version: 66.06
glider: 140
mission: 8
dive: 177
start: 11 22 109 0 40 35
data:
$ID,140
$MISSION,8
$DIVE,177
$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,-47505.293
$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,100
$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
$GPS1,003337,6344.226,139.464,39,1.6,40,-4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.43
$_SM_ANGLEo,-61.9
$GPS2,004013,6344.226,139.515,10,1.5,15,-4.1
$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,130.0,137645,-13.7,-6.875
$D_GRID,1653
$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,-6.78,0.000,2,0.000,0.000,215,2254,2020,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.5,-0.0,1,128,9.00,2.33,-82.05,0.000,4,0.237,0.058,2499,3702,3482,0,0,0,0,0,0
$GC,209,-0.64,-116.7,10.2,-10.6,33,216,0.20,2.00,0.00,0.000,6,0.188,0.023,2553,2313,3483,0,0,0,0,0,0
$GC,546,-0.64,-116.7,38.3,-7.2,94,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2310,3483,0,0,0,0,0,0
$GC,883,-0.64,-116.7,63.9,-7.2,155,888,0.00,2.12,0.00,0.000,4,0.000,0.041,2553,3709,3484,0,0,0,0,0,0
$GC,895,-0.64,-116.7,64.8,-7.2,157,902,0.00,2.03,0.00,0.000,6,0.000,0.024,2553,2297,3484,0,0,0,0,0,0
$GC,1237,-0.64,-116.7,92.2,-7.6,218,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2296,3484,0,0,0,0,0,0
$GC,1577,-0.64,-116.7,119.0,-8.4,279,1583,0.00,2.03,0.00,0.000,4,0.000,0.035,2553,915,3484,0,0,0,0,0,0
$GC,1658,-0.64,-116.7,125.9,-7.9,285,1666,0.00,2.08,0.00,0.000,6,0.000,0.028,2553,2310,3484,0,0,0,0,0,0
$GC,1976,-0.64,-116.7,147.3,-6.4,301,1980,0.00,2.05,0.00,0.000,4,0.000,0.034,2553,918,3484,0,0,0,0,0,0
$GC,2002,-0.64,-116.7,149.3,-7.1,302,2007,0.00,2.05,0.00,0.000,6,0.000,0.027,2553,2299,3485,0,0,0,0,0,0
$GC,2325,-0.64,-116.7,170.4,-6.8,318,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2299,3484,0,0,0,0,0,0
$GC,2634,-0.64,-116.7,192.6,-7.1,333,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2299,3484,0,0,0,0,0,0
$GC,2942,-0.64,-116.7,215.2,-7.3,348,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2299,3485,0,0,0,0,0,0
$GC,3252,-0.64,-116.7,236.7,-7.1,363,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2300,3484,0,0,0,0,0,0
$GC,3561,-0.64,-116.7,260.2,-7.8,378,3565,0.00,2.08,0.00,0.000,4,0.000,0.040,2553,3698,3485,0,0,0,0,0,0
$GC,3571,-0.64,-116.7,261.1,-7.9,378,3576,0.00,2.03,0.00,0.000,6,0.000,0.023,2553,2293,3484,0,0,0,0,0,0
$GC,3894,-0.64,-116.7,284.7,-7.1,394,3898,0.00,2.10,0.00,0.000,4,0.000,0.039,2553,3703,3484,0,0,0,0,0,0
$GC,3921,-0.64,-116.7,286.8,-7.0,395,3926,0.00,2.00,0.00,0.000,6,0.000,0.023,2553,2305,3484,0,0,0,0,0,0
$GC,4241,-0.64,-116.7,309.3,-7.1,409,4245,0.00,2.08,0.00,0.000,4,0.000,0.040,2553,3698,3484,0,0,0,0,0,0
$GC,4250,-0.64,-116.7,309.9,-7.0,409,4255,0.00,2.00,0.00,0.000,6,0.000,0.024,2553,2305,3484,0,0,0,0,0,0
$GC,4574,-0.64,-116.7,331.4,-6.2,420,4577,0.00,2.08,0.00,0.000,4,0.000,0.040,2553,3698,3485,0,0,0,0,0,0
$GC,4603,-0.64,-116.7,333.1,-6.3,421,4607,0.00,1.98,0.00,0.000,6,0.000,0.024,2553,2297,3484,0,0,0,0,0,0
$GC,4943,-0.64,-116.7,355.5,-6.6,432,4947,0.00,2.10,0.00,0.000,4,0.000,0.040,2553,3704,3484,0,0,0,0,0,0
$GC,4954,-0.64,-116.7,356.3,-6.6,432,4957,0.00,1.98,0.00,0.000,6,0.000,0.024,2552,2299,3484,0,0,0,0,0,0
$GC,5277,-0.64,-116.7,377.2,-6.7,443,5281,0.00,2.10,0.00,0.000,4,0.000,0.040,2553,3706,3484,0,0,0,0,0,0
$GC,5294,-0.64,-116.7,378.3,-6.7,443,5298,0.00,2.00,0.00,0.000,6,0.000,0.024,2553,2296,3484,0,0,0,0,0,0
$GC,5612,-0.64,-116.7,399.5,-6.5,454,5616,0.00,2.10,0.00,0.000,4,0.000,0.040,2553,3698,3484,0,0,0,0,0,0
$GC,5708,-0.67,-116.7,406.0,-6.6,457,5712,0.00,2.00,0.00,0.000,6,0.000,0.024,2553,2285,3484,0,0,0,0,0,0
$GC,6048,-0.67,-116.7,430.3,-7.3,468,6052,0.00,2.12,0.00,0.000,4,0.000,0.040,2553,3700,3484,0,0,0,0,0,0
$GC,6063,-0.70,-116.7,431.5,-7.1,468,6067,0.00,2.03,0.00,0.000,6,0.000,0.024,2553,2295,3483,0,0,0,0,0,0
$GC,6381,-0.70,-116.7,450.2,-5.8,479,6385,0.00,2.10,0.00,0.000,4,0.000,0.040,2553,3696,3483,0,0,0,0,0,0
$GC,6431,-0.74,-116.7,453.2,-6.2,480,6435,0.00,1.98,0.00,0.000,6,0.000,0.024,2553,2295,3483,0,0,0,0,0,0
$GC,6755,-0.74,-116.7,472.3,-6.2,491,6758,0.00,2.10,0.00,0.000,4,0.000,0.041,2553,3697,3482,0,0,0,0,0,0
$GC,6805,-0.78,-116.7,475.8,-6.5,492,6809,0.12,1.98,0.00,0.000,6,0.135,0.025,2514,2296,3482,0,0,0,0,0,0
$GC,7117,-0.73,-116.7,501.5,-8.7,502,7121,0.00,2.10,0.00,0.000,4,0.000,0.041,2513,3697,3481,0,0,0,0,0,0
$GC,7133,-0.68,-116.7,503.1,-8.6,502,7138,0.08,2.00,0.00,0.000,6,0.175,0.025,2550,2308,3481,0,0,0,0,0,0
$GC,7482,-0.68,-116.7,528.3,-7.2,508,7485,0.00,2.08,0.00,0.000,4,0.000,0.041,2550,3696,3480,0,0,0,0,0,0
$GC,7543,-0.72,-116.7,532.8,-7.6,509,7547,0.00,2.00,0.00,0.000,6,0.000,0.025,2550,2293,3480,0,0,0,0,0,0
$GC,7914,-0.72,-116.7,558.8,-7.0,515,7918,0.00,2.12,0.00,0.000,4,0.000,0.041,2550,3703,3479,0,0,0,0,0,0
$GC,7947,-0.75,-116.7,560.9,-6.8,515,7951,0.00,2.05,0.00,0.000,6,0.000,0.025,2550,2293,3478,0,0,0,0,0,0
$GC,8278,-0.75,-116.7,581.5,-6.1,521,8282,0.00,2.12,0.00,0.000,4,0.000,0.042,2551,3705,3478,0,0,0,0,0,0
$GC,8372,-0.80,-116.7,587.7,-7.1,522,8377,0.12,2.00,0.00,0.000,6,0.135,0.025,2510,2293,3477,0,0,0,0,0,0
$GC,8714,-0.74,-116.7,614.2,-7.8,528,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2292,3476,0,0,0,0,0,0
$GC,9018,-0.69,-116.7,637.5,-7.6,533,9019,0.12,0.00,0.00,0.000,6,0.195,0.000,2541,2290,3475,0,0,0,0,0,0
$GC,9322,-0.69,-116.7,657.1,-6.4,538,9326,0.00,2.12,0.00,0.000,4,0.000,0.043,2541,3700,3474,0,0,0,0,0,0
$GC,9371,-0.69,-116.7,660.4,-6.0,538,9375,0.00,2.03,0.00,0.000,6,0.000,0.026,2542,2309,3474,0,0,0,0,0,0
$GC,9686,-0.69,-116.7,680.5,-6.4,544,9690,0.00,2.10,0.00,0.000,4,0.000,0.043,2542,3701,3473,0,0,0,0,0,0
$GC,9724,-0.69,-116.7,683.1,-7.0,544,9728,0.00,2.05,0.00,0.000,6,0.000,0.026,2542,2300,3473,0,0,0,0,0,0
$GC,10050,-0.69,-116.7,704.5,-6.6,550,10054,0.00,2.10,0.00,0.000,4,0.000,0.043,2542,3694,3472,0,0,0,0,0,0
$GC,10095,-0.69,-116.7,707.5,-6.6,550,10098,0.00,2.00,0.00,0.000,6,0.000,0.026,2542,2299,3471,0,0,0,0,0,0
$GC,10415,-0.69,-116.7,728.4,-6.5,556,10419,0.00,2.10,0.00,0.000,4,0.000,0.043,2542,3694,3471,0,0,0,0,0,0
$GC,10476,-0.69,-116.7,732.5,-6.8,556,10481,0.00,2.00,0.00,0.000,6,0.000,0.026,2542,2302,3471,0,0,0,0,0,0
$GC,10785,-0.69,-116.7,752.4,-6.4,562,10789,0.00,2.10,0.00,0.000,4,0.000,0.043,2542,3695,3469,0,0,0,0,0,0
$GC,10823,-0.69,-116.7,755.0,-7.3,562,10827,0.00,2.05,0.00,0.000,6,0.000,0.027,2542,2300,3469,0,0,0,0,0,0
$GC,11149,-0.69,-116.7,776.0,-6.5,568,11153,0.00,2.12,0.00,0.000,4,0.000,0.044,2542,3702,3469,0,0,0,0,0,0
$GC,11198,-0.72,-116.7,779.3,-6.9,568,11202,0.00,2.03,0.00,0.000,6,0.000,0.027,2542,2296,3469,0,0,0,0,0,0
$GC,11514,-0.72,-116.7,799.2,-6.3,574,11518,0.00,2.12,0.00,0.000,4,0.000,0.044,2542,3701,3468,0,0,0,0,0,0
$GC,11558,-0.72,-116.7,802.2,-6.8,574,11562,0.00,2.03,0.00,0.000,6,0.000,0.027,2542,2296,3468,0,0,0,0,0,0
$GC,11878,-0.72,-116.7,822.8,-6.5,580,11882,0.00,2.12,0.00,0.000,4,0.000,0.044,2542,3701,3467,0,0,0,0,0,0
$GC,11946,-0.76,-116.7,827.3,-5.7,581,11949,0.00,2.03,0.00,0.000,6,0.000,0.027,2542,2300,3467,0,0,0,0,0,0
$GC,12316,-0.76,-116.7,850.7,-6.3,587,12320,0.00,2.12,0.00,0.000,4,0.000,0.044,2542,3698,3467,0,0,0,0,0,0
$GC,12379,-0.80,-116.7,854.6,-6.3,588,12383,0.00,2.03,0.00,0.000,6,0.000,0.027,2542,2293,3467,0,0,0,0,0,0
$GC,12749,-0.80,-116.7,877.5,-6.1,594,12753,0.00,2.10,0.00,0.000,4,0.000,0.044,2542,3692,3466,0,0,0,0,0,0
$GC,12799,-0.84,-116.7,880.7,-5.9,594,12804,0.15,2.00,0.00,0.000,6,0.132,0.027,2491,2298,3466,0,0,0,0,0,0
$GC,13109,-0.76,-116.7,904.4,-7.8,599,13110,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2297,3465,0,0,0,0,0,0
$GC,13411,-0.68,-116.7,927.2,-7.4,604,13413,0.17,0.00,0.00,0.000,6,0.189,0.000,2538,2295,3465,0,0,0,0,0,0
$GC,13714,-0.68,-116.7,945.6,-6.0,609,13718,0.00,2.12,0.00,0.000,4,0.000,0.044,2538,3698,3465,0,0,0,0,0,0
$GC,13736,-0.68,-116.7,946.9,-6.0,609,13740,0.00,2.03,0.00,0.000,6,0.000,0.027,2538,2291,3464,0,0,0,0,0,0
$GC,14079,-0.68,-116.7,967.4,-6.0,615,14083,0.00,2.12,0.00,0.000,4,0.000,0.044,2538,3693,3464,0,0,0,0,0,0
$GC,14151,-0.72,-116.7,971.9,-6.2,616,14155,0.00,2.03,0.00,0.000,6,0.000,0.027,2539,2290,3464,0,0,0,0,0,0
$STATE,14448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14448,begin apogee
$GC,14453,-0.24,0.0,990.8,6.3,621,14555,0.47,0.00,98.18,1.546,6,0.168,0.000,2680,2650,3006,0,0,0,0,0,0
$STATE,14555,end apogee,CONTROL_FINISHED_OK
$STATE,14555,begin climb
$GC,14557,0.80,116.7,992.9,0.0,622,14670,1.05,0.00,106.25,1.454,6,0.117,0.000,3011,2650,2530,0,0,0,0,0,0
$GC,14979,0.64,116.7,968.1,7.9,629,14984,0.15,2.20,0.00,0.000,4,0.169,0.046,2966,4039,2519,0,0,0,0,0,0
$GC,15086,0.50,116.7,960.0,7.5,630,15091,0.17,2.10,0.00,0.000,6,0.179,0.027,2931,2633,2518,0,0,0,0,0,0
$GC,15405,0.55,150.0,941.9,5.5,636,15436,0.00,0.00,28.70,1.440,6,0.000,0.000,2931,2633,2394,0,0,0,0,0,0
$GC,15708,0.57,165.9,923.2,6.2,641,15725,0.00,0.00,15.12,1.394,6,0.000,0.000,2931,2633,2329,0,0,0,0,0,0
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$STATE,27585,end climb,SURFACE_DEPTH_REACHED
$STATE,27585,begin surface coast
$FINISH,2.6,1.012160
$STATE,27628,end surface coast,CONTROL_FINISHED_OK
$STATE,27628,begin surface
$SM_CCo,27644,34.60,0.762,0,0,1884,275.23
$SM_GC,3.39,0.00,0.00,34.60,0.000,0.000,0.762,214,2252,1884,-7.97,-1.36,275.23
$IRIDIUM_FIX,6322.64,137.50,150299,171744
$TT8_MAMPS,0.027612
$HUMID,1078330958
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,22.7,30.092
$10V_AH,10.1,19.329
$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,21.475,191.725,312.500,34.600,0.000,28.333,33.465,200.442,0.000,0.000,16.927,2453.854,21735.879,516.215,2800.092,557.322,0.000,1894.959,0.000,2771.767,0.000,0.537,0.000
$DEVICE_MAMPS,237.003,58.292,1546.272,762.398,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235148
$DATA_FILE_SIZE,66363,1179
$CAP_FILE_SIZE,216769,0
$CFSIZE,260165632,240529408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,148.4,1
$GPS,221109,082324,6341.203,146.181,35,1.9,53,-4.0