version: 66.06
glider: 140
mission: 8
dive: 212
start: 12 2 109 21 28 19
data:
$ID,140
$MISSION,8
$DIVE,212
$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,-48141.109
$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,80
$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
$GPS1,212100,6319.538,315.520,40,1.2,41,-3.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.28
$_SM_ANGLEo,-50.9
$GPS2,212758,6319.613,315.422,10,2.3,29,-3.1
$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,317.8,280157,-13.7,-6.875
$D_GRID,1077
$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,-116.7,0.0,0.0,0,25,0.00,0.00,-7.68,0.000,2,0.000,0.000,219,2279,1649,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.4,-0.0,1,126,8.60,2.05,-81.95,0.000,4,0.217,0.048,2500,922,3482,0,0,0,0,0,0
$GC,367,-0.66,-116.7,34.3,-12.6,61,374,0.17,2.05,0.00,0.000,6,0.190,0.028,2546,2308,3483,0,0,0,0,0,0
$GC,706,-0.62,-116.7,59.4,-11.6,122,712,0.00,2.12,0.00,0.000,4,0.000,0.041,2546,3697,3483,0,0,0,0,0,0
$GC,752,-0.62,-116.7,67.1,-16.3,130,758,0.00,2.00,0.00,0.000,6,0.000,0.023,2546,2305,3483,0,0,0,0,0,0
$GC,1095,-0.58,-116.7,116.0,-6.0,191,1101,0.10,0.00,0.00,0.000,6,0.201,0.000,2571,2300,3483,0,0,0,0,0,0
$GC,1435,-0.62,-116.7,133.6,-8.4,219,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2300,3483,0,0,0,0,0,0
$GC,1742,-0.66,-116.7,157.1,-9.1,234,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2301,3483,0,0,0,0,0,0
$GC,2051,-0.66,-116.7,176.7,-6.9,249,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2300,3483,0,0,0,0,0,0
$GC,2360,-0.66,-116.7,196.8,-5.9,264,2364,0.00,2.12,0.00,0.000,4,0.000,0.042,2570,3697,3483,0,0,0,0,0,0
$GC,2420,-0.72,-116.7,200.5,-6.4,266,2428,0.08,2.03,0.00,0.000,6,0.107,0.023,2540,2289,3483,0,0,0,0,0,0
$GC,2736,-0.72,-116.7,220.5,-7.0,282,2739,0.00,2.00,0.00,0.000,4,0.000,0.035,2541,924,3483,0,0,0,0,0,0
$GC,2814,-0.68,-116.7,225.7,-6.2,285,2818,0.00,2.03,0.00,0.000,6,0.000,0.028,2540,2301,3483,0,0,0,0,0,0
$GC,3135,-0.68,-116.7,243.2,-5.5,301,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2302,3483,0,0,0,0,0,0
$GC,3444,-0.68,-116.7,264.5,-7.5,316,3448,0.00,2.05,0.00,0.000,4,0.000,0.034,2540,919,3483,0,0,0,0,0,0
$GC,3505,-0.64,-116.7,269.8,-8.9,319,3509,0.00,2.03,0.00,0.000,6,0.000,0.028,2540,2308,3483,0,0,0,0,0,0
$GC,3830,-0.64,-116.7,295.7,-8.5,335,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2308,3483,0,0,0,0,0,0
$GC,4138,-0.64,-116.7,322.6,-8.3,346,4142,0.00,2.08,0.00,0.000,4,0.000,0.041,2540,3706,3483,0,0,0,0,0,0
$GC,4187,-0.64,-116.7,326.4,-7.8,347,4191,0.00,2.03,0.00,0.000,6,0.000,0.023,2540,2307,3483,0,0,0,0,0,0
$GC,4506,-0.64,-116.7,347.4,-6.6,358,4509,0.00,2.10,0.00,0.000,4,0.000,0.040,2540,3698,3483,0,0,0,0,0,0
$GC,4561,-0.64,-116.7,351.7,-7.2,359,4567,0.00,2.03,0.00,0.000,6,0.000,0.023,2540,2297,3483,0,0,0,0,0,0
$GC,4874,-0.64,-116.7,373.5,-6.5,370,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2297,3483,0,0,0,0,0,0
$GC,5179,-0.64,-116.7,394.8,-7.7,380,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2297,3483,0,0,0,0,0,0
$GC,5486,-0.64,-116.7,419.1,-7.8,390,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2295,3483,0,0,0,0,0,0
$GC,5791,-0.64,-116.7,443.3,-8.2,400,5792,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2295,3483,0,0,0,0,0,0
$GC,6098,-0.64,-116.7,465.5,-6.8,410,6100,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2295,3482,0,0,0,0,0,0
$GC,6404,-0.64,-116.7,486.4,-6.7,420,6408,0.00,2.12,0.00,0.000,4,0.000,0.041,2540,3697,3482,0,0,0,0,0,0
$GC,6472,-0.64,-116.7,491.9,-8.3,422,6476,0.00,2.00,0.00,0.000,6,0.000,0.023,2540,2296,3482,0,0,0,0,0,0
$GC,6841,-0.64,-116.7,515.8,-6.1,430,6844,0.00,2.03,0.00,0.000,4,0.000,0.036,2540,916,3482,0,0,0,0,0,0
$GC,6891,-0.64,-116.7,519.2,-6.6,430,6894,0.00,2.03,0.00,0.000,6,0.000,0.029,2540,2300,3482,0,0,0,0,0,0
$GC,7211,-0.64,-116.7,536.9,-5.3,436,7215,0.00,2.10,0.00,0.000,4,0.000,0.042,2540,3703,3481,0,0,0,0,0,0
$GC,7260,-0.64,-116.7,539.8,-5.7,436,7264,0.00,2.03,0.00,0.000,6,0.000,0.024,2540,2304,3481,0,0,0,0,0,0
$GC,7576,-0.64,-116.7,558.9,-6.3,442,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2304,3480,0,0,0,0,0,0
$GC,7878,-0.64,-116.7,578.3,-6.3,447,7882,0.00,2.10,0.00,0.000,4,0.000,0.041,2540,3701,3479,0,0,0,0,0,0
$GC,7950,-0.64,-116.7,583.1,-6.6,448,7954,0.00,2.03,0.00,0.000,6,0.000,0.025,2540,2305,3479,0,0,0,0,0,0
$GC,8311,-0.64,-116.7,609.9,-7.8,454,8312,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2305,3477,0,0,0,0,0,0
$GC,8613,-0.64,-116.7,633.4,-7.7,459,8617,0.00,2.12,0.00,0.000,4,0.000,0.043,2540,3705,3476,0,0,0,0,0,0
$GC,8690,-0.64,-116.7,639.2,-7.5,460,8694,0.00,2.05,0.00,0.000,6,0.000,0.025,2541,2307,3475,0,0,0,0,0,0
$GC,9045,-0.64,-116.7,664.9,-7.2,466,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2307,3474,0,0,0,0,0,0
$GC,9347,-0.64,-116.7,686.7,-7.2,471,9351,0.00,2.12,0.00,0.000,4,0.000,0.043,2540,3704,3473,0,0,0,0,0,0
$GC,9436,-0.64,-116.7,693.0,-6.7,472,9440,0.00,2.08,0.00,0.000,6,0.000,0.026,2540,2295,3472,0,0,0,0,0,0
$GC,9780,-0.64,-116.7,714.8,-6.3,478,9784,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3705,3471,0,0,0,0,0,0
$GC,9852,-0.68,-116.7,719.3,-6.3,479,9856,0.00,2.03,0.00,0.000,6,0.000,0.026,2540,2301,3471,0,0,0,0,0,0
$GC,10211,-0.68,-116.7,742.1,-6.4,485,10212,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2301,3470,0,0,0,0,0,0
$GC,10515,-0.68,-116.7,762.9,-6.9,490,10519,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3697,3469,0,0,0,0,0,0
$GC,10577,-0.71,-116.7,767.3,-6.9,491,10581,0.00,2.03,0.00,0.000,6,0.000,0.026,2540,2298,3469,0,0,0,0,0,0
$GC,10947,-0.71,-116.7,791.9,-6.6,497,10951,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3705,3467,0,0,0,0,0,0
$GC,10997,-0.74,-116.7,795.6,-7.1,497,11001,0.00,2.08,0.00,0.000,6,0.000,0.027,2539,2306,3467,0,0,0,0,0,0
$GC,11312,-0.74,-116.7,815.7,-6.4,503,11316,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3698,3466,0,0,0,0,0,0
$GC,11367,-0.78,-116.7,819.2,-6.0,503,11373,0.00,2.05,0.00,0.000,6,0.000,0.027,2540,2289,3466,0,0,0,0,0,0
$GC,11676,-0.78,-116.7,837.1,-5.8,509,11680,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3697,3465,0,0,0,0,0,0
$GC,11726,-0.81,-116.7,839.9,-5.5,509,11730,0.12,2.05,0.00,0.000,6,0.137,0.027,2501,2289,3465,0,0,0,0,0,0
$GC,12046,-0.76,-116.7,861.6,-6.8,515,12047,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2288,3464,0,0,0,0,0,0
$GC,12349,-0.70,-116.7,882.4,-6.9,520,12351,0.12,0.00,0.00,0.000,6,0.199,0.000,2531,2286,3463,0,0,0,0,0,0
$GC,12652,-0.70,-116.7,900.6,-6.0,525,12655,0.00,2.17,0.00,0.000,4,0.000,0.045,2531,3705,3463,0,0,0,0,0,0
$GC,12720,-0.70,-116.7,904.9,-5.7,526,12724,0.00,2.05,0.00,0.000,6,0.000,0.027,2531,2301,3463,0,0,0,0,0,0
$GC,13079,-0.70,-116.7,926.2,-5.9,532,13080,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2301,3463,0,0,0,0,0,0
$GC,13382,-0.70,-116.7,944.1,-5.9,537,13386,0.00,2.15,0.00,0.000,4,0.000,0.045,2532,3700,3462,0,0,0,0,0,0
$GC,13459,-0.70,-116.7,948.8,-6.6,538,13463,0.00,2.05,0.00,0.000,6,0.000,0.027,2532,2289,3462,0,0,0,0,0,0
$GC,13813,-0.70,-116.7,970.8,-6.3,544,13817,0.00,2.17,0.00,0.000,4,0.000,0.044,2531,3705,3462,0,0,0,0,0,0
$GC,13863,-0.70,-116.7,974.1,-6.3,544,13867,0.00,2.05,0.00,0.000,6,0.000,0.027,2531,2298,3462,0,0,0,0,0,0
$STATE,14176,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14176,begin apogee
$GC,14182,-0.24,0.0,993.5,6.2,550,14282,0.50,0.00,97.80,1.549,6,0.166,0.000,2679,2654,3005,0,0,0,0,0,0
$STATE,14283,end apogee,CONTROL_FINISHED_OK
$STATE,14283,begin climb
$GC,14285,0.80,116.7,995.9,0.0,551,14401,1.10,2.38,106.62,1.453,4,0.114,0.046,3019,4035,2528,0,0,0,0,0,0
$GC,14445,0.54,116.7,991.4,8.9,554,14451,0.32,2.20,0.00,0.000,6,0.174,0.026,2947,2649,2523,0,0,0,0,0,0
$GC,14783,0.54,140.0,970.8,5.9,560,14805,0.00,0.00,20.23,1.424,6,0.000,0.000,2948,2649,2435,0,0,0,0,0,0
$GC,15085,0.56,156.0,951.9,6.2,565,15102,0.00,0.00,15.20,1.410,6,0.000,0.000,2947,2649,2370,0,0,0,0,0,0
$GC,15389,0.56,157.1,931.4,6.8,570,15393,0.00,2.20,0.00,0.000,4,0.000,0.048,2947,4049,2365,0,0,0,0,0,0
$GC,15410,0.52,157.1,929.7,7.7,570,15414,0.00,2.10,0.00,0.000,6,0.000,0.028,2953,2640,2365,0,0,0,0,0,0
$GC,15752,0.52,157.1,905.4,7.1,576,15754,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2639,2364,0,0,0,0,0,0
$GC,16056,0.52,157.1,883.6,7.2,581,16057,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2639,2364,0,0,0,0,0,0
$GC,16359,0.52,157.1,862.5,7.0,586,16363,0.00,2.17,0.00,0.000,4,0.000,0.048,2953,4043,2363,0,0,0,0,0,0
$GC,16382,0.47,157.1,860.9,7.2,586,16387,0.17,2.08,0.00,0.000,6,0.184,0.028,2916,2635,2363,0,0,0,0,0,0
$GC,16719,0.58,198.9,842.4,5.2,592,16759,0.12,0.00,38.28,1.431,6,0.123,0.000,2960,2634,2194,0,0,0,0,0,0
$GC,17021,0.58,198.9,820.9,7.2,597,17022,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2634,2188,0,0,0,0,0,0
$GC,17325,0.58,198.9,799.5,7.1,602,17329,0.00,2.20,0.00,0.000,4,0.000,0.048,2960,4039,2186,0,0,0,0,0,0
$GC,17347,0.58,198.9,797.7,8.0,602,17351,0.00,2.08,0.00,0.000,6,0.000,0.028,2969,2644,2185,0,0,0,0,0,0
$GC,17683,0.58,198.9,773.5,7.2,608,17687,0.00,2.17,0.00,0.000,4,0.000,0.048,2969,4043,2185,0,0,0,0,0,0
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$STATE,26719,end climb,SURFACE_DEPTH_REACHED
$STATE,26719,begin surface coast
$FINISH,2.7,1.012878
$STATE,26786,end surface coast,CONTROL_FINISHED_OK
$STATE,26786,begin surface
$SM_CCo,26803,16.17,0.749,0,0,1884,275.23
$SM_GC,3.79,0.00,0.00,16.17,0.000,0.000,0.749,219,2271,1884,-7.96,-0.82,275.23
$IRIDIUM_FIX,6249.28,330.41,260299,131338
$TT8_MAMPS,0.027612
$HUMID,1078365797
$INTERNAL_PRESSURE,8.32063
$TCM_TEMP,20.30
$XPDR_PINGS,0
$24V_AH,22.6,35.398
$10V_AH,10.0,23.212
$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,20.700,177.025,330.000,16.175,0.000,28.091,35.411,207.723,0.000,0.000,30.632,2262.496,21365.115,518.913,2526.074,552.741,0.000,1763.023,0.000,2487.443,0.000,0.535,0.000
$DEVICE_MAMPS,217.061,48.321,1549.340,748.592,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,745.808,1001.509,579.405,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,233808
$DATA_FILE_SIZE,60247,1082
$CAP_FILE_SIZE,201437,0
$CFSIZE,260165632,237490176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.198,268.0,1
$GPS,031209,045636,6321.561,303.529,35,1.2,41,-3.2