version: 66.06
glider: 140
mission: 8
dive: 138
start: 11 9 109 23 57 35
data:
$ID,140
$MISSION,8
$DIVE,138
$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,-46806.996
$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,74
$R_STBD_OVSHOOT,43
$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
$GPS1,234736,6435.795,-7.291,37,0.9,38,-5.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.70
$_SM_ANGLEo,-59.3
$GPS2,235713,6435.875,-7.313,12,1.1,29,-5.2
$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,328.8,69286,-13.7,-6.875
$D_GRID,2646
$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,-7.57,0.000,2,0.000,0.000,213,2273,2037,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.7,-0.0,1,123,8.88,2.10,-79.00,0.000,4,0.235,0.049,2504,910,3483,0,0,0,0,0,0
$GC,136,-0.74,-116.7,5.1,-5.5,20,143,0.00,2.15,0.00,0.000,6,0.000,0.029,2504,2311,3484,0,0,0,0,0,0
$GC,473,-0.61,-116.7,44.3,-10.5,81,479,0.22,2.12,0.00,0.000,4,0.190,0.033,2566,908,3485,0,0,0,0,0,0
$GC,725,-0.61,-116.7,66.2,-8.1,117,729,0.00,2.10,0.00,0.000,6,0.000,0.028,2567,2302,3486,0,0,0,0,0,0
$GC,1047,-0.61,-116.7,90.0,-7.0,133,1051,0.00,2.08,0.00,0.000,4,0.000,0.034,2567,909,3486,0,0,0,0,0,0
$GC,1259,-0.61,-116.7,105.6,-7.1,142,1268,0.00,2.10,0.00,0.000,6,0.000,0.028,2567,2306,3486,0,0,0,0,0,0
$GC,1575,-0.61,-116.7,128.1,-7.4,158,1579,0.00,2.08,0.00,0.000,4,0.000,0.041,2567,3704,3486,0,0,0,0,0,0
$GC,1658,-0.66,-116.7,134.5,-7.6,161,1664,0.00,2.05,0.00,0.000,6,0.000,0.023,2566,2281,3486,0,0,0,0,0,0
$GC,1975,-0.69,-116.7,155.4,-6.2,177,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2280,3487,0,0,0,0,0,0
$GC,2283,-0.73,-116.7,174.1,-6.1,192,2288,0.12,2.15,0.00,0.000,4,0.134,0.041,2527,3699,3487,0,0,0,0,0,0
$GC,2354,-0.68,-116.7,179.6,-8.1,195,2358,0.00,1.98,0.00,0.000,6,0.000,0.024,2527,2298,3487,0,0,0,0,0,0
$GC,2675,-0.63,-116.7,206.2,-9.1,211,2680,0.12,2.12,0.00,0.000,4,0.196,0.042,2557,3698,3488,0,0,0,0,0,0
$GC,2724,-0.66,-116.7,210.3,-7.9,213,2728,0.00,2.03,0.00,0.000,6,0.000,0.024,2558,2297,3488,0,0,0,0,0,0
$GC,3046,-0.66,-116.7,233.1,-6.5,229,3050,0.00,2.10,0.00,0.000,4,0.000,0.042,2558,3698,3488,0,0,0,0,0,0
$GC,3095,-0.69,-116.7,236.4,-6.8,231,3099,0.00,1.98,0.00,0.000,6,0.000,0.025,2558,2300,3487,0,0,0,0,0,0
$GC,3417,-0.69,-116.7,256.9,-6.5,247,3421,0.00,2.10,0.00,0.000,4,0.000,0.042,2558,3698,3487,0,0,0,0,0,0
$GC,3472,-0.73,-116.7,260.8,-6.7,249,3478,0.00,1.98,0.00,0.000,6,0.000,0.025,2558,2301,3487,0,0,0,0,0,0
$GC,3789,-0.73,-116.7,281.4,-6.4,265,3793,0.00,2.12,0.00,0.000,4,0.000,0.043,2558,3704,3486,0,0,0,0,0,0
$GC,3856,-0.77,-116.7,285.9,-6.3,268,3861,0.12,2.00,0.00,0.000,6,0.145,0.025,2518,2292,3486,0,0,0,0,0,0
$GC,4175,-0.71,-116.7,311.6,-8.3,282,4178,0.00,2.00,0.00,0.000,4,0.000,0.036,2518,926,3485,0,0,0,0,0,0
$GC,4230,-0.63,-116.7,316.6,-9.4,283,4235,0.15,2.03,0.00,0.000,6,0.200,0.030,2556,2302,3485,0,0,0,0,0,0
$GC,4548,-0.63,-116.7,338.2,-6.8,294,4552,0.00,2.10,0.00,0.000,4,0.000,0.043,2557,3705,3484,0,0,0,0,0,0
$GC,4626,-0.67,-116.7,343.9,-7.4,296,4629,0.00,2.00,0.00,0.000,6,0.000,0.025,2556,2297,3484,0,0,0,0,0,0
$GC,4955,-0.67,-116.7,366.5,-6.9,307,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2296,3483,0,0,0,0,0,0
$GC,5261,-0.67,-116.7,387.9,-7.0,317,5264,0.00,2.12,0.00,0.000,4,0.000,0.043,2556,3697,3483,0,0,0,0,0,0
$GC,5329,-0.70,-116.7,392.8,-7.5,319,5333,0.00,2.00,0.00,0.000,6,0.000,0.025,2556,2300,3482,0,0,0,0,0,0
$GC,5669,-0.70,-116.7,417.0,-7.2,330,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2293,3482,0,0,0,0,0,0
$GC,5975,-0.74,-116.7,439.1,-7.1,340,5979,0.00,2.12,0.00,0.000,4,0.000,0.044,2556,3701,3481,0,0,0,0,0,0
$GC,6052,-0.78,-116.7,444.9,-7.8,342,6057,0.12,2.00,0.00,0.000,6,0.143,0.026,2517,2293,3481,0,0,0,0,0,0
$GC,6381,-0.72,-116.7,472.5,-8.3,353,6385,0.00,2.03,0.00,0.000,4,0.000,0.037,2517,924,3480,0,0,0,0,0,0
$GC,6430,-0.64,-116.7,476.7,-8.7,354,6435,0.10,2.05,0.00,0.000,6,0.179,0.031,2547,2297,3480,0,0,0,0,0,0
$GC,6754,-0.64,-116.7,498.7,-6.8,365,6758,0.00,2.08,0.00,0.000,4,0.000,0.044,2547,3697,3479,0,0,0,0,0,0
$GC,6843,-0.64,-116.7,505.0,-7.1,367,6847,0.00,2.03,0.00,0.000,6,0.000,0.026,2548,2304,3478,0,0,0,0,0,0
$GC,7186,-0.64,-116.7,528.3,-6.8,373,7187,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2302,3478,0,0,0,0,0,0
$GC,7488,-0.64,-116.7,549.5,-7.0,378,7492,0.00,2.10,0.00,0.000,4,0.000,0.044,2548,3697,3476,0,0,0,0,0,0
$GC,7561,-0.64,-116.7,554.7,-7.5,379,7565,0.00,2.00,0.00,0.000,6,0.000,0.026,2548,2304,3477,0,0,0,0,0,0
$GC,7921,-0.64,-116.7,579.6,-6.8,385,7925,0.00,2.12,0.00,0.000,4,0.000,0.044,2548,3702,3476,0,0,0,0,0,0
$GC,7976,-0.67,-116.7,583.3,-6.6,385,7981,0.00,2.03,0.00,0.000,6,0.000,0.027,2547,2292,3476,0,0,0,0,0,0
$GC,8285,-0.67,-116.7,602.6,-6.2,391,8287,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2291,3475,0,0,0,0,0,0
$GC,8588,-0.67,-116.7,621.5,-6.3,396,8592,0.00,2.12,0.00,0.000,4,0.000,0.044,2548,3698,3475,0,0,0,0,0,0
$GC,8687,-0.67,-116.7,628.3,-7.1,397,8692,0.00,2.05,0.00,0.000,6,0.000,0.026,2548,2296,3474,0,0,0,0,0,0
$GC,9020,-0.67,-116.7,650.8,-6.9,403,9021,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2295,3474,0,0,0,0,0,0
$GC,9322,-0.67,-116.7,672.3,-7.1,408,9326,0.00,2.12,0.00,0.000,4,0.000,0.044,2548,3698,3474,0,0,0,0,0,0
$GC,9406,-0.71,-116.7,678.4,-7.0,409,9410,0.00,2.05,0.00,0.000,6,0.000,0.027,2548,2296,3473,0,0,0,0,0,0
$GC,9754,-0.71,-116.7,703.3,-7.1,415,9758,0.00,2.12,0.00,0.000,4,0.000,0.045,2548,3698,3473,0,0,0,0,0,0
$GC,9809,-0.75,-116.7,707.4,-7.6,415,9815,0.00,2.00,0.00,0.000,6,0.000,0.027,2548,2298,3473,0,0,0,0,0,0
$GC,10118,-0.75,-116.7,728.7,-6.9,421,10122,0.00,2.12,0.00,0.000,4,0.000,0.045,2548,3698,3472,0,0,0,0,0,0
$GC,10167,-0.78,-116.7,732.2,-7.0,421,10172,0.08,2.05,0.00,0.000,6,0.123,0.027,2517,2299,3472,0,0,0,0,0,0
$GC,10488,-0.74,-116.7,757.8,-8.1,427,10489,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2297,3472,0,0,0,0,0,0
$GC,10790,-0.70,-116.7,783.0,-8.3,432,10791,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2298,3471,0,0,0,0,0,0
$GC,11094,-0.66,-116.7,808.9,-8.6,437,11096,0.12,0.00,0.00,0.000,6,0.196,0.000,2549,2296,3471,0,0,0,0,0,0
$GC,11396,-0.66,-116.7,832.5,-7.7,442,11400,0.00,2.15,0.00,0.000,4,0.000,0.046,2548,3705,3470,0,0,0,0,0,0
$GC,11480,-0.71,-116.7,839.0,-7.7,443,11484,0.00,2.08,0.00,0.000,6,0.000,0.028,2549,2266,3471,0,0,0,0,0,0
$GC,11834,-0.74,-116.7,863.8,-6.9,449,11838,0.00,2.17,0.00,0.000,4,0.000,0.045,2549,3700,3470,0,0,0,0,0,0
$GC,11917,-0.78,-116.7,869.6,-6.9,450,11921,0.12,2.03,0.00,0.000,6,0.141,0.027,2510,2288,3470,0,0,0,0,0,0
$GC,12265,-0.73,-116.7,897.3,-8.0,456,12266,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2286,3470,0,0,0,0,0,0
$GC,12568,-0.68,-116.7,920.7,-7.7,461,12570,0.12,0.00,0.00,0.000,6,0.199,0.000,2540,2285,3469,0,0,0,0,0,0
$GC,12871,-0.68,-116.7,939.6,-6.2,466,12875,0.00,2.15,0.00,0.000,4,0.000,0.046,2540,3704,3469,0,0,0,0,0,0
$GC,12973,-0.71,-116.7,945.8,-6.2,467,12976,0.00,2.03,0.00,0.000,6,0.000,0.028,2541,2306,3469,0,0,0,0,0,0
$GC,13304,-0.71,-116.7,965.5,-5.9,473,13305,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2297,3469,0,0,0,0,0,0
$GC,13607,-0.71,-116.7,983.8,-6.1,478,13611,0.00,2.12,0.00,0.000,4,0.000,0.046,2541,3698,3469,0,0,0,0,0,0
$STATE,13706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13706,begin apogee
$GC,13712,-0.24,0.0,990.0,6.1,479,13814,0.45,0.00,98.43,1.560,6,0.166,0.000,2680,2624,3006,0,0,0,0,0,0
$STATE,13815,end apogee,CONTROL_FINISHED_OK
$STATE,13815,begin climb
$GC,13817,0.80,116.7,992.9,0.0,481,13933,1.05,2.53,105.75,1.462,4,0.120,0.047,3008,4036,2529,0,0,0,0,0,0
$GC,14023,0.57,116.7,982.2,8.9,484,14028,0.28,2.15,0.00,0.000,6,0.179,0.027,2951,2657,2523,0,0,0,0,0,0
$GC,14371,0.53,126.8,959.3,6.5,490,14382,0.00,0.00,8.68,1.348,6,0.000,0.000,2950,2657,2489,0,0,0,0,0,0
$GC,14675,0.51,140.0,940.2,6.3,495,14690,0.00,0.00,13.25,1.405,6,0.000,0.000,2951,2657,2436,0,0,0,0,0,0
$GC,14977,0.52,144.8,920.0,6.7,500,14988,0.00,2.17,5.82,1.223,4,0.000,0.046,2950,4034,2414,0,0,0,0,0,0
$GC,15009,0.45,144.8,917.5,7.3,500,15014,0.17,2.10,0.00,0.000,6,0.185,0.028,2913,2631,2414,0,0,0,0,0,0
$GC,15341,0.54,175.6,898.5,5.6,506,15372,0.00,0.00,28.52,1.434,6,0.000,0.000,2913,2631,2290,0,0,0,0,0,0
$GC,15645,0.64,190.6,879.7,6.3,511,15662,0.17,0.00,14.32,1.395,6,0.108,0.000,2973,2629,2229,0,0,0,0,0,0
$GC,15947,0.60,190.6,853.7,8.7,516,15948,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2629,2224,0,0,0,0,0,0
$GC,16250,0.57,190.6,827.1,8.8,521,16254,0.00,2.20,0.00,0.000,4,0.000,0.048,2973,4044,2223,0,0,0,0,0,0
$GC,16278,0.49,190.6,824.3,9.5,521,16282,0.22,2.08,0.00,0.000,6,0.179,0.028,2923,2645,2223,0,0,0,0,0,0
$GC,16609,0.56,190.6,801.0,7.0,527,16610,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2645,2222,0,0,0,0,0,0
$GC,16912,0.63,190.6,780.1,6.9,532,16914,0.12,0.00,0.00,0.000,6,0.123,0.000,2967,2642,2222,0,0,0,0,0,0
$GC,17214,0.63,190.6,755.9,8.0,537,17215,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2642,2221,0,0,0,0,0,0
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$STATE,27024,end climb,SURFACE_DEPTH_REACHED
$STATE,27025,begin surface coast
$FINISH,2.9,1.013025
$STATE,27075,end surface coast,CONTROL_FINISHED_OK
$STATE,27075,begin surface
$SM_CCo,27092,11.40,0.792,0,0,1884,275.23
$SM_GC,4.61,0.00,0.00,11.40,0.000,0.000,0.792,221,2289,1884,-7.95,-0.34,275.23
$IRIDIUM_FIX,6411.46,-10.04,030299,232322
$TT8_MAMPS,0.027612
$HUMID,1078392893
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.7,23.702
$10V_AH,10.0,15.051
$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
$DEVICE_SECS,21.950,184.300,339.175,11.400,0.000,55.232,68.358,233.383,0.000,0.000,29.825,2092.145,21962.994,508.818,2458.701,651.250,0.000,1750.046,0.000,2416.350,0.000,0.534,0.000
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$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,657.566,972.524,527.221,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241464
$DATA_FILE_SIZE,53763,949
$CAP_FILE_SIZE,205816,0
$CFSIZE,260165632,243920896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060,314.9,1
$GPS,101109,073125,6438.811,-13.311,88,1.5,89,-5.3