version: 66.06
glider: 140
mission: 8
dive: 18
start: 10 4 109 13 45 49
data:
$ID,140
$MISSION,8
$DIVE,18
$D_SURF,3
$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,-44649.586
$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
$PITCH_ADJ_DBAND,1
$ROLL_MIN,174
$ROLL_MAX,4054
$ROLL_DEG,40
$C_ROLL_DIVE,2275
$C_ROLL_CLIMB,2850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,38
$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,800
$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
$GPS1,133937,6423.303,100.179,43,1.2,43,-4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.23
$_SM_ANGLEo,-59.2
$GPS2,134526,6423.276,100.181,14,1.2,14,-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,314.7,122648,-13.7,-6.875
$D_GRID,2514
$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,-7.20,0.000,2,0.000,0.000,220,2267,2023,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.3,-0.0,1,124,9.27,2.15,-80.07,0.000,4,0.255,0.058,2501,875,3483,0,0,0,0,0,0
$GC,132,-0.80,-116.7,2.4,0.0,19,138,0.00,2.15,0.00,0.000,6,0.000,0.035,2501,2275,3483,0,0,0,0,0,0
$GC,467,-0.80,-116.7,34.8,-9.2,80,474,0.00,2.17,0.00,0.000,4,0.000,0.046,2501,3685,3483,0,0,0,0,0,0
$GC,556,-0.80,-116.7,42.9,-8.6,96,563,0.00,2.10,0.00,0.000,6,0.000,0.026,2501,2279,3484,0,0,0,0,0,0
$GC,896,-0.80,-116.7,75.5,-8.9,135,899,0.00,2.08,0.00,0.000,4,0.000,0.041,2501,884,3485,0,0,0,0,0,0
$GC,982,-0.80,-116.7,83.7,-9.6,139,986,0.00,2.08,0.00,0.000,6,0.000,0.031,2501,2288,3485,0,0,0,0,0,0
$GC,1309,-0.80,-116.7,114.5,-9.5,155,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2288,3486,0,0,0,0,0,0
$GC,1617,-0.80,-116.7,146.1,-10.2,170,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2289,3486,0,0,0,0,0,0
$GC,1927,-0.80,-116.7,178.4,-10.6,185,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2289,3486,0,0,0,0,0,0
$GC,2235,-0.80,-116.7,210.7,-10.2,200,2239,0.00,2.05,0.00,0.000,4,0.000,0.044,2501,3676,3486,0,0,0,0,0,0
$GC,2284,-0.80,-116.7,215.9,-10.3,202,2289,0.00,2.05,0.00,0.000,6,0.000,0.026,2501,2272,3486,0,0,0,0,0,0
$GC,2606,-0.80,-116.7,249.2,-10.2,218,2610,0.00,2.05,0.00,0.000,4,0.000,0.041,2501,876,3486,0,0,0,0,0,0
$GC,2705,-0.80,-116.7,259.5,-10.3,222,2711,0.00,2.10,0.00,0.000,6,0.000,0.031,2501,2280,3486,0,0,0,0,0,0
$GC,3021,-0.80,-116.7,288.0,-8.9,238,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2280,3486,0,0,0,0,0,0
$GC,3349,-0.80,-116.7,317.9,-9.2,251,3353,0.00,2.08,0.00,0.000,4,0.000,0.045,2501,3682,3485,0,0,0,0,0,0
$GC,3415,-0.80,-116.7,324.2,-9.4,253,3419,0.00,2.05,0.00,0.000,6,0.000,0.027,2501,2276,3485,0,0,0,0,0,0
$GC,3750,-0.80,-116.7,355.9,-9.5,264,3753,0.00,2.05,0.00,0.000,4,0.000,0.042,2501,883,3484,0,0,0,0,0,0
$GC,3804,-0.80,-116.7,361.5,-10.0,265,3809,0.00,2.10,0.00,0.000,6,0.000,0.032,2501,2280,3484,0,0,0,0,0,0
$GC,4122,-0.80,-116.7,391.2,-9.3,276,4126,0.00,2.08,0.00,0.000,4,0.000,0.046,2501,3683,3483,0,0,0,0,0,0
$GC,4172,-0.80,-116.7,396.0,-9.5,277,4176,0.00,2.08,0.00,0.000,6,0.000,0.028,2501,2269,3483,0,0,0,0,0,0
$GC,4490,-0.80,-116.7,425.1,-9.0,288,4493,0.00,2.05,0.00,0.000,4,0.000,0.043,2501,873,3482,0,0,0,0,0,0
$GC,4552,-0.80,-116.7,431.1,-9.7,290,4555,0.00,2.08,0.00,0.000,6,0.000,0.034,2501,2282,3482,0,0,0,0,0,0
$GC,4886,-0.80,-116.7,461.9,-9.2,301,4889,0.00,2.08,0.00,0.000,4,0.000,0.047,2500,3684,3481,0,0,0,0,0,0
$GC,4947,-0.80,-116.7,467.6,-9.5,303,4951,0.00,2.03,0.00,0.000,6,0.000,0.028,2501,2273,3480,0,0,0,0,0,0
$GC,5281,-0.80,-116.7,497.5,-8.7,314,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2273,3480,0,0,0,0,0,0
$GC,5615,-0.80,-116.7,526.1,-8.5,320,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2272,3479,0,0,0,0,0,0
$GC,5918,-0.80,-116.7,551.5,-8.3,325,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2270,3478,0,0,0,0,0,0
$GC,6221,-0.80,-116.7,576.7,-8.3,330,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2270,3477,0,0,0,0,0,0
$GC,6524,-0.80,-116.7,600.8,-8.0,335,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2270,3476,0,0,0,0,0,0
$GC,6827,-0.80,-116.7,624.9,-8.0,340,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2270,3475,0,0,0,0,0,0
$GC,7130,-0.80,-116.7,649.3,-8.1,345,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2269,3475,0,0,0,0,0,0
$GC,7434,-0.80,-116.7,674.4,-8.3,350,7438,0.00,2.10,0.00,0.000,4,0.000,0.048,2501,3675,3474,0,0,0,0,0,0
$GC,7500,-0.80,-116.7,680.1,-9.2,351,7504,0.00,2.05,0.00,0.000,6,0.000,0.029,2501,2276,3473,0,0,0,0,0,0
$GC,7865,-0.80,-116.7,710.5,-8.3,357,7867,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2276,3473,0,0,0,0,0,0
$GC,8169,-0.80,-116.7,734.5,-7.9,362,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2276,3473,0,0,0,0,0,0
$GC,8471,-0.80,-116.7,757.8,-7.6,367,8475,0.00,2.12,0.00,0.000,4,0.000,0.048,2501,3676,3472,0,0,0,0,0,0
$GC,8520,-0.80,-116.7,761.6,-7.3,367,8525,0.00,2.05,0.00,0.000,6,0.000,0.029,2501,2274,3471,0,0,0,0,0,0
$GC,8835,-0.80,-116.7,785.1,-7.4,373,8837,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2274,3471,0,0,0,0,0,0
$GC,9139,-0.80,-116.7,807.5,-7.4,378,9140,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2273,3471,0,0,0,0,0,0
$GC,9442,-0.80,-116.7,830.1,-7.4,383,9445,0.00,2.10,0.00,0.000,4,0.000,0.048,2501,3675,3470,0,0,0,0,0,0
$GC,9491,-0.80,-116.7,833.8,-7.3,383,9495,0.00,2.05,0.00,0.000,6,0.000,0.030,2501,2277,3470,0,0,0,0,0,0
$GC,9806,-0.80,-116.7,857.1,-7.4,389,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2276,3470,0,0,0,0,0,0
$GC,10109,-0.80,-116.7,880.3,-7.7,394,10110,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2276,3469,0,0,0,0,0,0
$GC,10414,-0.80,-116.7,903.8,-7.7,399,10418,0.00,2.10,0.00,0.000,4,0.000,0.048,2501,3676,3469,0,0,0,0,0,0
$GC,10476,-0.80,-116.7,909.0,-8.0,400,10479,0.00,2.03,0.00,0.000,6,0.000,0.030,2501,2270,3469,0,0,0,0,0,0
$GC,10847,-0.80,-116.7,937.8,-7.8,406,10848,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2270,3468,0,0,0,0,0,0
$GC,11149,-0.80,-116.7,961.2,-7.8,411,11150,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2269,3468,0,0,0,0,0,0
$GC,11452,-0.80,-116.7,984.5,-7.7,416,11454,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2269,3468,0,0,0,0,0,0
$STATE,11572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11572,begin apogee
$GC,11578,-0.24,0.0,993.8,7.7,418,11681,0.60,0.00,99.68,1.646,6,0.187,0.000,2679,2855,3006,0,0,0,0,0,0
$STATE,11682,end apogee,CONTROL_FINISHED_OK
$STATE,11682,begin climb
$GC,11683,0.80,116.7,995.8,0.0,419,11800,1.12,2.03,107.22,1.575,4,0.130,0.053,3017,4036,2529,0,0,0,0,0,0
$GC,11821,0.80,116.7,992.8,7.9,422,11826,0.00,1.88,0.00,0.000,6,0.000,0.028,3026,2858,2525,0,0,0,0,0,0
$GC,12187,0.80,116.7,959.6,9.2,428,12188,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2856,2518,0,0,0,0,0,0
$GC,12490,0.80,116.7,932.0,9.1,433,12494,0.00,2.12,0.00,0.000,4,0.000,0.041,3037,1454,2516,0,0,0,0,0,0
$GC,12522,0.80,116.7,929.0,8.7,433,12527,0.00,2.20,0.00,0.000,6,0.000,0.040,3033,2852,2516,0,0,0,0,0,0
$GC,12854,0.80,116.7,899.0,9.1,439,12855,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2852,2515,0,0,0,0,0,0
$GC,13157,0.80,116.7,872.1,8.8,444,13158,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2852,2515,0,0,0,0,0,0
$GC,13460,0.80,116.7,845.5,8.8,449,13463,0.00,1.83,0.00,0.000,4,0.000,0.053,3033,4058,2514,0,0,0,0,0,0
$GC,13475,0.80,116.7,844.0,8.8,449,13480,0.00,1.80,0.00,0.000,6,0.000,0.030,3040,2843,2514,0,0,0,0,0,0
$GC,13829,0.80,116.7,811.4,9.2,455,13832,0.00,1.85,0.00,0.000,4,0.000,0.052,3033,4049,2514,0,0,0,0,0,0
$GC,13867,0.80,116.7,807.7,10.1,455,13871,0.00,1.77,0.00,0.000,6,0.000,0.030,3041,2850,2514,0,0,0,0,0,0
$GC,14198,0.80,116.7,777.0,9.2,461,14200,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2848,2513,0,0,0,0,0,0
$GC,14502,0.80,116.7,749.1,9.2,466,14506,0.00,1.83,0.00,0.000,4,0.000,0.052,3033,4049,2513,0,0,0,0,0,0
$GC,14523,0.80,116.7,746.9,9.7,466,14527,0.00,1.77,0.00,0.000,6,0.000,0.030,3041,2848,2513,0,0,0,0,0,0
$GC,14872,0.80,116.7,715.1,9.1,472,14873,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2847,2513,0,0,0,0,0,0
$GC,15175,0.80,116.7,687.5,9.0,477,15178,0.00,1.85,0.00,0.000,4,0.000,0.052,3034,4060,2513,0,0,0,0,0,0
$GC,15207,0.80,116.7,684.3,9.0,477,15212,0.00,1.77,0.00,0.000,6,0.000,0.030,3041,2851,2513,0,0,0,0,0,0
$GC,15544,0.80,116.7,653.6,9.1,483,15546,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2850,2512,0,0,0,0,0,0
$GC,15847,0.80,116.7,626.7,8.9,488,15848,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2850,2512,0,0,0,0,0,0
$GC,16150,0.80,116.7,600.1,8.7,493,16154,0.00,1.83,0.00,0.000,4,0.000,0.052,3034,4055,2512,0,0,0,0,0,0
$GC,16183,0.80,116.7,597.0,9.1,493,16187,0.00,1.77,0.00,0.000,6,0.000,0.030,3041,2847,2512,0,0,0,0,0,0
$GC,16520,0.80,116.7,569.7,8.0,499,16524,0.00,1.83,0.00,0.000,4,0.000,0.052,3033,4049,2512,0,0,0,0,0,0
$GC,16535,0.80,116.7,568.4,7.9,499,16539,0.00,1.75,0.00,0.000,6,0.000,0.030,3041,2853,2511,0,0,0,0,0,0
$GC,16889,0.80,116.7,541.4,7.6,505,16890,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2851,2512,0,0,0,0,0,0
$GC,17193,0.80,116.7,518.8,7.4,510,17194,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2851,2511,0,0,0,0,0,0
$GC,17495,0.80,116.7,497.1,7.1,515,17497,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2852,2511,0,0,0,0,0,0
$GC,17802,0.80,116.9,475.7,6.9,525,17806,0.00,1.83,0.00,0.000,4,0.000,0.052,3034,4056,2511,0,0,0,0,0,0
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$STATE,23584,end climb,SURFACE_DEPTH_REACHED
$STATE,23584,begin surface coast
$FINISH,2.6,1.022130
$STATE,23619,end surface coast,CONTROL_FINISHED_OK
$STATE,23619,begin surface
$SM_CCo,23635,91.60,0.912,0,0,1884,275.23
$SM_GC,3.36,0.00,0.00,91.60,0.000,0.000,0.912,213,2276,1884,-7.98,0.03,275.23
$IRIDIUM_FIX,6356.67,104.67,291298,070717
$TT8_MAMPS,0.027612
$HUMID,1078358055
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,23.0,5.402
$10V_AH,10.2,3.088
$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,19.000,136.425,241.350,91.600,0.000,29.610,30.933,171.015,2.000,0.000,14.564,1778.258,19351.395,480.431,2007.636,457.607,0.000,1488.686,0.000,1985.947,0.000,15.499,0.000
$DEVICE_MAMPS,254.644,57.525,1645.982,911.963,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,592.382,875.449,497.379,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241604
$DATA_FILE_SIZE,47545,855
$CAP_FILE_SIZE,157925,0
$CFSIZE,260165632,253480960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.024,152.5,1
$GPS,041009,202250,6424.663,55.861,37,2.4,56,-4.6