version: 66.06
glider: 140
mission: 8
dive: 164
start: 11 17 109 21 52 42
data:
$ID,140
$MISSION,8
$DIVE,164
$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,-47267.906
$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,71
$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
$GPS1,214552,6430.655,7.547,31,1.4,47,-5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.46
$_SM_ANGLEo,-65.5
$GPS2,215219,6430.646,7.626,11,1.3,16,-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,136.6,251807,-13.7,-6.875
$D_GRID,2568
$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,-7.65,0.000,2,0.000,0.000,211,2281,2026,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.4,-0.0,1,130,9.15,2.08,-87.47,0.000,4,0.243,0.048,2506,912,3481,0,0,0,0,0,0
$GC,342,-0.67,-116.7,22.0,-10.3,57,349,0.15,2.10,0.00,0.000,6,0.204,0.029,2543,2315,3483,0,0,0,0,0,0
$GC,678,-0.64,-116.7,49.6,-7.7,118,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2315,3484,0,0,0,0,0,0
$GC,1018,-0.60,-116.7,75.4,-7.2,179,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2315,3484,0,0,0,0,0,0
$GC,1358,-0.56,-116.7,100.1,-7.1,240,1365,0.15,0.00,0.00,0.000,6,0.194,0.000,2582,2315,3484,0,0,0,0,0,0
$GC,1706,-0.62,-116.7,121.5,-6.2,299,1710,0.00,2.08,0.00,0.000,4,0.000,0.041,2582,3709,3484,0,0,0,0,0,0
$GC,1795,-0.70,-116.7,127.3,-6.3,303,1800,0.12,2.03,0.00,0.000,6,0.133,0.024,2543,2282,3484,0,0,0,0,0,0
$GC,2117,-0.70,-116.7,153.3,-8.7,319,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2281,3485,0,0,0,0,0,0
$GC,2424,-0.70,-116.7,177.0,-7.3,334,2428,0.00,2.15,0.00,0.000,4,0.000,0.041,2542,3707,3485,0,0,0,0,0,0
$GC,2448,-0.70,-116.7,178.6,-7.2,335,2452,0.00,2.00,0.00,0.000,6,0.000,0.025,2542,2310,3486,0,0,0,0,0,0
$GC,2779,-0.70,-116.7,204.3,-7.6,351,2783,0.00,2.10,0.00,0.000,4,0.000,0.041,2542,3704,3485,0,0,0,0,0,0
$GC,2789,-0.70,-116.7,205.1,-7.4,351,2795,0.00,2.05,0.00,0.000,6,0.000,0.024,2542,2295,3485,0,0,0,0,0,0
$GC,3105,-0.70,-116.7,229.0,-7.6,367,3109,0.00,2.12,0.00,0.000,4,0.000,0.041,2542,3706,3486,0,0,0,0,0,0
$GC,3154,-0.70,-116.7,232.9,-7.8,369,3159,0.00,2.05,0.00,0.000,6,0.000,0.024,2542,2294,3485,0,0,0,0,0,0
$GC,3476,-0.70,-116.7,256.5,-7.5,385,3480,0.00,2.12,0.00,0.000,4,0.000,0.041,2542,3706,3485,0,0,0,0,0,0
$GC,3525,-0.70,-116.7,260.4,-7.7,387,3529,0.00,2.03,0.00,0.000,6,0.000,0.025,2542,2309,3485,0,0,0,0,0,0
$GC,3846,-0.70,-116.7,285.3,-8.0,403,3850,0.00,2.10,0.00,0.000,4,0.000,0.047,2542,3698,3485,0,0,0,0,0,0
$GC,3879,-0.70,-116.7,287.9,-8.3,404,3885,0.00,2.03,0.00,0.000,6,0.000,0.025,2542,2300,3485,0,0,0,0,0,0
$GC,4203,-0.70,-116.7,313.4,-7.8,418,4207,0.00,2.12,0.00,0.000,4,0.000,0.041,2542,3707,3485,0,0,0,0,0,0
$GC,4235,-0.70,-116.7,316.0,-7.6,419,4240,0.00,2.05,0.00,0.000,6,0.000,0.025,2542,2302,3484,0,0,0,0,0,0
$GC,4570,-0.70,-116.7,340.1,-7.0,430,4574,0.00,2.12,0.00,0.000,4,0.000,0.041,2542,3709,3484,0,0,0,0,0,0
$GC,4619,-0.70,-116.7,343.7,-7.8,431,4623,0.00,2.05,0.00,0.000,6,0.000,0.025,2542,2302,3483,0,0,0,0,0,0
$GC,4937,-0.70,-116.7,366.6,-7.3,442,4941,0.00,2.15,0.00,0.000,4,0.000,0.043,2542,3706,3483,0,0,0,0,0,0
$GC,4986,-0.70,-116.7,370.5,-7.3,443,4990,0.00,2.05,0.00,0.000,6,0.000,0.025,2542,2297,3483,0,0,0,0,0,0
$GC,5304,-0.70,-116.7,393.7,-7.2,454,5308,0.00,2.12,0.00,0.000,4,0.000,0.042,2542,3702,3483,0,0,0,0,0,0
$GC,5325,-0.70,-116.7,395.4,-6.8,454,5332,0.00,2.00,0.00,0.000,6,0.000,0.025,2542,2301,3482,0,0,0,0,0,0
$GC,5637,-0.70,-116.7,418.3,-7.5,465,5641,0.00,2.12,0.00,0.000,4,0.000,0.042,2542,3704,3481,0,0,0,0,0,0
$GC,5681,-0.70,-116.7,421.4,-7.4,466,5685,0.00,2.05,0.00,0.000,6,0.000,0.025,2542,2299,3481,0,0,0,0,0,0
$GC,6005,-0.70,-116.7,445.2,-7.5,477,6008,0.00,2.12,0.00,0.000,4,0.000,0.043,2542,3698,3480,0,0,0,0,0,0
$GC,6048,-0.70,-116.7,448.6,-7.6,478,6052,0.00,2.05,0.00,0.000,6,0.000,0.025,2542,2295,3480,0,0,0,0,0,0
$GC,6377,-0.70,-116.7,473.2,-7.6,489,6381,0.00,2.12,0.00,0.000,4,0.000,0.043,2542,3699,3479,0,0,0,0,0,0
$GC,6432,-0.70,-116.7,477.6,-7.7,490,6439,0.00,2.05,0.00,0.000,6,0.000,0.026,2542,2298,3479,0,0,0,0,0,0
$GC,6745,-0.70,-116.7,501.4,-7.7,501,6749,0.00,2.12,0.00,0.000,4,0.000,0.044,2542,3705,3478,0,0,0,0,0,0
$GC,6788,-0.70,-116.7,505.1,-8.2,501,6793,0.00,2.05,0.00,0.000,6,0.000,0.026,2542,2302,3478,0,0,0,0,0,0
$GC,7115,-0.70,-116.7,529.8,-7.6,507,7119,0.00,2.12,0.00,0.000,4,0.000,0.044,2542,3706,3477,0,0,0,0,0,0
$GC,7164,-0.70,-116.7,533.4,-7.4,507,7168,0.00,2.05,0.00,0.000,6,0.000,0.026,2542,2309,3477,0,0,0,0,0,0
$GC,7478,-0.70,-116.7,555.7,-7.1,513,7482,0.00,2.10,0.00,0.000,4,0.000,0.044,2542,3697,3477,0,0,0,0,0,0
$GC,7516,-0.70,-116.7,558.5,-7.6,513,7521,0.00,2.05,0.00,0.000,6,0.000,0.026,2542,2297,3476,0,0,0,0,0,0
$GC,7843,-0.70,-116.7,580.1,-6.7,519,7847,0.00,2.12,0.00,0.000,4,0.000,0.044,2542,3700,3476,0,0,0,0,0,0
$GC,7904,-0.70,-116.7,584.2,-6.9,520,7908,0.00,2.03,0.00,0.000,6,0.000,0.027,2542,2297,3475,0,0,0,0,0,0
$GC,8274,-0.70,-116.7,608.0,-6.4,526,8278,0.00,2.12,0.00,0.000,4,0.000,0.044,2543,3696,3474,0,0,0,0,0,0
$GC,8341,-0.70,-116.7,612.4,-6.4,527,8345,0.00,2.03,0.00,0.000,6,0.000,0.027,2542,2290,3475,0,0,0,0,0,0
$GC,8706,-0.70,-116.7,635.6,-6.4,533,8710,0.00,2.15,0.00,0.000,4,0.000,0.044,2542,3705,3474,0,0,0,0,0,0
$GC,8778,-0.70,-116.7,640.3,-6.5,534,8782,0.00,2.03,0.00,0.000,6,0.000,0.027,2542,2301,3473,0,0,0,0,0,0
$GC,9137,-0.70,-116.7,663.1,-6.3,540,9141,0.00,2.15,0.00,0.000,4,0.000,0.044,2542,3705,3473,0,0,0,0,0,0
$GC,9205,-0.70,-116.7,667.5,-6.8,541,9209,0.00,2.03,0.00,0.000,6,0.000,0.027,2542,2301,3473,0,0,0,0,0,0
$GC,9570,-0.70,-116.7,690.6,-6.4,547,9574,0.00,2.15,0.00,0.000,4,0.000,0.044,2542,3704,3473,0,0,0,0,0,0
$GC,9632,-0.70,-116.7,694.9,-6.9,548,9636,0.00,2.03,0.00,0.000,6,0.000,0.027,2542,2298,3473,0,0,0,0,0,0
$GC,10002,-0.70,-116.7,718.3,-6.3,554,10006,0.00,2.12,0.00,0.000,4,0.000,0.044,2542,3698,3472,0,0,0,0,0,0
$GC,10068,-0.70,-116.7,722.6,-6.4,555,10072,0.00,2.03,0.00,0.000,6,0.000,0.027,2542,2295,3472,0,0,0,0,0,0
$GC,10433,-0.70,-116.7,745.3,-6.3,561,10437,0.00,2.12,0.00,0.000,4,0.000,0.044,2542,3695,3471,0,0,0,0,0,0
$GC,10499,-0.70,-116.7,749.5,-6.2,562,10503,0.00,2.03,0.00,0.000,6,0.000,0.027,2542,2295,3471,0,0,0,0,0,0
$GC,10864,-0.70,-116.7,772.1,-6.3,568,10868,0.00,2.15,0.00,0.000,4,0.000,0.044,2542,3707,3471,0,0,0,0,0,0
$GC,10936,-0.70,-116.7,777.0,-6.7,569,10940,0.00,2.08,0.00,0.000,6,0.000,0.027,2542,2301,3470,0,0,0,0,0,0
$GC,11303,-0.70,-116.7,801.0,-6.6,575,11307,0.00,2.15,0.00,0.000,4,0.000,0.045,2542,3698,3470,0,0,0,0,0,0
$GC,11369,-0.70,-116.7,805.8,-7.9,576,11373,0.00,2.08,0.00,0.000,6,0.000,0.027,2542,2290,3470,0,0,0,0,0,0
$GC,11735,-0.70,-116.7,828.9,-6.3,582,11739,0.00,2.15,0.00,0.000,4,0.000,0.044,2542,3704,3470,0,0,0,0,0,0
$GC,11812,-0.73,-116.7,833.9,-6.3,583,11816,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2288,3470,0,0,0,0,0,0
$GC,12166,-0.73,-116.7,856.1,-6.3,589,12170,0.00,2.15,0.00,0.000,4,0.000,0.044,2542,3702,3469,0,0,0,0,0,0
$GC,12244,-0.76,-116.7,861.3,-6.9,590,12248,0.00,2.08,0.00,0.000,6,0.000,0.027,2542,2297,3469,0,0,0,0,0,0
$GC,12598,-0.76,-116.7,883.3,-6.3,596,12602,0.00,2.12,0.00,0.000,4,0.000,0.044,2542,3698,3469,0,0,0,0,0,0
$GC,12677,-0.79,-116.7,888.4,-6.3,597,12680,0.00,2.03,0.00,0.000,6,0.000,0.027,2542,2303,3469,0,0,0,0,0,0
$GC,13036,-0.79,-116.7,911.3,-6.4,603,13040,0.00,2.12,0.00,0.000,4,0.000,0.044,2542,3697,3468,0,0,0,0,0,0
$GC,13109,-0.83,-116.7,916.2,-6.7,604,13114,0.15,2.03,0.00,0.000,6,0.135,0.027,2491,2295,3468,0,0,0,0,0,0
$GC,13463,-0.75,-116.7,945.4,-8.4,610,13467,0.12,2.15,0.00,0.000,4,0.203,0.045,2522,3695,3468,0,0,0,0,0,0
$GC,13485,-0.72,-116.7,947.2,-8.5,610,13489,0.00,2.03,0.00,0.000,6,0.000,0.028,2522,2303,3468,0,0,0,0,0,0
$GC,13827,-0.72,-116.7,972.6,-7.4,616,13831,0.00,2.12,0.00,0.000,4,0.000,0.045,2522,3695,3468,0,0,0,0,0,0
$GC,13865,-0.72,-116.7,975.8,-7.8,616,13870,0.00,2.08,0.00,0.000,6,0.000,0.028,2522,2292,3468,0,0,0,0,0,0
$STATE,14068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14068,begin apogee
$GC,14073,-0.24,0.0,991.0,7.5,620,14175,0.55,0.00,98.95,1.556,6,0.170,0.000,2686,2650,3006,0,0,0,0,0,0
$STATE,14176,end apogee,CONTROL_FINISHED_OK
$STATE,14176,begin climb
$GC,14178,0.80,116.7,993.4,0.0,621,14294,1.08,2.40,107.03,1.461,4,0.113,0.045,3020,4039,2528,0,0,0,0,0,0
$GC,14361,0.54,116.7,987.4,8.6,624,14366,0.32,2.20,0.00,0.000,6,0.181,0.027,2947,2651,2523,0,0,0,0,0,0
$GC,14676,0.55,152.3,969.7,5.5,630,14709,0.00,0.00,31.40,1.445,6,0.000,0.000,2948,2650,2385,0,0,0,0,0,0
$GC,14979,0.56,161.9,950.3,6.5,635,14990,0.00,0.00,9.62,1.350,6,0.000,0.000,2948,2651,2345,0,0,0,0,0,0
$GC,15282,0.57,170.4,930.5,6.5,640,15292,0.00,0.00,8.80,1.345,6,0.000,0.000,2948,2651,2311,0,0,0,0,0,0
$GC,15584,0.57,170.4,909.7,6.9,645,15588,0.00,2.17,0.00,0.000,4,0.000,0.047,2940,4042,2307,0,0,0,0,0,0
$GC,15646,0.53,170.4,904.8,9.0,646,15650,0.00,2.08,0.00,0.000,6,0.000,0.028,2948,2648,2307,0,0,0,0,0,0
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$STATE,27106,end climb,SURFACE_DEPTH_REACHED
$STATE,27106,begin surface coast
$FINISH,3.0,1.027271
$STATE,27151,end surface coast,CONTROL_FINISHED_OK
$STATE,27151,begin surface
$SM_CCo,27168,20.83,0.805,0,0,1884,275.23
$SM_GC,3.33,0.00,0.00,20.83,0.000,0.000,0.805,220,2254,1884,-7.96,-1.30,275.23
$IRIDIUM_FIX,6411.46,30.11,110299,141453
$TT8_MAMPS,0.027612
$HUMID,1078385152
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,14.60
$XPDR_PINGS,1
$24V_AH,22.5,28.093
$10V_AH,10.0,17.836
$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,22.075,227.100,328.825,20.825,0.000,28.791,32.699,194.694,0.250,0.000,17.638,2498.844,20892.791,550.404,3078.342,546.907,0.000,2061.465,0.000,3033.972,0.000,0.534,0.000
$DEVICE_MAMPS,243.139,48.321,1556.243,804.583,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,802.592,1044.700,636.693,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241408
$DATA_FILE_SIZE,66379,1161
$CAP_FILE_SIZE,229788,0
$CFSIZE,260165632,241704960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,148.5,1
$GPS,181109,052706,6427.284,14.011,38,1.2,39,-5.0