version: 66.06
glider: 140
mission: 8
dive: 111
start: 11 1 109 8 36 48
data:
$ID,140
$MISSION,8
$DIVE,111
$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,-46365.32
$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,84
$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
$GPS1,082724,6324.174,231.837,38,1.2,39,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.48
$_SM_ANGLEo,-57.5
$GPS2,083625,6324.188,231.769,13,1.3,13,-3.5
$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,322.3,250641,-13.7,-6.875
$D_GRID,1151
$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,-116.7,0.0,0.0,0,24,0.00,0.00,-7.47,0.000,2,0.000,0.000,219,2258,2045,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.4,-0.0,1,120,8.73,2.05,-74.60,0.000,4,0.235,0.051,2503,926,3483,0,0,0,0,0,0
$GC,368,-0.62,-116.7,32.5,-11.0,62,375,0.17,2.08,0.00,0.000,6,0.179,0.028,2555,2306,3484,0,0,0,0,0,0
$GC,713,-0.62,-116.7,61.5,-6.8,122,717,0.00,2.08,0.00,0.000,4,0.000,0.035,2556,917,3484,0,0,0,0,0,0
$GC,808,-0.58,-116.7,68.4,-7.7,126,812,0.00,2.03,0.00,0.000,6,0.000,0.028,2556,2301,3485,0,0,0,0,0,0
$GC,1135,-0.58,-116.7,90.9,-6.6,142,1139,0.00,2.08,0.00,0.000,4,0.000,0.041,2556,3702,3485,0,0,0,0,0,0
$GC,1211,-0.58,-116.7,96.4,-7.1,145,1216,0.00,2.03,0.00,0.000,6,0.000,0.023,2556,2293,3484,0,0,0,0,0,0
$GC,1534,-0.58,-116.7,120.5,-8.0,161,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2292,3485,0,0,0,0,0,0
$GC,1842,-0.58,-116.7,145.1,-7.6,176,1846,0.00,2.10,0.00,0.000,4,0.000,0.041,2555,3698,3486,0,0,0,0,0,0
$GC,1905,-0.58,-116.7,149.7,-7.5,179,1908,0.00,1.98,0.00,0.000,6,0.000,0.024,2556,2296,3486,0,0,0,0,0,0
$GC,2238,-0.58,-116.7,174.9,-7.9,195,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2291,3485,0,0,0,0,0,0
$GC,2545,-0.58,-116.7,200.2,-7.6,210,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2291,3486,0,0,0,0,0,0
$GC,2855,-0.58,-116.7,222.9,-7.3,225,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2291,3486,0,0,0,0,0,0
$GC,3164,-0.58,-116.7,244.8,-7.1,240,3168,0.00,2.10,0.00,0.000,4,0.000,0.041,2556,3700,3486,0,0,0,0,0,0
$GC,3225,-0.58,-116.7,249.2,-7.3,243,3229,0.00,1.98,0.00,0.000,6,0.000,0.024,2555,2294,3486,0,0,0,0,0,0
$GC,3558,-0.58,-116.7,272.9,-7.2,259,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2290,3486,0,0,0,0,0,0
$GC,3867,-0.58,-116.7,294.0,-6.6,274,3870,0.00,2.10,0.00,0.000,4,0.000,0.041,2556,3702,3486,0,0,0,0,0,0
$GC,3932,-0.58,-116.7,298.8,-6.9,277,3937,0.00,2.00,0.00,0.000,6,0.000,0.023,2556,2298,3486,0,0,0,0,0,0
$GC,4247,-0.58,-116.7,319.8,-6.6,288,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2297,3486,0,0,0,0,0,0
$GC,4553,-0.58,-116.7,340.4,-6.7,298,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2297,3486,0,0,0,0,0,0
$GC,4859,-0.58,-116.7,362.2,-7.7,308,4863,0.00,2.10,0.00,0.000,4,0.000,0.041,2556,3706,3485,0,0,0,0,0,0
$GC,4908,-0.58,-116.7,366.1,-7.6,309,4912,0.00,2.00,0.00,0.000,6,0.000,0.024,2556,2306,3485,0,0,0,0,0,0
$GC,5226,-0.58,-116.7,388.8,-6.9,320,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2306,3485,0,0,0,0,0,0
$GC,5532,-0.58,-116.7,408.0,-5.9,330,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2306,3485,0,0,0,0,0,0
$GC,5839,-0.58,-116.7,426.8,-6.4,340,5843,0.00,2.08,0.00,0.000,4,0.000,0.041,2556,3698,3485,0,0,0,0,0,0
$GC,5883,-0.61,-116.7,429.9,-6.8,341,5887,0.00,1.98,0.00,0.000,6,0.000,0.024,2557,2290,3485,0,0,0,0,0,0
$GC,6206,-0.61,-116.7,450.5,-6.4,352,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2289,3485,0,0,0,0,0,0
$GC,6513,-0.61,-116.7,471.1,-6.7,362,6517,0.00,2.10,0.00,0.000,4,0.000,0.042,2556,3697,3484,0,0,0,0,0,0
$GC,6630,-0.65,-116.7,479.3,-6.8,365,6634,0.00,1.98,0.00,0.000,6,0.000,0.025,2556,2292,3483,0,0,0,0,0,0
$GC,6954,-0.65,-116.7,499.4,-6.2,376,6957,0.00,2.10,0.00,0.000,4,0.000,0.042,2556,3697,3482,0,0,0,0,0,0
$GC,7026,-0.69,-116.7,504.3,-6.8,378,7030,0.00,1.98,0.00,0.000,6,0.000,0.025,2556,2294,3482,0,0,0,0,0,0
$GC,7385,-0.69,-116.7,528.3,-6.8,384,7389,0.00,2.10,0.00,0.000,4,0.000,0.042,2556,3699,3481,0,0,0,0,0,0
$GC,7440,-0.73,-116.7,532.0,-6.6,384,7445,0.00,2.00,0.00,0.000,6,0.000,0.025,2556,2287,3481,0,0,0,0,0,0
$GC,7749,-0.76,-116.7,551.9,-6.4,390,7751,0.12,0.00,0.00,0.000,6,0.139,0.000,2515,2285,3480,0,0,0,0,0,0
$GC,8053,-0.70,-116.7,576.0,-8.0,395,8057,0.00,2.10,0.00,0.000,4,0.000,0.043,2515,3697,3479,0,0,0,0,0,0
$GC,8130,-0.65,-116.7,582.7,-8.6,396,8135,0.15,1.98,0.00,0.000,6,0.188,0.025,2554,2288,3479,0,0,0,0,0,0
$GC,8484,-0.65,-116.7,607.1,-6.8,402,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2286,3478,0,0,0,0,0,0
$GC,8788,-0.65,-116.7,627.6,-6.8,407,8792,0.00,2.12,0.00,0.000,4,0.000,0.044,2554,3705,3477,0,0,0,0,0,0
$GC,8865,-0.70,-116.7,633.0,-7.3,408,8869,0.00,2.03,0.00,0.000,6,0.000,0.026,2554,2302,3477,0,0,0,0,0,0
$GC,9220,-0.73,-116.7,654.5,-6.0,414,9224,0.00,2.10,0.00,0.000,4,0.000,0.044,2554,3701,3475,0,0,0,0,0,0
$GC,9298,-0.77,-116.7,659.3,-6.4,415,9302,0.12,2.00,0.00,0.000,6,0.136,0.026,2515,2291,3475,0,0,0,0,0,0
$GC,9651,-0.72,-116.7,686.0,-7.7,421,9654,0.00,2.00,0.00,0.000,4,0.000,0.038,2515,926,3474,0,0,0,0,0,0
$GC,9712,-0.64,-116.7,691.3,-8.5,421,9718,0.15,2.00,0.00,0.000,6,0.205,0.031,2553,2297,3474,0,0,0,0,0,0
$GC,10022,-0.68,-116.7,712.1,-6.7,427,10026,0.00,2.08,0.00,0.000,4,0.000,0.044,2553,3702,3473,0,0,0,0,0,0
$GC,10105,-0.72,-116.7,717.9,-6.8,428,10109,0.00,2.00,0.00,0.000,6,0.000,0.027,2553,2295,3472,0,0,0,0,0,0
$GC,10459,-0.72,-116.7,740.1,-6.2,434,10463,0.00,2.10,0.00,0.000,4,0.000,0.044,2553,3698,3471,0,0,0,0,0,0
$GC,10514,-0.77,-116.7,743.6,-5.8,434,10521,0.12,2.00,0.00,0.000,6,0.136,0.027,2514,2293,3471,0,0,0,0,0,0
$GC,10823,-0.72,-116.7,766.6,-7.5,440,10824,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2292,3470,0,0,0,0,0,0
$GC,11126,-0.67,-116.7,789.3,-7.5,445,11128,0.12,0.00,0.00,0.000,6,0.199,0.000,2544,2290,3470,0,0,0,0,0,0
$GC,11429,-0.67,-116.7,808.8,-6.4,450,11433,0.00,2.12,0.00,0.000,4,0.000,0.045,2544,3706,3469,0,0,0,0,0,0
$GC,11497,-0.67,-116.7,813.3,-6.8,451,11501,0.00,2.03,0.00,0.000,6,0.000,0.028,2545,2297,3469,0,0,0,0,0,0
$GC,11868,-0.67,-116.7,837.4,-6.5,457,11871,0.00,2.12,0.00,0.000,4,0.000,0.045,2545,3706,3468,0,0,0,0,0,0
$GC,11923,-0.70,-116.7,841.1,-6.7,457,11929,0.00,2.03,0.00,0.000,6,0.000,0.028,2545,2297,3468,0,0,0,0,0,0
$GC,12233,-0.70,-116.7,860.5,-6.3,463,12237,0.00,2.12,0.00,0.000,4,0.000,0.045,2545,3706,3467,0,0,0,0,0,0
$GC,12288,-0.74,-116.7,864.2,-6.7,463,12294,0.00,2.03,0.00,0.000,6,0.000,0.028,2545,2298,3467,0,0,0,0,0,0
$GC,12597,-0.74,-116.7,883.9,-6.4,469,12598,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2297,3467,0,0,0,0,0,0
$GC,12901,-0.74,-116.7,903.1,-6.3,474,12904,0.00,2.12,0.00,0.000,4,0.000,0.045,2545,3706,3466,0,0,0,0,0,0
$GC,12984,-0.77,-116.7,908.6,-6.6,475,12988,0.00,2.03,0.00,0.000,6,0.000,0.028,2545,2297,3465,0,0,0,0,0,0
$GC,13333,-0.77,-116.7,931.0,-6.5,481,13337,0.00,2.12,0.00,0.000,4,0.000,0.045,2545,3697,3465,0,0,0,0,0,0
$GC,13400,-0.80,-116.7,935.5,-6.1,482,13405,0.12,2.03,0.00,0.000,6,0.145,0.028,2504,2286,3465,0,0,0,0,0,0
$GC,13766,-0.74,-116.7,963.4,-7.7,488,13767,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2285,3464,0,0,0,0,0,0
$GC,14068,-0.68,-116.7,986.6,-7.7,493,14070,0.15,0.00,0.00,0.000,6,0.193,0.000,2542,2283,3464,0,0,0,0,0,0
$STATE,14126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14127,begin apogee
$GC,14132,-0.24,0.0,990.7,7.5,494,14231,0.47,0.00,96.88,1.549,6,0.168,0.000,2688,2648,3006,0,0,0,0,0,0
$STATE,14232,end apogee,CONTROL_FINISHED_OK
$STATE,14232,begin climb
$GC,14234,0.80,116.7,992.9,0.0,495,14347,1.02,2.35,104.12,1.458,4,0.119,0.045,3010,4036,2528,0,0,0,0,0,0
$GC,14403,0.56,116.7,987.3,9.0,497,14408,0.25,2.20,0.00,0.000,6,0.178,0.027,2941,2660,2523,0,0,0,0,0,0
$GC,14724,0.59,139.0,968.0,6.0,503,14745,0.00,0.00,19.20,1.420,6,0.000,0.000,2941,2660,2439,0,0,0,0,0,0
$GC,15026,0.59,143.5,947.9,6.7,508,15033,0.00,0.00,4.80,1.108,6,0.000,0.000,2941,2660,2421,0,0,0,0,0,0
$GC,15329,0.59,145.6,927.3,6.8,513,15330,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2660,2419,0,0,0,0,0,0
$GC,15632,0.59,145.6,906.6,6.9,518,15633,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2660,2419,0,0,0,0,0,0
$GC,15936,0.60,150.3,886.3,6.7,523,15945,0.00,0.00,7.25,1.333,6,0.000,0.000,2941,2660,2393,0,0,0,0,0,0
$GC,16238,0.60,153.5,865.8,6.7,528,16248,0.00,2.12,4.45,1.083,4,0.000,0.038,2950,1260,2380,0,0,0,0,0,0
$GC,16265,0.62,163.3,863.9,6.5,528,16280,0.00,2.15,10.50,1.349,6,0.000,0.035,2950,2651,2340,0,0,0,0,0,0
$GC,16600,0.62,163.3,840.2,7.1,534,16604,0.00,2.12,0.00,0.000,4,0.000,0.038,2958,1255,2337,0,0,0,0,0,0
$GC,16611,0.62,163.3,839.4,7.0,534,16615,0.00,2.12,0.00,0.000,6,0.000,0.035,2954,2653,2337,0,0,0,0,0,0
$GC,16959,0.62,164.4,815.4,6.8,540,16961,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2653,2336,0,0,0,0,0,0
$GC,17263,0.62,166.6,794.8,6.8,545,17269,0.00,0.00,4.03,0.999,6,0.000,0.000,2954,2653,2326,0,0,0,0,0,0
$GC,17566,0.62,167.5,774.0,6.8,550,17567,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2653,2325,0,0,0,0,0,0
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$STATE,27504,end climb,SURFACE_DEPTH_REACHED
$STATE,27504,begin surface coast
$FINISH,2.5,1.020173
$STATE,27553,end surface coast,CONTROL_FINISHED_OK
$STATE,27553,begin surface
$SM_CCo,27569,50.72,0.762,0,0,1883,275.23
$SM_GC,3.32,0.00,0.00,50.72,0.000,0.000,0.762,218,2296,1883,-7.96,-0.11,275.23
$IRIDIUM_FIX,6258.74,228.96,260199,080803
$TT8_MAMPS,0.027612
$HUMID,1078309023
$INTERNAL_PRESSURE,8.31087
$TCM_TEMP,20.20
$XPDR_PINGS,1
$24V_AH,23.0,19.635
$10V_AH,10.1,12.249
$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,20.875,154.000,295.100,50.725,0.000,56.637,71.833,218.065,0.250,0.000,13.917,2079.433,22629.900,494.813,2333.427,619.961,0.000,1658.984,0.000,2308.800,0.000,0.535,0.000
$DEVICE_MAMPS,234.702,51.389,1548.573,762.398,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
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$SENSOR_SECS,665.635,986.588,533.501,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235252
$DATA_FILE_SIZE,53859,964
$CAP_FILE_SIZE,197378,0
$CFSIZE,260165632,246136832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.143,226.5,1
$GPS,011109,161824,6325.058,223.660,38,1.4,39,-3.6