version: 66.06
glider: 140
mission: 8
dive: 249
start: 12 14 109 16 50 29
data:
$ID,140
$MISSION,8
$DIVE,249
$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,-48921.898
$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,74
$R_STBD_OVSHOOT,43
$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
$GPS1,164307,6441.923,18.604,39,1.3,40,-5.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.81
$_SM_ANGLEo,-54.7
$GPS2,165007,6441.840,18.625,35,1.5,35,-5.0
$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,311.1,75900,-13.7,-6.875
$D_GRID,2647
$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,-7.55,0.000,2,0.000,0.000,215,2275,2033,0,0,0,0,0,0
$GC,26,-0.80,-116.7,4.0,-0.0,1,127,9.10,2.33,-80.97,0.000,4,0.238,0.058,2500,3712,3482,0,0,0,0,0,0
$GC,278,-0.68,-116.7,17.8,-8.9,46,285,0.12,2.12,0.00,0.000,6,0.164,0.025,2539,2288,3484,0,0,0,0,0,0
$GC,618,-0.68,-116.7,49.6,-8.5,107,624,0.00,2.20,0.00,0.000,4,0.000,0.041,2539,3714,3484,0,0,0,0,0,0
$GC,665,-0.68,-116.7,53.6,-8.9,115,672,0.00,2.05,0.00,0.000,6,0.000,0.025,2540,2306,3485,0,0,0,0,0,0
$GC,1007,-0.68,-116.7,81.1,-7.8,176,1014,0.00,2.12,0.00,0.000,4,0.000,0.036,2539,909,3485,0,0,0,0,0,0
$GC,1099,-0.64,-116.7,89.5,-9.0,192,1106,0.00,2.12,0.00,0.000,6,0.000,0.029,2540,2313,3484,0,0,0,0,0,0
$GC,1444,-0.64,-116.7,118.1,-8.4,253,1449,0.00,2.08,0.00,0.000,4,0.000,0.042,2539,3700,3485,0,0,0,0,0,0
$GC,1544,-0.64,-116.7,127.0,-8.9,260,1548,0.00,2.05,0.00,0.000,6,0.000,0.024,2539,2308,3485,0,0,0,0,0,0
$GC,1866,-0.64,-116.7,152.0,-7.4,276,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2308,3486,0,0,0,0,0,0
$GC,2176,-0.64,-116.7,173.3,-6.8,291,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2307,3486,0,0,0,0,0,0
$GC,2484,-0.64,-116.7,195.7,-7.3,306,2488,0.00,2.15,0.00,0.000,4,0.000,0.041,2539,3709,3487,0,0,0,0,0,0
$GC,2544,-0.64,-116.7,200.2,-7.5,308,2551,0.00,2.08,0.00,0.000,6,0.000,0.025,2540,2305,3487,0,0,0,0,0,0
$GC,2860,-0.64,-116.7,222.5,-7.2,324,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2305,3487,0,0,0,0,0,0
$GC,3169,-0.64,-116.7,245.4,-7.7,339,3173,0.00,2.12,0.00,0.000,4,0.000,0.042,2540,3701,3486,0,0,0,0,0,0
$GC,3230,-0.64,-116.7,250.3,-7.4,342,3234,0.00,2.03,0.00,0.000,6,0.000,0.025,2539,2294,3487,0,0,0,0,0,0
$GC,3555,-0.64,-116.7,275.6,-7.9,358,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2294,3486,0,0,0,0,0,0
$GC,3865,-0.64,-116.7,299.8,-8.0,373,3869,0.00,2.15,0.00,0.000,4,0.000,0.042,2539,3705,3485,0,0,0,0,0,0
$GC,3941,-0.64,-116.7,306.2,-8.0,376,3946,0.00,2.08,0.00,0.000,6,0.000,0.025,2540,2293,3485,0,0,0,0,0,0
$GC,4266,-0.64,-116.7,331.5,-7.7,387,4270,0.00,2.15,0.00,0.000,4,0.000,0.042,2539,3702,3485,0,0,0,0,0,0
$GC,4309,-0.64,-116.7,334.9,-7.6,388,4313,0.00,2.08,0.00,0.000,6,0.000,0.025,2540,2298,3485,0,0,0,0,0,0
$GC,4633,-0.64,-116.7,358.5,-7.4,399,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2298,3485,0,0,0,0,0,0
$GC,4940,-0.64,-116.7,378.7,-6.6,409,4944,0.00,2.15,0.00,0.000,4,0.000,0.043,2540,3703,3484,0,0,0,0,0,0
$GC,5057,-0.67,-116.7,386.7,-6.9,412,5061,0.00,2.08,0.00,0.000,6,0.000,0.025,2539,2296,3484,0,0,0,0,0,0
$GC,5375,-0.67,-116.7,407.4,-6.5,423,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2296,3483,0,0,0,0,0,0
$GC,5681,-0.67,-116.7,427.3,-6.5,433,5685,0.00,2.15,0.00,0.000,4,0.000,0.043,2539,3698,3482,0,0,0,0,0,0
$GC,5743,-0.70,-116.7,431.4,-6.7,434,5749,0.00,2.03,0.00,0.000,6,0.000,0.026,2540,2295,3482,0,0,0,0,0,0
$GC,6055,-0.70,-116.7,452.4,-6.8,445,6059,0.00,2.15,0.00,0.000,4,0.000,0.043,2539,3702,3481,0,0,0,0,0,0
$GC,6110,-0.74,-116.7,456.3,-7.3,446,6116,0.00,2.05,0.00,0.000,6,0.000,0.025,2540,2293,3481,0,0,0,0,0,0
$GC,6422,-0.74,-116.7,476.7,-6.5,457,6426,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3698,3481,0,0,0,0,0,0
$GC,6480,-0.77,-116.7,480.5,-6.6,458,6484,0.00,2.03,0.00,0.000,6,0.000,0.026,2540,2302,3481,0,0,0,0,0,0
$GC,6797,-0.77,-116.7,501.4,-6.6,469,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2299,3480,0,0,0,0,0,0
$GC,7100,-0.77,-116.7,521.1,-6.5,474,7104,0.00,2.20,0.00,0.000,4,0.000,0.044,2540,3706,3479,0,0,0,0,0,0
$GC,7196,-0.81,-116.7,527.6,-6.8,475,7200,0.12,2.05,0.00,0.000,6,0.143,0.026,2502,2292,3479,0,0,0,0,0,0
$GC,7532,-0.74,-116.7,554.6,-8.1,481,7533,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2292,3479,0,0,0,0,0,0
$GC,7835,-0.69,-116.7,578.4,-7.8,486,7837,0.15,0.00,0.00,0.000,6,0.187,0.000,2540,2288,3478,0,0,0,0,0,0
$GC,8139,-0.69,-116.7,598.1,-6.5,491,8143,0.00,2.17,0.00,0.000,4,0.000,0.044,2540,3705,3478,0,0,0,0,0,0
$GC,8205,-0.73,-116.7,602.5,-6.9,492,8209,0.00,2.05,0.00,0.000,6,0.000,0.027,2541,2299,3477,0,0,0,0,0,0
$GC,8571,-0.73,-116.7,626.1,-6.6,498,8574,0.00,2.15,0.00,0.000,4,0.000,0.044,2541,3701,3477,0,0,0,0,0,0
$GC,8639,-0.78,-116.7,630.6,-6.6,499,8643,0.00,2.05,0.00,0.000,6,0.000,0.027,2541,2294,3477,0,0,0,0,0,0
$GC,9004,-0.81,-116.7,655.5,-6.9,505,9008,0.12,2.17,0.00,0.000,4,0.143,0.045,2501,3698,3477,0,0,0,0,0,0
$GC,9070,-0.76,-116.7,661.1,-8.3,506,9074,0.00,2.05,0.00,0.000,6,0.000,0.026,2501,2297,3476,0,0,0,0,0,0
$GC,9435,-0.71,-116.7,691.4,-8.3,512,9437,0.12,0.00,0.00,0.000,6,0.193,0.000,2532,2293,3476,0,0,0,0,0,0
$GC,9737,-0.71,-116.7,713.2,-7.2,517,9741,0.00,2.17,0.00,0.000,4,0.000,0.045,2532,3698,3475,0,0,0,0,0,0
$GC,9787,-0.71,-116.7,716.9,-7.3,517,9791,0.00,2.08,0.00,0.000,6,0.000,0.026,2533,2307,3475,0,0,0,0,0,0
$GC,10107,-0.71,-116.7,739.0,-6.9,523,10108,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2307,3475,0,0,0,0,0,0
$GC,10411,-0.71,-116.7,759.6,-6.7,528,10415,0.00,2.12,0.00,0.000,4,0.000,0.044,2533,3698,3474,0,0,0,0,0,0
$GC,10506,-0.74,-116.7,766.1,-6.6,529,10510,0.00,2.05,0.00,0.000,6,0.000,0.027,2532,2293,3474,0,0,0,0,0,0
$GC,10843,-0.74,-116.7,788.7,-6.7,535,10847,0.00,2.15,0.00,0.000,4,0.000,0.044,2533,3698,3474,0,0,0,0,0,0
$GC,10899,-0.78,-116.7,792.5,-6.8,535,10905,0.00,2.05,0.00,0.000,6,0.000,0.027,2533,2296,3474,0,0,0,0,0,0
$GC,11207,-0.78,-116.7,813.2,-6.7,541,11211,0.00,2.17,0.00,0.000,4,0.000,0.044,2533,3705,3474,0,0,0,0,0,0
$GC,11257,-0.81,-116.7,816.8,-7.2,541,11261,0.00,2.08,0.00,0.000,6,0.000,0.027,2533,2290,3474,0,0,0,0,0,0
$GC,11572,-0.81,-116.7,838.1,-6.8,547,11576,0.00,2.17,0.00,0.000,4,0.000,0.044,2533,3702,3473,0,0,0,0,0,0
$GC,11640,-0.85,-116.7,842.7,-6.6,548,11645,0.12,2.05,0.00,0.000,6,0.143,0.027,2492,2289,3473,0,0,0,0,0,0
$GC,12006,-0.78,-116.7,872.7,-8.2,554,12007,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2288,3473,0,0,0,0,0,0
$GC,12308,-0.72,-116.7,897.1,-8.0,559,12310,0.15,0.00,0.00,0.000,6,0.189,0.000,2530,2285,3473,0,0,0,0,0,0
$GC,12611,-0.72,-116.7,917.7,-6.7,564,12615,0.00,2.17,0.00,0.000,4,0.000,0.045,2530,3698,3472,0,0,0,0,0,0
$GC,12706,-0.75,-116.7,924.1,-6.8,565,12710,0.00,2.05,0.00,0.000,6,0.000,0.027,2530,2295,3472,0,0,0,0,0,0
$GC,13044,-0.75,-116.7,945.4,-6.3,571,13048,0.00,2.17,0.00,0.000,4,0.000,0.044,2531,3704,3472,0,0,0,0,0,0
$GC,13116,-0.79,-116.7,950.1,-6.5,572,13119,0.00,2.08,0.00,0.000,6,0.000,0.028,2531,2289,3472,0,0,0,0,0,0
$GC,13476,-0.79,-116.7,973.1,-6.5,578,13479,0.00,2.17,0.00,0.000,4,0.000,0.044,2531,3703,3472,0,0,0,0,0,0
$GC,13542,-0.83,-116.7,977.6,-7.4,579,13546,0.00,2.10,0.00,0.000,6,0.000,0.027,2531,2268,3472,0,0,0,0,0,0
$STATE,13784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13784,begin apogee
$GC,13790,-0.24,0.0,992.5,6.2,583,13894,0.52,0.00,101.62,1.548,6,0.167,0.000,2685,2655,3006,0,0,0,0,0,0
$STATE,13895,end apogee,CONTROL_FINISHED_OK
$STATE,13895,begin climb
$GC,13897,0.80,116.7,994.3,0.0,584,14017,1.08,2.47,108.97,1.453,4,0.110,0.047,3016,4039,2528,0,0,0,0,0,0
$GC,14045,0.54,116.7,991.1,7.9,587,14050,0.35,2.25,0.00,0.000,6,0.174,0.026,2940,2645,2525,0,0,0,0,0,0
$GC,14393,0.56,131.9,969.4,6.3,593,14412,0.00,2.30,13.57,1.404,4,0.000,0.048,2939,4032,2467,0,0,0,0,0,0
$GC,14418,0.57,146.8,967.8,6.3,593,14438,0.00,2.12,15.30,1.331,6,0.000,0.028,2948,2649,2407,0,0,0,0,0,0
$GC,14752,0.57,146.8,944.4,7.0,599,14754,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2649,2402,0,0,0,0,0,0
$GC,15056,0.57,146.8,922.9,7.1,604,15057,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2649,2400,0,0,0,0,0,0
$GC,15359,0.57,146.8,901.6,7.0,609,15362,0.00,2.17,0.00,0.000,4,0.000,0.048,2948,4042,2400,0,0,0,0,0,0
$GC,15375,0.54,146.8,900.3,7.3,609,15379,0.00,2.08,0.00,0.000,6,0.000,0.027,2955,2641,2400,0,0,0,0,0,0
$GC,15728,0.54,146.8,874.5,7.3,615,15729,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2640,2399,0,0,0,0,0,0
$GC,16032,0.54,146.8,852.6,7.2,620,16036,0.00,2.20,0.00,0.000,4,0.000,0.048,2954,4048,2398,0,0,0,0,0,0
$GC,16053,0.50,146.8,850.8,7.6,620,16058,0.15,2.08,0.00,0.000,6,0.186,0.028,2924,2637,2399,0,0,0,0,0,0
$GC,16395,0.56,160.1,829.2,6.3,626,16409,0.00,0.00,11.90,1.428,6,0.000,0.000,2924,2637,2353,0,0,0,0,0,0
$GC,16699,0.62,162.9,808.8,6.8,631,16705,0.12,0.00,4.20,1.020,6,0.117,0.000,2969,2636,2341,0,0,0,0,0,0
$GC,17002,0.62,162.9,784.9,7.9,636,17003,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2636,2340,0,0,0,0,0,0
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$STATE,27199,end climb,SURFACE_DEPTH_REACHED
$STATE,27199,begin surface coast
$FINISH,3.2,1.027386
$STATE,27262,end surface coast,CONTROL_FINISHED_OK
$STATE,27262,begin surface
$SM_CCo,27279,39.85,0.813,0,0,1883,275.23
$SM_GC,4.30,0.00,0.00,39.85,0.000,0.000,0.813,210,2282,1883,-7.99,-0.51,275.23
$IRIDIUM_FIX,6416.43,30.20,100399,090925
$TT8_MAMPS,0.027612
$HUMID,1078387732
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.2,41.159
$10V_AH,9.8,27.369
$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,21.325,166.800,320.425,39.850,0.000,25.321,31.903,210.316,0.000,0.000,35.281,2370.865,21597.742,533.876,2665.856,561.575,0.000,1830.373,0.000,2620.976,0.000,0.533,0.000
$DEVICE_MAMPS,237.770,57.525,1547.806,813.020,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,802.424,1052.411,626.315,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241348
$DATA_FILE_SIZE,66339,1159
$CAP_FILE_SIZE,204302,0
$CFSIZE,260165632,234246144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031,166.1,1
$GPS,151209,002706,6443.310,12.798,40,1.1,41,-5.1