version: 66.06
glider: 140
mission: 8
dive: 224
start: 12 6 109 17 9 43
data:
$ID,140
$MISSION,8
$DIVE,224
$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,-48415.617
$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,83
$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
$GPS1,170225,6343.521,158.438,28,1.5,46,-3.9
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,3.30
$_SM_ANGLEo,-54.8
$GPS2,170921,6343.588,158.387,16,1.5,35,-3.9
$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,321.6,206503,-13.7,-6.875
$D_GRID,1547
$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,-7.47,0.000,2,0.000,0.000,219,2260,2043,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.7,-0.0,1,113,8.52,2.25,-70.55,0.000,4,0.214,0.052,2506,3710,3483,0,0,0,0,0,0
$GC,364,-0.70,-116.7,35.6,-9.6,61,370,0.12,2.03,0.00,0.000,6,0.189,0.023,2539,2296,3484,0,0,0,0,0,0
$GC,703,-0.66,-116.7,68.4,-7.4,122,708,0.00,2.15,0.00,0.000,4,0.000,0.039,2539,3708,3484,0,0,0,0,0,0
$GC,765,-0.66,-116.7,71.9,-5.6,133,771,0.00,2.00,0.00,0.000,6,0.000,0.024,2539,2314,3484,0,0,0,0,0,0
$GC,1107,-0.63,-116.7,96.4,-8.1,194,1113,0.00,2.08,0.00,0.000,4,0.000,0.035,2539,908,3485,0,0,0,0,0,0
$GC,1215,-0.57,-116.7,105.2,-7.9,213,1222,0.15,2.08,0.00,0.000,6,0.193,0.028,2580,2313,3484,0,0,0,0,0,0
$GC,1555,-0.62,-116.7,131.9,-8.0,252,1559,0.00,2.08,0.00,0.000,4,0.000,0.040,2580,3705,3485,0,0,0,0,0,0
$GC,1605,-0.70,-116.7,135.3,-6.5,254,1610,0.12,2.03,0.00,0.000,6,0.124,0.023,2540,2278,3485,0,0,0,0,0,0
$GC,1932,-0.70,-116.7,160.5,-8.3,270,1935,0.00,1.98,0.00,0.000,4,0.000,0.035,2540,928,3485,0,0,0,0,0,0
$GC,1992,-0.65,-116.7,166.2,-8.7,272,1999,0.00,2.05,0.00,0.000,6,0.000,0.028,2540,2295,3485,0,0,0,0,0,0
$GC,2308,-0.65,-116.7,192.1,-8.5,288,2312,0.00,2.10,0.00,0.000,4,0.000,0.040,2540,3708,3485,0,0,0,0,0,0
$GC,2403,-0.65,-116.7,200.1,-8.7,292,2407,0.00,2.03,0.00,0.000,6,0.000,0.023,2540,2308,3485,0,0,0,0,0,0
$GC,2724,-0.65,-116.7,227.2,-8.3,308,2728,0.00,2.03,0.00,0.000,4,0.000,0.035,2540,925,3486,0,0,0,0,0,0
$GC,2815,-0.61,-116.7,235.0,-8.4,312,2819,0.00,2.03,0.00,0.000,6,0.000,0.028,2540,2311,3485,0,0,0,0,0,0
$GC,3147,-0.61,-116.7,261.9,-8.1,328,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2311,3485,0,0,0,0,0,0
$GC,3456,-0.61,-116.7,288.0,-8.5,343,3460,0.00,2.08,0.00,0.000,4,0.000,0.034,2540,909,3485,0,0,0,0,0,0
$GC,3563,-0.58,-116.7,298.0,-9.7,348,3567,0.15,2.03,0.00,0.000,6,0.189,0.028,2579,2304,3485,0,0,0,0,0,0
$GC,3876,-0.65,-116.7,319.6,-6.5,359,3880,0.00,2.05,0.00,0.000,4,0.000,0.040,2579,3697,3485,0,0,0,0,0,0
$GC,3949,-0.74,-116.7,324.5,-6.7,361,3953,0.17,1.98,0.00,0.000,6,0.110,0.022,2520,2288,3485,0,0,0,0,0,0
$GC,4278,-0.68,-116.7,352.2,-8.4,372,4281,0.00,2.00,0.00,0.000,4,0.000,0.035,2520,923,3486,0,0,0,0,0,0
$GC,4361,-0.62,-116.7,360.0,-9.6,374,4366,0.10,2.03,0.00,0.000,6,0.166,0.028,2563,2294,3485,0,0,0,0,0,0
$GC,4685,-0.66,-116.7,382.3,-6.8,385,4689,0.00,2.05,0.00,0.000,4,0.000,0.039,2563,3695,3485,0,0,0,0,0,0
$GC,4747,-0.73,-116.7,386.6,-6.6,387,4752,0.10,2.00,0.00,0.000,6,0.140,0.023,2531,2301,3485,0,0,0,0,0,0
$GC,5087,-0.73,-116.7,411.9,-7.4,398,5091,0.00,2.10,0.00,0.000,4,0.000,0.040,2530,3696,3486,0,0,0,0,0,0
$GC,5149,-0.73,-116.7,416.5,-7.3,400,5153,0.00,1.98,0.00,0.000,6,0.000,0.023,2530,2308,3485,0,0,0,0,0,0
$GC,5488,-0.73,-116.7,442.0,-7.8,411,5492,0.00,2.03,0.00,0.000,4,0.000,0.035,2530,928,3485,0,0,0,0,0,0
$GC,5630,-0.70,-116.7,453.9,-8.7,415,5633,0.00,2.00,0.00,0.000,6,0.000,0.028,2530,2297,3485,0,0,0,0,0,0
$GC,5964,-0.70,-116.7,479.7,-7.6,426,5967,0.00,2.08,0.00,0.000,4,0.000,0.041,2530,3704,3485,0,0,0,0,0,0
$GC,6026,-0.70,-116.7,484.5,-7.2,428,6029,0.00,2.00,0.00,0.000,6,0.000,0.024,2530,2290,3484,0,0,0,0,0,0
$GC,6364,-0.70,-116.7,509.9,-7.6,437,6368,0.00,2.00,0.00,0.000,4,0.000,0.035,2530,926,3484,0,0,0,0,0,0
$GC,6414,-0.70,-116.7,514.0,-8.3,437,6418,0.00,2.05,0.00,0.000,6,0.000,0.028,2530,2302,3484,0,0,0,0,0,0
$GC,6734,-0.70,-116.7,537.9,-7.4,443,6738,0.00,2.08,0.00,0.000,4,0.000,0.041,2530,3706,3483,0,0,0,0,0,0
$GC,6771,-0.70,-116.7,540.5,-6.9,443,6776,0.00,2.03,0.00,0.000,6,0.000,0.024,2530,2309,3483,0,0,0,0,0,0
$GC,7104,-0.70,-116.7,562.7,-6.7,449,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2308,3482,0,0,0,0,0,0
$GC,7406,-0.70,-116.7,584.1,-7.1,454,7407,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2308,3481,0,0,0,0,0,0
$GC,7710,-0.70,-116.7,604.9,-6.8,459,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2308,3479,0,0,0,0,0,0
$GC,8014,-0.70,-116.7,624.2,-6.3,464,8015,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2308,3478,0,0,0,0,0,0
$GC,8316,-0.70,-116.7,643.9,-6.5,469,8320,0.00,2.12,0.00,0.000,4,0.000,0.042,2530,3706,3477,0,0,0,0,0,0
$GC,8382,-0.70,-116.7,648.6,-7.0,470,8386,0.00,2.05,0.00,0.000,6,0.000,0.025,2531,2303,3477,0,0,0,0,0,0
$GC,8748,-0.70,-116.7,673.2,-6.8,476,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2302,3476,0,0,0,0,0,0
$GC,9051,-0.70,-116.7,693.0,-6.5,481,9055,0.00,2.12,0.00,0.000,4,0.000,0.043,2530,3700,3475,0,0,0,0,0,0
$GC,9095,-0.70,-116.7,696.0,-6.7,481,9099,0.00,2.03,0.00,0.000,6,0.000,0.025,2530,2287,3474,0,0,0,0,0,0
$GC,9415,-0.70,-116.7,717.6,-6.8,487,9416,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2286,3474,0,0,0,0,0,0
$GC,9719,-0.70,-116.7,738.7,-7.0,492,9723,0.00,2.15,0.00,0.000,4,0.000,0.042,2530,3702,3473,0,0,0,0,0,0
$GC,9785,-0.70,-116.7,743.7,-7.7,493,9789,0.00,2.05,0.00,0.000,6,0.000,0.025,2530,2303,3472,0,0,0,0,0,0
$GC,10150,-0.70,-116.7,769.3,-7.0,499,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2302,3471,0,0,0,0,0,0
$GC,10455,-0.70,-116.7,789.8,-6.7,504,10459,0.00,2.12,0.00,0.000,4,0.000,0.043,2530,3700,3471,0,0,0,0,0,0
$GC,10521,-0.70,-116.7,794.5,-7.0,505,10525,0.00,2.05,0.00,0.000,6,0.000,0.025,2531,2304,3470,0,0,0,0,0,0
$GC,10886,-0.70,-116.7,818.4,-6.5,511,10888,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2302,3470,0,0,0,0,0,0
$GC,11190,-0.70,-116.7,837.7,-6.4,516,11194,0.00,2.12,0.00,0.000,4,0.000,0.043,2530,3698,3469,0,0,0,0,0,0
$GC,11262,-0.70,-116.7,842.5,-6.4,517,11266,0.00,2.08,0.00,0.000,6,0.000,0.026,2530,2292,3468,0,0,0,0,0,0
$GC,11623,-0.70,-116.7,865.5,-6.4,523,11624,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2290,3468,0,0,0,0,0,0
$GC,11926,-0.70,-116.7,884.2,-6.2,528,11930,0.00,2.15,0.00,0.000,4,0.000,0.044,2530,3702,3467,0,0,0,0,0,0
$GC,12009,-0.70,-116.7,889.6,-6.4,529,12013,0.00,2.08,0.00,0.000,6,0.000,0.026,2530,2298,3467,0,0,0,0,0,0
$GC,12358,-0.70,-116.7,910.8,-6.1,535,12359,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2297,3467,0,0,0,0,0,0
$GC,12661,-0.70,-116.7,928.7,-5.9,540,12665,0.00,2.15,0.00,0.000,4,0.000,0.044,2530,3704,3466,0,0,0,0,0,0
$GC,12723,-0.70,-116.7,932.5,-6.0,541,12726,0.00,2.05,0.00,0.000,6,0.000,0.027,2530,2292,3466,0,0,0,0,0,0
$GC,13088,-0.70,-116.7,954.3,-6.0,547,13092,0.00,2.17,0.00,0.000,4,0.000,0.044,2530,3706,3465,0,0,0,0,0,0
$GC,13132,-0.70,-116.7,957.0,-6.3,547,13136,0.00,2.08,0.00,0.000,6,0.000,0.027,2530,2310,3465,0,0,0,0,0,0
$GC,13458,-0.70,-116.7,976.7,-6.1,553,13460,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2309,3465,0,0,0,0,0,0
$STATE,13699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13699,begin apogee
$GC,13704,-0.24,0.0,991.7,6.2,557,13806,0.52,0.00,98.57,1.547,6,0.162,0.000,2687,2652,3006,0,0,0,0,0,0
$STATE,13807,end apogee,CONTROL_FINISHED_OK
$STATE,13807,begin climb
$GC,13809,0.80,116.7,993.5,0.0,558,13926,1.02,2.42,106.62,1.448,4,0.110,0.045,3006,4035,2529,0,0,0,0,0,0
$GC,13937,0.61,120.4,991.1,6.7,560,13947,0.20,2.25,4.50,0.937,6,0.169,0.026,2968,2648,2515,0,0,0,0,0,0
$GC,14302,0.54,120.4,965.9,7.0,566,14306,0.00,2.20,0.00,0.000,4,0.000,0.045,2966,4040,2508,0,0,0,0,0,0
$GC,14323,0.44,120.4,964.1,8.0,566,14328,0.25,2.12,0.00,0.000,6,0.176,0.027,2910,2631,2507,0,0,0,0,0,0
$GC,14661,0.53,151.4,945.1,5.6,572,14690,0.00,0.00,27.52,1.445,6,0.000,0.000,2910,2631,2388,0,0,0,0,0,0
$GC,14963,0.61,164.5,925.9,6.4,577,14983,0.15,2.20,12.52,1.388,4,0.110,0.038,2973,1253,2335,0,0,0,0,0,0
$GC,14988,0.61,164.5,923.9,8.1,577,14992,0.00,2.20,0.00,0.000,6,0.000,0.034,2968,2655,2334,0,0,0,0,0,0
$GC,15331,0.61,164.5,895.0,8.5,583,15332,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2655,2331,0,0,0,0,0,0
$GC,15634,0.61,164.5,870.5,8.1,588,15635,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2655,2330,0,0,0,0,0,0
$GC,15937,0.61,164.5,845.5,8.2,593,15938,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2655,2329,0,0,0,0,0,0
$GC,16240,0.61,164.5,820.7,8.2,598,16241,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2655,2328,0,0,0,0,0,0
$GC,16544,0.58,164.5,796.7,7.9,603,16545,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2655,2327,0,0,0,0,0,0
$GC,16847,0.58,164.5,772.8,7.9,608,16848,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2655,2328,0,0,0,0,0,0
$GC,17150,0.55,164.5,748.8,7.9,613,17151,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2655,2327,0,0,0,0,0,0
$GC,17452,0.55,164.5,725.2,7.8,618,17454,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2655,2327,0,0,0,0,0,0
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$STATE,26730,end climb,SURFACE_DEPTH_REACHED
$STATE,26730,begin surface coast
$FINISH,2.7,1.027289
$STATE,26776,end surface coast,CONTROL_FINISHED_OK
$STATE,26776,begin surface
$SM_CCo,26793,46.50,0.761,0,0,1884,275.23
$SM_GC,3.26,0.00,0.00,46.50,0.000,0.000,0.761,213,2269,1884,-7.98,-0.88,275.23
$IRIDIUM_FIX,6317.84,201.34,020399,090926
$TT8_MAMPS,0.027612
$HUMID,1078330958
$INTERNAL_PRESSURE,8.31087
$TCM_TEMP,20.30
$XPDR_PINGS,0
$24V_AH,22.5,37.210
$10V_AH,9.9,24.559
$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,21.200,172.300,304.750,46.500,0.000,30.990,36.696,199.846,0.000,0.000,35.740,2289.338,21317.230,510.322,2590.252,538.893,0.000,1770.628,0.000,2538.933,0.000,0.535,0.000
$DEVICE_MAMPS,213.993,52.156,1547.039,760.864,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,757.409,997.046,582.011,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235084
$DATA_FILE_SIZE,63272,1098
$CAP_FILE_SIZE,201631,0
$CFSIZE,260165632,236429312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090, 94.5,1
$GPS,071209,003854,6345.866,156.757,74,1.0,75,-3.9