version: 66.06
glider: 140
mission: 8
dive: 253
start: 12 15 109 23 22 54
data:
$ID,140
$MISSION,8
$DIVE,253
$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,-48985.199
$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,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
$GPS1,231336,6444.898,-8.272,38,1.9,39,-5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.71
$_SM_ANGLEo,-64.2
$GPS2,232231,6444.841,-8.369,12,1.2,17,-5.3
$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,319.5,56182,-13.7,-6.875
$D_GRID,2728
$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,-8.00,0.000,2,0.000,0.000,215,2269,2045,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.7,-0.0,1,124,9.18,2.30,-78.82,0.000,4,0.239,0.054,2504,3710,3482,0,0,0,0,0,0
$GC,279,-0.72,-116.7,16.7,-9.8,46,286,0.00,2.08,0.00,0.000,6,0.000,0.024,2504,2312,3484,0,0,0,0,0,0
$GC,617,-0.63,-116.7,47.3,-8.5,107,623,0.20,2.08,0.00,0.000,4,0.186,0.032,2557,921,3484,0,0,0,0,0,0
$GC,697,-0.63,-116.7,54.1,-8.2,121,702,0.00,2.08,0.00,0.000,6,0.000,0.028,2557,2318,3484,0,0,0,0,0,0
$GC,1032,-0.63,-116.7,83.1,-8.8,182,1037,0.00,2.08,0.00,0.000,4,0.000,0.040,2557,3704,3485,0,0,0,0,0,0
$GC,1105,-0.66,-116.7,89.0,-8.0,195,1110,0.00,2.03,0.00,0.000,6,0.000,0.023,2557,2288,3485,0,0,0,0,0,0
$GC,1441,-0.66,-116.7,110.0,-6.0,256,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2286,3485,0,0,0,0,0,0
$GC,1777,-0.66,-116.7,131.5,-5.7,292,1781,0.00,2.15,0.00,0.000,4,0.000,0.039,2557,3709,3485,0,0,0,0,0,0
$GC,1832,-0.70,-116.7,134.9,-5.9,294,1836,0.00,2.03,0.00,0.000,6,0.000,0.023,2557,2289,3485,0,0,0,0,0,0
$GC,2149,-0.70,-116.7,153.0,-6.3,309,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2288,3486,0,0,0,0,0,0
$GC,2457,-0.73,-116.7,171.4,-6.0,324,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2288,3486,0,0,0,0,0,0
$GC,2768,-0.76,-116.7,191.5,-6.4,339,2772,0.12,2.17,0.00,0.000,4,0.141,0.040,2517,3706,3486,0,0,0,0,0,0
$GC,2867,-0.71,-116.7,199.5,-7.8,343,2873,0.00,2.05,0.00,0.000,6,0.000,0.023,2517,2271,3486,0,0,0,0,0,0
$GC,3183,-0.66,-116.7,224.0,-7.9,359,3185,0.12,0.00,0.00,0.000,6,0.191,0.000,2548,2268,3486,0,0,0,0,0,0
$GC,3492,-0.66,-116.7,244.8,-6.5,374,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2268,3486,0,0,0,0,0,0
$GC,3801,-0.66,-116.7,265.0,-6.4,389,3805,0.00,2.17,0.00,0.000,4,0.000,0.040,2548,3701,3486,0,0,0,0,0,0
$GC,4008,-0.70,-116.7,278.6,-7.1,398,4012,0.00,2.03,0.00,0.000,6,0.000,0.023,2548,2302,3486,0,0,0,0,0,0
$GC,4335,-0.70,-116.7,301.1,-7.4,414,4339,0.00,2.03,0.00,0.000,4,0.000,0.036,2548,933,3485,0,0,0,0,0,0
$GC,4396,-0.70,-116.7,306.1,-8.4,415,4402,0.00,2.03,0.00,0.000,6,0.000,0.028,2548,2297,3486,0,0,0,0,0,0
$GC,4708,-0.74,-116.7,329.7,-7.7,426,4712,0.00,2.08,0.00,0.000,4,0.000,0.041,2548,3700,3485,0,0,0,0,0,0
$GC,4815,-0.78,-116.7,338.0,-7.7,429,4819,0.12,2.00,0.00,0.000,6,0.137,0.024,2508,2287,3485,0,0,0,0,0,0
$GC,5137,-0.73,-116.7,366.4,-8.8,440,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2286,3484,0,0,0,0,0,0
$GC,5444,-0.67,-116.7,392.1,-8.0,450,5449,0.15,2.17,0.00,0.000,4,0.187,0.041,2546,3706,3484,0,0,0,0,0,0
$GC,5499,-0.71,-116.7,396.1,-7.0,451,5505,0.00,2.05,0.00,0.000,6,0.000,0.025,2546,2308,3484,0,0,0,0,0,0
$GC,5811,-0.74,-116.7,416.4,-6.4,462,5813,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2307,3483,0,0,0,0,0,0
$GC,6118,-0.74,-116.7,435.7,-6.2,472,6122,0.00,2.12,0.00,0.000,4,0.000,0.041,2546,3703,3482,0,0,0,0,0,0
$GC,6207,-0.79,-116.7,441.4,-6.1,474,6212,0.12,2.03,0.00,0.000,6,0.140,0.025,2505,2288,3482,0,0,0,0,0,0
$GC,6519,-0.74,-116.7,465.1,-7.9,484,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2287,3480,0,0,0,0,0,0
$GC,6825,-0.68,-116.7,489.2,-8.0,494,6827,0.15,0.00,0.00,0.000,6,0.187,0.000,2543,2285,3479,0,0,0,0,0,0
$GC,7130,-0.68,-116.7,510.2,-6.9,502,7134,0.00,2.15,0.00,0.000,4,0.000,0.042,2543,3700,3479,0,0,0,0,0,0
$GC,7202,-0.72,-116.7,515.2,-7.2,503,7206,0.00,2.03,0.00,0.000,6,0.000,0.025,2544,2292,3479,0,0,0,0,0,0
$GC,7557,-0.72,-116.7,537.9,-6.4,509,7561,0.00,2.15,0.00,0.000,4,0.000,0.042,2544,3701,3478,0,0,0,0,0,0
$GC,7619,-0.76,-116.7,541.9,-6.3,510,7623,0.00,2.03,0.00,0.000,6,0.000,0.025,2544,2294,3478,0,0,0,0,0,0
$GC,7984,-0.76,-116.7,563.9,-6.0,516,7988,0.00,2.15,0.00,0.000,4,0.000,0.042,2543,3704,3477,0,0,0,0,0,0
$GC,8068,-0.81,-116.7,568.9,-6.0,517,8073,0.12,2.03,0.00,0.000,6,0.143,0.025,2503,2295,3476,0,0,0,0,0,0
$GC,8411,-0.75,-116.7,594.7,-7.6,523,8412,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2294,3476,0,0,0,0,0,0
$GC,8713,-0.70,-116.7,618.6,-7.9,528,8715,0.12,0.00,0.00,0.000,6,0.190,0.000,2534,2292,3475,0,0,0,0,0,0
$GC,9017,-0.70,-116.7,640.5,-7.2,533,9021,0.00,2.15,0.00,0.000,4,0.000,0.043,2535,3700,3474,0,0,0,0,0,0
$GC,9106,-0.73,-116.7,647.0,-6.8,534,9110,0.00,2.03,0.00,0.000,6,0.000,0.025,2535,2297,3474,0,0,0,0,0,0
$GC,9443,-0.73,-116.7,669.4,-6.5,540,9444,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2296,3473,0,0,0,0,0,0
$GC,9747,-0.73,-116.7,688.9,-6.5,545,9751,0.00,2.15,0.00,0.000,4,0.000,0.043,2534,3702,3473,0,0,0,0,0,0
$GC,9841,-0.73,-116.7,695.2,-7.0,546,9845,0.00,2.05,0.00,0.000,6,0.000,0.026,2535,2288,3473,0,0,0,0,0,0
$GC,10179,-0.73,-116.7,716.5,-6.3,552,10180,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2286,3472,0,0,0,0,0,0
$GC,10482,-0.73,-116.7,735.1,-6.1,557,10486,0.00,2.17,0.00,0.000,4,0.000,0.043,2535,3697,3472,0,0,0,0,0,0
$GC,10577,-0.77,-116.7,741.5,-7.1,558,10581,0.00,2.03,0.00,0.000,6,0.000,0.025,2535,2301,3472,0,0,0,0,0,0
$GC,10920,-0.77,-116.7,763.2,-6.4,564,10924,0.00,2.15,0.00,0.000,4,0.000,0.043,2535,3701,3471,0,0,0,0,0,0
$GC,10988,-0.81,-116.7,767.8,-7.4,565,10992,0.00,2.05,0.00,0.000,6,0.000,0.026,2535,2290,3471,0,0,0,0,0,0
$GC,11347,-0.81,-116.7,791.7,-6.7,571,11351,0.00,2.15,0.00,0.000,4,0.000,0.043,2535,3697,3470,0,0,0,0,0,0
$GC,11409,-0.84,-116.7,795.8,-6.9,572,11413,0.12,2.03,0.00,0.000,6,0.140,0.026,2496,2296,3470,0,0,0,0,0,0
$GC,11775,-0.78,-116.7,824.5,-7.9,578,11776,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2294,3469,0,0,0,0,0,0
$GC,12076,-0.72,-116.7,848.6,-8.1,583,12078,0.12,0.00,0.00,0.000,6,0.193,0.000,2526,2292,3469,0,0,0,0,0,0
$GC,12380,-0.72,-116.7,869.5,-6.8,588,12383,0.00,2.15,0.00,0.000,4,0.000,0.044,2526,3698,3469,0,0,0,0,0,0
$GC,12452,-0.72,-116.7,874.9,-7.5,589,12456,0.00,2.05,0.00,0.000,6,0.000,0.027,2527,2285,3469,0,0,0,0,0,0
$GC,12811,-0.72,-116.7,899.9,-7.0,595,12815,0.00,2.17,0.00,0.000,4,0.000,0.043,2527,3704,3469,0,0,0,0,0,0
$GC,12866,-0.72,-116.7,903.8,-6.7,595,12870,0.00,2.08,0.00,0.000,6,0.000,0.026,2527,2301,3468,0,0,0,0,0,0
$GC,13180,-0.72,-116.7,925.6,-7.0,601,13181,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2299,3468,0,0,0,0,0,0
$GC,13483,-0.72,-116.7,946.7,-7.0,606,13487,0.00,2.12,0.00,0.000,4,0.000,0.044,2527,3694,3468,0,0,0,0,0,0
$GC,13571,-0.72,-116.7,953.2,-7.2,607,13575,0.00,2.05,0.00,0.000,6,0.000,0.027,2527,2306,3468,0,0,0,0,0,0
$GC,13921,-0.72,-116.7,978.0,-7.1,613,13925,0.00,2.12,0.00,0.000,4,0.000,0.044,2527,3694,3468,0,0,0,0,0,0
$GC,13976,-0.72,-116.7,982.2,-7.0,613,13980,0.00,2.08,0.00,0.000,6,0.000,0.026,2527,2294,3467,0,0,0,0,0,0
$STATE,14107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14107,begin apogee
$GC,14113,-0.24,0.0,992.0,7.4,616,14216,0.52,0.00,100.85,1.557,6,0.167,0.000,2681,2651,3006,0,0,0,0,0,0
$STATE,14217,end apogee,CONTROL_FINISHED_OK
$STATE,14217,begin climb
$GC,14219,0.80,116.7,994.4,0.0,617,14337,1.10,2.40,108.53,1.456,4,0.113,0.044,3018,4036,2529,0,0,0,0,0,0
$GC,14417,0.56,116.7,989.3,7.3,621,14422,0.30,2.20,0.00,0.000,6,0.172,0.026,2953,2645,2522,0,0,0,0,0,0
$GC,14782,0.61,159.4,969.9,5.2,627,14822,0.00,0.00,37.42,1.447,6,0.000,0.000,2953,2645,2356,0,0,0,0,0,0
$GC,15143,0.64,181.8,948.4,6.0,633,15166,0.00,0.00,20.98,1.427,6,0.000,0.000,2953,2645,2264,0,0,0,0,0,0
$GC,15511,0.65,190.0,924.5,6.5,639,15521,0.00,0.00,8.27,1.338,6,0.000,0.000,2954,2645,2231,0,0,0,0,0,0
$GC,15814,0.66,193.1,904.1,6.8,644,15824,0.00,2.25,4.25,1.034,4,0.000,0.045,2953,4038,2218,0,0,0,0,0,0
$GC,15830,0.66,199.1,903.0,6.6,644,15844,0.00,2.08,7.47,1.273,6,0.000,0.027,2959,2645,2194,0,0,0,0,0,0
$GC,16181,0.66,199.1,877.6,7.3,650,16182,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2645,2191,0,0,0,0,0,0
$GC,16485,0.66,199.1,855.1,7.5,655,16486,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2645,2190,0,0,0,0,0,0
$GC,16787,0.66,199.1,833.3,7.0,660,16791,0.00,2.17,0.00,0.000,4,0.000,0.045,2959,4051,2189,0,0,0,0,0,0
$GC,16803,0.66,199.1,831.9,7.0,660,16807,0.00,2.10,0.00,0.000,6,0.000,0.028,2967,2652,2189,0,0,0,0,0,0
$GC,17151,0.66,199.1,807.0,7.2,666,17155,0.00,2.17,0.00,0.000,4,0.000,0.046,2967,4042,2189,0,0,0,0,0,0
$GC,17161,0.66,199.1,806.2,7.1,666,17166,0.00,2.10,0.00,0.000,6,0.000,0.028,2975,2647,2189,0,0,0,0,0,0
$GC,17515,0.66,199.1,779.9,7.3,672,17519,0.00,2.15,0.00,0.000,4,0.000,0.045,2975,4043,2188,0,0,0,0,0,0
$GC,17542,0.61,199.1,777.7,8.0,672,17547,0.00,2.05,0.00,0.000,6,0.000,0.028,2984,2641,2188,0,0,0,0,0,0
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$STATE,27206,end climb,SURFACE_DEPTH_REACHED
$STATE,27206,begin surface coast
$FINISH,3.1,1.017171
$STATE,27266,end surface coast,CONTROL_FINISHED_OK
$STATE,27266,begin surface
$SM_CCo,27282,40.38,0.801,0,0,1884,275.23
$SM_GC,3.98,0.00,0.00,40.38,0.000,0.000,0.801,219,2266,1884,-7.96,-0.96,275.23
$IRIDIUM_FIX,6416.43,5.03,110399,151528
$TT8_MAMPS,0.027612
$HUMID,1078359345
$INTERNAL_PRESSURE,8.26204
$TCM_TEMP,19.80
$XPDR_PINGS,1
$24V_AH,22.2,41.789
$10V_AH,9.9,27.820
$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,21.500,182.400,314.725,40.375,0.000,30.699,32.292,339.146,0.250,0.000,17.079,2429.822,21365.746,522.954,2833.016,697.881,0.000,1897.076,0.000,2793.992,0.000,0.533,0.000
$DEVICE_MAMPS,239.304,53.690,1557.010,800.748,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,808.654,1065.738,648.669,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241564
$DATA_FILE_SIZE,66469,1170
$CAP_FILE_SIZE,213806,0
$CFSIZE,260165632,233885696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101,197.4,1
$GPS,161209,065936,6445.596,-14.941,36,1.9,42,-5.3