version: 66.06
glider: 140
mission: 8
dive: 133
start: 11 8 109 9 35 31
data:
$ID,140
$MISSION,8
$DIVE,133
$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,-46719.824
$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,66
$R_STBD_OVSHOOT,42
$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
$GPS1,092937,6423.541,23.113,28,1.7,29,-4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.70
$_SM_ANGLEo,-65.0
$GPS2,093507,6423.507,23.109,11,1.8,11,-4.9
$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,325.4,101944,-13.7,-6.875
$D_GRID,2512
$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,-116.7,0.0,0.0,0,23,0.00,0.00,-7.20,0.000,2,0.000,0.000,214,2302,2028,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.7,-0.0,1,123,9.25,2.17,-80.68,0.000,4,0.251,0.055,2501,3706,3481,0,0,0,0,0,0
$GC,368,-0.68,-116.7,22.3,-10.7,62,376,0.12,2.10,0.00,0.000,6,0.179,0.024,2539,2279,3483,0,0,0,0,0,0
$GC,709,-0.62,-116.7,51.3,-9.5,123,714,0.00,2.00,0.00,0.000,4,0.000,0.036,2540,928,3483,0,0,0,0,0,0
$GC,777,-0.56,-116.7,58.0,-9.7,135,783,0.15,2.05,0.00,0.000,6,0.202,0.028,2579,2317,3483,0,0,0,0,0,0
$GC,1112,-0.59,-116.7,81.2,-6.7,154,1116,0.00,2.05,0.00,0.000,4,0.000,0.041,2579,3698,3484,0,0,0,0,0,0
$GC,1178,-0.64,-116.7,85.7,-6.7,157,1182,0.00,2.00,0.00,0.000,6,0.000,0.024,2579,2301,3484,0,0,0,0,0,0
$GC,1507,-0.70,-116.7,106.1,-6.2,173,1508,0.12,0.00,0.00,0.000,6,0.133,0.000,2541,2288,3484,0,0,0,0,0,0
$GC,1814,-0.70,-116.7,130.5,-8.1,188,1818,0.00,2.12,0.00,0.000,4,0.000,0.041,2541,3702,3484,0,0,0,0,0,0
$GC,1919,-0.70,-116.7,139.8,-8.8,192,1927,0.00,2.05,0.00,0.000,6,0.000,0.023,2541,2286,3484,0,0,0,0,0,0
$GC,2235,-0.70,-116.7,165.9,-8.2,208,2238,0.00,2.00,0.00,0.000,4,0.000,0.035,2541,919,3484,0,0,0,0,0,0
$GC,2312,-0.67,-116.7,172.1,-8.0,211,2316,0.00,2.05,0.00,0.000,6,0.000,0.028,2540,2297,3485,0,0,0,0,0,0
$GC,2634,-0.67,-116.7,196.2,-7.5,227,2638,0.00,2.08,0.00,0.000,4,0.000,0.041,2540,3701,3486,0,0,0,0,0,0
$GC,2696,-0.67,-116.7,200.9,-7.1,230,2700,0.00,1.98,0.00,0.000,6,0.000,0.024,2541,2300,3486,0,0,0,0,0,0
$GC,3028,-0.67,-116.7,227.1,-8.8,246,3032,0.00,2.00,0.00,0.000,4,0.000,0.035,2541,927,3486,0,0,0,0,0,0
$GC,3083,-0.63,-116.7,232.5,-9.8,248,3088,0.00,2.05,0.00,0.000,6,0.000,0.028,2540,2304,3486,0,0,0,0,0,0
$GC,3404,-0.63,-116.7,260.4,-8.5,264,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2305,3486,0,0,0,0,0,0
$GC,3713,-0.63,-116.7,285.2,-7.7,279,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2304,3485,0,0,0,0,0,0
$GC,4042,-0.63,-116.7,311.0,-7.9,293,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2305,3484,0,0,0,0,0,0
$GC,4349,-0.63,-116.7,335.4,-7.9,303,4352,0.00,2.05,0.00,0.000,4,0.000,0.036,2541,925,3483,0,0,0,0,0,0
$GC,4398,-0.63,-116.7,339.8,-8.7,304,4402,0.00,2.05,0.00,0.000,6,0.000,0.029,2541,2299,3483,0,0,0,0,0,0
$GC,4716,-0.63,-116.7,364.3,-7.7,315,4720,0.00,2.08,0.00,0.000,4,0.000,0.042,2541,3706,3482,0,0,0,0,0,0
$GC,4804,-0.63,-116.7,371.1,-7.3,317,4809,0.00,2.03,0.00,0.000,6,0.000,0.025,2541,2305,3482,0,0,0,0,0,0
$GC,5122,-0.63,-116.7,393.0,-6.6,328,5126,0.00,2.05,0.00,0.000,4,0.000,0.038,2540,914,3481,0,0,0,0,0,0
$GC,5183,-0.63,-116.7,397.5,-7.3,329,5190,0.00,2.08,0.00,0.000,6,0.000,0.031,2540,2304,3481,0,0,0,0,0,0
$GC,5496,-0.63,-116.7,417.8,-6.4,340,5500,0.00,2.08,0.00,0.000,4,0.000,0.043,2540,3706,3481,0,0,0,0,0,0
$GC,5573,-0.63,-116.7,423.0,-6.6,342,5577,0.00,2.05,0.00,0.000,6,0.000,0.026,2541,2295,3480,0,0,0,0,0,0
$GC,5897,-0.63,-116.7,444.7,-7.0,353,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2293,3479,0,0,0,0,0,0
$GC,6203,-0.63,-116.7,465.8,-6.8,363,6207,0.00,2.12,0.00,0.000,4,0.000,0.044,2541,3701,3478,0,0,0,0,0,0
$GC,6305,-0.63,-116.7,472.7,-7.1,366,6308,0.00,2.00,0.00,0.000,6,0.000,0.026,2541,2302,3478,0,0,0,0,0,0
$GC,6644,-0.63,-116.7,496.6,-7.1,377,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2295,3477,0,0,0,0,0,0
$GC,6948,-0.63,-116.7,519.3,-7.5,383,6952,0.00,2.12,0.00,0.000,4,0.000,0.044,2541,3705,3476,0,0,0,0,0,0
$GC,7009,-0.63,-116.7,524.1,-8.1,384,7013,0.00,2.03,0.00,0.000,6,0.000,0.027,2540,2292,3476,0,0,0,0,0,0
$GC,7374,-0.63,-116.7,552.1,-7.7,390,7378,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3698,3475,0,0,0,0,0,0
$GC,7423,-0.63,-116.7,556.1,-7.9,390,7427,0.00,2.05,0.00,0.000,6,0.000,0.026,2541,2296,3475,0,0,0,0,0,0
$GC,7743,-0.63,-116.7,581.2,-7.8,396,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2295,3474,0,0,0,0,0,0
$GC,8046,-0.63,-116.7,604.2,-7.6,401,8050,0.00,2.12,0.00,0.000,4,0.000,0.044,2541,3705,3474,0,0,0,0,0,0
$GC,8114,-0.63,-116.7,609.3,-7.3,402,8118,0.00,2.03,0.00,0.000,6,0.000,0.027,2541,2296,3474,0,0,0,0,0,0
$GC,8478,-0.63,-116.7,635.0,-7.0,408,8482,0.00,2.12,0.00,0.000,4,0.000,0.044,2541,3702,3473,0,0,0,0,0,0
$GC,8527,-0.63,-116.7,638.5,-7.1,408,8531,0.00,2.05,0.00,0.000,6,0.000,0.027,2540,2304,3473,0,0,0,0,0,0
$GC,8842,-0.63,-116.7,660.0,-6.9,414,8843,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2303,3472,0,0,0,0,0,0
$GC,9145,-0.63,-116.7,680.2,-6.6,419,9149,0.00,2.10,0.00,0.000,4,0.000,0.044,2541,3698,3471,0,0,0,0,0,0
$GC,9193,-0.63,-116.7,683.7,-7.5,419,9198,0.00,2.05,0.00,0.000,6,0.000,0.027,2540,2300,3471,0,0,0,0,0,0
$GC,9509,-0.63,-116.7,703.9,-6.4,425,9510,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2298,3471,0,0,0,0,0,0
$GC,9812,-0.63,-116.7,723.3,-6.4,430,9816,0.00,2.12,0.00,0.000,4,0.000,0.044,2541,3700,3470,0,0,0,0,0,0
$GC,9901,-0.63,-116.7,729.3,-7.2,431,9905,0.00,2.05,0.00,0.000,6,0.000,0.027,2541,2300,3470,0,0,0,0,0,0
$GC,10251,-0.63,-116.7,751.9,-6.5,437,10252,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2299,3470,0,0,0,0,0,0
$GC,10553,-0.63,-116.7,772.2,-6.7,442,10557,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3705,3469,0,0,0,0,0,0
$GC,10653,-0.63,-116.7,779.3,-7.1,443,10658,0.00,2.08,0.00,0.000,6,0.000,0.027,2541,2296,3469,0,0,0,0,0,0
$GC,10985,-0.63,-116.7,801.8,-6.8,449,10986,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2294,3469,0,0,0,0,0,0
$GC,11288,-0.63,-116.7,822.3,-6.8,454,11292,0.00,2.12,0.00,0.000,4,0.000,0.044,2541,3701,3469,0,0,0,0,0,0
$GC,11360,-0.63,-116.7,827.1,-6.9,455,11364,0.00,2.05,0.00,0.000,6,0.000,0.027,2541,2303,3468,0,0,0,0,0,0
$GC,11720,-0.63,-116.7,850.6,-6.6,461,11722,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2302,3468,0,0,0,0,0,0
$GC,12024,-0.63,-116.7,869.9,-6.3,466,12028,0.00,2.12,0.00,0.000,4,0.000,0.044,2541,3706,3468,0,0,0,0,0,0
$GC,12119,-0.67,-116.7,876.2,-6.7,467,12123,0.00,2.03,0.00,0.000,6,0.000,0.028,2540,2299,3468,0,0,0,0,0,0
$GC,12456,-0.67,-116.7,896.7,-6.1,473,12457,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2297,3467,0,0,0,0,0,0
$GC,12759,-0.67,-116.7,915.9,-6.4,478,12763,0.00,2.12,0.00,0.000,4,0.000,0.045,2541,3701,3467,0,0,0,0,0,0
$GC,12843,-0.67,-116.7,921.6,-6.6,479,12847,0.00,2.03,0.00,0.000,6,0.000,0.027,2540,2294,3467,0,0,0,0,0,0
$GC,13191,-0.67,-116.7,943.9,-6.4,485,13195,0.00,2.12,0.00,0.000,4,0.000,0.045,2541,3698,3467,0,0,0,0,0,0
$GC,13246,-0.70,-116.7,947.5,-6.3,485,13250,0.00,2.05,0.00,0.000,6,0.000,0.028,2541,2304,3467,0,0,0,0,0,0
$GC,13561,-0.70,-116.7,967.1,-6.1,491,13562,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2303,3466,0,0,0,0,0,0
$GC,13864,-0.70,-116.7,985.7,-6.1,496,13868,0.00,2.12,0.00,0.000,4,0.000,0.045,2541,3705,3466,0,0,0,0,0,0
$STATE,13928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13928,begin apogee
$GC,13935,-0.24,0.0,990.0,6.6,497,14036,0.45,0.00,97.53,1.548,6,0.168,0.000,2678,2629,3006,0,0,0,0,0,0
$STATE,14036,end apogee,CONTROL_FINISHED_OK
$STATE,14037,begin climb
$GC,14038,0.80,116.7,992.0,0.0,498,14155,1.08,2.50,105.75,1.453,4,0.120,0.046,3012,4031,2529,0,0,0,0,0,0
$GC,14229,0.56,116.7,984.2,9.3,501,14234,0.28,2.15,0.00,0.000,6,0.175,0.027,2952,2664,2522,0,0,0,0,0,0
$GC,14595,0.53,133.3,961.2,6.2,507,14614,0.00,2.22,14.25,1.407,4,0.000,0.048,2952,4035,2462,0,0,0,0,0,0
$GC,14626,0.50,164.1,959.0,5.6,507,14660,0.00,2.12,29.15,1.397,6,0.000,0.028,2958,2649,2336,0,0,0,0,0,0
$GC,15026,0.50,164.1,929.6,7.4,514,15030,0.00,2.20,0.00,0.000,4,0.000,0.047,2959,4046,2328,0,0,0,0,0,0
$GC,15047,0.44,164.1,927.8,7.5,514,15052,0.22,2.10,0.00,0.000,6,0.177,0.028,2909,2644,2328,0,0,0,0,0,0
$GC,15384,0.55,190.2,908.1,5.8,520,15409,0.00,0.00,23.08,1.436,6,0.000,0.000,2909,2643,2230,0,0,0,0,0,0
$GC,15687,0.65,202.7,889.0,6.4,525,15707,0.20,2.22,12.18,1.382,4,0.101,0.038,2989,1252,2179,0,0,0,0,0,0
$GC,15729,0.61,202.7,885.4,8.6,525,15733,0.00,2.17,0.00,0.000,6,0.000,0.034,2989,2651,2178,0,0,0,0,0,0
$GC,16055,0.56,202.7,855.0,9.4,531,16060,0.15,2.17,0.00,0.000,4,0.180,0.048,2941,4053,2175,0,0,0,0,0,0
$GC,16070,0.52,202.7,853.5,9.4,531,16074,0.00,2.10,0.00,0.000,6,0.000,0.028,2950,2641,2175,0,0,0,0,0,0
$GC,16418,0.52,202.7,826.1,7.9,537,16422,0.00,2.17,0.00,0.000,4,0.000,0.047,2950,4042,2174,0,0,0,0,0,0
$GC,16428,0.52,202.7,825.2,7.8,537,16433,0.00,2.10,0.00,0.000,6,0.000,0.028,2958,2652,2174,0,0,0,0,0,0
$GC,16788,0.52,202.7,796.8,8.0,543,16789,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2651,2173,0,0,0,0,0,0
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$STATE,26599,end climb,SURFACE_DEPTH_REACHED
$STATE,26599,begin surface coast
$FINISH,3.0,1.013473
$STATE,26613,end surface coast,CONTROL_FINISHED_OK
$STATE,26613,begin surface
$SM_CCo,26630,21.60,0.809,0,0,1884,275.23
$SM_GC,3.50,0.00,0.00,21.60,0.000,0.000,0.809,217,2309,1884,-7.96,0.25,275.23
$IRIDIUM_FIX,6356.67,24.84,020299,010109
$TT8_MAMPS,0.027612
$HUMID,1078373539
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,19.90
$XPDR_PINGS,0
$24V_AH,22.7,22.947
$10V_AH,10.0,14.527
$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,21.400,196.050,325.650,21.600,0.000,31.699,32.740,150.504,0.000,0.000,11.993,2073.302,21470.527,495.656,2461.991,477.127,0.000,1752.336,0.000,2430.532,0.000,0.534,0.000
$DEVICE_MAMPS,250.809,55.224,1547.806,809.185,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,652.938,964.110,539.937,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241464
$DATA_FILE_SIZE,53879,942
$CAP_FILE_SIZE,200662,0
$CFSIZE,260165632,244342784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,211.8,1
$GPS,081109,170101,6425.484,17.538,40,1.4,41,-5.0