version: 66.06
glider: 140
mission: 8
dive: 208
start: 12 1 109 14 58 30
data:
$ID,140
$MISSION,8
$DIVE,208
$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,-2
$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,-48029.797
$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,50
$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
$GPS1,145059,6308.247,344.544,41,1.5,45,-2.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,3.24
$_SM_ANGLEo,-54.1
$GPS2,145807,6308.297,344.558,12,1.3,17,-2.8
$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,317.3,311048,-13.7,-6.875
$D_GRID,978
$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,-7.38,0.000,2,0.000,0.000,216,2278,2039,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.3,-0.0,1,121,8.68,2.12,-76.93,0.000,4,0.221,0.053,2501,920,3482,0,0,0,0,0,0
$GC,371,-0.63,-116.7,44.9,-15.3,63,379,0.20,2.08,0.00,0.000,6,0.183,0.030,2555,2310,3483,0,0,0,0,0,0
$GC,713,-0.63,-116.7,73.4,-5.5,124,720,0.00,2.12,0.00,0.000,4,0.000,0.035,2556,920,3484,0,0,0,0,0,0
$GC,849,-0.63,-116.7,82.9,-7.4,148,855,0.00,2.08,0.00,0.000,6,0.000,0.028,2556,2306,3483,0,0,0,0,0,0
$GC,1190,-0.63,-116.7,108.8,-5.8,209,1196,0.00,2.08,0.00,0.000,4,0.000,0.041,2556,3708,3484,0,0,0,0,0,0
$GC,1237,-0.63,-116.7,111.8,-6.6,217,1242,0.00,2.03,0.00,0.000,6,0.000,0.023,2556,2289,3484,0,0,0,0,0,0
$GC,1568,-0.63,-116.7,136.6,-7.3,249,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2288,3484,0,0,0,0,0,0
$GC,1877,-0.63,-116.7,159.2,-6.8,264,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2288,3484,0,0,0,0,0,0
$GC,2187,-0.63,-116.7,179.9,-6.5,279,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2288,3484,0,0,0,0,0,0
$GC,2494,-0.63,-116.7,201.3,-7.2,294,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2288,3484,0,0,0,0,0,0
$GC,2804,-0.63,-116.7,222.6,-7.1,309,2808,0.00,2.12,0.00,0.000,4,0.000,0.040,2556,3702,3484,0,0,0,0,0,0
$GC,2869,-0.63,-116.7,228.3,-8.9,312,2874,0.00,2.03,0.00,0.000,6,0.000,0.023,2556,2297,3483,0,0,0,0,0,0
$GC,3197,-0.63,-116.7,253.1,-6.5,328,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2297,3484,0,0,0,0,0,0
$GC,3506,-0.63,-116.7,273.4,-6.2,343,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2297,3484,0,0,0,0,0,0
$GC,3815,-0.63,-116.7,292.5,-6.1,358,3819,0.00,2.10,0.00,0.000,4,0.000,0.040,2556,3698,3484,0,0,0,0,0,0
$GC,3878,-0.63,-116.7,296.1,-5.9,361,3882,0.00,2.00,0.00,0.000,6,0.000,0.023,2556,2289,3484,0,0,0,0,0,0
$GC,4208,-0.63,-116.7,316.7,-6.5,373,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2286,3484,0,0,0,0,0,0
$GC,4514,-0.63,-116.7,336.9,-6.9,383,4518,0.00,2.12,0.00,0.000,4,0.000,0.040,2556,3698,3484,0,0,0,0,0,0
$GC,4563,-0.63,-116.7,340.4,-7.3,384,4568,0.00,2.03,0.00,0.000,6,0.000,0.023,2556,2295,3484,0,0,0,0,0,0
$GC,4887,-0.63,-116.7,364.1,-7.4,395,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2294,3484,0,0,0,0,0,0
$GC,5193,-0.63,-116.7,386.4,-7.3,405,5196,0.00,2.10,0.00,0.000,4,0.000,0.040,2556,3698,3484,0,0,0,0,0,0
$GC,5315,-0.66,-116.7,396.0,-7.8,408,5321,0.00,2.03,0.00,0.000,6,0.000,0.023,2556,2290,3483,0,0,0,0,0,0
$GC,5627,-0.66,-116.7,419.1,-7.3,419,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2290,3483,0,0,0,0,0,0
$GC,5934,-0.66,-116.7,439.8,-6.7,429,5938,0.00,2.12,0.00,0.000,4,0.000,0.040,2556,3706,3483,0,0,0,0,0,0
$GC,5996,-0.71,-116.7,444.4,-7.0,431,6000,0.00,2.00,0.00,0.000,6,0.000,0.023,2556,2297,3484,0,0,0,0,0,0
$GC,6336,-0.75,-116.7,466.2,-6.0,442,6340,0.00,2.00,0.00,0.000,4,0.000,0.035,2556,920,3483,0,0,0,0,0,0
$GC,6408,-0.75,-116.7,470.6,-6.3,444,6412,0.00,2.05,0.00,0.000,6,0.000,0.028,2556,2301,3483,0,0,0,0,0,0
$GC,6744,-0.79,-116.7,489.0,-5.6,455,6749,0.15,2.08,0.00,0.000,4,0.123,0.041,2504,3700,3483,0,0,0,0,0,0
$GC,6815,-0.72,-116.7,494.6,-7.7,457,6820,0.00,2.03,0.00,0.000,6,0.000,0.023,2504,2294,3483,0,0,0,0,0,0
$GC,7143,-0.66,-116.7,519.8,-7.9,464,7148,0.17,2.03,0.00,0.000,4,0.181,0.035,2552,922,3482,0,0,0,0,0,0
$GC,7253,-0.66,-116.7,527.9,-7.1,465,7258,0.00,2.05,0.00,0.000,6,0.000,0.028,2552,2302,3483,0,0,0,0,0,0
$GC,7581,-0.69,-116.7,549.5,-6.7,471,7585,0.00,2.08,0.00,0.000,4,0.000,0.041,2552,3706,3481,0,0,0,0,0,0
$GC,7675,-0.74,-116.7,556.3,-7.3,472,7679,0.00,2.03,0.00,0.000,6,0.000,0.024,2552,2301,3481,0,0,0,0,0,0
$GC,8013,-0.78,-116.7,580.0,-7.0,478,8017,0.12,2.15,0.00,0.000,4,0.127,0.042,2511,3710,3481,0,0,0,0,0,0
$GC,8074,-0.74,-116.7,585.1,-8.5,479,8078,0.00,2.00,0.00,0.000,6,0.000,0.025,2511,2308,3480,0,0,0,0,0,0
$GC,8445,-0.69,-116.7,616.5,-8.3,485,8447,0.10,0.00,0.00,0.000,6,0.208,0.000,2535,2302,3479,0,0,0,0,0,0
$GC,8748,-0.69,-116.7,638.5,-7.2,490,8752,0.00,2.12,0.00,0.000,4,0.000,0.043,2534,3705,3477,0,0,0,0,0,0
$GC,8803,-0.69,-116.7,642.5,-7.3,490,8808,0.00,2.05,0.00,0.000,6,0.000,0.025,2535,2301,3477,0,0,0,0,0,0
$GC,9112,-0.69,-116.7,664.4,-7.2,496,9116,0.00,2.12,0.00,0.000,4,0.000,0.043,2536,3701,3475,0,0,0,0,0,0
$GC,9156,-0.69,-116.7,667.8,-7.4,496,9160,0.00,2.05,0.00,0.000,6,0.000,0.025,2536,2304,3475,0,0,0,0,0,0
$GC,9477,-0.69,-116.7,690.0,-6.9,502,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2304,3474,0,0,0,0,0,0
$GC,9779,-0.69,-116.7,710.9,-6.9,507,9783,0.00,2.12,0.00,0.000,4,0.000,0.044,2535,3702,3473,0,0,0,0,0,0
$GC,9862,-0.69,-116.7,716.7,-7.1,508,9867,0.00,2.05,0.00,0.000,6,0.000,0.025,2535,2306,3472,0,0,0,0,0,0
$GC,10211,-0.69,-116.7,739.8,-6.7,514,10215,0.00,2.12,0.00,0.000,4,0.000,0.044,2535,3704,3470,0,0,0,0,0,0
$GC,10259,-0.69,-116.7,743.2,-7.3,514,10264,0.00,2.08,0.00,0.000,6,0.000,0.026,2535,2297,3471,0,0,0,0,0,0
$GC,10581,-0.69,-116.7,764.6,-6.7,520,10585,0.00,2.15,0.00,0.000,4,0.000,0.044,2536,3708,3469,0,0,0,0,0,0
$GC,10635,-0.69,-116.7,768.5,-7.1,520,10641,0.00,2.08,0.00,0.000,6,0.000,0.027,2536,2306,3469,0,0,0,0,0,0
$GC,10945,-0.69,-116.7,789.1,-6.7,526,10946,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2306,3468,0,0,0,0,0,0
$GC,11248,-0.69,-116.7,809.1,-6.6,531,11252,0.00,2.12,0.00,0.000,4,0.000,0.044,2536,3699,3467,0,0,0,0,0,0
$GC,11310,-0.69,-116.7,813.3,-6.9,532,11314,0.00,2.05,0.00,0.000,6,0.000,0.027,2535,2286,3467,0,0,0,0,0,0
$GC,11675,-0.69,-116.7,838.0,-6.9,538,11679,0.00,2.15,0.00,0.000,4,0.000,0.044,2535,3698,3466,0,0,0,0,0,0
$GC,11741,-0.72,-116.7,842.8,-7.3,539,11745,0.00,2.08,0.00,0.000,6,0.000,0.027,2536,2299,3465,0,0,0,0,0,0
$GC,12107,-0.72,-116.7,866.4,-6.4,545,12109,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2299,3465,0,0,0,0,0,0
$GC,12410,-0.72,-116.7,886.0,-6.4,550,12414,0.00,2.15,0.00,0.000,4,0.000,0.044,2536,3704,3464,0,0,0,0,0,0
$GC,12488,-0.72,-116.7,891.3,-6.3,551,12491,0.00,2.05,0.00,0.000,6,0.000,0.027,2536,2291,3463,0,0,0,0,0,0
$GC,12841,-0.72,-116.7,914.3,-6.5,557,12843,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2290,3463,0,0,0,0,0,0
$GC,13145,-0.72,-116.7,933.5,-6.3,562,13149,0.00,2.15,0.00,0.000,4,0.000,0.044,2536,3698,3462,0,0,0,0,0,0
$GC,13229,-0.76,-116.7,939.1,-6.3,563,13233,0.00,2.05,0.00,0.000,6,0.000,0.027,2535,2289,3462,0,0,0,0,0,0
$GC,13571,-0.76,-116.7,961.1,-6.5,569,13572,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2289,3462,0,0,0,0,0,0
$STATE,13872,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13872,begin apogee
$GC,13877,-0.24,0.0,979.4,6.0,574,13978,0.50,0.00,97.35,1.536,6,0.166,0.000,2684,2647,3006,0,0,0,0,0,0
$STATE,13979,end apogee,CONTROL_FINISHED_OK
$STATE,13979,begin climb
$GC,13981,0.80,116.7,981.2,0.0,575,14095,1.05,2.40,105.60,1.440,4,0.114,0.048,3016,4044,2529,0,0,0,0,0,0
$GC,14107,0.60,119.1,978.9,6.8,577,14112,0.25,2.25,0.00,0.000,6,0.176,0.027,2966,2652,2526,0,0,0,0,0,0
$GC,14467,0.54,126.3,955.1,6.6,583,14477,0.00,0.00,8.43,1.318,6,0.000,0.000,2967,2652,2490,0,0,0,0,0,0
$GC,14769,0.47,126.3,934.0,7.0,588,14774,0.17,2.20,0.00,0.000,4,0.189,0.048,2913,4040,2488,0,0,0,0,0,0
$GC,14791,0.51,152.5,932.6,5.8,588,14820,0.00,2.08,24.23,1.422,6,0.000,0.028,2921,2646,2383,0,0,0,0,0,0
$GC,15130,0.58,171.0,911.8,6.1,594,15149,0.00,0.00,17.08,1.404,6,0.000,0.000,2921,2646,2309,0,0,0,0,0,0
$GC,15434,0.65,183.0,892.5,6.4,599,15453,0.15,2.20,12.00,1.371,4,0.106,0.039,2986,1261,2258,0,0,0,0,0,0
$GC,15464,0.60,183.0,890.1,7.6,599,15468,0.00,2.17,0.00,0.000,6,0.000,0.035,2986,2654,2257,0,0,0,0,0,0
$GC,15801,0.53,183.0,860.6,8.8,605,15806,0.17,2.17,0.00,0.000,4,0.181,0.048,2940,4049,2254,0,0,0,0,0,0
$GC,15840,0.53,183.0,857.4,8.3,605,15844,0.00,2.10,0.00,0.000,6,0.000,0.028,2948,2641,2254,0,0,0,0,0,0
$GC,16160,0.53,183.0,834.2,7.2,611,16161,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2640,2253,0,0,0,0,0,0
$GC,16463,0.53,183.0,812.2,7.3,616,16465,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2640,2252,0,0,0,0,0,0
$GC,16766,0.53,183.0,790.0,7.3,621,16767,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2640,2252,0,0,0,0,0,0
$GC,17070,0.53,183.0,767.5,7.4,626,17074,0.00,2.17,0.00,0.000,4,0.000,0.048,2949,4043,2251,0,0,0,0,0,0
$GC,17085,0.53,183.0,766.1,7.6,626,17090,0.00,2.10,0.00,0.000,6,0.000,0.028,2951,2653,2251,0,0,0,0,0,0
$GC,17434,0.53,183.0,739.8,7.5,632,17435,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2653,2251,0,0,0,0,0,0
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$STATE,26640,end climb,SURFACE_DEPTH_REACHED
$STATE,26640,begin surface coast
$FINISH,2.7,1.003093
$STATE,26670,end surface coast,CONTROL_FINISHED_OK
$STATE,26670,begin surface
$SM_CCo,26747,0.00,0.000,0,0,1426,387.33
$SM_GC,3.45,8.12,0.00,0.00,0.084,0.000,0.000,218,2279,1426,-7.93,-0.59,387.33
$IRIDIUM_FIX,6244.56,353.27,250299,070725
$TT8_MAMPS,0.026845
$HUMID,1078329668
$INTERNAL_PRESSURE,8.28157
$TCM_TEMP,20.40
$XPDR_PINGS,0
$24V_AH,22.6,34.761
$10V_AH,10.0,22.768
$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,21.225,186.150,442.625,0.000,0.000,28.440,37.931,237.298,0.000,0.000,17.108,2266.915,21174.973,560.185,2583.804,580.673,0.000,1887.096,0.000,2548.061,0.000,0.535,0.000
$DEVICE_MAMPS,220.896,52.923,1536.301,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,751.840,987.039,551.693,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,233792
$DATA_FILE_SIZE,63246,1096
$CAP_FILE_SIZE,206944,0
$CFSIZE,260165632,237838336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.029,240.7,1
$GPS,011209,222536,6310.145,338.513,39,1.1,45,-2.9