version: 66.06
glider: 140
mission: 8
dive: 232
start: 12 9 109 6 27 24
data:
$ID,140
$MISSION,8
$DIVE,232
$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,-48567.477
$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,78
$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
$GPS1,061437,6405.794,133.186,38,1.8,39,-4.2
$_CALLS,1
$_XMS_NAKs,48
$_XMS_TOUTs,8
$_SM_DEPTHo,3.11
$_SM_ANGLEo,-41.8
$GPS2,062701,6405.920,133.187,12,2.0,17,-4.2
$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,317.2,163244,-13.7,-6.875
$D_GRID,2217
$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,13,begin dive
$GC,15,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-7.00,0.000,2,0.000,0.000,219,2282,703,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.2,-0.0,1,177,8.25,2.15,-133.57,0.000,4,0.200,0.051,2504,919,3483,0,0,0,0,0,0
$GC,334,-0.65,-116.7,20.8,-11.9,55,341,0.17,2.10,0.00,0.000,6,0.197,0.028,2549,2316,3485,0,0,0,0,0,0
$GC,667,-0.65,-116.7,57.5,-10.8,116,674,0.00,2.12,0.00,0.000,4,0.000,0.041,2549,3689,3484,0,0,0,0,0,0
$GC,730,-0.65,-116.7,63.8,-10.0,127,735,0.00,2.00,0.00,0.000,6,0.000,0.025,2550,2312,3484,0,0,0,0,0,0
$GC,1072,-0.65,-116.7,86.1,-5.3,188,1079,0.00,2.12,0.00,0.000,4,0.000,0.037,2550,912,3484,0,0,0,0,0,0
$GC,1163,-0.65,-116.7,91.9,-6.3,204,1169,0.00,2.10,0.00,0.000,6,0.000,0.029,2549,2302,3484,0,0,0,0,0,0
$GC,1506,-0.65,-116.7,116.5,-6.5,265,1511,0.00,2.10,0.00,0.000,4,0.000,0.041,2550,3705,3484,0,0,0,0,0,0
$GC,1583,-0.65,-116.7,121.4,-6.3,277,1587,0.00,2.08,0.00,0.000,6,0.000,0.023,2550,2289,3484,0,0,0,0,0,0
$GC,1905,-0.65,-116.7,146.0,-8.1,293,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2289,3484,0,0,0,0,0,0
$GC,2213,-0.65,-116.7,168.5,-6.5,308,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2289,3484,0,0,0,0,0,0
$GC,2524,-0.65,-116.7,188.0,-6.1,323,2528,0.00,2.15,0.00,0.000,4,0.000,0.040,2550,3708,3484,0,0,0,0,0,0
$GC,2590,-0.65,-116.7,192.3,-6.4,326,2594,0.00,2.03,0.00,0.000,6,0.000,0.023,2550,2295,3484,0,0,0,0,0,0
$GC,2918,-0.65,-116.7,213.8,-6.6,342,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2295,3484,0,0,0,0,0,0
$GC,3226,-0.65,-116.7,235.3,-6.9,357,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2295,3484,0,0,0,0,0,0
$GC,3536,-0.65,-116.7,255.3,-6.4,372,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2295,3484,0,0,0,0,0,0
$GC,3845,-0.65,-116.7,275.0,-6.6,387,3849,0.00,2.03,0.00,0.000,4,0.000,0.035,2550,920,3484,0,0,0,0,0,0
$GC,3936,-0.65,-116.7,281.8,-7.9,391,3940,0.00,2.03,0.00,0.000,6,0.000,0.028,2550,2304,3483,0,0,0,0,0,0
$GC,4277,-0.65,-116.7,307.5,-7.0,406,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2304,3483,0,0,0,0,0,0
$GC,4583,-0.65,-116.7,326.1,-6.3,416,4587,0.00,2.08,0.00,0.000,4,0.000,0.035,2550,912,3483,0,0,0,0,0,0
$GC,4638,-0.65,-116.7,330.4,-8.1,417,4644,0.00,2.08,0.00,0.000,6,0.000,0.028,2550,2304,3483,0,0,0,0,0,0
$GC,4951,-0.65,-116.7,349.8,-5.8,428,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2304,3483,0,0,0,0,0,0
$GC,5257,-0.65,-116.7,368.6,-6.0,438,5258,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2305,3483,0,0,0,0,0,0
$GC,5563,-0.65,-116.7,390.5,-7.0,448,5567,0.00,2.08,0.00,0.000,4,0.000,0.041,2550,3706,3483,0,0,0,0,0,0
$GC,5646,-0.70,-116.7,396.2,-7.1,450,5651,0.00,2.05,0.00,0.000,6,0.000,0.024,2550,2294,3483,0,0,0,0,0,0
$GC,5970,-0.70,-116.7,419.0,-7.3,461,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2294,3482,0,0,0,0,0,0
$GC,6277,-0.73,-116.7,441.7,-7.2,471,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2295,3482,0,0,0,0,0,0
$GC,6582,-0.73,-116.7,460.1,-5.9,481,6586,0.00,2.15,0.00,0.000,4,0.000,0.042,2550,3705,3481,0,0,0,0,0,0
$GC,6651,-0.78,-116.7,464.1,-5.6,483,6656,0.12,2.03,0.00,0.000,6,0.134,0.025,2510,2289,3481,0,0,0,0,0,0
$GC,6985,-0.73,-116.7,491.1,-8.6,494,6989,0.00,2.03,0.00,0.000,4,0.000,0.038,2510,920,3480,0,0,0,0,0,0
$GC,7035,-0.66,-116.7,495.7,-8.9,495,7040,0.12,2.08,0.00,0.000,6,0.171,0.029,2547,2306,3480,0,0,0,0,0,0
$GC,7356,-0.66,-116.7,517.3,-6.6,502,7360,0.00,2.08,0.00,0.000,4,0.000,0.042,2547,3698,3478,0,0,0,0,0,0
$GC,7406,-0.71,-116.7,521.0,-7.4,502,7410,0.00,2.03,0.00,0.000,6,0.000,0.025,2548,2312,3478,0,0,0,0,0,0
$GC,7726,-0.74,-116.7,543.5,-7.1,508,7728,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2312,3477,0,0,0,0,0,0
$GC,8030,-0.78,-116.7,563.4,-6.6,513,8034,0.00,2.12,0.00,0.000,4,0.000,0.042,2548,3705,3476,0,0,0,0,0,0
$GC,8074,-0.82,-116.7,566.4,-6.7,513,8079,0.15,2.03,0.00,0.000,6,0.125,0.025,2500,2293,3476,0,0,0,0,0,0
$GC,8395,-0.75,-116.7,591.5,-7.9,519,8398,0.00,2.03,0.00,0.000,4,0.000,0.038,2500,927,3475,0,0,0,0,0,0
$GC,8467,-0.67,-116.7,597.7,-8.2,520,8472,0.17,2.03,0.00,0.000,6,0.191,0.031,2544,2305,3475,0,0,0,0,0,0
$GC,8826,-0.67,-116.7,620.5,-6.4,526,8830,0.00,2.10,0.00,0.000,4,0.000,0.044,2544,3700,3473,0,0,0,0,0,0
$GC,8882,-0.71,-116.7,624.0,-6.5,526,8889,0.00,2.03,0.00,0.000,6,0.000,0.025,2545,2298,3474,0,0,0,0,0,0
$GC,9191,-0.74,-116.7,642.1,-5.8,532,9192,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2298,3472,0,0,0,0,0,0
$GC,9494,-0.74,-116.7,659.0,-5.5,537,9498,0.00,2.15,0.00,0.000,4,0.000,0.044,2545,3702,3472,0,0,0,0,0,0
$GC,9594,-0.79,-116.7,664.9,-5.8,538,9599,0.10,2.05,0.00,0.000,6,0.150,0.026,2515,2289,3471,0,0,0,0,0,0
$GC,9925,-0.76,-116.7,687.9,-7.1,544,9926,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2289,3470,0,0,0,0,0,0
$GC,10228,-0.72,-116.7,711.9,-8.1,549,10229,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2288,3469,0,0,0,0,0,0
$GC,10531,-0.72,-116.7,737.6,-8.6,554,10532,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2288,3469,0,0,0,0,0,0
$GC,10835,-0.69,-116.7,764.5,-8.9,559,10836,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2289,3469,0,0,0,0,0,0
$GC,11137,-0.69,-116.7,791.3,-8.9,564,11141,0.00,2.17,0.00,0.000,4,0.000,0.044,2514,3702,3468,0,0,0,0,0,0
$GC,11180,-0.69,-116.7,795.3,-9.1,564,11184,0.00,2.08,0.00,0.000,6,0.000,0.026,2514,2310,3467,0,0,0,0,0,0
$GC,11501,-0.69,-116.7,823.1,-8.7,570,11502,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2310,3467,0,0,0,0,0,0
$GC,11804,-0.69,-116.7,848.6,-8.4,575,11805,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2310,3466,0,0,0,0,0,0
$GC,12106,-0.69,-116.7,872.5,-7.8,580,12108,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2309,3466,0,0,0,0,0,0
$GC,12410,-0.69,-116.7,895.4,-7.5,585,12411,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2308,3465,0,0,0,0,0,0
$GC,12713,-0.69,-116.7,918.0,-7.5,590,12717,0.00,2.12,0.00,0.000,4,0.000,0.044,2514,3695,3464,0,0,0,0,0,0
$GC,12773,-0.69,-116.7,922.5,-7.1,590,12780,0.00,2.08,0.00,0.000,6,0.000,0.027,2514,2299,3464,0,0,0,0,0,0
$GC,13082,-0.69,-116.7,945.2,-7.4,596,13083,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2299,3464,0,0,0,0,0,0
$GC,13385,-0.69,-116.7,967.8,-7.4,601,13386,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2299,3463,0,0,0,0,0,0
$GC,13689,-0.69,-116.7,989.7,-7.1,606,13693,0.00,2.15,0.00,0.000,4,0.000,0.044,2514,3705,3463,0,0,0,0,0,0
$STATE,13697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13697,begin apogee
$GC,13703,-0.24,0.0,990.4,7.0,606,13808,0.55,0.00,98.20,1.545,6,0.166,0.000,2679,2631,3006,0,0,0,0,0,0
$STATE,13809,end apogee,CONTROL_FINISHED_OK
$STATE,13809,begin climb
$GC,13811,0.80,116.7,993.9,0.0,608,13928,1.05,2.50,107.07,1.444,4,0.111,0.047,3013,4030,2529,0,0,0,0,0,0
$GC,13939,0.60,116.7,990.4,7.0,610,13944,0.25,2.22,0.00,0.000,6,0.176,0.026,2964,2655,2526,0,0,0,0,0,0
$GC,14305,0.55,120.3,966.1,6.7,616,14306,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2655,2519,0,0,0,0,0,0
$GC,14608,0.50,127.3,946.2,6.6,621,14622,0.12,2.25,8.75,1.365,4,0.204,0.048,2933,4033,2487,0,0,0,0,0,0
$GC,14650,0.46,127.4,943.3,6.9,621,14654,0.00,2.10,0.00,0.000,6,0.000,0.027,2941,2641,2486,0,0,0,0,0,0
$GC,14977,0.48,149.3,923.8,6.0,627,15000,0.00,0.00,20.92,1.426,6,0.000,0.000,2941,2640,2397,0,0,0,0,0,0
$GC,15279,0.49,158.0,904.0,6.5,632,15290,0.00,0.00,9.02,1.346,6,0.000,0.000,2941,2640,2361,0,0,0,0,0,0
$GC,15582,0.50,166.1,884.2,6.5,637,15593,0.00,0.00,8.75,1.338,6,0.000,0.000,2941,2640,2328,0,0,0,0,0,0
$GC,15886,0.51,172.8,864.2,6.6,642,15895,0.00,0.00,7.45,1.298,6,0.000,0.000,2941,2640,2301,0,0,0,0,0,0
$GC,16189,0.51,173.3,843.5,6.9,647,16190,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2639,2298,0,0,0,0,0,0
$GC,16491,0.51,173.3,822.6,6.9,652,16495,0.00,2.10,0.00,0.000,4,0.000,0.039,2951,1248,2297,0,0,0,0,0,0
$GC,16507,0.51,173.3,821.4,6.9,652,16512,0.00,2.15,0.00,0.000,6,0.000,0.035,2951,2636,2297,0,0,0,0,0,0
$GC,16856,0.51,173.3,796.2,7.3,658,16857,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2636,2297,0,0,0,0,0,0
$GC,17159,0.51,173.3,773.8,7.4,663,17160,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2636,2297,0,0,0,0,0,0
$GC,17461,0.51,173.3,751.9,7.2,668,17463,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2636,2296,0,0,0,0,0,0
$GC,17765,0.51,173.3,730.1,7.2,673,17766,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2636,2296,0,0,0,0,0,0
$GC,18068,0.51,173.3,708.8,7.0,678,18069,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2636,2296,0,0,0,0,0,0
$GC,18371,0.51,173.3,687.0,7.2,683,18373,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2636,2295,0,0,0,0,0,0
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$GC,27075,0.80,224.9,13.2,7.1,1148,27082,0.15,2.10,0.00,0.000,4,0.115,0.036,3028,1264,2088,0,0,0,0,0,0
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$STATE,27175,end climb,SURFACE_DEPTH_REACHED
$STATE,27176,begin surface coast
$FINISH,2.8,1.027308
$STATE,27212,end surface coast,CONTROL_FINISHED_OK
$STATE,27213,begin surface
$SM_CCo,27289,0.00,0.000,0,0,1849,283.57
$SM_GC,3.55,8.30,0.00,0.00,0.098,0.000,0.000,214,2271,1849,-7.95,-0.82,283.57
$IRIDIUM_FIX,6337.14,143.25,040399,222235
$TT8_MAMPS,0.026845
$HUMID,1078361926
$INTERNAL_PRESSURE,8.28157
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,22.5,38.529
$10V_AH,9.9,25.455
$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,20.050,151.725,361.050,0.000,0.000,29.970,35.168,523.753,0.000,0.000,18.359,2302.342,21800.424,541.152,2476.626,900.535,0.000,1791.234,0.000,2459.238,0.000,0.535,0.000
$DEVICE_MAMPS,204.022,51.389,1544.738,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,805.970,1065.924,640.700,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241420
$DATA_FILE_SIZE,66329,1171
$CAP_FILE_SIZE,200376,0
$CFSIZE,260165632,235732992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059, 28.0,1
$GPS,091209,140326,6408.899,128.615,35,1.7,38,-4.2