version: 66.06
glider: 140
mission: 8
dive: 55
start: 10 15 109 10 56 55
data:
$ID,140
$MISSION,8
$DIVE,55
$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,-45332.422
$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,66
$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
$GPS1,105006,6441.119,-7.293,37,1.7,43,-5.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,3.77
$_SM_ANGLEo,-61.3
$GPS2,105634,6441.139,-7.311,15,2.1,34,-5.2
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,INSHORE
$TGT_LATLONG,6300.600,352.100
$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,138.0,274156,-13.7,-6.875
$D_GRID,2679
$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,14,begin dive
$GC,16,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-6.00,0.000,2,0.000,0.000,220,2279,2006,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.9,-0.0,1,125,9.07,2.28,-80.00,0.000,4,0.252,0.059,2500,3715,3483,0,0,0,0,0,0
$GC,375,-0.67,-116.7,22.9,-10.6,63,382,0.17,2.08,0.00,0.000,6,0.196,0.025,2545,2276,3484,0,0,0,0,0,0
$GC,714,-0.62,-116.7,55.0,-8.7,124,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2274,3485,0,0,0,0,0,0
$GC,1045,-0.59,-116.7,84.1,-8.5,148,1050,0.10,2.20,0.00,0.000,4,0.213,0.051,2569,3709,3486,0,0,0,0,0,0
$GC,1065,-0.59,-116.7,85.8,-7.4,149,1070,0.00,2.05,0.00,0.000,6,0.000,0.025,2570,2313,3485,0,0,0,0,0,0
$GC,1395,-0.62,-116.7,108.8,-6.6,165,1398,0.00,2.08,0.00,0.000,4,0.000,0.038,2569,909,3486,0,0,0,0,0,0
$GC,1405,-0.62,-116.7,109.7,-6.7,165,1411,0.00,2.10,0.00,0.000,6,0.000,0.031,2570,2310,3486,0,0,0,0,0,0
$GC,1722,-0.65,-116.7,131.1,-6.5,181,1726,0.00,2.08,0.00,0.000,4,0.000,0.043,2570,3708,3486,0,0,0,0,0,0
$GC,1771,-0.70,-116.7,134.3,-6.1,183,1775,0.00,2.03,0.00,0.000,6,0.000,0.025,2570,2291,3486,0,0,0,0,0,0
$GC,2086,-0.73,-116.7,154.1,-6.3,198,2088,0.12,0.00,0.00,0.000,6,0.140,0.000,2530,2288,3487,0,0,0,0,0,0
$GC,2397,-0.69,-116.7,177.6,-7.2,213,2401,0.00,2.12,0.00,0.000,4,0.000,0.043,2530,3704,3487,0,0,0,0,0,0
$GC,2438,-0.64,-116.7,180.7,-7.2,215,2441,0.00,2.00,0.00,0.000,6,0.000,0.025,2529,2303,3487,0,0,0,0,0,0
$GC,2770,-0.60,-116.7,204.8,-7.6,231,2771,0.15,0.00,0.00,0.000,6,0.194,0.000,2568,2296,3487,0,0,0,0,0,0
$GC,3079,-0.63,-116.7,226.6,-7.2,246,3083,0.00,2.12,0.00,0.000,4,0.000,0.044,2568,3702,3487,0,0,0,0,0,0
$GC,3106,-0.67,-116.7,228.7,-7.2,247,3110,0.00,2.00,0.00,0.000,6,0.000,0.026,2568,2299,3487,0,0,0,0,0,0
$GC,3433,-0.72,-116.7,254.0,-7.8,263,3436,0.00,2.12,0.00,0.000,4,0.000,0.044,2568,3709,3486,0,0,0,0,0,0
$GC,3482,-0.78,-116.7,257.8,-7.8,265,3487,0.10,2.05,0.00,0.000,6,0.103,0.026,2515,2297,3486,0,0,0,0,0,0
$GC,3803,-0.70,-116.7,286.1,-8.6,281,3804,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2296,3486,0,0,0,0,0,0
$GC,4111,-0.63,-116.7,311.7,-8.3,294,4113,0.17,0.00,0.00,0.000,6,0.196,0.000,2560,2294,3485,0,0,0,0,0,0
$GC,4418,-0.63,-116.7,332.4,-6.5,304,4421,0.00,2.12,0.00,0.000,4,0.000,0.045,2560,3707,3485,0,0,0,0,0,0
$GC,4456,-0.66,-116.7,334.9,-6.3,305,4460,0.00,2.00,0.00,0.000,6,0.000,0.027,2560,2305,3484,0,0,0,0,0,0
$GC,4786,-0.69,-116.7,356.3,-6.9,316,4789,0.00,2.10,0.00,0.000,4,0.000,0.045,2560,3700,3483,0,0,0,0,0,0
$GC,4848,-0.74,-116.7,361.1,-8.0,318,4851,0.00,2.00,0.00,0.000,6,0.000,0.027,2560,2301,3483,0,0,0,0,0,0
$GC,5188,-0.78,-116.7,386.2,-7.5,329,5192,0.15,2.12,0.00,0.000,4,0.136,0.045,2513,3700,3483,0,0,0,0,0,0
$GC,5221,-0.71,-116.7,389.1,-9.4,330,5225,0.00,2.00,0.00,0.000,6,0.000,0.027,2513,2303,3482,0,0,0,0,0,0
$GC,5555,-0.64,-116.7,420.4,-9.4,341,5557,0.17,0.00,0.00,0.000,6,0.198,0.000,2558,2298,3482,0,0,0,0,0,0
$GC,5861,-0.64,-116.7,443.2,-7.2,351,5865,0.00,2.12,0.00,0.000,4,0.000,0.046,2558,3709,3481,0,0,0,0,0,0
$GC,5905,-0.68,-116.7,446.5,-7.5,352,5909,0.00,2.05,0.00,0.000,6,0.000,0.028,2558,2307,3481,0,0,0,0,0,0
$GC,6233,-0.72,-116.7,469.6,-6.9,363,6237,0.00,2.10,0.00,0.000,4,0.000,0.046,2558,3702,3480,0,0,0,0,0,0
$GC,6272,-0.76,-116.7,472.4,-6.6,364,6276,0.12,2.03,0.00,0.000,6,0.147,0.028,2519,2285,3480,0,0,0,0,0,0
$GC,6600,-0.71,-116.7,498.9,-8.0,375,6604,0.00,2.12,0.00,0.000,4,0.000,0.045,2519,3698,3479,0,0,0,0,0,0
$GC,6616,-0.66,-116.7,500.4,-7.9,375,6621,0.08,2.03,0.00,0.000,6,0.190,0.028,2553,2307,3479,0,0,0,0,0,0
$GC,6936,-0.66,-116.7,520.9,-6.3,381,6940,0.00,2.10,0.00,0.000,4,0.000,0.046,2553,3704,3479,0,0,0,0,0,0
$GC,6952,-0.66,-116.7,521.9,-6.1,381,6956,0.00,2.05,0.00,0.000,6,0.000,0.028,2554,2307,3478,0,0,0,0,0,0
$GC,7301,-0.66,-116.7,543.5,-6.2,387,7305,0.00,2.10,0.00,0.000,4,0.000,0.046,2554,3698,3478,0,0,0,0,0,0
$GC,7328,-0.69,-116.7,545.2,-6.4,387,7332,0.00,2.03,0.00,0.000,6,0.000,0.028,2554,2289,3477,0,0,0,0,0,0
$GC,7671,-0.69,-116.7,566.9,-6.5,393,7675,0.00,2.12,0.00,0.000,4,0.000,0.046,2554,3698,3477,0,0,0,0,0,0
$GC,7703,-0.72,-116.7,569.1,-6.7,393,7707,0.00,2.03,0.00,0.000,6,0.000,0.028,2554,2288,3476,0,0,0,0,0,0
$GC,8035,-0.72,-116.7,591.0,-6.6,399,8039,0.00,2.12,0.00,0.000,4,0.000,0.046,2554,3699,3476,0,0,0,0,0,0
$GC,8072,-0.76,-116.7,593.7,-7.3,399,8077,0.00,2.05,0.00,0.000,6,0.000,0.028,2554,2302,3476,0,0,0,0,0,0
$GC,8399,-0.79,-116.7,616.3,-7.0,405,8403,0.12,2.12,0.00,0.000,4,0.142,0.047,2515,3698,3476,0,0,0,0,0,0
$GC,8442,-0.74,-116.7,620.2,-9.1,405,8446,0.00,2.03,0.00,0.000,6,0.000,0.028,2514,2291,3475,0,0,0,0,0,0
$GC,8763,-0.68,-116.7,647.7,-8.6,411,8766,0.00,2.12,0.00,0.000,4,0.000,0.047,2515,3698,3475,0,0,0,0,0,0
$GC,8784,-0.63,-116.7,649.6,-8.4,411,8788,0.10,2.05,0.00,0.000,6,0.182,0.028,2559,2296,3475,0,0,0,0,0,0
$GC,9133,-0.67,-116.7,674.2,-7.1,417,9137,0.00,2.12,0.00,0.000,4,0.000,0.047,2559,3705,3474,0,0,0,0,0,0
$GC,9210,-0.72,-116.7,679.8,-7.1,418,9214,0.00,2.05,0.00,0.000,6,0.000,0.028,2559,2304,3474,0,0,0,0,0,0
$GC,9565,-0.77,-116.7,703.3,-6.6,424,9570,0.12,2.12,0.00,0.000,4,0.146,0.047,2519,3700,3474,0,0,0,0,0,0
$GC,9631,-0.77,-116.7,708.9,-8.4,425,9635,0.00,2.05,0.00,0.000,6,0.000,0.028,2519,2305,3473,0,0,0,0,0,0
$GC,9997,-0.73,-116.7,738.1,-8.0,431,9998,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2304,3473,0,0,0,0,0,0
$GC,10301,-0.69,-116.7,762.6,-8.0,436,10302,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2304,3473,0,0,0,0,0,0
$GC,10603,-0.65,-116.7,786.7,-7.9,441,10608,0.12,2.12,0.00,0.000,4,0.209,0.048,2550,3700,3472,0,0,0,0,0,0
$GC,10623,-0.65,-116.7,788.4,-7.4,441,10628,0.00,2.08,0.00,0.000,6,0.000,0.028,2550,2291,3472,0,0,0,0,0,0
$GC,10967,-0.68,-116.7,810.1,-6.2,447,10971,0.00,2.12,0.00,0.000,4,0.000,0.047,2550,3702,3472,0,0,0,0,0,0
$GC,11034,-0.72,-116.7,814.5,-6.2,448,11038,0.00,2.03,0.00,0.000,6,0.000,0.028,2550,2295,3472,0,0,0,0,0,0
$GC,11400,-0.76,-116.7,838.4,-6.6,454,11404,0.00,2.12,0.00,0.000,4,0.000,0.047,2550,3701,3472,0,0,0,0,0,0
$GC,11462,-0.80,-116.7,842.7,-6.4,455,11467,0.15,2.03,0.00,0.000,6,0.134,0.029,2502,2294,3471,0,0,0,0,0,0
$GC,11828,-0.73,-116.7,871.5,-7.9,461,11829,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2292,3471,0,0,0,0,0,0
$GC,12130,-0.66,-116.7,895.6,-7.9,466,12135,0.17,2.15,0.00,0.000,4,0.198,0.048,2548,3704,3470,0,0,0,0,0,0
$GC,12140,-0.62,-116.7,896.4,-7.8,466,12144,0.00,2.08,0.00,0.000,6,0.000,0.029,2548,2300,3470,0,0,0,0,0,0
$GC,12495,-0.65,-116.7,918.9,-6.4,472,12499,0.00,2.12,0.00,0.000,4,0.000,0.048,2548,3708,3470,0,0,0,0,0,0
$GC,12556,-0.69,-116.7,922.9,-5.7,472,12561,0.00,2.05,0.00,0.000,6,0.000,0.029,2548,2289,3470,0,0,0,0,0,0
$GC,12865,-0.73,-116.7,942.8,-6.4,478,12869,0.00,2.12,0.00,0.000,4,0.000,0.047,2548,3698,3470,0,0,0,0,0,0
$GC,12927,-0.78,-116.7,946.9,-6.6,479,12931,0.00,2.03,0.00,0.000,6,0.000,0.029,2548,2298,3470,0,0,0,0,0,0
$GC,13298,-0.81,-116.7,970.8,-6.4,485,13302,0.12,2.15,0.00,0.000,4,0.145,0.048,2507,3705,3470,0,0,0,0,0,0
$GC,13363,-0.76,-116.7,976.1,-8.5,486,13368,0.00,2.08,0.00,0.000,6,0.000,0.029,2508,2296,3470,0,0,0,0,0,0
$STATE,13545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13545,begin apogee
$GC,13550,-0.24,0.0,990.3,7.7,489,13652,0.60,0.00,98.57,1.550,6,0.186,0.000,2685,2655,3006,0,0,0,0,0,0
$STATE,13653,end apogee,CONTROL_FINISHED_OK
$STATE,13653,begin climb
$GC,13655,0.80,116.7,992.3,0.0,490,13769,1.08,2.40,104.75,1.455,4,0.126,0.049,3014,4040,2529,0,0,0,0,0,0
$GC,13841,0.55,116.7,983.8,9.4,493,13846,0.32,2.17,0.00,0.000,6,0.194,0.028,2944,2649,2522,0,0,0,0,0,0
$GC,14162,0.53,130.4,963.1,6.3,499,14175,0.00,0.00,11.75,1.388,6,0.000,0.000,2944,2649,2474,0,0,0,0,0,0
$GC,14465,0.53,136.1,943.0,6.6,504,14473,0.00,0.00,6.40,1.260,6,0.000,0.000,2945,2648,2451,0,0,0,0,0,0
$GC,14767,0.54,138.4,922.4,6.8,509,14768,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2648,2449,0,0,0,0,0,0
$GC,15070,0.54,138.5,901.7,6.9,514,15071,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2648,2448,0,0,0,0,0,0
$GC,15374,0.54,139.9,881.1,6.8,519,15380,0.00,0.00,4.65,1.113,6,0.000,0.000,2945,2649,2435,0,0,0,0,0,0
$GC,15677,0.55,148.5,861.2,6.5,524,15688,0.00,0.00,9.43,1.378,6,0.000,0.000,2945,2648,2400,0,0,0,0,0,0
$GC,15980,0.55,152.8,841.0,6.7,529,15987,0.00,0.00,5.35,1.183,6,0.000,0.000,2944,2648,2383,0,0,0,0,0,0
$GC,16283,0.56,156.0,820.7,6.7,534,16289,0.00,0.00,4.43,1.067,6,0.000,0.000,2945,2648,2370,0,0,0,0,0,0
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$STATE,26666,end climb,SURFACE_DEPTH_REACHED
$STATE,26666,begin surface coast
$FINISH,3.1,1.013594
$STATE,26708,end surface coast,CONTROL_FINISHED_OK
$STATE,26708,begin surface
$SM_CCo,26724,20.60,0.811,0,0,1884,275.23
$SM_GC,3.41,0.00,0.00,20.60,0.000,0.000,0.811,221,2260,1884,-7.95,-1.10,275.23
$IRIDIUM_FIX,6416.43,-15.12,090199,030312
$TT8_MAMPS,0.027612
$HUMID,1078386442
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,14.50
$XPDR_PINGS,1
$24V_AH,23.1,11.077
$10V_AH,10.1,6.726
$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
$DEVICE_SECS,22.225,164.100,336.950,20.600,0.000,29.888,37.554,180.926,0.250,0.000,35.461,2028.318,21809.922,509.882,2287.602,488.608,0.000,1656.831,0.000,2239.596,0.000,0.533,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241516
$DATA_FILE_SIZE,53802,929
$CAP_FILE_SIZE,197400,0
$CFSIZE,260165632,250535936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066,206.4,1
$GPS,151009,182400,6437.896,-3.591,37,0.9,43,-5.2