7,613,15646,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2649,2290,0,0,0,0,0,0
$GC,15949,0.59,172.5,825.3,7.7,618,15950,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2649,2289,0,0,0,0,0,0
$GC,16251,0.59,172.5,801.7,7.8,623,16252,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2649,2289,0,0,0,0,0,0
$GC,16554,0.59,172.5,778.6,7.6,628,16558,0.00,2.17,0.00,0.000,4,0.000,0.047,2962,4049,2289,0,0,0,0,0,0
$GC,16570,0.59,172.5,777.3,7.6,628,16574,0.00,2.10,0.00,0.000,6,0.000,0.028,2970,2650,2289,0,0,0,0,0,0
$GC,16919,0.59,172.5,751.1,7.5,634,16923,0.00,2.15,0.00,0.000,4,0.000,0.048,2967,4042,2289,0,0,0,0,0,0
$GC,16935,0.55,172.5,749.7,7.5,634,16940,0.12,2.08,0.00,0.000,6,0.197,0.028,2946,2630,2289,0,0,0,0,0,0
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$STATE,26311,end climb,SURFACE_DEPTH_REACHED
$STATE,26311,begin surface coast
$FINISH,3.2,1.014404
$STATE,26356,end surface coast,CONTROL_FINISHED_OK
$STATE,26356,begin surface
$SM_CCo,26372,21.80,0.802,0,0,1883,275.23
$SM_GC,3.67,0.00,0.00,21.80,0.000,0.000,0.802,210,2272,1883,-7.99,-0.79,275.23
$IRIDIUM_FIX,6456.66,-1048.26,100399,161654
$TT8_MAMPS,0.027612
$HUMID,1078395474
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,14.30
$XPDR_PINGS,1
$24V_AH,22.2,41.313
$10V_AH,9.9,27.479
$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
$DEVICE_SECS,21.050,175.000,338.475,21.800,0.000,30.109,33.501,197.929,0.250,0.000,13.619,2300.728,20826.332,515.042,2580.568,555.133,0.000,1799.250,0.000,2558.903,0.000,0.534,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241356
$DATA_FILE_SIZE,63245,1129
$CAP_FILE_SIZE,199508,0
$CFSIZE,260165632,234168320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,192.1,1
$GPS,151209,075507,6444.178,6.101,33,0.9,34,-5.1