version: 66.06
glider: 140
mission: 8
dive: 58
start: 10 16 109 9 50 49
data:
$ID,140
$MISSION,8
$DIVE,58
$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,-45398.859
$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,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
$GPS1,094407,6431.046,4.105,37,0.8,38,-5.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,3.81
$_SM_ANGLEo,-61.0
$GPS2,095026,6431.034,4.104,15,0.8,15,-5.1
$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,136.3,254505,-13.7,-6.875
$D_GRID,2570
$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,-116.7,0.0,0.0,0,24,0.00,0.00,-7.43,0.000,2,0.000,0.000,215,2288,2037,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.9,-0.0,1,119,9.00,2.22,-74.50,0.000,4,0.248,0.059,2502,3699,3482,0,0,0,0,0,0
$GC,369,-0.66,-116.7,29.3,-10.3,62,376,0.12,2.08,0.00,0.000,6,0.181,0.025,2540,2287,3485,0,0,0,0,0,0
$GC,723,-0.61,-116.7,62.3,-8.8,123,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2286,3485,0,0,0,0,0,0
$GC,1031,-0.56,-116.7,90.0,-8.6,138,1033,0.15,0.00,0.00,0.000,6,0.195,0.000,2581,2284,3486,0,0,0,0,0,0
$GC,1342,-0.61,-116.7,110.4,-6.5,153,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2284,3487,0,0,0,0,0,0
$GC,1651,-0.67,-116.7,130.4,-6.2,168,1654,0.00,2.15,0.00,0.000,4,0.000,0.044,2580,3709,3488,0,0,0,0,0,0
$GC,1685,-0.74,-116.7,132.5,-5.7,169,1690,0.17,2.00,0.00,0.000,6,0.117,0.025,2524,2298,3487,0,0,0,0,0,0
$GC,2001,-0.68,-116.7,158.6,-8.5,184,2005,0.00,2.12,0.00,0.000,4,0.000,0.044,2524,3705,3487,0,0,0,0,0,0
$GC,2011,-0.62,-116.7,159.7,-8.5,184,2016,0.10,2.03,0.00,0.000,6,0.185,0.025,2554,2302,3488,0,0,0,0,0,0
$GC,2332,-0.62,-116.7,182.0,-6.9,200,2336,0.00,2.12,0.00,0.000,4,0.000,0.044,2554,3706,3488,0,0,0,0,0,0
$GC,2353,-0.62,-116.7,183.6,-6.9,201,2358,0.00,2.03,0.00,0.000,6,0.000,0.025,2554,2310,3488,0,0,0,0,0,0
$GC,2680,-0.62,-116.7,204.8,-6.2,217,2684,0.00,2.10,0.00,0.000,4,0.000,0.044,2555,3711,3488,0,0,0,0,0,0
$GC,2702,-0.62,-116.7,206.3,-6.7,218,2706,0.00,2.05,0.00,0.000,6,0.000,0.026,2555,2300,3488,0,0,0,0,0,0
$GC,3028,-0.62,-116.7,225.9,-6.0,234,3032,0.00,2.10,0.00,0.000,4,0.000,0.044,2555,3704,3488,0,0,0,0,0,0
$GC,3050,-0.62,-116.7,227.3,-6.1,235,3054,0.00,2.05,0.00,0.000,6,0.000,0.026,2555,2297,3488,0,0,0,0,0,0
$GC,3376,-0.62,-116.7,246.7,-6.0,251,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2296,3487,0,0,0,0,0,0
$GC,3686,-0.62,-116.7,265.6,-6.3,266,3690,0.00,2.12,0.00,0.000,4,0.000,0.044,2554,3710,3486,0,0,0,0,0,0
$GC,3708,-0.62,-116.7,267.0,-6.2,267,3712,0.00,2.03,0.00,0.000,6,0.000,0.027,2555,2293,3486,0,0,0,0,0,0
$GC,4033,-0.62,-116.7,289.3,-7.1,283,4037,0.00,2.12,0.00,0.000,4,0.000,0.044,2555,3709,3486,0,0,0,0,0,0
$GC,4043,-0.62,-116.7,290.1,-7.2,283,4050,0.00,2.05,0.00,0.000,6,0.000,0.027,2555,2302,3486,0,0,0,0,0,0
$GC,4378,-0.62,-116.7,315.0,-7.7,297,4381,0.00,2.10,0.00,0.000,4,0.000,0.044,2554,3706,3485,0,0,0,0,0,0
$GC,4421,-0.62,-116.7,318.7,-7.8,298,4425,0.00,2.05,0.00,0.000,6,0.000,0.027,2555,2299,3485,0,0,0,0,0,0
$GC,4745,-0.62,-116.7,342.1,-7.1,309,4749,0.00,2.10,0.00,0.000,4,0.000,0.044,2554,3703,3484,0,0,0,0,0,0
$GC,4760,-0.62,-116.7,343.3,-7.0,309,4765,0.00,2.05,0.00,0.000,6,0.000,0.027,2555,2298,3484,0,0,0,0,0,0
$GC,5079,-0.62,-116.7,365.5,-7.0,320,5083,0.00,2.12,0.00,0.000,4,0.000,0.045,2555,3713,3484,0,0,0,0,0,0
$GC,5111,-0.62,-116.7,368.0,-7.1,321,5116,0.00,2.08,0.00,0.000,6,0.000,0.027,2555,2292,3484,0,0,0,0,0,0
$GC,5446,-0.62,-116.7,391.6,-7.2,332,5450,0.00,2.12,0.00,0.000,4,0.000,0.045,2554,3708,3483,0,0,0,0,0,0
$GC,5490,-0.65,-116.7,395.0,-7.3,333,5494,0.00,2.03,0.00,0.000,6,0.000,0.028,2555,2293,3483,0,0,0,0,0,0
$GC,5814,-0.65,-116.7,417.4,-6.9,344,5818,0.00,2.12,0.00,0.000,4,0.000,0.045,2554,3706,3482,0,0,0,0,0,0
$GC,5847,-0.65,-116.7,419.8,-6.8,345,5851,0.00,2.03,0.00,0.000,6,0.000,0.028,2555,2293,3482,0,0,0,0,0,0
$GC,6182,-0.65,-116.7,442.9,-6.9,356,6186,0.00,2.12,0.00,0.000,4,0.000,0.046,2555,3707,3482,0,0,0,0,0,0
$GC,6215,-0.68,-116.7,445.3,-7.2,357,6219,0.00,2.05,0.00,0.000,6,0.000,0.028,2555,2304,3482,0,0,0,0,0,0
$GC,6550,-0.68,-116.7,467.9,-6.8,368,6554,0.00,2.12,0.00,0.000,4,0.000,0.046,2554,3713,3481,0,0,0,0,0,0
$GC,6577,-0.68,-116.7,469.9,-7.0,368,6583,0.00,2.08,0.00,0.000,6,0.000,0.028,2555,2297,3481,0,0,0,0,0,0
$GC,6889,-0.68,-116.7,491.4,-6.9,379,6893,0.00,2.12,0.00,0.000,4,0.000,0.046,2555,3709,3480,0,0,0,0,0,0
$GC,6917,-0.71,-116.7,493.2,-7.1,379,6923,0.00,2.03,0.00,0.000,6,0.000,0.028,2555,2294,3480,0,0,0,0,0,0
$GC,7227,-0.71,-116.7,513.9,-6.7,387,7231,0.00,2.12,0.00,0.000,4,0.000,0.046,2555,3706,3479,0,0,0,0,0,0
$GC,7265,-0.75,-116.7,516.6,-7.2,387,7269,0.00,2.05,0.00,0.000,6,0.000,0.028,2554,2303,3479,0,0,0,0,0,0
$GC,7591,-0.75,-116.7,537.1,-6.2,393,7595,0.00,2.10,0.00,0.000,4,0.000,0.046,2555,3702,3479,0,0,0,0,0,0
$GC,7601,-0.78,-116.7,537.9,-6.2,393,7606,0.12,2.03,0.00,0.000,6,0.144,0.029,2516,2286,3478,0,0,0,0,0,0
$GC,7955,-0.72,-116.7,564.4,-7.5,399,7956,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2284,3478,0,0,0,0,0,0
$GC,8258,-0.67,-116.7,587.2,-7.5,404,8260,0.12,0.00,0.00,0.000,6,0.202,0.000,2546,2283,3478,0,0,0,0,0,0
$GC,8561,-0.67,-116.7,606.0,-6.1,409,8565,0.00,2.12,0.00,0.000,4,0.000,0.047,2546,3702,3477,0,0,0,0,0,0
$GC,8582,-0.67,-116.7,607.3,-6.1,409,8586,0.00,2.05,0.00,0.000,6,0.000,0.028,2547,2302,3477,0,0,0,0,0,0
$GC,8925,-0.67,-116.7,627.9,-6.0,415,8929,0.00,2.12,0.00,0.000,4,0.000,0.047,2547,3702,3476,0,0,0,0,0,0
$GC,8963,-0.67,-116.7,630.5,-6.5,415,8967,0.00,2.00,0.00,0.000,6,0.000,0.028,2546,2297,3476,0,0,0,0,0,0
$GC,9289,-0.67,-116.7,650.4,-6.1,421,9293,0.00,2.12,0.00,0.000,4,0.000,0.047,2547,3709,3475,0,0,0,0,0,0
$GC,9321,-0.67,-116.7,652.5,-6.1,421,9326,0.00,2.05,0.00,0.000,6,0.000,0.029,2546,2309,3475,0,0,0,0,0,0
$GC,9653,-0.67,-116.7,673.0,-6.3,427,9657,0.00,2.10,0.00,0.000,4,0.000,0.046,2546,3702,3475,0,0,0,0,0,0
$GC,9697,-0.70,-116.7,675.9,-6.7,427,9700,0.00,2.03,0.00,0.000,6,0.000,0.028,2546,2289,3475,0,0,0,0,0,0
$GC,10022,-0.70,-116.7,696.6,-6.4,433,10026,0.00,2.12,0.00,0.000,4,0.000,0.047,2546,3705,3474,0,0,0,0,0,0
$GC,10066,-0.70,-116.7,699.6,-6.9,433,10070,0.00,2.05,0.00,0.000,6,0.000,0.028,2547,2303,3474,0,0,0,0,0,0
$GC,10387,-0.70,-116.7,721.0,-6.7,439,10391,0.00,2.10,0.00,0.000,4,0.000,0.047,2547,3702,3474,0,0,0,0,0,0
$GC,10419,-0.73,-116.7,723.3,-7.3,439,10423,0.00,2.05,0.00,0.000,6,0.000,0.029,2546,2300,3474,0,0,0,0,0,0
$GC,10751,-0.73,-116.7,745.9,-6.8,445,10755,0.00,2.15,0.00,0.000,4,0.000,0.048,2546,3712,3474,0,0,0,0,0,0
$GC,10818,-0.76,-116.7,750.7,-8.0,446,10822,0.00,2.08,0.00,0.000,6,0.000,0.029,2547,2299,3473,0,0,0,0,0,0
$GC,11183,-0.76,-116.7,776.8,-7.3,452,11187,0.00,2.12,0.00,0.000,4,0.000,0.047,2547,3704,3473,0,0,0,0,0,0
$GC,11261,-0.80,-116.7,782.9,-7.9,453,11266,0.05,2.05,0.00,0.000,6,0.130,0.028,2510,2297,3473,0,0,0,0,0,0
$GC,11621,-0.74,-116.7,814.5,-8.9,459,11625,0.00,2.12,0.00,0.000,4,0.000,0.047,2509,3709,3473,0,0,0,0,0,0
$GC,11642,-0.68,-116.7,816.4,-8.9,459,11646,0.12,2.03,0.00,0.000,6,0.206,0.029,2540,2295,3473,0,0,0,0,0,0
$GC,11984,-0.68,-116.7,842.3,-7.5,465,11988,0.00,2.12,0.00,0.000,4,0.000,0.048,2540,3705,3473,0,0,0,0,0,0
$GC,12033,-0.68,-116.7,846.0,-7.3,465,12037,0.00,2.05,0.00,0.000,6,0.000,0.029,2540,2306,3472,0,0,0,0,0,0
$GC,12348,-0.68,-116.7,868.1,-7.0,471,12351,0.00,2.10,0.00,0.000,4,0.000,0.047,2540,3702,3472,0,0,0,0,0,0
$GC,12380,-0.68,-116.7,870.5,-7.7,471,12385,0.00,2.05,0.00,0.000,6,0.000,0.028,2540,2306,3472,0,0,0,0,0,0
$GC,12712,-0.68,-116.7,893.1,-6.8,477,12716,0.00,2.10,0.00,0.000,4,0.000,0.048,2540,3702,3472,0,0,0,0,0,0
$GC,12744,-0.68,-116.7,895.4,-7.3,477,12748,0.00,2.05,0.00,0.000,6,0.000,0.029,2540,2303,3472,0,0,0,0,0,0
$GC,13081,-0.68,-116.7,918.2,-6.8,483,13085,0.00,2.10,0.00,0.000,4,0.000,0.048,2540,3702,3471,0,0,0,0,0,0
$GC,13130,-0.68,-116.7,921.8,-7.7,483,13135,0.00,2.05,0.00,0.000,6,0.000,0.028,2540,2303,3471,0,0,0,0,0,0
$GC,13445,-0.68,-116.7,944.1,-7.1,489,13449,0.00,2.12,0.00,0.000,4,0.000,0.048,2540,3711,3471,0,0,0,0,0,0
$GC,13483,-0.68,-116.7,946.9,-7.0,489,13488,0.00,2.08,0.00,0.000,6,0.000,0.029,2540,2296,3471,0,0,0,0,0,0
$GC,13810,-0.68,-116.7,969.2,-6.8,495,13814,0.00,2.12,0.00,0.000,4,0.000,0.048,2540,3705,3471,0,0,0,0,0,0
$GC,13872,-0.68,-116.7,973.5,-6.9,496,13876,0.00,2.03,0.00,0.000,6,0.000,0.029,2540,2300,3470,0,0,0,0,0,0
$STATE,14120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14120,begin apogee
$GC,14125,-0.24,0.0,990.4,6.7,500,14227,0.47,0.00,99.03,1.564,6,0.177,0.000,2683,2658,3006,0,0,0,0,0,0
$STATE,14228,end apogee,CONTROL_FINISHED_OK
$STATE,14228,begin climb
$GC,14230,0.80,116.7,992.5,0.0,501,14343,1.05,2.35,104.75,1.456,4,0.125,0.048,3010,4044,2529,0,0,0,0,0,0
$GC,14393,0.55,116.7,987.0,8.4,503,14398,0.30,2.20,0.00,0.000,6,0.183,0.028,2946,2651,2523,0,0,0,0,0,0
$GC,14719,0.54,137.5,967.2,6.0,509,14739,0.00,0.00,18.10,1.414,6,0.000,0.000,2945,2651,2445,0,0,0,0,0,0
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$STATE,27081,end climb,SURFACE_DEPTH_REACHED
$STATE,27081,begin surface coast
$FINISH,3.2,1.002379
$STATE,27119,end surface coast,CONTROL_FINISHED_OK
$STATE,27119,begin surface
$SM_CCo,27136,16.23,0.825,0,0,1883,275.23
$SM_GC,4.15,0.00,0.00,16.23,0.000,0.000,0.825,220,2261,1883,-7.96,-1.10,275.23
$IRIDIUM_FIX,6406.52,54.96,100199,020217
$TT8_MAMPS,0.027612
$HUMID,1078401926
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,19.70
$XPDR_PINGS,1
$24V_AH,23.0,11.527
$10V_AH,10.1,7.032
$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
$DEVICE_SECS,21.850,231.375,329.900,16.225,0.000,27.401,29.856,204.629,0.250,0.000,15.712,2118.657,21894.662,528.762,2458.719,526.404,0.000,1809.905,0.000,2425.626,0.000,0.534,0.000
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$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,654.724,966.209,513.864,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241520
$DATA_FILE_SIZE,53849,944
$CAP_FILE_SIZE,216195,0
$CFSIZE,260165632,250273792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,211.1,1
$GPS,161009,172436,6427.477,7.261,37,1.5,38,-5.1