version: 66.06
glider: 140
mission: 8
dive: 226
start: 12 7 109 7 56 20
data:
$ID,140
$MISSION,8
$DIVE,226
$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,-48442.137
$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,75
$R_STBD_OVSHOOT,41
$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
$GPS1,075007,6348.125,153.915,37,1.7,37,-3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.29
$_SM_ANGLEo,-54.3
$GPS2,075556,6348.183,153.906,12,1.9,12,-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,320.6,197884,-13.7,-6.875
$D_GRID,1618
$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,15,-0.80,-116.7,0.0,0.0,0,23,0.00,0.00,-6.95,0.000,2,0.000,0.000,213,2279,1913,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.3,-0.0,1,130,8.60,2.12,-86.53,0.000,4,0.216,0.049,2503,921,3481,0,0,0,0,0,0
$GC,138,-0.94,-116.7,4.4,-3.5,20,145,0.10,2.10,0.00,0.000,6,0.113,0.028,2465,2313,3482,0,0,0,0,0,0
$GC,475,-0.75,-116.7,44.3,-9.4,81,481,0.20,2.12,0.00,0.000,4,0.191,0.033,2516,908,3483,0,0,0,0,0,0
$GC,730,-0.66,-116.7,65.1,-7.3,127,736,0.12,2.05,0.00,0.000,6,0.201,0.028,2547,2300,3483,0,0,0,0,0,0
$GC,1072,-0.66,-116.7,91.3,-11.0,188,1079,0.00,2.12,0.00,0.000,4,0.000,0.036,2548,918,3484,0,0,0,0,0,0
$GC,1184,-0.66,-116.7,105.0,-10.7,208,1192,0.00,2.08,0.00,0.000,6,0.000,0.028,2548,2300,3484,0,0,0,0,0,0
$GC,1519,-0.66,-116.7,136.3,-8.9,243,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2301,3484,0,0,0,0,0,0
$GC,1826,-0.66,-116.7,159.6,-7.4,258,1830,0.00,2.08,0.00,0.000,4,0.000,0.035,2548,912,3485,0,0,0,0,0,0
$GC,1891,-0.66,-116.7,163.7,-6.4,261,1895,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2312,3484,0,0,0,0,0,0
$GC,2218,-0.66,-116.7,187.0,-7.6,277,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2311,3484,0,0,0,0,0,0
$GC,2526,-0.66,-116.7,208.7,-7.2,292,2530,0.00,2.05,0.00,0.000,4,0.000,0.040,2548,3699,3484,0,0,0,0,0,0
$GC,2588,-0.66,-116.7,212.8,-6.7,295,2592,0.00,2.00,0.00,0.000,6,0.000,0.023,2548,2292,3484,0,0,0,0,0,0
$GC,2920,-0.66,-116.7,236.0,-6.9,311,2924,0.00,2.00,0.00,0.000,4,0.000,0.035,2548,920,3484,0,0,0,0,0,0
$GC,3004,-0.66,-116.7,242.3,-7.1,314,3010,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2303,3484,0,0,0,0,0,0
$GC,3319,-0.66,-116.7,264.0,-6.7,330,3323,0.00,2.08,0.00,0.000,4,0.000,0.040,2548,3704,3484,0,0,0,0,0,0
$GC,3368,-0.66,-116.7,267.4,-6.7,332,3372,0.00,2.03,0.00,0.000,6,0.000,0.022,2548,2299,3484,0,0,0,0,0,0
$GC,3689,-0.66,-116.7,291.0,-7.8,348,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2298,3484,0,0,0,0,0,0
$GC,3996,-0.66,-116.7,317.4,-8.7,360,4000,0.00,2.00,0.00,0.000,4,0.000,0.035,2548,927,3484,0,0,0,0,0,0
$GC,4051,-0.66,-116.7,322.5,-9.8,361,4055,0.00,2.03,0.00,0.000,6,0.000,0.027,2548,2296,3484,0,0,0,0,0,0
$GC,4369,-0.66,-116.7,348.0,-7.8,372,4373,0.00,2.08,0.00,0.000,4,0.000,0.039,2548,3706,3484,0,0,0,0,0,0
$GC,4435,-0.66,-116.7,353.3,-7.7,374,4440,0.00,2.03,0.00,0.000,6,0.000,0.023,2548,2299,3484,0,0,0,0,0,0
$GC,4770,-0.66,-116.7,377.7,-7.2,385,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2298,3484,0,0,0,0,0,0
$GC,5077,-0.66,-116.7,400.8,-8.1,395,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2298,3484,0,0,0,0,0,0
$GC,5383,-0.66,-116.7,426.7,-8.2,405,5384,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2298,3484,0,0,0,0,0,0
$GC,5689,-0.66,-116.7,449.8,-7.2,415,5690,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2297,3484,0,0,0,0,0,0
$GC,5996,-0.66,-116.7,470.0,-6.3,425,6000,0.00,2.12,0.00,0.000,4,0.000,0.041,2548,3701,3483,0,0,0,0,0,0
$GC,6120,-0.71,-116.7,477.7,-6.4,428,6123,0.00,2.00,0.00,0.000,6,0.000,0.024,2548,2297,3483,0,0,0,0,0,0
$GC,6438,-0.71,-116.7,497.2,-6.1,439,6441,0.00,2.03,0.00,0.000,4,0.000,0.036,2548,914,3483,0,0,0,0,0,0
$GC,6482,-0.71,-116.7,500.2,-6.6,440,6486,0.00,2.03,0.00,0.000,6,0.000,0.028,2548,2299,3483,0,0,0,0,0,0
$GC,6808,-0.71,-116.7,521.7,-6.7,446,6811,0.00,2.08,0.00,0.000,4,0.000,0.041,2548,3703,3482,0,0,0,0,0,0
$GC,6874,-0.75,-116.7,526.5,-7.4,447,6878,0.00,2.00,0.00,0.000,6,0.000,0.024,2548,2296,3481,0,0,0,0,0,0
$GC,7239,-0.75,-116.7,552.2,-7.2,453,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2295,3480,0,0,0,0,0,0
$GC,7543,-0.78,-116.7,574.6,-7.4,458,7547,0.12,2.15,0.00,0.000,4,0.137,0.041,2507,3701,3479,0,0,0,0,0,0
$GC,7683,-0.74,-116.7,587.1,-9.2,460,7687,0.00,2.00,0.00,0.000,6,0.000,0.025,2506,2302,3479,0,0,0,0,0,0
$GC,8042,-0.68,-116.7,618.9,-8.8,466,8044,0.12,0.00,0.00,0.000,6,0.190,0.000,2538,2299,3477,0,0,0,0,0,0
$GC,8345,-0.68,-116.7,641.1,-7.2,471,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2299,3476,0,0,0,0,0,0
$GC,8648,-0.68,-116.7,662.7,-7.2,476,8652,0.00,2.15,0.00,0.000,4,0.000,0.043,2539,3705,3475,0,0,0,0,0,0
$GC,8702,-0.68,-116.7,666.8,-7.4,476,8707,0.00,2.05,0.00,0.000,6,0.000,0.025,2539,2309,3475,0,0,0,0,0,0
$GC,9016,-0.68,-116.7,688.9,-7.1,482,9018,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2308,3474,0,0,0,0,0,0
$GC,9320,-0.68,-116.7,710.0,-6.9,487,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2308,3473,0,0,0,0,0,0
$GC,9623,-0.68,-116.7,730.9,-6.9,492,9627,0.00,2.12,0.00,0.000,4,0.000,0.042,2539,3702,3473,0,0,0,0,0,0
$GC,9700,-0.72,-116.7,736.3,-7.1,493,9704,0.00,2.08,0.00,0.000,6,0.000,0.025,2539,2266,3472,0,0,0,0,0,0
$GC,10055,-0.72,-116.7,760.2,-6.7,499,10059,0.00,2.20,0.00,0.000,4,0.000,0.042,2538,3704,3471,0,0,0,0,0,0
$GC,10110,-0.75,-116.7,764.0,-7.1,499,10114,0.00,2.08,0.00,0.000,6,0.000,0.026,2539,2295,3471,0,0,0,0,0,0
$GC,10424,-0.75,-116.7,783.7,-6.3,505,10425,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2293,3470,0,0,0,0,0,0
$GC,10727,-0.75,-116.7,802.2,-6.1,510,10731,0.00,2.12,0.00,0.000,4,0.000,0.043,2539,3699,3470,0,0,0,0,0,0
$GC,10827,-0.79,-116.7,808.5,-6.2,511,10831,0.00,2.03,0.00,0.000,6,0.000,0.026,2539,2302,3469,0,0,0,0,0,0
$GC,11164,-0.79,-116.7,828.9,-6.1,517,11168,0.00,2.12,0.00,0.000,4,0.000,0.043,2539,3695,3469,0,0,0,0,0,0
$GC,11215,-0.83,-116.7,832.0,-6.7,517,11219,0.12,2.03,0.00,0.000,6,0.139,0.026,2501,2295,3468,0,0,0,0,0,0
$GC,11523,-0.78,-116.7,854.7,-7.4,522,11527,0.00,2.05,0.00,0.000,4,0.000,0.039,2501,919,3467,0,0,0,0,0,0
$GC,11573,-0.70,-116.7,858.9,-8.2,522,11578,0.15,2.05,0.00,0.000,6,0.195,0.031,2539,2301,3467,0,0,0,0,0,0
$GC,11888,-0.70,-116.7,879.3,-6.5,528,11892,0.00,2.10,0.00,0.000,4,0.000,0.043,2540,3700,3467,0,0,0,0,0,0
$GC,11971,-0.74,-116.7,884.8,-6.7,529,11975,0.00,2.03,0.00,0.000,6,0.000,0.026,2540,2298,3467,0,0,0,0,0,0
$GC,12326,-0.74,-116.7,907.0,-6.3,535,12327,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2297,3467,0,0,0,0,0,0
$GC,12629,-0.77,-116.7,926.0,-6.3,540,12633,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3703,3466,0,0,0,0,0,0
$GC,12718,-0.81,-116.7,932.0,-6.2,541,12723,0.12,2.03,0.00,0.000,6,0.140,0.026,2502,2298,3466,0,0,0,0,0,0
$GC,13055,-0.76,-116.7,957.6,-7.7,547,13059,0.00,2.05,0.00,0.000,4,0.000,0.039,2501,920,3465,0,0,0,0,0,0
$GC,13105,-0.70,-116.7,961.7,-7.9,547,13109,0.15,2.08,0.00,0.000,6,0.190,0.031,2540,2295,3465,0,0,0,0,0,0
$GC,13420,-0.70,-116.7,980.9,-6.0,553,13424,0.00,2.10,0.00,0.000,4,0.000,0.043,2540,3700,3465,0,0,0,0,0,0
$GC,13509,-0.74,-116.7,986.4,-5.7,554,13513,0.00,2.03,0.00,0.000,6,0.000,0.027,2540,2305,3464,0,0,0,0,0,0
$STATE,13607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13607,begin apogee
$GC,13612,-0.24,0.0,992.2,5.8,556,13714,0.47,0.00,98.97,1.545,6,0.164,0.000,2682,2658,3006,0,0,0,0,0,0
$STATE,13715,end apogee,CONTROL_FINISHED_OK
$STATE,13715,begin climb
$GC,13718,0.80,116.7,993.8,0.0,557,13834,1.05,2.40,106.90,1.447,4,0.114,0.045,3009,4028,2528,0,0,0,0,0,0
$GC,13924,0.57,116.7,984.1,9.4,560,13929,0.25,2.17,0.00,0.000,6,0.172,0.026,2956,2645,2522,0,0,0,0,0,0
$GC,14272,0.54,122.8,960.7,6.6,566,14282,0.00,2.22,5.00,1.118,4,0.000,0.046,2953,4043,2505,0,0,0,0,0,0
$GC,14293,0.49,140.1,959.3,6.2,566,14318,0.15,2.10,17.33,1.386,6,0.179,0.028,2925,2644,2434,0,0,0,0,0,0
$GC,14634,0.54,155.6,937.9,6.3,572,14651,0.00,0.00,14.80,1.401,6,0.000,0.000,2925,2644,2371,0,0,0,0,0,0
$GC,14936,0.60,166.8,918.4,6.4,577,14949,0.00,0.00,11.30,1.376,6,0.000,0.000,2925,2645,2325,0,0,0,0,0,0
$GC,15240,0.66,177.1,898.9,6.5,582,15256,0.15,2.12,10.50,1.366,4,0.111,0.036,2986,1266,2283,0,0,0,0,0,0
$GC,15267,0.64,184.6,896.8,6.6,582,15281,0.00,2.15,8.48,1.220,6,0.000,0.034,2980,2654,2253,0,0,0,0,0,0
$GC,15603,0.60,184.6,868.9,8.4,588,15604,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2654,2248,0,0,0,0,0,0
$GC,15905,0.56,184.6,843.1,8.5,593,15907,0.12,0.00,0.00,0.000,6,0.184,0.000,2949,2654,2248,0,0,0,0,0,0
$GC,16208,0.56,184.6,820.7,7.4,598,16209,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2654,2247,0,0,0,0,0,0
$GC,16511,0.56,184.6,798.3,7.4,603,16513,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2654,2246,0,0,0,0,0,0
$GC,16815,0.56,184.6,776.0,7.4,608,16816,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2654,2246,0,0,0,0,0,0
$GC,17117,0.56,184.6,753.3,7.4,613,17118,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2654,2246,0,0,0,0,0,0
$GC,17420,0.56,184.6,731.2,7.3,618,17424,0.00,2.10,0.00,0.000,4,0.000,0.037,2957,1263,2245,0,0,0,0,0,0
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$STATE,26776,end climb,SURFACE_DEPTH_REACHED
$STATE,26777,begin surface coast
$FINISH,2.7,1.027313
$STATE,26829,end surface coast,CONTROL_FINISHED_OK
$STATE,26829,begin surface
$SM_CCo,26846,19.25,0.756,0,0,1883,275.23
$SM_GC,3.33,0.00,0.00,19.25,0.000,0.000,0.756,219,2272,1883,-7.96,-0.79,275.23
$IRIDIUM_FIX,6317.84,156.65,030399,000038
$TT8_MAMPS,0.027612
$HUMID,1078364506
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,22.5,37.518
$10V_AH,9.9,24.767
$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,20.550,163.950,337.625,19.250,0.000,23.921,34.425,168.557,0.000,0.000,12.671,2275.907,21363.291,509.271,2556.801,503.657,0.000,1779.841,0.000,2530.892,0.000,0.535,0.000
$DEVICE_MAMPS,216.294,49.088,1544.738,756.262,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
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$SENSOR_SECS,757.838,1005.451,574.307,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235092
$DATA_FILE_SIZE,63277,1099
$CAP_FILE_SIZE,198190,0
$CFSIZE,260165632,236265472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105, 78.9,1
$GPS,071209,152524,6350.697,152.612,24,0.8,42,-4.0