version: 66.06
glider: 140
mission: 8
dive: 227
start: 12 7 109 15 36 7
data:
$ID,140
$MISSION,8
$DIVE,227
$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,-48457.344
$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,89
$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
$GPS1,152524,6350.697,152.612,24,0.8,42,-4.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.43
$_SM_ANGLEo,-58.8
$GPS2,153544,6350.799,152.803,14,1.2,14,-4.0
$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,319.9,193785,-13.7,-6.875
$D_GRID,1635
$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,-7.40,0.000,2,0.000,0.000,219,2270,2035,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.4,-0.0,1,119,9.00,2.30,-77.62,0.000,4,0.235,0.056,2505,3699,3483,0,0,0,0,0,0
$GC,126,-0.80,-116.7,3.8,-2.9,18,133,0.00,2.05,0.00,0.000,6,0.000,0.023,2505,2315,3483,0,0,0,0,0,0
$GC,466,-0.69,-116.7,37.3,-11.4,79,473,0.12,2.12,0.00,0.000,4,0.196,0.036,2539,911,3483,0,0,0,0,0,0
$GC,724,-0.64,-116.7,57.6,-7.6,125,730,0.00,2.08,0.00,0.000,6,0.000,0.028,2539,2316,3484,0,0,0,0,0,0
$GC,1066,-0.64,-116.7,82.6,-6.1,186,1072,0.00,2.10,0.00,0.000,4,0.000,0.034,2539,911,3484,0,0,0,0,0,0
$GC,1220,-0.59,-116.7,97.1,-10.7,213,1226,0.12,2.05,0.00,0.000,6,0.205,0.028,2570,2306,3485,0,0,0,0,0,0
$GC,1564,-0.62,-116.7,119.8,-7.2,274,1569,0.00,2.08,0.00,0.000,4,0.000,0.040,2570,3701,3485,0,0,0,0,0,0
$GC,1642,-0.68,-116.7,126.1,-8.8,278,1646,0.00,2.05,0.00,0.000,6,0.000,0.022,2570,2284,3484,0,0,0,0,0,0
$GC,1963,-0.72,-116.7,149.7,-7.4,294,1965,0.12,0.00,0.00,0.000,6,0.135,0.000,2529,2282,3484,0,0,0,0,0,0
$GC,2273,-0.68,-116.7,175.9,-8.7,309,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2282,3485,0,0,0,0,0,0
$GC,2582,-0.63,-116.7,201.8,-8.1,324,2587,0.12,2.00,0.00,0.000,4,0.187,0.035,2560,930,3485,0,0,0,0,0,0
$GC,2653,-0.63,-116.7,207.7,-7.8,327,2658,0.00,2.05,0.00,0.000,6,0.000,0.028,2560,2306,3485,0,0,0,0,0,0
$GC,2975,-0.63,-116.7,231.4,-7.6,343,2978,0.00,2.05,0.00,0.000,4,0.000,0.039,2560,3701,3485,0,0,0,0,0,0
$GC,3030,-0.67,-116.7,235.7,-6.9,345,3036,0.00,1.98,0.00,0.000,6,0.000,0.022,2560,2295,3485,0,0,0,0,0,0
$GC,3345,-0.67,-116.7,258.3,-7.0,361,3348,0.00,2.00,0.00,0.000,4,0.000,0.034,2560,927,3485,0,0,0,0,0,0
$GC,3413,-0.67,-116.7,263.3,-7.4,364,3416,0.00,2.00,0.00,0.000,6,0.000,0.028,2560,2305,3485,0,0,0,0,0,0
$GC,3745,-0.67,-116.7,285.0,-6.4,380,3749,0.00,2.05,0.00,0.000,4,0.000,0.040,2560,3695,3485,0,0,0,0,0,0
$GC,3800,-0.72,-116.7,288.9,-6.6,382,3805,0.00,1.98,0.00,0.000,6,0.000,0.023,2560,2287,3485,0,0,0,0,0,0
$GC,4125,-0.75,-116.7,311.9,-7.0,396,4127,0.12,0.00,0.00,0.000,6,0.136,0.000,2519,2285,3485,0,0,0,0,0,0
$GC,4430,-0.70,-116.7,337.4,-8.2,406,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2285,3485,0,0,0,0,0,0
$GC,4737,-0.65,-116.7,363.3,-8.3,416,4739,0.12,0.00,0.00,0.000,6,0.187,0.000,2551,2283,3485,0,0,0,0,0,0
$GC,5042,-0.65,-116.7,385.8,-7.0,426,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2283,3485,0,0,0,0,0,0
$GC,5349,-0.65,-116.7,405.8,-6.5,436,5353,0.00,2.12,0.00,0.000,4,0.000,0.040,2551,3697,3485,0,0,0,0,0,0
$GC,5417,-0.69,-116.7,410.4,-6.7,438,5421,0.00,1.98,0.00,0.000,6,0.000,0.023,2551,2302,3484,0,0,0,0,0,0
$GC,5757,-0.72,-116.7,432.7,-6.4,449,5761,0.00,2.03,0.00,0.000,4,0.000,0.035,2551,922,3484,0,0,0,0,0,0
$GC,5818,-0.72,-116.7,437.3,-7.8,450,5824,0.00,2.05,0.00,0.000,6,0.000,0.028,2551,2300,3484,0,0,0,0,0,0
$GC,6130,-0.72,-116.7,459.7,-7.4,461,6134,0.00,2.10,0.00,0.000,4,0.000,0.041,2551,3698,3484,0,0,0,0,0,0
$GC,6185,-0.77,-116.7,463.9,-7.3,462,6192,0.05,2.03,0.00,0.000,6,0.113,0.024,2514,2292,3483,0,0,0,0,0,0
$GC,6498,-0.72,-116.7,489.0,-8.0,473,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2292,3483,0,0,0,0,0,0
$GC,6833,-0.67,-116.7,514.7,-7.7,481,6835,0.12,0.00,0.00,0.000,6,0.193,0.000,2544,2289,3482,0,0,0,0,0,0
$GC,7136,-0.67,-116.7,535.1,-6.7,486,7140,0.00,2.12,0.00,0.000,4,0.000,0.041,2544,3697,3482,0,0,0,0,0,0
$GC,7219,-0.71,-116.7,541.2,-7.9,487,7223,0.00,2.03,0.00,0.000,6,0.000,0.024,2544,2302,3481,0,0,0,0,0,0
$GC,7567,-0.71,-116.7,567.0,-7.4,493,7568,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2301,3480,0,0,0,0,0,0
$GC,7870,-0.71,-116.7,588.4,-7.0,498,7874,0.00,2.12,0.00,0.000,4,0.000,0.041,2544,3700,3479,0,0,0,0,0,0
$GC,7964,-0.75,-116.7,594.8,-7.1,499,7968,0.00,2.03,0.00,0.000,6,0.000,0.025,2544,2306,3478,0,0,0,0,0,0
$GC,8302,-0.75,-116.7,616.8,-6.5,505,8306,0.00,2.12,0.00,0.000,4,0.000,0.041,2545,3700,3477,0,0,0,0,0,0
$GC,8357,-0.79,-116.7,620.7,-7.0,505,8362,0.08,2.05,0.00,0.000,6,0.114,0.025,2515,2298,3477,0,0,0,0,0,0
$GC,8672,-0.75,-116.7,645.0,-7.9,511,8673,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2297,3476,0,0,0,0,0,0
$GC,8975,-0.71,-116.7,669.7,-8.2,516,8979,0.00,2.12,0.00,0.000,4,0.000,0.042,2515,3697,3475,0,0,0,0,0,0
$GC,9029,-0.71,-116.7,674.6,-8.5,516,9036,0.00,2.05,0.00,0.000,6,0.000,0.025,2515,2297,3475,0,0,0,0,0,0
$GC,9339,-0.68,-116.7,700.3,-8.3,522,9341,0.12,0.00,0.00,0.000,6,0.186,0.000,2546,2293,3474,0,0,0,0,0,0
$GC,9643,-0.71,-116.7,722.0,-7.1,527,9647,0.00,2.15,0.00,0.000,4,0.000,0.043,2546,3704,3473,0,0,0,0,0,0
$GC,9709,-0.76,-116.7,726.9,-6.9,528,9713,0.00,2.03,0.00,0.000,6,0.000,0.025,2547,2299,3473,0,0,0,0,0,0
$GC,10075,-0.80,-116.7,752.0,-6.8,534,10080,0.12,2.17,0.00,0.000,4,0.141,0.043,2505,3701,3472,0,0,0,0,0,0
$GC,10152,-0.76,-116.7,758.5,-8.1,535,10156,0.00,2.08,0.00,0.000,6,0.000,0.025,2505,2295,3471,0,0,0,0,0,0
$GC,10513,-0.71,-116.7,787.3,-8.0,541,10515,0.12,0.00,0.00,0.000,6,0.194,0.000,2537,2293,3470,0,0,0,0,0,0
$GC,10815,-0.71,-116.7,807.8,-6.7,546,10819,0.00,2.15,0.00,0.000,4,0.000,0.043,2537,3702,3470,0,0,0,0,0,0
$GC,10865,-0.74,-116.7,811.2,-7.0,546,10869,0.00,2.05,0.00,0.000,6,0.000,0.026,2537,2306,3470,0,0,0,0,0,0
$GC,11181,-0.74,-116.7,831.4,-6.4,552,11182,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2304,3469,0,0,0,0,0,0
$GC,11483,-0.74,-116.7,850.5,-6.3,557,11487,0.00,2.12,0.00,0.000,4,0.000,0.043,2537,3697,3469,0,0,0,0,0,0
$GC,11561,-0.78,-116.7,855.5,-6.3,558,11565,0.00,2.03,0.00,0.000,6,0.000,0.026,2537,2295,3468,0,0,0,0,0,0
$GC,11915,-0.78,-116.7,877.4,-6.2,564,11917,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2295,3467,0,0,0,0,0,0
$GC,12218,-0.78,-116.7,897.1,-6.5,569,12222,0.00,2.15,0.00,0.000,4,0.000,0.043,2537,3697,3467,0,0,0,0,0,0
$GC,12307,-0.81,-116.7,903.1,-6.9,570,12311,0.05,2.05,0.00,0.000,6,0.091,0.026,2502,2306,3467,0,0,0,0,0,0
$GC,12650,-0.76,-116.7,930.2,-8.0,576,12651,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2304,3467,0,0,0,0,0,0
$GC,12952,-0.71,-116.7,954.4,-7.9,581,12954,0.12,0.00,0.00,0.000,6,0.190,0.000,2533,2302,3466,0,0,0,0,0,0
$GC,13255,-0.71,-116.7,975.1,-6.8,586,13259,0.00,2.12,0.00,0.000,4,0.000,0.044,2533,3695,3466,0,0,0,0,0,0
$GC,13322,-0.71,-116.7,980.0,-7.2,587,13326,0.00,2.05,0.00,0.000,6,0.000,0.026,2533,2307,3465,0,0,0,0,0,0
$STATE,13502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13503,begin apogee
$GC,13508,-0.24,0.0,992.8,7.0,590,13610,0.50,0.00,98.93,1.545,6,0.163,0.000,2681,2649,3006,0,0,0,0,0,0
$STATE,13610,end apogee,CONTROL_FINISHED_OK
$STATE,13610,begin climb
$GC,13612,0.80,116.7,995.2,0.0,591,13728,1.08,2.40,106.50,1.445,4,0.113,0.046,3015,4038,2530,0,0,0,0,0,0
$GC,13801,0.56,116.7,989.5,8.5,594,13805,0.30,2.17,0.00,0.000,6,0.172,0.025,2950,2649,2524,0,0,0,0,0,0
$GC,14116,0.59,144.1,971.0,5.8,600,14145,0.00,2.28,24.15,1.426,4,0.000,0.046,2950,4040,2417,0,0,0,0,0,0
$GC,14162,0.55,148.7,967.9,6.7,600,14172,0.00,2.12,5.65,1.077,6,0.000,0.027,2957,2649,2399,0,0,0,0,0,0
$GC,14476,0.55,148.7,946.2,6.9,605,14480,0.00,2.20,0.00,0.000,4,0.000,0.045,2957,4050,2394,0,0,0,0,0,0
$GC,14486,0.51,148.7,945.6,6.9,605,14491,0.15,2.12,0.00,0.000,6,0.185,0.028,2929,2650,2394,0,0,0,0,0,0
$GC,14840,0.57,171.8,924.4,6.0,611,14863,0.00,0.00,21.05,1.437,6,0.000,0.000,2929,2650,2305,0,0,0,0,0,0
$GC,15144,0.64,184.1,905.2,6.4,616,15159,0.12,0.00,12.02,1.381,6,0.123,0.000,2971,2647,2255,0,0,0,0,0,0
$GC,15446,0.64,184.1,881.0,8.1,621,15447,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2648,2252,0,0,0,0,0,0
$GC,15749,0.64,184.1,855.9,8.4,626,15753,0.00,2.17,0.00,0.000,4,0.000,0.045,2967,4053,2250,0,0,0,0,0,0
$GC,15770,0.58,184.1,853.9,9.0,626,15774,0.00,2.12,0.00,0.000,6,0.000,0.028,2976,2649,2250,0,0,0,0,0,0
$GC,16113,0.58,184.1,824.0,8.7,632,16117,0.00,2.17,0.00,0.000,4,0.000,0.045,2976,4048,2250,0,0,0,0,0,0
$GC,16146,0.49,184.1,820.7,10.3,632,16151,0.22,2.08,0.00,0.000,6,0.176,0.028,2925,2634,2250,0,0,0,0,0,0
$GC,16484,0.56,184.1,796.9,6.9,638,16485,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2632,2249,0,0,0,0,0,0
$GC,16787,0.63,189.4,776.7,6.7,643,16795,0.12,0.00,5.32,1.161,6,0.123,0.000,2968,2630,2234,0,0,0,0,0,0
$GC,17090,0.63,189.4,753.5,7.7,648,17091,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2630,2233,0,0,0,0,0,0
$GC,17392,0.63,189.4,730.1,7.7,653,17396,0.00,2.17,0.00,0.000,4,0.000,0.046,2967,4043,2233,0,0,0,0,0,0
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$STATE,26465,end climb,SURFACE_DEPTH_REACHED
$STATE,26465,begin surface coast
$FINISH,2.6,1.007951
$STATE,26507,end surface coast,CONTROL_FINISHED_OK
$STATE,26507,begin surface
$SM_CCo,26523,37.40,0.769,0,0,1884,275.23
$SM_GC,3.68,0.00,0.00,37.40,0.000,0.000,0.769,217,2298,1884,-7.96,-0.06,275.23
$IRIDIUM_FIX,6322.64,152.11,030399,151508
$TT8_MAMPS,0.027612
$HUMID,1078372248
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,14.60
$XPDR_PINGS,14
$24V_AH,22.5,37.676
$10V_AH,9.9,24.879
$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,22.425,181.350,314.925,37.400,0.000,53.919,61.241,300.330,3.500,0.000,14.583,2349.749,20987.775,525.015,2584.859,727.786,0.000,1800.407,0.000,2564.029,0.000,0.536,0.000
$DEVICE_MAMPS,234.702,55.991,1544.738,769.301,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,779.783,1029.299,615.004,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235092
$DATA_FILE_SIZE,63374,1131
$CAP_FILE_SIZE,210259,0
$CFSIZE,260165632,236171264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068, 55.5,1
$GPS,071209,230025,6353.414,149.437,58,1.9,59,-4.0