version: 66.06
glider: 140
mission: 8
dive: 228
start: 12 7 109 23 7 45
data:
$ID,140
$MISSION,8
$DIVE,228
$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,-48480.785
$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,63
$R_STBD_OVSHOOT,47
$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
$GPS1,230025,6353.414,149.437,58,1.9,59,-4.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.53
$_SM_ANGLEo,-53.0
$GPS2,230723,6353.522,149.477,13,2.0,22,-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,319.4,188365,-13.7,-6.875
$D_GRID,1732
$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,-8.23,0.000,2,0.000,0.000,217,2298,2054,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.5,-0.0,1,120,8.68,2.17,-78.22,0.000,4,0.219,0.053,2501,3711,3481,0,0,0,0,0,0
$GC,128,-0.99,-116.7,3.2,-1.0,18,135,0.15,2.12,0.00,0.000,6,0.107,0.023,2448,2265,3481,0,0,0,0,0,0
$GC,466,-0.76,-116.7,52.2,-12.6,79,472,0.25,2.22,0.00,0.000,4,0.193,0.039,2518,3706,3482,0,0,0,0,0,0
$GC,721,-0.69,-116.7,75.7,-8.6,125,727,0.00,2.00,0.00,0.000,6,0.000,0.023,2519,2315,3482,0,0,0,0,0,0
$GC,1058,-0.61,-116.7,99.6,-7.2,186,1065,0.15,2.15,0.00,0.000,4,0.186,0.040,2559,3712,3482,0,0,0,0,0,0
$GC,1131,-0.61,-116.7,104.0,-5.8,199,1136,0.00,2.05,0.00,0.000,6,0.000,0.023,2559,2289,3482,0,0,0,0,0,0
$GC,1474,-0.61,-116.7,124.2,-6.5,253,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2288,3483,0,0,0,0,0,0
$GC,1782,-0.61,-116.7,146.9,-7.8,268,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2288,3483,0,0,0,0,0,0
$GC,2092,-0.61,-116.7,167.9,-6.0,283,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2287,3483,0,0,0,0,0,0
$GC,2401,-0.61,-116.7,187.9,-6.8,298,2404,0.00,2.15,0.00,0.000,4,0.000,0.040,2559,3704,3483,0,0,0,0,0,0
$GC,2450,-0.65,-116.7,191.3,-6.8,300,2454,0.00,2.00,0.00,0.000,6,0.000,0.023,2559,2302,3483,0,0,0,0,0,0
$GC,2772,-0.65,-116.7,214.1,-7.1,316,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2296,3483,0,0,0,0,0,0
$GC,3080,-0.65,-116.7,236.1,-7.1,331,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2296,3483,0,0,0,0,0,0
$GC,3390,-0.65,-116.7,257.3,-6.7,346,3394,0.00,2.12,0.00,0.000,4,0.000,0.040,2559,3705,3483,0,0,0,0,0,0
$GC,3439,-0.69,-116.7,260.7,-6.6,348,3443,0.00,2.00,0.00,0.000,6,0.000,0.023,2559,2294,3483,0,0,0,0,0,0
$GC,3760,-0.69,-116.7,282.5,-7.0,364,3763,0.00,2.00,0.00,0.000,4,0.000,0.035,2559,927,3483,0,0,0,0,0,0
$GC,3837,-0.69,-116.7,288.2,-7.1,367,3842,0.00,2.05,0.00,0.000,6,0.000,0.028,2560,2299,3483,0,0,0,0,0,0
$GC,4158,-0.72,-116.7,309.2,-6.6,381,4162,0.00,2.10,0.00,0.000,4,0.000,0.042,2559,3697,3483,0,0,0,0,0,0
$GC,4225,-0.78,-116.7,313.7,-6.4,383,4230,0.15,2.00,0.00,0.000,6,0.127,0.023,2511,2285,3483,0,0,0,0,0,0
$GC,4554,-0.71,-116.7,340.7,-8.6,394,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2285,3483,0,0,0,0,0,0
$GC,4860,-0.64,-116.7,365.8,-8.0,404,4865,0.17,2.03,0.00,0.000,4,0.185,0.036,2557,928,3483,0,0,0,0,0,0
$GC,4937,-0.64,-116.7,371.6,-7.0,406,4942,0.00,2.05,0.00,0.000,6,0.000,0.028,2557,2304,3483,0,0,0,0,0,0
$GC,5262,-0.68,-116.7,393.0,-6.5,417,5266,0.00,2.08,0.00,0.000,4,0.000,0.041,2557,3707,3483,0,0,0,0,0,0
$GC,5328,-0.74,-116.7,397.6,-7.0,419,5332,0.00,2.00,0.00,0.000,6,0.000,0.023,2557,2296,3483,0,0,0,0,0,0
$GC,5663,-0.78,-116.7,419.6,-6.8,430,5668,0.12,2.15,0.00,0.000,4,0.134,0.041,2515,3701,3482,0,0,0,0,0,0
$GC,5752,-0.74,-116.7,426.7,-8.1,432,5759,0.00,2.00,0.00,0.000,6,0.000,0.023,2515,2298,3483,0,0,0,0,0,0
$GC,6064,-0.69,-116.7,451.9,-8.2,443,6068,0.00,2.03,0.00,0.000,4,0.000,0.036,2515,925,3482,0,0,0,0,0,0
$GC,6182,-0.63,-116.7,462.4,-8.8,446,6186,0.15,2.05,0.00,0.000,6,0.188,0.030,2555,2311,3482,0,0,0,0,0,0
$GC,6500,-0.67,-116.7,483.9,-6.7,457,6503,0.00,2.08,0.00,0.000,4,0.000,0.041,2554,3698,3481,0,0,0,0,0,0
$GC,6562,-0.73,-116.7,488.3,-7.3,459,6566,0.00,2.00,0.00,0.000,6,0.000,0.024,2555,2302,3481,0,0,0,0,0,0
$GC,6931,-0.77,-116.7,513.3,-6.9,468,6933,0.12,0.00,0.00,0.000,6,0.133,0.000,2515,2293,3480,0,0,0,0,0,0
$GC,7234,-0.73,-116.7,538.8,-8.4,473,7238,0.00,2.15,0.00,0.000,4,0.000,0.046,2514,3695,3479,0,0,0,0,0,0
$GC,7290,-0.69,-116.7,543.6,-8.1,473,7296,0.00,2.03,0.00,0.000,6,0.000,0.025,2514,2293,3478,0,0,0,0,0,0
$GC,7599,-0.66,-116.7,568.7,-8.1,479,7601,0.15,0.00,0.00,0.000,6,0.188,0.000,2554,2288,3477,0,0,0,0,0,0
$GC,7902,-0.70,-116.7,588.5,-6.4,484,7906,0.00,2.15,0.00,0.000,4,0.000,0.043,2554,3702,3476,0,0,0,0,0,0
$GC,8009,-0.76,-116.7,595.4,-6.5,485,8013,0.00,2.03,0.00,0.000,6,0.000,0.025,2554,2294,3476,0,0,0,0,0,0
$GC,8329,-0.81,-116.7,615.0,-6.1,491,8333,0.15,2.17,0.00,0.000,4,0.123,0.043,2503,3699,3475,0,0,0,0,0,0
$GC,8401,-0.76,-116.7,620.6,-7.9,492,8405,0.00,2.03,0.00,0.000,6,0.000,0.025,2503,2295,3475,0,0,0,0,0,0
$GC,8766,-0.70,-116.7,649.1,-7.8,498,8768,0.12,0.00,0.00,0.000,6,0.196,0.000,2534,2290,3474,0,0,0,0,0,0
$GC,9069,-0.70,-116.7,669.6,-6.7,503,9070,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2290,3472,0,0,0,0,0,0
$GC,9372,-0.70,-116.7,690.3,-6.8,508,9376,0.00,2.15,0.00,0.000,4,0.000,0.044,2534,3698,3472,0,0,0,0,0,0
$GC,9438,-0.70,-116.7,695.2,-7.8,509,9443,0.00,2.05,0.00,0.000,6,0.000,0.025,2535,2307,3471,0,0,0,0,0,0
$GC,9804,-0.70,-116.7,721.2,-7.1,515,9808,0.00,2.12,0.00,0.000,4,0.000,0.044,2535,3697,3470,0,0,0,0,0,0
$GC,9853,-0.70,-116.7,724.7,-7.3,515,9857,0.00,2.08,0.00,0.000,6,0.000,0.026,2535,2298,3470,0,0,0,0,0,0
$GC,10168,-0.70,-116.7,746.1,-6.8,521,10169,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2298,3470,0,0,0,0,0,0
$GC,10471,-0.70,-116.7,765.8,-6.5,526,10475,0.00,2.15,0.00,0.000,4,0.000,0.044,2535,3697,3469,0,0,0,0,0,0
$GC,10554,-0.70,-116.7,771.4,-6.6,527,10558,0.00,2.05,0.00,0.000,6,0.000,0.026,2535,2287,3468,0,0,0,0,0,0
$GC,10903,-0.70,-116.7,793.5,-6.4,533,10907,0.00,2.17,0.00,0.000,4,0.000,0.044,2535,3698,3468,0,0,0,0,0,0
$GC,10952,-0.73,-116.7,796.8,-6.8,533,10956,0.00,2.03,0.00,0.000,6,0.000,0.027,2535,2301,3468,0,0,0,0,0,0
$GC,11273,-0.73,-116.7,816.6,-6.2,539,11274,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2301,3467,0,0,0,0,0,0
$GC,11576,-0.73,-116.7,835.8,-6.3,544,11580,0.00,2.12,0.00,0.000,4,0.000,0.044,2535,3694,3467,0,0,0,0,0,0
$GC,11664,-0.73,-116.7,841.7,-6.2,545,11668,0.00,2.08,0.00,0.000,6,0.000,0.026,2535,2295,3466,0,0,0,0,0,0
$GC,12008,-0.73,-116.7,863.2,-6.3,551,12012,0.00,2.15,0.00,0.000,4,0.000,0.044,2535,3697,3466,0,0,0,0,0,0
$GC,12057,-0.76,-116.7,866.5,-6.7,551,12061,0.00,2.05,0.00,0.000,6,0.000,0.027,2535,2292,3466,0,0,0,0,0,0
$GC,12378,-0.76,-116.7,886.2,-6.1,557,12382,0.00,2.15,0.00,0.000,4,0.000,0.044,2535,3697,3465,0,0,0,0,0,0
$GC,12427,-0.79,-116.7,889.4,-6.0,557,12431,0.00,2.05,0.00,0.000,6,0.000,0.027,2535,2293,3465,0,0,0,0,0,0
$GC,12736,-0.79,-116.7,908.3,-6.1,562,12740,0.00,2.15,0.00,0.000,4,0.000,0.044,2535,3698,3465,0,0,0,0,0,0
$GC,12786,-0.83,-116.7,911.7,-6.9,562,12791,0.12,2.08,0.00,0.000,6,0.137,0.027,2495,2269,3464,0,0,0,0,0,0
$GC,13101,-0.76,-116.7,936.2,-7.9,568,13102,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2269,3463,0,0,0,0,0,0
$GC,13404,-0.70,-116.7,960.6,-8.1,573,13409,0.15,2.22,0.00,0.000,4,0.186,0.044,2533,3702,3464,0,0,0,0,0,0
$GC,13471,-0.74,-116.7,965.4,-6.7,574,13475,0.00,2.03,0.00,0.000,6,0.000,0.027,2534,2309,3463,0,0,0,0,0,0
$GC,13836,-0.74,-116.7,989.8,-6.7,580,13837,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2308,3463,0,0,0,0,0,0
$STATE,13895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13895,begin apogee
$GC,13900,-0.24,0.0,993.9,6.7,581,14002,0.50,0.00,98.60,1.550,6,0.163,0.000,2682,2647,3006,0,0,0,0,0,0
$STATE,14003,end apogee,CONTROL_FINISHED_OK
$STATE,14003,begin climb
$GC,14005,0.80,116.7,996.1,0.0,582,14122,1.08,2.47,106.90,1.448,4,0.110,0.047,3016,4041,2528,0,0,0,0,0,0
$GC,14150,0.53,116.7,993.8,8.1,585,14155,0.35,2.22,0.00,0.000,6,0.174,0.025,2940,2649,2525,0,0,0,0,0,0
$GC,14504,0.57,152.4,974.1,5.4,591,14538,0.00,0.00,31.73,1.437,6,0.000,0.000,2940,2649,2384,0,0,0,0,0,0
$GC,14807,0.60,171.5,956.0,6.1,596,14826,0.00,0.00,17.75,1.411,6,0.000,0.000,2940,2649,2306,0,0,0,0,0,0
$GC,15111,0.60,173.9,935.8,6.8,601,15112,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2648,2301,0,0,0,0,0,0
$GC,15413,0.60,173.9,914.7,6.9,606,15417,0.00,2.17,0.00,0.000,4,0.000,0.048,2939,4042,2300,0,0,0,0,0,0
$GC,15428,0.60,173.9,913.4,7.0,606,15432,0.00,2.10,0.00,0.000,6,0.000,0.027,2948,2652,2300,0,0,0,0,0,0
$GC,15777,0.60,173.9,887.5,7.5,612,15778,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2651,2299,0,0,0,0,0,0
$GC,16081,0.60,173.9,864.2,7.7,617,16085,0.00,2.20,0.00,0.000,4,0.000,0.048,2948,4049,2299,0,0,0,0,0,0
$GC,16096,0.60,173.9,862.8,7.8,617,16100,0.00,2.10,0.00,0.000,6,0.000,0.028,2955,2651,2299,0,0,0,0,0,0
$GC,16445,0.60,173.9,835.1,8.0,623,16449,0.00,2.17,0.00,0.000,4,0.000,0.048,2953,4042,2298,0,0,0,0,0,0
$GC,16460,0.60,173.9,833.7,8.0,623,16465,0.00,2.08,0.00,0.000,6,0.000,0.028,2962,2656,2298,0,0,0,0,0,0
$GC,16810,0.60,173.9,805.8,8.0,629,16811,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2656,2298,0,0,0,0,0,0
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$STATE,27058,end climb,SURFACE_DEPTH_REACHED
$STATE,27058,begin surface coast
$FINISH,2.7,1.016078
$STATE,27168,end surface coast,CONTROL_FINISHED_OK
$STATE,27168,begin surface
$SM_CCo,27185,31.35,0.772,0,0,1883,275.23
$SM_GC,3.54,0.00,0.00,31.35,0.000,0.000,0.772,217,2282,1883,-7.96,-0.51,275.23
$IRIDIUM_FIX,6327.46,152.27,030399,151518
$TT8_MAMPS,0.027612
$HUMID,1078346442
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,14.70
$XPDR_PINGS,7
$24V_AH,22.5,37.825
$10V_AH,10.0,24.992
$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,21.450,173.575,318.875,31.350,0.000,27.705,42.627,208.706,1.750,0.000,22.813,2394.613,21472.393,527.720,2662.403,568.032,0.000,1824.025,0.000,2630.007,0.000,0.536,0.000
$DEVICE_MAMPS,219.362,52.923,1550.107,771.602,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,806.016,1045.344,625.346,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235056
$DATA_FILE_SIZE,66449,1169
$CAP_FILE_SIZE,207087,0
$CFSIZE,260165632,236081152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070, 41.8,1
$GPS,081209,064237,6356.470,146.268,37,1.4,38,-4.0