version: 66.06
glider: 140
mission: 8
dive: 132
start: 11 8 109 1 49 31
data:
$ID,140
$MISSION,8
$DIVE,132
$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,-46707.207
$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,60
$R_STBD_OVSHOOT,45
$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
$GPS1,014336,6421.732,28.370,38,1.2,50,-4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.64
$_SM_ANGLEo,-61.7
$GPS2,014907,6421.731,28.332,16,1.3,16,-4.8
$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,324.8,107079,-13.7,-6.875
$D_GRID,2479
$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,-7.93,0.000,2,0.000,0.000,215,2292,2045,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.7,-0.0,1,124,8.93,2.22,-79.70,0.000,4,0.243,0.061,2501,3698,3483,0,0,0,0,0,0
$GC,311,-0.65,-116.7,20.8,-11.2,52,320,0.15,2.10,0.00,0.000,6,0.169,0.025,2549,2267,3485,0,0,0,0,0,0
$GC,649,-0.62,-116.7,50.9,-8.2,113,655,0.00,2.20,0.00,0.000,4,0.000,0.041,2549,3710,3486,0,0,0,0,0,0
$GC,705,-0.62,-116.7,55.2,-7.7,123,711,0.00,2.03,0.00,0.000,6,0.000,0.025,2549,2310,3486,0,0,0,0,0,0
$GC,1041,-0.58,-116.7,82.0,-8.7,148,1045,0.00,2.08,0.00,0.000,4,0.000,0.036,2549,906,3487,0,0,0,0,0,0
$GC,1124,-0.54,-116.7,90.0,-9.4,152,1129,0.15,2.08,0.00,0.000,6,0.195,0.029,2589,2313,3486,0,0,0,0,0,0
$GC,1451,-0.60,-116.7,112.1,-6.4,168,1455,0.00,2.08,0.00,0.000,4,0.000,0.041,2589,3705,3486,0,0,0,0,0,0
$GC,1519,-0.69,-116.7,116.5,-5.8,171,1524,0.15,2.03,0.00,0.000,6,0.124,0.024,2542,2282,3486,0,0,0,0,0,0
$GC,1853,-0.66,-116.7,140.8,-7.2,187,1856,0.00,1.98,0.00,0.000,4,0.000,0.035,2542,931,3487,0,0,0,0,0,0
$GC,1992,-0.62,-116.7,151.4,-7.4,193,1996,0.00,2.00,0.00,0.000,6,0.000,0.028,2541,2304,3488,0,0,0,0,0,0
$GC,2320,-0.62,-116.7,173.6,-6.7,209,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2304,3488,0,0,0,0,0,0
$GC,2628,-0.62,-116.7,198.1,-8.6,224,2631,0.00,2.03,0.00,0.000,4,0.000,0.035,2541,935,3488,0,0,0,0,0,0
$GC,2699,-0.58,-116.7,205.0,-9.7,227,2704,0.12,2.00,0.00,0.000,6,0.206,0.028,2571,2307,3489,0,0,0,0,0,0
$GC,3026,-0.63,-116.7,230.4,-7.6,243,3030,0.00,2.05,0.00,0.000,4,0.000,0.041,2570,3701,3489,0,0,0,0,0,0
$GC,3098,-0.69,-116.7,235.8,-7.6,246,3102,0.00,1.98,0.00,0.000,6,0.000,0.024,2572,2296,3489,0,0,0,0,0,0
$GC,3419,-0.74,-116.7,258.1,-7.1,262,3424,0.15,2.12,0.00,0.000,4,0.129,0.041,2522,3698,3488,0,0,0,0,0,0
$GC,3474,-0.71,-116.7,263.1,-9.3,264,3481,0.00,2.00,0.00,0.000,6,0.000,0.025,2522,2312,3488,0,0,0,0,0,0
$GC,3789,-0.66,-116.7,292.3,-9.4,280,3794,0.10,2.05,0.00,0.000,4,0.206,0.037,2545,924,3487,0,0,0,0,0,0
$GC,3866,-0.66,-116.7,299.7,-9.1,283,3872,0.00,2.03,0.00,0.000,6,0.000,0.029,2545,2291,3488,0,0,0,0,0,0
$GC,4179,-0.66,-116.7,325.5,-7.9,294,4182,0.00,2.08,0.00,0.000,4,0.000,0.041,2546,3700,3487,0,0,0,0,0,0
$GC,4250,-0.66,-116.7,331.3,-8.3,296,4255,0.00,2.03,0.00,0.000,6,0.000,0.025,2545,2295,3487,0,0,0,0,0,0
$GC,4579,-0.66,-116.7,354.7,-7.0,307,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2293,3486,0,0,0,0,0,0
$GC,4886,-0.66,-116.7,375.7,-6.8,317,4890,0.00,2.10,0.00,0.000,4,0.000,0.043,2545,3695,3485,0,0,0,0,0,0
$GC,4986,-0.66,-116.7,383.0,-7.0,320,4990,0.00,2.03,0.00,0.000,6,0.000,0.025,2545,2296,3484,0,0,0,0,0,0
$GC,5321,-0.66,-116.7,407.2,-7.4,331,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2295,3484,0,0,0,0,0,0
$GC,5628,-0.66,-116.7,429.7,-7.3,341,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2296,3483,0,0,0,0,0,0
$GC,5933,-0.66,-116.7,452.0,-7.1,351,5937,0.00,2.10,0.00,0.000,4,0.000,0.044,2545,3694,3482,0,0,0,0,0,0
$GC,6044,-0.66,-116.7,460.4,-7.2,354,6049,0.00,2.03,0.00,0.000,6,0.000,0.026,2545,2303,3482,0,0,0,0,0,0
$GC,6368,-0.66,-116.7,482.8,-7.0,365,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2302,3481,0,0,0,0,0,0
$GC,6704,-0.66,-116.7,505.5,-6.7,375,6708,0.00,2.10,0.00,0.000,4,0.000,0.044,2545,3695,3480,0,0,0,0,0,0
$GC,6793,-0.66,-116.7,511.7,-6.9,376,6797,0.00,2.03,0.00,0.000,6,0.000,0.026,2545,2280,3480,0,0,0,0,0,0
$GC,7136,-0.66,-116.7,534.1,-6.6,382,7140,0.00,2.12,0.00,0.000,4,0.000,0.044,2545,3694,3479,0,0,0,0,0,0
$GC,7185,-0.66,-116.7,537.6,-6.9,382,7190,0.00,2.03,0.00,0.000,6,0.000,0.026,2545,2307,3479,0,0,0,0,0,0
$GC,7501,-0.66,-116.7,559.1,-6.9,388,7502,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2306,3478,0,0,0,0,0,0
$GC,7804,-0.66,-116.7,579.7,-6.8,393,7808,0.00,2.10,0.00,0.000,4,0.000,0.044,2545,3697,3477,0,0,0,0,0,0
$GC,7892,-0.66,-116.7,585.9,-6.5,394,7896,0.00,2.05,0.00,0.000,6,0.000,0.027,2545,2300,3477,0,0,0,0,0,0
$GC,8236,-0.66,-116.7,608.4,-6.5,400,8240,0.00,2.12,0.00,0.000,4,0.000,0.044,2545,3698,3476,0,0,0,0,0,0
$GC,8285,-0.69,-116.7,611.9,-6.9,400,8290,0.00,2.05,0.00,0.000,6,0.000,0.027,2545,2299,3477,0,0,0,0,0,0
$GC,8606,-0.69,-116.7,633.4,-6.7,406,8609,0.00,2.12,0.00,0.000,4,0.000,0.044,2545,3703,3476,0,0,0,0,0,0
$GC,8656,-0.72,-116.7,637.0,-6.7,406,8660,0.00,2.03,0.00,0.000,6,0.000,0.028,2545,2293,3475,0,0,0,0,0,0
$GC,8964,-0.72,-116.7,657.9,-6.7,411,8966,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2292,3476,0,0,0,0,0,0
$GC,9267,-0.72,-116.7,678.7,-6.9,416,9271,0.00,2.12,0.00,0.000,4,0.000,0.044,2545,3697,3475,0,0,0,0,0,0
$GC,9361,-0.75,-116.7,685.5,-7.3,417,9365,0.00,2.00,0.00,0.000,6,0.000,0.027,2545,2296,3475,0,0,0,0,0,0
$GC,9698,-0.75,-116.7,709.3,-7.0,423,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2295,3474,0,0,0,0,0,0
$GC,10001,-0.75,-116.7,731.5,-7.4,428,10005,0.00,2.12,0.00,0.000,4,0.000,0.045,2545,3701,3474,0,0,0,0,0,0
$GC,10106,-0.79,-116.7,739.4,-7.9,429,10110,0.00,2.03,0.00,0.000,6,0.000,0.027,2545,2292,3473,0,0,0,0,0,0
$GC,10432,-0.79,-116.7,762.7,-7.2,435,10433,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2291,3473,0,0,0,0,0,0
$GC,10735,-0.79,-116.7,784.3,-7.1,440,10739,0.00,2.12,0.00,0.000,4,0.000,0.045,2545,3697,3472,0,0,0,0,0,0
$GC,10824,-0.82,-116.7,790.6,-6.7,441,10829,0.15,2.03,0.00,0.000,6,0.137,0.027,2498,2289,3472,0,0,0,0,0,0
$GC,11160,-0.75,-116.7,819.2,-8.5,447,11164,0.00,2.03,0.00,0.000,4,0.000,0.040,2497,921,3472,0,0,0,0,0,0
$GC,11210,-0.66,-116.7,823.8,-9.4,447,11215,0.20,2.03,0.00,0.000,6,0.199,0.032,2551,2298,3471,0,0,0,0,0,0
$GC,11525,-0.69,-116.7,844.4,-6.4,453,11529,0.00,2.08,0.00,0.000,4,0.000,0.045,2551,3698,3472,0,0,0,0,0,0
$GC,11620,-0.74,-116.7,850.6,-6.6,454,11624,0.00,2.05,0.00,0.000,6,0.000,0.027,2551,2298,3471,0,0,0,0,0,0
$GC,11958,-0.78,-116.7,871.5,-6.2,460,11960,0.12,0.00,0.00,0.000,6,0.138,0.000,2512,2297,3471,0,0,0,0,0,0
$GC,12261,-0.74,-116.7,894.6,-7.7,465,12265,0.00,2.12,0.00,0.000,4,0.000,0.045,2512,3698,3471,0,0,0,0,0,0
$GC,12323,-0.70,-116.7,899.3,-7.1,466,12327,0.00,2.03,0.00,0.000,6,0.000,0.028,2512,2296,3471,0,0,0,0,0,0
$GC,12693,-0.67,-116.7,926.7,-7.4,472,12695,0.15,0.00,0.00,0.000,6,0.194,0.000,2551,2290,3470,0,0,0,0,0,0
$GC,12998,-0.70,-116.7,944.7,-5.9,477,13002,0.00,2.12,0.00,0.000,4,0.000,0.046,2551,3698,3470,0,0,0,0,0,0
$GC,13087,-0.76,-116.7,950.3,-6.1,478,13091,0.00,2.03,0.00,0.000,6,0.000,0.028,2551,2298,3470,0,0,0,0,0,0
$GC,13430,-0.80,-116.7,970.5,-5.9,484,13435,0.15,2.15,0.00,0.000,4,0.132,0.046,2502,3698,3470,0,0,0,0,0,0
$GC,13498,-0.75,-116.7,975.4,-7.0,485,13502,0.00,2.03,0.00,0.000,6,0.000,0.028,2502,2296,3470,0,0,0,0,0,0
$STATE,13746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13746,begin apogee
$GC,13751,-0.24,0.0,994.5,7.6,489,13853,0.60,0.00,98.62,1.550,6,0.174,0.000,2679,2654,3006,0,0,0,0,0,0
$STATE,13854,end apogee,CONTROL_FINISHED_OK
$STATE,13854,begin climb
$GC,13856,0.80,116.7,996.4,0.0,490,13972,1.05,2.45,105.68,1.457,4,0.119,0.047,3009,4040,2529,0,0,0,0,0,0
$GC,14005,0.55,116.7,991.6,8.1,492,14010,0.30,2.22,0.00,0.000,6,0.177,0.027,2946,2645,2524,0,0,0,0,0,0
$GC,14348,0.54,136.6,970.5,6.1,498,14372,0.00,2.35,17.23,1.417,4,0.000,0.047,2940,4047,2448,0,0,0,0,0,0
$GC,14401,0.48,136.6,966.8,7.7,498,14406,0.12,2.15,0.00,0.000,6,0.189,0.028,2920,2644,2447,0,0,0,0,0,0
$GC,14716,0.54,163.8,948.7,5.8,504,14743,0.00,0.00,25.25,1.437,6,0.000,0.000,2919,2644,2338,0,0,0,0,0,0
$GC,15020,0.62,184.6,930.7,6.0,509,15042,0.15,0.00,19.40,1.419,6,0.114,0.000,2970,2641,2253,0,0,0,0,0,0
$GC,15322,0.59,184.6,906.8,8.0,514,15326,0.00,2.20,0.00,0.000,4,0.000,0.047,2967,4047,2248,0,0,0,0,0,0
$GC,15332,0.55,184.6,906.0,8.0,514,15336,0.12,2.10,0.00,0.000,6,0.196,0.028,2947,2649,2248,0,0,0,0,0,0
$GC,15685,0.55,184.6,881.1,7.0,520,15686,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2648,2247,0,0,0,0,0,0
$GC,15989,0.55,185.8,860.4,6.8,525,15990,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2648,2246,0,0,0,0,0,0
$GC,16291,0.55,187.1,839.7,6.8,530,16293,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2648,2245,0,0,0,0,0,0
$GC,16594,0.55,187.1,818.2,7.0,535,16596,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2648,2245,0,0,0,0,0,0
$GC,16897,0.55,187.1,796.5,7.2,540,16898,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2648,2245,0,0,0,0,0,0
$GC,17201,0.55,187.1,774.1,7.4,545,17202,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2648,2244,0,0,0,0,0,0
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$STATE,27427,end climb,SURFACE_DEPTH_REACHED
$STATE,27427,begin surface coast
$FINISH,3.0,1.002565
$STATE,27473,end surface coast,CONTROL_FINISHED_OK
$STATE,27473,begin surface
$SM_CCo,27489,50.70,0.793,0,0,1884,275.23
$SM_GC,3.78,0.00,0.00,50.70,0.000,0.000,0.793,215,2302,1884,-7.97,0.06,275.23
$IRIDIUM_FIX,6356.67,29.81,010299,181853
$TT8_MAMPS,0.026845
$HUMID,1078358055
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,22.7,22.798
$10V_AH,10.1,14.425
$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,21.025,155.150,295.150,50.700,0.000,25.340,31.385,155.813,0.000,0.000,16.107,2084.325,22416.129,514.496,2387.795,466.205,0.000,1690.938,0.000,2358.918,0.000,0.534,0.000
$DEVICE_MAMPS,243.139,60.593,1550.107,793.078,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
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$SENSOR_SECS,678.615,1001.191,573.053,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241472
$DATA_FILE_SIZE,57058,979
$CAP_FILE_SIZE,191133,0
$CFSIZE,260165632,244428800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052,199.5,1
$GPS,081109,092937,6423.541,23.113,28,1.7,29,-4.9