version: 66.06
glider: 140
mission: 8
dive: 117
start: 11 3 109 6 48 56
data:
$ID,140
$MISSION,8
$DIVE,117
$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,-46463.293
$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,44
$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
$GPS1,063430,6338.024,158.639,37,1.3,43,-3.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.11
$_SM_ANGLEo,-59.9
$GPS2,064832,6338.173,158.607,16,1.3,16,-3.9
$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,323.3,214133,-13.7,-6.875
$D_GRID,1459
$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,15,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-7.65,0.000,2,0.000,0.000,215,2291,2041,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.2,-0.0,1,124,8.95,2.15,-79.40,0.000,4,0.242,0.050,2505,907,3483,0,0,0,0,0,0
$GC,375,-0.65,-116.7,30.6,-13.4,63,381,0.17,2.08,0.00,0.000,6,0.195,0.028,2552,2312,3484,0,0,0,0,0,0
$GC,710,-0.61,-116.7,57.6,-7.0,124,717,0.00,2.12,0.00,0.000,4,0.000,0.034,2553,915,3484,0,0,0,0,0,0
$GC,794,-0.57,-116.7,64.6,-8.5,132,803,0.00,2.08,0.00,0.000,6,0.000,0.028,2552,2297,3484,0,0,0,0,0,0
$GC,1110,-0.54,-116.7,90.2,-8.2,148,1112,0.12,0.00,0.00,0.000,6,0.206,0.000,2584,2297,3484,0,0,0,0,0,0
$GC,1421,-0.58,-116.7,108.6,-5.5,163,1425,0.00,2.08,0.00,0.000,4,0.000,0.041,2584,3702,3484,0,0,0,0,0,0
$GC,1476,-0.65,-116.7,112.0,-6.3,165,1482,0.00,2.00,0.00,0.000,6,0.000,0.023,2584,2282,3484,0,0,0,0,0,0
$GC,1794,-0.71,-116.7,131.1,-5.1,181,1796,0.15,0.00,0.00,0.000,6,0.123,0.000,2535,2279,3484,0,0,0,0,0,0
$GC,2101,-0.66,-116.7,155.0,-8.8,196,2105,0.00,2.12,0.00,0.000,4,0.000,0.040,2535,3700,3485,0,0,0,0,0,0
$GC,2155,-0.61,-116.7,160.2,-9.4,198,2163,0.08,2.00,0.00,0.000,6,0.171,0.023,2558,2290,3485,0,0,0,0,0,0
$GC,2470,-0.61,-116.7,183.9,-7.0,214,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2290,3485,0,0,0,0,0,0
$GC,2780,-0.61,-116.7,205.7,-7.2,229,2784,0.00,2.10,0.00,0.000,4,0.000,0.041,2558,3699,3485,0,0,0,0,0,0
$GC,2834,-0.61,-116.7,209.7,-7.1,231,2841,0.00,2.00,0.00,0.000,6,0.000,0.023,2558,2299,3485,0,0,0,0,0,0
$GC,3150,-0.61,-116.7,231.8,-6.7,247,3154,0.00,1.98,0.00,0.000,4,0.000,0.034,2558,931,3485,0,0,0,0,0,0
$GC,3199,-0.61,-116.7,235.5,-7.4,249,3204,0.00,2.03,0.00,0.000,6,0.000,0.028,2558,2299,3486,0,0,0,0,0,0
$GC,3527,-0.61,-116.7,257.5,-6.8,265,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2299,3485,0,0,0,0,0,0
$GC,3836,-0.61,-116.7,278.8,-7.1,280,3840,0.00,2.05,0.00,0.000,4,0.000,0.041,2558,3701,3485,0,0,0,0,0,0
$GC,3913,-0.61,-116.7,284.6,-7.6,283,3919,0.00,2.00,0.00,0.000,6,0.000,0.023,2558,2290,3485,0,0,0,0,0,0
$GC,4238,-0.61,-116.7,306.7,-6.6,298,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2289,3485,0,0,0,0,0,0
$GC,4545,-0.61,-116.7,326.0,-6.3,308,4549,0.00,2.10,0.00,0.000,4,0.000,0.041,2558,3705,3485,0,0,0,0,0,0
$GC,4600,-0.61,-116.7,329.8,-6.4,309,4606,0.00,2.00,0.00,0.000,6,0.000,0.023,2558,2300,3484,0,0,0,0,0,0
$GC,4912,-0.61,-116.7,348.9,-6.2,320,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2299,3485,0,0,0,0,0,0
$GC,5218,-0.61,-116.7,369.8,-6.9,330,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2298,3485,0,0,0,0,0,0
$GC,5525,-0.61,-116.7,391.1,-6.8,340,5528,0.00,2.08,0.00,0.000,4,0.000,0.041,2558,3698,3484,0,0,0,0,0,0
$GC,5592,-0.65,-116.7,395.5,-6.6,342,5596,0.00,1.95,0.00,0.000,6,0.000,0.024,2558,2301,3484,0,0,0,0,0,0
$GC,5933,-0.65,-116.7,415.6,-5.8,353,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2298,3484,0,0,0,0,0,0
$GC,6239,-0.65,-116.7,434.6,-6.5,363,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2298,3484,0,0,0,0,0,0
$GC,6545,-0.65,-116.7,455.7,-7.0,373,6549,0.00,2.10,0.00,0.000,4,0.000,0.042,2558,3708,3483,0,0,0,0,0,0
$GC,6606,-0.69,-116.7,460.2,-7.6,374,6612,0.00,1.98,0.00,0.000,6,0.000,0.025,2558,2302,3483,0,0,0,0,0,0
$GC,6919,-0.72,-116.7,479.9,-6.1,385,6921,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2301,3482,0,0,0,0,0,0
$GC,7225,-0.76,-116.7,499.2,-6.5,395,7230,0.12,2.10,0.00,0.000,4,0.139,0.043,2517,3697,3481,0,0,0,0,0,0
$GC,7308,-0.71,-116.7,506.0,-8.2,397,7312,0.00,2.00,0.00,0.000,6,0.000,0.025,2517,2304,3481,0,0,0,0,0,0
$GC,7656,-0.65,-116.7,535.7,-8.7,403,7661,0.12,2.03,0.00,0.000,4,0.196,0.036,2549,924,3480,0,0,0,0,0,0
$GC,7739,-0.65,-116.7,542.6,-8.4,404,7743,0.00,2.05,0.00,0.000,6,0.000,0.030,2549,2302,3480,0,0,0,0,0,0
$GC,8087,-0.65,-116.7,567.3,-7.0,410,8091,0.00,2.05,0.00,0.000,4,0.000,0.042,2549,3698,3479,0,0,0,0,0,0
$GC,8149,-0.65,-116.7,571.5,-7.0,411,8152,0.00,1.98,0.00,0.000,6,0.000,0.025,2550,2300,3478,0,0,0,0,0,0
$GC,8520,-0.65,-116.7,595.5,-6.5,417,8521,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2296,3477,0,0,0,0,0,0
$GC,8822,-0.65,-116.7,614.6,-6.4,422,8826,0.00,2.10,0.00,0.000,4,0.000,0.043,2549,3698,3477,0,0,0,0,0,0
$GC,8906,-0.65,-116.7,620.2,-6.7,423,8910,0.00,1.98,0.00,0.000,6,0.000,0.025,2549,2300,3476,0,0,0,0,0,0
$GC,9255,-0.65,-116.7,642.9,-6.6,429,9256,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2298,3475,0,0,0,0,0,0
$GC,9557,-0.65,-116.7,662.9,-6.7,434,9561,0.00,2.10,0.00,0.000,4,0.000,0.044,2549,3698,3474,0,0,0,0,0,0
$GC,9641,-0.68,-116.7,668.8,-6.8,435,9645,0.00,2.00,0.00,0.000,6,0.000,0.026,2549,2297,3473,0,0,0,0,0,0
$GC,9990,-0.68,-116.7,693.2,-7.0,441,9994,0.00,2.12,0.00,0.000,4,0.000,0.044,2549,3704,3473,0,0,0,0,0,0
$GC,10039,-0.72,-116.7,696.9,-7.5,441,10043,0.00,2.05,0.00,0.000,6,0.000,0.026,2549,2295,3472,0,0,0,0,0,0
$GC,10359,-0.72,-116.7,719.2,-7.0,447,10360,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2293,3471,0,0,0,0,0,0
$GC,10662,-0.72,-116.7,739.6,-6.7,452,10666,0.00,2.12,0.00,0.000,4,0.000,0.044,2549,3698,3470,0,0,0,0,0,0
$GC,10757,-0.75,-116.7,745.9,-6.4,453,10761,0.00,2.00,0.00,0.000,6,0.000,0.027,2549,2296,3470,0,0,0,0,0,0
$GC,11100,-0.75,-116.7,767.5,-6.3,459,11104,0.00,2.12,0.00,0.000,4,0.000,0.044,2549,3706,3469,0,0,0,0,0,0
$GC,11150,-0.79,-116.7,770.7,-6.2,459,11155,0.12,2.03,0.00,0.000,6,0.139,0.027,2510,2293,3469,0,0,0,0,0,0
$GC,11459,-0.73,-116.7,795.3,-8.1,464,11460,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2292,3468,0,0,0,0,0,0
$GC,11763,-0.68,-116.7,820.0,-8.1,469,11767,0.12,2.05,0.00,0.000,4,0.201,0.039,2541,913,3468,0,0,0,0,0,0
$GC,11811,-0.68,-116.7,823.8,-7.3,469,11816,0.00,2.08,0.00,0.000,6,0.000,0.032,2541,2295,3468,0,0,0,0,0,0
$GC,12126,-0.68,-116.7,845.3,-6.9,475,12130,0.00,2.08,0.00,0.000,4,0.000,0.044,2541,3701,3467,0,0,0,0,0,0
$GC,12198,-0.68,-116.7,850.4,-7.0,476,12202,0.00,2.05,0.00,0.000,6,0.000,0.027,2541,2291,3466,0,0,0,0,0,0
$GC,12558,-0.68,-116.7,874.3,-6.6,482,12559,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2289,3466,0,0,0,0,0,0
$GC,12861,-0.68,-116.7,895.1,-7.0,487,12865,0.00,2.12,0.00,0.000,4,0.000,0.045,2541,3701,3465,0,0,0,0,0,0
$GC,12938,-0.68,-116.7,900.7,-7.0,488,12942,0.00,2.05,0.00,0.000,6,0.000,0.027,2541,2296,3465,0,0,0,0,0,0
$GC,13292,-0.68,-116.7,924.9,-6.8,494,13293,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2295,3465,0,0,0,0,0,0
$GC,13595,-0.68,-116.7,946.1,-7.0,499,13599,0.00,2.12,0.00,0.000,4,0.000,0.045,2541,3702,3464,0,0,0,0,0,0
$GC,13678,-0.68,-116.7,952.3,-7.1,500,13683,0.00,2.05,0.00,0.000,6,0.000,0.027,2541,2302,3464,0,0,0,0,0,0
$GC,14027,-0.68,-116.7,976.5,-7.1,506,14028,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2301,3463,0,0,0,0,0,0
$STATE,14268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14268,begin apogee
$GC,14273,-0.24,0.0,992.8,6.7,510,14373,0.47,0.00,97.22,1.567,6,0.172,0.000,2684,2647,3006,0,0,0,0,0,0
$STATE,14374,end apogee,CONTROL_FINISHED_OK
$STATE,14374,begin climb
$GC,14376,0.80,116.7,995.0,0.0,511,14487,1.05,0.00,104.57,1.457,6,0.120,0.000,3014,2647,2529,0,0,0,0,0,0
$GC,14802,0.63,116.7,970.1,7.9,518,14807,0.17,2.20,0.00,0.000,4,0.173,0.046,2967,4046,2518,0,0,0,0,0,0
$GC,14863,0.49,116.7,965.1,7.8,519,14868,0.20,2.10,0.00,0.000,6,0.185,0.028,2924,2645,2518,0,0,0,0,0,0
$GC,15228,0.53,154.4,945.0,5.4,525,15267,0.00,2.33,32.03,1.453,4,0.000,0.047,2924,4039,2375,0,0,0,0,0,0
$GC,15274,0.57,180.8,942.3,5.8,525,15304,0.00,2.12,24.88,1.389,6,0.000,0.028,2932,2652,2268,0,0,0,0,0,0
$GC,15659,0.60,180.8,915.9,7.0,532,15660,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2652,2259,0,0,0,0,0,0
$GC,15962,0.64,180.8,893.9,7.3,537,15966,0.12,2.17,0.00,0.000,4,0.118,0.048,2976,4042,2257,0,0,0,0,0,0
$GC,15971,0.64,180.8,893.0,7.3,537,15975,0.00,2.10,0.00,0.000,6,0.000,0.028,2986,2652,2257,0,0,0,0,0,0
$GC,16326,0.58,180.8,860.6,9.2,543,16330,0.15,2.15,0.00,0.000,4,0.188,0.047,2940,4042,2256,0,0,0,0,0,0
$GC,16375,0.54,180.8,856.2,8.4,543,16379,0.00,2.10,0.00,0.000,6,0.000,0.028,2949,2641,2256,0,0,0,0,0,0
$GC,16690,0.54,180.8,832.4,7.6,549,16691,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2640,2255,0,0,0,0,0,0
$GC,16993,0.54,180.8,808.9,7.7,554,16997,0.00,2.15,0.00,0.000,4,0.000,0.047,2949,4040,2255,0,0,0,0,0,0
$GC,17015,0.54,180.8,807.0,7.0,554,17019,0.00,2.05,0.00,0.000,6,0.000,0.028,2956,2640,2255,0,0,0,0,0,0
$GC,17351,0.54,180.8,780.2,7.9,560,17355,0.00,2.15,0.00,0.000,4,0.000,0.047,2953,4045,2255,0,0,0,0,0,0
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$STATE,26944,end climb,SURFACE_DEPTH_REACHED
$STATE,26944,begin surface coast
$FINISH,2.5,1.014894
$STATE,26978,end surface coast,CONTROL_FINISHED_OK
$STATE,26978,begin surface
$SM_CCo,26995,0.00,0.000,0,0,1884,275.23
$SM_GC,3.94,0.00,0.00,0.00,0.000,0.000,0.000,221,2270,1884,-7.95,-0.88,275.23
$IRIDIUM_FIX,6313.04,201.00,280199,060611
$TT8_MAMPS,0.027612
$HUMID,1078355474
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,22.9,20.543
$10V_AH,10.1,12.865
$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
$DEVICE_SECS,21.175,175.725,340.225,0.000,0.000,81.272,103.576,374.456,0.000,0.000,16.714,2030.178,22130.408,487.695,2334.735,847.365,0.000,1687.802,0.000,2299.488,0.000,0.535,0.000
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$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,647.672,959.209,519.558,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235200
$DATA_FILE_SIZE,53925,939
$CAP_FILE_SIZE,202194,0
$CFSIZE,260165632,245637120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032, 69.5,1
$GPS,031109,142007,6340.732,154.828,39,1.1,40,-3.9