version: 66.06
glider: 140
mission: 8
dive: 85
start: 10 25 109 2 21 43
data:
$ID,140
$MISSION,8
$DIVE,85
$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,-1
$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,-45863.395
$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,89
$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
$GPS1,021531,6319.744,236.432,37,1.7,38,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.47
$_SM_ANGLEo,-65.8
$GPS2,022120,6319.709,236.392,13,1.2,13,-3.5
$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,122.6,72812,-13.7,-6.875
$D_GRID,1054
$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,-8.30,0.000,2,0.000,0.000,213,2274,2055,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.4,-0.0,1,120,9.10,2.03,-76.62,0.000,4,0.251,0.049,2500,930,3482,0,0,0,0,0,0
$GC,258,-0.62,-116.7,17.0,-12.8,42,265,0.17,2.08,0.00,0.000,6,0.173,0.029,2554,2300,3483,0,0,0,0,0,0
$GC,595,-0.62,-116.7,45.8,-8.6,103,601,0.00,2.05,0.00,0.000,4,0.000,0.035,2555,933,3484,0,0,0,0,0,0
$GC,653,-0.56,-116.7,51.3,-10.3,113,658,0.00,2.03,0.00,0.000,6,0.000,0.029,2555,2314,3484,0,0,0,0,0,0
$GC,976,-0.53,-116.7,78.6,-7.5,141,981,0.12,2.08,0.00,0.000,4,0.205,0.035,2587,932,3484,0,0,0,0,0,0
$GC,1016,-0.53,-116.7,81.7,-7.2,143,1020,0.00,2.03,0.00,0.000,6,0.000,0.028,2587,2310,3484,0,0,0,0,0,0
$GC,1344,-0.58,-116.7,104.3,-6.6,159,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2311,3485,0,0,0,0,0,0
$GC,1652,-0.64,-116.7,124.3,-6.6,174,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2311,3485,0,0,0,0,0,0
$GC,1963,-0.70,-116.7,143.8,-6.0,189,1965,0.15,0.00,0.00,0.000,6,0.123,0.000,2538,2311,3485,0,0,0,0,0,0
$GC,2270,-0.65,-116.7,168.9,-8.2,204,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2311,3485,0,0,0,0,0,0
$GC,2581,-0.61,-116.7,192.8,-7.5,219,2584,0.00,2.03,0.00,0.000,4,0.000,0.035,2538,936,3486,0,0,0,0,0,0
$GC,2591,-0.56,-116.7,193.7,-7.4,219,2596,0.12,2.03,0.00,0.000,6,0.173,0.028,2577,2298,3486,0,0,0,0,0,0
$GC,2913,-0.61,-116.7,212.4,-5.9,235,2917,0.00,2.08,0.00,0.000,4,0.000,0.041,2577,3711,3486,0,0,0,0,0,0
$GC,2931,-0.66,-116.7,213.5,-5.8,236,2934,0.00,1.98,0.00,0.000,6,0.000,0.025,2577,2310,3486,0,0,0,0,0,0
$GC,3263,-0.71,-116.7,234.1,-6.4,252,3265,0.12,0.00,0.00,0.000,6,0.130,0.000,2537,2307,3486,0,0,0,0,0,0
$GC,3572,-0.67,-116.7,258.6,-7.9,267,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2307,3486,0,0,0,0,0,0
$GC,3881,-0.64,-116.7,281.6,-7.2,282,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2307,3485,0,0,0,0,0,0
$GC,4211,-0.61,-116.7,304.7,-7.5,297,4213,0.12,0.00,0.00,0.000,6,0.191,0.000,2568,2306,3485,0,0,0,0,0,0
$GC,4517,-0.64,-116.7,324.4,-6.3,307,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2306,3485,0,0,0,0,0,0
$GC,4824,-0.68,-116.7,343.7,-6.5,317,4827,0.00,2.08,0.00,0.000,4,0.000,0.042,2568,3699,3485,0,0,0,0,0,0
$GC,4874,-0.74,-116.7,347.1,-6.7,318,4878,0.12,1.98,0.00,0.000,6,0.131,0.025,2527,2291,3484,0,0,0,0,0,0
$GC,5197,-0.69,-116.7,372.0,-7.7,329,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2289,3484,0,0,0,0,0,0
$GC,5502,-0.64,-116.7,395.9,-7.9,339,5507,0.12,2.12,0.00,0.000,4,0.195,0.043,2558,3702,3483,0,0,0,0,0,0
$GC,5523,-0.64,-116.7,397.5,-7.3,339,5529,0.00,2.00,0.00,0.000,6,0.000,0.025,2559,2311,3483,0,0,0,0,0,0
$GC,5836,-0.67,-116.7,419.4,-7.0,350,5840,0.00,2.08,0.00,0.000,4,0.000,0.042,2558,3701,3482,0,0,0,0,0,0
$GC,5868,-0.71,-116.7,421.9,-7.4,351,5872,0.00,2.03,0.00,0.000,6,0.000,0.025,2558,2294,3482,0,0,0,0,0,0
$GC,6203,-0.74,-116.7,447.1,-7.8,362,6207,0.00,2.10,0.00,0.000,4,0.000,0.043,2558,3698,3481,0,0,0,0,0,0
$GC,6219,-0.77,-116.7,448.4,-7.7,362,6224,0.10,2.03,0.00,0.000,6,0.108,0.026,2503,2296,3481,0,0,0,0,0,0
$GC,6543,-0.68,-116.7,480.2,-10.0,373,6545,0.15,0.00,0.00,0.000,6,0.189,0.000,2541,2292,3481,0,0,0,0,0,0
$GC,6848,-0.68,-116.7,505.3,-8.1,382,6852,0.00,2.10,0.00,0.000,4,0.000,0.044,2541,3698,3480,0,0,0,0,0,0
$GC,6874,-0.68,-116.7,507.5,-8.9,382,6879,0.00,2.03,0.00,0.000,6,0.000,0.026,2541,2299,3479,0,0,0,0,0,0
$GC,7211,-0.68,-116.7,534.2,-7.8,388,7215,0.00,2.10,0.00,0.000,4,0.000,0.044,2542,3702,3479,0,0,0,0,0,0
$GC,7249,-0.68,-116.7,537.3,-8.5,388,7254,0.00,2.03,0.00,0.000,6,0.000,0.026,2542,2306,3478,0,0,0,0,0,0
$GC,7575,-0.68,-116.7,561.9,-7.6,394,7579,0.00,2.10,0.00,0.000,4,0.000,0.044,2542,3706,3477,0,0,0,0,0,0
$GC,7613,-0.68,-116.7,565.0,-7.4,394,7618,0.00,2.05,0.00,0.000,6,0.000,0.027,2542,2297,3477,0,0,0,0,0,0
$GC,7940,-0.68,-116.7,589.8,-7.7,400,7944,0.00,2.10,0.00,0.000,4,0.000,0.044,2542,3698,3476,0,0,0,0,0,0
$GC,7961,-0.68,-116.7,591.6,-8.2,400,7965,0.00,2.05,0.00,0.000,6,0.000,0.027,2542,2293,3476,0,0,0,0,0,0
$GC,8304,-0.68,-116.7,618.6,-7.9,406,8308,0.00,2.12,0.00,0.000,4,0.000,0.044,2542,3705,3475,0,0,0,0,0,0
$GC,8336,-0.68,-116.7,621.1,-7.9,406,8340,0.00,2.05,0.00,0.000,6,0.000,0.027,2542,2302,3475,0,0,0,0,0,0
$GC,8668,-0.68,-116.7,645.6,-7.4,412,8672,0.00,2.12,0.00,0.000,4,0.000,0.045,2541,3698,3474,0,0,0,0,0,0
$GC,8722,-0.68,-116.7,649.7,-7.8,412,8730,0.00,2.05,0.00,0.000,6,0.000,0.027,2542,2293,3473,0,0,0,0,0,0
$GC,9032,-0.68,-116.7,671.6,-7.1,418,9036,0.00,2.12,0.00,0.000,4,0.000,0.044,2542,3697,3473,0,0,0,0,0,0
$GC,9081,-0.68,-116.7,675.1,-7.3,418,9086,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2294,3472,0,0,0,0,0,0
$GC,9401,-0.68,-116.7,697.1,-6.9,424,9405,0.00,2.12,0.00,0.000,4,0.000,0.045,2542,3704,3472,0,0,0,0,0,0
$GC,9428,-0.68,-116.7,699.0,-7.9,424,9432,0.00,2.05,0.00,0.000,6,0.000,0.028,2541,2302,3471,0,0,0,0,0,0
$GC,9766,-0.68,-116.7,721.5,-6.6,430,9770,0.00,2.10,0.00,0.000,4,0.000,0.045,2541,3697,3471,0,0,0,0,0,0
$GC,9815,-0.68,-116.7,725.0,-6.5,430,9819,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2297,3470,0,0,0,0,0,0
$GC,10130,-0.68,-116.7,745.2,-6.5,436,10134,0.00,2.12,0.00,0.000,4,0.000,0.045,2542,3706,3470,0,0,0,0,0,0
$GC,10163,-0.68,-116.7,747.4,-6.7,436,10167,0.00,2.08,0.00,0.000,6,0.000,0.028,2542,2295,3469,0,0,0,0,0,0
$GC,10495,-0.68,-116.7,768.5,-6.4,442,10498,0.00,2.12,0.00,0.000,4,0.000,0.045,2541,3704,3469,0,0,0,0,0,0
$GC,10533,-0.68,-116.7,771.1,-6.5,442,10537,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2304,3469,0,0,0,0,0,0
$GC,10865,-0.68,-116.7,791.7,-6.2,448,10869,0.00,2.10,0.00,0.000,4,0.000,0.045,2542,3698,3468,0,0,0,0,0,0
$GC,10914,-0.68,-116.7,795.0,-6.3,448,10918,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2300,3468,0,0,0,0,0,0
$GC,11229,-0.68,-116.7,814.2,-6.1,454,11233,0.00,2.10,0.00,0.000,4,0.000,0.045,2542,3697,3468,0,0,0,0,0,0
$GC,11273,-0.68,-116.7,817.0,-6.6,454,11277,0.00,2.03,0.00,0.000,6,0.000,0.028,2541,2292,3467,0,0,0,0,0,0
$GC,11593,-0.68,-116.7,836.8,-6.2,460,11597,0.00,2.12,0.00,0.000,4,0.000,0.045,2541,3701,3467,0,0,0,0,0,0
$GC,11630,-0.68,-116.7,839.3,-6.3,460,11635,0.00,2.05,0.00,0.000,6,0.000,0.028,2541,2303,3467,0,0,0,0,0,0
$GC,11956,-0.68,-116.7,860.3,-6.5,466,11960,0.00,2.10,0.00,0.000,4,0.000,0.045,2542,3697,3466,0,0,0,0,0,0
$GC,12023,-0.68,-116.7,864.7,-6.1,467,12027,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2298,3466,0,0,0,0,0,0
$GC,12389,-0.68,-116.7,887.3,-6.1,473,12393,0.00,2.10,0.00,0.000,4,0.000,0.045,2542,3697,3465,0,0,0,0,0,0
$GC,12451,-0.71,-116.7,891.3,-6.2,474,12454,0.00,2.03,0.00,0.000,6,0.000,0.028,2542,2293,3465,0,0,0,0,0,0
$GC,12821,-0.71,-116.7,915.1,-6.5,480,12825,0.00,2.12,0.00,0.000,4,0.000,0.045,2542,3699,3464,0,0,0,0,0,0
$GC,12887,-0.75,-116.7,919.4,-6.6,481,12891,0.00,2.03,0.00,0.000,6,0.000,0.028,2542,2295,3465,0,0,0,0,0,0
$GC,13252,-0.75,-116.7,942.9,-6.4,487,13256,0.00,2.12,0.00,0.000,4,0.000,0.046,2542,3698,3464,0,0,0,0,0,0
$GC,13331,-0.78,-116.7,948.0,-6.7,488,13334,0.00,2.03,0.00,0.000,6,0.000,0.028,2542,2296,3464,0,0,0,0,0,0
$GC,13690,-0.78,-116.7,970.0,-6.1,494,13694,0.00,2.12,0.00,0.000,4,0.000,0.046,2542,3701,3463,0,0,0,0,0,0
$GC,13773,-0.81,-116.7,975.3,-6.3,495,13778,0.12,2.03,0.00,0.000,6,0.146,0.028,2502,2292,3463,0,0,0,0,0,0
$STATE,13992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13992,begin apogee
$GC,13997,-0.24,0.0,992.2,7.7,499,14097,0.60,0.00,96.78,1.568,6,0.176,0.000,2680,2653,3006,0,0,0,0,0,0
$STATE,14098,end apogee,CONTROL_FINISHED_OK
$STATE,14098,begin climb
$GC,14100,0.80,116.7,994.1,0.0,500,14213,1.10,2.35,104.50,1.471,4,0.121,0.047,3017,4036,2529,0,0,0,0,0,0
$GC,14263,0.54,116.7,987.2,9.1,503,14268,0.35,2.17,0.00,0.000,6,0.192,0.028,2942,2657,2522,0,0,0,0,0,0
$GC,14607,0.52,133.3,965.5,6.2,509,14623,0.00,0.00,13.95,1.403,6,0.000,0.000,2942,2656,2462,0,0,0,0,0,0
$GC,14909,0.53,143.3,946.0,6.5,514,14921,0.00,0.00,10.38,1.374,6,0.000,0.000,2942,2656,2421,0,0,0,0,0,0
$GC,15212,0.54,148.1,925.7,6.7,519,15219,0.00,0.00,5.22,1.171,6,0.000,0.000,2942,2656,2402,0,0,0,0,0,0
$GC,15515,0.54,150.5,905.2,6.8,524,15521,0.00,0.00,3.97,0.996,6,0.000,0.000,2942,2656,2392,0,0,0,0,0,0
$GC,15819,0.55,157.3,885.1,6.6,529,15833,0.00,2.25,7.70,1.335,4,0.000,0.048,2939,4042,2364,0,0,0,0,0,0
$GC,15872,0.49,157.3,881.1,7.9,529,15876,0.00,2.12,0.00,0.000,6,0.000,0.029,2948,2649,2363,0,0,0,0,0,0
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$STATE,27551,end climb,SURFACE_DEPTH_REACHED
$STATE,27551,begin surface coast
$FINISH,2.7,1.024198
$STATE,27614,end surface coast,CONTROL_FINISHED_OK
$STATE,27614,begin surface
$SM_CCo,27630,40.92,0.767,0,0,1883,275.23
$SM_GC,3.84,0.00,0.00,40.92,0.000,0.000,0.767,215,2287,1883,-7.97,-0.37,275.23
$IRIDIUM_FIX,6258.74,233.75,180199,181809
$TT8_MAMPS,0.027612
$HUMID,1078319345
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,23.0,15.530
$10V_AH,10.1,9.818
$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
$DEVICE_SECS,22.050,196.900,304.000,40.925,0.000,28.175,33.166,170.072,0.000,0.000,13.538,2168.948,22308.521,519.578,2520.416,498.453,0.000,1782.330,0.000,2490.424,0.000,0.534,0.000
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$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,685.364,1013.515,574.390,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235308
$DATA_FILE_SIZE,57038,991
$CAP_FILE_SIZE,210017,0
$CFSIZE,260165632,248037376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,203.7,1
$GPS,251009,100406,6316.846,241.314,34,1.0,35,-3.4