version: 66.06
glider: 140
mission: 8
dive: 174
start: 11 21 109 1 38 55
data:
$ID,140
$MISSION,8
$DIVE,174
$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,-47437.242
$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,91
$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
$GPS1,013138,6352.892,121.216,41,1.5,42,-4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.45
$_SM_ANGLEo,-56.6
$GPS2,013807,6352.875,121.475,9,1.6,9,-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,131.6,159374,-13.7,-6.875
$D_GRID,1983
$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,-6.72,0.000,2,0.000,0.000,211,2258,2015,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.4,-0.0,1,111,8.95,2.30,-70.18,0.000,4,0.235,0.055,2501,3705,3483,0,0,0,0,0,0
$GC,363,-0.68,-116.7,35.9,-13.7,61,370,0.15,2.03,0.00,0.000,6,0.189,0.024,2540,2288,3485,0,0,0,0,0,0
$GC,702,-0.63,-116.7,67.7,-9.3,122,707,0.00,2.15,0.00,0.000,4,0.000,0.041,2541,3704,3485,0,0,0,0,0,0
$GC,748,-0.60,-116.7,72.2,-9.9,130,754,0.10,2.03,0.00,0.000,6,0.197,0.024,2566,2297,3485,0,0,0,0,0,0
$GC,1091,-0.60,-116.7,97.3,-6.8,191,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2296,3486,0,0,0,0,0,0
$GC,1447,-0.60,-116.7,122.9,-6.9,249,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2296,3487,0,0,0,0,0,0
$GC,1753,-0.60,-116.7,143.4,-7.2,264,1757,0.00,2.15,0.00,0.000,4,0.000,0.041,2566,3712,3486,0,0,0,0,0,0
$GC,1802,-0.63,-116.7,146.7,-7.3,266,1806,0.00,2.05,0.00,0.000,6,0.000,0.024,2567,2305,3486,0,0,0,0,0,0
$GC,2130,-0.63,-116.7,168.2,-6.3,282,2134,0.00,2.12,0.00,0.000,4,0.000,0.041,2566,3713,3487,0,0,0,0,0,0
$GC,2175,-0.66,-116.7,171.1,-6.7,284,2179,0.00,2.03,0.00,0.000,6,0.000,0.024,2566,2297,3487,0,0,0,0,0,0
$GC,2507,-0.66,-116.7,193.3,-7.1,300,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2288,3487,0,0,0,0,0,0
$GC,2816,-0.70,-116.7,215.6,-7.0,315,2820,0.00,2.12,0.00,0.000,4,0.000,0.040,2566,3707,3487,0,0,0,0,0,0
$GC,2856,-0.74,-116.7,218.3,-6.8,317,2861,0.12,2.03,0.00,0.000,6,0.132,0.024,2527,2278,3487,0,0,0,0,0,0
$GC,3183,-0.70,-116.7,246.5,-9.2,333,3187,0.00,2.15,0.00,0.000,4,0.000,0.040,2527,3712,3487,0,0,0,0,0,0
$GC,3226,-0.65,-116.7,250.7,-9.0,335,3230,0.00,2.05,0.00,0.000,6,0.000,0.024,2527,2297,3487,0,0,0,0,0,0
$GC,3553,-0.62,-116.7,280.0,-8.8,351,3558,0.15,2.15,0.00,0.000,4,0.188,0.041,2567,3710,3487,0,0,0,0,0,0
$GC,3622,-0.68,-116.7,285.1,-6.8,354,3625,0.00,2.00,0.00,0.000,6,0.000,0.024,2567,2304,3487,0,0,0,0,0,0
$GC,3964,-0.73,-116.7,306.6,-6.0,369,3968,0.12,2.12,0.00,0.000,4,0.128,0.041,2526,3704,3487,0,0,0,0,0,0
$GC,4086,-0.73,-116.7,315.3,-6.8,372,4092,0.00,2.00,0.00,0.000,6,0.000,0.024,2526,2290,3487,0,0,0,0,0,0
$GC,4399,-0.69,-116.7,339.9,-8.6,383,4403,0.00,2.12,0.00,0.000,4,0.000,0.041,2526,3705,3487,0,0,0,0,0,0
$GC,4414,-0.66,-116.7,341.4,-8.7,383,4418,0.00,2.03,0.00,0.000,6,0.000,0.025,2526,2310,3487,0,0,0,0,0,0
$GC,4733,-0.62,-116.7,368.3,-8.4,394,4737,0.12,2.12,0.00,0.000,4,0.195,0.042,2557,3709,3486,0,0,0,0,0,0
$GC,4742,-0.62,-116.7,369.3,-8.3,394,4747,0.00,2.05,0.00,0.000,6,0.000,0.025,2557,2304,3486,0,0,0,0,0,0
$GC,5066,-0.66,-116.7,390.9,-6.6,405,5070,0.00,2.12,0.00,0.000,4,0.000,0.041,2558,3713,3486,0,0,0,0,0,0
$GC,5172,-0.71,-116.7,398.5,-7.0,408,5176,0.00,2.03,0.00,0.000,6,0.000,0.025,2557,2292,3485,0,0,0,0,0,0
$GC,5502,-0.75,-116.7,420.6,-6.2,419,5506,0.00,2.12,0.00,0.000,4,0.000,0.042,2557,3704,3485,0,0,0,0,0,0
$GC,5557,-0.80,-116.7,424.2,-6.5,420,5564,0.15,2.00,0.00,0.000,6,0.129,0.025,2508,2294,3485,0,0,0,0,0,0
$GC,5870,-0.73,-116.7,449.3,-8.4,431,5873,0.00,2.12,0.00,0.000,4,0.000,0.042,2508,3702,3484,0,0,0,0,0,0
$GC,5891,-0.67,-116.7,451.3,-8.8,431,5896,0.08,2.03,0.00,0.000,6,0.173,0.025,2543,2312,3484,0,0,0,0,0,0
$GC,6209,-0.67,-116.7,473.9,-7.0,442,6213,0.00,2.10,0.00,0.000,4,0.000,0.043,2543,3702,3483,0,0,0,0,0,0
$GC,6235,-0.67,-116.7,475.8,-7.0,442,6241,0.00,2.05,0.00,0.000,6,0.000,0.025,2543,2300,3483,0,0,0,0,0,0
$GC,6548,-0.67,-116.7,497.2,-6.8,453,6552,0.00,2.12,0.00,0.000,4,0.000,0.043,2543,3702,3482,0,0,0,0,0,0
$GC,6619,-0.67,-116.7,502.1,-6.8,455,6623,0.00,2.05,0.00,0.000,6,0.000,0.025,2543,2295,3482,0,0,0,0,0,0
$GC,6985,-0.67,-116.7,526.6,-6.7,461,6989,0.00,2.12,0.00,0.000,4,0.000,0.043,2543,3701,3481,0,0,0,0,0,0
$GC,7046,-0.67,-116.7,531.2,-7.5,462,7051,0.00,2.03,0.00,0.000,6,0.000,0.026,2543,2294,3480,0,0,0,0,0,0
$GC,7417,-0.67,-116.7,557.7,-7.3,468,7421,0.00,2.12,0.00,0.000,4,0.000,0.044,2543,3701,3480,0,0,0,0,0,0
$GC,7478,-0.67,-116.7,562.1,-7.0,469,7482,0.00,2.03,0.00,0.000,6,0.000,0.026,2543,2294,3479,0,0,0,0,0,0
$GC,7842,-0.67,-116.7,588.2,-7.3,475,7846,0.00,2.15,0.00,0.000,4,0.000,0.044,2543,3711,3478,0,0,0,0,0,0
$GC,7904,-0.67,-116.7,592.4,-6.8,476,7908,0.00,2.05,0.00,0.000,6,0.000,0.027,2543,2290,3478,0,0,0,0,0,0
$GC,8270,-0.67,-116.7,619.2,-7.5,482,8274,0.00,2.15,0.00,0.000,4,0.000,0.044,2543,3705,3477,0,0,0,0,0,0
$GC,8337,-0.70,-116.7,624.2,-7.4,483,8341,0.00,2.03,0.00,0.000,6,0.000,0.027,2543,2306,3477,0,0,0,0,0,0
$GC,8707,-0.70,-116.7,650.0,-6.8,489,8711,0.00,2.15,0.00,0.000,4,0.000,0.044,2543,3701,3476,0,0,0,0,0,0
$GC,8775,-0.70,-116.7,654.3,-6.3,490,8779,0.00,2.03,0.00,0.000,6,0.000,0.027,2543,2300,3476,0,0,0,0,0,0
$GC,9141,-0.70,-116.7,676.9,-6.1,496,9144,0.00,2.15,0.00,0.000,4,0.000,0.044,2543,3710,3475,0,0,0,0,0,0
$GC,9218,-0.70,-116.7,681.7,-6.0,497,9222,0.00,2.08,0.00,0.000,6,0.000,0.027,2543,2301,3474,0,0,0,0,0,0
$GC,9573,-0.70,-116.7,703.3,-6.2,503,9577,0.00,2.12,0.00,0.000,4,0.000,0.044,2543,3700,3474,0,0,0,0,0,0
$GC,9628,-0.74,-116.7,706.8,-6.2,503,9634,0.00,2.03,0.00,0.000,6,0.000,0.027,2543,2296,3474,0,0,0,0,0,0
$GC,9937,-0.74,-116.7,726.0,-6.2,509,9941,0.00,2.12,0.00,0.000,4,0.000,0.044,2543,3700,3474,0,0,0,0,0,0
$GC,9999,-0.77,-116.7,729.8,-5.9,510,10003,0.00,2.03,0.00,0.000,6,0.000,0.027,2543,2302,3473,0,0,0,0,0,0
$GC,10370,-0.77,-116.7,752.5,-6.1,516,10374,0.00,2.12,0.00,0.000,4,0.000,0.044,2543,3700,3473,0,0,0,0,0,0
$GC,10459,-0.80,-116.7,758.1,-6.4,517,10464,0.12,2.03,0.00,0.000,6,0.143,0.027,2503,2293,3472,0,0,0,0,0,0
$GC,10801,-0.74,-116.7,784.9,-8.0,523,10805,0.00,2.15,0.00,0.000,4,0.000,0.044,2502,3706,3472,0,0,0,0,0,0
$GC,10817,-0.68,-116.7,786.4,-8.3,523,10822,0.15,2.08,0.00,0.000,6,0.183,0.028,2541,2270,3472,0,0,0,0,0,0
$GC,11166,-0.68,-116.7,811.7,-7.4,529,11170,0.00,2.17,0.00,0.000,4,0.000,0.045,2541,3702,3471,0,0,0,0,0,0
$GC,11238,-0.71,-116.7,817.4,-7.7,530,11242,0.00,2.08,0.00,0.000,6,0.000,0.027,2541,2299,3471,0,0,0,0,0,0
$GC,11597,-0.71,-116.7,843.3,-7.1,536,11601,0.00,2.12,0.00,0.000,4,0.000,0.044,2541,3698,3471,0,0,0,0,0,0
$GC,11680,-0.74,-116.7,849.2,-7.1,537,11684,0.00,2.03,0.00,0.000,6,0.000,0.027,2541,2297,3471,0,0,0,0,0,0
$GC,12028,-0.74,-116.7,872.4,-6.6,543,12032,0.00,2.15,0.00,0.000,4,0.000,0.045,2541,3704,3470,0,0,0,0,0,0
$GC,12112,-0.78,-116.7,878.0,-6.7,544,12116,0.00,2.05,0.00,0.000,6,0.000,0.027,2541,2292,3470,0,0,0,0,0,0
$GC,12461,-0.78,-116.7,899.8,-6.2,550,12465,0.00,2.15,0.00,0.000,4,0.000,0.045,2541,3702,3470,0,0,0,0,0,0
$GC,12533,-0.82,-116.7,904.4,-6.4,551,12538,0.12,2.05,0.00,0.000,6,0.142,0.027,2502,2290,3469,0,0,0,0,0,0
$GC,12887,-0.76,-116.7,930.1,-7.3,557,12891,0.00,2.15,0.00,0.000,4,0.000,0.044,2502,3700,3469,0,0,0,0,0,0
$GC,12902,-0.70,-116.7,931.4,-7.3,557,12907,0.10,2.08,0.00,0.000,6,0.173,0.028,2532,2298,3469,0,0,0,0,0,0
$GC,13251,-0.70,-116.7,954.8,-6.8,563,13255,0.00,2.15,0.00,0.000,4,0.000,0.045,2532,3708,3469,0,0,0,0,0,0
$GC,13294,-0.70,-116.7,957.9,-7.0,563,13298,0.00,2.10,0.00,0.000,6,0.000,0.028,2532,2295,3469,0,0,0,0,0,0
$GC,13615,-0.70,-116.7,978.7,-6.5,569,13619,0.00,2.15,0.00,0.000,4,0.000,0.045,2532,3705,3469,0,0,0,0,0,0
$GC,13664,-0.70,-116.7,982.1,-6.8,569,13668,0.00,2.08,0.00,0.000,6,0.000,0.028,2533,2306,3468,0,0,0,0,0,0
$STATE,13800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13801,begin apogee
$GC,13806,-0.24,0.0,990.8,6.4,572,13908,0.50,0.00,99.70,1.549,6,0.170,0.000,2680,2651,3006,0,0,0,0,0,0
$STATE,13909,end apogee,CONTROL_FINISHED_OK
$STATE,13909,begin climb
$GC,13911,0.80,116.7,992.7,0.0,573,14027,1.10,2.40,106.88,1.453,4,0.116,0.046,3019,4042,2529,0,0,0,0,0,0
$GC,14088,0.54,116.7,985.7,8.0,576,14093,0.28,2.25,0.00,0.000,6,0.171,0.027,2942,2646,2523,0,0,0,0,0,0
$GC,14415,0.57,134.8,965.3,6.2,582,14432,0.00,0.00,15.85,1.401,6,0.000,0.000,2941,2645,2456,0,0,0,0,0,0
$GC,14717,0.59,150.5,946.5,6.2,587,14734,0.00,0.00,15.40,1.401,6,0.000,0.000,2942,2645,2392,0,0,0,0,0,0
$GC,15020,0.60,160.1,927.0,6.5,592,15031,0.00,0.00,9.62,1.350,6,0.000,0.000,2942,2646,2353,0,0,0,0,0,0
$GC,15323,0.60,165.8,907.0,6.6,597,15332,0.00,0.00,6.62,1.265,6,0.000,0.000,2942,2645,2330,0,0,0,0,0,0
$GC,15627,0.61,173.5,887.0,6.6,602,15637,0.00,0.00,8.57,1.332,6,0.000,0.000,2942,2645,2298,0,0,0,0,0,0
$GC,15929,0.61,173.5,865.9,7.1,607,15933,0.00,2.17,0.00,0.000,4,0.000,0.047,2940,4045,2295,0,0,0,0,0,0
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$GC,22194,0.70,244.7,402.4,6.5,730,22207,0.10,0.00,10.38,1.114,6,0.138,0.000,2987,2638,2008,0,0,0,0,0,0
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$STATE,26715,end climb,SURFACE_DEPTH_REACHED
$STATE,26715,begin surface coast
$FINISH,2.7,1.014986
$STATE,26782,end surface coast,CONTROL_FINISHED_OK
$STATE,26782,begin surface
$SM_CCo,26798,25.40,0.778,0,0,1883,275.23
$SM_GC,3.54,0.00,0.00,25.40,0.000,0.000,0.778,212,2262,1883,-7.98,-1.07,275.23
$IRIDIUM_FIX,6327.46,118.23,140299,181807
$TT8_MAMPS,0.027612
$HUMID,1078349023
$INTERNAL_PRESSURE,8.28157
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,22.6,29.639
$10V_AH,10.1,18.977
$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
$DEVICE_SECS,21.425,186.025,334.850,25.400,0.000,31.151,33.086,195.303,0.000,0.000,10.969,2359.586,21045.275,522.607,2739.433,560.740,0.000,1866.523,0.000,2712.954,0.000,0.533,0.000
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$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235180
$DATA_FILE_SIZE,63308,1099
$CAP_FILE_SIZE,212607,0
$CFSIZE,260165632,240816128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,131.1,1
$GPS,211109,090746,6350.126,127.857,49,2.5,69,-4.2