version: 66.06
glider: 140
mission: 8
dive: 122
start: 11 4 109 21 23 44
data:
$ID,140
$MISSION,8
$DIVE,122
$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,-46550.562
$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,69
$R_STBD_OVSHOOT,46
$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
$GPS1,211431,6353.626,138.355,37,1.4,38,-4.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.41
$_SM_ANGLEo,-66.7
$GPS2,212320,6353.703,138.280,15,1.2,15,-4.1
$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,321.4,182099,-13.7,-6.875
$D_GRID,1902
$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,-116.7,0.0,0.0,0,23,0.00,0.00,-7.18,0.000,2,0.000,0.000,213,2287,2028,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.4,-0.0,1,123,9.23,2.20,-80.45,0.000,4,0.252,0.056,2504,3712,3481,0,0,0,0,0,0
$GC,230,-0.67,-116.7,11.9,-10.4,37,236,0.15,2.08,0.00,0.000,6,0.191,0.024,2543,2271,3482,0,0,0,0,0,0
$GC,565,-0.61,-116.7,40.2,-7.5,98,572,0.00,2.03,0.00,0.000,4,0.000,0.035,2543,930,3483,0,0,0,0,0,0
$GC,629,-0.54,-116.7,45.5,-9.0,109,636,0.17,2.03,0.00,0.000,6,0.187,0.028,2591,2312,3483,0,0,0,0,0,0
$GC,971,-0.59,-116.7,68.3,-6.6,154,975,0.00,2.05,0.00,0.000,4,0.000,0.041,2591,3695,3484,0,0,0,0,0,0
$GC,1015,-0.66,-116.7,71.4,-6.9,156,1020,0.12,2.03,0.00,0.000,6,0.131,0.024,2552,2295,3483,0,0,0,0,0,0
$GC,1342,-0.62,-116.7,98.7,-7.9,172,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2294,3483,0,0,0,0,0,0
$GC,1653,-0.62,-116.7,120.6,-7.5,187,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2294,3483,0,0,0,0,0,0
$GC,1960,-0.62,-116.7,147.1,-8.8,202,1964,0.00,2.10,0.00,0.000,4,0.000,0.041,2552,3696,3484,0,0,0,0,0,0
$GC,2022,-0.62,-116.7,152.6,-9.2,205,2026,0.00,1.98,0.00,0.000,6,0.000,0.023,2552,2300,3484,0,0,0,0,0,0
$GC,2355,-0.62,-116.7,179.2,-7.5,221,2358,0.00,2.00,0.00,0.000,4,0.000,0.035,2552,927,3484,0,0,0,0,0,0
$GC,2415,-0.59,-116.7,184.0,-7.7,223,2421,0.00,2.00,0.00,0.000,6,0.000,0.028,2552,2304,3484,0,0,0,0,0,0
$GC,2731,-0.59,-116.7,205.6,-6.8,239,2735,0.00,2.05,0.00,0.000,4,0.000,0.041,2552,3702,3484,0,0,0,0,0,0
$GC,2792,-0.59,-116.7,210.1,-7.3,242,2796,0.00,1.98,0.00,0.000,6,0.000,0.024,2552,2299,3484,0,0,0,0,0,0
$GC,3124,-0.59,-116.7,234.3,-7.6,258,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2294,3485,0,0,0,0,0,0
$GC,3433,-0.59,-116.7,256.9,-7.1,273,3437,0.00,2.10,0.00,0.000,4,0.000,0.041,2552,3704,3485,0,0,0,0,0,0
$GC,3476,-0.59,-116.7,259.9,-7.0,275,3481,0.00,2.00,0.00,0.000,6,0.000,0.023,2552,2304,3484,0,0,0,0,0,0
$GC,3804,-0.59,-116.7,282.1,-7.0,291,3808,0.00,2.03,0.00,0.000,4,0.000,0.035,2552,917,3485,0,0,0,0,0,0
$GC,3938,-0.59,-116.7,291.7,-7.0,297,3942,0.00,2.03,0.00,0.000,6,0.000,0.028,2552,2313,3484,0,0,0,0,0,0
$GC,4262,-0.59,-116.7,315.2,-7.6,310,4266,0.00,2.05,0.00,0.000,4,0.000,0.035,2552,918,3485,0,0,0,0,0,0
$GC,4339,-0.59,-116.7,321.8,-8.8,312,4344,0.00,2.05,0.00,0.000,6,0.000,0.028,2552,2304,3485,0,0,0,0,0,0
$GC,4664,-0.59,-116.7,346.9,-7.4,323,4668,0.00,2.05,0.00,0.000,4,0.000,0.041,2552,3699,3485,0,0,0,0,0,0
$GC,4752,-0.59,-116.7,353.8,-7.4,325,4759,0.00,2.00,0.00,0.000,6,0.000,0.024,2552,2297,3485,0,0,0,0,0,0
$GC,5065,-0.59,-116.7,375.6,-7.0,336,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2296,3484,0,0,0,0,0,0
$GC,5371,-0.59,-116.7,395.9,-6.4,346,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2296,3484,0,0,0,0,0,0
$GC,5677,-0.59,-116.7,414.6,-6.1,356,5681,0.00,2.00,0.00,0.000,4,0.000,0.036,2552,927,3483,0,0,0,0,0,0
$GC,5783,-0.59,-116.7,421.7,-6.7,359,5787,0.00,2.03,0.00,0.000,6,0.000,0.029,2552,2297,3482,0,0,0,0,0,0
$GC,6118,-0.59,-116.7,442.4,-6.0,370,6122,0.00,2.05,0.00,0.000,4,0.000,0.041,2552,3698,3481,0,0,0,0,0,0
$GC,6229,-0.59,-116.7,449.5,-6.4,373,6234,0.00,2.00,0.00,0.000,6,0.000,0.025,2552,2304,3481,0,0,0,0,0,0
$GC,6553,-0.59,-116.7,472.3,-7.4,384,6554,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2303,3480,0,0,0,0,0,0
$GC,6859,-0.59,-116.7,493.8,-7.1,394,6860,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2303,3479,0,0,0,0,0,0
$GC,7194,-0.59,-116.7,516.7,-6.8,401,7198,0.00,2.10,0.00,0.000,4,0.000,0.043,2552,3701,3478,0,0,0,0,0,0
$GC,7260,-0.59,-116.7,521.6,-7.2,402,7264,0.00,2.03,0.00,0.000,6,0.000,0.025,2552,2305,3478,0,0,0,0,0,0
$GC,7625,-0.59,-116.7,546.9,-7.0,408,7629,0.00,2.10,0.00,0.000,4,0.000,0.043,2552,3702,3477,0,0,0,0,0,0
$GC,7687,-0.59,-116.7,551.3,-7.7,409,7690,0.00,2.00,0.00,0.000,6,0.000,0.026,2552,2302,3476,0,0,0,0,0,0
$GC,8058,-0.59,-116.7,578.4,-7.4,415,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2297,3475,0,0,0,0,0,0
$GC,8360,-0.59,-116.7,600.3,-7.2,420,8364,0.00,2.10,0.00,0.000,4,0.000,0.044,2552,3697,3475,0,0,0,0,0,0
$GC,8437,-0.62,-116.7,605.7,-6.8,421,8441,0.00,2.05,0.00,0.000,6,0.000,0.027,2552,2292,3474,0,0,0,0,0,0
$GC,8792,-0.62,-116.7,628.6,-6.4,427,8793,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2291,3473,0,0,0,0,0,0
$GC,9094,-0.62,-116.7,648.3,-6.6,432,9098,0.00,2.12,0.00,0.000,4,0.000,0.044,2552,3703,3472,0,0,0,0,0,0
$GC,9184,-0.65,-116.7,654.2,-6.6,433,9188,0.00,2.00,0.00,0.000,6,0.000,0.027,2552,2297,3472,0,0,0,0,0,0
$GC,9521,-0.65,-116.7,675.4,-6.2,439,9525,0.00,2.10,0.00,0.000,4,0.000,0.044,2552,3697,3471,0,0,0,0,0,0
$GC,9584,-0.68,-116.7,679.3,-6.6,440,9587,0.00,2.00,0.00,0.000,6,0.000,0.027,2552,2303,3471,0,0,0,0,0,0
$GC,9954,-0.68,-116.7,701.9,-6.1,446,9956,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2300,3470,0,0,0,0,0,0
$GC,10258,-0.68,-116.7,720.8,-6.2,451,10261,0.00,2.12,0.00,0.000,4,0.000,0.045,2552,3697,3470,0,0,0,0,0,0
$GC,10358,-0.72,-116.7,726.9,-6.3,452,10362,0.00,2.05,0.00,0.000,6,0.000,0.027,2552,2266,3469,0,0,0,0,0,0
$GC,10690,-0.72,-116.7,746.6,-6.0,458,10694,0.00,2.17,0.00,0.000,4,0.000,0.044,2552,3701,3469,0,0,0,0,0,0
$GC,10745,-0.76,-116.7,750.1,-6.2,458,10749,0.00,2.05,0.00,0.000,6,0.000,0.027,2552,2300,3468,0,0,0,0,0,0
$GC,11060,-0.76,-116.7,768.2,-5.7,464,11061,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2298,3468,0,0,0,0,0,0
$GC,11363,-0.76,-116.7,786.3,-5.9,469,11367,0.00,2.12,0.00,0.000,4,0.000,0.044,2552,3702,3468,0,0,0,0,0,0
$GC,11463,-0.80,-116.7,792.4,-5.8,470,11468,0.12,2.03,0.00,0.000,6,0.139,0.027,2512,2288,3467,0,0,0,0,0,0
$GC,11794,-0.74,-116.7,815.8,-7.1,476,11797,0.00,2.03,0.00,0.000,4,0.000,0.041,2512,915,3467,0,0,0,0,0,0
$GC,11844,-0.67,-116.7,819.9,-8.6,476,11848,0.12,2.05,0.00,0.000,6,0.215,0.032,2542,2306,3467,0,0,0,0,0,0
$GC,12163,-0.67,-116.7,838.9,-5.9,482,12167,0.00,2.08,0.00,0.000,4,0.000,0.044,2541,3707,3467,0,0,0,0,0,0
$GC,12230,-0.67,-116.7,843.0,-6.4,483,12234,0.00,2.03,0.00,0.000,6,0.000,0.027,2542,2295,3466,0,0,0,0,0,0
$GC,12595,-0.67,-116.7,865.8,-6.3,489,12596,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2293,3465,0,0,0,0,0,0
$GC,12898,-0.67,-116.7,885.2,-6.4,494,12902,0.00,2.12,0.00,0.000,4,0.000,0.045,2542,3702,3465,0,0,0,0,0,0
$GC,12971,-0.67,-116.7,889.9,-6.1,495,12975,0.00,2.03,0.00,0.000,6,0.000,0.028,2542,2295,3465,0,0,0,0,0,0
$GC,13330,-0.67,-116.7,911.6,-6.0,501,13331,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2293,3464,0,0,0,0,0,0
$GC,13633,-0.67,-116.7,930.6,-6.3,506,13637,0.00,2.12,0.00,0.000,4,0.000,0.045,2542,3702,3464,0,0,0,0,0,0
$GC,13728,-0.67,-116.7,936.8,-6.2,507,13732,0.00,2.03,0.00,0.000,6,0.000,0.027,2542,2295,3464,0,0,0,0,0,0
$GC,14065,-0.67,-116.7,957.3,-6.1,513,14066,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2293,3464,0,0,0,0,0,0
$GC,14368,-0.67,-116.7,975.3,-6.0,518,14372,0.00,2.12,0.00,0.000,4,0.000,0.045,2542,3701,3463,0,0,0,0,0,0
$GC,14458,-0.67,-116.7,981.0,-6.5,519,14461,0.00,2.03,0.00,0.000,6,0.000,0.028,2542,2292,3463,0,0,0,0,0,0
$STATE,14616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14616,begin apogee
$GC,14621,-0.24,0.0,990.7,6.0,522,14721,0.47,0.00,97.00,1.553,6,0.171,0.000,2685,2655,3006,0,0,0,0,0,0
$STATE,14722,end apogee,CONTROL_FINISHED_OK
$STATE,14722,begin climb
$GC,14724,0.80,116.7,992.4,0.0,523,14839,1.08,2.40,104.95,1.460,4,0.120,0.047,3016,4031,2528,0,0,0,0,0,0
$GC,14895,0.55,116.7,985.3,9.5,526,14900,0.28,2.22,0.00,0.000,6,0.173,0.027,2944,2652,2523,0,0,0,0,0,0
$GC,15232,0.52,127.2,963.0,6.5,532,15247,0.00,2.28,8.80,1.348,4,0.000,0.048,2940,4035,2487,0,0,0,0,0,0
$GC,15253,0.50,134.5,961.5,6.6,532,15267,0.00,2.12,8.50,1.222,6,0.000,0.028,2949,2647,2456,0,0,0,0,0,0
$GC,15600,0.47,137.9,938.4,6.7,538,15605,0.12,2.20,0.00,0.000,4,0.193,0.047,2912,4039,2452,0,0,0,0,0,0
$GC,15615,0.48,142.3,937.3,6.7,538,15630,0.00,2.12,8.10,1.335,6,0.000,0.028,2921,2650,2425,0,0,0,0,0,0
$GC,15963,0.52,156.6,915.7,6.3,544,15979,0.00,0.00,13.95,1.411,6,0.000,0.000,2921,2648,2367,0,0,0,0,0,0
$GC,16266,0.57,163.3,895.8,6.6,549,16275,0.00,0.00,7.20,1.306,6,0.000,0.000,2921,2648,2340,0,0,0,0,0,0
$GC,16569,0.64,174.1,876.2,6.4,554,16583,0.15,0.00,11.15,1.384,6,0.110,0.000,2975,2645,2296,0,0,0,0,0,0
$GC,16873,0.59,174.1,851.4,8.2,559,16874,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2645,2293,0,0,0,0,0,0
$GC,17175,0.54,174.1,826.9,8.1,564,17180,0.12,2.17,0.00,0.000,4,0.186,0.047,2940,4042,2292,0,0,0,0,0,0
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$STATE,28036,end climb,SURFACE_DEPTH_REACHED
$STATE,28036,begin surface coast
$FINISH,2.7,1.014262
$STATE,28104,end surface coast,CONTROL_FINISHED_OK
$STATE,28104,begin surface
$SM_CCo,28121,27.02,0.775,0,0,1884,275.23
$SM_GC,3.41,0.00,0.00,27.02,0.000,0.000,0.775,215,2295,1884,-7.97,-0.14,275.23
$IRIDIUM_FIX,6327.46,137.64,290199,212109
$TT8_MAMPS,0.026845
$HUMID,1078349023
$INTERNAL_PRESSURE,8.2718
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,22.8,21.300
$10V_AH,10.1,13.383
$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,20.525,171.700,321.850,27.025,0.000,57.666,63.667,207.808,0.000,0.000,15.247,2174.281,22846.742,501.059,2536.527,615.091,0.000,1757.695,0.000,2507.928,0.000,0.535,0.000
$DEVICE_MAMPS,252.343,55.991,1553.175,775.437,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,700.231,1035.859,583.256,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235228
$DATA_FILE_SIZE,56893,1012
$CAP_FILE_SIZE,203303,0
$CFSIZE,260165632,245235712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.164,275.8,1
$GPS,051109,051407,6356.216,127.559,37,2.0,37,-4.2