version: 66.06
glider: 140
mission: 8
dive: 214
start: 12 3 109 12 31 36
data:
$ID,140
$MISSION,8
$DIVE,214
$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,-48188.086
$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,78
$R_STBD_OVSHOOT,46
$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
$GPS1,122137,6322.906,252.574,27,1.3,28,-3.3
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,3.47
$_SM_ANGLEo,-60.4
$GPS2,123114,6322.889,252.395,11,1.6,11,-3.3
$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,319.8,263257,-13.7,-6.875
$D_GRID,1129
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-5.82,0.000,2,0.000,0.000,215,2282,2007,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.5,-0.0,1,125,9.18,2.15,-79.78,0.000,4,0.242,0.050,2505,924,3482,0,0,0,0,0,0
$GC,373,-0.68,-116.7,24.7,-9.0,63,379,0.15,2.08,0.00,0.000,6,0.194,0.028,2543,2317,3483,0,0,0,0,0,0
$GC,708,-0.64,-116.7,50.0,-7.8,124,714,0.00,2.12,0.00,0.000,4,0.000,0.033,2544,927,3484,0,0,0,0,0,0
$GC,805,-0.61,-116.7,58.8,-9.0,141,810,0.00,2.03,0.00,0.000,6,0.000,0.028,2543,2305,3483,0,0,0,0,0,0
$GC,1146,-0.57,-116.7,84.4,-7.1,202,1153,0.12,2.10,0.00,0.000,4,0.202,0.041,2576,3702,3484,0,0,0,0,0,0
$GC,1188,-0.61,-116.7,87.6,-7.5,209,1193,0.00,2.00,0.00,0.000,6,0.000,0.022,2576,2290,3484,0,0,0,0,0,0
$GC,1530,-0.65,-116.7,112.9,-7.2,270,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2289,3484,0,0,0,0,0,0
$GC,1869,-0.70,-116.7,140.0,-6.2,298,1871,0.12,0.00,0.00,0.000,6,0.129,0.000,2537,2287,3483,0,0,0,0,0,0
$GC,2180,-0.66,-116.7,160.4,-6.8,313,2181,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2287,3484,0,0,0,0,0,0
$GC,2487,-0.62,-116.7,182.7,-7.2,328,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2288,3484,0,0,0,0,0,0
$GC,2797,-0.59,-116.7,206.5,-8.0,343,2801,0.12,2.15,0.00,0.000,4,0.186,0.041,2568,3698,3484,0,0,0,0,0,0
$GC,2859,-0.64,-116.7,210.6,-6.2,346,2863,0.00,2.00,0.00,0.000,6,0.000,0.023,2568,2294,3483,0,0,0,0,0,0
$GC,3191,-0.68,-116.7,229.4,-5.8,362,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2295,3484,0,0,0,0,0,0
$GC,3500,-0.72,-116.7,246.6,-5.3,377,3504,0.00,2.12,0.00,0.000,4,0.000,0.041,2568,3697,3484,0,0,0,0,0,0
$GC,3552,-0.77,-116.7,249.6,-5.9,379,3556,0.15,1.98,0.00,0.000,6,0.120,0.023,2518,2293,3484,0,0,0,0,0,0
$GC,3874,-0.70,-116.7,275.6,-8.8,395,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2293,3484,0,0,0,0,0,0
$GC,4191,-0.64,-116.7,304.1,-9.2,410,4196,0.15,2.03,0.00,0.000,4,0.186,0.035,2557,926,3484,0,0,0,0,0,0
$GC,4252,-0.64,-116.7,309.3,-8.2,412,4256,0.00,2.03,0.00,0.000,6,0.000,0.028,2557,2306,3485,0,0,0,0,0,0
$GC,4587,-0.64,-116.7,335.6,-7.7,423,4591,0.00,2.08,0.00,0.000,4,0.000,0.041,2556,3702,3484,0,0,0,0,0,0
$GC,4631,-0.68,-116.7,339.2,-7.7,424,4635,0.00,2.00,0.00,0.000,6,0.000,0.022,2557,2310,3485,0,0,0,0,0,0
$GC,4955,-0.68,-116.7,360.8,-6.2,435,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2310,3485,0,0,0,0,0,0
$GC,5261,-0.68,-116.7,380.0,-6.4,445,5265,0.00,2.08,0.00,0.000,4,0.000,0.040,2557,3698,3484,0,0,0,0,0,0
$GC,5317,-0.72,-116.7,383.9,-7.6,446,5321,0.00,1.98,0.00,0.000,6,0.000,0.022,2557,2301,3484,0,0,0,0,0,0
$GC,5634,-0.72,-116.7,406.0,-6.9,457,5637,0.00,2.03,0.00,0.000,4,0.000,0.035,2557,917,3485,0,0,0,0,0,0
$GC,5695,-0.72,-116.7,410.3,-7.1,458,5702,0.00,2.05,0.00,0.000,6,0.000,0.028,2556,2297,3484,0,0,0,0,0,0
$GC,6007,-0.72,-116.7,429.8,-6.4,469,6011,0.00,2.08,0.00,0.000,4,0.000,0.040,2557,3705,3484,0,0,0,0,0,0
$GC,6096,-0.78,-116.7,436.1,-7.3,471,6100,0.12,2.00,0.00,0.000,6,0.131,0.022,2516,2283,3484,0,0,0,0,0,0
$GC,6413,-0.73,-116.7,462.6,-8.6,482,6417,0.00,2.00,0.00,0.000,4,0.000,0.035,2516,926,3484,0,0,0,0,0,0
$GC,6473,-0.66,-116.7,468.2,-9.0,483,6480,0.12,2.00,0.00,0.000,6,0.194,0.028,2546,2302,3483,0,0,0,0,0,0
$GC,6785,-0.66,-116.7,491.1,-7.1,494,6789,0.00,2.08,0.00,0.000,4,0.000,0.041,2546,3700,3483,0,0,0,0,0,0
$GC,6886,-0.69,-116.7,498.2,-6.7,497,6890,0.00,1.98,0.00,0.000,6,0.000,0.023,2546,2300,3483,0,0,0,0,0,0
$GC,7248,-0.69,-116.7,521.5,-6.5,504,7249,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2300,3483,0,0,0,0,0,0
$GC,7551,-0.69,-116.7,540.0,-6.1,509,7555,0.00,2.12,0.00,0.000,4,0.000,0.041,2546,3703,3482,0,0,0,0,0,0
$GC,7674,-0.73,-116.7,547.6,-6.2,510,7681,0.00,1.98,0.00,0.000,6,0.000,0.024,2546,2305,3482,0,0,0,0,0,0
$GC,7983,-0.73,-116.7,567.4,-6.4,516,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2306,3482,0,0,0,0,0,0
$GC,8286,-0.73,-116.7,585.2,-5.8,521,8290,0.00,2.10,0.00,0.000,4,0.000,0.041,2546,3695,3480,0,0,0,0,0,0
$GC,8364,-0.78,-116.7,589.7,-5.5,522,8367,0.00,2.00,0.00,0.000,6,0.000,0.025,2546,2296,3480,0,0,0,0,0,0
$GC,8718,-0.81,-116.7,611.7,-6.5,528,8723,0.12,2.17,0.00,0.000,4,0.139,0.043,2504,3704,3478,0,0,0,0,0,0
$GC,8812,-0.76,-116.7,619.9,-8.5,529,8816,0.00,2.05,0.00,0.000,6,0.000,0.025,2504,2298,3478,0,0,0,0,0,0
$GC,9156,-0.70,-116.7,648.5,-8.3,535,9158,0.12,0.00,0.00,0.000,6,0.200,0.000,2535,2293,3476,0,0,0,0,0,0
$GC,9458,-0.70,-116.7,668.9,-6.6,540,9459,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2293,3475,0,0,0,0,0,0
$GC,9761,-0.70,-116.7,687.9,-6.2,545,9765,0.00,2.12,0.00,0.000,4,0.000,0.044,2536,3694,3474,0,0,0,0,0,0
$GC,9817,-0.70,-116.7,691.2,-5.9,545,9822,0.00,2.03,0.00,0.000,6,0.000,0.025,2536,2292,3474,0,0,0,0,0,0
$GC,10126,-0.70,-116.7,709.8,-6.1,551,10130,0.00,2.15,0.00,0.000,4,0.000,0.043,2536,3702,3473,0,0,0,0,0,0
$GC,10181,-0.70,-116.7,713.6,-6.8,551,10187,0.00,2.08,0.00,0.000,6,0.000,0.025,2536,2295,3473,0,0,0,0,0,0
$GC,10491,-0.70,-116.7,733.8,-6.5,557,10492,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2294,3472,0,0,0,0,0,0
$GC,10794,-0.70,-116.7,754.5,-6.9,562,10798,0.00,2.15,0.00,0.000,4,0.000,0.044,2536,3701,3471,0,0,0,0,0,0
$GC,10860,-0.70,-116.7,759.3,-6.9,563,10864,0.00,2.08,0.00,0.000,6,0.000,0.026,2536,2299,3470,0,0,0,0,0,0
$GC,11226,-0.70,-116.7,783.8,-6.6,569,11230,0.00,2.17,0.00,0.000,4,0.000,0.044,2536,3701,3470,0,0,0,0,0,0
$GC,11280,-0.70,-116.7,787.8,-7.1,569,11285,0.00,2.08,0.00,0.000,6,0.000,0.026,2536,2300,3469,0,0,0,0,0,0
$GC,11595,-0.70,-116.7,808.9,-6.8,575,11597,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2300,3468,0,0,0,0,0,0
$GC,11898,-0.70,-116.7,828.3,-6.3,580,11902,0.00,2.15,0.00,0.000,4,0.000,0.045,2536,3695,3468,0,0,0,0,0,0
$GC,11953,-0.70,-116.7,832.0,-6.3,580,11957,0.00,2.08,0.00,0.000,6,0.000,0.027,2536,2294,3467,0,0,0,0,0,0
$GC,12267,-0.70,-116.7,852.1,-6.4,586,12268,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2294,3467,0,0,0,0,0,0
$GC,12570,-0.70,-116.7,872.0,-6.6,591,12574,0.00,2.12,0.00,0.000,4,0.000,0.044,2536,3693,3466,0,0,0,0,0,0
$GC,12671,-0.74,-116.7,879.0,-6.5,592,12675,0.00,2.03,0.00,0.000,6,0.000,0.026,2536,2300,3465,0,0,0,0,0,0
$GC,13008,-0.74,-116.7,901.4,-6.7,598,13009,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2297,3465,0,0,0,0,0,0
$GC,13311,-0.74,-116.7,922.6,-7.1,603,13315,0.00,2.15,0.00,0.000,4,0.000,0.044,2536,3700,3464,0,0,0,0,0,0
$GC,13395,-0.77,-116.7,929.1,-7.7,604,13399,0.00,2.05,0.00,0.000,6,0.000,0.027,2536,2293,3464,0,0,0,0,0,0
$GC,13749,-0.77,-116.7,954.9,-7.2,610,13752,0.00,2.15,0.00,0.000,4,0.000,0.044,2536,3697,3464,0,0,0,0,0,0
$GC,13799,-0.81,-116.7,958.2,-6.6,610,13803,0.00,2.03,0.00,0.000,6,0.000,0.027,2536,2304,3463,0,0,0,0,0,0
$GC,14113,-0.81,-116.7,979.0,-6.5,616,14114,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2301,3464,0,0,0,0,0,0
$STATE,14293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14293,begin apogee
$GC,14299,-0.24,0.0,991.4,6.8,619,14400,0.50,0.00,98.30,1.545,6,0.164,0.000,2685,2641,3006,0,0,0,0,0,0
$STATE,14401,end apogee,CONTROL_FINISHED_OK
$STATE,14401,begin climb
$GC,14403,0.80,116.7,993.6,0.0,620,14520,1.05,2.45,106.53,1.450,4,0.114,0.048,3016,4036,2528,0,0,0,0,0,0
$GC,14547,0.53,116.7,991.2,7.7,622,14552,0.35,2.22,0.00,0.000,6,0.176,0.026,2939,2644,2524,0,0,0,0,0,0
$GC,14890,0.57,154.4,972.7,5.4,628,14930,0.00,2.35,32.95,1.437,4,0.000,0.048,2939,4040,2375,0,0,0,0,0,0
$GC,14940,0.63,204.3,969.6,4.9,628,14992,0.00,2.20,46.33,1.411,6,0.000,0.027,2947,2647,2173,0,0,0,0,0,0
$GC,15313,0.67,204.3,943.2,7.2,635,15315,0.10,0.00,0.00,0.000,6,0.127,0.000,2982,2643,2161,0,0,0,0,0,0
$GC,15615,0.63,204.3,917.2,8.6,640,15619,0.00,2.20,0.00,0.000,4,0.000,0.048,2982,4040,2159,0,0,0,0,0,0
$GC,15637,0.56,204.3,915.1,9.1,640,15642,0.17,2.10,0.00,0.000,6,0.178,0.027,2949,2625,2159,0,0,0,0,0,0
$GC,15980,0.59,204.3,890.8,7.0,646,15981,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2625,2158,0,0,0,0,0,0
$GC,16284,0.62,204.3,868.1,7.5,651,16285,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2625,2157,0,0,0,0,0,0
$GC,16586,0.66,204.3,846.3,7.0,656,16590,0.00,2.05,0.00,0.000,4,0.000,0.038,2956,1265,2157,0,0,0,0,0,0
$GC,16602,0.69,204.3,845.1,7.0,656,16607,0.10,2.12,0.00,0.000,6,0.138,0.035,2987,2653,2157,0,0,0,0,0,0
$GC,16956,0.65,204.3,813.3,9.2,662,16960,0.00,2.12,0.00,0.000,4,0.000,0.048,2987,4042,2156,0,0,0,0,0,0
$GC,16978,0.57,204.3,811.1,9.5,662,16983,0.17,2.08,0.00,0.000,6,0.179,0.028,2950,2646,2156,0,0,0,0,0,0
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$STATE,27052,end climb,SURFACE_DEPTH_REACHED
$STATE,27052,begin surface coast
$FINISH,2.7,1.023486
$STATE,27096,end surface coast,CONTROL_FINISHED_OK
$STATE,27096,begin surface
$SM_CCo,27112,19.12,0.759,0,0,1884,275.23
$SM_GC,3.37,0.00,0.00,19.12,0.000,0.000,0.759,216,2305,1884,-7.97,0.14,275.23
$IRIDIUM_FIX,6258.74,243.12,270299,121238
$TT8_MAMPS,0.027612
$HUMID,1078350313
$INTERNAL_PRESSURE,8.32063
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,22.6,35.707
$10V_AH,9.9,23.431
$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,22.350,181.075,328.125,19.125,0.000,52.665,123.982,217.842,0.000,0.000,11.880,2379.496,21461.900,512.737,2656.937,689.080,0.000,1834.770,0.000,2633.770,0.000,0.536,0.000
$DEVICE_MAMPS,241.605,49.855,1544.738,759.330,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,794.214,1040.870,614.342,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,233808
$DATA_FILE_SIZE,66404,1153
$CAP_FILE_SIZE,211301,0
$CFSIZE,260165632,237309952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.150,249.7,1
$GPS,031209,200506,6324.346,242.617,35,1.3,41,-3.4