version: 66.06
glider: 140
mission: 8
dive: 178
start: 11 22 109 8 30 18
data:
$ID,140
$MISSION,8
$DIVE,178
$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,-47522.637
$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,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
$GPS1,082324,6341.203,146.181,35,1.9,53,-4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.29
$_SM_ANGLEo,-55.3
$GPS2,082955,6341.234,146.080,11,1.9,16,-4.0
$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,129.4,129931,-13.7,-6.875
$D_GRID,1561
$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,-7.53,0.000,2,0.000,0.000,213,2252,2039,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.4,-0.0,1,123,9.00,1.98,-80.22,0.000,4,0.237,0.046,2504,945,3482,0,0,0,0,0,0
$GC,135,-0.80,-116.7,4.9,-5.3,20,142,0.00,2.08,0.00,0.000,6,0.000,0.028,2504,2311,3482,0,0,0,0,0,0
$GC,474,-0.67,-116.7,39.4,-9.4,81,479,0.15,0.00,0.00,0.000,6,0.208,0.000,2541,2311,3483,0,0,0,0,0,0
$GC,811,-0.63,-116.7,68.3,-10.0,142,817,0.00,2.05,0.00,0.000,4,0.000,0.035,2542,944,3483,0,0,0,0,0,0
$GC,835,-0.59,-116.7,70.7,-9.6,146,842,0.12,2.00,0.00,0.000,6,0.198,0.028,2574,2307,3483,0,0,0,0,0,0
$GC,1177,-0.59,-116.7,96.2,-7.8,207,1183,0.00,2.05,0.00,0.000,4,0.000,0.039,2574,3697,3484,0,0,0,0,0,0
$GC,1194,-0.59,-116.7,97.6,-8.0,210,1200,0.00,1.98,0.00,0.000,6,0.000,0.023,2574,2301,3484,0,0,0,0,0,0
$GC,1537,-0.63,-116.7,120.1,-6.3,271,1540,0.00,2.10,0.00,0.000,4,0.000,0.040,2574,3698,3484,0,0,0,0,0,0
$GC,1609,-0.68,-116.7,124.9,-6.4,274,1613,0.00,1.98,0.00,0.000,6,0.000,0.023,2574,2294,3484,0,0,0,0,0,0
$GC,1929,-0.72,-116.7,146.0,-7.2,290,1934,0.12,2.12,0.00,0.000,4,0.136,0.040,2533,3699,3484,0,0,0,0,0,0
$GC,1968,-0.68,-116.7,149.6,-9.6,292,1972,0.00,2.00,0.00,0.000,6,0.000,0.023,2533,2288,3484,0,0,0,0,0,0
$GC,2300,-0.64,-116.7,178.0,-8.0,308,2303,0.00,2.12,0.00,0.000,4,0.000,0.039,2533,3708,3485,0,0,0,0,0,0
$GC,2311,-0.59,-116.7,178.9,-8.0,308,2318,0.10,2.03,0.00,0.000,6,0.166,0.023,2565,2299,3484,0,0,0,0,0,0
$GC,2627,-0.59,-116.7,200.3,-6.6,324,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2298,3484,0,0,0,0,0,0
$GC,2936,-0.59,-116.7,219.8,-6.3,339,2940,0.00,2.10,0.00,0.000,4,0.000,0.040,2565,3705,3485,0,0,0,0,0,0
$GC,2963,-0.63,-116.7,221.7,-7.0,340,2967,0.00,2.00,0.00,0.000,6,0.000,0.023,2565,2295,3484,0,0,0,0,0,0
$GC,3283,-0.63,-116.7,241.7,-6.5,356,3287,0.00,2.10,0.00,0.000,4,0.000,0.040,2565,3697,3484,0,0,0,0,0,0
$GC,3333,-0.67,-116.7,245.0,-6.7,358,3337,0.00,1.98,0.00,0.000,6,0.000,0.023,2565,2289,3485,0,0,0,0,0,0
$GC,3655,-0.70,-116.7,265.7,-6.6,374,3659,0.00,2.10,0.00,0.000,4,0.000,0.040,2565,3697,3485,0,0,0,0,0,0
$GC,3682,-0.74,-116.7,267.7,-6.7,375,3687,0.08,2.00,0.00,0.000,6,0.087,0.023,2520,2292,3484,0,0,0,0,0,0
$GC,4005,-0.68,-116.7,292.7,-7.7,391,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2292,3485,0,0,0,0,0,0
$GC,4321,-0.62,-116.7,316.9,-7.5,403,4323,0.15,0.00,0.00,0.000,6,0.184,0.000,2558,2289,3484,0,0,0,0,0,0
$GC,4626,-0.62,-116.7,337.9,-7.0,413,4630,0.00,2.10,0.00,0.000,4,0.000,0.040,2558,3699,3485,0,0,0,0,0,0
$GC,4647,-0.62,-116.7,339.5,-7.0,413,4654,0.00,2.00,0.00,0.000,6,0.000,0.023,2558,2304,3484,0,0,0,0,0,0
$GC,4960,-0.62,-116.7,360.2,-6.7,424,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2304,3484,0,0,0,0,0,0
$GC,5266,-0.62,-116.7,382.8,-7.3,434,5270,0.00,2.08,0.00,0.000,4,0.000,0.040,2558,3697,3484,0,0,0,0,0,0
$GC,5299,-0.66,-116.7,385.0,-6.5,435,5302,0.00,1.98,0.00,0.000,6,0.000,0.023,2558,2296,3484,0,0,0,0,0,0
$GC,5633,-0.70,-116.7,405.8,-5.9,446,5637,0.00,2.10,0.00,0.000,4,0.000,0.040,2558,3697,3484,0,0,0,0,0,0
$GC,5678,-0.75,-116.7,408.9,-6.7,447,5682,0.12,1.98,0.00,0.000,6,0.137,0.024,2518,2289,3483,0,0,0,0,0,0
$GC,5995,-0.70,-116.7,434.6,-8.3,458,5999,0.00,2.10,0.00,0.000,4,0.000,0.041,2517,3697,3484,0,0,0,0,0,0
$GC,6024,-0.65,-116.7,437.0,-9.1,459,6028,0.12,1.98,0.00,0.000,6,0.184,0.024,2549,2295,3483,0,0,0,0,0,0
$GC,6357,-0.65,-116.7,460.8,-7.1,470,6361,0.00,2.10,0.00,0.000,4,0.000,0.041,2549,3697,3483,0,0,0,0,0,0
$GC,6407,-0.68,-116.7,464.3,-7.0,471,6411,0.00,2.00,0.00,0.000,6,0.000,0.024,2549,2302,3483,0,0,0,0,0,0
$GC,6730,-0.68,-116.7,484.8,-6.4,482,6734,0.00,2.10,0.00,0.000,4,0.000,0.041,2550,3703,3483,0,0,0,0,0,0
$GC,6759,-0.68,-116.7,486.6,-6.5,483,6763,0.00,2.00,0.00,0.000,6,0.000,0.025,2549,2297,3482,0,0,0,0,0,0
$GC,7098,-0.68,-116.7,508.6,-6.6,492,7102,0.00,2.10,0.00,0.000,4,0.000,0.041,2549,3697,3482,0,0,0,0,0,0
$GC,7161,-0.72,-116.7,512.8,-6.6,493,7165,0.00,2.00,0.00,0.000,6,0.000,0.025,2550,2285,3481,0,0,0,0,0,0
$GC,7532,-0.72,-116.7,535.1,-5.9,499,7536,0.00,2.12,0.00,0.000,4,0.000,0.041,2549,3698,3480,0,0,0,0,0,0
$GC,7604,-0.76,-116.7,539.8,-7.0,500,7608,0.00,2.03,0.00,0.000,6,0.000,0.025,2549,2294,3480,0,0,0,0,0,0
$GC,7964,-0.76,-116.7,562.9,-6.5,506,7968,0.00,2.10,0.00,0.000,4,0.000,0.042,2550,3695,3478,0,0,0,0,0,0
$GC,7991,-0.80,-116.7,564.7,-6.3,506,7995,0.12,1.98,0.00,0.000,6,0.135,0.025,2509,2300,3478,0,0,0,0,0,0
$GC,8329,-0.74,-116.7,592.0,-8.2,512,8330,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2298,3477,0,0,0,0,0,0
$GC,8631,-0.68,-116.7,615.4,-7.7,517,8636,0.12,2.05,0.00,0.000,4,0.194,0.038,2540,922,3476,0,0,0,0,0,0
$GC,8725,-0.68,-116.7,622.2,-6.7,518,8730,0.00,2.05,0.00,0.000,6,0.000,0.029,2541,2295,3476,0,0,0,0,0,0
$GC,9063,-0.68,-116.7,643.6,-6.3,524,9066,0.00,2.05,0.00,0.000,4,0.000,0.037,2541,921,3475,0,0,0,0,0,0
$GC,9095,-0.68,-116.7,645.9,-7.2,524,9099,0.00,2.05,0.00,0.000,6,0.000,0.030,2541,2297,3475,0,0,0,0,0,0
$GC,9433,-0.68,-116.7,666.3,-6.0,530,9434,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2297,3474,0,0,0,0,0,0
$GC,9736,-0.68,-116.7,685.5,-6.3,535,9737,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2297,3473,0,0,0,0,0,0
$GC,10039,-0.68,-116.7,706.3,-7.0,540,10040,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2296,3472,0,0,0,0,0,0
$GC,10341,-0.68,-116.7,728.2,-7.3,545,10345,0.00,2.08,0.00,0.000,4,0.000,0.043,2540,3698,3470,0,0,0,0,0,0
$GC,10368,-0.68,-116.7,730.3,-7.6,545,10373,0.00,2.03,0.00,0.000,6,0.000,0.026,2541,2307,3471,0,0,0,0,0,0
$GC,10706,-0.68,-116.7,754.4,-7.2,551,10710,0.00,2.10,0.00,0.000,4,0.000,0.043,2541,3698,3470,0,0,0,0,0,0
$GC,10744,-0.68,-116.7,757.2,-7.1,551,10749,0.00,2.05,0.00,0.000,6,0.000,0.026,2541,2296,3470,0,0,0,0,0,0
$GC,11070,-0.68,-116.7,779.1,-6.7,557,11074,0.00,2.12,0.00,0.000,4,0.000,0.043,2541,3699,3469,0,0,0,0,0,0
$GC,11132,-0.72,-116.7,783.2,-6.1,558,11136,0.00,2.03,0.00,0.000,6,0.000,0.027,2541,2298,3468,0,0,0,0,0,0
$GC,11502,-0.72,-116.7,806.6,-6.2,564,11506,0.00,2.12,0.00,0.000,4,0.000,0.044,2541,3705,3468,0,0,0,0,0,0
$GC,11564,-0.75,-116.7,810.5,-6.3,565,11567,0.00,2.03,0.00,0.000,6,0.000,0.027,2540,2302,3468,0,0,0,0,0,0
$GC,11935,-0.75,-116.7,832.8,-6.0,571,11939,0.00,2.12,0.00,0.000,4,0.000,0.044,2541,3699,3467,0,0,0,0,0,0
$GC,11997,-0.78,-116.7,836.4,-6.1,572,12001,0.00,2.03,0.00,0.000,6,0.000,0.027,2541,2295,3467,0,0,0,0,0,0
$GC,12368,-0.78,-116.7,858.3,-5.9,578,12372,0.00,2.15,0.00,0.000,4,0.000,0.044,2541,3703,3467,0,0,0,0,0,0
$GC,12424,-0.82,-116.7,861.7,-5.6,578,12429,0.12,2.05,0.00,0.000,6,0.141,0.027,2502,2282,3466,0,0,0,0,0,0
$GC,12738,-0.76,-116.7,884.7,-7.4,584,12739,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2281,3466,0,0,0,0,0,0
$GC,13041,-0.71,-116.7,907.6,-7.5,589,13043,0.12,0.00,0.00,0.000,6,0.196,0.000,2532,2278,3465,0,0,0,0,0,0
$GC,13344,-0.71,-116.7,928.0,-6.7,594,13348,0.00,2.15,0.00,0.000,4,0.000,0.044,2532,3699,3464,0,0,0,0,0,0
$GC,13370,-0.71,-116.7,930.1,-8.1,594,13375,0.00,2.05,0.00,0.000,6,0.000,0.027,2533,2304,3465,0,0,0,0,0,0
$GC,13708,-0.71,-116.7,952.5,-6.6,600,13712,0.00,2.12,0.00,0.000,4,0.000,0.044,2533,3703,3464,0,0,0,0,0,0
$GC,13752,-0.71,-116.7,955.6,-6.5,600,13756,0.00,2.03,0.00,0.000,6,0.000,0.027,2533,2298,3464,0,0,0,0,0,0
$GC,14072,-0.71,-116.7,977.0,-6.7,606,14076,0.00,2.12,0.00,0.000,4,0.000,0.044,2533,3702,3464,0,0,0,0,0,0
$GC,14115,-0.71,-116.7,980.0,-6.8,606,14119,0.00,2.03,0.00,0.000,6,0.000,0.027,2533,2301,3464,0,0,0,0,0,0
$STATE,14318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14318,begin apogee
$GC,14323,-0.24,0.0,993.8,6.8,610,14424,0.50,0.00,98.20,1.546,6,0.170,0.000,2681,2645,3006,0,0,0,0,0,0
$STATE,14425,end apogee,CONTROL_FINISHED_OK
$STATE,14425,begin climb
$GC,14427,0.80,116.7,995.8,0.0,611,14542,1.08,2.40,106.10,1.453,4,0.113,0.044,3016,4045,2529,0,0,0,0,0,0
$GC,14598,0.54,116.7,990.1,8.8,614,14603,0.25,2.22,0.00,0.000,6,0.168,0.027,2946,2658,2523,0,0,0,0,0,0
$GC,14930,0.53,135.7,969.8,6.1,620,14948,0.00,0.00,16.83,1.407,6,0.000,0.000,2946,2658,2451,0,0,0,0,0,0
$GC,15232,0.54,143.7,950.2,6.6,625,15242,0.00,0.00,8.35,1.328,6,0.000,0.000,2946,2658,2420,0,0,0,0,0,0
$GC,15535,0.55,151.4,930.3,6.6,630,15549,0.00,2.22,8.30,1.332,4,0.000,0.047,2940,4038,2387,0,0,0,0,0,0
$GC,15606,0.50,151.4,925.1,7.8,631,15611,0.00,2.10,0.00,0.000,6,0.000,0.028,2948,2639,2386,0,0,0,0,0,0
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$STATE,27430,end climb,SURFACE_DEPTH_REACHED
$STATE,27430,begin surface coast
$FINISH,2.6,1.027222
$STATE,27463,end surface coast,CONTROL_FINISHED_OK
$STATE,27463,begin surface
$SM_CCo,27480,42.15,0.768,0,0,1884,275.23
$SM_GC,3.22,0.00,0.00,42.15,0.000,0.000,0.768,220,2295,1884,-7.96,-0.14,275.23
$IRIDIUM_FIX,6313.04,304.08,160299,000027
$TT8_MAMPS,0.027612
$HUMID,1078323216
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,22.7,30.241
$10V_AH,10.1,19.443
$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
$DEVICE_SECS,21.300,175.325,305.625,42.150,0.000,27.671,34.536,196.849,0.000,0.000,16.721,2412.012,21745.348,515.115,2680.013,550.809,0.000,1832.951,0.000,2653.953,0.000,0.535,0.000
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$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,807.607,1058.651,626.009,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235148
$DATA_FILE_SIZE,66333,1171
$CAP_FILE_SIZE,210508,0
$CFSIZE,260165632,240443392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092,125.0,1
$GPS,221109,161007,6338.449,154.330,29,0.8,30,-3.9