version: 66.06
glider: 140
mission: 8
dive: 223
start: 12 6 109 9 42 48
data:
$ID,140
$MISSION,8
$DIVE,223
$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,-48379.25
$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,76
$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
$GPS1,093537,6341.541,201.372,33,1.2,34,-3.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,3.28
$_SM_ANGLEo,-55.6
$GPS2,094225,6341.628,201.337,12,1.3,30,-3.8
$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,321.7,210737,-13.7,-6.875
$D_GRID,1473
$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,-7.53,0.000,2,0.000,0.000,214,2286,1972,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.3,-0.0,1,123,8.52,2.10,-81.05,0.000,4,0.213,0.048,2501,899,3482,0,0,0,0,0,0
$GC,373,-0.64,-116.7,26.7,-9.8,63,380,0.20,2.10,0.00,0.000,6,0.181,0.028,2555,2318,3483,0,0,0,0,0,0
$GC,708,-0.64,-116.7,55.4,-9.5,124,715,0.00,2.15,0.00,0.000,4,0.000,0.035,2555,914,3484,0,0,0,0,0,0
$GC,782,-0.64,-116.7,64.3,-13.7,137,788,0.00,2.05,0.00,0.000,6,0.000,0.027,2555,2312,3483,0,0,0,0,0,0
$GC,1124,-0.64,-116.7,94.2,-8.0,198,1130,0.00,2.05,0.00,0.000,4,0.000,0.039,2555,3700,3483,0,0,0,0,0,0
$GC,1210,-0.64,-116.7,100.6,-7.3,213,1216,0.00,2.00,0.00,0.000,6,0.000,0.023,2556,2294,3483,0,0,0,0,0,0
$GC,1560,-0.64,-116.7,129.1,-6.5,259,1564,0.00,2.03,0.00,0.000,4,0.000,0.035,2555,919,3483,0,0,0,0,0,0
$GC,1660,-0.64,-116.7,137.1,-7.1,263,1664,0.00,2.05,0.00,0.000,6,0.000,0.027,2555,2293,3484,0,0,0,0,0,0
$GC,1983,-0.64,-116.7,158.6,-6.5,279,1987,0.00,2.08,0.00,0.000,4,0.000,0.039,2556,3697,3484,0,0,0,0,0,0
$GC,2026,-0.64,-116.7,161.9,-7.0,281,2030,0.00,2.03,0.00,0.000,6,0.000,0.022,2555,2297,3483,0,0,0,0,0,0
$GC,2355,-0.64,-116.7,185.7,-7.5,297,2358,0.00,2.03,0.00,0.000,4,0.000,0.035,2555,917,3483,0,0,0,0,0,0
$GC,2410,-0.64,-116.7,190.5,-8.1,299,2414,0.00,2.05,0.00,0.000,6,0.000,0.027,2555,2297,3483,0,0,0,0,0,0
$GC,2731,-0.64,-116.7,214.3,-7.4,315,2735,0.00,2.08,0.00,0.000,4,0.000,0.039,2556,3706,3484,0,0,0,0,0,0
$GC,2809,-0.64,-116.7,220.2,-7.6,318,2816,0.00,2.03,0.00,0.000,6,0.000,0.022,2555,2299,3484,0,0,0,0,0,0
$GC,3124,-0.64,-116.7,242.8,-7.3,334,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2298,3483,0,0,0,0,0,0
$GC,3433,-0.64,-116.7,265.8,-7.3,349,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2298,3484,0,0,0,0,0,0
$GC,3743,-0.64,-116.7,288.3,-7.4,364,3746,0.00,2.00,0.00,0.000,4,0.000,0.035,2555,927,3484,0,0,0,0,0,0
$GC,3815,-0.64,-116.7,294.1,-8.1,367,3819,0.00,2.05,0.00,0.000,6,0.000,0.028,2555,2300,3484,0,0,0,0,0,0
$GC,4130,-0.64,-116.7,315.3,-6.6,379,4133,0.00,2.10,0.00,0.000,4,0.000,0.040,2556,3701,3484,0,0,0,0,0,0
$GC,4185,-0.68,-116.7,319.3,-7.3,380,4189,0.00,2.00,0.00,0.000,6,0.000,0.023,2555,2289,3484,0,0,0,0,0,0
$GC,4503,-0.68,-116.7,341.1,-6.9,391,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2289,3484,0,0,0,0,0,0
$GC,4809,-0.68,-116.7,362.9,-7.3,401,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2288,3483,0,0,0,0,0,0
$GC,5116,-0.68,-116.7,384.5,-7.1,411,5120,0.00,2.12,0.00,0.000,4,0.000,0.039,2555,3704,3483,0,0,0,0,0,0
$GC,5182,-0.72,-116.7,389.6,-8.0,413,5186,0.00,2.03,0.00,0.000,6,0.000,0.023,2555,2299,3483,0,0,0,0,0,0
$GC,5517,-0.75,-116.7,414.3,-7.2,424,5520,0.00,2.03,0.00,0.000,4,0.000,0.035,2555,918,3483,0,0,0,0,0,0
$GC,5645,-0.75,-116.7,424.4,-7.8,427,5651,0.00,2.05,0.00,0.000,6,0.000,0.028,2556,2294,3483,0,0,0,0,0,0
$GC,5958,-0.78,-116.7,445.8,-6.5,438,5960,0.12,0.00,0.00,0.000,6,0.132,0.000,2514,2294,3483,0,0,0,0,0,0
$GC,6264,-0.74,-116.7,469.2,-7.6,448,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2294,3483,0,0,0,0,0,0
$GC,6570,-0.70,-116.7,491.3,-7.2,458,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2294,3483,0,0,0,0,0,0
$GC,6874,-0.65,-116.7,513.6,-7.4,465,6876,0.15,0.00,0.00,0.000,6,0.182,0.000,2554,2294,3483,0,0,0,0,0,0
$GC,7178,-0.69,-116.7,531.5,-5.9,470,7182,0.00,2.12,0.00,0.000,4,0.000,0.041,2554,3707,3482,0,0,0,0,0,0
$GC,7256,-0.74,-116.7,536.3,-6.0,471,7260,0.00,2.00,0.00,0.000,6,0.000,0.025,2554,2301,3481,0,0,0,0,0,0
$GC,7616,-0.79,-116.7,556.8,-5.7,477,7621,0.15,2.12,0.00,0.000,4,0.123,0.041,2503,3697,3480,0,0,0,0,0,0
$GC,7678,-0.73,-116.7,561.7,-8.1,478,7682,0.00,2.00,0.00,0.000,6,0.000,0.025,2503,2298,3480,0,0,0,0,0,0
$GC,8048,-0.67,-116.7,592.0,-8.2,484,8053,0.15,2.08,0.00,0.000,4,0.180,0.037,2543,909,3478,0,0,0,0,0,0
$GC,8120,-0.67,-116.7,597.7,-7.7,485,8124,0.00,2.08,0.00,0.000,6,0.000,0.029,2543,2299,3478,0,0,0,0,0,0
$GC,8480,-0.67,-116.7,621.9,-6.7,491,8484,0.00,2.08,0.00,0.000,4,0.000,0.041,2543,3700,3476,0,0,0,0,0,0
$GC,8558,-0.71,-116.7,627.5,-7.0,492,8562,0.00,2.00,0.00,0.000,6,0.000,0.025,2543,2297,3475,0,0,0,0,0,0
$GC,8912,-0.71,-116.7,652.4,-7.1,498,8913,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2297,3475,0,0,0,0,0,0
$GC,9215,-0.71,-116.7,673.9,-7.1,503,9219,0.00,2.15,0.00,0.000,4,0.000,0.042,2543,3709,3474,0,0,0,0,0,0
$GC,9278,-0.74,-116.7,678.3,-7.1,504,9281,0.00,2.03,0.00,0.000,6,0.000,0.026,2543,2306,3474,0,0,0,0,0,0
$GC,9648,-0.74,-116.7,704.0,-6.9,510,9649,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2301,3472,0,0,0,0,0,0
$GC,9951,-0.74,-116.7,724.8,-6.9,515,9955,0.00,2.15,0.00,0.000,4,0.000,0.043,2543,3699,3471,0,0,0,0,0,0
$GC,10014,-0.79,-116.7,729.1,-6.9,516,10017,0.00,2.03,0.00,0.000,6,0.000,0.025,2543,2298,3471,0,0,0,0,0,0
$GC,10384,-0.82,-116.7,754.6,-6.9,522,10386,0.12,0.00,0.00,0.000,6,0.137,0.000,2502,2292,3470,0,0,0,0,0,0
$GC,10688,-0.77,-116.7,780.0,-8.5,527,10692,0.00,2.08,0.00,0.000,4,0.000,0.038,2502,903,3469,0,0,0,0,0,0
$GC,10750,-0.69,-116.7,785.8,-9.6,528,10755,0.15,2.08,0.00,0.000,6,0.187,0.031,2541,2303,3469,0,0,0,0,0,0
$GC,11114,-0.69,-116.7,811.7,-7.0,534,11118,0.00,2.10,0.00,0.000,4,0.000,0.043,2541,3701,3468,0,0,0,0,0,0
$GC,11170,-0.73,-116.7,815.6,-7.0,534,11174,0.00,2.05,0.00,0.000,6,0.000,0.026,2541,2286,3468,0,0,0,0,0,0
$GC,11484,-0.76,-116.7,836.8,-6.7,540,11485,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2285,3467,0,0,0,0,0,0
$GC,11787,-0.76,-116.7,857.6,-6.9,545,11791,0.00,2.17,0.00,0.000,4,0.000,0.043,2541,3705,3467,0,0,0,0,0,0
$GC,11842,-0.80,-116.7,861.4,-7.0,545,11848,0.05,2.08,0.00,0.000,6,0.094,0.026,2502,2297,3466,0,0,0,0,0,0
$GC,12152,-0.75,-116.7,886.8,-8.3,551,12156,0.00,2.05,0.00,0.000,4,0.000,0.039,2503,916,3465,0,0,0,0,0,0
$GC,12220,-0.69,-116.7,892.9,-9.1,552,12225,0.15,2.05,0.00,0.000,6,0.187,0.031,2541,2302,3465,0,0,0,0,0,0
$GC,12586,-0.72,-116.7,916.5,-6.3,558,12590,0.00,2.10,0.00,0.000,4,0.000,0.044,2541,3708,3464,0,0,0,0,0,0
$GC,12658,-0.76,-116.7,921.3,-6.2,559,12662,0.00,2.05,0.00,0.000,6,0.000,0.027,2541,2293,3464,0,0,0,0,0,0
$GC,13013,-0.80,-116.7,943.2,-6.2,565,13014,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2293,3463,0,0,0,0,0,0
$GC,13316,-0.84,-116.7,961.7,-6.1,570,13320,0.15,2.17,0.00,0.000,4,0.127,0.044,2490,3704,3463,0,0,0,0,0,0
$GC,13387,-0.78,-116.7,967.4,-8.1,571,13391,0.00,2.08,0.00,0.000,6,0.000,0.027,2490,2278,3462,0,0,0,0,0,0
$STATE,13690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13690,begin apogee
$GC,13695,-0.24,0.0,991.0,7.7,576,13796,0.65,0.00,97.70,1.542,6,0.167,0.000,2680,2651,3007,0,0,0,0,0,0
$STATE,13797,end apogee,CONTROL_FINISHED_OK
$STATE,13797,begin climb
$GC,13799,0.80,116.7,993.0,0.0,577,13916,1.05,2.42,106.32,1.447,4,0.110,0.045,3014,4034,2528,0,0,0,0,0,0
$GC,13979,0.56,116.7,985.6,8.7,579,13983,0.30,2.17,0.00,0.000,6,0.169,0.026,2949,2651,2523,0,0,0,0,0,0
$GC,14288,0.55,131.4,965.7,6.3,584,14307,0.00,2.28,12.75,1.384,4,0.000,0.046,2946,4036,2470,0,0,0,0,0,0
$GC,14313,0.53,146.4,964.0,6.3,584,14333,0.00,2.12,14.95,1.325,6,0.000,0.028,2953,2642,2409,0,0,0,0,0,0
$GC,14648,0.53,146.4,940.1,7.1,590,14649,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2643,2404,0,0,0,0,0,0
$GC,14952,0.53,146.4,918.5,7.2,595,14956,0.00,2.17,0.00,0.000,4,0.000,0.045,2953,4045,2402,0,0,0,0,0,0
$GC,14967,0.49,146.4,917.1,7.2,595,14972,0.15,2.10,0.00,0.000,6,0.177,0.028,2924,2649,2402,0,0,0,0,0,0
$GC,15316,0.55,163.0,895.3,6.2,601,15333,0.00,0.00,15.15,1.427,6,0.000,0.000,2924,2648,2341,0,0,0,0,0,0
$GC,15619,0.61,172.1,875.8,6.5,606,15631,0.12,0.00,9.30,1.351,6,0.114,0.000,2969,2645,2304,0,0,0,0,0,0
$GC,15922,0.61,172.1,851.4,8.1,611,15926,0.00,2.17,0.00,0.000,4,0.000,0.045,2967,4044,2301,0,0,0,0,0,0
$GC,15948,0.54,172.1,848.9,9.2,611,15953,0.08,2.10,0.00,0.000,6,0.153,0.028,2939,2654,2301,0,0,0,0,0,0
$GC,16286,0.57,172.1,825.4,6.9,617,16287,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2653,2301,0,0,0,0,0,0
$GC,16589,0.60,172.8,804.5,6.8,622,16590,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2653,2300,0,0,0,0,0,0
$GC,16892,0.64,178.7,784.3,6.6,627,16901,0.00,0.00,7.00,1.283,6,0.000,0.000,2939,2653,2277,0,0,0,0,0,0
$GC,17195,0.69,187.6,764.5,6.5,632,17208,0.15,0.00,9.57,1.322,6,0.112,0.000,2990,2650,2241,0,0,0,0,0,0
$GC,17498,0.63,187.6,738.9,8.6,637,17502,0.00,2.17,0.00,0.000,4,0.000,0.046,2990,4051,2238,0,0,0,0,0,0
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$STATE,26198,end climb,SURFACE_DEPTH_REACHED
$STATE,26198,begin surface coast
$FINISH,2.5,1.018789
$STATE,26244,end surface coast,CONTROL_FINISHED_OK
$STATE,26244,begin surface
$SM_CCo,26261,32.28,0.767,0,0,1882,275.23
$SM_GC,3.52,0.00,0.00,32.28,0.000,0.000,0.767,219,2261,1882,-7.96,-1.10,275.23
$IRIDIUM_FIX,6317.84,206.19,020399,020239
$TT8_MAMPS,0.027612
$HUMID,1078370958
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,15.00
$XPDR_PINGS,1
$24V_AH,22.5,37.063
$10V_AH,9.9,24.450
$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
$DEVICE_SECS,21.350,194.050,323.750,32.275,0.000,30.592,34.948,198.423,0.250,0.000,31.911,2284.685,20683.689,543.399,2634.956,547.248,0.000,1845.408,0.000,2590.485,0.000,0.536,0.000
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$SENSOR_SECS,749.071,992.813,579.624,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235084
$DATA_FILE_SIZE,60179,1087
$CAP_FILE_SIZE,207076,0
$CFSIZE,260165632,236515328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,109.1,1
$GPS,061209,170225,6343.521,158.438,28,1.5,46,-3.9