version: 66.06
glider: 140
mission: 8
dive: 239
start: 12 11 109 12 11 19
data:
$ID,140
$MISSION,8
$DIVE,239
$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,-48708.91
$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,72
$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
$GPS1,120431,6423.589,106.229,39,1.6,39,-4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.91
$_SM_ANGLEo,-66.8
$GPS2,121056,6423.586,106.286,12,1.4,12,-4.5
$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,313.1,125964,-13.7,-6.875
$D_GRID,2463
$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,-7.40,0.000,2,0.000,0.000,221,2296,2034,0,0,0,0,0,0
$GC,26,-0.80,-116.7,4.1,-0.0,1,122,9.10,2.17,-77.20,0.000,4,0.239,0.050,2503,911,3482,0,0,0,0,0,0
$GC,278,-0.69,-116.7,19.0,-10.3,46,285,0.10,2.12,0.00,0.000,6,0.180,0.028,2534,2307,3484,0,0,0,0,0,0
$GC,617,-0.66,-116.7,48.2,-8.6,107,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2307,3484,0,0,0,0,0,0
$GC,957,-0.62,-116.7,76.4,-8.0,168,964,0.10,0.00,0.00,0.000,6,0.206,0.000,2559,2307,3485,0,0,0,0,0,0
$GC,1299,-0.62,-116.7,99.9,-6.6,229,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2307,3485,0,0,0,0,0,0
$GC,1652,-0.62,-116.7,125.1,-7.7,284,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2307,3486,0,0,0,0,0,0
$GC,1962,-0.62,-116.7,148.6,-7.2,299,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2307,3486,0,0,0,0,0,0
$GC,2271,-0.65,-116.7,172.1,-7.6,314,2275,0.00,2.10,0.00,0.000,4,0.000,0.041,2559,3711,3486,0,0,0,0,0,0
$GC,2355,-0.69,-116.7,178.6,-7.6,318,2359,0.00,2.05,0.00,0.000,6,0.000,0.024,2559,2281,3486,0,0,0,0,0,0
$GC,2687,-0.73,-116.7,201.7,-6.9,334,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2279,3487,0,0,0,0,0,0
$GC,2996,-0.77,-116.7,223.1,-6.9,349,3001,0.12,2.17,0.00,0.000,4,0.143,0.041,2518,3701,3487,0,0,0,0,0,0
$GC,3040,-0.73,-116.7,226.7,-8.5,351,3044,0.00,2.00,0.00,0.000,6,0.000,0.024,2518,2298,3486,0,0,0,0,0,0
$GC,3366,-0.69,-116.7,252.8,-7.9,367,3370,0.00,2.03,0.00,0.000,4,0.000,0.036,2518,926,3487,0,0,0,0,0,0
$GC,3461,-0.63,-116.7,260.6,-7.9,371,3466,0.08,2.08,0.00,0.000,6,0.149,0.028,2554,2308,3486,0,0,0,0,0,0
$GC,3789,-0.66,-116.7,282.6,-6.9,387,3793,0.00,2.08,0.00,0.000,4,0.000,0.041,2555,3699,3486,0,0,0,0,0,0
$GC,3895,-0.72,-116.7,290.2,-7.2,391,3902,0.00,2.03,0.00,0.000,6,0.000,0.024,2555,2302,3486,0,0,0,0,0,0
$GC,4230,-0.76,-116.7,312.0,-6.3,405,4235,0.10,2.12,0.00,0.000,4,0.148,0.042,2523,3697,3486,0,0,0,0,0,0
$GC,4296,-0.76,-116.7,317.1,-7.8,407,4300,0.00,2.03,0.00,0.000,6,0.000,0.024,2523,2309,3486,0,0,0,0,0,0
$GC,4631,-0.76,-116.7,343.1,-7.7,418,4635,0.00,2.05,0.00,0.000,4,0.000,0.037,2523,919,3485,0,0,0,0,0,0
$GC,4708,-0.72,-116.7,349.6,-8.3,420,4713,0.00,2.08,0.00,0.000,6,0.000,0.029,2523,2305,3485,0,0,0,0,0,0
$GC,5032,-0.72,-116.7,375.8,-8.1,431,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2305,3485,0,0,0,0,0,0
$GC,5338,-0.72,-116.7,398.8,-7.3,441,5342,0.00,2.10,0.00,0.000,4,0.000,0.038,2523,908,3484,0,0,0,0,0,0
$GC,5399,-0.68,-116.7,403.4,-8.0,442,5405,0.00,2.05,0.00,0.000,6,0.000,0.029,2523,2301,3484,0,0,0,0,0,0
$GC,5711,-0.68,-116.7,424.2,-6.4,453,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2301,3483,0,0,0,0,0,0
$GC,6018,-0.68,-116.7,443.8,-6.2,463,6022,0.00,2.08,0.00,0.000,4,0.000,0.043,2523,3699,3482,0,0,0,0,0,0
$GC,6067,-0.68,-116.7,447.2,-6.9,464,6071,0.00,2.05,0.00,0.000,6,0.000,0.025,2523,2293,3482,0,0,0,0,0,0
$GC,6385,-0.68,-116.7,468.7,-6.8,475,6386,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2292,3481,0,0,0,0,0,0
$GC,6691,-0.68,-116.7,490.0,-7.1,485,6692,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2292,3480,0,0,0,0,0,0
$GC,7026,-0.68,-116.7,513.8,-7.1,493,7030,0.00,2.15,0.00,0.000,4,0.000,0.043,2523,3704,3479,0,0,0,0,0,0
$GC,7069,-0.68,-116.7,517.1,-7.1,493,7074,0.00,2.05,0.00,0.000,6,0.000,0.025,2523,2305,3479,0,0,0,0,0,0
$GC,7390,-0.68,-116.7,539.5,-7.0,499,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2304,3478,0,0,0,0,0,0
$GC,7693,-0.68,-116.7,560.5,-6.9,504,7694,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2304,3478,0,0,0,0,0,0
$GC,7996,-0.68,-116.7,581.3,-6.9,509,7997,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2304,3477,0,0,0,0,0,0
$GC,8299,-0.68,-116.7,602.9,-7.2,514,8303,0.00,2.12,0.00,0.000,4,0.000,0.043,2523,3698,3477,0,0,0,0,0,0
$GC,8348,-0.68,-116.7,606.6,-7.8,514,8352,0.00,2.05,0.00,0.000,6,0.000,0.026,2524,2303,3476,0,0,0,0,0,0
$GC,8663,-0.68,-116.7,629.7,-7.4,520,8667,0.00,2.08,0.00,0.000,4,0.000,0.039,2523,912,3475,0,0,0,0,0,0
$GC,8712,-0.65,-116.7,633.7,-8.7,520,8717,0.12,2.10,0.00,0.000,6,0.201,0.031,2554,2302,3475,0,0,0,0,0,0
$GC,9028,-0.70,-116.7,654.4,-6.6,526,9031,0.00,2.10,0.00,0.000,4,0.000,0.044,2554,3702,3475,0,0,0,0,0,0
$GC,9111,-0.77,-116.7,660.1,-6.7,527,9116,0.12,2.03,0.00,0.000,6,0.138,0.026,2515,2295,3475,0,0,0,0,0,0
$GC,9453,-0.77,-116.7,686.6,-7.8,533,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2293,3474,0,0,0,0,0,0
$GC,9756,-0.77,-116.7,710.5,-7.9,538,9757,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2293,3474,0,0,0,0,0,0
$GC,10059,-0.77,-116.7,733.8,-7.6,543,10063,0.00,2.15,0.00,0.000,4,0.000,0.044,2515,3699,3473,0,0,0,0,0,0
$GC,10102,-0.77,-116.7,737.2,-8.2,543,10106,0.00,2.08,0.00,0.000,6,0.000,0.026,2515,2301,3473,0,0,0,0,0,0
$GC,10422,-0.77,-116.7,760.4,-7.3,549,10423,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2299,3472,0,0,0,0,0,0
$GC,10725,-0.77,-116.7,782.2,-7.2,554,10727,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2299,3472,0,0,0,0,0,0
$GC,11028,-0.77,-116.7,804.4,-7.4,559,11032,0.00,2.15,0.00,0.000,4,0.000,0.044,2515,3699,3472,0,0,0,0,0,0
$GC,11082,-0.77,-116.7,808.6,-7.1,559,11090,0.00,2.08,0.00,0.000,6,0.000,0.026,2515,2298,3472,0,0,0,0,0,0
$GC,11392,-0.77,-116.7,830.7,-7.1,565,11393,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2298,3471,0,0,0,0,0,0
$GC,11695,-0.77,-116.7,852.3,-7.2,570,11696,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2298,3471,0,0,0,0,0,0
$GC,11998,-0.77,-116.7,873.6,-7.0,575,12002,0.00,2.15,0.00,0.000,4,0.000,0.044,2515,3698,3471,0,0,0,0,0,0
$GC,12042,-0.77,-116.7,876.8,-6.6,575,12046,0.00,2.08,0.00,0.000,6,0.000,0.026,2515,2298,3470,0,0,0,0,0,0
$GC,12362,-0.77,-116.7,898.2,-6.7,581,12364,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2297,3470,0,0,0,0,0,0
$GC,12665,-0.77,-116.7,917.6,-6.4,586,12666,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2297,3470,0,0,0,0,0,0
$GC,12968,-0.77,-116.7,937.3,-6.5,591,12972,0.00,2.15,0.00,0.000,4,0.000,0.044,2515,3699,3470,0,0,0,0,0,0
$GC,13018,-0.77,-116.7,940.7,-6.3,591,13022,0.00,2.05,0.00,0.000,6,0.000,0.027,2515,2290,3469,0,0,0,0,0,0
$GC,13333,-0.77,-116.7,961.9,-6.8,597,13334,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2288,3469,0,0,0,0,0,0
$GC,13636,-0.77,-116.7,982.1,-6.7,602,13640,0.00,2.17,0.00,0.000,4,0.000,0.044,2515,3705,3469,0,0,0,0,0,0
$GC,13684,-0.77,-116.7,985.4,-7.2,602,13689,0.00,2.08,0.00,0.000,6,0.000,0.027,2515,2306,3469,0,0,0,0,0,0
$STATE,13755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13756,begin apogee
$GC,13761,-0.24,0.0,990.1,6.6,604,13865,0.57,0.00,100.53,1.544,6,0.166,0.000,2682,2647,3006,0,0,0,0,0,0
$STATE,13865,end apogee,CONTROL_FINISHED_OK
$STATE,13866,begin climb
$GC,13867,0.80,116.7,991.8,0.0,605,13984,1.05,2.40,107.85,1.451,4,0.114,0.046,3006,4036,2529,0,0,0,0,0,0
$GC,14063,0.58,116.7,983.5,8.7,608,14067,0.22,2.20,0.00,0.000,6,0.176,0.026,2960,2644,2523,0,0,0,0,0,0
$GC,14428,0.54,116.7,958.1,6.9,614,14432,0.00,2.25,0.00,0.000,4,0.000,0.045,2953,4049,2519,0,0,0,0,0,0
$GC,14454,0.45,116.7,956.0,7.0,614,14459,0.17,2.15,0.00,0.000,6,0.179,0.028,2917,2647,2519,0,0,0,0,0,0
$GC,14798,0.53,152.0,936.8,5.5,620,14830,0.00,0.00,30.65,1.453,6,0.000,0.000,2917,2647,2386,0,0,0,0,0,0
$GC,15101,0.63,178.0,919.2,5.8,625,15127,0.15,0.00,24.23,1.426,6,0.110,0.000,2970,2644,2280,0,0,0,0,0,0
$GC,15403,0.63,178.0,896.3,7.7,630,15404,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2644,2274,0,0,0,0,0,0
$GC,15706,0.63,178.0,872.7,7.8,635,15707,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2644,2273,0,0,0,0,0,0
$GC,16009,0.63,178.0,849.5,7.7,640,16010,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2644,2273,0,0,0,0,0,0
$GC,16312,0.63,178.0,826.0,7.7,645,16316,0.00,2.20,0.00,0.000,4,0.000,0.046,2966,4046,2272,0,0,0,0,0,0
$GC,16322,0.63,178.0,825.1,7.8,645,16327,0.00,2.10,0.00,0.000,6,0.000,0.028,2975,2654,2271,0,0,0,0,0,0
$GC,16682,0.63,178.0,796.8,7.9,651,16683,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2653,2271,0,0,0,0,0,0
$GC,16986,0.59,178.0,773.4,7.7,656,16987,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2653,2271,0,0,0,0,0,0
$GC,17288,0.59,178.0,749.9,7.7,661,17292,0.00,2.17,0.00,0.000,4,0.000,0.046,2975,4053,2270,0,0,0,0,0,0
$GC,17314,0.51,178.0,747.7,8.9,661,17319,0.20,2.10,0.00,0.000,6,0.183,0.028,2931,2619,2271,0,0,0,0,0,0
$GC,17652,0.60,196.4,726.6,6.1,667,17671,0.00,0.00,16.38,1.377,6,0.000,0.000,2931,2619,2205,0,0,0,0,0,0
$GC,17955,0.69,204.6,706.9,6.5,672,17967,0.17,0.00,9.02,1.282,6,0.109,0.000,2991,2616,2171,0,0,0,0,0,0
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$STATE,26529,end climb,SURFACE_DEPTH_REACHED
$STATE,26529,begin surface coast
$FINISH,3.2,1.025790
$STATE,26574,end surface coast,CONTROL_FINISHED_OK
$STATE,26575,begin surface
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$SM_GC,3.97,0.00,0.00,18.58,0.000,0.000,0.809,217,2280,1884,-7.96,-0.57,275.23
$IRIDIUM_FIX,6356.67,104.57,070399,040425
$TT8_MAMPS,0.027612
$HUMID,1078395474
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,14.50
$XPDR_PINGS,1
$24V_AH,22.3,39.613
$10V_AH,9.8,26.240
$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
$DEVICE_SECS,22.450,153.000,332.300,18.575,0.000,30.676,31.815,191.489,0.250,0.000,12.628,2282.913,21202.568,524.200,2445.412,530.169,0.000,1727.164,0.000,2428.049,0.000,0.534,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241388
$DATA_FILE_SIZE,63270,1127
$CAP_FILE_SIZE,194178,0
$CFSIZE,260165632,235130880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056, 55.7,1
$GPS,111209,193607,6425.916,101.898,39,1.0,40,-4.5