version: 66.06
glider: 140
mission: 8
dive: 204
start: 11 30 109 12 25 49
data:
$ID,140
$MISSION,8
$DIVE,204
$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,-47966.199
$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,82
$R_STBD_OVSHOOT,40
$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
$GPS1,121906,6304.489,340.600,30,1.4,30,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.25
$_SM_ANGLEo,-55.5
$GPS2,122526,6304.525,340.598,13,1.2,13,-2.9
$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,129.8,12096,-13.7,-6.875
$D_GRID,938
$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,-7.53,0.000,2,0.000,0.000,212,2270,2039,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.2,-0.0,1,121,8.80,2.08,-78.28,0.000,4,0.227,0.053,2501,926,3482,0,0,0,0,0,0
$GC,372,-0.65,-116.7,29.2,-11.6,63,379,0.20,2.05,0.00,0.000,6,0.187,0.028,2554,2315,3483,0,0,0,0,0,0
$GC,710,-0.65,-116.7,56.4,-7.4,124,717,0.00,2.12,0.00,0.000,4,0.000,0.035,2555,927,3484,0,0,0,0,0,0
$GC,806,-0.65,-116.7,63.6,-7.6,141,812,0.00,2.03,0.00,0.000,6,0.000,0.028,2555,2303,3484,0,0,0,0,0,0
$GC,1150,-0.65,-116.7,90.2,-8.0,202,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2303,3484,0,0,0,0,0,0
$GC,1488,-0.65,-116.7,115.0,-7.4,263,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2303,3484,0,0,0,0,0,0
$GC,1823,-0.65,-116.7,139.8,-7.3,288,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2303,3484,0,0,0,0,0,0
$GC,2134,-0.65,-116.7,162.9,-7.7,303,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2303,3484,0,0,0,0,0,0
$GC,2441,-0.65,-116.7,186.0,-7.6,318,2445,0.00,2.08,0.00,0.000,4,0.000,0.041,2555,3704,3484,0,0,0,0,0,0
$GC,2465,-0.65,-116.7,187.8,-8.3,319,2468,0.00,2.00,0.00,0.000,6,0.000,0.023,2554,2301,3484,0,0,0,0,0,0
$GC,2796,-0.65,-116.7,214.9,-8.2,335,2800,0.00,2.10,0.00,0.000,4,0.000,0.040,2555,3697,3484,0,0,0,0,0,0
$GC,2813,-0.65,-116.7,216.2,-8.1,336,2817,0.00,2.00,0.00,0.000,6,0.000,0.023,2555,2294,3484,0,0,0,0,0,0
$GC,3145,-0.65,-116.7,241.6,-7.6,352,3149,0.00,2.10,0.00,0.000,4,0.000,0.039,2555,3697,3484,0,0,0,0,0,0
$GC,3156,-0.65,-116.7,242.5,-7.7,352,3161,0.00,2.00,0.00,0.000,6,0.000,0.024,2555,2293,3484,0,0,0,0,0,0
$GC,3473,-0.65,-116.7,266.4,-7.4,368,3476,0.00,2.10,0.00,0.000,4,0.000,0.040,2555,3697,3484,0,0,0,0,0,0
$GC,3482,-0.65,-116.7,267.5,-7.8,368,3488,0.00,2.03,0.00,0.000,6,0.000,0.023,2555,2302,3484,0,0,0,0,0,0
$GC,3799,-0.65,-116.7,291.0,-7.3,384,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2302,3484,0,0,0,0,0,0
$GC,4126,-0.65,-116.7,314.3,-7.1,397,4130,0.00,2.10,0.00,0.000,4,0.000,0.040,2555,3697,3484,0,0,0,0,0,0
$GC,4135,-0.65,-116.7,315.1,-7.0,397,4140,0.00,2.03,0.00,0.000,6,0.000,0.023,2555,2299,3484,0,0,0,0,0,0
$GC,4466,-0.65,-116.7,336.1,-6.1,408,4470,0.00,2.12,0.00,0.000,4,0.000,0.040,2555,3705,3484,0,0,0,0,0,0
$GC,4487,-0.65,-116.7,337.7,-6.4,408,4491,0.00,2.00,0.00,0.000,6,0.000,0.023,2555,2296,3484,0,0,0,0,0,0
$GC,4805,-0.65,-116.7,357.4,-6.6,419,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2296,3484,0,0,0,0,0,0
$GC,5111,-0.65,-116.7,377.4,-6.5,429,5115,0.00,2.12,0.00,0.000,4,0.000,0.040,2555,3705,3484,0,0,0,0,0,0
$GC,5139,-0.65,-116.7,379.2,-6.7,429,5144,0.00,2.00,0.00,0.000,6,0.000,0.023,2555,2295,3484,0,0,0,0,0,0
$GC,5451,-0.65,-116.7,398.5,-6.4,440,5455,0.00,2.10,0.00,0.000,4,0.000,0.040,2555,3700,3484,0,0,0,0,0,0
$GC,5485,-0.65,-116.7,400.8,-7.0,441,5488,0.00,2.00,0.00,0.000,6,0.000,0.023,2555,2292,3484,0,0,0,0,0,0
$GC,5825,-0.65,-116.7,422.3,-6.3,452,5829,0.00,2.10,0.00,0.000,4,0.000,0.039,2555,3696,3484,0,0,0,0,0,0
$GC,5841,-0.65,-116.7,423.4,-6.2,452,5845,0.00,2.03,0.00,0.000,6,0.000,0.023,2555,2298,3484,0,0,0,0,0,0
$GC,6159,-0.65,-116.7,443.6,-6.3,463,6163,0.00,2.10,0.00,0.000,4,0.000,0.040,2555,3702,3484,0,0,0,0,0,0
$GC,6192,-0.68,-116.7,445.8,-6.6,464,6196,0.00,2.03,0.00,0.000,6,0.000,0.023,2555,2287,3484,0,0,0,0,0,0
$GC,6526,-0.72,-116.7,468.2,-6.7,475,6530,0.00,2.10,0.00,0.000,4,0.000,0.040,2555,3697,3483,0,0,0,0,0,0
$GC,6565,-0.77,-116.7,470.8,-6.5,476,6569,0.12,2.00,0.00,0.000,6,0.132,0.023,2515,2284,3484,0,0,0,0,0,0
$GC,6887,-0.71,-116.7,494.3,-7.0,487,6891,0.00,2.12,0.00,0.000,4,0.000,0.040,2514,3702,3483,0,0,0,0,0,0
$GC,6903,-0.66,-116.7,495.5,-7.3,487,6908,0.05,2.03,0.00,0.000,6,0.163,0.024,2543,2299,3484,0,0,0,0,0,0
$GC,7224,-0.66,-116.7,517.5,-7.0,494,7228,0.00,2.10,0.00,0.000,4,0.000,0.041,2543,3697,3483,0,0,0,0,0,0
$GC,7239,-0.66,-116.7,518.6,-7.1,494,7244,0.00,2.03,0.00,0.000,6,0.000,0.024,2544,2307,3483,0,0,0,0,0,0
$GC,7589,-0.66,-116.7,544.0,-7.4,500,7592,0.00,2.10,0.00,0.000,4,0.000,0.041,2544,3702,3482,0,0,0,0,0,0
$GC,7661,-0.70,-116.7,549.6,-7.2,501,7665,0.00,2.00,0.00,0.000,6,0.000,0.024,2544,2295,3482,0,0,0,0,0,0
$GC,8020,-0.70,-116.7,574.7,-6.9,507,8024,0.00,2.12,0.00,0.000,4,0.000,0.041,2544,3698,3481,0,0,0,0,0,0
$GC,8091,-0.73,-116.7,579.8,-7.4,508,8096,0.00,2.03,0.00,0.000,6,0.000,0.024,2544,2304,3481,0,0,0,0,0,0
$GC,8457,-0.73,-116.7,603.8,-6.5,514,8461,0.00,2.10,0.00,0.000,4,0.000,0.041,2543,3697,3480,0,0,0,0,0,0
$GC,8485,-0.76,-116.7,605.7,-6.7,514,8488,0.00,2.00,0.00,0.000,6,0.000,0.025,2544,2299,3480,0,0,0,0,0,0
$GC,8823,-0.76,-116.7,626.9,-6.4,520,8826,0.00,2.15,0.00,0.000,4,0.000,0.043,2543,3704,3478,0,0,0,0,0,0
$GC,8884,-0.80,-116.7,631.2,-7.0,521,8889,0.12,2.03,0.00,0.000,6,0.137,0.025,2503,2289,3478,0,0,0,0,0,0
$GC,9248,-0.74,-116.7,661.9,-8.5,527,9252,0.00,2.12,0.00,0.000,4,0.000,0.042,2502,3694,3476,0,0,0,0,0,0
$GC,9259,-0.68,-116.7,662.8,-8.4,527,9264,0.15,2.00,0.00,0.000,6,0.177,0.026,2541,2298,3476,0,0,0,0,0,0
$GC,9606,-0.68,-116.7,687.5,-7.0,533,9610,0.00,2.12,0.00,0.000,4,0.000,0.044,2541,3697,3475,0,0,0,0,0,0
$GC,9645,-0.71,-116.7,690.2,-6.6,533,9649,0.00,2.00,0.00,0.000,6,0.000,0.025,2542,2309,3475,0,0,0,0,0,0
$GC,9977,-0.71,-116.7,712.2,-6.7,539,9980,0.00,2.12,0.00,0.000,4,0.000,0.044,2542,3702,3473,0,0,0,0,0,0
$GC,10026,-0.75,-116.7,715.8,-7.0,539,10030,0.00,2.08,0.00,0.000,6,0.000,0.026,2541,2294,3473,0,0,0,0,0,0
$GC,10341,-0.75,-116.7,736.6,-6.6,545,10345,0.00,2.12,0.00,0.000,4,0.000,0.044,2542,3693,3471,0,0,0,0,0,0
$GC,10408,-0.79,-116.7,740.9,-6.4,546,10411,0.00,2.03,0.00,0.000,6,0.000,0.026,2541,2296,3471,0,0,0,0,0,0
$GC,10773,-0.79,-116.7,763.9,-6.3,552,10777,0.00,2.12,0.00,0.000,4,0.000,0.044,2542,3693,3469,0,0,0,0,0,0
$GC,10851,-0.83,-116.7,769.1,-6.7,553,10856,0.15,2.03,0.00,0.000,6,0.126,0.026,2491,2288,3470,0,0,0,0,0,0
$GC,11199,-0.75,-116.7,797.4,-8.2,559,11201,0.12,0.00,0.00,0.000,6,0.197,0.000,2523,2284,3468,0,0,0,0,0,0
$GC,11502,-0.75,-116.7,819.1,-7.1,564,11506,0.00,2.15,0.00,0.000,4,0.000,0.044,2522,3697,3467,0,0,0,0,0,0
$GC,11546,-0.75,-116.7,822.3,-7.1,564,11550,0.00,2.05,0.00,0.000,6,0.000,0.026,2522,2309,3467,0,0,0,0,0,0
$GC,11866,-0.75,-116.7,844.5,-6.9,570,11870,0.00,2.12,0.00,0.000,4,0.000,0.044,2523,3702,3466,0,0,0,0,0,0
$GC,11899,-0.75,-116.7,846.7,-7.4,570,11903,0.00,2.08,0.00,0.000,6,0.000,0.027,2523,2302,3466,0,0,0,0,0,0
$GC,12237,-0.75,-116.7,869.3,-6.7,576,12241,0.00,2.12,0.00,0.000,4,0.000,0.044,2522,3694,3465,0,0,0,0,0,0
$GC,12275,-0.75,-116.7,872.0,-7.2,576,12280,0.00,2.08,0.00,0.000,6,0.000,0.027,2522,2295,3465,0,0,0,0,0,0
$GC,12602,-0.75,-116.7,893.9,-6.7,582,12606,0.00,2.15,0.00,0.000,4,0.000,0.045,2522,3702,3464,0,0,0,0,0,0
$GC,12646,-0.75,-116.7,896.8,-7.1,582,12650,0.00,2.08,0.00,0.000,6,0.000,0.027,2523,2301,3464,0,0,0,0,0,0
$GC,12967,-0.75,-116.7,918.0,-6.6,588,12971,0.00,2.12,0.00,0.000,4,0.000,0.045,2523,3695,3463,0,0,0,0,0,0
$GC,13011,-0.75,-116.7,921.0,-6.5,588,13015,0.00,2.03,0.00,0.000,6,0.000,0.027,2523,2298,3463,0,0,0,0,0,0
$STATE,13329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13329,begin apogee
$GC,13335,-0.24,0.0,941.2,6.3,594,13435,0.52,0.00,96.88,1.513,6,0.163,0.000,2679,2639,3006,0,0,0,0,0,0
$STATE,13435,end apogee,CONTROL_FINISHED_OK
$STATE,13435,begin climb
$GC,13437,0.80,116.7,943.0,0.0,595,13553,1.08,2.47,104.60,1.417,4,0.113,0.048,3015,4042,2528,0,0,0,0,0,0
$GC,13614,0.55,116.7,934.0,10.3,598,13619,0.22,2.22,0.00,0.000,6,0.166,0.026,2951,2653,2523,0,0,0,0,0,0
$GC,13946,0.52,120.5,911.4,6.7,604,13950,0.00,2.15,0.00,0.000,4,0.000,0.038,2959,1262,2519,0,0,0,0,0,0
$GC,13997,0.50,126.7,908.1,6.6,604,14013,0.00,2.15,8.48,1.310,6,0.000,0.035,2954,2646,2488,0,0,0,0,0,0
$GC,14316,0.48,141.7,888.0,6.3,610,14336,0.12,2.22,14.48,1.377,4,0.193,0.048,2922,4053,2428,0,0,0,0,0,0
$GC,14409,0.49,147.3,881.8,6.7,611,14421,0.00,2.10,6.47,1.192,6,0.000,0.027,2929,2646,2405,0,0,0,0,0,0
$GC,14747,0.52,168.9,861.5,6.0,617,14772,0.00,2.15,20.27,1.391,4,0.000,0.037,2939,1262,2316,0,0,0,0,0,0
$GC,14811,0.56,171.1,857.4,6.8,618,14815,0.00,2.17,0.00,0.000,6,0.000,0.035,2939,2652,2313,0,0,0,0,0,0
$GC,15170,0.56,171.4,833.0,6.9,624,15174,0.00,2.15,0.00,0.000,4,0.000,0.048,2939,4047,2310,0,0,0,0,0,0
$GC,15232,0.56,171.4,828.2,8.0,625,15236,0.00,2.08,0.00,0.000,6,0.000,0.028,2948,2648,2310,0,0,0,0,0,0
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$STATE,26106,end climb,SURFACE_DEPTH_REACHED
$STATE,26106,begin surface coast
$FINISH,2.5,1.013620
$STATE,26167,end surface coast,CONTROL_FINISHED_OK
$STATE,26167,begin surface
$SM_CCo,26184,44.45,0.748,0,0,1883,275.23
$SM_GC,3.37,0.00,0.00,44.45,0.000,0.000,0.748,216,2287,1883,-7.97,-0.37,275.23
$IRIDIUM_FIX,6239.86,333.99,240299,050517
$TT8_MAMPS,0.027612
$HUMID,1078323216
$INTERNAL_PRESSURE,8.34016
$TCM_TEMP,20.40
$XPDR_PINGS,0
$24V_AH,22.7,34.195
$10V_AH,10.0,22.360
$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,20.950,197.375,306.725,44.450,0.000,27.051,33.430,191.246,0.000,0.000,14.735,2391.400,20401.516,528.945,2732.230,547.025,0.000,1871.982,0.000,2705.978,0.000,0.536,0.000
$DEVICE_MAMPS,227.032,52.923,1513.291,747.825,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,795.182,1043.005,640.498,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,233796
$DATA_FILE_SIZE,66533,1158
$CAP_FILE_SIZE,210803,0
$CFSIZE,260165632,238157824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108, 92.9,1
$GPS,301109,194407,6302.553,348.862,32,1.3,32,-2.8