version: 66.06
glider: 140
mission: 8
dive: 283
start: 12 25 109 11 40 1
data:
$ID,140
$MISSION,8
$DIVE,283
$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,-49530.082
$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,56
$R_STBD_OVSHOOT,44
$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
$GPS1,113337,6420.428,18.253,31,1.2,31,-4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.81
$_SM_ANGLEo,-64.6
$GPS2,113937,6420.399,18.263,11,1.7,16,-4.9
$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,134.3,232689,-13.7,-6.875
$D_GRID,2503
$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,15,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-7.40,0.000,2,0.000,0.000,210,2304,2017,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.8,-0.0,1,131,9.18,2.20,-86.55,0.000,4,0.239,0.047,2501,889,3482,0,0,0,0,0,0
$GC,257,-0.69,-116.7,14.9,-8.8,42,265,0.10,2.17,0.00,0.000,6,0.176,0.029,2532,2312,3483,0,0,0,0,0,0
$GC,597,-0.69,-116.7,43.4,-9.9,103,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2312,3484,0,0,0,0,0,0
$GC,930,-0.69,-116.7,72.6,-7.2,164,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2312,3485,0,0,0,0,0,0
$GC,1270,-0.69,-116.7,100.5,-8.4,225,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2312,3485,0,0,0,0,0,0
$GC,1598,-0.69,-116.7,126.9,-8.2,274,1602,0.00,2.15,0.00,0.000,4,0.000,0.035,2532,891,3485,0,0,0,0,0,0
$GC,1686,-0.66,-116.7,135.0,-9.1,278,1690,0.00,2.12,0.00,0.000,6,0.000,0.028,2532,2327,3486,0,0,0,0,0,0
$GC,2013,-0.66,-116.7,161.4,-7.7,294,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2327,3486,0,0,0,0,0,0
$GC,2324,-0.66,-116.7,184.4,-7.3,309,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2327,3486,0,0,0,0,0,0
$GC,2631,-0.66,-116.7,206.9,-7.0,324,2635,0.00,2.15,0.00,0.000,4,0.000,0.035,2532,902,3486,0,0,0,0,0,0
$GC,2663,-0.66,-116.7,209.4,-7.9,325,2670,0.00,2.10,0.00,0.000,6,0.000,0.028,2532,2301,3486,0,0,0,0,0,0
$GC,2979,-0.66,-116.7,231.1,-6.9,341,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2302,3486,0,0,0,0,0,0
$GC,3288,-0.66,-116.7,253.1,-7.4,356,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2302,3486,0,0,0,0,0,0
$GC,3598,-0.66,-116.7,275.8,-7.3,371,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2302,3485,0,0,0,0,0,0
$GC,3907,-0.66,-116.7,299.0,-7.6,386,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2301,3485,0,0,0,0,0,0
$GC,4234,-0.66,-116.7,324.2,-7.7,397,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2302,3485,0,0,0,0,0,0
$GC,4540,-0.66,-116.7,346.9,-7.4,407,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2302,3484,0,0,0,0,0,0
$GC,4847,-0.66,-116.7,368.2,-6.8,417,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2301,3484,0,0,0,0,0,0
$GC,5153,-0.66,-116.7,389.2,-6.8,427,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2302,3483,0,0,0,0,0,0
$GC,5460,-0.66,-116.7,409.7,-6.8,437,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2302,3483,0,0,0,0,0,0
$GC,5765,-0.66,-116.7,431.0,-7.0,447,5769,0.00,2.10,0.00,0.000,4,0.000,0.043,2532,3709,3482,0,0,0,0,0,0
$GC,5780,-0.66,-116.7,432.1,-7.1,447,5785,0.00,2.10,0.00,0.000,6,0.000,0.026,2532,2288,3481,0,0,0,0,0,0
$GC,6104,-0.66,-116.7,455.1,-7.1,458,6108,0.00,2.17,0.00,0.000,4,0.000,0.042,2532,3705,3481,0,0,0,0,0,0
$GC,6131,-0.66,-116.7,457.1,-7.3,458,6137,0.00,2.08,0.00,0.000,6,0.000,0.026,2533,2296,3481,0,0,0,0,0,0
$GC,6443,-0.66,-116.7,479.7,-7.4,469,6447,0.00,2.15,0.00,0.000,4,0.000,0.042,2532,3702,3481,0,0,0,0,0,0
$GC,6477,-0.66,-116.7,482.3,-7.9,470,6481,0.00,2.03,0.00,0.000,6,0.000,0.026,2532,2303,3480,0,0,0,0,0,0
$GC,6846,-0.66,-116.7,509.9,-7.5,480,6850,0.00,2.15,0.00,0.000,4,0.000,0.042,2532,3706,3479,0,0,0,0,0,0
$GC,6889,-0.66,-116.7,513.2,-7.5,480,6894,0.00,2.08,0.00,0.000,6,0.000,0.026,2532,2301,3480,0,0,0,0,0,0
$GC,7210,-0.66,-116.7,536.5,-7.2,486,7213,0.00,2.12,0.00,0.000,4,0.000,0.043,2532,3698,3479,0,0,0,0,0,0
$GC,7248,-0.66,-116.7,539.5,-7.3,486,7252,0.00,2.05,0.00,0.000,6,0.000,0.026,2532,2301,3479,0,0,0,0,0,0
$GC,7574,-0.66,-116.7,562.8,-7.2,492,7577,0.00,2.12,0.00,0.000,4,0.000,0.042,2532,3698,3479,0,0,0,0,0,0
$GC,7606,-0.66,-116.7,565.3,-7.6,492,7610,0.00,2.08,0.00,0.000,6,0.000,0.026,2533,2296,3479,0,0,0,0,0,0
$GC,7938,-0.66,-116.7,588.1,-7.0,498,7942,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3704,3478,0,0,0,0,0,0
$GC,7976,-0.66,-116.7,590.9,-7.3,498,7980,0.00,2.08,0.00,0.000,6,0.000,0.026,2532,2305,3478,0,0,0,0,0,0
$GC,8302,-0.66,-116.7,613.4,-6.9,504,8306,0.00,2.12,0.00,0.000,4,0.000,0.042,2532,3698,3478,0,0,0,0,0,0
$GC,8328,-0.66,-116.7,615.4,-7.1,504,8333,0.00,2.08,0.00,0.000,6,0.000,0.026,2532,2294,3478,0,0,0,0,0,0
$GC,8666,-0.66,-116.7,638.6,-6.9,510,8670,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3704,3477,0,0,0,0,0,0
$GC,8710,-0.66,-116.7,641.9,-8.1,510,8714,0.00,2.08,0.00,0.000,6,0.000,0.026,2532,2298,3477,0,0,0,0,0,0
$GC,9031,-0.66,-116.7,663.5,-6.8,516,9035,0.00,2.15,0.00,0.000,4,0.000,0.043,2533,3707,3477,0,0,0,0,0,0
$GC,9064,-0.69,-116.7,665.8,-6.8,516,9068,0.00,2.05,0.00,0.000,6,0.000,0.027,2532,2296,3477,0,0,0,0,0,0
$GC,9390,-0.69,-116.7,687.2,-6.6,522,9394,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3697,3476,0,0,0,0,0,0
$GC,9445,-0.72,-116.7,690.8,-6.9,522,9449,0.00,2.08,0.00,0.000,6,0.000,0.027,2532,2297,3476,0,0,0,0,0,0
$GC,9760,-0.72,-116.7,711.3,-6.5,528,9764,0.00,2.15,0.00,0.000,4,0.000,0.043,2533,3701,3476,0,0,0,0,0,0
$GC,9799,-0.76,-116.7,714.0,-7.0,528,9803,0.00,2.08,0.00,0.000,6,0.000,0.027,2532,2298,3475,0,0,0,0,0,0
$GC,10125,-0.76,-116.7,734.6,-6.3,534,10129,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3704,3476,0,0,0,0,0,0
$GC,10158,-0.79,-116.7,736.7,-6.5,534,10162,0.00,2.05,0.00,0.000,6,0.000,0.028,2532,2299,3476,0,0,0,0,0,0
$GC,10483,-0.79,-116.7,756.5,-6.1,540,10487,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3701,3475,0,0,0,0,0,0
$GC,10528,-0.83,-116.7,759.3,-6.3,540,10532,0.12,2.05,0.00,0.000,6,0.148,0.027,2494,2289,3475,0,0,0,0,0,0
$GC,10848,-0.77,-116.7,782.9,-7.4,546,10852,0.00,2.15,0.00,0.000,4,0.000,0.043,2493,3697,3475,0,0,0,0,0,0
$GC,10857,-0.72,-116.7,783.8,-7.4,546,10862,0.15,2.05,0.00,0.000,6,0.183,0.027,2531,2283,3475,0,0,0,0,0,0
$GC,11212,-0.72,-116.7,804.1,-5.6,552,11216,0.00,2.17,0.00,0.000,4,0.000,0.043,2530,3700,3475,0,0,0,0,0,0
$GC,11245,-0.75,-116.7,806.0,-5.7,552,11248,0.00,2.03,0.00,0.000,6,0.000,0.027,2531,2302,3474,0,0,0,0,0,0
$GC,11582,-0.75,-116.7,824.7,-5.6,558,11586,0.00,2.15,0.00,0.000,4,0.000,0.044,2531,3703,3474,0,0,0,0,0,0
$GC,11633,-0.79,-116.7,827.8,-6.3,558,11637,0.00,2.05,0.00,0.000,6,0.000,0.027,2531,2297,3474,0,0,0,0,0,0
$GC,11942,-0.79,-116.7,844.8,-5.5,563,11946,0.00,2.15,0.00,0.000,4,0.000,0.044,2531,3700,3474,0,0,0,0,0,0
$GC,11986,-0.83,-116.7,847.5,-5.6,563,11991,0.12,2.05,0.00,0.000,6,0.145,0.027,2491,2293,3474,0,0,0,0,0,0
$GC,12301,-0.78,-116.7,869.7,-7.2,569,12305,0.00,2.17,0.00,0.000,4,0.000,0.044,2491,3705,3474,0,0,0,0,0,0
$GC,12312,-0.73,-116.7,870.6,-7.3,569,12316,0.15,2.08,0.00,0.000,6,0.183,0.028,2528,2282,3474,0,0,0,0,0,0
$GC,12671,-0.73,-116.7,892.0,-5.9,575,12675,0.00,2.17,0.00,0.000,4,0.000,0.043,2528,3703,3474,0,0,0,0,0,0
$GC,12709,-0.76,-116.7,894.4,-5.8,575,12713,0.00,2.05,0.00,0.000,6,0.000,0.027,2529,2298,3474,0,0,0,0,0,0
$GC,13030,-0.76,-116.7,913.0,-5.8,581,13034,0.00,2.15,0.00,0.000,4,0.000,0.044,2529,3700,3473,0,0,0,0,0,0
$GC,13069,-0.80,-116.7,915.4,-5.7,581,13072,0.00,2.05,0.00,0.000,6,0.000,0.027,2529,2300,3473,0,0,0,0,0,0
$GC,13394,-0.80,-116.7,934.3,-5.9,587,13398,0.00,2.15,0.00,0.000,4,0.000,0.044,2529,3701,3473,0,0,0,0,0,0
$GC,13433,-0.84,-116.7,936.8,-5.9,587,13437,0.10,2.05,0.00,0.000,6,0.152,0.028,2499,2293,3473,0,0,0,0,0,0
$GC,13754,-0.80,-116.7,959.2,-7.2,593,13758,0.00,2.15,0.00,0.000,4,0.000,0.044,2499,3696,3473,0,0,0,0,0,0
$GC,13775,-0.77,-116.7,961.0,-7.1,593,13779,0.00,2.08,0.00,0.000,6,0.000,0.027,2499,2305,3473,0,0,0,0,0,0
$GC,14118,-0.74,-116.7,984.9,-6.9,599,14122,0.00,2.15,0.00,0.000,4,0.000,0.044,2499,3698,3472,0,0,0,0,0,0
$GC,14135,-0.71,-116.7,986.1,-6.8,599,14140,0.12,2.05,0.00,0.000,6,0.194,0.027,2529,2292,3473,0,0,0,0,0,0
$STATE,14239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14239,begin apogee
$GC,14244,-0.24,0.0,992.5,6.0,601,14350,0.52,0.00,102.60,1.553,6,0.164,0.000,2686,2651,3006,0,0,0,0,0,0
$STATE,14350,end apogee,CONTROL_FINISHED_OK
$STATE,14351,begin climb
$GC,14352,0.80,116.7,994.2,0.0,602,14472,1.08,2.42,109.55,1.458,4,0.110,0.045,3016,4042,2530,0,0,0,0,0,0
$GC,14583,0.57,116.7,983.2,8.9,606,14588,0.28,2.17,0.00,0.000,6,0.170,0.026,2956,2650,2523,0,0,0,0,0,0
$GC,14921,0.59,131.3,961.7,6.3,612,14936,0.00,0.00,13.12,1.400,6,0.000,0.000,2956,2651,2470,0,0,0,0,0,0
$GC,15224,0.61,146.2,942.7,6.3,617,15240,0.00,0.00,14.73,1.406,6,0.000,0.000,2956,2650,2410,0,0,0,0,0,0
$GC,15526,0.61,151.8,922.7,6.7,622,15538,0.00,2.28,6.53,1.264,4,0.000,0.046,2953,4049,2386,0,0,0,0,0,0
$GC,15594,0.56,151.8,917.6,8.3,623,15598,0.00,2.10,0.00,0.000,6,0.000,0.028,2962,2646,2384,0,0,0,0,0,0
$GC,15959,0.56,151.8,892.1,7.0,629,15960,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2644,2384,0,0,0,0,0,0
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$STATE,27239,end climb,SURFACE_DEPTH_REACHED
$STATE,27239,begin surface coast
$FINISH,3.0,1.027559
$STATE,27288,end surface coast,CONTROL_FINISHED_OK
$STATE,27288,begin surface
$SM_CCo,27304,36.92,0.842,0,0,1884,275.23
$SM_GC,4.13,0.00,0.00,36.92,0.000,0.000,0.842,220,2289,1884,-7.96,-0.31,275.23
$IRIDIUM_FIX,6356.67,14.93,210399,030324
$TT8_MAMPS,0.027612
$HUMID,1078429023
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,18.90
$XPDR_PINGS,0
$24V_AH,22.0,46.477
$10V_AH,9.8,31.180
$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,21.075,178.775,320.725,36.925,0.000,23.499,32.999,170.723,0.000,0.000,16.386,2370.842,21593.652,517.777,2680.293,529.966,0.000,1837.950,0.000,2650.655,0.000,0.533,0.000
$DEVICE_MAMPS,239.304,46.787,1553.175,842.166,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,803.107,1055.702,628.674,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241312
$DATA_FILE_SIZE,66391,1158
$CAP_FILE_SIZE,205136,0
$CFSIZE,260165632,231256064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027, 91.2,1
$GPS,251209,191700,6418.206,24.649,40,1.5,40,-4.9