version: 66.06
glider: 140
mission: 8
dive: 139
start: 11 10 109 7 40 49
data:
$ID,140
$MISSION,8
$DIVE,139
$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,-46841.484
$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,62
$R_STBD_OVSHOOT,51
$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
$GPS1,073125,6438.811,-13.311,88,1.5,89,-5.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.68
$_SM_ANGLEo,-59.3
$GPS2,074028,6438.886,-13.318,12,2.4,31,-5.3
$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,329.4,62021,-13.7,-6.875
$D_GRID,2681
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-6.82,0.000,2,0.000,0.000,220,2286,2022,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.7,-0.0,1,121,8.77,2.12,-80.10,0.000,4,0.233,0.050,2498,906,3481,0,0,0,0,0,0
$GC,369,-0.63,-116.7,35.9,-9.6,62,377,0.17,2.12,0.00,0.000,6,0.176,0.029,2552,2302,3483,0,0,0,0,0,0
$GC,707,-0.59,-116.7,61.6,-6.5,120,710,0.00,2.10,0.00,0.000,4,0.000,0.035,2553,907,3484,0,0,0,0,0,0
$GC,903,-0.56,-116.7,77.5,-8.5,129,908,0.12,2.05,0.00,0.000,6,0.206,0.028,2583,2303,3484,0,0,0,0,0,0
$GC,1231,-0.61,-116.7,99.9,-6.9,145,1235,0.00,2.08,0.00,0.000,4,0.000,0.041,2584,3700,3484,0,0,0,0,0,0
$GC,1326,-0.69,-116.7,106.1,-6.3,149,1331,0.12,2.03,0.00,0.000,6,0.135,0.024,2544,2269,3485,0,0,0,0,0,0
$GC,1640,-0.69,-116.7,131.4,-8.3,164,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2268,3484,0,0,0,0,0,0
$GC,1952,-0.69,-116.7,156.1,-8.1,179,1956,0.00,2.15,0.00,0.000,4,0.000,0.041,2544,3697,3485,0,0,0,0,0,0
$GC,2040,-0.69,-116.7,163.2,-8.0,183,2045,0.00,2.00,0.00,0.000,6,0.000,0.024,2543,2312,3485,0,0,0,0,0,0
$GC,2368,-0.69,-116.7,187.0,-7.3,199,2372,0.00,2.10,0.00,0.000,4,0.000,0.041,2543,3705,3485,0,0,0,0,0,0
$GC,2430,-0.69,-116.7,191.5,-6.8,202,2433,0.00,2.00,0.00,0.000,6,0.000,0.025,2543,2305,3485,0,0,0,0,0,0
$GC,2761,-0.69,-116.7,213.6,-6.7,218,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2298,3485,0,0,0,0,0,0
$GC,3071,-0.69,-116.7,235.8,-7.2,233,3074,0.00,2.03,0.00,0.000,4,0.000,0.036,2543,922,3485,0,0,0,0,0,0
$GC,3131,-0.69,-116.7,240.8,-8.1,235,3137,0.00,2.05,0.00,0.000,6,0.000,0.028,2543,2298,3485,0,0,0,0,0,0
$GC,3447,-0.69,-116.7,266.4,-8.3,251,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2298,3485,0,0,0,0,0,0
$GC,3756,-0.69,-116.7,289.7,-7.3,266,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2298,3484,0,0,0,0,0,0
$GC,4075,-0.69,-116.7,311.5,-6.6,279,4079,0.00,2.08,0.00,0.000,4,0.000,0.042,2543,3699,3484,0,0,0,0,0,0
$GC,4131,-0.69,-116.7,315.1,-6.6,280,4135,0.00,2.00,0.00,0.000,6,0.000,0.025,2543,2296,3484,0,0,0,0,0,0
$GC,4449,-0.69,-116.7,335.6,-6.6,291,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2288,3483,0,0,0,0,0,0
$GC,4755,-0.69,-116.7,354.7,-6.1,301,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2288,3483,0,0,0,0,0,0
$GC,5062,-0.69,-116.7,373.0,-5.9,311,5066,0.00,2.12,0.00,0.000,4,0.000,0.043,2543,3698,3482,0,0,0,0,0,0
$GC,5123,-0.69,-116.7,376.9,-6.5,312,5129,0.00,2.00,0.00,0.000,6,0.000,0.025,2544,2295,3482,0,0,0,0,0,0
$GC,5435,-0.69,-116.7,396.3,-6.5,323,5437,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2293,3481,0,0,0,0,0,0
$GC,5741,-0.69,-116.7,416.6,-6.8,333,5742,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2293,3480,0,0,0,0,0,0
$GC,6048,-0.69,-116.7,439.1,-7.6,343,6052,0.00,2.12,0.00,0.000,4,0.000,0.044,2543,3701,3480,0,0,0,0,0,0
$GC,6136,-0.69,-116.7,446.1,-7.8,345,6142,0.00,2.05,0.00,0.000,6,0.000,0.025,2544,2295,3479,0,0,0,0,0,0
$GC,6448,-0.69,-116.7,469.5,-7.4,356,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2293,3478,0,0,0,0,0,0
$GC,6755,-0.69,-116.7,493.0,-7.7,366,6759,0.00,2.12,0.00,0.000,4,0.000,0.044,2544,3697,3477,0,0,0,0,0,0
$GC,6804,-0.69,-116.7,497.0,-8.2,367,6809,0.00,2.03,0.00,0.000,6,0.000,0.026,2544,2307,3477,0,0,0,0,0,0
$GC,7155,-0.69,-116.7,523.6,-7.6,374,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2307,3476,0,0,0,0,0,0
$GC,7459,-0.69,-116.7,546.0,-7.3,379,7462,0.00,2.10,0.00,0.000,4,0.000,0.044,2543,3697,3476,0,0,0,0,0,0
$GC,7508,-0.69,-116.7,549.7,-7.5,379,7512,0.00,2.05,0.00,0.000,6,0.000,0.026,2543,2299,3476,0,0,0,0,0,0
$GC,7823,-0.69,-116.7,570.9,-6.7,385,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2298,3475,0,0,0,0,0,0
$GC,8126,-0.69,-116.7,590.7,-6.5,390,8130,0.00,2.12,0.00,0.000,4,0.000,0.044,2543,3702,3474,0,0,0,0,0,0
$GC,8192,-0.69,-116.7,595.2,-6.8,391,8196,0.00,2.03,0.00,0.000,6,0.000,0.027,2543,2293,3474,0,0,0,0,0,0
$GC,8557,-0.69,-116.7,618.9,-6.5,397,8558,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2291,3474,0,0,0,0,0,0
$GC,8860,-0.69,-116.7,638.5,-6.4,402,8864,0.00,2.12,0.00,0.000,4,0.000,0.044,2543,3698,3473,0,0,0,0,0,0
$GC,8932,-0.69,-116.7,643.1,-6.2,403,8936,0.00,2.00,0.00,0.000,6,0.000,0.027,2543,2298,3473,0,0,0,0,0,0
$GC,9292,-0.69,-116.7,666.2,-6.5,409,9293,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2297,3472,0,0,0,0,0,0
$GC,9595,-0.69,-116.7,685.9,-6.5,414,9599,0.00,2.12,0.00,0.000,4,0.000,0.045,2543,3702,3472,0,0,0,0,0,0
$GC,9673,-0.69,-116.7,691.1,-7.2,415,9677,0.00,2.05,0.00,0.000,6,0.000,0.027,2543,2302,3471,0,0,0,0,0,0
$GC,10027,-0.69,-116.7,714.3,-6.6,421,10028,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2300,3471,0,0,0,0,0,0
$GC,10330,-0.69,-116.7,733.4,-6.3,426,10334,0.00,2.15,0.00,0.000,4,0.000,0.046,2543,3704,3471,0,0,0,0,0,0
$GC,10419,-0.69,-116.7,739.3,-6.2,427,10423,0.00,2.03,0.00,0.000,6,0.000,0.027,2543,2299,3471,0,0,0,0,0,0
$GC,10762,-0.69,-116.7,760.8,-6.3,433,10763,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2297,3470,0,0,0,0,0,0
$GC,11065,-0.69,-116.7,779.9,-6.3,438,11069,0.00,2.12,0.00,0.000,4,0.000,0.044,2543,3705,3470,0,0,0,0,0,0
$GC,11167,-0.69,-116.7,786.5,-6.4,439,11171,0.00,2.03,0.00,0.000,6,0.000,0.028,2543,2305,3469,0,0,0,0,0,0
$GC,11498,-0.69,-116.7,807.2,-6.2,445,11502,0.00,2.12,0.00,0.000,4,0.000,0.045,2543,3705,3469,0,0,0,0,0,0
$GC,11553,-0.69,-116.7,810.7,-6.3,445,11557,0.00,2.08,0.00,0.000,6,0.000,0.028,2543,2297,3469,0,0,0,0,0,0
$GC,11868,-0.69,-116.7,830.0,-6.2,451,11869,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2295,3469,0,0,0,0,0,0
$GC,12171,-0.69,-116.7,849.3,-6.4,456,12175,0.00,2.12,0.00,0.000,4,0.000,0.045,2543,3698,3468,0,0,0,0,0,0
$GC,12260,-0.72,-116.7,855.3,-6.1,457,12263,0.00,2.03,0.00,0.000,6,0.000,0.028,2543,2300,3468,0,0,0,0,0,0
$GC,12608,-0.72,-116.7,877.8,-6.5,463,12612,0.00,2.12,0.00,0.000,4,0.000,0.045,2543,3697,3468,0,0,0,0,0,0
$GC,12670,-0.76,-116.7,882.1,-7.0,464,12674,0.00,2.03,0.00,0.000,6,0.000,0.028,2543,2294,3468,0,0,0,0,0,0
$GC,13041,-0.76,-116.7,907.4,-6.9,470,13045,0.00,2.12,0.00,0.000,4,0.000,0.045,2543,3698,3468,0,0,0,0,0,0
$GC,13103,-0.76,-116.7,911.9,-7.1,471,13106,0.00,2.03,0.00,0.000,6,0.000,0.028,2543,2301,3469,0,0,0,0,0,0
$GC,13473,-0.76,-116.7,939.1,-7.3,477,13477,0.00,2.12,0.00,0.000,4,0.000,0.045,2543,3698,3468,0,0,0,0,0,0
$GC,13528,-0.79,-116.7,943.3,-7.4,477,13534,0.00,2.05,0.00,0.000,6,0.000,0.028,2543,2304,3467,0,0,0,0,0,0
$GC,13838,-0.79,-116.7,965.4,-7.2,483,13839,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2303,3467,0,0,0,0,0,0
$GC,14141,-0.79,-116.7,986.7,-7.0,488,14145,0.00,2.12,0.00,0.000,4,0.000,0.045,2543,3705,3467,0,0,0,0,0,0
$STATE,14188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14188,begin apogee
$GC,14194,-0.24,0.0,990.1,6.8,488,14296,0.45,0.00,98.25,1.555,6,0.161,0.000,2682,2637,3006,0,0,0,0,0,0
$STATE,14296,end apogee,CONTROL_FINISHED_OK
$STATE,14297,begin climb
$GC,14298,0.80,116.7,993.2,0.0,490,14413,1.10,2.42,105.95,1.465,4,0.120,0.045,3018,4032,2529,0,0,0,0,0,0
$GC,14469,0.54,116.7,987.6,8.3,493,14474,0.25,2.20,0.00,0.000,6,0.175,0.027,2947,2669,2523,0,0,0,0,0,0
$GC,14818,0.54,144.1,967.2,5.8,499,14846,0.00,0.00,23.92,1.435,6,0.000,0.000,2947,2669,2418,0,0,0,0,0,0
$GC,15185,0.54,149.1,943.1,6.7,505,15195,0.00,2.17,5.00,1.135,4,0.000,0.048,2940,4035,2398,0,0,0,0,0,0
$GC,15200,0.55,153.2,942.1,6.7,505,15210,0.00,2.10,5.68,1.155,6,0.000,0.028,2949,2645,2381,0,0,0,0,0,0
$GC,15542,0.55,155.7,918.9,6.8,511,15546,0.00,2.17,0.00,0.000,4,0.000,0.047,2949,4036,2378,0,0,0,0,0,0
$GC,15558,0.51,155.9,917.7,6.9,511,15562,0.00,2.08,0.00,0.000,6,0.000,0.028,2958,2649,2378,0,0,0,0,0,0
$GC,15907,0.51,155.9,893.4,6.9,517,15911,0.00,2.15,0.00,0.000,4,0.000,0.047,2954,4034,2378,0,0,0,0,0,0
$GC,15939,0.43,155.9,890.8,8.1,517,15944,0.12,2.08,0.00,0.000,6,0.164,0.028,2910,2650,2377,0,0,0,0,0,0
$GC,16271,0.54,191.3,872.4,5.5,523,16308,0.00,0.00,35.00,1.438,6,0.000,0.000,2910,2650,2225,0,0,0,0,0,0
$GC,16574,0.67,219.1,855.1,5.8,528,16603,0.20,0.00,25.88,1.402,6,0.100,0.000,2980,2647,2112,0,0,0,0,0,0
$GC,16876,0.67,219.1,829.7,8.5,533,16877,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2647,2105,0,0,0,0,0,0
$GC,17179,0.67,219.1,803.6,8.7,538,17183,0.00,2.17,0.00,0.000,4,0.000,0.048,2980,4041,2103,0,0,0,0,0,0
$GC,17212,0.58,219.1,800.4,9.8,538,17217,0.12,2.08,0.00,0.000,6,0.189,0.028,2959,2641,2102,0,0,0,0,0,0
$GC,17543,0.58,219.1,774.8,7.7,544,17544,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2641,2102,0,0,0,0,0,0
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$STATE,27255,end climb,SURFACE_DEPTH_REACHED
$STATE,27255,begin surface coast
$FINISH,3.0,1.014293
$STATE,27308,end surface coast,CONTROL_FINISHED_OK
$STATE,27308,begin surface
$SM_CCo,27325,28.08,0.810,0,0,1883,275.23
$SM_GC,3.74,0.00,0.00,28.08,0.000,0.000,0.810,218,2285,1883,-7.96,-0.42,275.23
$IRIDIUM_FIX,6411.46,-15.06,040299,070709
$TT8_MAMPS,0.027612
$HUMID,1078386442
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,22.7,23.855
$10V_AH,10.0,15.156
$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
$DEVICE_SECS,19.950,159.050,315.850,28.075,0.000,58.991,65.540,212.581,0.000,0.000,33.861,2051.435,22353.701,498.609,2386.261,598.163,0.000,1675.030,0.000,2339.348,0.000,0.534,0.000
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$SENSOR_SECS,667.762,984.614,541.024,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241496
$DATA_FILE_SIZE,53831,963
$CAP_FILE_SIZE,190556,0
$CFSIZE,260165632,243855360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.021,290.3,1
$GPS,101109,151801,6441.423,-18.863,41,1.3,42,-5.4