version: 66.06
glider: 140
mission: 8
dive: 215
start: 12 3 109 20 12 20
data:
$ID,140
$MISSION,8
$DIVE,215
$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,-1
$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,-48205.039
$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,69
$R_STBD_OVSHOOT,49
$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
$GPS1,200506,6324.346,242.617,35,1.3,41,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.54
$_SM_ANGLEo,-66.5
$GPS2,201131,6324.337,242.636,10,1.6,15,-3.4
$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,320.7,256099,-13.7,-6.875
$D_GRID,1142
$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,-7.45,0.000,2,0.000,0.000,215,2304,2044,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.5,-0.0,1,121,9.05,2.12,-77.53,0.000,4,0.237,0.051,2511,915,3483,0,0,0,0,0,0
$GC,373,-0.68,-116.7,25.8,-12.6,63,380,0.12,2.05,0.00,0.000,6,0.210,0.028,2542,2303,3483,0,0,0,0,0,0
$GC,712,-0.65,-116.7,52.0,-9.1,124,719,0.00,2.12,0.00,0.000,4,0.000,0.035,2542,914,3484,0,0,0,0,0,0
$GC,864,-0.60,-116.7,65.5,-8.2,151,869,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2311,3483,0,0,0,0,0,0
$GC,1205,-0.57,-116.7,90.7,-7.2,212,1212,0.12,0.00,0.00,0.000,6,0.199,0.000,2575,2311,3484,0,0,0,0,0,0
$GC,1550,-0.61,-116.7,112.3,-7.0,273,1556,0.00,2.05,0.00,0.000,4,0.000,0.040,2575,3698,3484,0,0,0,0,0,0
$GC,1597,-0.66,-116.7,116.0,-7.4,281,1603,0.00,2.03,0.00,0.000,6,0.000,0.023,2575,2277,3483,0,0,0,0,0,0
$GC,1919,-0.71,-116.7,139.7,-7.0,303,1924,0.12,2.17,0.00,0.000,4,0.130,0.040,2535,3701,3484,0,0,0,0,0,0
$GC,1967,-0.67,-116.7,143.9,-8.0,305,1972,0.00,2.03,0.00,0.000,6,0.000,0.022,2535,2311,3483,0,0,0,0,0,0
$GC,2290,-0.63,-116.7,170.0,-8.5,321,2294,0.00,2.05,0.00,0.000,4,0.000,0.035,2535,915,3484,0,0,0,0,0,0
$GC,2443,-0.57,-116.7,183.7,-8.4,328,2447,0.15,2.03,0.00,0.000,6,0.189,0.028,2573,2305,3484,0,0,0,0,0,0
$GC,2770,-0.62,-116.7,205.1,-6.4,344,2774,0.00,2.05,0.00,0.000,4,0.000,0.040,2573,3696,3484,0,0,0,0,0,0
$GC,2826,-0.68,-116.7,208.9,-6.4,346,2831,0.00,2.00,0.00,0.000,6,0.000,0.022,2573,2287,3484,0,0,0,0,0,0
$GC,3142,-0.73,-116.7,228.4,-6.2,362,3147,0.15,2.15,0.00,0.000,4,0.122,0.040,2523,3701,3484,0,0,0,0,0,0
$GC,3187,-0.68,-116.7,231.9,-8.0,364,3190,0.00,2.00,0.00,0.000,6,0.000,0.023,2523,2295,3484,0,0,0,0,0,0
$GC,3520,-0.62,-116.7,259.2,-8.0,380,3525,0.15,2.05,0.00,0.000,4,0.194,0.035,2563,911,3484,0,0,0,0,0,0
$GC,3581,-0.62,-116.7,263.9,-6.9,383,3585,0.00,2.03,0.00,0.000,6,0.000,0.028,2563,2298,3485,0,0,0,0,0,0
$GC,3907,-0.62,-116.7,284.1,-6.1,399,3911,0.00,2.08,0.00,0.000,4,0.000,0.041,2562,3698,3485,0,0,0,0,0,0
$GC,3976,-0.67,-116.7,288.3,-6.4,402,3980,0.00,1.98,0.00,0.000,6,0.000,0.022,2562,2298,3485,0,0,0,0,0,0
$GC,4301,-0.67,-116.7,307.2,-5.5,416,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2294,3485,0,0,0,0,0,0
$GC,4608,-0.70,-116.7,324.4,-5.6,426,4612,0.00,2.12,0.00,0.000,4,0.000,0.040,2563,3706,3485,0,0,0,0,0,0
$GC,4706,-0.75,-116.7,329.9,-5.8,429,4711,0.12,2.00,0.00,0.000,6,0.128,0.023,2521,2286,3485,0,0,0,0,0,0
$GC,5040,-0.70,-116.7,355.1,-8.1,440,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2286,3485,0,0,0,0,0,0
$GC,5347,-0.65,-116.7,381.6,-8.7,450,5351,0.12,2.17,0.00,0.000,4,0.191,0.041,2553,3702,3485,0,0,0,0,0,0
$GC,5407,-0.69,-116.7,386.1,-7.3,451,5413,0.00,2.03,0.00,0.000,6,0.000,0.023,2553,2306,3485,0,0,0,0,0,0
$GC,5720,-0.69,-116.7,406.7,-6.5,462,5721,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2306,3485,0,0,0,0,0,0
$GC,6025,-0.69,-116.7,426.8,-6.7,472,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2306,3485,0,0,0,0,0,0
$GC,6332,-0.72,-116.7,447.0,-6.5,482,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2305,3484,0,0,0,0,0,0
$GC,6638,-0.75,-116.7,468.3,-6.9,492,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2304,3484,0,0,0,0,0,0
$GC,6945,-0.79,-116.7,487.7,-6.1,502,6949,0.12,2.12,0.00,0.000,4,0.128,0.041,2512,3697,3483,0,0,0,0,0,0
$GC,7028,-0.74,-116.7,494.3,-7.7,504,7032,0.00,2.03,0.00,0.000,6,0.000,0.023,2512,2296,3483,0,0,0,0,0,0
$GC,7349,-0.69,-116.7,521.2,-8.6,511,7351,0.10,0.00,0.00,0.000,6,0.211,0.000,2537,2292,3482,0,0,0,0,0,0
$GC,7651,-0.69,-116.7,543.4,-7.2,516,7655,0.00,2.12,0.00,0.000,4,0.000,0.042,2537,3697,3482,0,0,0,0,0,0
$GC,7740,-0.69,-116.7,550.3,-8.1,517,7744,0.00,2.03,0.00,0.000,6,0.000,0.024,2538,2302,3482,0,0,0,0,0,0
$GC,8089,-0.69,-116.7,576.4,-7.4,523,8093,0.00,2.12,0.00,0.000,4,0.000,0.041,2538,3705,3481,0,0,0,0,0,0
$GC,8137,-0.69,-116.7,580.0,-7.5,523,8142,0.00,2.05,0.00,0.000,6,0.000,0.025,2537,2304,3481,0,0,0,0,0,0
$GC,8453,-0.69,-116.7,601.4,-6.7,529,8457,0.00,2.10,0.00,0.000,4,0.000,0.042,2538,3695,3479,0,0,0,0,0,0
$GC,8515,-0.69,-116.7,605.4,-6.4,530,8519,0.00,2.00,0.00,0.000,6,0.000,0.025,2538,2301,3479,0,0,0,0,0,0
$GC,8886,-0.69,-116.7,627.9,-6.0,536,8887,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2298,3478,0,0,0,0,0,0
$GC,9189,-0.69,-116.7,645.5,-5.8,541,9190,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2298,3477,0,0,0,0,0,0
$GC,9493,-0.69,-116.7,663.2,-5.8,546,9497,0.00,2.12,0.00,0.000,4,0.000,0.043,2538,3697,3476,0,0,0,0,0,0
$GC,9576,-0.69,-116.7,668.6,-6.3,547,9580,0.00,2.05,0.00,0.000,6,0.000,0.025,2538,2300,3475,0,0,0,0,0,0
$GC,9930,-0.69,-116.7,690.6,-6.3,553,9932,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2300,3474,0,0,0,0,0,0
$GC,10234,-0.69,-116.7,709.7,-6.3,558,10238,0.00,2.15,0.00,0.000,4,0.000,0.044,2538,3695,3473,0,0,0,0,0,0
$GC,10306,-0.72,-116.7,714.5,-6.7,559,10310,0.00,2.03,0.00,0.000,6,0.000,0.026,2538,2292,3472,0,0,0,0,0,0
$GC,10665,-0.72,-116.7,737.7,-6.6,565,10666,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2292,3471,0,0,0,0,0,0
$GC,10969,-0.72,-116.7,758.1,-6.7,570,10972,0.00,2.15,0.00,0.000,4,0.000,0.044,2538,3697,3470,0,0,0,0,0,0
$GC,11068,-0.72,-116.7,765.0,-7.0,571,11073,0.00,2.05,0.00,0.000,6,0.000,0.026,2538,2306,3470,0,0,0,0,0,0
$GC,11400,-0.72,-116.7,786.2,-6.3,577,11401,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2306,3469,0,0,0,0,0,0
$GC,11703,-0.72,-116.7,805.6,-6.4,582,11707,0.00,2.12,0.00,0.000,4,0.000,0.044,2538,3697,3468,0,0,0,0,0,0
$GC,11787,-0.75,-116.7,811.2,-6.9,583,11791,0.00,2.08,0.00,0.000,6,0.000,0.026,2538,2270,3468,0,0,0,0,0,0
$GC,12136,-0.75,-116.7,834.7,-6.8,589,12140,0.00,2.20,0.00,0.000,4,0.000,0.044,2538,3704,3467,0,0,0,0,0,0
$GC,12204,-0.79,-116.7,839.4,-7.4,590,12208,0.00,2.05,0.00,0.000,6,0.000,0.027,2538,2292,3467,0,0,0,0,0,0
$GC,12569,-0.79,-116.7,863.4,-6.6,596,12573,0.00,2.15,0.00,0.000,4,0.000,0.044,2538,3700,3465,0,0,0,0,0,0
$GC,12619,-0.82,-116.7,866.6,-6.4,596,12623,0.12,2.03,0.00,0.000,6,0.137,0.027,2499,2296,3466,0,0,0,0,0,0
$GC,12928,-0.76,-116.7,890.9,-7.9,601,12929,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2295,3465,0,0,0,0,0,0
$GC,13232,-0.70,-116.7,915.6,-8.1,606,13234,0.15,0.00,0.00,0.000,6,0.194,0.000,2538,2292,3464,0,0,0,0,0,0
$GC,13533,-0.70,-116.7,937.1,-7.0,611,13537,0.00,2.15,0.00,0.000,4,0.000,0.045,2538,3694,3464,0,0,0,0,0,0
$GC,13588,-0.74,-116.7,941.1,-7.0,611,13593,0.00,2.08,0.00,0.000,6,0.000,0.027,2538,2298,3464,0,0,0,0,0,0
$GC,13903,-0.74,-116.7,962.2,-6.7,617,13904,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2298,3463,0,0,0,0,0,0
$GC,14207,-0.78,-116.7,981.3,-6.3,622,14211,0.00,2.15,0.00,0.000,4,0.000,0.044,2538,3699,3463,0,0,0,0,0,0
$GC,14313,-0.82,-116.7,988.1,-6.6,623,14318,0.12,2.05,0.00,0.000,6,0.134,0.027,2500,2286,3463,0,0,0,0,0,0
$STATE,14388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14388,begin apogee
$GC,14393,-0.24,0.0,993.7,7.3,625,14495,0.62,0.00,98.40,1.549,6,0.170,0.000,2681,2640,3006,0,0,0,0,0,0
$STATE,14496,end apogee,CONTROL_FINISHED_OK
$STATE,14496,begin climb
$GC,14498,0.80,116.7,995.7,0.0,626,14615,1.05,2.45,106.60,1.450,4,0.113,0.047,3013,4034,2528,0,0,0,0,0,0
$GC,14688,0.56,116.7,988.1,9.1,629,14693,0.30,2.17,0.00,0.000,6,0.168,0.026,2948,2649,2523,0,0,0,0,0,0
$GC,15055,0.55,135.1,965.5,6.1,635,15076,0.00,2.25,16.02,1.414,4,0.000,0.046,2948,4043,2454,0,0,0,0,0,0
$GC,15098,0.48,142.9,962.3,6.6,635,15115,0.12,2.12,8.50,1.247,6,0.195,0.027,2924,2641,2422,0,0,0,0,0,0
$GC,15418,0.54,163.6,942.8,6.0,641,15439,0.00,0.00,19.73,1.426,6,0.000,0.000,2924,2641,2338,0,0,0,0,0,0
$GC,15721,0.61,181.3,924.0,6.2,646,15740,0.12,0.00,16.30,1.414,6,0.117,0.000,2968,2640,2267,0,0,0,0,0,0
$GC,16023,0.61,181.3,900.3,8.0,651,16024,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2640,2263,0,0,0,0,0,0
$GC,16326,0.61,181.3,875.9,8.0,656,16330,0.00,2.20,0.00,0.000,4,0.000,0.048,2968,4053,2262,0,0,0,0,0,0
$GC,16347,0.55,181.3,874.0,9.0,656,16352,0.12,2.10,0.00,0.000,6,0.196,0.028,2947,2638,2261,0,0,0,0,0,0
$GC,16689,0.55,181.3,849.9,7.0,662,16690,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2637,2261,0,0,0,0,0,0
$GC,16992,0.56,186.4,829.4,6.7,667,16999,0.00,0.00,5.12,1.160,6,0.000,0.000,2947,2637,2246,0,0,0,0,0,0
$GC,17296,0.58,205.3,810.7,6.1,672,17316,0.00,0.00,18.92,1.397,6,0.000,0.000,2947,2637,2169,0,0,0,0,0,0
$GC,17599,0.63,215.0,791.2,6.5,677,17611,0.00,0.00,10.15,1.333,6,0.000,0.000,2947,2637,2129,0,0,0,0,0,0
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$STATE,27153,end climb,SURFACE_DEPTH_REACHED
$STATE,27153,begin surface coast
$FINISH,2.6,1.021216
$STATE,27219,end surface coast,CONTROL_FINISHED_OK
$STATE,27219,begin surface
$SM_CCo,27235,27.33,0.749,0,0,1884,275.23
$SM_GC,3.68,0.00,0.00,27.33,0.000,0.000,0.749,220,2289,1884,-7.96,-0.34,275.23
$IRIDIUM_FIX,6258.74,248.15,270299,121212
$TT8_MAMPS,0.027612
$HUMID,1078350313
$INTERNAL_PRESSURE,8.32063
$TCM_TEMP,15.00
$XPDR_PINGS,61
$24V_AH,22.5,35.859
$10V_AH,9.9,23.545
$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,22.425,173.275,323.750,27.325,0.000,29.415,34.979,190.614,15.250,0.000,16.327,2417.442,21460.604,532.572,2686.291,568.854,0.000,1844.694,0.000,2662.257,0.000,0.536,0.000
$DEVICE_MAMPS,237.003,50.622,1549.340,748.592,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,803.393,1061.132,645.533,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235280
$DATA_FILE_SIZE,66523,1167
$CAP_FILE_SIZE,211257,0
$CFSIZE,260165632,237219840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,307.1,1
$GPS,041209,034801,6327.122,235.639,40,1.4,41,-3.5