version: 66.06
glider: 140
mission: 8
dive: 179
start: 11 22 109 16 17 1
data:
$ID,140
$MISSION,8
$DIVE,179
$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,-47536.859
$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,76
$R_STBD_OVSHOOT,41
$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
$GPS1,161007,6338.449,154.330,29,0.8,30,-3.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,3.26
$_SM_ANGLEo,-64.3
$GPS2,161638,6338.446,154.362,13,1.2,13,-3.9
$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,129.2,121266,-13.7,-6.875
$D_GRID,1452
$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,-7.53,0.000,2,0.000,0.000,220,2294,2030,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.2,-0.0,1,127,9.00,2.20,-84.05,0.000,4,0.239,0.052,2504,3709,3480,0,0,0,0,0,0
$GC,307,-0.69,-116.7,16.6,-9.7,51,314,0.12,2.05,0.00,0.000,6,0.193,0.023,2537,2288,3481,0,0,0,0,0,0
$GC,646,-0.64,-116.7,46.5,-9.3,112,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2286,3482,0,0,0,0,0,0
$GC,987,-0.59,-116.7,76.4,-8.5,173,992,0.12,0.00,0.00,0.000,6,0.210,0.000,2569,2286,3482,0,0,0,0,0,0
$GC,1327,-0.59,-116.7,100.9,-7.2,234,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2286,3483,0,0,0,0,0,0
$GC,1667,-0.59,-116.7,126.5,-7.8,284,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2286,3483,0,0,0,0,0,0
$GC,1978,-0.59,-116.7,147.2,-6.6,299,1981,0.00,2.15,0.00,0.000,4,0.000,0.041,2568,3715,3483,0,0,0,0,0,0
$GC,1988,-0.59,-116.7,148.0,-6.6,299,1995,0.00,2.03,0.00,0.000,6,0.000,0.024,2569,2295,3483,0,0,0,0,0,0
$GC,2304,-0.62,-116.7,170.1,-7.1,315,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2294,3483,0,0,0,0,0,0
$GC,2613,-0.65,-116.7,191.2,-6.6,330,2617,0.00,2.12,0.00,0.000,4,0.000,0.040,2569,3709,3484,0,0,0,0,0,0
$GC,2624,-0.69,-116.7,192.0,-6.6,330,2631,0.00,2.05,0.00,0.000,6,0.000,0.024,2569,2298,3483,0,0,0,0,0,0
$GC,2939,-0.73,-116.7,213.8,-6.7,346,2941,0.12,0.00,0.00,0.000,6,0.133,0.000,2528,2296,3483,0,0,0,0,0,0
$GC,3249,-0.67,-116.7,239.5,-8.5,361,3253,0.00,2.12,0.00,0.000,4,0.000,0.041,2528,3711,3483,0,0,0,0,0,0
$GC,3259,-0.62,-116.7,240.5,-8.3,361,3265,0.05,2.05,0.00,0.000,6,0.155,0.024,2556,2290,3483,0,0,0,0,0,0
$GC,3574,-0.62,-116.7,262.2,-6.8,377,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2289,3483,0,0,0,0,0,0
$GC,3884,-0.62,-116.7,282.9,-6.7,392,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2289,3483,0,0,0,0,0,0
$GC,4193,-0.62,-116.7,305.6,-7.3,406,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2289,3483,0,0,0,0,0,0
$GC,4499,-0.62,-116.7,327.3,-7.2,416,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2289,3483,0,0,0,0,0,0
$GC,4805,-0.62,-116.7,350.9,-7.6,426,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2289,3483,0,0,0,0,0,0
$GC,5111,-0.62,-116.7,371.4,-6.5,436,5115,0.00,2.00,0.00,0.000,4,0.000,0.035,2556,923,3483,0,0,0,0,0,0
$GC,5121,-0.62,-116.7,372.1,-6.2,436,5126,0.00,2.08,0.00,0.000,6,0.000,0.028,2556,2311,3483,0,0,0,0,0,0
$GC,5450,-0.62,-116.7,392.2,-6.3,447,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2310,3483,0,0,0,0,0,0
$GC,5756,-0.62,-116.7,412.5,-6.6,457,5760,0.00,2.05,0.00,0.000,4,0.000,0.041,2556,3698,3482,0,0,0,0,0,0
$GC,5795,-0.66,-116.7,414.7,-5.7,458,5799,0.00,1.98,0.00,0.000,6,0.000,0.024,2556,2292,3482,0,0,0,0,0,0
$GC,6125,-0.70,-116.7,435.4,-6.6,469,6128,0.00,2.10,0.00,0.000,4,0.000,0.041,2557,3698,3482,0,0,0,0,0,0
$GC,6163,-0.74,-116.7,438.1,-6.8,470,6167,0.00,1.98,0.00,0.000,6,0.000,0.024,2556,2304,3482,0,0,0,0,0,0
$GC,6493,-0.77,-116.7,458.9,-5.8,481,6498,0.12,2.12,0.00,0.000,4,0.137,0.041,2515,3702,3481,0,0,0,0,0,0
$GC,6531,-0.71,-116.7,461.6,-7.2,482,6535,0.00,2.03,0.00,0.000,6,0.000,0.024,2515,2297,3481,0,0,0,0,0,0
$GC,6860,-0.65,-116.7,486.2,-7.8,493,6865,0.12,2.12,0.00,0.000,4,0.188,0.042,2546,3698,3480,0,0,0,0,0,0
$GC,6881,-0.65,-116.7,487.7,-7.0,493,6887,0.00,2.03,0.00,0.000,6,0.000,0.025,2547,2304,3480,0,0,0,0,0,0
$GC,7223,-0.65,-116.7,509.4,-6.4,503,7226,0.00,2.10,0.00,0.000,4,0.000,0.041,2546,3698,3479,0,0,0,0,0,0
$GC,7238,-0.65,-116.7,510.6,-6.6,503,7242,0.00,2.03,0.00,0.000,6,0.000,0.025,2547,2304,3479,0,0,0,0,0,0
$GC,7593,-0.65,-116.7,533.0,-6.2,509,7597,0.00,2.10,0.00,0.000,4,0.000,0.041,2546,3698,3478,0,0,0,0,0,0
$GC,7624,-0.65,-116.7,535.3,-7.0,509,7629,0.00,2.05,0.00,0.000,6,0.000,0.025,2546,2292,3478,0,0,0,0,0,0
$GC,7956,-0.65,-116.7,558.2,-7.0,515,7960,0.00,2.12,0.00,0.000,4,0.000,0.042,2547,3702,3477,0,0,0,0,0,0
$GC,7989,-0.65,-116.7,560.6,-7.2,515,7993,0.00,2.05,0.00,0.000,6,0.000,0.025,2547,2296,3476,0,0,0,0,0,0
$GC,8320,-0.65,-116.7,583.9,-7.0,521,8321,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2295,3476,0,0,0,0,0,0
$GC,8624,-0.65,-116.7,603.7,-6.4,526,8628,0.00,2.12,0.00,0.000,4,0.000,0.042,2547,3701,3475,0,0,0,0,0,0
$GC,8656,-0.65,-116.7,605.9,-6.8,526,8660,0.00,2.05,0.00,0.000,6,0.000,0.026,2547,2300,3475,0,0,0,0,0,0
$GC,8989,-0.65,-116.7,626.9,-6.4,532,8993,0.00,2.12,0.00,0.000,4,0.000,0.043,2547,3704,3474,0,0,0,0,0,0
$GC,9010,-0.65,-116.7,628.4,-6.6,532,9014,0.00,2.05,0.00,0.000,6,0.000,0.026,2547,2307,3473,0,0,0,0,0,0
$GC,9353,-0.65,-116.7,651.4,-6.8,538,9354,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2306,3472,0,0,0,0,0,0
$GC,9656,-0.65,-116.7,671.7,-6.7,543,9660,0.00,2.10,0.00,0.000,4,0.000,0.043,2546,3696,3471,0,0,0,0,0,0
$GC,9683,-0.65,-116.7,673.6,-7.3,543,9687,0.00,2.05,0.00,0.000,6,0.000,0.026,2547,2302,3471,0,0,0,0,0,0
$GC,10021,-0.65,-116.7,695.9,-6.6,549,10025,0.00,2.12,0.00,0.000,4,0.000,0.043,2546,3705,3470,0,0,0,0,0,0
$GC,10042,-0.65,-116.7,697.6,-7.1,549,10046,0.00,2.08,0.00,0.000,6,0.000,0.027,2546,2300,3470,0,0,0,0,0,0
$GC,10385,-0.65,-116.7,721.6,-7.1,555,10389,0.00,2.12,0.00,0.000,4,0.000,0.044,2546,3701,3469,0,0,0,0,0,0
$GC,10412,-0.69,-116.7,723.7,-7.5,555,10416,0.00,2.03,0.00,0.000,6,0.000,0.027,2547,2297,3469,0,0,0,0,0,0
$GC,10748,-0.69,-116.7,748.0,-7.2,561,10752,0.00,2.12,0.00,0.000,4,0.000,0.044,2546,3698,3468,0,0,0,0,0,0
$GC,10793,-0.73,-116.7,751.1,-7.3,561,10796,0.00,2.03,0.00,0.000,6,0.000,0.027,2546,2292,3468,0,0,0,0,0,0
$GC,11112,-0.73,-116.7,773.3,-7.0,567,11116,0.00,2.12,0.00,0.000,4,0.000,0.044,2546,3702,3467,0,0,0,0,0,0
$GC,11145,-0.76,-116.7,775.7,-7.2,567,11149,0.00,2.03,0.00,0.000,6,0.000,0.027,2546,2301,3467,0,0,0,0,0,0
$GC,11483,-0.80,-116.7,798.9,-6.9,573,11488,0.12,2.15,0.00,0.000,4,0.143,0.044,2506,3705,3466,0,0,0,0,0,0
$GC,11515,-0.75,-116.7,801.6,-8.8,573,11519,0.00,2.08,0.00,0.000,6,0.000,0.027,2505,2269,3466,0,0,0,0,0,0
$GC,11847,-0.69,-116.7,828.8,-8.2,579,11852,0.12,2.20,0.00,0.000,4,0.198,0.044,2537,3702,3466,0,0,0,0,0,0
$GC,11873,-0.69,-116.7,831.0,-7.7,579,11878,0.00,2.08,0.00,0.000,6,0.000,0.027,2537,2302,3465,0,0,0,0,0,0
$GC,12211,-0.69,-116.7,854.8,-7.1,585,12215,0.00,2.12,0.00,0.000,4,0.000,0.044,2537,3701,3464,0,0,0,0,0,0
$GC,12232,-0.69,-116.7,856.3,-7.2,585,12236,0.00,2.08,0.00,0.000,6,0.000,0.027,2537,2301,3464,0,0,0,0,0,0
$GC,12575,-0.69,-116.7,879.0,-6.6,591,12579,0.00,2.15,0.00,0.000,4,0.000,0.044,2537,3695,3464,0,0,0,0,0,0
$GC,12607,-0.69,-116.7,881.3,-6.5,591,12611,0.00,2.08,0.00,0.000,6,0.000,0.027,2537,2296,3464,0,0,0,0,0,0
$GC,12945,-0.69,-116.7,902.9,-6.4,597,12949,0.00,2.12,0.00,0.000,4,0.000,0.044,2537,3695,3464,0,0,0,0,0,0
$GC,12983,-0.72,-116.7,905.4,-6.1,597,12987,0.00,2.03,0.00,0.000,6,0.000,0.028,2537,2296,3463,0,0,0,0,0,0
$GC,13309,-0.72,-116.7,924.6,-5.9,603,13313,0.00,2.12,0.00,0.000,4,0.000,0.044,2537,3694,3463,0,0,0,0,0,0
$GC,13347,-0.72,-116.7,926.9,-5.9,603,13351,0.00,2.03,0.00,0.000,6,0.000,0.028,2537,2296,3463,0,0,0,0,0,0
$GC,13673,-0.72,-116.7,945.8,-5.8,609,13677,0.00,2.12,0.00,0.000,4,0.000,0.044,2537,3695,3463,0,0,0,0,0,0
$GC,13717,-0.72,-116.7,948.6,-6.3,609,13721,0.00,2.03,0.00,0.000,6,0.000,0.028,2537,2299,3463,0,0,0,0,0,0
$GC,14037,-0.72,-116.7,967.5,-5.9,615,14041,0.00,2.15,0.00,0.000,4,0.000,0.044,2537,3703,3463,0,0,0,0,0,0
$GC,14080,-0.72,-116.7,970.2,-5.9,615,14085,0.00,2.08,0.00,0.000,6,0.000,0.028,2537,2301,3462,0,0,0,0,0,0
$STATE,14405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14405,begin apogee
$GC,14410,-0.24,0.0,990.0,6.1,621,14511,0.50,0.00,97.88,1.536,6,0.171,0.000,2685,2642,3006,0,0,0,0,0,0
$STATE,14512,end apogee,CONTROL_FINISHED_OK
$STATE,14512,begin climb
$GC,14514,0.80,116.7,991.8,0.0,622,14625,1.02,0.00,106.80,1.449,6,0.115,0.000,3008,2642,2530,0,0,0,0,0,0
$GC,14880,0.64,116.7,971.5,7.8,628,14882,0.12,0.00,0.00,0.000,6,0.171,0.000,2978,2642,2519,0,0,0,0,0,0
$GC,15182,0.55,117.4,950.5,6.8,633,15186,0.12,2.17,0.00,0.000,4,0.196,0.047,2939,4042,2518,0,0,0,0,0,0
$GC,15254,0.49,121.8,945.6,6.7,634,15263,0.00,2.08,4.10,0.996,6,0.000,0.028,2949,2643,2508,0,0,0,0,0,0
$GC,15614,0.48,145.4,924.2,5.9,640,15638,0.00,0.00,22.30,1.431,6,0.000,0.000,2949,2642,2413,0,0,0,0,0,0
$GC,15915,0.49,159.3,905.1,6.3,645,15930,0.00,0.00,13.40,1.387,6,0.000,0.000,2948,2643,2356,0,0,0,0,0,0
$GC,16218,0.51,175.2,886.3,6.2,650,16238,0.00,2.25,15.43,1.390,4,0.000,0.045,2949,4048,2290,0,0,0,0,0,0
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$STATE,26879,end climb,SURFACE_DEPTH_REACHED
$STATE,26879,begin surface coast
$FINISH,2.4,1.024901
$STATE,26928,end surface coast,CONTROL_FINISHED_OK
$STATE,26928,begin surface
$SM_CCo,26945,24.58,0.765,0,0,1883,275.23
$SM_GC,3.11,0.00,0.00,24.58,0.000,0.000,0.765,212,2262,1883,-7.98,-1.07,275.23
$IRIDIUM_FIX,6313.04,146.64,160299,080813
$TT8_MAMPS,0.027612
$HUMID,1078338700
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,20.20
$XPDR_PINGS,0
$24V_AH,22.6,30.392
$10V_AH,10.1,19.554
$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,20.500,180.900,324.675,24.575,0.000,31.009,34.800,195.147,0.000,0.000,13.599,2351.638,21310.168,528.405,2611.164,550.183,0.000,1819.171,0.000,2590.693,0.000,0.536,0.000
$DEVICE_MAMPS,238.537,52.156,1536.301,764.699,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,787.765,1040.750,624.815,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235180
$DATA_FILE_SIZE,63380,1142
$CAP_FILE_SIZE,206390,0
$CFSIZE,260165632,240361472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066,117.4,1
$GPS,221109,234757,6336.029,202.014,29,2.2,49,-3.8