version: 66.06
glider: 140
mission: 8
dive: 244
start: 12 13 109 2 16 49
data:
$ID,140
$MISSION,8
$DIVE,244
$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,-3
$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,-48805.516
$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,78
$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
$GPS1,020706,6433.333,42.347,25,1.4,26,-4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.87
$_SM_ANGLEo,-62.6
$GPS2,021628,6433.283,42.613,11,2.2,30,-4.7
$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,311.8,100367,-13.7,-6.875
$D_GRID,2607
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-6.80,0.000,2,0.000,0.000,215,2280,2023,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.9,-0.0,1,122,9.10,2.15,-77.12,0.000,4,0.236,0.053,2497,915,3483,0,0,0,0,0,0
$GC,158,-0.63,-116.7,7.3,-9.4,23,164,0.22,2.08,0.00,0.000,6,0.193,0.029,2556,2304,3484,0,0,0,0,0,0
$GC,492,-0.63,-116.7,30.6,-7.2,84,499,0.00,2.15,0.00,0.000,4,0.000,0.041,2555,3699,3485,0,0,0,0,0,0
$GC,544,-0.63,-116.7,34.2,-6.8,93,550,0.00,2.03,0.00,0.000,6,0.000,0.024,2556,2295,3485,0,0,0,0,0,0
$GC,876,-0.63,-116.7,56.2,-7.1,154,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2294,3485,0,0,0,0,0,0
$GC,1219,-0.63,-116.7,79.9,-7.4,215,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2294,3486,0,0,0,0,0,0
$GC,1560,-0.63,-116.7,105.3,-7.7,276,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2294,3486,0,0,0,0,0,0
$GC,1893,-0.63,-116.7,129.5,-7.5,319,1897,0.00,2.15,0.00,0.000,4,0.000,0.040,2556,3705,3486,0,0,0,0,0,0
$GC,1935,-0.63,-116.7,133.0,-7.9,321,1940,0.00,2.05,0.00,0.000,6,0.000,0.023,2556,2304,3486,0,0,0,0,0,0
$GC,2264,-0.63,-116.7,157.2,-7.0,337,2268,0.00,2.05,0.00,0.000,4,0.000,0.035,2556,913,3486,0,0,0,0,0,0
$GC,2312,-0.63,-116.7,161.0,-7.5,339,2316,0.00,2.08,0.00,0.000,6,0.000,0.028,2556,2303,3486,0,0,0,0,0,0
$GC,2635,-0.63,-116.7,184.5,-7.4,355,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2303,3486,0,0,0,0,0,0
$GC,2943,-0.63,-116.7,205.3,-6.2,370,2947,0.00,2.08,0.00,0.000,4,0.000,0.040,2556,3698,3486,0,0,0,0,0,0
$GC,3004,-0.67,-116.7,209.5,-6.5,372,3010,0.00,2.00,0.00,0.000,6,0.000,0.023,2556,2288,3486,0,0,0,0,0,0
$GC,3320,-0.71,-116.7,228.2,-5.8,388,3324,0.00,2.12,0.00,0.000,4,0.000,0.039,2556,3698,3486,0,0,0,0,0,0
$GC,3364,-0.76,-116.7,231.0,-5.7,390,3369,0.12,1.98,0.00,0.000,6,0.139,0.023,2516,2297,3486,0,0,0,0,0,0
$GC,3691,-0.71,-116.7,255.4,-7.9,406,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2295,3486,0,0,0,0,0,0
$GC,4000,-0.66,-116.7,279.3,-7.6,421,4002,0.12,0.00,0.00,0.000,6,0.189,0.000,2546,2293,3486,0,0,0,0,0,0
$GC,4309,-0.66,-116.7,299.2,-6.5,436,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2293,3486,0,0,0,0,0,0
$GC,4637,-0.66,-116.7,320.7,-6.5,447,4641,0.00,2.15,0.00,0.000,4,0.000,0.041,2546,3705,3486,0,0,0,0,0,0
$GC,4733,-0.70,-116.7,327.3,-6.7,450,4736,0.00,2.00,0.00,0.000,6,0.000,0.024,2547,2310,3486,0,0,0,0,0,0
$GC,5072,-0.70,-116.7,350.9,-7.0,461,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2304,3485,0,0,0,0,0,0
$GC,5379,-0.70,-116.7,372.7,-7.0,471,5383,0.00,2.12,0.00,0.000,4,0.000,0.041,2547,3700,3485,0,0,0,0,0,0
$GC,5462,-0.75,-116.7,378.7,-7.2,473,5467,0.00,2.05,0.00,0.000,6,0.000,0.024,2547,2294,3484,0,0,0,0,0,0
$GC,5786,-0.75,-116.7,401.1,-6.9,484,5790,0.00,2.12,0.00,0.000,4,0.000,0.041,2547,3697,3484,0,0,0,0,0,0
$GC,5858,-0.79,-116.7,406.0,-6.7,486,5863,0.12,2.00,0.00,0.000,6,0.138,0.025,2506,2289,3484,0,0,0,0,0,0
$GC,6186,-0.73,-116.7,431.8,-7.8,497,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2288,3482,0,0,0,0,0,0
$GC,6493,-0.67,-116.7,456.6,-8.2,507,6495,0.15,0.00,0.00,0.000,6,0.183,0.000,2545,2285,3481,0,0,0,0,0,0
$GC,6798,-0.67,-116.7,477.9,-6.9,517,6802,0.00,2.15,0.00,0.000,4,0.000,0.041,2545,3702,3481,0,0,0,0,0,0
$GC,6904,-0.71,-116.7,485.3,-6.9,520,6908,0.00,2.05,0.00,0.000,6,0.000,0.025,2545,2275,3481,0,0,0,0,0,0
$GC,7268,-0.71,-116.7,510.6,-7.1,530,7272,0.00,2.17,0.00,0.000,4,0.000,0.042,2545,3704,3480,0,0,0,0,0,0
$GC,7334,-0.75,-116.7,515.3,-6.9,531,7338,0.00,2.03,0.00,0.000,6,0.000,0.025,2545,2294,3479,0,0,0,0,0,0
$GC,7700,-0.75,-116.7,538.9,-6.3,537,7704,0.00,2.12,0.00,0.000,4,0.000,0.042,2545,3695,3479,0,0,0,0,0,0
$GC,7789,-0.79,-116.7,544.5,-6.1,538,7793,0.12,2.00,0.00,0.000,6,0.142,0.025,2504,2292,3479,0,0,0,0,0,0
$GC,8125,-0.74,-116.7,569.7,-7.6,544,8127,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2290,3478,0,0,0,0,0,0
$GC,8428,-0.68,-116.7,593.0,-7.7,549,8433,0.15,2.17,0.00,0.000,4,0.184,0.043,2542,3698,3477,0,0,0,0,0,0
$GC,8483,-0.72,-116.7,596.8,-6.7,549,8489,0.00,2.03,0.00,0.000,6,0.000,0.025,2543,2299,3477,0,0,0,0,0,0
$GC,8793,-0.75,-116.7,615.3,-6.0,555,8797,0.00,2.15,0.00,0.000,4,0.000,0.043,2543,3702,3476,0,0,0,0,0,0
$GC,8849,-0.79,-116.7,618.7,-5.9,555,8853,0.00,2.05,0.00,0.000,6,0.000,0.026,2543,2290,3476,0,0,0,0,0,0
$GC,9163,-0.79,-116.7,636.3,-5.6,561,9167,0.00,2.15,0.00,0.000,4,0.000,0.042,2543,3698,3475,0,0,0,0,0,0
$GC,9252,-0.84,-116.7,641.6,-6.1,562,9257,0.15,2.03,0.00,0.000,6,0.130,0.026,2493,2288,3475,0,0,0,0,0,0
$GC,9588,-0.77,-116.7,667.1,-7.7,568,9589,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2287,3474,0,0,0,0,0,0
$GC,9892,-0.69,-116.7,691.2,-7.9,573,9894,0.17,0.00,0.00,0.000,6,0.183,0.000,2539,2285,3474,0,0,0,0,0,0
$GC,10194,-0.69,-116.7,710.8,-6.3,578,10198,0.00,2.15,0.00,0.000,4,0.000,0.043,2539,3698,3473,0,0,0,0,0,0
$GC,10296,-0.73,-116.7,717.3,-6.6,579,10300,0.00,2.03,0.00,0.000,6,0.000,0.026,2539,2306,3473,0,0,0,0,0,0
$GC,10628,-0.77,-116.7,737.4,-6.1,585,10632,0.00,2.15,0.00,0.000,4,0.000,0.043,2540,3704,3473,0,0,0,0,0,0
$GC,10706,-0.81,-116.7,742.3,-6.2,586,10711,0.12,2.05,0.00,0.000,6,0.139,0.026,2501,2287,3472,0,0,0,0,0,0
$GC,11060,-0.76,-116.7,767.9,-7.3,592,11061,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2286,3471,0,0,0,0,0,0
$GC,11363,-0.71,-116.7,790.5,-7.5,597,11368,0.12,2.17,0.00,0.000,4,0.193,0.044,2532,3696,3471,0,0,0,0,0,0
$GC,11435,-0.74,-116.7,795.5,-6.8,598,11439,0.00,2.03,0.00,0.000,6,0.000,0.026,2532,2297,3471,0,0,0,0,0,0
$GC,11795,-0.74,-116.7,818.6,-6.4,604,11798,0.00,2.12,0.00,0.000,4,0.000,0.044,2532,3694,3471,0,0,0,0,0,0
$GC,11873,-0.77,-116.7,823.8,-6.7,605,11876,0.00,2.03,0.00,0.000,6,0.000,0.026,2532,2297,3470,0,0,0,0,0,0
$GC,12233,-0.77,-116.7,846.6,-6.4,611,12236,0.00,2.15,0.00,0.000,4,0.000,0.044,2532,3702,3470,0,0,0,0,0,0
$GC,12310,-0.80,-116.7,851.8,-7.0,612,12314,0.00,2.08,0.00,0.000,6,0.000,0.026,2533,2304,3470,0,0,0,0,0,0
$GC,12664,-0.80,-116.7,873.4,-6.2,618,12668,0.00,2.12,0.00,0.000,4,0.000,0.044,2533,3694,3470,0,0,0,0,0,0
$GC,12732,-0.84,-116.7,877.9,-6.5,619,12736,0.12,2.05,0.00,0.000,6,0.143,0.027,2492,2281,3469,0,0,0,0,0,0
$GC,13090,-0.77,-116.7,906.0,-7.9,625,13092,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2280,3469,0,0,0,0,0,0
$GC,13394,-0.71,-116.7,929.3,-7.7,630,13399,0.15,2.20,0.00,0.000,4,0.189,0.044,2530,3699,3468,0,0,0,0,0,0
$GC,13473,-0.74,-116.7,934.6,-6.4,631,13477,0.00,2.05,0.00,0.000,6,0.000,0.027,2530,2293,3468,0,0,0,0,0,0
$GC,13821,-0.74,-116.7,956.8,-6.4,637,13825,0.00,2.15,0.00,0.000,4,0.000,0.044,2530,3700,3468,0,0,0,0,0,0
$GC,13883,-0.77,-116.7,960.9,-6.7,638,13887,0.00,2.05,0.00,0.000,6,0.000,0.027,2530,2293,3468,0,0,0,0,0,0
$GC,14248,-0.77,-116.7,984.1,-6.4,644,14252,0.00,2.15,0.00,0.000,4,0.000,0.044,2530,3697,3468,0,0,0,0,0,0
$GC,14320,-0.80,-116.7,988.8,-6.5,645,14324,0.00,2.05,0.00,0.000,6,0.000,0.027,2530,2292,3468,0,0,0,0,0,0
$STATE,14340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14340,begin apogee
$GC,14345,-0.24,0.0,990.2,6.5,645,14449,0.50,0.00,100.40,1.550,6,0.165,0.000,2681,2651,3005,0,0,0,0,0,0
$STATE,14449,end apogee,CONTROL_FINISHED_OK
$STATE,14450,begin climb
$GC,14452,0.80,116.7,993.1,0.0,647,14569,1.05,2.40,108.03,1.452,4,0.115,0.046,3008,4036,2530,0,0,0,0,0,0
$GC,14659,0.58,116.7,983.4,8.8,649,14663,0.25,2.17,0.00,0.000,6,0.172,0.026,2957,2649,2523,0,0,0,0,0,0
$GC,15002,0.56,135.7,961.9,6.1,655,15020,0.00,0.00,16.90,1.417,6,0.000,0.000,2957,2649,2452,0,0,0,0,0,0
$GC,15304,0.57,141.6,942.0,6.6,660,15312,0.00,0.00,6.62,1.267,6,0.000,0.000,2956,2649,2428,0,0,0,0,0,0
$GC,15607,0.57,141.6,920.9,7.0,665,15608,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2649,2426,0,0,0,0,0,0
$GC,15910,0.57,141.6,899.9,6.9,670,15911,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2649,2426,0,0,0,0,0,0
$GC,16213,0.57,142.2,879.1,6.8,675,16217,0.00,2.17,0.00,0.000,4,0.000,0.045,2953,4043,2425,0,0,0,0,0,0
$GC,16229,0.53,142.2,877.7,6.9,675,16233,0.00,2.10,0.00,0.000,6,0.000,0.027,2962,2627,2425,0,0,0,0,0,0
$GC,16584,0.50,142.2,852.9,7.0,681,16586,0.12,0.00,0.00,0.000,6,0.189,0.000,2932,2625,2424,0,0,0,0,0,0
$GC,16887,0.55,161.8,834.1,6.1,686,16908,0.00,0.00,19.00,1.427,6,0.000,0.000,2931,2625,2346,0,0,0,0,0,0
$GC,17191,0.62,177.5,815.3,6.2,691,17208,0.00,0.00,15.05,1.378,6,0.000,0.000,2931,2625,2282,0,0,0,0,0,0
$GC,17494,0.69,191.7,796.2,6.3,696,17510,0.17,0.00,14.30,1.358,6,0.108,0.000,2990,2624,2224,0,0,0,0,0,0
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$STATE,27734,end climb,SURFACE_DEPTH_REACHED
$STATE,27734,begin surface coast
$FINISH,3.1,1.027361
$STATE,27795,end surface coast,CONTROL_FINISHED_OK
$STATE,27795,begin surface
$SM_CCo,27811,34.05,0.792,0,0,1883,275.23
$SM_GC,4.18,0.00,0.00,34.05,0.000,0.000,0.792,210,2288,1883,-7.99,-0.34,275.23
$IRIDIUM_FIX,6406.52,45.03,090399,020202
$TT8_MAMPS,0.028379
$HUMID,1078378700
$INTERNAL_PRESSURE,8.26204
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,22.3,40.390
$10V_AH,9.9,26.803
$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,21.725,165.175,319.475,34.050,0.000,58.106,110.138,186.536,0.000,0.000,31.560,2472.606,21923.902,505.969,2841.299,652.560,0.000,1871.787,0.000,2796.340,0.000,0.534,0.000
$DEVICE_MAMPS,236.236,52.923,1550.107,792.311,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,832.124,1096.291,666.290,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241364
$DATA_FILE_SIZE,66539,1204
$CAP_FILE_SIZE,212348,0
$CFSIZE,260165632,234684416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081,112.2,1
$GPS,131209,100207,6434.856,39.338,35,1.0,36,-4.8