version: 66.06
glider: 140
mission: 8
dive: 233
start: 12 9 109 14 11 32
data:
$ID,140
$MISSION,8
$DIVE,233
$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,-48580.906
$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,75
$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
$GPS1,140326,6408.899,128.615,35,1.7,38,-4.2
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,2
$_SM_DEPTHo,3.60
$_SM_ANGLEo,-58.0
$GPS2,141108,6408.996,128.738,12,1.2,12,-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,316.5,156834,-13.7,-6.875
$D_GRID,2310
$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,-7.05,0.000,2,0.000,0.000,213,2269,1992,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.5,-0.0,1,121,9.10,2.15,-79.97,0.000,4,0.238,0.054,2501,917,3482,0,0,0,0,0,0
$GC,372,-0.65,-116.7,27.0,-8.9,63,379,0.17,2.08,0.00,0.000,6,0.184,0.030,2548,2308,3484,0,0,0,0,0,0
$GC,710,-0.65,-116.7,48.1,-6.6,124,717,0.00,2.12,0.00,0.000,4,0.000,0.036,2548,926,3484,0,0,0,0,0,0
$GC,829,-0.61,-116.7,55.4,-5.9,145,835,0.00,2.03,0.00,0.000,6,0.000,0.028,2548,2302,3484,0,0,0,0,0,0
$GC,1170,-0.61,-116.7,77.1,-8.5,206,1175,0.00,2.10,0.00,0.000,4,0.000,0.041,2548,3698,3485,0,0,0,0,0,0
$GC,1232,-0.61,-116.7,82.3,-8.6,217,1238,0.00,2.03,0.00,0.000,6,0.000,0.023,2548,2288,3485,0,0,0,0,0,0
$GC,1573,-0.61,-116.7,102.1,-6.3,278,1579,0.00,2.03,0.00,0.000,4,0.000,0.035,2548,915,3486,0,0,0,0,0,0
$GC,1681,-0.61,-116.7,110.4,-7.5,297,1687,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2310,3485,0,0,0,0,0,0
$GC,2024,-0.61,-116.7,134.2,-6.7,331,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2310,3485,0,0,0,0,0,0
$GC,2332,-0.61,-116.7,155.5,-7.3,346,2336,0.00,2.08,0.00,0.000,4,0.000,0.041,2548,3704,3485,0,0,0,0,0,0
$GC,2395,-0.61,-116.7,160.3,-7.4,349,2398,0.00,2.00,0.00,0.000,6,0.000,0.023,2548,2304,3485,0,0,0,0,0,0
$GC,2728,-0.61,-116.7,185.0,-6.8,365,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2298,3486,0,0,0,0,0,0
$GC,3037,-0.61,-116.7,205.8,-7.0,380,3041,0.00,2.12,0.00,0.000,4,0.000,0.041,2548,3700,3485,0,0,0,0,0,0
$GC,3114,-0.61,-116.7,211.7,-7.3,383,3121,0.00,2.05,0.00,0.000,6,0.000,0.023,2548,2289,3486,0,0,0,0,0,0
$GC,3429,-0.61,-116.7,234.2,-7.0,399,3433,0.00,2.00,0.00,0.000,4,0.000,0.035,2548,926,3485,0,0,0,0,0,0
$GC,3490,-0.61,-116.7,238.5,-7.0,401,3496,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2302,3486,0,0,0,0,0,0
$GC,3806,-0.61,-116.7,261.2,-8.1,417,3809,0.00,2.08,0.00,0.000,4,0.000,0.041,2548,3698,3485,0,0,0,0,0,0
$GC,3883,-0.61,-116.7,267.7,-8.3,420,3887,0.00,2.03,0.00,0.000,6,0.000,0.023,2548,2301,3485,0,0,0,0,0,0
$GC,4205,-0.61,-116.7,290.0,-6.6,436,4209,0.00,2.05,0.00,0.000,4,0.000,0.035,2548,918,3485,0,0,0,0,0,0
$GC,4250,-0.61,-116.7,293.2,-7.0,438,4254,0.00,2.03,0.00,0.000,6,0.000,0.028,2548,2301,3485,0,0,0,0,0,0
$GC,4584,-0.61,-116.7,313.8,-6.2,451,4588,0.00,2.08,0.00,0.000,4,0.000,0.041,2548,3699,3485,0,0,0,0,0,0
$GC,4679,-0.65,-116.7,320.4,-7.3,454,4683,0.00,2.00,0.00,0.000,6,0.000,0.023,2548,2295,3485,0,0,0,0,0,0
$GC,5019,-0.65,-116.7,343.3,-6.9,465,5023,0.00,2.03,0.00,0.000,4,0.000,0.035,2548,909,3485,0,0,0,0,0,0
$GC,5096,-0.65,-116.7,349.6,-8.4,467,5100,0.00,2.08,0.00,0.000,6,0.000,0.028,2548,2299,3485,0,0,0,0,0,0
$GC,5425,-0.65,-116.7,373.8,-7.3,478,5429,0.00,2.12,0.00,0.000,4,0.000,0.042,2548,3706,3485,0,0,0,0,0,0
$GC,5508,-0.68,-116.7,379.5,-6.6,480,5512,0.00,2.03,0.00,0.000,6,0.000,0.024,2548,2284,3485,0,0,0,0,0,0
$GC,5832,-0.68,-116.7,400.2,-6.2,491,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2285,3485,0,0,0,0,0,0
$GC,6137,-0.68,-116.7,421.5,-7.2,501,6141,0.00,2.15,0.00,0.000,4,0.000,0.041,2548,3703,3483,0,0,0,0,0,0
$GC,6243,-0.71,-116.7,429.8,-8.1,504,6248,0.00,2.03,0.00,0.000,6,0.000,0.024,2548,2306,3483,0,0,0,0,0,0
$GC,6578,-0.71,-116.7,454.2,-7.3,515,6582,0.00,2.12,0.00,0.000,4,0.000,0.041,2548,3705,3483,0,0,0,0,0,0
$GC,6639,-0.75,-116.7,458.7,-7.6,517,6643,0.00,2.03,0.00,0.000,6,0.000,0.025,2548,2290,3483,0,0,0,0,0,0
$GC,6975,-0.75,-116.7,481.8,-6.8,528,6978,0.00,2.15,0.00,0.000,4,0.000,0.041,2548,3706,3482,0,0,0,0,0,0
$GC,7041,-0.79,-116.7,486.2,-6.2,530,7046,0.12,2.03,0.00,0.000,6,0.135,0.025,2508,2289,3482,0,0,0,0,0,0
$GC,7369,-0.74,-116.7,510.7,-7.6,539,7372,0.00,2.03,0.00,0.000,4,0.000,0.038,2508,923,3480,0,0,0,0,0,0
$GC,7414,-0.67,-116.7,514.4,-8.3,539,7419,0.15,2.03,0.00,0.000,6,0.189,0.030,2545,2302,3480,0,0,0,0,0,0
$GC,7734,-0.67,-116.7,535.4,-6.5,545,7738,0.00,2.08,0.00,0.000,4,0.000,0.043,2545,3700,3479,0,0,0,0,0,0
$GC,7835,-0.71,-116.7,542.2,-6.2,546,7838,0.00,2.00,0.00,0.000,6,0.000,0.025,2546,2304,3479,0,0,0,0,0,0
$GC,8172,-0.71,-116.7,563.6,-6.4,552,8176,0.00,2.12,0.00,0.000,4,0.000,0.043,2546,3697,3478,0,0,0,0,0,0
$GC,8249,-0.75,-116.7,568.7,-6.8,553,8253,0.00,2.03,0.00,0.000,6,0.000,0.025,2546,2289,3478,0,0,0,0,0,0
$GC,8604,-0.75,-116.7,591.4,-6.5,559,8608,0.00,2.15,0.00,0.000,4,0.000,0.042,2546,3702,3477,0,0,0,0,0,0
$GC,8693,-0.80,-116.7,597.7,-6.6,560,8698,0.12,2.03,0.00,0.000,6,0.140,0.025,2505,2287,3476,0,0,0,0,0,0
$GC,9030,-0.74,-116.7,625.2,-8.2,566,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2286,3475,0,0,0,0,0,0
$GC,9333,-0.68,-116.7,650.1,-8.2,571,9335,0.15,0.00,0.00,0.000,6,0.186,0.000,2543,2284,3474,0,0,0,0,0,0
$GC,9636,-0.68,-116.7,671.7,-7.1,576,9640,0.00,2.15,0.00,0.000,4,0.000,0.044,2543,3696,3473,0,0,0,0,0,0
$GC,9714,-0.72,-116.7,677.3,-7.4,577,9717,0.00,2.00,0.00,0.000,6,0.000,0.026,2544,2308,3473,0,0,0,0,0,0
$GC,10073,-0.75,-116.7,701.4,-6.7,583,10077,0.00,2.12,0.00,0.000,4,0.000,0.044,2544,3695,3472,0,0,0,0,0,0
$GC,10129,-0.80,-116.7,705.3,-6.7,583,10137,0.12,2.03,0.00,0.000,6,0.140,0.026,2503,2293,3472,0,0,0,0,0,0
$GC,10438,-0.74,-116.7,730.9,-8.4,589,10439,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2293,3471,0,0,0,0,0,0
$GC,10741,-0.69,-116.7,756.8,-8.5,594,10743,0.15,0.00,0.00,0.000,6,0.180,0.000,2542,2289,3470,0,0,0,0,0,0
$GC,11044,-0.69,-116.7,778.3,-7.0,599,11048,0.00,2.17,0.00,0.000,4,0.000,0.044,2542,3702,3470,0,0,0,0,0,0
$GC,11116,-0.73,-116.7,783.4,-7.3,600,11120,0.00,2.03,0.00,0.000,6,0.000,0.026,2543,2306,3470,0,0,0,0,0,0
$GC,11481,-0.76,-116.7,808.3,-6.7,606,11485,0.00,2.12,0.00,0.000,4,0.000,0.044,2542,3695,3469,0,0,0,0,0,0
$GC,11617,-0.81,-116.7,817.7,-6.3,608,11622,0.12,2.03,0.00,0.000,6,0.140,0.026,2502,2290,3469,0,0,0,0,0,0
$GC,11976,-0.76,-116.7,846.0,-7.9,614,11977,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2290,3468,0,0,0,0,0,0
$GC,12280,-0.71,-116.7,870.5,-8.0,619,12284,0.12,2.17,0.00,0.000,4,0.187,0.044,2534,3697,3468,0,0,0,0,0,0
$GC,12335,-0.74,-116.7,874.6,-6.6,619,12342,0.00,2.03,0.00,0.000,6,0.000,0.026,2533,2299,3467,0,0,0,0,0,0
$GC,12643,-0.74,-116.7,895.8,-6.8,625,12647,0.00,2.12,0.00,0.000,4,0.000,0.044,2533,3694,3467,0,0,0,0,0,0
$GC,12710,-0.78,-116.7,900.5,-7.0,626,12714,0.00,2.03,0.00,0.000,6,0.000,0.027,2534,2302,3467,0,0,0,0,0,0
$GC,13076,-0.78,-116.7,925.3,-6.7,632,13080,0.00,2.15,0.00,0.000,4,0.000,0.044,2533,3702,3467,0,0,0,0,0,0
$GC,13138,-0.81,-116.7,929.6,-6.8,632,13143,0.00,2.05,0.00,0.000,6,0.000,0.027,2534,2296,3466,0,0,0,0,0,0
$GC,13446,-0.81,-116.7,949.1,-6.3,638,13450,0.00,2.15,0.00,0.000,4,0.000,0.044,2534,3698,3466,0,0,0,0,0,0
$GC,13502,-0.85,-116.7,952.8,-6.7,638,13508,0.15,2.05,0.00,0.000,6,0.130,0.027,2486,2285,3466,0,0,0,0,0,0
$GC,13812,-0.78,-116.7,977.5,-8.1,644,13816,0.00,2.05,0.00,0.000,4,0.000,0.040,2486,914,3466,0,0,0,0,0,0
$GC,13873,-0.70,-116.7,983.0,-9.8,645,13878,0.20,2.05,0.00,0.000,6,0.188,0.032,2539,2295,3466,0,0,0,0,0,0
$STATE,13993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13993,begin apogee
$GC,13999,-0.24,0.0,991.4,6.6,647,14102,0.47,0.00,99.72,1.549,6,0.164,0.000,2680,2654,3006,0,0,0,0,0,0
$STATE,14102,end apogee,CONTROL_FINISHED_OK
$STATE,14102,begin climb
$GC,14104,0.80,116.7,993.6,0.0,648,14221,1.08,2.42,107.50,1.447,4,0.113,0.047,3014,4034,2529,0,0,0,0,0,0
$GC,14272,0.56,116.7,989.3,7.9,651,14277,0.30,2.17,0.00,0.000,6,0.173,0.026,2950,2655,2523,0,0,0,0,0,0
$GC,14603,0.59,144.8,969.9,5.8,657,14630,0.00,0.00,25.08,1.428,6,0.000,0.000,2950,2654,2414,0,0,0,0,0,0
$GC,14906,0.61,160.3,951.2,6.3,662,14922,0.00,0.00,14.52,1.399,6,0.000,0.000,2950,2654,2352,0,0,0,0,0,0
$GC,15209,0.62,165.4,931.0,6.7,667,15217,0.00,0.00,5.80,1.209,6,0.000,0.000,2950,2654,2331,0,0,0,0,0,0
$GC,15512,0.62,165.4,910.1,6.9,672,15514,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2655,2329,0,0,0,0,0,0
$GC,15815,0.62,165.6,889.4,6.9,677,15816,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2654,2328,0,0,0,0,0,0
$GC,16118,0.62,165.6,868.3,7.0,682,16122,0.00,2.17,0.00,0.000,4,0.000,0.047,2950,4045,2328,0,0,0,0,0,0
$GC,16134,0.62,165.6,866.9,7.2,682,16138,0.00,2.10,0.00,0.000,6,0.000,0.027,2954,2653,2328,0,0,0,0,0,0
$GC,16483,0.62,165.6,841.3,7.4,688,16487,0.00,2.15,0.00,0.000,4,0.000,0.047,2954,4040,2327,0,0,0,0,0,0
$GC,16498,0.62,165.6,840.0,7.5,688,16502,0.00,2.10,0.00,0.000,6,0.000,0.028,2962,2650,2327,0,0,0,0,0,0
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$STATE,27014,end climb,SURFACE_DEPTH_REACHED
$STATE,27014,begin surface coast
$FINISH,2.8,1.010298
$STATE,27059,end surface coast,CONTROL_FINISHED_OK
$STATE,27059,begin surface
$SM_CCo,27076,21.02,0.781,0,0,1883,275.23
$SM_GC,3.52,0.00,0.00,21.02,0.000,0.000,0.781,221,2284,1883,-7.95,-0.42,275.23
$IRIDIUM_FIX,6342.00,128.63,050399,060631
$TT8_MAMPS,0.027612
$HUMID,1078387732
$INTERNAL_PRESSURE,8.28157
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,22.4,38.685
$10V_AH,9.9,25.572
$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,22.300,193.850,334.600,21.025,0.000,28.307,31.545,269.665,0.000,0.000,12.803,2475.230,21065.088,545.458,2829.767,636.545,0.000,1919.662,0.000,2806.732,0.000,0.535,0.000
$DEVICE_MAMPS,237.770,53.690,1548.573,780.806,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,822.269,1077.916,666.328,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241444
$DATA_FILE_SIZE,66354,1192
$CAP_FILE_SIZE,218588,0
$CFSIZE,260165632,235626496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057, 36.5,1
$GPS,091209,214424,6411.723,124.437,37,1.7,38,-4.3