version: 66.06
glider: 140
mission: 8
dive: 71
start: 10 20 109 13 52 0
data:
$ID,140
$MISSION,8
$DIVE,71
$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,-45621.367
$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,79
$R_STBD_OVSHOOT,46
$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
$GPS1,134554,6400.885,125.799,38,1.8,39,-4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.59
$_SM_ANGLEo,-63.6
$GPS2,135138,6400.918,125.796,14,1.5,14,-4.2
$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,136.5,166132,-13.7,-6.875
$D_GRID,2306
$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,-6.72,0.000,2,0.000,0.000,212,2267,2021,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.5,-0.0,1,121,9.27,2.10,-76.50,0.000,4,0.258,0.054,2501,919,3483,0,0,0,0,0,0
$GC,173,-0.63,-116.7,9.0,-9.2,27,180,0.22,2.08,0.00,0.000,6,0.196,0.030,2561,2311,3484,0,0,0,0,0,0
$GC,511,-0.63,-116.7,34.6,-7.5,88,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2311,3485,0,0,0,0,0,0
$GC,859,-0.63,-116.7,63.8,-8.3,146,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2311,3486,0,0,0,0,0,0
$GC,1170,-0.63,-116.7,88.2,-7.3,161,1174,0.00,2.08,0.00,0.000,4,0.000,0.041,2561,3702,3486,0,0,0,0,0,0
$GC,1180,-0.63,-116.7,89.1,-6.7,161,1186,0.00,2.03,0.00,0.000,6,0.000,0.024,2561,2309,3486,0,0,0,0,0,0
$GC,1497,-0.63,-116.7,110.4,-6.8,177,1501,0.00,2.10,0.00,0.000,4,0.000,0.041,2561,3706,3486,0,0,0,0,0,0
$GC,1506,-0.63,-116.7,111.2,-7.0,177,1513,0.00,2.05,0.00,0.000,6,0.000,0.025,2561,2297,3486,0,0,0,0,0,0
$GC,1823,-0.63,-116.7,132.5,-6.6,193,1827,0.00,2.10,0.00,0.000,4,0.000,0.041,2561,3699,3486,0,0,0,0,0,0
$GC,1834,-0.63,-116.7,133.4,-6.6,193,1840,0.00,2.03,0.00,0.000,6,0.000,0.025,2561,2302,3486,0,0,0,0,0,0
$GC,2150,-0.63,-116.7,155.4,-7.1,209,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2302,3487,0,0,0,0,0,0
$GC,2459,-0.63,-116.7,175.5,-6.5,224,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2302,3487,0,0,0,0,0,0
$GC,2769,-0.63,-116.7,198.8,-7.8,239,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2301,3488,0,0,0,0,0,0
$GC,3077,-0.63,-116.7,221.3,-7.2,254,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2302,3487,0,0,0,0,0,0
$GC,3387,-0.63,-116.7,241.8,-6.5,269,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2302,3488,0,0,0,0,0,0
$GC,3696,-0.63,-116.7,261.7,-6.2,284,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2300,3488,0,0,0,0,0,0
$GC,4005,-0.63,-116.7,281.3,-6.5,299,4009,0.00,2.10,0.00,0.000,4,0.000,0.043,2561,3698,3487,0,0,0,0,0,0
$GC,4045,-0.66,-116.7,284.0,-6.5,301,4049,0.00,1.98,0.00,0.000,6,0.000,0.025,2561,2294,3487,0,0,0,0,0,0
$GC,4387,-0.66,-116.7,305.9,-6.4,316,4390,0.00,2.10,0.00,0.000,4,0.000,0.042,2561,3702,3487,0,0,0,0,0,0
$GC,4415,-0.70,-116.7,307.8,-6.9,317,4419,0.00,1.98,0.00,0.000,6,0.000,0.025,2561,2302,3487,0,0,0,0,0,0
$GC,4755,-0.70,-116.7,330.1,-6.4,328,4759,0.00,2.10,0.00,0.000,4,0.000,0.043,2560,3701,3487,0,0,0,0,0,0
$GC,4794,-0.74,-116.7,332.7,-7.0,329,4798,0.08,2.03,0.00,0.000,6,0.117,0.025,2530,2293,3487,0,0,0,0,0,0
$GC,5129,-0.70,-116.7,357.3,-7.3,340,5133,0.00,2.10,0.00,0.000,4,0.000,0.043,2530,3702,3485,0,0,0,0,0,0
$GC,5139,-0.67,-116.7,358.2,-7.5,340,5143,0.00,2.03,0.00,0.000,6,0.000,0.025,2530,2299,3485,0,0,0,0,0,0
$GC,5463,-0.63,-116.7,382.3,-7.5,351,5467,0.12,2.10,0.00,0.000,4,0.196,0.044,2561,3697,3484,0,0,0,0,0,0
$GC,5490,-0.63,-116.7,384.2,-7.0,352,5494,0.00,2.00,0.00,0.000,6,0.000,0.026,2561,2288,3484,0,0,0,0,0,0
$GC,5831,-0.66,-116.7,404.5,-6.0,363,5835,0.00,2.10,0.00,0.000,4,0.000,0.044,2561,3697,3484,0,0,0,0,0,0
$GC,5864,-0.71,-116.7,406.5,-6.0,364,5868,0.00,2.00,0.00,0.000,6,0.000,0.026,2561,2287,3483,0,0,0,0,0,0
$GC,6199,-0.74,-116.7,428.1,-6.7,375,6203,0.12,2.12,0.00,0.000,4,0.138,0.044,2521,3697,3483,0,0,0,0,0,0
$GC,6233,-0.70,-116.7,430.8,-8.5,376,6236,0.00,2.00,0.00,0.000,6,0.000,0.026,2521,2291,3483,0,0,0,0,0,0
$GC,6573,-0.64,-116.7,461.6,-9.3,387,6577,0.12,2.12,0.00,0.000,4,0.198,0.044,2552,3700,3482,0,0,0,0,0,0
$GC,6584,-0.61,-116.7,462.7,-9.2,387,6588,0.00,1.98,0.00,0.000,6,0.000,0.027,2553,2303,3482,0,0,0,0,0,0
$GC,6907,-0.61,-116.7,488.1,-7.8,398,6911,0.00,2.10,0.00,0.000,4,0.000,0.044,2553,3704,3481,0,0,0,0,0,0
$GC,6928,-0.61,-116.7,489.8,-7.7,398,6934,0.00,2.05,0.00,0.000,6,0.000,0.027,2553,2292,3480,0,0,0,0,0,0
$GC,7269,-0.61,-116.7,515.9,-7.6,407,7273,0.00,2.10,0.00,0.000,4,0.000,0.044,2553,3697,3480,0,0,0,0,0,0
$GC,7307,-0.64,-116.7,518.6,-7.7,407,7311,0.00,2.00,0.00,0.000,6,0.000,0.027,2552,2293,3480,0,0,0,0,0,0
$GC,7633,-0.64,-116.7,542.6,-7.4,413,7637,0.00,2.10,0.00,0.000,4,0.000,0.044,2553,3697,3479,0,0,0,0,0,0
$GC,7671,-0.68,-116.7,545.5,-7.4,413,7675,0.00,2.03,0.00,0.000,6,0.000,0.027,2553,2300,3479,0,0,0,0,0,0
$GC,8002,-0.68,-116.7,569.1,-7.1,419,8006,0.00,2.10,0.00,0.000,4,0.000,0.044,2553,3701,3477,0,0,0,0,0,0
$GC,8035,-0.68,-116.7,571.5,-7.3,419,8039,0.00,2.05,0.00,0.000,6,0.000,0.027,2553,2294,3477,0,0,0,0,0,0
$GC,8367,-0.68,-116.7,594.1,-6.8,425,8371,0.00,2.10,0.00,0.000,4,0.000,0.044,2553,3697,3476,0,0,0,0,0,0
$GC,8399,-0.68,-116.7,596.4,-6.8,425,8403,0.00,2.03,0.00,0.000,6,0.000,0.028,2553,2305,3476,0,0,0,0,0,0
$GC,8731,-0.68,-116.7,617.7,-6.3,431,8735,0.00,2.10,0.00,0.000,4,0.000,0.045,2553,3703,3476,0,0,0,0,0,0
$GC,8764,-0.71,-116.7,620.0,-6.7,431,8768,0.00,2.05,0.00,0.000,6,0.000,0.028,2553,2299,3476,0,0,0,0,0,0
$GC,9096,-0.71,-116.7,641.1,-6.4,437,9099,0.00,2.10,0.00,0.000,4,0.000,0.045,2553,3701,3475,0,0,0,0,0,0
$GC,9123,-0.75,-116.7,643.0,-6.7,437,9127,0.00,2.00,0.00,0.000,6,0.000,0.028,2553,2301,3475,0,0,0,0,0,0
$GC,9466,-0.75,-116.7,664.6,-6.3,443,9469,0.00,2.10,0.00,0.000,4,0.000,0.045,2553,3698,3474,0,0,0,0,0,0
$GC,9509,-0.78,-116.7,667.6,-7.1,443,9514,0.08,2.05,0.00,0.000,6,0.117,0.028,2508,2293,3474,0,0,0,0,0,0
$GC,9830,-0.72,-116.7,693.1,-8.0,449,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2291,3473,0,0,0,0,0,0
$GC,10133,-0.65,-116.7,717.4,-8.0,454,10134,0.17,0.00,0.00,0.000,6,0.193,0.000,2554,2289,3473,0,0,0,0,0,0
$GC,10436,-0.68,-116.7,737.3,-6.6,459,10440,0.00,2.12,0.00,0.000,4,0.000,0.046,2554,3704,3472,0,0,0,0,0,0
$GC,10468,-0.73,-116.7,739.5,-6.9,459,10473,0.00,2.05,0.00,0.000,6,0.000,0.028,2555,2303,3471,0,0,0,0,0,0
$GC,10800,-0.77,-116.7,760.7,-6.4,465,10805,0.12,2.12,0.00,0.000,4,0.140,0.046,2515,3704,3471,0,0,0,0,0,0
$GC,10856,-0.72,-116.7,765.1,-8.3,465,10860,0.00,2.03,0.00,0.000,6,0.000,0.028,2515,2295,3471,0,0,0,0,0,0
$GC,11171,-0.67,-116.7,789.8,-7.8,471,11175,0.12,2.12,0.00,0.000,4,0.200,0.047,2546,3695,3470,0,0,0,0,0,0
$GC,11191,-0.67,-116.7,791.5,-7.5,471,11196,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2290,3470,0,0,0,0,0,0
$GC,11535,-0.67,-116.7,814.5,-6.8,477,11539,0.00,2.12,0.00,0.000,4,0.000,0.046,2546,3703,3470,0,0,0,0,0,0
$GC,11589,-0.71,-116.7,818.3,-7.0,477,11595,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2300,3469,0,0,0,0,0,0
$GC,11899,-0.71,-116.7,838.4,-6.5,483,11903,0.00,2.12,0.00,0.000,4,0.000,0.047,2546,3698,3469,0,0,0,0,0,0
$GC,11926,-0.71,-116.7,840.3,-6.4,483,11930,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2270,3469,0,0,0,0,0,0
$GC,12263,-0.71,-116.7,861.8,-6.4,489,12267,0.00,2.15,0.00,0.000,4,0.000,0.046,2546,3698,3469,0,0,0,0,0,0
$GC,12335,-0.75,-116.7,866.4,-6.5,490,12339,0.00,2.00,0.00,0.000,6,0.000,0.028,2546,2300,3469,0,0,0,0,0,0
$GC,12695,-0.75,-116.7,888.7,-6.2,496,12699,0.00,2.10,0.00,0.000,4,0.000,0.046,2546,3695,3469,0,0,0,0,0,0
$GC,12750,-0.78,-116.7,892.4,-6.7,496,12756,0.00,2.00,0.00,0.000,6,0.000,0.028,2546,2295,3468,0,0,0,0,0,0
$GC,13059,-0.78,-116.7,912.1,-6.4,502,13063,0.00,2.10,0.00,0.000,4,0.000,0.046,2545,3695,3468,0,0,0,0,0,0
$GC,13109,-0.82,-116.7,915.4,-6.5,502,13114,0.15,2.00,0.00,0.000,6,0.137,0.028,2499,2296,3468,0,0,0,0,0,0
$GC,13418,-0.74,-116.7,940.6,-8.2,507,13422,0.00,2.10,0.00,0.000,4,0.000,0.046,2498,3695,3468,0,0,0,0,0,0
$GC,13428,-0.67,-116.7,941.5,-8.2,507,13433,0.17,2.00,0.00,0.000,6,0.202,0.028,2543,2300,3468,0,0,0,0,0,0
$GC,13776,-0.67,-116.7,964.9,-6.6,513,13780,0.00,2.12,0.00,0.000,4,0.000,0.047,2543,3697,3467,0,0,0,0,0,0
$GC,13803,-0.67,-116.7,966.8,-6.9,513,13807,0.00,2.05,0.00,0.000,6,0.000,0.028,2543,2300,3467,0,0,0,0,0,0
$GC,14140,-0.67,-116.7,988.3,-6.4,519,14144,0.00,2.10,0.00,0.000,4,0.000,0.046,2543,3695,3467,0,0,0,0,0,0
$STATE,14165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14165,begin apogee
$GC,14172,-0.24,0.0,990.1,6.1,519,14273,0.45,0.00,97.95,1.569,6,0.170,0.000,2682,2626,3006,0,0,0,0,0,0
$STATE,14274,end apogee,CONTROL_FINISHED_OK
$STATE,14274,begin climb
$GC,14276,0.80,116.7,993.6,0.0,521,14389,1.05,2.40,104.57,1.458,4,0.123,0.046,3006,4032,2528,0,0,0,0,0,0
$GC,14439,0.56,116.7,987.0,8.5,523,14444,0.28,2.17,0.00,0.000,6,0.191,0.028,2949,2653,2522,0,0,0,0,0,0
$GC,14765,0.54,128.0,965.9,6.4,529,14777,0.00,0.00,9.52,1.353,6,0.000,0.000,2950,2653,2484,0,0,0,0,0,0
$GC,15068,0.51,137.0,946.3,6.5,534,15080,0.00,0.00,9.57,1.357,6,0.000,0.000,2949,2653,2446,0,0,0,0,0,0
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$STATE,27097,end climb,SURFACE_DEPTH_REACHED
$STATE,27097,begin surface coast
$FINISH,2.9,1.027128
$STATE,27142,end surface coast,CONTROL_FINISHED_OK
$STATE,27142,begin surface
$SM_CCo,27158,36.90,0.792,0,0,1883,275.23
$SM_GC,3.92,0.00,0.00,36.90,0.000,0.000,0.792,214,2302,1883,-7.97,0.06,275.23
$IRIDIUM_FIX,6342.00,118.79,140199,060655
$TT8_MAMPS,0.026845
$HUMID,1078341281
$INTERNAL_PRESSURE,8.2718
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,23.1,13.475
$10V_AH,10.1,8.353
$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,21.575,199.075,303.175,36.900,0.000,26.228,37.328,162.809,0.000,0.000,14.244,2115.527,22015.652,505.083,2410.742,486.126,0.000,1730.411,0.000,2382.511,0.000,0.535,0.000
$DEVICE_MAMPS,258.479,53.690,1569.282,792.311,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,673.266,995.475,562.909,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241596
$DATA_FILE_SIZE,53836,973
$CAP_FILE_SIZE,206010,0
$CFSIZE,260165632,249221120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082,132.9,1
$GPS,201009,212636,6357.644,132.861,38,0.9,44,-4.2