version: 66.06
glider: 140
mission: 8
dive: 216
start: 12 4 109 3 54 55
data:
$ID,140
$MISSION,8
$DIVE,216
$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,-48220.191
$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,64
$R_STBD_OVSHOOT,42
$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
$GPS1,034801,6327.122,235.639,40,1.4,41,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.43
$_SM_ANGLEo,-65.2
$GPS2,035432,6327.131,235.621,13,1.1,13,-3.5
$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,320.9,248587,-13.7,-6.875
$D_GRID,1198
$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,-7.40,0.000,2,0.000,0.000,220,2287,2038,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.4,-0.0,1,123,9.12,2.28,-77.80,0.000,4,0.241,0.055,2505,3710,3483,0,0,0,0,0,0
$GC,372,-0.70,-116.7,17.5,-9.0,63,378,0.12,2.08,0.00,0.000,6,0.198,0.024,2536,2274,3483,0,0,0,0,0,0
$GC,708,-0.65,-116.7,45.7,-7.7,124,714,0.00,2.22,0.00,0.000,4,0.000,0.041,2537,3704,3484,0,0,0,0,0,0
$GC,838,-0.65,-116.7,57.9,-9.3,147,843,0.00,2.00,0.00,0.000,6,0.000,0.023,2537,2309,3484,0,0,0,0,0,0
$GC,1180,-0.61,-116.7,85.6,-8.1,208,1187,0.00,2.10,0.00,0.000,4,0.000,0.035,2537,913,3485,0,0,0,0,0,0
$GC,1249,-0.56,-116.7,91.6,-9.3,220,1255,0.12,2.10,0.00,0.000,6,0.170,0.028,2577,2314,3485,0,0,0,0,0,0
$GC,1595,-0.60,-116.7,111.5,-6.6,281,1600,0.00,2.05,0.00,0.000,4,0.000,0.040,2577,3701,3484,0,0,0,0,0,0
$GC,1646,-0.67,-116.7,115.3,-7.0,290,1652,0.00,2.00,0.00,0.000,6,0.000,0.023,2577,2289,3484,0,0,0,0,0,0
$GC,1971,-0.72,-116.7,136.2,-6.4,315,1973,0.15,0.00,0.00,0.000,6,0.125,0.000,2528,2286,3484,0,0,0,0,0,0
$GC,2277,-0.67,-116.7,161.8,-8.7,330,2281,0.00,2.12,0.00,0.000,4,0.000,0.040,2528,3699,3484,0,0,0,0,0,0
$GC,2333,-0.63,-116.7,166.9,-9.1,332,2337,0.05,2.03,0.00,0.000,6,0.177,0.023,2556,2290,3484,0,0,0,0,0,0
$GC,2653,-0.63,-116.7,191.9,-7.7,348,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2289,3484,0,0,0,0,0,0
$GC,2963,-0.63,-116.7,214.9,-7.0,363,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2288,3484,0,0,0,0,0,0
$GC,3272,-0.63,-116.7,235.3,-6.2,378,3276,0.00,2.12,0.00,0.000,4,0.000,0.040,2556,3702,3484,0,0,0,0,0,0
$GC,3316,-0.63,-116.7,238.2,-6.7,380,3320,0.00,1.98,0.00,0.000,6,0.000,0.023,2556,2306,3484,0,0,0,0,0,0
$GC,3643,-0.63,-116.7,260.1,-6.8,396,3646,0.00,2.03,0.00,0.000,4,0.000,0.035,2556,923,3484,0,0,0,0,0,0
$GC,3692,-0.63,-116.7,263.9,-7.6,398,3696,0.00,2.05,0.00,0.000,6,0.000,0.028,2556,2299,3484,0,0,0,0,0,0
$GC,4019,-0.63,-116.7,285.9,-6.8,414,4023,0.00,2.10,0.00,0.000,4,0.000,0.041,2556,3701,3485,0,0,0,0,0,0
$GC,4081,-0.66,-116.7,290.2,-6.7,416,4086,0.00,2.00,0.00,0.000,6,0.000,0.022,2556,2286,3484,0,0,0,0,0,0
$GC,4415,-0.66,-116.7,312.5,-6.8,430,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2286,3484,0,0,0,0,0,0
$GC,4721,-0.66,-116.7,333.2,-6.9,440,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2286,3485,0,0,0,0,0,0
$GC,5027,-0.66,-116.7,354.0,-6.7,450,5031,0.00,2.12,0.00,0.000,4,0.000,0.040,2556,3700,3484,0,0,0,0,0,0
$GC,5089,-0.70,-116.7,358.1,-6.5,451,5094,0.00,1.98,0.00,0.000,6,0.000,0.023,2556,2299,3485,0,0,0,0,0,0
$GC,5400,-0.70,-116.7,378.2,-6.3,462,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2299,3485,0,0,0,0,0,0
$GC,5707,-0.70,-116.7,398.1,-6.5,472,5711,0.00,2.12,0.00,0.000,4,0.000,0.040,2556,3705,3484,0,0,0,0,0,0
$GC,5774,-0.75,-116.7,402.6,-6.5,474,5778,0.00,2.00,0.00,0.000,6,0.000,0.023,2556,2297,3485,0,0,0,0,0,0
$GC,6108,-0.78,-116.7,423.8,-6.2,485,6110,0.15,0.00,0.00,0.000,6,0.124,0.000,2504,2294,3484,0,0,0,0,0,0
$GC,6415,-0.71,-116.7,448.3,-7.9,495,6420,0.12,2.15,0.00,0.000,4,0.190,0.041,2536,3706,3484,0,0,0,0,0,0
$GC,6487,-0.71,-116.7,453.5,-6.9,497,6491,0.00,2.00,0.00,0.000,6,0.000,0.023,2536,2297,3484,0,0,0,0,0,0
$GC,6815,-0.71,-116.7,476.8,-7.0,508,6819,0.00,2.03,0.00,0.000,4,0.000,0.035,2537,915,3484,0,0,0,0,0,0
$GC,6870,-0.71,-116.7,481.3,-8.6,509,6874,0.00,2.08,0.00,0.000,6,0.000,0.028,2536,2304,3484,0,0,0,0,0,0
$GC,7189,-0.71,-116.7,504.4,-7.0,519,7193,0.00,2.05,0.00,0.000,4,0.000,0.041,2537,3701,3483,0,0,0,0,0,0
$GC,7239,-0.71,-116.7,507.8,-6.6,519,7243,0.00,2.00,0.00,0.000,6,0.000,0.023,2537,2289,3483,0,0,0,0,0,0
$GC,7554,-0.71,-116.7,527.7,-6.3,525,7557,0.00,2.00,0.00,0.000,4,0.000,0.035,2536,924,3483,0,0,0,0,0,0
$GC,7626,-0.71,-116.7,532.9,-7.6,526,7630,0.00,2.05,0.00,0.000,6,0.000,0.028,2537,2300,3483,0,0,0,0,0,0
$GC,7991,-0.71,-116.7,557.4,-6.8,532,7995,0.00,2.08,0.00,0.000,4,0.000,0.041,2537,3700,3482,0,0,0,0,0,0
$GC,8080,-0.71,-116.7,563.5,-6.9,533,8084,0.00,2.00,0.00,0.000,6,0.000,0.024,2536,2290,3482,0,0,0,0,0,0
$GC,8424,-0.71,-116.7,585.6,-6.4,539,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2289,3481,0,0,0,0,0,0
$GC,8726,-0.71,-116.7,604.8,-6.4,544,8730,0.00,2.15,0.00,0.000,4,0.000,0.041,2536,3709,3480,0,0,0,0,0,0
$GC,8810,-0.71,-116.7,610.6,-6.8,545,8814,0.00,2.05,0.00,0.000,6,0.000,0.025,2537,2304,3480,0,0,0,0,0,0
$GC,9158,-0.71,-116.7,633.8,-6.7,551,9162,0.00,2.12,0.00,0.000,4,0.000,0.041,2537,3706,3478,0,0,0,0,0,0
$GC,9230,-0.71,-116.7,638.6,-6.5,552,9234,0.00,2.03,0.00,0.000,6,0.000,0.025,2537,2297,3478,0,0,0,0,0,0
$GC,9589,-0.71,-116.7,662.4,-6.6,558,9590,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2297,3477,0,0,0,0,0,0
$GC,9892,-0.71,-116.7,683.1,-6.9,563,9896,0.00,2.12,0.00,0.000,4,0.000,0.042,2536,3698,3475,0,0,0,0,0,0
$GC,9976,-0.74,-116.7,688.9,-6.8,564,9980,0.00,2.03,0.00,0.000,6,0.000,0.025,2537,2296,3476,0,0,0,0,0,0
$GC,10325,-0.74,-116.7,712.2,-6.7,570,10328,0.00,2.15,0.00,0.000,4,0.000,0.043,2537,3705,3475,0,0,0,0,0,0
$GC,10402,-0.74,-116.7,717.7,-7.1,571,10406,0.00,2.08,0.00,0.000,6,0.000,0.025,2536,2296,3474,0,0,0,0,0,0
$GC,10762,-0.74,-116.7,741.8,-6.7,577,10766,0.00,2.15,0.00,0.000,4,0.000,0.043,2537,3706,3473,0,0,0,0,0,0
$GC,10818,-0.77,-116.7,745.8,-6.7,577,10823,0.00,2.05,0.00,0.000,6,0.000,0.026,2537,2292,3473,0,0,0,0,0,0
$GC,11127,-0.77,-116.7,767.0,-6.9,583,11128,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2292,3472,0,0,0,0,0,0
$GC,11430,-0.77,-116.7,789.0,-7.3,588,11434,0.00,2.12,0.00,0.000,4,0.000,0.043,2537,3697,3470,0,0,0,0,0,0
$GC,11519,-0.81,-116.7,795.9,-7.6,589,11523,0.00,2.03,0.00,0.000,6,0.000,0.026,2537,2294,3470,0,0,0,0,0,0
$GC,11862,-0.81,-116.7,821.7,-7.6,595,11866,0.00,2.15,0.00,0.000,4,0.000,0.044,2537,3705,3469,0,0,0,0,0,0
$GC,11923,-0.84,-116.7,826.6,-7.7,596,11928,0.12,2.05,0.00,0.000,6,0.138,0.027,2497,2287,3469,0,0,0,0,0,0
$GC,12290,-0.78,-116.7,858.3,-8.7,602,12291,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2286,3468,0,0,0,0,0,0
$GC,12592,-0.72,-116.7,884.1,-8.6,607,12597,0.12,2.20,0.00,0.000,4,0.198,0.045,2528,3704,3467,0,0,0,0,0,0
$GC,12646,-0.72,-116.7,888.5,-7.4,607,12653,0.00,2.08,0.00,0.000,6,0.000,0.027,2529,2310,3467,0,0,0,0,0,0
$GC,12956,-0.72,-116.7,910.5,-7.1,613,12957,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2310,3466,0,0,0,0,0,0
$GC,13259,-0.72,-116.7,931.4,-6.9,618,13263,0.00,2.12,0.00,0.000,4,0.000,0.044,2529,3697,3465,0,0,0,0,0,0
$GC,13360,-0.72,-116.7,938.5,-6.5,619,13364,0.00,2.05,0.00,0.000,6,0.000,0.026,2529,2289,3465,0,0,0,0,0,0
$GC,13685,-0.72,-116.7,960.6,-6.9,625,13689,0.00,2.15,0.00,0.000,4,0.000,0.044,2529,3697,3464,0,0,0,0,0,0
$GC,13752,-0.72,-116.7,965.3,-6.9,626,13756,0.00,2.03,0.00,0.000,6,0.000,0.027,2528,2304,3464,0,0,0,0,0,0
$GC,14122,-0.72,-116.7,989.3,-6.4,632,14126,0.00,2.15,0.00,0.000,4,0.000,0.044,2529,3705,3464,0,0,0,0,0,0
$STATE,14131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14131,begin apogee
$GC,14137,-0.24,0.0,990.1,6.4,632,14239,0.50,0.00,98.03,1.542,6,0.163,0.000,2681,2630,3006,0,0,0,0,0,0
$STATE,14240,end apogee,CONTROL_FINISHED_OK
$STATE,14240,begin climb
$GC,14242,0.80,116.7,991.7,0.0,633,14359,1.05,2.50,106.20,1.449,4,0.113,0.047,3014,4031,2528,0,0,0,0,0,0
$GC,14392,0.54,116.7,987.9,8.5,636,14397,0.32,2.17,0.00,0.000,6,0.173,0.026,2944,2660,2525,0,0,0,0,0,0
$GC,14740,0.57,138.2,966.7,6.0,642,14761,0.00,0.00,18.95,1.416,6,0.000,0.000,2944,2661,2442,0,0,0,0,0,0
$GC,15044,0.59,150.9,947.6,6.4,647,15058,0.00,0.00,12.30,1.387,6,0.000,0.000,2944,2661,2390,0,0,0,0,0,0
$GC,15346,0.60,163.2,928.3,6.4,652,15365,0.00,2.25,12.20,1.388,4,0.000,0.048,2941,4035,2339,0,0,0,0,0,0
$GC,15376,0.62,180.5,926.3,6.2,652,15398,0.00,2.12,17.00,1.355,6,0.000,0.028,2949,2653,2269,0,0,0,0,0,0
$GC,15707,0.62,180.5,903.6,6.9,658,15708,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2653,2263,0,0,0,0,0,0
$GC,16011,0.62,181.5,882.9,6.8,663,16012,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2653,2262,0,0,0,0,0,0
$GC,16313,0.62,181.5,862.0,6.9,668,16314,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2653,2261,0,0,0,0,0,0
$GC,16616,0.62,181.5,840.1,7.3,673,16620,0.00,2.15,0.00,0.000,4,0.000,0.048,2949,4040,2261,0,0,0,0,0,0
$GC,16631,0.62,181.5,838.9,7.4,673,16636,0.00,2.10,0.00,0.000,6,0.000,0.028,2951,2652,2261,0,0,0,0,0,0
$GC,16980,0.62,181.5,811.7,7.9,679,16981,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2652,2260,0,0,0,0,0,0
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$STATE,26539,end climb,SURFACE_DEPTH_REACHED
$STATE,26540,begin surface coast
$FINISH,2.7,1.024433
$STATE,26577,end surface coast,CONTROL_FINISHED_OK
$STATE,26577,begin surface
$SM_CCo,26594,12.48,0.761,0,0,1884,275.23
$SM_GC,4.34,0.00,0.00,12.48,0.000,0.000,0.761,211,2295,1884,-7.98,-0.14,275.23
$IRIDIUM_FIX,6258.74,243.12,270299,202058
$TT8_MAMPS,0.027612
$HUMID,1078367087
$INTERNAL_PRESSURE,8.32063
$TCM_TEMP,20.20
$XPDR_PINGS,0
$24V_AH,22.6,36.013
$10V_AH,10.0,23.657
$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,21.725,184.450,338.775,12.475,0.000,27.773,31.927,200.729,0.000,0.000,14.529,2383.640,20825.041,503.391,2724.667,551.645,0.000,1850.352,0.000,2697.816,0.000,0.535,0.000
$DEVICE_MAMPS,240.838,55.224,1542.437,760.864,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,796.136,1037.785,627.072,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235160
$DATA_FILE_SIZE,66417,1156
$CAP_FILE_SIZE,209143,0
$CFSIZE,260165632,237129728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,310.6,1
$GPS,041209,111936,6330.134,228.901,36,1.5,37,-3.6