version: 66.06
glider: 140
mission: 8
dive: 121
start: 11 4 109 13 50 32
data:
$ID,140
$MISSION,8
$DIVE,121
$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,-46534.691
$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,77
$R_STBD_OVSHOOT,49
$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
$GPS1,134107,6349.925,144.475,37,1.2,38,-4.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.38
$_SM_ANGLEo,-67.6
$GPS2,135008,6350.041,144.496,12,1.3,12,-4.0
$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,321.6,190373,-13.7,-6.875
$D_GRID,1753
$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,-7.85,0.000,2,0.000,0.000,214,2281,2043,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.4,-0.0,1,124,9.23,2.10,-79.60,0.000,4,0.254,0.051,2500,932,3482,0,0,0,0,0,0
$GC,375,-0.65,-116.7,26.0,-10.5,63,381,0.20,2.05,0.00,0.000,6,0.189,0.028,2554,2317,3483,0,0,0,0,0,0
$GC,711,-0.62,-116.7,52.8,-7.6,124,718,0.00,2.12,0.00,0.000,4,0.000,0.035,2554,925,3483,0,0,0,0,0,0
$GC,894,-0.57,-116.7,68.1,-7.9,144,898,0.00,2.03,0.00,0.000,6,0.000,0.028,2554,2299,3483,0,0,0,0,0,0
$GC,1220,-0.57,-116.7,92.3,-7.4,160,1224,0.00,2.05,0.00,0.000,4,0.000,0.034,2554,919,3484,0,0,0,0,0,0
$GC,1312,-0.57,-116.7,100.1,-8.0,164,1317,0.00,2.05,0.00,0.000,6,0.000,0.028,2554,2291,3483,0,0,0,0,0,0
$GC,1634,-0.57,-116.7,124.4,-7.7,180,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2291,3484,0,0,0,0,0,0
$GC,1944,-0.57,-116.7,148.2,-7.7,195,1948,0.00,2.08,0.00,0.000,4,0.000,0.041,2554,3698,3484,0,0,0,0,0,0
$GC,1989,-0.57,-116.7,151.6,-7.8,197,1992,0.00,2.00,0.00,0.000,6,0.000,0.023,2554,2288,3483,0,0,0,0,0,0
$GC,2317,-0.57,-116.7,175.0,-6.9,213,2320,0.00,2.00,0.00,0.000,4,0.000,0.035,2554,915,3484,0,0,0,0,0,0
$GC,2383,-0.57,-116.7,180.1,-7.5,216,2387,0.00,2.03,0.00,0.000,6,0.000,0.028,2554,2302,3484,0,0,0,0,0,0
$GC,2708,-0.57,-116.7,203.2,-7.1,232,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2302,3484,0,0,0,0,0,0
$GC,3019,-0.57,-116.7,226.9,-7.9,247,3023,0.00,2.05,0.00,0.000,4,0.000,0.035,2554,913,3485,0,0,0,0,0,0
$GC,3090,-0.57,-116.7,233.1,-8.6,250,3095,0.00,2.05,0.00,0.000,6,0.000,0.028,2554,2298,3485,0,0,0,0,0,0
$GC,3411,-0.57,-116.7,259.1,-8.2,266,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2298,3485,0,0,0,0,0,0
$GC,3721,-0.57,-116.7,284.1,-8.2,281,3725,0.00,2.05,0.00,0.000,4,0.000,0.041,2554,3699,3485,0,0,0,0,0,0
$GC,3782,-0.57,-116.7,289.2,-8.5,284,3786,0.00,1.98,0.00,0.000,6,0.000,0.024,2554,2295,3485,0,0,0,0,0,0
$GC,4103,-0.57,-116.7,310.9,-6.6,297,4106,0.00,2.10,0.00,0.000,4,0.000,0.041,2554,3699,3485,0,0,0,0,0,0
$GC,4146,-0.57,-116.7,314.1,-6.8,298,4150,0.00,2.00,0.00,0.000,6,0.000,0.024,2555,2302,3484,0,0,0,0,0,0
$GC,4470,-0.57,-116.7,337.3,-7.6,309,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2301,3485,0,0,0,0,0,0
$GC,4776,-0.57,-116.7,360.9,-7.5,319,4780,0.00,2.10,0.00,0.000,4,0.000,0.041,2554,3706,3484,0,0,0,0,0,0
$GC,4832,-0.57,-116.7,365.1,-7.7,320,4836,0.00,1.98,0.00,0.000,6,0.000,0.024,2554,2303,3484,0,0,0,0,0,0
$GC,5149,-0.57,-116.7,388.3,-7.5,331,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2299,3484,0,0,0,0,0,0
$GC,5456,-0.57,-116.7,414.1,-8.7,341,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2299,3483,0,0,0,0,0,0
$GC,5762,-0.57,-116.7,437.4,-6.8,351,5766,0.00,2.10,0.00,0.000,4,0.000,0.042,2554,3704,3483,0,0,0,0,0,0
$GC,5846,-0.61,-116.7,442.3,-5.6,353,5849,0.00,1.98,0.00,0.000,6,0.000,0.025,2554,2303,3482,0,0,0,0,0,0
$GC,6169,-0.61,-116.7,457.6,-4.7,364,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2296,3481,0,0,0,0,0,0
$GC,6475,-0.61,-116.7,473.6,-5.5,374,6479,0.00,2.10,0.00,0.000,4,0.000,0.042,2554,3698,3480,0,0,0,0,0,0
$GC,6536,-0.65,-116.7,477.6,-7.0,375,6542,0.00,2.00,0.00,0.000,6,0.000,0.025,2554,2288,3480,0,0,0,0,0,0
$GC,6848,-0.65,-116.7,498.2,-6.9,386,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2288,3479,0,0,0,0,0,0
$GC,7181,-0.65,-116.7,524.0,-7.8,392,7185,0.00,2.12,0.00,0.000,4,0.000,0.043,2554,3708,3479,0,0,0,0,0,0
$GC,7265,-0.69,-116.7,530.6,-7.8,393,7269,0.00,2.00,0.00,0.000,6,0.000,0.025,2554,2297,3478,0,0,0,0,0,0
$GC,7619,-0.72,-116.7,554.1,-6.4,399,7620,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2296,3477,0,0,0,0,0,0
$GC,7922,-0.72,-116.7,571.1,-5.6,404,7926,0.00,2.10,0.00,0.000,4,0.000,0.043,2554,3698,3476,0,0,0,0,0,0
$GC,8034,-0.76,-116.7,577.0,-5.2,405,8038,0.12,1.98,0.00,0.000,6,0.140,0.026,2515,2298,3475,0,0,0,0,0,0
$GC,8348,-0.70,-116.7,596.8,-6.4,411,8352,0.00,2.10,0.00,0.000,4,0.000,0.044,2515,3696,3475,0,0,0,0,0,0
$GC,8391,-0.65,-116.7,599.8,-7.2,411,8396,0.12,1.98,0.00,0.000,6,0.186,0.026,2547,2306,3474,0,0,0,0,0,0
$GC,8717,-0.65,-116.7,620.3,-6.5,417,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2305,3473,0,0,0,0,0,0
$GC,9019,-0.65,-116.7,641.3,-7.0,422,9023,0.00,2.10,0.00,0.000,4,0.000,0.044,2547,3695,3472,0,0,0,0,0,0
$GC,9087,-0.69,-116.7,646.2,-8.0,423,9091,0.00,2.00,0.00,0.000,6,0.000,0.027,2547,2300,3472,0,0,0,0,0,0
$GC,9457,-0.69,-116.7,672.8,-7.2,429,9461,0.00,2.10,0.00,0.000,4,0.000,0.044,2547,3697,3471,0,0,0,0,0,0
$GC,9524,-0.72,-116.7,677.8,-7.4,430,9528,0.00,2.05,0.00,0.000,6,0.000,0.027,2547,2295,3471,0,0,0,0,0,0
$GC,9888,-0.72,-116.7,703.7,-7.1,436,9889,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2294,3470,0,0,0,0,0,0
$GC,10192,-0.72,-116.7,724.3,-6.8,441,10196,0.00,2.10,0.00,0.000,4,0.000,0.044,2547,3697,3469,0,0,0,0,0,0
$GC,10297,-0.72,-116.7,732.1,-7.3,442,10301,0.00,2.05,0.00,0.000,6,0.000,0.027,2547,2291,3469,0,0,0,0,0,0
$GC,10629,-0.72,-116.7,753.8,-6.6,448,10633,0.00,2.12,0.00,0.000,4,0.000,0.044,2547,3701,3469,0,0,0,0,0,0
$GC,10691,-0.75,-116.7,757.8,-6.3,449,10695,0.00,2.03,0.00,0.000,6,0.000,0.027,2547,2292,3469,0,0,0,0,0,0
$GC,11062,-0.75,-116.7,782.7,-6.8,455,11066,0.00,2.12,0.00,0.000,4,0.000,0.044,2547,3702,3468,0,0,0,0,0,0
$GC,11112,-0.79,-116.7,786.4,-7.2,455,11117,0.05,2.05,0.00,0.000,6,0.125,0.027,2512,2302,3467,0,0,0,0,0,0
$GC,11427,-0.74,-116.7,812.3,-8.3,461,11429,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2300,3466,0,0,0,0,0,0
$GC,11730,-0.69,-116.7,838.5,-8.7,466,11732,0.12,0.00,0.00,0.000,6,0.202,0.000,2541,2298,3466,0,0,0,0,0,0
$GC,12032,-0.69,-116.7,860.5,-7.1,471,12036,0.00,2.12,0.00,0.000,4,0.000,0.045,2541,3705,3465,0,0,0,0,0,0
$GC,12115,-0.69,-116.7,866.7,-7.3,472,12120,0.00,2.08,0.00,0.000,6,0.000,0.027,2542,2292,3465,0,0,0,0,0,0
$GC,12470,-0.69,-116.7,891.2,-6.9,478,12471,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2291,3465,0,0,0,0,0,0
$GC,12773,-0.69,-116.7,913.2,-7.3,483,12776,0.00,2.12,0.00,0.000,4,0.000,0.045,2542,3696,3464,0,0,0,0,0,0
$GC,12878,-0.72,-116.7,921.5,-7.8,484,12882,0.00,2.05,0.00,0.000,6,0.000,0.028,2541,2298,3464,0,0,0,0,0,0
$GC,13210,-0.72,-116.7,946.4,-7.4,490,13211,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2297,3464,0,0,0,0,0,0
$GC,13513,-0.72,-116.7,968.3,-7.2,495,13517,0.00,2.10,0.00,0.000,4,0.000,0.045,2542,3695,3464,0,0,0,0,0,0
$GC,13618,-0.76,-116.7,975.8,-7.0,496,13622,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2298,3463,0,0,0,0,0,0
$STATE,13888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13888,begin apogee
$GC,13893,-0.24,0.0,993.8,6.7,501,13993,0.47,0.00,97.12,1.560,6,0.171,0.000,2686,2642,3006,0,0,0,0,0,0
$STATE,13994,end apogee,CONTROL_FINISHED_OK
$STATE,13994,begin climb
$GC,13996,0.80,116.7,996.0,0.0,502,14110,1.08,2.42,104.70,1.460,4,0.117,0.047,3018,4035,2529,0,0,0,0,0,0
$GC,14134,0.54,116.7,992.9,7.6,505,14139,0.35,2.20,0.00,0.000,6,0.184,0.028,2943,2656,2525,0,0,0,0,0,0
$GC,14499,0.56,132.8,969.9,6.2,511,14518,0.00,2.28,13.82,1.403,4,0.000,0.048,2940,4035,2464,0,0,0,0,0,0
$GC,14530,0.52,141.9,967.7,6.5,511,14545,0.00,2.12,9.98,1.266,6,0.000,0.028,2949,2652,2426,0,0,0,0,0,0
$GC,14859,0.52,141.9,944.5,7.1,517,14863,0.00,2.20,0.00,0.000,4,0.000,0.047,2949,4052,2422,0,0,0,0,0,0
$GC,14870,0.49,141.9,943.6,7.1,517,14874,0.12,2.10,0.00,0.000,6,0.194,0.028,2928,2644,2422,0,0,0,0,0,0
$GC,15223,0.49,144.8,919.8,6.8,523,15224,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2644,2420,0,0,0,0,0,0
$GC,15526,0.50,147.0,899.3,6.8,528,15533,0.00,0.00,5.05,1.164,6,0.000,0.000,2928,2645,2406,0,0,0,0,0,0
$GC,15830,0.51,161.8,880.1,6.3,533,15846,0.00,0.00,14.50,1.417,6,0.000,0.000,2928,2645,2346,0,0,0,0,0,0
$GC,16133,0.57,184.2,862.0,6.0,538,16156,0.00,0.00,21.27,1.411,6,0.000,0.000,2928,2645,2254,0,0,0,0,0,0
$GC,16436,0.66,218.0,845.1,5.5,543,16470,0.15,0.00,31.55,1.401,6,0.117,0.000,2979,2643,2117,0,0,0,0,0,0
$GC,16739,0.66,218.0,821.6,7.9,548,16740,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2643,2109,0,0,0,0,0,0
$GC,17042,0.66,218.0,796.4,8.4,553,17046,0.00,2.17,0.00,0.000,4,0.000,0.047,2978,4043,2108,0,0,0,0,0,0
$GC,17069,0.59,218.0,793.8,9.3,553,17073,0.12,2.08,0.00,0.000,6,0.194,0.028,2959,2644,2107,0,0,0,0,0,0
$GC,17405,0.59,218.0,766.4,8.2,559,17409,0.00,2.17,0.00,0.000,4,0.000,0.047,2954,4049,2106,0,0,0,0,0,0
$GC,17420,0.59,218.0,764.9,8.5,559,17425,0.00,2.10,0.00,0.000,6,0.000,0.029,2962,2653,2106,0,0,0,0,0,0
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$STATE,26472,end climb,SURFACE_DEPTH_REACHED
$STATE,26472,begin surface coast
$FINISH,2.5,1.012966
$STATE,26517,end surface coast,CONTROL_FINISHED_OK
$STATE,26517,begin surface
$SM_CCo,26533,30.80,0.792,0,0,1883,275.23
$SM_GC,3.77,0.00,0.00,30.80,0.000,0.000,0.792,213,2288,1883,-7.98,-0.34,275.23
$IRIDIUM_FIX,6327.46,142.52,290199,131348
$TT8_MAMPS,0.027612
$HUMID,1078370958
$INTERNAL_PRESSURE,8.28157
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,22.9,21.150
$10V_AH,10.1,13.274
$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,21.100,171.725,313.800,30.800,0.000,54.747,70.489,229.221,0.000,0.000,12.416,2036.322,21591.619,502.015,2356.770,615.384,0.000,1673.964,0.000,2327.763,0.000,0.535,0.000
$DEVICE_MAMPS,253.877,51.389,1560.078,792.311,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
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$SENSOR_SECS,648.927,959.158,537.401,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235212
$DATA_FILE_SIZE,53748,938
$CAP_FILE_SIZE,192347,0
$CFSIZE,260165632,245325824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100,341.3,1
$GPS,041109,211431,6353.626,138.355,37,1.4,38,-4.1