version: 66.06
glider: 140
mission: 8
dive: 165
start: 11 18 109 5 34 55
data:
$ID,140
$MISSION,8
$DIVE,165
$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,-47279.699
$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,81
$R_STBD_OVSHOOT,47
$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
$GPS1,052706,6427.284,14.011,38,1.2,39,-5.0
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,3.42
$_SM_ANGLEo,-63.7
$GPS2,053432,6427.235,14.044,11,1.3,11,-5.0
$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,136.2,243586,-13.7,-6.875
$D_GRID,2556
$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,13,begin dive
$GC,15,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-6.47,0.000,2,0.000,0.000,219,2252,2003,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.4,-0.0,1,132,9.05,2.03,-89.03,0.000,4,0.243,0.048,2504,914,3481,0,0,0,0,0,0
$GC,308,-0.66,-116.7,21.7,-10.7,52,314,0.12,2.12,0.00,0.000,6,0.177,0.029,2541,2311,3483,0,0,0,0,0,0
$GC,647,-0.62,-116.7,49.4,-7.4,113,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2311,3484,0,0,0,0,0,0
$GC,989,-0.57,-116.7,77.2,-9.8,174,994,0.12,0.00,0.00,0.000,6,0.206,0.000,2573,2311,3484,0,0,0,0,0,0
$GC,1330,-0.57,-116.7,102.6,-7.4,235,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2311,3484,0,0,0,0,0,0
$GC,1675,-0.61,-116.7,127.6,-7.1,283,1679,0.00,2.05,0.00,0.000,4,0.000,0.041,2573,3699,3484,0,0,0,0,0,0
$GC,1685,-0.66,-116.7,128.6,-7.0,283,1691,0.00,2.00,0.00,0.000,6,0.000,0.024,2574,2290,3485,0,0,0,0,0,0
$GC,2002,-0.71,-116.7,147.4,-5.5,299,2007,0.12,2.15,0.00,0.000,4,0.137,0.041,2533,3701,3485,0,0,0,0,0,0
$GC,2064,-0.68,-116.7,151.7,-7.0,302,2068,0.00,2.00,0.00,0.000,6,0.000,0.023,2533,2298,3485,0,0,0,0,0,0
$GC,2396,-0.64,-116.7,175.7,-7.4,318,2400,0.00,2.12,0.00,0.000,4,0.000,0.041,2533,3701,3486,0,0,0,0,0,0
$GC,2406,-0.60,-116.7,176.5,-7.5,318,2410,0.10,2.03,0.00,0.000,6,0.170,0.024,2577,2298,3486,0,0,0,0,0,0
$GC,2729,-0.66,-116.7,196.7,-6.2,334,2733,0.00,2.12,0.00,0.000,4,0.000,0.041,2577,3709,3486,0,0,0,0,0,0
$GC,2869,-0.74,-116.7,205.6,-6.3,340,2874,0.15,2.00,0.00,0.000,6,0.125,0.024,2528,2292,3486,0,0,0,0,0,0
$GC,3191,-0.70,-116.7,232.7,-8.5,356,3195,0.00,2.12,0.00,0.000,4,0.000,0.041,2527,3704,3485,0,0,0,0,0,0
$GC,3207,-0.66,-116.7,234.3,-8.2,357,3211,0.00,1.98,0.00,0.000,6,0.000,0.024,2528,2311,3485,0,0,0,0,0,0
$GC,3539,-0.62,-116.7,261.5,-8.0,373,3541,0.12,0.00,0.00,0.000,6,0.196,0.000,2558,2307,3485,0,0,0,0,0,0
$GC,3848,-0.62,-116.7,282.4,-6.8,388,3852,0.00,2.10,0.00,0.000,4,0.000,0.041,2558,3702,3485,0,0,0,0,0,0
$GC,3920,-0.67,-116.7,287.6,-6.9,391,3924,0.00,2.03,0.00,0.000,6,0.000,0.024,2558,2300,3485,0,0,0,0,0,0
$GC,4241,-0.70,-116.7,308.4,-6.5,405,4245,0.00,2.12,0.00,0.000,4,0.000,0.042,2558,3705,3485,0,0,0,0,0,0
$GC,4279,-0.74,-116.7,310.9,-6.3,406,4283,0.00,2.00,0.00,0.000,6,0.000,0.025,2559,2302,3484,0,0,0,0,0,0
$GC,4614,-0.78,-116.7,331.0,-5.9,417,4619,0.15,2.12,0.00,0.000,4,0.132,0.043,2509,3698,3485,0,0,0,0,0,0
$GC,4646,-0.71,-116.7,333.5,-7.6,418,4650,0.00,2.03,0.00,0.000,6,0.000,0.025,2509,2309,3484,0,0,0,0,0,0
$GC,4981,-0.64,-116.7,360.4,-8.1,429,4986,0.17,2.12,0.00,0.000,4,0.192,0.043,2555,3702,3484,0,0,0,0,0,0
$GC,4996,-0.64,-116.7,361.7,-7.9,429,5000,0.00,2.05,0.00,0.000,6,0.000,0.025,2555,2298,3483,0,0,0,0,0,0
$GC,5320,-0.64,-116.7,383.4,-6.9,440,5324,0.00,2.12,0.00,0.000,4,0.000,0.042,2555,3698,3482,0,0,0,0,0,0
$GC,5376,-0.69,-116.7,387.2,-6.6,441,5380,0.00,2.00,0.00,0.000,6,0.000,0.025,2555,2301,3482,0,0,0,0,0,0
$GC,5694,-0.72,-116.7,409.1,-6.9,452,5698,0.00,2.12,0.00,0.000,4,0.000,0.042,2555,3701,3482,0,0,0,0,0,0
$GC,5771,-0.77,-116.7,414.5,-6.8,454,5776,0.12,2.00,0.00,0.000,6,0.140,0.025,2516,2294,3481,0,0,0,0,0,0
$GC,6089,-0.72,-116.7,439.4,-8.0,465,6093,0.00,2.12,0.00,0.000,4,0.000,0.043,2515,3697,3480,0,0,0,0,0,0
$GC,6099,-0.67,-116.7,440.3,-8.0,465,6104,0.08,2.03,0.00,0.000,6,0.170,0.026,2539,2312,3480,0,0,0,0,0,0
$GC,6422,-0.67,-116.7,464.4,-7.6,476,6425,0.00,2.10,0.00,0.000,4,0.000,0.043,2539,3698,3480,0,0,0,0,0,0
$GC,6460,-0.67,-116.7,467.3,-7.4,477,6464,0.00,2.05,0.00,0.000,6,0.000,0.026,2539,2296,3479,0,0,0,0,0,0
$GC,6789,-0.67,-116.7,492.8,-7.9,488,6793,0.00,2.12,0.00,0.000,4,0.000,0.043,2540,3698,3479,0,0,0,0,0,0
$GC,6826,-0.67,-116.7,496.0,-8.3,489,6831,0.00,2.05,0.00,0.000,6,0.000,0.026,2540,2297,3478,0,0,0,0,0,0
$GC,7184,-0.67,-116.7,525.1,-8.2,496,7187,0.00,2.12,0.00,0.000,4,0.000,0.043,2540,3698,3478,0,0,0,0,0,0
$GC,7249,-0.67,-116.7,530.7,-8.7,497,7254,0.00,2.05,0.00,0.000,6,0.000,0.026,2540,2298,3477,0,0,0,0,0,0
$GC,7615,-0.67,-116.7,560.5,-8.1,503,7619,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3701,3477,0,0,0,0,0,0
$GC,7669,-0.67,-116.7,565.1,-9.0,503,7676,0.00,2.05,0.00,0.000,6,0.000,0.026,2540,2304,3476,0,0,0,0,0,0
$GC,7978,-0.67,-116.7,589.1,-7.9,509,7982,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3704,3476,0,0,0,0,0,0
$GC,8040,-0.67,-116.7,594.0,-7.9,510,8044,0.00,2.03,0.00,0.000,6,0.000,0.027,2540,2297,3475,0,0,0,0,0,0
$GC,8405,-0.67,-116.7,621.4,-7.5,516,8409,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3697,3475,0,0,0,0,0,0
$GC,8466,-0.67,-116.7,626.0,-7.4,516,8472,0.00,2.05,0.00,0.000,6,0.000,0.026,2539,2295,3475,0,0,0,0,0,0
$GC,8775,-0.67,-116.7,647.9,-7.1,522,8779,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3697,3474,0,0,0,0,0,0
$GC,8819,-0.67,-116.7,651.1,-7.5,522,8823,0.00,2.05,0.00,0.000,6,0.000,0.027,2540,2301,3474,0,0,0,0,0,0
$GC,9140,-0.67,-116.7,672.2,-6.5,528,9144,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3698,3473,0,0,0,0,0,0
$GC,9195,-0.67,-116.7,675.8,-6.5,528,9201,0.00,2.05,0.00,0.000,6,0.000,0.027,2540,2302,3473,0,0,0,0,0,0
$GC,9505,-0.67,-116.7,695.5,-6.4,534,9509,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3699,3473,0,0,0,0,0,0
$GC,9548,-0.67,-116.7,698.3,-6.1,534,9552,0.00,2.03,0.00,0.000,6,0.000,0.027,2540,2296,3473,0,0,0,0,0,0
$GC,9869,-0.67,-116.7,717.4,-6.0,540,9873,0.00,2.15,0.00,0.000,4,0.000,0.044,2539,3706,3472,0,0,0,0,0,0
$GC,9936,-0.67,-116.7,721.3,-6.0,541,9940,0.00,2.05,0.00,0.000,6,0.000,0.028,2539,2289,3472,0,0,0,0,0,0
$GC,10301,-0.67,-116.7,741.8,-5.6,547,10305,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3705,3471,0,0,0,0,0,0
$GC,10368,-0.67,-116.7,745.8,-6.2,548,10372,0.00,2.08,0.00,0.000,6,0.000,0.027,2540,2295,3471,0,0,0,0,0,0
$GC,10734,-0.67,-116.7,767.3,-6.0,554,10738,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3696,3471,0,0,0,0,0,0
$GC,10811,-0.67,-116.7,772.2,-6.3,555,10815,0.00,2.05,0.00,0.000,6,0.000,0.027,2539,2301,3471,0,0,0,0,0,0
$GC,11165,-0.67,-116.7,793.9,-6.2,561,11169,0.00,2.15,0.00,0.000,4,0.000,0.045,2540,3698,3470,0,0,0,0,0,0
$GC,11220,-0.67,-116.7,797.7,-6.4,561,11227,0.00,2.08,0.00,0.000,6,0.000,0.027,2540,2293,3470,0,0,0,0,0,0
$GC,11530,-0.67,-116.7,818.4,-6.8,567,11534,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3702,3470,0,0,0,0,0,0
$GC,11597,-0.67,-116.7,823.3,-6.8,568,11601,0.00,2.03,0.00,0.000,6,0.000,0.028,2540,2306,3470,0,0,0,0,0,0
$GC,11968,-0.67,-116.7,849.8,-7.2,574,11972,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3697,3470,0,0,0,0,0,0
$GC,12035,-0.70,-116.7,855.0,-8.0,575,12039,0.00,2.08,0.00,0.000,6,0.000,0.027,2540,2289,3469,0,0,0,0,0,0
$GC,12399,-0.70,-116.7,881.6,-7.4,581,12403,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3701,3469,0,0,0,0,0,0
$GC,12493,-0.73,-116.7,888.7,-7.9,582,12497,0.00,2.08,0.00,0.000,6,0.000,0.027,2540,2295,3469,0,0,0,0,0,0
$GC,12830,-0.73,-116.7,913.4,-7.4,588,12834,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3695,3469,0,0,0,0,0,0
$GC,12908,-0.77,-116.7,919.4,-7.6,589,12912,0.00,2.05,0.00,0.000,6,0.000,0.027,2540,2302,3469,0,0,0,0,0,0
$GC,13262,-0.77,-116.7,945.7,-7.4,595,13266,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3697,3468,0,0,0,0,0,0
$GC,13339,-0.81,-116.7,951.5,-7.8,596,13344,0.05,2.05,0.00,0.000,6,0.134,0.027,2503,2306,3468,0,0,0,0,0,0
$GC,13699,-0.76,-116.7,981.3,-8.3,602,13703,0.00,2.12,0.00,0.000,4,0.000,0.045,2503,3701,3468,0,0,0,0,0,0
$GC,13714,-0.71,-116.7,982.8,-8.3,602,13719,0.12,2.03,0.00,0.000,6,0.192,0.028,2533,2297,3468,0,0,0,0,0,0
$STATE,13817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13818,begin apogee
$GC,13823,-0.24,0.0,990.3,7.1,604,13925,0.50,0.00,99.05,1.549,6,0.168,0.000,2683,2654,3006,0,0,0,0,0,0
$STATE,13925,end apogee,CONTROL_FINISHED_OK
$STATE,13926,begin climb
$GC,13927,0.80,116.7,992.6,0.0,605,14045,1.08,2.45,106.88,1.457,4,0.114,0.047,3016,4037,2528,0,0,0,0,0,0
$GC,14123,0.55,116.7,985.6,8.8,608,14130,0.32,2.17,0.00,0.000,6,0.179,0.027,2945,2654,2521,0,0,0,0,0,0
$GC,14434,0.54,139.2,966.9,6.0,614,14456,0.00,0.00,19.77,1.416,6,0.000,0.000,2945,2653,2438,0,0,0,0,0,0
$GC,14736,0.56,149.4,947.5,6.5,619,14747,0.00,0.00,9.85,1.357,6,0.000,0.000,2945,2653,2397,0,0,0,0,0,0
$GC,15039,0.56,155.4,927.6,6.6,624,15048,0.00,0.00,7.00,1.290,6,0.000,0.000,2945,2653,2372,0,0,0,0,0,0
$GC,15342,0.57,157.4,907.1,6.8,629,15343,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2653,2370,0,0,0,0,0,0
$GC,15645,0.58,164.1,887.1,6.6,634,15656,0.00,0.00,9.15,1.364,6,0.000,0.000,2946,2653,2336,0,0,0,0,0,0
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$STATE,25894,end climb,SURFACE_DEPTH_REACHED
$STATE,25894,begin surface coast
$FINISH,2.8,1.013366
$STATE,25934,end surface coast,CONTROL_FINISHED_OK
$STATE,25934,begin surface
$SM_CCo,25950,12.40,0.814,0,0,1884,275.23
$SM_GC,4.32,0.00,0.00,12.40,0.000,0.000,0.814,219,2265,1884,-7.96,-0.99,275.23
$IRIDIUM_FIX,6406.52,5.00,110299,212140
$TT8_MAMPS,0.027612
$HUMID,1078399345
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,19.60
$XPDR_PINGS,1
$24V_AH,22.6,28.253
$10V_AH,10.0,17.948
$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
$DEVICE_SECS,22.050,197.625,342.775,12.400,0.000,31.131,49.546,238.841,0.250,0.000,11.168,2330.438,20167.545,529.769,2769.781,600.221,0.000,1901.708,0.000,2738.538,0.000,0.533,0.000
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$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,756.227,991.340,597.930,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241344
$DATA_FILE_SIZE,63331,1094
$CAP_FILE_SIZE,214277,0
$CFSIZE,260165632,241631232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120,164.4,1
$GPS,181109,124914,6423.245,20.027,38,2.4,58,-4.9