version: 66.06
glider: 140
mission: 8
dive: 255
start: 12 16 109 14 47 33
data:
$ID,140
$MISSION,8
$DIVE,255
$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,-49023.227
$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,54
$R_STBD_OVSHOOT,45
$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
$GPS1,144016,6447.497,-19.234,28,1.9,39,-5.4
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,3.80
$_SM_ANGLEo,-59.4
$GPS2,144712,6447.487,-19.244,11,1.9,21,-5.4
$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,322.6,46748,-13.7,-6.875
$D_GRID,2754
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.80,-116.7,0.0,0.0,0,25,0.00,0.00,-7.68,0.000,2,0.000,0.000,215,2311,1924,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.7,-0.0,1,127,9.02,2.17,-83.95,0.000,4,0.234,0.054,2504,3708,3482,0,0,0,0,0,0
$GC,365,-0.71,-116.7,24.9,-11.3,61,372,0.12,2.10,0.00,0.000,6,0.191,0.024,2537,2256,3483,0,0,0,0,0,0
$GC,703,-0.71,-116.7,49.2,-7.6,122,710,0.00,2.00,0.00,0.000,4,0.000,0.036,2537,937,3484,0,0,0,0,0,0
$GC,756,-0.68,-116.7,52.4,-6.0,131,762,0.00,2.05,0.00,0.000,6,0.000,0.029,2537,2316,3484,0,0,0,0,0,0
$GC,1097,-0.68,-116.7,76.1,-8.9,192,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2317,3484,0,0,0,0,0,0
$GC,1441,-0.68,-116.7,107.8,-9.4,253,1448,0.00,2.10,0.00,0.000,4,0.000,0.035,2537,923,3485,0,0,0,0,0,0
$GC,1516,-0.63,-116.7,113.9,-8.4,266,1522,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2315,3485,0,0,0,0,0,0
$GC,1847,-0.63,-116.7,143.9,-7.4,290,1851,0.00,2.05,0.00,0.000,4,0.000,0.039,2537,3699,3485,0,0,0,0,0,0
$GC,1919,-0.63,-116.7,149.4,-6.6,293,1923,0.00,2.03,0.00,0.000,6,0.000,0.023,2537,2299,3485,0,0,0,0,0,0
$GC,2242,-0.63,-116.7,171.4,-7.3,309,2246,0.00,2.00,0.00,0.000,4,0.000,0.034,2537,932,3485,0,0,0,0,0,0
$GC,2314,-0.59,-116.7,177.3,-8.4,312,2319,0.10,2.05,0.00,0.000,6,0.176,0.028,2568,2299,3485,0,0,0,0,0,0
$GC,2642,-0.64,-116.7,197.9,-6.3,328,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2299,3486,0,0,0,0,0,0
$GC,2950,-0.70,-116.7,217.5,-6.2,343,2954,0.00,2.10,0.00,0.000,4,0.000,0.040,2568,3698,3486,0,0,0,0,0,0
$GC,3035,-0.78,-116.7,223.1,-6.6,347,3040,0.17,2.00,0.00,0.000,6,0.117,0.023,2510,2279,3485,0,0,0,0,0,0
$GC,3362,-0.72,-116.7,250.2,-8.6,363,3366,0.00,1.98,0.00,0.000,4,0.000,0.035,2510,934,3485,0,0,0,0,0,0
$GC,3418,-0.64,-116.7,255.6,-9.8,365,3422,0.17,2.05,0.00,0.000,6,0.192,0.028,2555,2306,3485,0,0,0,0,0,0
$GC,3738,-0.67,-116.7,278.2,-6.9,381,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2306,3485,0,0,0,0,0,0
$GC,4047,-0.72,-116.7,300.2,-7.3,396,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2306,3486,0,0,0,0,0,0
$GC,4355,-0.75,-116.7,321.3,-6.7,406,4358,0.00,2.08,0.00,0.000,4,0.000,0.041,2555,3706,3485,0,0,0,0,0,0
$GC,4451,-0.81,-116.7,327.8,-6.5,409,4456,0.15,1.98,0.00,0.000,6,0.128,0.024,2505,2304,3485,0,0,0,0,0,0
$GC,4785,-0.75,-116.7,355.4,-8.2,420,4788,0.00,2.03,0.00,0.000,4,0.000,0.036,2505,933,3484,0,0,0,0,0,0
$GC,4891,-0.67,-116.7,364.7,-8.8,423,4896,0.15,2.03,0.00,0.000,6,0.196,0.028,2542,2311,3484,0,0,0,0,0,0
$GC,5220,-0.67,-116.7,386.6,-6.6,434,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2311,3483,0,0,0,0,0,0
$GC,5526,-0.67,-116.7,406.9,-6.6,444,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2311,3483,0,0,0,0,0,0
$GC,5832,-0.67,-116.7,426.5,-6.3,454,5836,0.00,2.08,0.00,0.000,4,0.000,0.041,2542,3705,3481,0,0,0,0,0,0
$GC,5882,-0.71,-116.7,429.9,-6.6,455,5886,0.00,2.03,0.00,0.000,6,0.000,0.025,2543,2312,3482,0,0,0,0,0,0
$GC,6206,-0.71,-116.7,450.7,-6.5,466,6208,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2310,3480,0,0,0,0,0,0
$GC,6511,-0.71,-116.7,472.3,-7.2,476,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2310,3479,0,0,0,0,0,0
$GC,6818,-0.71,-116.7,494.4,-7.3,486,6822,0.00,2.12,0.00,0.000,4,0.000,0.041,2543,3706,3479,0,0,0,0,0,0
$GC,6880,-0.74,-116.7,499.0,-7.6,488,6884,0.00,2.03,0.00,0.000,6,0.000,0.025,2543,2298,3478,0,0,0,0,0,0
$GC,7217,-0.74,-116.7,524.1,-7.5,494,7218,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2297,3477,0,0,0,0,0,0
$GC,7519,-0.74,-116.7,546.5,-7.3,499,7523,0.00,2.12,0.00,0.000,4,0.000,0.042,2543,3697,3477,0,0,0,0,0,0
$GC,7575,-0.78,-116.7,550.6,-7.4,499,7580,0.00,2.03,0.00,0.000,6,0.000,0.025,2542,2309,3477,0,0,0,0,0,0
$GC,7884,-0.78,-116.7,572.0,-6.9,505,7885,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2309,3476,0,0,0,0,0,0
$GC,8188,-0.81,-116.7,592.8,-6.8,510,8193,0.12,2.12,0.00,0.000,4,0.146,0.042,2502,3696,3475,0,0,0,0,0,0
$GC,8249,-0.76,-116.7,597.8,-8.5,511,8253,0.00,2.03,0.00,0.000,6,0.000,0.025,2502,2289,3475,0,0,0,0,0,0
$GC,8615,-0.71,-116.7,627.3,-8.0,517,8619,0.12,2.08,0.00,0.000,4,0.190,0.038,2534,912,3474,0,0,0,0,0,0
$GC,8682,-0.71,-116.7,632.3,-6.9,518,8686,0.00,2.05,0.00,0.000,6,0.000,0.031,2533,2299,3474,0,0,0,0,0,0
$GC,9048,-0.71,-116.7,656.1,-6.4,524,9052,0.00,2.10,0.00,0.000,4,0.000,0.042,2534,3705,3473,0,0,0,0,0,0
$GC,9102,-0.71,-116.7,659.8,-6.5,524,9108,0.00,2.05,0.00,0.000,6,0.000,0.025,2533,2303,3473,0,0,0,0,0,0
$GC,9412,-0.71,-116.7,678.5,-6.1,530,9414,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2302,3472,0,0,0,0,0,0
$GC,9715,-0.71,-116.7,696.8,-6.1,535,9716,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2302,3472,0,0,0,0,0,0
$GC,10018,-0.71,-116.7,715.9,-6.3,540,10022,0.00,2.15,0.00,0.000,4,0.000,0.043,2533,3708,3472,0,0,0,0,0,0
$GC,10090,-0.74,-116.7,720.4,-6.3,541,10094,0.00,2.05,0.00,0.000,6,0.000,0.026,2534,2292,3471,0,0,0,0,0,0
$GC,10455,-0.74,-116.7,742.9,-6.2,547,10457,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2289,3471,0,0,0,0,0,0
$GC,10758,-0.74,-116.7,761.2,-6.0,552,10762,0.00,2.15,0.00,0.000,4,0.000,0.043,2533,3697,3470,0,0,0,0,0,0
$GC,10836,-0.78,-116.7,765.9,-5.9,553,10839,0.00,2.03,0.00,0.000,6,0.000,0.026,2534,2295,3470,0,0,0,0,0,0
$GC,11190,-0.78,-116.7,786.4,-5.9,559,11191,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2292,3470,0,0,0,0,0,0
$GC,11493,-0.78,-116.7,804.1,-5.8,564,11496,0.00,2.15,0.00,0.000,4,0.000,0.043,2533,3700,3469,0,0,0,0,0,0
$GC,11571,-0.81,-116.7,808.7,-5.7,565,11575,0.00,2.03,0.00,0.000,6,0.000,0.026,2534,2304,3469,0,0,0,0,0,0
$GC,11924,-0.81,-116.7,828.8,-5.7,571,11925,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2296,3469,0,0,0,0,0,0
$GC,12227,-0.81,-116.7,846.8,-5.9,576,12231,0.00,2.15,0.00,0.000,4,0.000,0.044,2534,3698,3469,0,0,0,0,0,0
$GC,12311,-0.85,-116.7,852.2,-7.1,577,12316,0.12,2.05,0.00,0.000,6,0.143,0.026,2493,2283,3469,0,0,0,0,0,0
$GC,12653,-0.78,-116.7,878.1,-7.7,583,12654,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2281,3468,0,0,0,0,0,0
$GC,12956,-0.72,-116.7,902.6,-8.1,588,12958,0.12,0.00,0.00,0.000,6,0.189,0.000,2525,2279,3468,0,0,0,0,0,0
$GC,13259,-0.72,-116.7,924.0,-7.0,593,13263,0.00,2.17,0.00,0.000,4,0.000,0.044,2525,3699,3467,0,0,0,0,0,0
$GC,13322,-0.72,-116.7,928.4,-6.9,594,13326,0.00,2.05,0.00,0.000,6,0.000,0.026,2525,2289,3467,0,0,0,0,0,0
$GC,13692,-0.72,-116.7,955.3,-7.3,600,13693,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2287,3467,0,0,0,0,0,0
$GC,13995,-0.72,-116.7,977.2,-7.2,605,13999,0.00,2.15,0.00,0.000,4,0.000,0.043,2525,3697,3467,0,0,0,0,0,0
$GC,14067,-0.72,-116.7,982.6,-7.2,606,14072,0.00,2.08,0.00,0.000,6,0.000,0.026,2525,2296,3467,0,0,0,0,0,0
$STATE,14183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14184,begin apogee
$GC,14189,-0.24,0.0,990.9,7.3,608,14293,0.52,0.00,100.95,1.552,6,0.167,0.000,2680,2654,3006,0,0,0,0,0,0
$STATE,14294,end apogee,CONTROL_FINISHED_OK
$STATE,14294,begin climb
$GC,14296,0.80,116.7,993.3,0.0,609,14414,1.05,2.42,108.75,1.460,4,0.111,0.045,3007,4031,2529,0,0,0,0,0,0
$GC,14482,0.59,116.7,988.6,8.1,611,14488,0.22,2.17,0.00,0.000,6,0.175,0.026,2961,2654,2523,0,0,0,0,0,0
$GC,14791,0.59,148.5,971.1,5.6,617,14825,0.00,2.33,28.20,1.439,4,0.000,0.046,2961,4036,2399,0,0,0,0,0,0
$GC,14843,0.54,163.2,967.7,6.3,617,14864,0.00,2.15,15.27,1.359,6,0.000,0.027,2969,2644,2340,0,0,0,0,0,0
$GC,15225,0.51,165.4,941.9,6.8,624,15230,0.15,2.22,0.00,0.000,4,0.181,0.045,2928,4049,2332,0,0,0,0,0,0
$GC,15259,0.52,174.1,939.6,6.5,624,15274,0.00,2.10,10.07,1.374,6,0.000,0.028,2937,2647,2296,0,0,0,0,0,0
$GC,15584,0.60,202.5,920.8,5.7,630,15613,0.00,0.00,27.33,1.434,6,0.000,0.000,2937,2648,2180,0,0,0,0,0,0
$GC,15886,0.68,214.3,901.6,6.4,635,15901,0.12,0.00,11.85,1.381,6,0.114,0.000,2983,2644,2132,0,0,0,0,0,0
$GC,16189,0.68,214.3,876.3,8.5,640,16193,0.00,2.17,0.00,0.000,4,0.000,0.045,2983,4040,2128,0,0,0,0,0,0
$GC,16221,0.60,214.3,873.2,9.5,640,16226,0.08,2.10,0.00,0.000,6,0.163,0.027,2968,2648,2128,0,0,0,0,0,0
$GC,16553,0.60,214.3,847.2,7.8,646,16557,0.00,2.17,0.00,0.000,4,0.000,0.045,2967,4040,2126,0,0,0,0,0,0
$GC,16563,0.60,214.3,846.3,7.8,646,16567,0.00,2.10,0.00,0.000,6,0.000,0.028,2975,2649,2126,0,0,0,0,0,0
$GC,16922,0.60,214.3,816.4,8.4,652,16926,0.00,2.15,0.00,0.000,4,0.000,0.045,2975,4040,2126,0,0,0,0,0,0
$GC,16938,0.60,214.3,814.9,8.6,652,16942,0.00,2.10,0.00,0.000,6,0.000,0.027,2983,2644,2125,0,0,0,0,0,0
$GC,17287,0.60,214.3,783.4,9.0,658,17291,0.00,2.15,0.00,0.000,4,0.000,0.045,2980,4042,2125,0,0,0,0,0,0
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$GC,22164,0.71,242.5,390.0,8.0,762,22168,0.00,2.15,0.00,0.000,4,0.000,0.045,2974,4043,2010,0,0,0,0,0,0
$GC,22190,0.71,242.5,387.6,7.8,762,22197,0.00,2.10,0.00,0.000,6,0.000,0.028,2974,2649,2010,0,0,0,0,0,0
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$STATE,26608,end climb,SURFACE_DEPTH_REACHED
$STATE,26608,begin surface coast
$FINISH,3.1,1.027472
$STATE,26653,end surface coast,CONTROL_FINISHED_OK
$STATE,26653,begin surface
$SM_CCo,26730,0.00,0.000,0,0,1790,298.28
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$HUMID,1078378700
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,14.00
$XPDR_PINGS,1
$24V_AH,22.2,42.120
$10V_AH,9.8,28.047
$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
$DEVICE_SECS,22.025,198.450,374.325,0.000,0.000,28.955,47.283,201.754,0.250,0.000,21.788,2362.072,20935.951,538.692,2707.504,587.733,0.000,1890.663,0.000,2674.578,0.000,0.534,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241332
$DATA_FILE_SIZE,63211,1139
$CAP_FILE_SIZE,213873,0
$CFSIZE,260165632,233709568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.048,146.2,1
$GPS,161209,221407,6449.105,-23.753,29,2.0,30,-5.4