version: 66.06
glider: 140
mission: 8
dive: 229
start: 12 8 109 6 57 20
data:
$ID,140
$MISSION,8
$DIVE,229
$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,-1
$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,-48496.906
$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,75
$R_STBD_OVSHOOT,44
$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
$GPS1,064237,6356.470,146.268,37,1.4,38,-4.0
$_CALLS,3
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,3.42
$_SM_ANGLEo,-57.7
$GPS2,065656,6356.513,146.435,15,1.6,15,-4.0
$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,318.8,182767,-13.7,-6.875
$D_GRID,1859
$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,13,begin dive
$GC,15,-0.80,-116.7,0.0,0.0,0,23,0.00,0.00,-6.70,0.000,2,0.000,0.000,216,2279,2018,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.4,-0.0,1,117,8.70,2.08,-75.38,0.000,4,0.221,0.048,2502,915,3482,0,0,0,0,0,0
$GC,367,-0.67,-116.7,34.3,-9.2,62,375,0.12,2.10,0.00,0.000,6,0.169,0.028,2541,2309,3484,0,0,0,0,0,0
$GC,706,-0.67,-116.7,61.3,-7.6,123,713,0.00,2.10,0.00,0.000,4,0.000,0.035,2541,914,3484,0,0,0,0,0,0
$GC,850,-0.61,-116.7,71.3,-6.1,148,857,0.00,2.08,0.00,0.000,6,0.000,0.028,2541,2294,3484,0,0,0,0,0,0
$GC,1194,-0.58,-116.7,97.9,-8.2,209,1200,0.12,0.00,0.00,0.000,6,0.198,0.000,2574,2294,3484,0,0,0,0,0,0
$GC,1540,-0.62,-116.7,121.7,-6.7,268,1544,0.00,2.08,0.00,0.000,4,0.000,0.039,2574,3698,3484,0,0,0,0,0,0
$GC,1615,-0.69,-116.7,126.6,-6.5,271,1618,0.00,2.00,0.00,0.000,6,0.000,0.022,2574,2294,3485,0,0,0,0,0,0
$GC,1942,-0.74,-116.7,147.3,-7.0,287,1944,0.15,0.00,0.00,0.000,6,0.126,0.000,2525,2285,3485,0,0,0,0,0,0
$GC,2251,-0.69,-116.7,173.7,-8.2,302,2252,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2284,3484,0,0,0,0,0,0
$GC,2561,-0.64,-116.7,198.3,-8.2,317,2563,0.12,0.00,0.00,0.000,6,0.191,0.000,2556,2285,3484,0,0,0,0,0,0
$GC,2869,-0.64,-116.7,220.6,-7.1,332,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2285,3485,0,0,0,0,0,0
$GC,3178,-0.64,-116.7,243.7,-7.3,347,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2285,3485,0,0,0,0,0,0
$GC,3487,-0.64,-116.7,265.7,-7.2,362,3491,0.00,2.12,0.00,0.000,4,0.000,0.040,2556,3699,3485,0,0,0,0,0,0
$GC,3554,-0.68,-116.7,270.5,-7.3,365,3558,0.00,2.00,0.00,0.000,6,0.000,0.023,2556,2294,3484,0,0,0,0,0,0
$GC,3886,-0.68,-116.7,295.6,-7.8,381,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2286,3485,0,0,0,0,0,0
$GC,4193,-0.68,-116.7,318.7,-7.1,392,4197,0.00,2.00,0.00,0.000,4,0.000,0.035,2556,925,3485,0,0,0,0,0,0
$GC,4242,-0.68,-116.7,322.6,-7.7,393,4247,0.00,2.05,0.00,0.000,6,0.000,0.028,2556,2296,3485,0,0,0,0,0,0
$GC,4567,-0.68,-116.7,343.9,-6.7,404,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2296,3484,0,0,0,0,0,0
$GC,4873,-0.71,-116.7,364.6,-6.8,414,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2296,3485,0,0,0,0,0,0
$GC,5180,-0.75,-116.7,385.7,-6.8,424,5184,0.00,2.08,0.00,0.000,4,0.000,0.040,2556,3700,3484,0,0,0,0,0,0
$GC,5258,-0.80,-116.7,390.8,-6.5,426,5263,0.15,2.00,0.00,0.000,6,0.124,0.023,2505,2281,3484,0,0,0,0,0,0
$GC,5575,-0.73,-116.7,414.8,-7.6,437,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2281,3484,0,0,0,0,0,0
$GC,5882,-0.67,-116.7,441.3,-8.7,447,5886,0.15,2.00,0.00,0.000,4,0.183,0.035,2544,937,3483,0,0,0,0,0,0
$GC,5969,-0.67,-116.7,448.2,-7.3,449,5976,0.00,2.03,0.00,0.000,6,0.000,0.028,2544,2297,3484,0,0,0,0,0,0
$GC,6283,-0.67,-116.7,468.0,-6.2,460,6287,0.00,2.08,0.00,0.000,4,0.000,0.041,2544,3698,3483,0,0,0,0,0,0
$GC,6394,-0.70,-116.7,475.4,-6.8,463,6398,0.00,1.98,0.00,0.000,6,0.000,0.024,2544,2299,3483,0,0,0,0,0,0
$GC,6718,-0.70,-116.7,496.6,-6.6,474,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2297,3482,0,0,0,0,0,0
$GC,7022,-0.70,-116.7,516.3,-6.4,480,7026,0.00,2.12,0.00,0.000,4,0.000,0.041,2544,3704,3481,0,0,0,0,0,0
$GC,7071,-0.73,-116.7,519.8,-7.3,480,7075,0.00,2.03,0.00,0.000,6,0.000,0.024,2544,2311,3480,0,0,0,0,0,0
$GC,7386,-0.73,-116.7,540.8,-6.8,486,7390,0.00,2.10,0.00,0.000,4,0.000,0.041,2543,3697,3480,0,0,0,0,0,0
$GC,7441,-0.77,-116.7,544.6,-7.0,486,7447,0.00,2.00,0.00,0.000,6,0.000,0.025,2544,2292,3479,0,0,0,0,0,0
$GC,7751,-0.77,-116.7,564.2,-6.4,492,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2292,3478,0,0,0,0,0,0
$GC,8053,-0.77,-116.7,583.8,-6.5,497,8057,0.00,2.12,0.00,0.000,4,0.000,0.041,2544,3697,3477,0,0,0,0,0,0
$GC,8125,-0.81,-116.7,588.7,-7.0,498,8129,0.12,2.00,0.00,0.000,6,0.140,0.025,2503,2290,3477,0,0,0,0,0,0
$GC,8484,-0.75,-116.7,618.0,-8.2,504,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2290,3476,0,0,0,0,0,0
$GC,8787,-0.69,-116.7,642.5,-8.1,509,8789,0.15,0.00,0.00,0.000,6,0.179,0.000,2542,2287,3475,0,0,0,0,0,0
$GC,9090,-0.69,-116.7,661.7,-6.2,514,9094,0.00,2.12,0.00,0.000,4,0.000,0.042,2542,3697,3474,0,0,0,0,0,0
$GC,9146,-0.72,-116.7,665.3,-6.4,514,9150,0.00,2.03,0.00,0.000,6,0.000,0.025,2543,2312,3474,0,0,0,0,0,0
$GC,9460,-0.72,-116.7,684.5,-6.1,520,9461,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2311,3473,0,0,0,0,0,0
$GC,9763,-0.72,-116.7,703.3,-6.2,525,9767,0.00,2.12,0.00,0.000,4,0.000,0.042,2543,3702,3472,0,0,0,0,0,0
$GC,9863,-0.77,-116.7,709.5,-6.7,526,9867,0.00,2.03,0.00,0.000,6,0.000,0.025,2543,2293,3471,0,0,0,0,0,0
$GC,10200,-0.77,-116.7,728.8,-5.7,532,10204,0.00,2.15,0.00,0.000,4,0.000,0.042,2543,3701,3471,0,0,0,0,0,0
$GC,10256,-0.81,-116.7,732.2,-6.5,532,10262,0.12,2.03,0.00,0.000,6,0.140,0.025,2502,2290,3471,0,0,0,0,0,0
$GC,10565,-0.75,-116.7,753.8,-7.1,538,10568,0.00,2.03,0.00,0.000,4,0.000,0.039,2502,926,3470,0,0,0,0,0,0
$GC,10615,-0.68,-116.7,757.7,-7.5,538,10620,0.15,2.05,0.00,0.000,6,0.186,0.031,2541,2309,3470,0,0,0,0,0,0
$GC,10930,-0.68,-116.7,776.4,-6.0,544,10934,0.00,2.08,0.00,0.000,4,0.000,0.042,2541,3700,3469,0,0,0,0,0,0
$GC,10997,-0.72,-116.7,780.7,-5.9,545,11001,0.00,2.00,0.00,0.000,6,0.000,0.026,2542,2305,3469,0,0,0,0,0,0
$GC,11369,-0.75,-116.7,802.4,-5.7,551,11373,0.00,2.12,0.00,0.000,4,0.000,0.043,2541,3698,3468,0,0,0,0,0,0
$GC,11419,-0.79,-116.7,805.4,-6.4,551,11422,0.00,2.03,0.00,0.000,6,0.000,0.026,2542,2293,3468,0,0,0,0,0,0
$GC,11734,-0.82,-116.7,824.2,-6.0,557,11739,0.12,2.17,0.00,0.000,4,0.139,0.044,2501,3704,3467,0,0,0,0,0,0
$GC,11795,-0.78,-116.7,828.8,-7.7,558,11799,0.00,2.03,0.00,0.000,6,0.000,0.026,2501,2306,3468,0,0,0,0,0,0
$GC,12167,-0.72,-116.7,858.9,-8.2,564,12169,0.12,0.00,0.00,0.000,6,0.192,0.000,2532,2298,3467,0,0,0,0,0,0
$GC,12469,-0.72,-116.7,880.8,-7.2,569,12473,0.00,2.15,0.00,0.000,4,0.000,0.044,2532,3707,3467,0,0,0,0,0,0
$GC,12518,-0.72,-116.7,884.7,-7.9,569,12522,0.00,2.08,0.00,0.000,6,0.000,0.026,2533,2301,3466,0,0,0,0,0,0
$GC,12833,-0.72,-116.7,908.0,-7.4,575,12834,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2299,3466,0,0,0,0,0,0
$GC,13137,-0.72,-116.7,930.7,-7.5,580,13140,0.00,2.17,0.00,0.000,4,0.000,0.044,2533,3702,3466,0,0,0,0,0,0
$GC,13225,-0.72,-116.7,937.6,-7.9,581,13229,0.00,2.08,0.00,0.000,6,0.000,0.026,2533,2299,3466,0,0,0,0,0,0
$GC,13568,-0.72,-116.7,962.7,-7.3,587,13572,0.00,2.15,0.00,0.000,4,0.000,0.044,2533,3702,3465,0,0,0,0,0,0
$GC,13623,-0.75,-116.7,966.6,-7.3,587,13630,0.00,2.05,0.00,0.000,6,0.000,0.026,2533,2289,3465,0,0,0,0,0,0
$GC,13932,-0.75,-116.7,988.8,-7.2,593,13935,0.00,2.15,0.00,0.000,4,0.000,0.043,2533,3697,3464,0,0,0,0,0,0
$STATE,13951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13951,begin apogee
$GC,13958,-0.24,0.0,990.3,7.2,593,14060,0.47,0.00,98.62,1.546,6,0.159,0.000,2678,2631,3006,0,0,0,0,0,0
$STATE,14060,end apogee,CONTROL_FINISHED_OK
$STATE,14060,begin climb
$GC,14062,0.80,116.7,994.3,0.0,595,14180,1.05,2.50,106.93,1.446,4,0.112,0.044,3006,4032,2528,0,0,0,0,0,0
$GC,14225,0.58,116.7,989.2,8.2,597,14230,0.25,2.17,0.00,0.000,6,0.173,0.026,2954,2660,2524,0,0,0,0,0,0
$GC,14551,0.56,144.5,970.5,5.8,603,14580,0.00,2.25,24.60,1.427,4,0.000,0.046,2953,4035,2416,0,0,0,0,0,0
$GC,14592,0.54,164.9,967.9,6.1,603,14616,0.00,2.15,19.80,1.369,6,0.000,0.027,2962,2647,2333,0,0,0,0,0,0
$GC,14977,0.54,164.9,941.0,7.0,610,14981,0.00,2.20,0.00,0.000,4,0.000,0.045,2961,4039,2325,0,0,0,0,0,0
$GC,14998,0.48,164.9,939.2,7.6,610,15003,0.17,2.10,0.00,0.000,6,0.178,0.027,2927,2631,2324,0,0,0,0,0,0
$GC,15336,0.56,185.9,918.7,6.0,616,15356,0.00,0.00,18.50,1.430,6,0.000,0.000,2927,2631,2248,0,0,0,0,0,0
$GC,15638,0.63,195.8,899.1,6.5,621,15651,0.12,0.00,10.32,1.365,6,0.119,0.000,2971,2630,2206,0,0,0,0,0,0
$GC,15941,0.63,195.8,875.5,7.8,626,15945,0.00,2.20,0.00,0.000,4,0.000,0.045,2967,4044,2203,0,0,0,0,0,0
$GC,15962,0.59,195.8,873.6,8.7,626,15966,0.00,2.10,0.00,0.000,6,0.000,0.028,2975,2656,2203,0,0,0,0,0,0
$GC,16305,0.59,195.8,846.1,8.0,632,16309,0.00,2.15,0.00,0.000,4,0.000,0.046,2975,4038,2203,0,0,0,0,0,0
$GC,16326,0.53,195.8,844.2,8.8,632,16331,0.17,2.05,0.00,0.000,6,0.176,0.028,2939,2647,2203,0,0,0,0,0,0
$GC,16669,0.58,202.9,821.1,6.6,638,16678,0.00,0.00,7.55,1.315,6,0.000,0.000,2940,2646,2178,0,0,0,0,0,0
$GC,16972,0.63,205.5,800.8,6.8,643,16976,0.00,2.17,0.00,0.000,4,0.000,0.046,2939,4047,2176,0,0,0,0,0,0
$GC,17004,0.63,205.5,798.3,7.6,643,17014,0.00,2.10,4.05,0.986,6,0.000,0.028,2946,2650,2167,0,0,0,0,0,0
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$STATE,26988,end climb,SURFACE_DEPTH_REACHED
$STATE,26988,begin surface coast
$FINISH,2.9,1.027306
$STATE,27034,end surface coast,CONTROL_FINISHED_OK
$STATE,27034,begin surface
$SM_CCo,27050,43.80,0.773,0,0,1884,275.23
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$IRIDIUM_FIX,6332.30,147.70,040399,060658
$TT8_MAMPS,0.027612
$HUMID,1078363216
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,22.5,37.992
$10V_AH,9.9,25.108
$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
$DEVICE_SECS,21.400,184.325,307.850,43.800,0.000,82.002,118.583,390.743,0.000,0.000,15.497,2382.021,21494.506,512.068,2658.712,897.886,0.000,1826.050,0.000,2626.364,0.000,0.535,0.000
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$SENSOR_SECS,794.107,1037.902,620.129,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235052
$DATA_FILE_SIZE,66481,1151
$CAP_FILE_SIZE,215264,0
$CFSIZE,260165632,235982848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081, 36.9,1
$GPS,081209,143006,6359.487,142.551,34,1.6,35,-4.1