version: 66.06
glider: 140
mission: 8
dive: 262
start: 12 18 109 19 35 1
data:
$ID,140
$MISSION,8
$DIVE,262
$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,-49153.465
$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,73
$R_STBD_OVSHOOT,40
$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
$GPS1,192406,6500.051,-43.502,35,1.1,36,-5.7
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,3.68
$_SM_ANGLEo,-56.4
$GPS2,193438,6500.013,-43.290,14,1.7,14,-5.7
$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,316.1,17109,-13.7,-6.875
$D_GRID,2883
$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,-8.15,0.000,2,0.000,0.000,218,2273,1913,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.6,-0.0,1,131,9.38,2.33,-88.70,0.000,4,0.248,0.055,2500,3712,3481,0,0,0,0,0,0
$GC,139,-1.06,-116.7,3.5,-0.8,20,147,0.20,2.12,0.00,0.000,6,0.097,0.024,2429,2286,3482,0,0,0,0,0,0
$GC,480,-0.82,-116.7,51.7,-18.4,81,485,0.25,0.00,0.00,0.000,6,0.193,0.000,2499,2284,3483,0,0,0,0,0,0
$GC,817,-0.72,-116.7,93.4,-11.6,142,823,0.12,2.08,0.00,0.000,4,0.208,0.036,2531,929,3483,0,0,0,0,0,0
$GC,873,-0.68,-116.7,99.5,-10.4,152,881,0.00,2.10,0.00,0.000,6,0.000,0.028,2531,2316,3483,0,0,0,0,0,0
$GC,1209,-0.64,-116.7,124.9,-7.6,204,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2316,3484,0,0,0,0,0,0
$GC,1520,-0.64,-116.7,146.3,-7.1,219,1523,0.00,2.08,0.00,0.000,4,0.000,0.040,2530,3706,3485,0,0,0,0,0,0
$GC,1575,-0.64,-116.7,150.6,-7.7,221,1581,0.00,2.05,0.00,0.000,6,0.000,0.023,2531,2309,3485,0,0,0,0,0,0
$GC,1892,-0.64,-116.7,175.2,-8.0,237,1895,0.00,2.05,0.00,0.000,4,0.000,0.035,2530,922,3485,0,0,0,0,0,0
$GC,1969,-0.60,-116.7,182.0,-8.7,240,1978,0.10,2.08,0.00,0.000,6,0.172,0.028,2563,2304,3485,0,0,0,0,0,0
$GC,2287,-0.66,-116.7,203.0,-6.8,256,2291,0.00,2.10,0.00,0.000,4,0.000,0.041,2563,3706,3485,0,0,0,0,0,0
$GC,2359,-0.73,-116.7,208.6,-7.5,259,2364,0.08,2.05,0.00,0.000,6,0.109,0.024,2532,2296,3485,0,0,0,0,0,0
$GC,2681,-0.73,-116.7,233.3,-7.8,275,2684,0.00,2.03,0.00,0.000,4,0.000,0.036,2532,930,3485,0,0,0,0,0,0
$GC,2730,-0.73,-116.7,237.8,-8.9,277,2734,0.00,2.08,0.00,0.000,6,0.000,0.028,2532,2299,3485,0,0,0,0,0,0
$GC,3057,-0.73,-116.7,264.1,-8.1,293,3061,0.00,2.10,0.00,0.000,4,0.000,0.041,2532,3699,3485,0,0,0,0,0,0
$GC,3111,-0.73,-116.7,268.5,-7.4,295,3117,0.00,2.05,0.00,0.000,6,0.000,0.024,2532,2294,3485,0,0,0,0,0,0
$GC,3427,-0.73,-116.7,293.3,-7.9,311,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2294,3485,0,0,0,0,0,0
$GC,3745,-0.73,-116.7,319.0,-8.1,323,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2294,3484,0,0,0,0,0,0
$GC,4051,-0.73,-116.7,342.4,-7.3,333,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2294,3483,0,0,0,0,0,0
$GC,4357,-0.73,-116.7,363.9,-6.8,343,4361,0.00,2.15,0.00,0.000,4,0.000,0.041,2532,3702,3483,0,0,0,0,0,0
$GC,4418,-0.73,-116.7,368.4,-7.3,345,4422,0.00,2.03,0.00,0.000,6,0.000,0.025,2532,2297,3482,0,0,0,0,0,0
$GC,4753,-0.73,-116.7,390.7,-6.7,356,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2297,3481,0,0,0,0,0,0
$GC,5059,-0.73,-116.7,410.9,-6.6,366,5063,0.00,2.15,0.00,0.000,4,0.000,0.042,2532,3705,3481,0,0,0,0,0,0
$GC,5108,-0.73,-116.7,414.4,-7.0,367,5112,0.00,2.05,0.00,0.000,6,0.000,0.025,2532,2310,3481,0,0,0,0,0,0
$GC,5425,-0.73,-116.7,437.6,-7.6,378,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2308,3480,0,0,0,0,0,0
$GC,5732,-0.73,-116.7,460.8,-7.5,388,5733,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2308,3479,0,0,0,0,0,0
$GC,6038,-0.73,-116.7,482.6,-7.0,398,6042,0.00,2.15,0.00,0.000,4,0.000,0.042,2532,3704,3479,0,0,0,0,0,0
$GC,6087,-0.73,-116.7,486.1,-6.8,399,6091,0.00,2.08,0.00,0.000,6,0.000,0.025,2532,2273,3479,0,0,0,0,0,0
$GC,6440,-0.73,-116.7,509.5,-6.7,409,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2272,3479,0,0,0,0,0,0
$GC,6743,-0.73,-116.7,529.1,-6.5,414,6747,0.00,2.20,0.00,0.000,4,0.000,0.042,2532,3708,3478,0,0,0,0,0,0
$GC,6798,-0.73,-116.7,532.8,-6.8,414,6803,0.00,2.05,0.00,0.000,6,0.000,0.026,2532,2296,3478,0,0,0,0,0,0
$GC,7107,-0.73,-116.7,553.2,-6.6,420,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2295,3477,0,0,0,0,0,0
$GC,7410,-0.73,-116.7,574.2,-7.0,425,7414,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3702,3476,0,0,0,0,0,0
$GC,7471,-0.73,-116.7,578.6,-7.2,426,7475,0.00,2.03,0.00,0.000,6,0.000,0.026,2532,2301,3476,0,0,0,0,0,0
$GC,7836,-0.73,-116.7,603.9,-6.9,432,7840,0.00,2.15,0.00,0.000,4,0.000,0.044,2532,3706,3475,0,0,0,0,0,0
$GC,7879,-0.73,-116.7,607.1,-6.9,432,7883,0.00,2.08,0.00,0.000,6,0.000,0.027,2532,2308,3475,0,0,0,0,0,0
$GC,8199,-0.73,-116.7,629.3,-7.0,438,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2306,3475,0,0,0,0,0,0
$GC,8502,-0.73,-116.7,650.4,-6.9,443,8506,0.00,2.12,0.00,0.000,4,0.000,0.043,2532,3698,3475,0,0,0,0,0,0
$GC,8585,-0.73,-116.7,656.5,-7.6,444,8590,0.00,2.08,0.00,0.000,6,0.000,0.026,2532,2295,3474,0,0,0,0,0,0
$GC,8934,-0.73,-116.7,681.5,-7.3,450,8938,0.00,2.17,0.00,0.000,4,0.000,0.043,2532,3706,3474,0,0,0,0,0,0
$GC,8989,-0.73,-116.7,685.7,-7.4,450,8994,0.00,2.08,0.00,0.000,6,0.000,0.026,2532,2308,3474,0,0,0,0,0,0
$GC,9304,-0.73,-116.7,708.3,-7.3,456,9305,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2307,3473,0,0,0,0,0,0
$GC,9608,-0.73,-116.7,730.4,-7.3,461,9611,0.00,2.12,0.00,0.000,4,0.000,0.043,2532,3699,3473,0,0,0,0,0,0
$GC,9679,-0.73,-116.7,735.9,-7.6,462,9683,0.00,2.08,0.00,0.000,6,0.000,0.026,2532,2270,3473,0,0,0,0,0,0
$GC,10044,-0.73,-116.7,762.3,-7.2,468,10048,0.00,2.20,0.00,0.000,4,0.000,0.043,2532,3707,3473,0,0,0,0,0,0
$GC,10099,-0.73,-116.7,766.2,-6.7,468,10105,0.00,2.05,0.00,0.000,6,0.000,0.026,2532,2298,3472,0,0,0,0,0,0
$GC,10408,-0.73,-116.7,787.4,-6.9,474,10409,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2296,3472,0,0,0,0,0,0
$GC,10711,-0.73,-116.7,808.0,-6.8,479,10715,0.00,2.15,0.00,0.000,4,0.000,0.044,2532,3699,3472,0,0,0,0,0,0
$GC,10789,-0.76,-116.7,813.5,-7.2,480,10792,0.00,2.05,0.00,0.000,6,0.000,0.026,2532,2293,3472,0,0,0,0,0,0
$GC,11142,-0.76,-116.7,837.7,-6.9,486,11146,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3697,3471,0,0,0,0,0,0
$GC,11230,-0.80,-116.7,843.8,-7.1,487,11234,0.00,2.05,0.00,0.000,6,0.000,0.026,2532,2286,3471,0,0,0,0,0,0
$GC,11574,-0.80,-116.7,866.4,-6.6,493,11578,0.00,2.17,0.00,0.000,4,0.000,0.044,2532,3702,3471,0,0,0,0,0,0
$GC,11635,-0.84,-116.7,870.7,-7.5,493,11642,0.12,2.05,0.00,0.000,6,0.143,0.026,2490,2286,3470,0,0,0,0,0,0
$GC,11944,-0.77,-116.7,895.7,-8.2,499,11945,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2286,3470,0,0,0,0,0,0
$GC,12248,-0.71,-116.7,920.9,-8.3,504,12250,0.17,0.00,0.00,0.000,6,0.184,0.000,2537,2285,3470,0,0,0,0,0,0
$GC,12551,-0.71,-116.7,941.2,-6.6,509,12555,0.00,2.17,0.00,0.000,4,0.000,0.044,2537,3705,3470,0,0,0,0,0,0
$GC,12624,-0.76,-116.7,946.1,-6.4,510,12628,0.00,2.05,0.00,0.000,6,0.000,0.026,2537,2298,3470,0,0,0,0,0,0
$GC,12978,-0.79,-116.7,968.0,-6.2,516,12982,0.00,2.15,0.00,0.000,4,0.000,0.044,2537,3701,3469,0,0,0,0,0,0
$GC,13027,-0.85,-116.7,971.2,-6.6,516,13032,0.15,2.05,0.00,0.000,6,0.135,0.027,2489,2288,3469,0,0,0,0,0,0
$STATE,13273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13273,begin apogee
$GC,13279,-0.24,0.0,990.8,8.0,520,13384,0.68,0.00,101.38,1.549,6,0.173,0.000,2682,2644,3006,0,0,0,0,0,0
$STATE,13385,end apogee,CONTROL_FINISHED_OK
$STATE,13385,begin climb
$GC,13387,0.80,116.7,992.9,0.0,521,13505,1.05,2.42,109.15,1.453,4,0.113,0.044,3009,4043,2528,0,0,0,0,0,0
$GC,13583,0.59,116.7,985.8,9.1,523,13588,0.25,2.20,0.00,0.000,6,0.173,0.026,2958,2649,2522,0,0,0,0,0,0
$GC,13944,0.57,133.9,963.2,6.2,529,13961,0.00,0.00,15.20,1.415,6,0.000,0.000,2957,2649,2460,0,0,0,0,0,0
$GC,14245,0.57,137.4,942.9,6.7,534,14252,0.00,0.00,4.62,1.083,6,0.000,0.000,2957,2649,2445,0,0,0,0,0,0
$GC,14549,0.57,138.5,922.2,6.8,539,14553,0.00,2.17,0.00,0.000,4,0.000,0.045,2953,4045,2443,0,0,0,0,0,0
$GC,14576,0.50,138.5,920.1,7.4,539,14580,0.12,2.10,0.00,0.000,6,0.183,0.027,2932,2649,2443,0,0,0,0,0,0
$GC,14914,0.55,155.1,899.1,6.2,545,14933,0.00,0.00,17.20,1.436,6,0.000,0.000,2932,2649,2373,0,0,0,0,0,0
$GC,15216,0.60,160.1,879.1,6.7,550,15226,0.00,2.12,5.78,1.214,4,0.000,0.036,2940,1265,2353,0,0,0,0,0,0
$GC,15238,0.67,177.4,877.7,6.2,550,15263,0.12,2.12,17.33,1.374,6,0.119,0.034,2984,2651,2282,0,0,0,0,0,0
$GC,15579,0.62,177.4,848.0,8.8,556,15580,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2651,2278,0,0,0,0,0,0
$GC,15881,0.58,177.4,821.7,8.7,561,15886,0.12,2.17,0.00,0.000,4,0.189,0.046,2953,4047,2276,0,0,0,0,0,0
$GC,15914,0.54,177.4,818.8,8.1,561,15917,0.00,2.08,0.00,0.000,6,0.000,0.027,2962,2644,2277,0,0,0,0,0,0
$GC,16250,0.54,177.4,793.0,7.6,567,16251,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2638,2276,0,0,0,0,0,0
$GC,16553,0.54,177.4,769.6,7.7,572,16554,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2638,2276,0,0,0,0,0,0
$GC,16857,0.54,177.4,746.9,7.5,577,16858,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2638,2276,0,0,0,0,0,0
$GC,17159,0.54,177.4,725.3,7.1,582,17161,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2638,2275,0,0,0,0,0,0
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$STATE,26284,end climb,SURFACE_DEPTH_REACHED
$STATE,26284,begin surface coast
$FINISH,3.1,1.027468
$STATE,26319,end surface coast,CONTROL_FINISHED_OK
$STATE,26319,begin surface
$SM_CCo,26336,21.60,0.805,0,0,1884,275.23
$SM_GC,3.64,0.00,0.00,21.60,0.000,0.000,0.805,218,2282,1884,-7.96,-0.51,275.23
$IRIDIUM_FIX,6436.42,-45.83,140399,191952
$TT8_MAMPS,0.027612
$HUMID,1078422571
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,22.1,43.207
$10V_AH,9.8,28.803
$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,21.825,161.600,340.475,21.600,0.000,55.826,71.297,295.569,0.000,0.000,14.514,2139.842,21240.496,528.635,2351.769,721.439,0.000,1722.505,0.000,2328.092,0.000,0.533,0.000
$DEVICE_MAMPS,247.741,55.224,1549.340,804.583,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,718.441,949.851,511.714,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241364
$DATA_FILE_SIZE,60016,1038
$CAP_FILE_SIZE,193254,0
$CFSIZE,260165632,233144320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055, 70.2,1
$GPS,191209,025537,6502.243,-47.506,39,1.6,40,-5.7