version: 66.06
glider: 140
mission: 8
dive: 259
start: 12 17 109 21 6 32
data:
$ID,140
$MISSION,8
$DIVE,259
$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,-49103.531
$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,61
$R_STBD_OVSHOOT,51
$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
$GPS1,210006,6454.456,-32.241,26,1.9,26,-5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.84
$_SM_ANGLEo,-59.3
$GPS2,210608,6454.441,-31.979,16,2.0,16,-5.5
$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,319.9,30589,-13.7,-6.875
$D_GRID,2811
$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,-116.7,0.0,0.0,0,23,0.00,0.00,-7.18,0.000,2,0.000,0.000,213,2321,2012,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.8,-0.0,1,117,8.90,2.22,-75.70,0.000,4,0.225,0.049,2503,897,3481,0,0,0,0,0,0
$GC,190,-0.67,-116.7,13.5,-12.4,30,198,0.12,2.15,0.00,0.000,6,0.180,0.029,2540,2297,3482,0,0,0,0,0,0
$GC,530,-0.67,-116.7,38.0,-6.8,91,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2297,3483,0,0,0,0,0,0
$GC,866,-0.67,-116.7,64.3,-9.4,152,872,0.00,2.15,0.00,0.000,4,0.000,0.036,2541,908,3484,0,0,0,0,0,0
$GC,929,-0.67,-116.7,69.1,-6.9,163,935,0.00,2.08,0.00,0.000,6,0.000,0.028,2541,2311,3484,0,0,0,0,0,0
$GC,1272,-0.67,-116.7,98.5,-8.1,224,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2311,3484,0,0,0,0,0,0
$GC,1627,-0.67,-116.7,125.1,-8.2,279,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2311,3485,0,0,0,0,0,0
$GC,1935,-0.67,-116.7,152.8,-8.9,294,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2311,3485,0,0,0,0,0,0
$GC,2246,-0.67,-116.7,176.3,-7.2,309,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2311,3485,0,0,0,0,0,0
$GC,2554,-0.67,-116.7,197.3,-7.0,324,2558,0.00,2.12,0.00,0.000,4,0.000,0.035,2541,894,3486,0,0,0,0,0,0
$GC,2598,-0.67,-116.7,200.7,-7.8,326,2602,0.00,2.10,0.00,0.000,6,0.000,0.028,2541,2294,3486,0,0,0,0,0,0
$GC,2927,-0.67,-116.7,222.0,-6.3,342,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2295,3486,0,0,0,0,0,0
$GC,3234,-0.67,-116.7,241.1,-6.2,357,3238,0.00,2.10,0.00,0.000,4,0.000,0.035,2541,897,3486,0,0,0,0,0,0
$GC,3279,-0.67,-116.7,244.2,-7.1,359,3283,0.00,2.08,0.00,0.000,6,0.000,0.028,2541,2309,3486,0,0,0,0,0,0
$GC,3611,-0.67,-116.7,266.6,-6.8,375,3615,0.00,2.08,0.00,0.000,4,0.000,0.041,2540,3700,3486,0,0,0,0,0,0
$GC,3660,-0.67,-116.7,270.2,-7.5,377,3665,0.00,2.08,0.00,0.000,6,0.000,0.024,2541,2276,3485,0,0,0,0,0,0
$GC,3982,-0.67,-116.7,291.3,-6.6,393,3986,0.00,2.17,0.00,0.000,4,0.000,0.041,2541,3708,3485,0,0,0,0,0,0
$GC,4037,-0.67,-116.7,295.2,-7.1,395,4043,0.00,2.05,0.00,0.000,6,0.000,0.025,2541,2302,3485,0,0,0,0,0,0
$GC,4371,-0.67,-116.7,317.6,-6.9,408,4372,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2301,3484,0,0,0,0,0,0
$GC,4678,-0.67,-116.7,339.2,-7.1,418,4682,0.00,2.12,0.00,0.000,4,0.000,0.041,2541,3701,3483,0,0,0,0,0,0
$GC,4755,-0.67,-116.7,345.2,-7.2,420,4760,0.00,2.05,0.00,0.000,6,0.000,0.025,2541,2298,3483,0,0,0,0,0,0
$GC,5079,-0.67,-116.7,369.5,-7.6,431,5083,0.00,2.12,0.00,0.000,4,0.000,0.041,2540,3698,3482,0,0,0,0,0,0
$GC,5134,-0.70,-116.7,373.7,-7.3,432,5140,0.00,2.05,0.00,0.000,6,0.000,0.025,2540,2299,3482,0,0,0,0,0,0
$GC,5446,-0.70,-116.7,396.6,-7.1,443,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2298,3481,0,0,0,0,0,0
$GC,5752,-0.70,-116.7,419.2,-7.4,453,5756,0.00,2.12,0.00,0.000,4,0.000,0.042,2541,3698,3480,0,0,0,0,0,0
$GC,5841,-0.74,-116.7,426.0,-7.6,455,5844,0.00,2.03,0.00,0.000,6,0.000,0.025,2541,2293,3480,0,0,0,0,0,0
$GC,6158,-0.74,-116.7,449.8,-7.6,466,6162,0.00,2.15,0.00,0.000,4,0.000,0.041,2541,3698,3480,0,0,0,0,0,0
$GC,6208,-0.77,-116.7,453.9,-8.2,467,6212,0.00,2.05,0.00,0.000,6,0.000,0.025,2541,2283,3480,0,0,0,0,0,0
$GC,6532,-0.77,-116.7,478.0,-7.3,478,6536,0.00,2.15,0.00,0.000,4,0.000,0.041,2541,3697,3479,0,0,0,0,0,0
$GC,6581,-0.80,-116.7,481.7,-7.6,479,6585,0.00,2.05,0.00,0.000,6,0.000,0.025,2540,2273,3478,0,0,0,0,0,0
$GC,6899,-0.80,-116.7,504.8,-7.2,489,6903,0.00,2.17,0.00,0.000,4,0.000,0.042,2541,3700,3478,0,0,0,0,0,0
$GC,6967,-0.83,-116.7,509.6,-7.7,490,6971,0.15,2.03,0.00,0.000,6,0.131,0.025,2491,2293,3478,0,0,0,0,0,0
$GC,7326,-0.75,-116.7,541.9,-9.2,496,7330,0.12,2.08,0.00,0.000,4,0.192,0.039,2523,917,3477,0,0,0,0,0,0
$GC,7397,-0.75,-116.7,548.1,-8.2,497,7401,0.00,2.10,0.00,0.000,6,0.000,0.031,2523,2297,3477,0,0,0,0,0,0
$GC,7757,-0.75,-116.7,575.2,-7.5,503,7761,0.00,2.12,0.00,0.000,4,0.000,0.043,2523,3705,3476,0,0,0,0,0,0
$GC,7812,-0.75,-116.7,579.4,-7.7,503,7818,0.00,2.05,0.00,0.000,6,0.000,0.026,2523,2286,3476,0,0,0,0,0,0
$GC,8121,-0.75,-116.7,602.0,-7.4,509,8122,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2286,3475,0,0,0,0,0,0
$GC,8424,-0.75,-116.7,623.6,-7.1,514,8428,0.00,2.17,0.00,0.000,4,0.000,0.042,2523,3708,3475,0,0,0,0,0,0
$GC,8479,-0.75,-116.7,627.8,-7.3,514,8486,0.00,2.08,0.00,0.000,6,0.000,0.026,2522,2306,3474,0,0,0,0,0,0
$GC,8789,-0.75,-116.7,649.7,-7.1,520,8790,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2304,3474,0,0,0,0,0,0
$GC,9092,-0.75,-116.7,671.8,-7.3,525,9095,0.00,2.15,0.00,0.000,4,0.000,0.043,2523,3708,3474,0,0,0,0,0,0
$GC,9135,-0.75,-116.7,675.2,-7.3,525,9139,0.00,2.10,0.00,0.000,6,0.000,0.027,2522,2297,3474,0,0,0,0,0,0
$GC,9456,-0.75,-116.7,698.7,-7.3,531,9457,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2296,3473,0,0,0,0,0,0
$GC,9759,-0.75,-116.7,721.0,-7.4,536,9760,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2295,3472,0,0,0,0,0,0
$GC,10062,-0.75,-116.7,744.0,-7.6,541,10066,0.00,2.17,0.00,0.000,4,0.000,0.043,2523,3709,3472,0,0,0,0,0,0
$GC,10123,-0.75,-116.7,748.6,-7.7,542,10127,0.00,2.05,0.00,0.000,6,0.000,0.027,2523,2301,3472,0,0,0,0,0,0
$GC,10488,-0.75,-116.7,776.5,-7.6,548,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2299,3471,0,0,0,0,0,0
$GC,10791,-0.75,-116.7,799.4,-7.5,553,10795,0.00,2.15,0.00,0.000,4,0.000,0.044,2523,3701,3471,0,0,0,0,0,0
$GC,10863,-0.75,-116.7,804.9,-7.0,554,10867,0.00,2.05,0.00,0.000,6,0.000,0.026,2523,2293,3471,0,0,0,0,0,0
$GC,11217,-0.75,-116.7,830.6,-7.3,560,11218,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2290,3470,0,0,0,0,0,0
$GC,11520,-0.75,-116.7,852.6,-7.2,565,11524,0.00,2.17,0.00,0.000,4,0.000,0.043,2523,3711,3470,0,0,0,0,0,0
$GC,11596,-0.75,-116.7,858.3,-7.5,566,11601,0.00,2.10,0.00,0.000,6,0.000,0.027,2523,2294,3470,0,0,0,0,0,0
$GC,11951,-0.75,-116.7,883.7,-7.2,572,11952,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2293,3470,0,0,0,0,0,0
$GC,12254,-0.75,-116.7,905.7,-7.3,577,12258,0.00,2.15,0.00,0.000,4,0.000,0.044,2523,3700,3470,0,0,0,0,0,0
$GC,12353,-0.75,-116.7,913.1,-7.5,578,12357,0.00,2.08,0.00,0.000,6,0.000,0.026,2523,2299,3469,0,0,0,0,0,0
$GC,12685,-0.75,-116.7,937.0,-7.2,584,12686,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2298,3469,0,0,0,0,0,0
$GC,12988,-0.75,-116.7,958.6,-7.1,589,12992,0.00,2.15,0.00,0.000,4,0.000,0.044,2523,3704,3469,0,0,0,0,0,0
$GC,13070,-0.75,-116.7,964.4,-6.7,590,13074,0.00,2.08,0.00,0.000,6,0.000,0.026,2523,2305,3469,0,0,0,0,0,0
$GC,13420,-0.75,-116.7,988.2,-6.8,596,13421,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2303,3469,0,0,0,0,0,0
$STATE,13477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13478,begin apogee
$GC,13483,-0.24,0.0,992.7,6.9,597,13587,0.55,0.00,101.28,1.553,6,0.167,0.000,2685,2661,3006,0,0,0,0,0,0
$STATE,13588,end apogee,CONTROL_FINISHED_OK
$STATE,13588,begin climb
$GC,13590,0.80,116.7,994.7,0.0,598,13708,1.08,2.38,109.07,1.457,4,0.111,0.044,3015,4034,2528,0,0,0,0,0,0
$GC,13741,0.55,116.7,991.9,7.8,601,13746,0.32,2.20,0.00,0.000,6,0.170,0.026,2946,2653,2524,0,0,0,0,0,0
$GC,14084,0.59,154.1,973.1,5.4,607,14120,0.00,0.00,33.58,1.440,6,0.000,0.000,2946,2652,2377,0,0,0,0,0,0
$GC,14387,0.61,168.8,954.4,6.3,612,14403,0.00,0.00,14.23,1.401,6,0.000,0.000,2946,2652,2317,0,0,0,0,0,0
$GC,14690,0.62,177.0,934.8,6.5,617,14700,0.00,0.00,8.45,1.338,6,0.000,0.000,2946,2652,2284,0,0,0,0,0,0
$GC,14994,0.62,178.7,914.2,6.8,622,14995,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2652,2281,0,0,0,0,0,0
$GC,15296,0.62,178.7,893.1,7.0,627,15297,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2652,2280,0,0,0,0,0,0
$GC,15599,0.62,178.7,871.4,7.2,632,15603,0.00,2.10,0.00,0.000,4,0.000,0.038,2954,1258,2280,0,0,0,0,0,0
$GC,15608,0.62,178.7,870.6,7.3,632,15613,0.00,2.12,0.00,0.000,6,0.000,0.033,2953,2636,2280,0,0,0,0,0,0
$GC,15969,0.62,178.7,844.1,7.4,638,15970,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2636,2279,0,0,0,0,0,0
$GC,16271,0.62,178.7,821.4,7.4,643,16275,0.00,2.10,0.00,0.000,4,0.000,0.037,2962,1250,2279,0,0,0,0,0,0
$GC,16286,0.62,178.7,820.3,7.3,643,16290,0.00,2.15,0.00,0.000,6,0.000,0.033,2962,2651,2279,0,0,0,0,0,0
$GC,16635,0.62,178.7,794.0,7.6,649,16636,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2651,2278,0,0,0,0,0,0
$GC,16938,0.62,178.7,770.5,7.7,654,16940,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2651,2278,0,0,0,0,0,0
$GC,17241,0.62,178.7,747.2,7.7,659,17242,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2651,2278,0,0,0,0,0,0
$GC,17544,0.62,178.7,723.9,7.7,664,17548,0.00,2.12,0.00,0.000,4,0.000,0.037,2971,1256,2277,0,0,0,0,0,0
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$STATE,25623,end climb,SURFACE_DEPTH_REACHED
$STATE,25624,begin surface coast
$FINISH,3.1,1.027649
$STATE,25664,end surface coast,CONTROL_FINISHED_OK
$STATE,25664,begin surface
$SM_CCo,25681,14.62,0.851,0,0,1883,275.23
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$IRIDIUM_FIX,6426.39,-25.31,130399,131351
$TT8_MAMPS,0.027612
$HUMID,1078452248
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.2,42.727
$10V_AH,9.8,28.479
$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,20.475,149.000,337.225,14.625,0.000,29.335,34.805,166.893,0.000,0.000,16.601,2175.981,20451.256,500.712,2413.060,508.597,0.000,1689.391,0.000,2390.989,0.000,0.534,0.000
$DEVICE_MAMPS,225.498,49.088,1553.175,850.603,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,740.123,978.564,574.137,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241388
$DATA_FILE_SIZE,60101,1069
$CAP_FILE_SIZE,181827,0
$CFSIZE,260165632,233406464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,103.2,1
$GPS,181209,041614,6456.526,-34.983,41,1.9,50,-5.6