version: 66.06
glider: 140
mission: 8
dive: 268
start: 12 20 109 17 0 38
data:
$ID,140
$MISSION,8
$DIVE,268
$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,-3
$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,-49272.273
$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,64
$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
$GPS1,165406,6500.878,-46.188,36,1.1,42,-5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.62
$_SM_ANGLEo,-63.6
$GPS2,170014,6500.863,-46.086,14,1.1,14,-5.7
$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,139.3,322919,-13.7,-6.875
$D_GRID,2883
$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,-7.80,0.000,2,0.000,0.000,212,2290,2033,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.6,-0.0,1,121,9.12,2.20,-78.57,0.000,4,0.235,0.050,2502,900,3482,0,0,0,0,0,0
$GC,256,-0.67,-116.7,17.2,-13.0,41,263,0.17,2.10,0.00,0.000,6,0.189,0.028,2548,2314,3484,0,0,0,0,0,0
$GC,589,-0.67,-116.7,45.6,-7.0,102,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2314,3485,0,0,0,0,0,0
$GC,923,-0.67,-116.7,67.9,-6.4,163,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2314,3485,0,0,0,0,0,0
$GC,1258,-0.67,-116.7,90.9,-7.4,224,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2314,3486,0,0,0,0,0,0
$GC,1597,-0.67,-116.7,115.8,-7.9,285,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2314,3486,0,0,0,0,0,0
$GC,1914,-0.67,-116.7,141.4,-7.7,307,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2314,3486,0,0,0,0,0,0
$GC,2223,-0.67,-116.7,165.1,-7.7,322,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2314,3487,0,0,0,0,0,0
$GC,2534,-0.67,-116.7,188.3,-7.7,337,2538,0.00,2.08,0.00,0.000,4,0.000,0.040,2547,3705,3486,0,0,0,0,0,0
$GC,2640,-0.71,-116.7,196.4,-7.5,342,2644,0.00,2.05,0.00,0.000,6,0.000,0.023,2548,2270,3486,0,0,0,0,0,0
$GC,2966,-0.71,-116.7,220.1,-6.7,358,2970,0.00,2.17,0.00,0.000,4,0.000,0.039,2548,3697,3486,0,0,0,0,0,0
$GC,3034,-0.75,-116.7,224.8,-6.8,361,3038,0.00,2.00,0.00,0.000,6,0.000,0.023,2548,2298,3486,0,0,0,0,0,0
$GC,3366,-0.75,-116.7,247.0,-6.4,377,3370,0.00,2.12,0.00,0.000,4,0.000,0.040,2548,3698,3486,0,0,0,0,0,0
$GC,3377,-0.75,-116.7,247.9,-6.5,377,3382,0.00,2.00,0.00,0.000,6,0.000,0.024,2548,2300,3486,0,0,0,0,0,0
$GC,3693,-0.75,-116.7,268.6,-6.6,393,3697,0.00,2.12,0.00,0.000,4,0.000,0.040,2548,3704,3487,0,0,0,0,0,0
$GC,3770,-0.79,-116.7,274.1,-7.4,396,3778,0.05,2.05,0.00,0.000,6,0.120,0.024,2512,2293,3486,0,0,0,0,0,0
$GC,4086,-0.75,-116.7,300.5,-8.6,412,4089,0.00,2.03,0.00,0.000,4,0.000,0.036,2512,926,3486,0,0,0,0,0,0
$GC,4096,-0.70,-116.7,301.6,-8.7,412,4100,0.00,2.05,0.00,0.000,6,0.000,0.029,2512,2295,3486,0,0,0,0,0,0
$GC,4425,-0.65,-116.7,330.2,-8.8,423,4427,0.15,0.00,0.00,0.000,6,0.200,0.000,2550,2296,3485,0,0,0,0,0,0
$GC,4732,-0.69,-116.7,352.6,-7.1,433,4733,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2296,3486,0,0,0,0,0,0
$GC,5038,-0.73,-116.7,373.7,-6.6,443,5042,0.00,2.10,0.00,0.000,4,0.000,0.041,2550,3707,3484,0,0,0,0,0,0
$GC,5082,-0.78,-116.7,376.6,-6.3,444,5086,0.12,2.03,0.00,0.000,6,0.134,0.025,2511,2290,3484,0,0,0,0,0,0
$GC,5405,-0.73,-116.7,400.8,-7.7,455,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2288,3484,0,0,0,0,0,0
$GC,5711,-0.69,-116.7,425.2,-8.0,465,5713,0.12,0.00,0.00,0.000,6,0.196,0.000,2541,2286,3483,0,0,0,0,0,0
$GC,6017,-0.69,-116.7,446.2,-6.9,475,6021,0.00,2.15,0.00,0.000,4,0.000,0.041,2541,3698,3482,0,0,0,0,0,0
$GC,6033,-0.69,-116.7,447.4,-6.8,475,6037,0.00,2.00,0.00,0.000,6,0.000,0.025,2542,2311,3482,0,0,0,0,0,0
$GC,6350,-0.69,-116.7,468.1,-6.5,486,6354,0.00,2.12,0.00,0.000,4,0.000,0.041,2542,3702,3481,0,0,0,0,0,0
$GC,6388,-0.72,-116.7,470.7,-7.0,487,6392,0.00,2.08,0.00,0.000,6,0.000,0.025,2542,2293,3481,0,0,0,0,0,0
$GC,6717,-0.72,-116.7,492.7,-6.8,498,6721,0.00,2.15,0.00,0.000,4,0.000,0.042,2542,3701,3480,0,0,0,0,0,0
$GC,6766,-0.76,-116.7,496.2,-7.0,499,6770,0.00,2.08,0.00,0.000,6,0.000,0.025,2542,2293,3479,0,0,0,0,0,0
$GC,7087,-0.76,-116.7,518.0,-6.8,506,7091,0.00,2.15,0.00,0.000,4,0.000,0.042,2542,3705,3479,0,0,0,0,0,0
$GC,7125,-0.81,-116.7,520.6,-7.2,506,7130,0.12,2.03,0.00,0.000,6,0.142,0.025,2501,2296,3479,0,0,0,0,0,0
$GC,7450,-0.75,-116.7,547.9,-8.5,512,7451,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2294,3478,0,0,0,0,0,0
$GC,7754,-0.70,-116.7,573.6,-8.5,517,7756,0.12,0.00,0.00,0.000,6,0.189,0.000,2534,2292,3477,0,0,0,0,0,0
$GC,8057,-0.70,-116.7,595.5,-7.2,522,8060,0.00,2.15,0.00,0.000,4,0.000,0.042,2534,3701,3477,0,0,0,0,0,0
$GC,8077,-0.70,-116.7,597.2,-7.4,522,8082,0.00,2.05,0.00,0.000,6,0.000,0.026,2535,2310,3477,0,0,0,0,0,0
$GC,8421,-0.70,-116.7,621.4,-7.0,528,8424,0.00,2.12,0.00,0.000,4,0.000,0.042,2535,3697,3476,0,0,0,0,0,0
$GC,8470,-0.73,-116.7,624.9,-7.1,528,8474,0.00,2.08,0.00,0.000,6,0.000,0.026,2535,2296,3475,0,0,0,0,0,0
$GC,8791,-0.73,-116.7,647.1,-6.9,534,8795,0.00,2.15,0.00,0.000,4,0.000,0.042,2535,3700,3475,0,0,0,0,0,0
$GC,8840,-0.77,-116.7,650.7,-7.4,534,8844,0.00,2.08,0.00,0.000,6,0.000,0.026,2535,2301,3475,0,0,0,0,0,0
$GC,9155,-0.77,-116.7,672.6,-7.0,540,9159,0.00,2.15,0.00,0.000,4,0.000,0.043,2536,3702,3475,0,0,0,0,0,0
$GC,9194,-0.80,-116.7,675.3,-6.7,540,9198,0.00,2.05,0.00,0.000,6,0.000,0.026,2535,2294,3474,0,0,0,0,0,0
$GC,9513,-0.80,-116.7,697.7,-7.1,546,9517,0.00,2.15,0.00,0.000,4,0.000,0.043,2535,3700,3474,0,0,0,0,0,0
$GC,9563,-0.84,-116.7,701.4,-7.6,546,9568,0.10,2.08,0.00,0.000,6,0.108,0.027,2495,2300,3473,0,0,0,0,0,0
$GC,9884,-0.78,-116.7,728.7,-8.6,552,9888,0.00,2.15,0.00,0.000,4,0.000,0.043,2495,3700,3473,0,0,0,0,0,0
$GC,9894,-0.72,-116.7,729.7,-8.6,552,9898,0.12,2.05,0.00,0.000,6,0.184,0.027,2525,2289,3473,0,0,0,0,0,0
$GC,10247,-0.72,-116.7,755.6,-7.3,558,10251,0.00,2.15,0.00,0.000,4,0.000,0.043,2525,3696,3472,0,0,0,0,0,0
$GC,10268,-0.72,-116.7,757.2,-7.2,558,10273,0.00,2.08,0.00,0.000,6,0.000,0.026,2526,2299,3473,0,0,0,0,0,0
$GC,10611,-0.72,-116.7,780.9,-6.9,564,10615,0.00,2.15,0.00,0.000,4,0.000,0.044,2526,3704,3472,0,0,0,0,0,0
$GC,10654,-0.72,-116.7,784.0,-6.5,564,10659,0.00,2.10,0.00,0.000,6,0.000,0.027,2526,2293,3472,0,0,0,0,0,0
$GC,10981,-0.72,-116.7,805.8,-6.7,570,10985,0.00,2.15,0.00,0.000,4,0.000,0.043,2526,3700,3471,0,0,0,0,0,0
$GC,11013,-0.72,-116.7,808.0,-7.0,570,11017,0.00,2.08,0.00,0.000,6,0.000,0.027,2526,2301,3472,0,0,0,0,0,0
$GC,11345,-0.72,-116.7,829.8,-6.6,576,11349,0.00,2.17,0.00,0.000,4,0.000,0.044,2526,3705,3471,0,0,0,0,0,0
$GC,11394,-0.72,-116.7,833.3,-6.7,576,11398,0.00,2.05,0.00,0.000,6,0.000,0.027,2526,2301,3471,0,0,0,0,0,0
$GC,11709,-0.72,-116.7,854.3,-6.8,582,11713,0.00,2.15,0.00,0.000,4,0.000,0.043,2526,3705,3471,0,0,0,0,0,0
$GC,11747,-0.72,-116.7,857.2,-8.0,582,11751,0.00,2.08,0.00,0.000,6,0.000,0.027,2526,2308,3470,0,0,0,0,0,0
$GC,12074,-0.72,-116.7,879.4,-6.8,588,12077,0.00,2.12,0.00,0.000,4,0.000,0.043,2526,3704,3470,0,0,0,0,0,0
$GC,12123,-0.72,-116.7,883.0,-7.7,588,12127,0.00,2.10,0.00,0.000,6,0.000,0.027,2526,2292,3470,0,0,0,0,0,0
$GC,12438,-0.72,-116.7,904.6,-6.9,594,12442,0.00,2.15,0.00,0.000,4,0.000,0.043,2526,3700,3470,0,0,0,0,0,0
$GC,12493,-0.75,-116.7,908.8,-7.4,594,12499,0.00,2.05,0.00,0.000,6,0.000,0.027,2526,2290,3469,0,0,0,0,0,0
$GC,12802,-0.75,-116.7,930.6,-7.1,600,12806,0.00,2.15,0.00,0.000,4,0.000,0.043,2526,3697,3469,0,0,0,0,0,0
$GC,12834,-0.75,-116.7,932.9,-6.7,600,12839,0.00,2.08,0.00,0.000,6,0.000,0.027,2526,2305,3469,0,0,0,0,0,0
$GC,13166,-0.75,-116.7,956.1,-7.0,606,13170,0.00,2.15,0.00,0.000,4,0.000,0.044,2527,3702,3469,0,0,0,0,0,0
$GC,13204,-0.78,-116.7,958.9,-7.9,606,13208,0.00,2.10,0.00,0.000,6,0.000,0.027,2526,2268,3469,0,0,0,0,0,0
$GC,13535,-0.78,-116.7,981.3,-6.8,612,13539,0.00,2.20,0.00,0.000,4,0.000,0.043,2526,3698,3469,0,0,0,0,0,0
$GC,13604,-0.82,-116.7,986.1,-6.6,613,13608,0.00,2.05,0.00,0.000,6,0.000,0.027,2526,2293,3469,0,0,0,0,0,0
$STATE,13718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13718,begin apogee
$GC,13723,-0.24,0.0,994.2,6.8,615,13828,0.52,0.00,101.43,1.551,6,0.167,0.000,2681,2647,3006,0,0,0,0,0,0
$STATE,13829,end apogee,CONTROL_FINISHED_OK
$STATE,13829,begin climb
$GC,13831,0.80,116.7,996.3,0.0,616,13949,1.10,2.42,109.05,1.457,4,0.109,0.044,3019,4043,2529,0,0,0,0,0,0
$GC,14033,0.56,116.7,989.3,8.9,620,14038,0.30,2.20,0.00,0.000,6,0.173,0.026,2953,2650,2522,0,0,0,0,0,0
$GC,14393,0.56,141.7,968.2,5.9,626,14417,0.00,0.00,22.20,1.432,6,0.000,0.000,2953,2650,2428,0,0,0,0,0,0
$GC,14695,0.57,148.4,948.4,6.6,631,14704,0.00,0.00,7.15,1.292,6,0.000,0.000,2953,2650,2400,0,0,0,0,0,0
$GC,14999,0.58,158.8,928.8,6.5,636,15011,0.00,0.00,10.77,1.384,6,0.000,0.000,2953,2650,2358,0,0,0,0,0,0
$GC,15302,0.59,168.5,909.2,6.5,641,15314,0.00,0.00,10.25,1.372,6,0.000,0.000,2953,2650,2319,0,0,0,0,0,0
$GC,15605,0.60,171.3,888.9,6.8,646,15610,0.00,0.00,4.03,0.992,6,0.000,0.000,2953,2650,2307,0,0,0,0,0,0
$GC,15907,0.60,171.3,867.7,7.0,651,15909,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2650,2306,0,0,0,0,0,0
$GC,16211,0.60,171.3,846.6,7.0,656,16212,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2650,2305,0,0,0,0,0,0
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$STATE,26470,end climb,SURFACE_DEPTH_REACHED
$STATE,26470,begin surface coast
$FINISH,3.0,1.027429
$STATE,26508,end surface coast,CONTROL_FINISHED_OK
$STATE,26508,begin surface
$SM_CCo,26525,17.52,0.815,0,0,1883,275.23
$SM_GC,4.09,0.00,0.00,17.52,0.000,0.000,0.815,210,2286,1883,-7.99,-0.40,275.23
$IRIDIUM_FIX,6436.42,-56.02,160399,090932
$TT8_MAMPS,0.027612
$HUMID,1078410958
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,19.70
$XPDR_PINGS,1
$24V_AH,22.1,44.141
$10V_AH,9.8,29.471
$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,21.300,169.825,343.575,17.525,0.000,31.391,32.735,173.403,0.250,0.000,14.906,2285.848,21025.408,521.899,2547.760,521.745,0.000,1786.742,0.000,2521.540,0.000,0.534,0.000
$DEVICE_MAMPS,235.469,49.855,1550.874,814.554,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,767.510,1001.163,584.940,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241356
$DATA_FILE_SIZE,63445,1110
$CAP_FILE_SIZE,198946,0
$CFSIZE,260165632,232611840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.017, 12.3,1
$GPS,211209,002407,6458.784,-40.832,28,0.9,29,-5.6