version: 66.06
glider: 140
mission: 8
dive: 119
start: 11 3 109 22 14 4
data:
$ID,140
$MISSION,8
$DIVE,119
$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,-46505.812
$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,85
$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
$GPS1,220125,6343.042,151.660,38,1.7,39,-3.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.24
$_SM_ANGLEo,-62.7
$GPS2,221343,6343.176,151.679,13,1.6,30,-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,322.8,203590,-13.7,-6.875
$D_GRID,1595
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.80,-116.7,0.0,0.0,0,26,0.00,0.00,-8.18,0.000,2,0.000,0.000,215,2250,2053,0,0,0,0,0,0
$GC,29,-0.80,-116.7,3.3,-0.0,1,126,8.98,2.28,-80.15,0.000,4,0.243,0.056,2504,3697,3482,0,0,0,0,0,0
$GC,377,-0.66,-116.7,25.8,-10.7,63,383,0.17,2.00,0.00,0.000,6,0.186,0.023,2553,2290,3483,0,0,0,0,0,0
$GC,712,-0.63,-116.7,54.1,-6.5,124,720,0.00,2.17,0.00,0.000,4,0.000,0.041,2553,3701,3483,0,0,0,0,0,0
$GC,824,-0.63,-116.7,63.0,-7.9,140,828,0.00,1.98,0.00,0.000,6,0.000,0.023,2553,2314,3484,0,0,0,0,0,0
$GC,1157,-0.59,-116.7,89.2,-7.8,156,1160,0.00,2.05,0.00,0.000,4,0.000,0.035,2553,913,3483,0,0,0,0,0,0
$GC,1273,-0.55,-116.7,99.4,-8.5,161,1278,0.12,2.05,0.00,0.000,6,0.206,0.028,2583,2316,3484,0,0,0,0,0,0
$GC,1603,-0.60,-116.7,118.1,-5.0,177,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2316,3484,0,0,0,0,0,0
$GC,1909,-0.64,-116.7,134.7,-5.5,192,1913,0.00,2.05,0.00,0.000,4,0.000,0.034,2584,923,3484,0,0,0,0,0,0
$GC,1959,-0.68,-116.7,137.9,-6.1,194,1964,0.12,2.00,0.00,0.000,6,0.136,0.028,2544,2310,3484,0,0,0,0,0,0
$GC,2276,-0.65,-116.7,161.7,-7.7,209,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2310,3484,0,0,0,0,0,0
$GC,2584,-0.61,-116.7,185.5,-8.0,224,2587,0.00,2.03,0.00,0.000,4,0.000,0.041,2543,3691,3484,0,0,0,0,0,0
$GC,2652,-0.61,-116.7,191.1,-8.4,227,2656,0.00,1.98,0.00,0.000,6,0.000,0.023,2543,2291,3484,0,0,0,0,0,0
$GC,2984,-0.58,-116.7,218.7,-8.6,243,2988,0.12,2.00,0.00,0.000,4,0.192,0.035,2574,923,3484,0,0,0,0,0,0
$GC,3045,-0.58,-116.7,223.7,-8.2,246,3049,0.00,2.00,0.00,0.000,6,0.000,0.028,2574,2300,3484,0,0,0,0,0,0
$GC,3377,-0.62,-116.7,245.8,-6.4,262,3381,0.00,2.08,0.00,0.000,4,0.000,0.041,2574,3697,3485,0,0,0,0,0,0
$GC,3450,-0.67,-116.7,250.7,-6.5,265,3454,0.00,1.98,0.00,0.000,6,0.000,0.023,2574,2291,3484,0,0,0,0,0,0
$GC,3777,-0.72,-116.7,273.8,-7.3,281,3778,0.12,0.00,0.00,0.000,6,0.132,0.000,2533,2285,3484,0,0,0,0,0,0
$GC,4085,-0.67,-116.7,300.5,-8.6,296,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2285,3484,0,0,0,0,0,0
$GC,4392,-0.63,-116.7,325.3,-8.0,306,4396,0.00,2.10,0.00,0.000,4,0.000,0.041,2533,3697,3484,0,0,0,0,0,0
$GC,4447,-0.59,-116.7,330.1,-8.6,307,4454,0.10,2.00,0.00,0.000,6,0.170,0.023,2565,2296,3484,0,0,0,0,0,0
$GC,4759,-0.59,-116.7,351.9,-6.9,318,4763,0.00,1.98,0.00,0.000,4,0.000,0.035,2565,933,3484,0,0,0,0,0,0
$GC,4836,-0.59,-116.7,357.9,-8.0,320,4840,0.00,2.03,0.00,0.000,6,0.000,0.028,2565,2303,3484,0,0,0,0,0,0
$GC,5166,-0.63,-116.7,380.5,-6.8,331,5170,0.00,2.05,0.00,0.000,4,0.000,0.041,2565,3706,3484,0,0,0,0,0,0
$GC,5255,-0.68,-116.7,386.7,-7.2,333,5259,0.00,1.98,0.00,0.000,6,0.000,0.024,2565,2295,3483,0,0,0,0,0,0
$GC,5573,-0.72,-116.7,407.1,-6.4,344,5574,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2293,3483,0,0,0,0,0,0
$GC,5879,-0.76,-116.7,426.7,-6.4,354,5884,0.15,2.12,0.00,0.000,4,0.125,0.041,2515,3697,3483,0,0,0,0,0,0
$GC,5981,-0.71,-116.7,434.6,-8.3,357,5985,0.00,1.98,0.00,0.000,6,0.000,0.025,2515,2292,3482,0,0,0,0,0,0
$GC,6321,-0.65,-116.7,462.2,-8.0,368,6325,0.15,2.00,0.00,0.000,4,0.186,0.036,2555,927,3482,0,0,0,0,0,0
$GC,6375,-0.65,-116.7,466.2,-7.1,369,6381,0.00,2.03,0.00,0.000,6,0.000,0.029,2555,2295,3482,0,0,0,0,0,0
$GC,6688,-0.65,-116.7,486.1,-6.3,380,6692,0.00,2.08,0.00,0.000,4,0.000,0.042,2555,3703,3481,0,0,0,0,0,0
$GC,6778,-0.68,-116.7,492.0,-6.5,382,6781,0.00,1.98,0.00,0.000,6,0.000,0.025,2555,2299,3481,0,0,0,0,0,0
$GC,7093,-0.68,-116.7,511.7,-6.2,390,7097,0.00,2.10,0.00,0.000,4,0.000,0.042,2555,3699,3480,0,0,0,0,0,0
$GC,7149,-0.72,-116.7,515.5,-6.4,390,7154,0.00,1.98,0.00,0.000,6,0.000,0.025,2555,2301,3479,0,0,0,0,0,0
$GC,7458,-0.72,-116.7,535.9,-6.6,396,7459,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2300,3479,0,0,0,0,0,0
$GC,7761,-0.72,-116.7,557.2,-7.0,401,7765,0.00,2.12,0.00,0.000,4,0.000,0.044,2555,3701,3478,0,0,0,0,0,0
$GC,7816,-0.76,-116.7,560.9,-6.9,401,7822,0.08,2.03,0.00,0.000,6,0.109,0.025,2508,2298,3477,0,0,0,0,0,0
$GC,8125,-0.70,-116.7,586.3,-8.3,407,8127,0.12,0.00,0.00,0.000,6,0.193,0.000,2540,2296,3476,0,0,0,0,0,0
$GC,8428,-0.70,-116.7,607.1,-6.8,412,8432,0.00,2.10,0.00,0.000,4,0.000,0.044,2540,3697,3475,0,0,0,0,0,0
$GC,8483,-0.70,-116.7,611.0,-6.6,412,8491,0.00,2.03,0.00,0.000,6,0.000,0.026,2540,2304,3475,0,0,0,0,0,0
$GC,8793,-0.70,-116.7,631.9,-6.8,418,8794,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2304,3474,0,0,0,0,0,0
$GC,9096,-0.70,-116.7,651.7,-6.5,423,9100,0.00,2.10,0.00,0.000,4,0.000,0.044,2541,3698,3473,0,0,0,0,0,0
$GC,9179,-0.70,-116.7,657.3,-6.0,424,9184,0.00,2.03,0.00,0.000,6,0.000,0.026,2540,2305,3472,0,0,0,0,0,0
$GC,9528,-0.70,-116.7,679.6,-6.5,430,9529,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2304,3472,0,0,0,0,0,0
$GC,9831,-0.70,-116.7,699.7,-6.7,435,9835,0.00,2.10,0.00,0.000,4,0.000,0.044,2540,3698,3471,0,0,0,0,0,0
$GC,9919,-0.70,-116.7,706.0,-7.3,436,9924,0.00,2.05,0.00,0.000,6,0.000,0.026,2540,2295,3471,0,0,0,0,0,0
$GC,10262,-0.70,-116.7,729.8,-7.0,442,10264,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2293,3469,0,0,0,0,0,0
$GC,10565,-0.70,-116.7,752.1,-7.4,447,10569,0.00,2.10,0.00,0.000,4,0.000,0.044,2540,3694,3469,0,0,0,0,0,0
$GC,10659,-0.70,-116.7,759.0,-7.2,448,10664,0.00,2.03,0.00,0.000,6,0.000,0.027,2540,2301,3469,0,0,0,0,0,0
$GC,10997,-0.70,-116.7,783.4,-7.3,454,10998,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2300,3468,0,0,0,0,0,0
$GC,11300,-0.70,-116.7,804.9,-7.1,459,11304,0.00,2.10,0.00,0.000,4,0.000,0.045,2541,3695,3467,0,0,0,0,0,0
$GC,11377,-0.70,-116.7,810.5,-7.0,460,11381,0.00,2.03,0.00,0.000,6,0.000,0.027,2540,2304,3467,0,0,0,0,0,0
$GC,11731,-0.70,-116.7,835.5,-7.0,466,11735,0.00,2.10,0.00,0.000,4,0.000,0.044,2540,3698,3466,0,0,0,0,0,0
$GC,11787,-0.70,-116.7,839.5,-6.5,466,11792,0.00,2.00,0.00,0.000,6,0.000,0.027,2540,2298,3466,0,0,0,0,0,0
$GC,12096,-0.70,-116.7,860.1,-6.7,472,12097,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2297,3465,0,0,0,0,0,0
$GC,12399,-0.70,-116.7,879.9,-6.5,477,12403,0.00,2.10,0.00,0.000,4,0.000,0.044,2540,3695,3465,0,0,0,0,0,0
$GC,12489,-0.70,-116.7,886.0,-6.6,478,12492,0.00,2.00,0.00,0.000,6,0.000,0.028,2540,2302,3465,0,0,0,0,0,0
$GC,12831,-0.70,-116.7,907.4,-6.2,484,12835,0.00,2.10,0.00,0.000,4,0.000,0.045,2540,3694,3464,0,0,0,0,0,0
$GC,12886,-0.70,-116.7,910.9,-6.1,484,12892,0.00,2.00,0.00,0.000,6,0.000,0.028,2540,2300,3464,0,0,0,0,0,0
$GC,13195,-0.70,-116.7,930.2,-6.3,490,13199,0.00,2.12,0.00,0.000,4,0.000,0.045,2541,3698,3464,0,0,0,0,0,0
$GC,13249,-0.70,-116.7,933.9,-6.3,490,13254,0.00,2.05,0.00,0.000,6,0.000,0.028,2541,2300,3463,0,0,0,0,0,0
$GC,13565,-0.70,-116.7,954.4,-6.5,496,13568,0.00,2.10,0.00,0.000,4,0.000,0.045,2541,3693,3463,0,0,0,0,0,0
$GC,13620,-0.70,-116.7,958.1,-6.3,496,13626,0.00,2.05,0.00,0.000,6,0.000,0.028,2541,2296,3463,0,0,0,0,0,0
$GC,13929,-0.70,-116.7,977.8,-6.4,502,13933,0.00,2.10,0.00,0.000,4,0.000,0.045,2540,3692,3463,0,0,0,0,0,0
$GC,13984,-0.70,-116.7,981.6,-6.6,502,13989,0.00,2.00,0.00,0.000,6,0.000,0.028,2541,2300,3462,0,0,0,0,0,0
$STATE,14169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14169,begin apogee
$GC,14175,-0.24,0.0,993.9,6.6,506,14275,0.47,0.00,97.20,1.569,6,0.173,0.000,2683,2644,3006,0,0,0,0,0,0
$STATE,14275,end apogee,CONTROL_FINISHED_OK
$STATE,14276,begin climb
$GC,14277,0.80,116.7,996.0,0.0,507,14393,1.08,2.45,104.60,1.460,4,0.120,0.047,3015,4042,2528,0,0,0,0,0,0
$GC,14449,0.54,116.7,989.9,9.3,510,14454,0.30,2.22,0.00,0.000,6,0.179,0.027,2935,2655,2523,0,0,0,0,0,0
$GC,14786,0.58,142.7,969.8,5.8,516,14810,0.00,0.00,22.55,1.431,6,0.000,0.000,2935,2654,2424,0,0,0,0,0,0
$GC,15089,0.59,157.1,950.9,6.3,521,15105,0.00,0.00,13.75,1.403,6,0.000,0.000,2935,2655,2365,0,0,0,0,0,0
$GC,15392,0.61,167.3,931.4,6.5,526,15404,0.00,0.00,10.32,1.379,6,0.000,0.000,2935,2654,2323,0,0,0,0,0,0
$GC,15695,0.61,168.1,910.7,6.8,531,15696,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2655,2320,0,0,0,0,0,0
$GC,15998,0.61,171.1,890.3,6.8,536,16007,0.00,2.15,4.35,1.063,4,0.000,0.038,2944,1238,2308,0,0,0,0,0,0
$GC,16013,0.62,175.7,889.3,6.7,536,16023,0.00,2.15,6.10,1.223,6,0.000,0.035,2940,2653,2289,0,0,0,0,0,0
$GC,16361,0.62,180.3,865.8,6.7,542,16371,0.00,2.15,5.60,1.209,4,0.000,0.035,2949,1251,2270,0,0,0,0,0,0
$GC,16382,0.66,208.4,864.4,5.8,542,16417,0.00,2.12,27.05,1.397,6,0.000,0.035,2949,2648,2155,0,0,0,0,0,0
$GC,16720,0.66,208.4,840.4,7.1,548,16721,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2647,2149,0,0,0,0,0,0
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$STATE,27363,end climb,SURFACE_DEPTH_REACHED
$STATE,27363,begin surface coast
$FINISH,2.5,1.013117
$STATE,27412,end surface coast,CONTROL_FINISHED_OK
$STATE,27412,begin surface
$SM_CCo,27428,28.58,0.772,0,0,1884,275.23
$SM_GC,3.56,0.00,0.00,28.58,0.000,0.000,0.772,215,2282,1884,-7.97,-0.51,275.23
$IRIDIUM_FIX,6317.84,211.04,280199,222240
$TT8_MAMPS,0.027612
$HUMID,1078346442
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,20.20
$XPDR_PINGS,3
$24V_AH,22.9,20.850
$10V_AH,10.1,13.075
$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,20.100,179.225,318.900,28.575,0.000,82.575,99.482,288.257,0.750,0.000,30.370,2095.126,22390.332,519.133,2429.878,753.278,0.000,1730.984,0.000,2389.205,0.000,0.536,0.000
$DEVICE_MAMPS,243.139,55.991,1568.515,772.369,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,679.450,1008.408,575.588,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235216
$DATA_FILE_SIZE,57034,984
$CAP_FILE_SIZE,202021,0
$CFSIZE,260165632,245473280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033, 12.6,1
$GPS,041109,055301,6346.083,147.357,42,1.1,43,-4.0