version: 66.06
glider: 140
mission: 8
dive: 201
start: 11 29 109 14 20 30
data:
$ID,140
$MISSION,8
$DIVE,201
$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,-2
$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,-47920.723
$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,72
$R_STBD_OVSHOOT,48
$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
$GPS1,141354,6310.387,322.576,39,1.4,39,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.21
$_SM_ANGLEo,-56.1
$GPS2,142008,6310.438,322.677,15,1.3,15,-3.0
$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,129.4,30717,-13.7,-6.875
$D_GRID,939
$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,-116.7,0.0,0.0,0,25,0.00,0.00,-7.62,0.000,2,0.000,0.000,216,2289,1989,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.5,-0.0,1,125,8.85,2.28,-77.40,0.000,4,0.232,0.055,2496,3706,3482,0,0,0,0,0,0
$GC,328,-0.66,-116.7,26.0,-9.8,54,336,0.15,2.08,0.00,0.000,6,0.175,0.023,2542,2286,3484,0,0,0,0,0,0
$GC,668,-0.66,-116.7,53.1,-8.8,115,674,0.00,2.17,0.00,0.000,4,0.000,0.041,2542,3706,3484,0,0,0,0,0,0
$GC,703,-0.66,-116.7,55.2,-6.1,121,708,0.00,2.03,0.00,0.000,6,0.000,0.024,2542,2307,3484,0,0,0,0,0,0
$GC,1044,-0.63,-116.7,81.3,-7.6,182,1050,0.00,2.10,0.00,0.000,4,0.000,0.040,2542,3701,3484,0,0,0,0,0,0
$GC,1063,-0.60,-116.7,82.6,-7.0,185,1069,0.10,2.03,0.00,0.000,6,0.195,0.023,2567,2281,3485,0,0,0,0,0,0
$GC,1406,-0.60,-116.7,105.3,-7.4,246,1412,0.00,2.15,0.00,0.000,4,0.000,0.041,2567,3701,3485,0,0,0,0,0,0
$GC,1429,-0.60,-116.7,106.9,-6.9,250,1436,0.00,2.00,0.00,0.000,6,0.000,0.024,2567,2302,3485,0,0,0,0,0,0
$GC,1770,-0.60,-116.7,130.9,-7.5,292,1773,0.00,2.12,0.00,0.000,4,0.000,0.041,2567,3711,3485,0,0,0,0,0,0
$GC,1791,-0.63,-116.7,132.6,-7.1,293,1795,0.00,2.05,0.00,0.000,6,0.000,0.023,2567,2302,3485,0,0,0,0,0,0
$GC,2119,-0.63,-116.7,155.2,-6.9,309,2123,0.00,2.10,0.00,0.000,4,0.000,0.040,2567,3702,3485,0,0,0,0,0,0
$GC,2162,-0.67,-116.7,158.3,-6.9,311,2166,0.00,2.03,0.00,0.000,6,0.000,0.023,2567,2298,3484,0,0,0,0,0,0
$GC,2491,-0.67,-116.7,178.6,-6.0,327,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2298,3485,0,0,0,0,0,0
$GC,2799,-0.70,-116.7,197.7,-6.4,342,2803,0.00,2.12,0.00,0.000,4,0.000,0.041,2567,3710,3485,0,0,0,0,0,0
$GC,2818,-0.74,-116.7,198.8,-6.5,343,2823,0.12,2.03,0.00,0.000,6,0.131,0.024,2528,2283,3485,0,0,0,0,0,0
$GC,3145,-0.68,-116.7,226.9,-8.6,359,3149,0.00,2.12,0.00,0.000,4,0.000,0.040,2528,3702,3485,0,0,0,0,0,0
$GC,3201,-0.64,-116.7,231.9,-8.5,361,3207,0.08,2.03,0.00,0.000,6,0.172,0.023,2551,2292,3485,0,0,0,0,0,0
$GC,3516,-0.64,-116.7,254.9,-7.3,377,3520,0.00,2.12,0.00,0.000,4,0.000,0.041,2551,3701,3484,0,0,0,0,0,0
$GC,3537,-0.64,-116.7,256.4,-7.3,378,3541,0.00,1.98,0.00,0.000,6,0.000,0.024,2552,2312,3484,0,0,0,0,0,0
$GC,3869,-0.64,-116.7,279.2,-6.7,394,3873,0.00,2.10,0.00,0.000,4,0.000,0.040,2552,3709,3485,0,0,0,0,0,0
$GC,3887,-0.64,-116.7,280.5,-6.8,395,3891,0.00,2.03,0.00,0.000,6,0.000,0.024,2552,2291,3484,0,0,0,0,0,0
$GC,4202,-0.64,-116.7,302.9,-7.5,410,4205,0.00,2.12,0.00,0.000,4,0.000,0.040,2552,3710,3484,0,0,0,0,0,0
$GC,4230,-0.64,-116.7,305.1,-7.7,411,4234,0.00,2.03,0.00,0.000,6,0.000,0.024,2552,2288,3484,0,0,0,0,0,0
$GC,4564,-0.64,-116.7,329.2,-7.2,422,4568,0.00,2.12,0.00,0.000,4,0.000,0.040,2552,3705,3485,0,0,0,0,0,0
$GC,4592,-0.64,-116.7,331.2,-7.2,423,4596,0.00,2.00,0.00,0.000,6,0.000,0.023,2551,2297,3484,0,0,0,0,0,0
$GC,4932,-0.64,-116.7,355.8,-7.0,434,4935,0.00,2.12,0.00,0.000,4,0.000,0.040,2552,3710,3484,0,0,0,0,0,0
$GC,4947,-0.64,-116.7,357.0,-7.2,434,4951,0.00,2.05,0.00,0.000,6,0.000,0.023,2552,2299,3484,0,0,0,0,0,0
$GC,5265,-0.64,-116.7,378.9,-6.7,445,5269,0.00,2.10,0.00,0.000,4,0.000,0.040,2552,3701,3484,0,0,0,0,0,0
$GC,5282,-0.64,-116.7,379.9,-6.4,445,5286,0.00,2.00,0.00,0.000,6,0.000,0.023,2551,2294,3484,0,0,0,0,0,0
$GC,5600,-0.64,-116.7,399.1,-6.2,456,5604,0.00,2.12,0.00,0.000,4,0.000,0.040,2552,3704,3484,0,0,0,0,0,0
$GC,5633,-0.64,-116.7,401.3,-6.8,457,5637,0.00,2.03,0.00,0.000,6,0.000,0.023,2552,2297,3484,0,0,0,0,0,0
$GC,5968,-0.64,-116.7,423.8,-6.8,468,5972,0.00,2.12,0.00,0.000,4,0.000,0.041,2552,3709,3484,0,0,0,0,0,0
$GC,6007,-0.64,-116.7,426.6,-7.3,469,6011,0.00,2.00,0.00,0.000,6,0.000,0.023,2552,2294,3484,0,0,0,0,0,0
$GC,6330,-0.64,-116.7,448.6,-6.9,480,6334,0.00,2.12,0.00,0.000,4,0.000,0.041,2551,3706,3484,0,0,0,0,0,0
$GC,6362,-0.67,-116.7,451.0,-7.4,481,6366,0.00,2.03,0.00,0.000,6,0.000,0.023,2551,2309,3484,0,0,0,0,0,0
$GC,6698,-0.70,-116.7,473.2,-6.4,492,6701,0.00,2.10,0.00,0.000,4,0.000,0.041,2552,3705,3484,0,0,0,0,0,0
$GC,6731,-0.74,-116.7,475.5,-6.9,493,6735,0.00,2.00,0.00,0.000,6,0.000,0.024,2551,2300,3484,0,0,0,0,0,0
$GC,7072,-0.78,-116.7,498.0,-6.7,504,7076,0.12,2.12,0.00,0.000,4,0.130,0.041,2511,3701,3483,0,0,0,0,0,0
$GC,7155,-0.74,-116.7,504.4,-8.1,506,7159,0.00,2.00,0.00,0.000,6,0.000,0.024,2511,2295,3483,0,0,0,0,0,0
$GC,7503,-0.68,-116.7,531.1,-7.6,512,7508,0.12,2.15,0.00,0.000,4,0.196,0.042,2542,3702,3483,0,0,0,0,0,0
$GC,7518,-0.68,-116.7,532.3,-7.6,512,7523,0.00,2.03,0.00,0.000,6,0.000,0.025,2542,2306,3483,0,0,0,0,0,0
$GC,7867,-0.68,-116.7,556.2,-6.9,518,7871,0.00,2.10,0.00,0.000,4,0.000,0.041,2542,3700,3482,0,0,0,0,0,0
$GC,7927,-0.68,-116.7,560.5,-6.9,518,7934,0.00,2.05,0.00,0.000,6,0.000,0.025,2542,2291,3482,0,0,0,0,0,0
$GC,8237,-0.68,-116.7,580.8,-6.5,524,8241,0.00,2.12,0.00,0.000,4,0.000,0.042,2542,3699,3481,0,0,0,0,0,0
$GC,8286,-0.72,-116.7,584.0,-6.0,524,8290,0.00,2.00,0.00,0.000,6,0.000,0.025,2542,2302,3481,0,0,0,0,0,0
$GC,8601,-0.72,-116.7,601.6,-5.6,530,8605,0.00,2.12,0.00,0.000,4,0.000,0.042,2543,3705,3480,0,0,0,0,0,0
$GC,8668,-0.75,-116.7,605.8,-5.9,531,8672,0.00,2.03,0.00,0.000,6,0.000,0.025,2542,2301,3480,0,0,0,0,0,0
$GC,9032,-0.75,-116.7,630.3,-7.0,537,9036,0.00,2.12,0.00,0.000,4,0.000,0.043,2542,3698,3478,0,0,0,0,0,0
$GC,9094,-0.78,-116.7,635.0,-7.4,538,9098,0.00,2.03,0.00,0.000,6,0.000,0.025,2543,2297,3477,0,0,0,0,0,0
$GC,9465,-0.78,-116.7,661.7,-7.2,544,9469,0.00,2.15,0.00,0.000,4,0.000,0.044,2542,3703,3476,0,0,0,0,0,0
$GC,9537,-0.82,-116.7,667.0,-8.2,545,9542,0.12,2.08,0.00,0.000,6,0.140,0.026,2502,2262,3475,0,0,0,0,0,0
$GC,9903,-0.75,-116.7,697.4,-8.3,551,9907,0.00,2.20,0.00,0.000,4,0.000,0.044,2501,3698,3474,0,0,0,0,0,0
$GC,9935,-0.69,-116.7,700.1,-8.2,551,9940,0.08,2.05,0.00,0.000,6,0.153,0.026,2539,2299,3474,0,0,0,0,0,0
$GC,10272,-0.69,-116.7,722.0,-6.4,557,10276,0.00,2.12,0.00,0.000,4,0.000,0.044,2539,3697,3472,0,0,0,0,0,0
$GC,10334,-0.72,-116.7,726.2,-7.2,558,10338,0.00,2.03,0.00,0.000,6,0.000,0.027,2540,2304,3472,0,0,0,0,0,0
$GC,10704,-0.72,-116.7,749.0,-6.0,564,10708,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3697,3471,0,0,0,0,0,0
$GC,10788,-0.76,-116.7,754.2,-6.6,565,10792,0.00,2.03,0.00,0.000,6,0.000,0.026,2540,2300,3470,0,0,0,0,0,0
$GC,11137,-0.76,-116.7,775.2,-6.1,571,11141,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3697,3469,0,0,0,0,0,0
$GC,11186,-0.79,-116.7,778.5,-7.2,571,11190,0.00,2.05,0.00,0.000,6,0.000,0.026,2540,2306,3469,0,0,0,0,0,0
$GC,11501,-0.79,-116.7,798.6,-6.5,577,11505,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3701,3469,0,0,0,0,0,0
$GC,11562,-0.83,-116.7,802.7,-6.9,577,11568,0.12,2.03,0.00,0.000,6,0.138,0.026,2501,2293,3468,0,0,0,0,0,0
$GC,11872,-0.77,-116.7,826.7,-7.8,583,11876,0.00,2.15,0.00,0.000,4,0.000,0.045,2501,3701,3467,0,0,0,0,0,0
$GC,11893,-0.71,-116.7,828.6,-7.9,583,11898,0.05,2.08,0.00,0.000,6,0.153,0.027,2530,2300,3467,0,0,0,0,0,0
$GC,12236,-0.71,-116.7,852.1,-6.9,589,12240,0.00,2.15,0.00,0.000,4,0.000,0.045,2530,3705,3466,0,0,0,0,0,0
$GC,12285,-0.71,-116.7,855.6,-6.3,589,12289,0.00,2.05,0.00,0.000,6,0.000,0.027,2531,2295,3466,0,0,0,0,0,0
$GC,12601,-0.71,-116.7,877.3,-6.9,595,12605,0.00,2.15,0.00,0.000,4,0.000,0.045,2531,3701,3465,0,0,0,0,0,0
$GC,12644,-0.71,-116.7,880.6,-7.4,595,12649,0.00,2.08,0.00,0.000,6,0.000,0.027,2531,2306,3465,0,0,0,0,0,0
$GC,12965,-0.71,-116.7,902.3,-6.8,601,12969,0.00,2.15,0.00,0.000,4,0.000,0.045,2531,3706,3465,0,0,0,0,0,0
$GC,13009,-0.71,-116.7,905.3,-6.9,601,13013,0.00,2.10,0.00,0.000,6,0.000,0.027,2531,2295,3464,0,0,0,0,0,0
$GC,13337,-0.71,-116.7,927.3,-6.7,607,13341,0.00,2.15,0.00,0.000,4,0.000,0.045,2531,3701,3464,0,0,0,0,0,0
$GC,13386,-0.71,-116.7,930.8,-6.8,607,13390,0.00,2.05,0.00,0.000,6,0.000,0.027,2531,2293,3464,0,0,0,0,0,0
$STATE,13517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13517,begin apogee
$GC,13522,-0.24,0.0,939.7,6.8,610,13622,0.50,0.00,97.22,1.509,6,0.166,0.000,2679,2651,3006,0,0,0,0,0,0
$STATE,13623,end apogee,CONTROL_FINISHED_OK
$STATE,13623,begin climb
$GC,13625,0.80,116.7,941.8,0.0,611,13740,1.08,2.42,104.85,1.416,4,0.112,0.048,3014,4035,2529,0,0,0,0,0,0
$GC,13807,0.56,116.7,935.2,8.3,614,13812,0.30,2.17,0.00,0.000,6,0.178,0.026,2950,2649,2523,0,0,0,0,0,0
$GC,14128,0.55,139.2,915.6,6.0,620,14149,0.00,0.00,19.73,1.388,6,0.000,0.000,2951,2649,2438,0,0,0,0,0,0
$GC,14430,0.57,154.5,896.6,6.3,625,14446,0.00,0.00,14.20,1.371,6,0.000,0.000,2950,2649,2377,0,0,0,0,0,0
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$STATE,25896,end climb,SURFACE_DEPTH_REACHED
$STATE,25896,begin surface coast
$FINISH,2.6,1.002063
$STATE,25943,end surface coast,CONTROL_FINISHED_OK
$STATE,25943,begin surface
$SM_CCo,25960,45.33,0.755,0,0,1883,275.23
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$IRIDIUM_FIX,6244.56,310.79,230299,070740
$TT8_MAMPS,0.027612
$HUMID,1078354184
$INTERNAL_PRESSURE,8.3304
$TCM_TEMP,20.40
$XPDR_PINGS,0
$24V_AH,22.7,33.757
$10V_AH,10.0,22.021
$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
$DEVICE_SECS,21.575,235.325,302.950,45.325,0.000,24.939,31.293,186.988,0.000,0.000,16.032,2424.811,20000.445,560.971,2836.748,546.960,0.000,1968.753,0.000,2805.210,0.000,0.536,0.000
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$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,233820
$DATA_FILE_SIZE,63285,1138
$CAP_FILE_SIZE,224669,0
$CFSIZE,260165632,238419968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082, 30.7,1
$GPS,291109,213530,6309.486,328.986,58,1.0,58,-3.0