version: 66.06
glider: 140
mission: 8
dive: 100
start: 10 29 109 4 50 10
data:
$ID,140
$MISSION,8
$DIVE,100
$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,380
$T_MISSION,540
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,-46162.352
$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,94
$R_STBD_OVSHOOT,47
$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
$GPS1,044106,6301.405,343.816,33,2.0,33,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.58
$_SM_ANGLEo,-61.1
$GPS2,044946,6301.461,343.763,15,2.1,34,-2.8
$SPEED_LIMITS,0.150,0.264
$TGT_NAME,INSHORE
$TGT_LATLONG,6300.600,352.100
$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,105.6,7186,-14.0,-8.684
$D_GRID,893
$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,-0.87,-170.2,0.0,0.0,0,23,0.00,0.00,-7.20,0.000,2,0.000,0.000,210,2263,1807,0,0,0,0,0,0
$GC,26,-0.87,-170.2,3.6,-0.0,1,141,8.62,2.22,-99.18,0.000,4,0.235,0.054,2476,3706,3700,0,0,0,0,0,0
$GC,226,-0.72,-170.2,13.2,-13.2,37,232,0.20,2.00,0.00,0.000,6,0.193,0.024,2528,2296,3702,0,0,0,0,0,0
$GC,563,-0.68,-170.2,49.5,-10.1,98,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2295,3703,0,0,0,0,0,0
$GC,897,-0.64,-170.2,84.3,-10.6,128,901,0.10,2.03,0.00,0.000,4,0.210,0.038,2554,936,3703,0,0,0,0,0,0
$GC,936,-0.64,-170.2,87.8,-8.5,130,940,0.00,2.00,0.00,0.000,6,0.000,0.030,2554,2303,3703,0,0,0,0,0,0
$GC,1267,-0.67,-170.2,115.6,-9.4,146,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2303,3703,0,0,0,0,0,0
$GC,1578,-0.70,-170.2,145.1,-9.2,161,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2303,3704,0,0,0,0,0,0
$GC,1887,-0.74,-170.2,170.8,-7.8,176,1891,0.00,2.03,0.00,0.000,4,0.000,0.035,2554,944,3704,0,0,0,0,0,0
$GC,1914,-0.74,-170.2,173.1,-7.6,177,1918,0.00,2.03,0.00,0.000,6,0.000,0.029,2554,2297,3704,0,0,0,0,0,0
$GC,2242,-0.77,-170.2,195.4,-6.3,193,2244,0.12,0.00,0.00,0.000,6,0.133,0.000,2514,2298,3705,0,0,0,0,0,0
$GC,2550,-0.73,-170.2,222.2,-9.3,208,2551,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2298,3705,0,0,0,0,0,0
$GC,2861,-0.69,-170.2,254.7,-11.5,223,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2298,3705,0,0,0,0,0,0
$GC,3169,-0.66,-170.2,287.3,-10.2,238,3173,0.15,2.05,0.00,0.000,4,0.192,0.036,2554,929,3705,0,0,0,0,0,0
$GC,3190,-0.66,-170.2,289.5,-9.5,239,3194,0.00,2.00,0.00,0.000,6,0.000,0.029,2554,2302,3705,0,0,0,0,0,0
$GC,3521,-0.71,-170.2,313.3,-6.5,252,3524,0.00,2.05,0.00,0.000,4,0.000,0.042,2554,3698,3705,0,0,0,0,0,0
$GC,3549,-0.77,-170.2,315.2,-6.3,253,3554,0.12,1.95,0.00,0.000,6,0.132,0.025,2514,2311,3705,0,0,0,0,0,0
$GC,3884,-0.77,-170.2,339.8,-7.3,264,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2310,3704,0,0,0,0,0,0
$GC,4189,-0.77,-170.2,362.9,-7.9,274,4191,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2310,3704,0,0,0,0,0,0
$GC,4496,-0.77,-170.2,385.9,-7.5,284,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2310,3703,0,0,0,0,0,0
$GC,4802,-0.77,-170.2,410.2,-8.4,294,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2310,3702,0,0,0,0,0,0
$GC,5108,-0.77,-170.2,436.7,-8.9,304,5112,0.00,2.03,0.00,0.000,4,0.000,0.038,2514,928,3701,0,0,0,0,0,0
$GC,5134,-0.77,-170.2,439.4,-9.9,304,5140,0.00,2.05,0.00,0.000,6,0.000,0.031,2514,2300,3701,0,0,0,0,0,0
$GC,5446,-0.77,-170.2,469.1,-9.6,315,5448,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2301,3700,0,0,0,0,0,0
$GC,5753,-0.77,-170.2,499.2,-10.0,325,5754,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2300,3699,0,0,0,0,0,0
$GC,6086,-0.77,-170.2,532.3,-9.9,331,6090,0.00,2.08,0.00,0.000,4,0.000,0.039,2514,926,3698,0,0,0,0,0,0
$GC,6107,-0.77,-170.2,534.6,-10.6,331,6112,0.00,2.05,0.00,0.000,6,0.000,0.031,2514,2295,3698,0,0,0,0,0,0
$GC,6456,-0.77,-170.2,569.2,-10.0,337,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2294,3696,0,0,0,0,0,0
$GC,6759,-0.77,-170.2,599.7,-10.1,342,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2294,3695,0,0,0,0,0,0
$GC,7062,-0.77,-170.2,629.4,-9.7,347,7066,0.00,2.03,0.00,0.000,4,0.000,0.038,2513,932,3694,0,0,0,0,0,0
$GC,7083,-0.77,-170.2,631.6,-10.4,347,7088,0.00,2.05,0.00,0.000,6,0.000,0.032,2513,2295,3694,0,0,0,0,0,0
$GC,7432,-0.77,-170.2,665.2,-9.7,353,7433,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2295,3693,0,0,0,0,0,0
$GC,7735,-0.77,-170.2,694.4,-9.6,358,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2295,3692,0,0,0,0,0,0
$GC,8038,-0.77,-170.2,723.1,-9.5,363,8040,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2295,3692,0,0,0,0,0,0
$GC,8342,-0.77,-170.2,751.3,-9.3,368,8343,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2295,3690,0,0,0,0,0,0
$GC,8644,-0.77,-170.2,779.0,-9.1,373,8646,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2295,3689,0,0,0,0,0,0
$GC,8948,-0.77,-170.2,806.0,-8.9,378,8949,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2295,3688,0,0,0,0,0,0
$GC,9251,-0.77,-170.2,832.7,-8.9,383,9252,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2295,3688,0,0,0,0,0,0
$GC,9555,-0.77,-170.2,858.8,-8.7,388,9556,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2295,3687,0,0,0,0,0,0
$GC,9857,-0.77,-170.2,885.0,-8.6,393,9858,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2295,3687,0,0,0,0,0,0
$STATE,9978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9978,begin apogee
$GC,9983,-0.24,0.0,895.6,8.7,395,10127,0.55,0.00,140.90,1.460,6,0.169,0.000,2679,2656,3006,0,0,0,0,0,0
$STATE,10128,end apogee,CONTROL_FINISHED_OK
$STATE,10128,begin climb
$GC,10130,0.87,170.2,901.1,0.0,397,10290,1.15,2.38,149.85,1.370,4,0.117,0.045,3035,4038,2310,0,0,0,0,0,0
$GC,10458,0.65,170.2,875.9,12.5,402,10463,0.25,2.15,0.00,0.000,6,0.186,0.027,2981,2662,2301,0,0,0,0,0,0
$GC,10818,0.61,177.7,845.2,8.4,408,10826,0.00,0.00,5.80,1.153,6,0.000,0.000,2981,2662,2281,0,0,0,0,0,0
$GC,11121,0.57,186.9,819.9,8.4,413,11136,0.12,2.20,9.50,1.298,4,0.201,0.048,2949,4049,2244,0,0,0,0,0,0
$GC,11187,0.55,197.0,814.4,8.3,414,11203,0.00,2.10,10.65,1.269,6,0.000,0.028,2955,2643,2202,0,0,0,0,0,0
$GC,11553,0.58,223.8,786.0,7.8,420,11580,0.00,0.00,25.12,1.349,6,0.000,0.000,2955,2643,2093,0,0,0,0,0,0
$GC,11854,0.63,237.8,761.2,8.2,425,11874,0.00,2.28,12.93,1.307,4,0.000,0.047,2953,4038,2036,0,0,0,0,0,0
$GC,11913,0.63,241.5,756.0,8.6,425,11923,0.00,2.08,4.82,0.971,6,0.000,0.028,2961,2650,2021,0,0,0,0,0,0
$GC,12291,0.67,243.7,724.1,8.6,432,12292,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2650,2017,0,0,0,0,0,0
$GC,12592,0.72,255.0,698.9,8.3,437,12608,0.10,0.00,13.10,1.310,6,0.130,0.000,2997,2647,1966,0,0,0,0,0,0
$GC,12895,0.72,255.0,669.6,9.7,442,12896,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2647,1962,0,0,0,0,0,0
$GC,13198,0.72,255.0,640.7,9.5,447,13202,0.00,2.15,0.00,0.000,4,0.000,0.047,2993,4046,1960,0,0,0,0,0,0
$GC,13252,0.65,255.0,634.8,9.9,447,13260,0.00,2.10,0.00,0.000,6,0.000,0.029,3001,2653,1960,0,0,0,0,0,0
$GC,13562,0.62,255.0,605.6,9.4,453,13564,0.15,0.00,0.00,0.000,6,0.196,0.000,2964,2651,1960,0,0,0,0,0,0
$GC,13865,0.71,292.1,582.9,7.4,458,13900,0.00,0.00,33.40,1.269,6,0.000,0.000,2964,2650,1815,0,0,0,0,0,0
$GC,14168,0.80,321.2,559.9,7.7,463,14198,0.17,0.00,26.65,1.227,6,0.113,0.000,3022,2649,1696,0,0,0,0,0,0
$GC,14472,0.80,321.2,527.4,10.9,468,14473,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2649,1688,0,0,0,0,0,0
$GC,14774,0.80,321.2,494.0,11.1,473,14778,0.00,2.10,0.00,0.000,4,0.000,0.040,3030,1263,1686,0,0,0,0,0,0
$GC,14802,0.80,321.2,490.9,11.1,474,14806,0.00,2.10,0.00,0.000,6,0.000,0.035,3022,2646,1686,0,0,0,0,0,0
$GC,15136,0.80,321.2,452.2,11.7,485,15137,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2646,1684,0,0,0,0,0,0
$GC,15442,0.80,321.2,415.2,12.4,495,15443,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2646,1683,0,0,0,0,0,0
$GC,15748,0.80,321.2,375.7,13.3,505,15749,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2646,1683,0,0,0,0,0,0
$GC,16054,0.80,321.2,337.1,12.2,515,16055,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2646,1683,0,0,0,0,0,0
$GC,16361,0.80,321.2,304.1,10.1,525,16362,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2646,1681,0,0,0,0,0,0
$GC,16669,0.80,321.2,275.1,9.5,539,16673,0.00,2.10,0.00,0.000,4,0.000,0.039,3030,1249,1681,0,0,0,0,0,0
$GC,16690,0.80,321.2,272.9,10.8,540,16694,0.00,2.12,0.00,0.000,6,0.000,0.035,3021,2650,1681,0,0,0,0,0,0
$GC,17017,0.80,321.2,237.4,11.5,556,17018,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2650,1681,0,0,0,0,0,0
$GC,17326,0.80,321.2,200.1,12.5,571,17329,0.00,2.10,0.00,0.000,4,0.000,0.039,3029,1246,1681,0,0,0,0,0,0
$GC,17366,0.80,321.2,195.3,11.4,573,17370,0.00,2.10,0.00,0.000,6,0.000,0.034,3020,2657,1681,0,0,0,0,0,0
$GC,17693,0.80,321.2,155.8,11.7,589,17697,0.00,2.08,0.00,0.000,4,0.000,0.046,3020,4052,1681,0,0,0,0,0,0
$GC,17726,0.76,321.2,151.5,12.5,590,17733,0.00,2.08,0.00,0.000,6,0.000,0.027,3020,2647,1681,0,0,0,0,0,0
$GC,18041,0.76,321.2,117.1,10.5,606,18042,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2645,1682,0,0,0,0,0,0
$GC,18352,0.76,321.2,83.1,11.4,621,18356,0.00,2.05,0.00,0.000,4,0.000,0.038,3020,1248,1682,0,0,0,0,0,0
$GC,18384,0.79,321.2,79.5,9.6,622,18391,0.00,2.10,0.00,0.000,6,0.000,0.032,3020,2645,1682,0,0,0,0,0,0
$GC,18708,0.79,321.2,43.7,11.2,656,18714,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2645,1682,0,0,0,0,0,0
$GC,19046,0.86,377.5,8.8,6.7,717,19091,0.00,0.00,43.17,0.782,2,0.000,0.000,3020,2646,1473,0,0,0,0,0,0
$STATE,19092,end climb,SURFACE_DEPTH_REACHED
$STATE,19092,begin surface coast
$FINISH,3.1,1.027123
$STATE,19130,end surface coast,CONTROL_FINISHED_OK
$STATE,19130,begin surface
$SM_CCo,19207,0.00,0.000,0,0,1465,378.01
$SM_GC,3.66,8.30,0.00,0.00,0.107,0.000,0.000,213,2261,1465,-7.95,-1.10,378.01
$IRIDIUM_FIX,6239.86,333.69,230199,040440
$TT8_MAMPS,0.026845
$HUMID,1078385152
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,22.7,17.914
$10V_AH,10.0,11.180
$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,20.125,72.025,475.900,0.000,0.000,55.189,70.399,199.722,0.000,0.000,35.333,1446.949,15604.509,557.517,1607.376,512.299,0.000,1363.907,0.000,1570.722,0.000,0.535,0.000
$DEVICE_MAMPS,235.469,54.457,1460.368,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,504.722,748.085,453.415,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,233920
$DATA_FILE_SIZE,41259,732
$CAP_FILE_SIZE,127035,0
$CFSIZE,260165632,247025664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.180,297.2,1
$GPS,291009,101151,6301.814,346.392,40,2.5,59,-2.8