version: 66.06
glider: 140
mission: 8
dive: 308
start: 1 2 110 8 1 28
data:
$ID,140
$MISSION,8
$DIVE,308
$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,602.45679
$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,-67867.695
$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,43
$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
$GPS1,061850,6350.368,223.979,901,99.0,901,-3.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.39
$_SM_ANGLEo,-62.0
$GPS2,061850,6350.368,223.979,901,99.0,901,-3.7
$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,144.9,118241,-13.7,-6.875
$D_GRID,1488
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.80,-116.7,0.0,0.0,0,25,0.00,0.00,-6.82,0.000,2,0.000,0.000,217,2267,698,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.4,-0.0,1,183,8.85,2.10,-139.15,0.000,4,0.231,0.052,2502,916,3482,0,0,0,0,0,0
$GC,356,-0.46,-116.7,23.5,-11.4,60,364,0.35,2.10,0.00,0.000,6,0.182,0.029,2606,2311,3483,0,0,0,0,0,0
$GC,697,-0.42,-116.7,43.1,-5.3,121,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2311,3483,0,0,0,0,0,0
$GC,1035,-0.38,-116.7,63.5,-6.3,182,1041,0.12,2.10,0.00,0.000,4,0.209,0.041,2638,3696,3483,0,0,0,0,0,0
$GC,1077,-0.38,-116.7,65.9,-5.7,189,1083,0.00,2.00,0.00,0.000,6,0.000,0.023,2639,2293,3483,0,0,0,0,0,0
$GC,1421,-0.56,-116.7,87.2,-6.5,250,1427,0.17,2.15,0.00,0.000,4,0.113,0.039,2573,3705,3483,0,0,0,0,0,0
$GC,1545,-0.56,-116.7,96.3,-7.6,272,1551,0.00,2.05,0.00,0.000,6,0.000,0.023,2573,2294,3483,0,0,0,0,0,0
$GC,1894,-0.60,-116.7,121.6,-7.0,332,1898,0.00,2.03,0.00,0.000,4,0.000,0.035,2573,918,3483,0,0,0,0,0,0
$GC,1921,-0.60,-116.7,123.8,-7.2,333,1926,0.00,2.05,0.00,0.000,6,0.000,0.028,2574,2294,3483,0,0,0,0,0,0
$GC,2250,-0.64,-116.7,147.3,-7.8,349,2254,0.00,2.08,0.00,0.000,4,0.000,0.039,2573,3703,3483,0,0,0,0,0,0
$GC,2315,-0.64,-116.7,152.7,-7.9,352,2319,0.00,2.03,0.00,0.000,6,0.000,0.022,2573,2298,3483,0,0,0,0,0,0
$GC,2643,-0.69,-116.7,177.2,-7.3,368,2647,0.00,2.10,0.00,0.000,4,0.000,0.039,2573,3697,3483,0,0,0,0,0,0
$GC,2705,-0.69,-116.7,181.3,-6.4,371,2709,0.00,2.00,0.00,0.000,6,0.000,0.023,2573,2293,3483,0,0,0,0,0,0
$GC,3037,-0.74,-116.7,205.6,-7.4,387,3042,0.15,2.12,0.00,0.000,4,0.129,0.039,2522,3698,3483,0,0,0,0,0,0
$GC,3087,-0.57,-116.7,209.9,-8.7,389,3091,0.20,2.00,0.00,0.000,6,0.196,0.022,2573,2266,3482,0,0,0,0,0,0
$GC,3402,-0.45,-116.7,233.1,-7.3,404,3407,0.15,2.17,0.00,0.000,4,0.197,0.040,2613,3699,3482,0,0,0,0,0,0
$GC,3452,-0.45,-116.7,236.6,-6.8,406,3456,0.00,1.98,0.00,0.000,6,0.000,0.022,2613,2310,3482,0,0,0,0,0,0
$GC,3773,-0.60,-116.7,256.6,-6.0,422,3778,0.12,2.10,0.00,0.000,4,0.132,0.040,2570,3698,3483,0,0,0,0,0,0
$GC,3897,-0.60,-116.7,264.6,-6.4,427,3903,0.00,2.00,0.00,0.000,6,0.000,0.022,2570,2287,3482,0,0,0,0,0,0
$GC,4212,-0.66,-116.7,286.4,-7.6,443,4216,0.00,2.12,0.00,0.000,4,0.000,0.039,2570,3705,3482,0,0,0,0,0,0
$GC,4267,-0.66,-116.7,290.6,-7.5,445,4273,0.00,2.03,0.00,0.000,6,0.000,0.022,2570,2302,3482,0,0,0,0,0,0
$GC,4580,-0.71,-116.7,315.9,-8.2,458,4585,0.10,2.12,0.00,0.000,4,0.140,0.040,2536,3700,3482,0,0,0,0,0,0
$GC,4652,-0.64,-116.7,322.6,-9.4,460,4656,0.00,2.03,0.00,0.000,6,0.000,0.022,2536,2298,3482,0,0,0,0,0,0
$GC,4982,-0.60,-116.7,348.8,-7.0,471,4983,0.12,0.00,0.00,0.000,6,0.189,0.000,2568,2294,3482,0,0,0,0,0,0
$GC,5288,-0.65,-116.7,364.4,-5.1,481,5292,0.00,2.12,0.00,0.000,4,0.000,0.041,2568,3698,3482,0,0,0,0,0,0
$GC,5361,-0.69,-116.7,368.3,-5.4,483,5364,0.00,1.98,0.00,0.000,6,0.000,0.022,2568,2302,3482,0,0,0,0,0,0
$GC,5689,-0.77,-116.7,391.4,-7.9,494,5694,0.15,2.12,0.00,0.000,4,0.117,0.041,2517,3697,3482,0,0,0,0,0,0
$GC,5733,-0.66,-116.7,395.2,-8.8,495,5738,0.05,2.03,0.00,0.000,6,0.156,0.022,2545,2289,3482,0,0,0,0,0,0
$GC,6056,-0.66,-116.7,419.6,-7.2,506,6060,0.00,2.12,0.00,0.000,4,0.000,0.040,2546,3697,3482,0,0,0,0,0,0
$GC,6095,-0.61,-116.7,422.5,-7.3,507,6099,0.00,2.00,0.00,0.000,6,0.000,0.022,2546,2311,3482,0,0,0,0,0,0
$GC,6430,-0.61,-116.7,446.6,-7.6,518,6433,0.00,2.10,0.00,0.000,4,0.000,0.040,2546,3704,3481,0,0,0,0,0,0
$GC,6485,-0.58,-116.7,451.0,-7.9,519,6492,0.05,2.03,0.00,0.000,6,0.175,0.023,2576,2298,3482,0,0,0,0,0,0
$GC,6797,-0.67,-116.7,475.8,-8.4,530,6801,0.00,2.12,0.00,0.000,4,0.000,0.041,2575,3702,3481,0,0,0,0,0,0
$GC,6807,-0.76,-116.7,476.8,-8.6,530,6812,0.17,2.00,0.00,0.000,6,0.118,0.023,2516,2288,3481,0,0,0,0,0,0
$GC,7160,-0.71,-116.7,507.8,-8.6,541,7164,0.00,2.12,0.00,0.000,4,0.000,0.041,2515,3698,3481,0,0,0,0,0,0
$GC,7418,-0.50,-116.7,529.8,-9.0,544,7424,0.30,1.98,0.00,0.000,6,0.183,0.023,2596,2285,3480,0,0,0,0,0,0
$GC,7727,-0.63,-116.7,550.9,-6.8,550,7732,0.12,2.15,0.00,0.000,4,0.128,0.041,2554,3698,3480,0,0,0,0,0,0
$GC,7867,-0.63,-116.7,561.1,-7.4,552,7871,0.00,1.95,0.00,0.000,6,0.000,0.024,2554,2317,3479,0,0,0,0,0,0
$GC,8226,-0.68,-116.7,587.2,-7.1,558,8230,0.00,2.10,0.00,0.000,4,0.000,0.041,2554,3704,3478,0,0,0,0,0,0
$GC,8321,-0.68,-116.7,593.5,-6.1,559,8325,0.00,2.00,0.00,0.000,6,0.000,0.024,2554,2303,3477,0,0,0,0,0,0
$GC,8659,-0.73,-116.7,613.9,-6.0,565,8663,0.00,2.12,0.00,0.000,4,0.000,0.041,2554,3706,3476,0,0,0,0,0,0
$GC,8742,-0.73,-116.7,619.1,-5.8,566,8746,0.00,2.05,0.00,0.000,6,0.000,0.025,2554,2303,3476,0,0,0,0,0,0
$GC,9092,-0.78,-116.7,641.6,-6.6,572,9097,0.12,2.15,0.00,0.000,4,0.132,0.042,2513,3704,3475,0,0,0,0,0,0
$GC,9199,-0.70,-116.7,649.5,-7.3,573,9203,0.00,2.00,0.00,0.000,6,0.000,0.025,2513,2302,3475,0,0,0,0,0,0
$GC,9519,-0.65,-116.7,673.9,-7.6,579,9521,0.15,0.00,0.00,0.000,6,0.190,0.000,2552,2296,3473,0,0,0,0,0,0
$GC,9823,-0.70,-116.7,695.6,-7.1,584,9827,0.00,2.12,0.00,0.000,4,0.000,0.043,2552,3697,3472,0,0,0,0,0,0
$GC,9923,-0.70,-116.7,702.6,-6.4,585,9927,0.00,2.05,0.00,0.000,6,0.000,0.025,2552,2302,3471,0,0,0,0,0,0
$GC,10255,-0.75,-116.7,726.7,-7.4,591,10259,0.00,2.12,0.00,0.000,4,0.000,0.043,2552,3700,3470,0,0,0,0,0,0
$GC,10343,-0.78,-116.7,733.4,-7.9,592,10348,0.05,2.08,0.00,0.000,6,0.095,0.025,2515,2289,3470,0,0,0,0,0,0
$GC,10692,-0.74,-116.7,761.8,-8.3,598,10695,0.00,2.05,0.00,0.000,4,0.000,0.039,2516,912,3469,0,0,0,0,0,0
$GC,10713,-0.65,-116.7,763.7,-8.5,598,10718,0.15,2.10,0.00,0.000,6,0.195,0.031,2552,2313,3469,0,0,0,0,0,0
$GC,11062,-0.70,-116.7,790.4,-7.8,604,11066,0.00,2.10,0.00,0.000,4,0.000,0.043,2553,3708,3468,0,0,0,0,0,0
$GC,11203,-0.73,-116.7,801.1,-7.1,606,11207,0.00,2.05,0.00,0.000,6,0.000,0.026,2553,2294,3468,0,0,0,0,0,0
$GC,11562,-0.79,-116.7,828.2,-7.6,612,11567,0.15,2.17,0.00,0.000,4,0.127,0.044,2503,3706,3466,0,0,0,0,0,0
$GC,11701,-0.69,-116.7,839.9,-8.2,614,11706,0.08,2.08,0.00,0.000,6,0.170,0.025,2540,2292,3466,0,0,0,0,0,0
$GC,12061,-0.69,-116.7,867.4,-7.7,620,12065,0.00,2.15,0.00,0.000,4,0.000,0.043,2540,3700,3465,0,0,0,0,0,0
$GC,12138,-0.69,-116.7,873.4,-7.1,621,12143,0.00,2.05,0.00,0.000,6,0.000,0.025,2540,2312,3465,0,0,0,0,0,0
$GC,12493,-0.72,-116.7,899.8,-7.6,627,12497,0.00,2.10,0.00,0.000,4,0.000,0.039,2540,912,3464,0,0,0,0,0,0
$GC,12611,-0.69,-116.7,908.4,-7.0,628,12615,0.00,2.08,0.00,0.000,6,0.000,0.031,2540,2304,3463,0,0,0,0,0,0
$GC,12931,-0.72,-116.7,931.6,-7.3,634,12935,0.00,2.10,0.00,0.000,4,0.000,0.043,2540,3708,3463,0,0,0,0,0,0
$GC,13031,-0.72,-116.7,938.6,-6.4,635,13035,0.00,2.05,0.00,0.000,6,0.000,0.026,2540,2293,3463,0,0,0,0,0,0
$GC,13363,-0.75,-116.7,961.9,-7.1,641,13367,0.00,2.15,0.00,0.000,4,0.000,0.043,2540,3701,3462,0,0,0,0,0,0
$GC,13446,-0.75,-116.7,967.6,-6.7,642,13451,0.00,2.08,0.00,0.000,6,0.000,0.026,2540,2304,3462,0,0,0,0,0,0
$STATE,13793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13793,begin apogee
$GC,13799,-0.24,0.0,990.3,6.5,648,13901,0.47,0.00,99.57,1.534,6,0.165,0.000,2681,2660,3006,0,0,0,0,0,0
$STATE,13902,end apogee,CONTROL_FINISHED_OK
$STATE,13902,begin climb
$GC,13904,0.80,116.7,993.3,0.0,649,14022,1.08,2.40,108.43,1.443,4,0.126,0.037,3021,1261,2529,0,0,0,0,0,0
$GC,14111,0.83,148.1,987.5,5.6,651,14146,0.00,2.28,29.35,1.394,6,0.000,0.033,3021,2635,2401,0,0,0,0,0,0
$GC,14457,0.88,148.1,963.5,7.1,657,14461,0.00,2.22,0.00,0.000,4,0.000,0.046,3021,4056,2392,0,0,0,0,0,0
$GC,14609,0.81,154.7,952.7,6.6,659,14619,0.00,2.10,5.62,1.174,6,0.000,0.026,3032,2643,2375,0,0,0,0,0,0
$GC,14952,0.84,157.0,929.7,6.8,665,14956,0.00,2.08,0.00,0.000,4,0.000,0.038,3040,1263,2373,0,0,0,0,0,0
$GC,15018,0.85,162.7,925.4,6.6,666,15033,0.00,2.17,8.85,1.347,6,0.000,0.035,3040,2661,2341,0,0,0,0,0,0
$GC,15384,0.90,176.7,902.5,6.3,672,15403,0.00,2.20,13.80,1.394,4,0.000,0.048,3040,4043,2284,0,0,0,0,0,0
$GC,15443,0.82,176.7,898.3,7.4,672,15449,0.00,2.10,0.00,0.000,6,0.000,0.026,3048,2654,2283,0,0,0,0,0,0
$GC,15752,0.84,191.1,879.3,6.3,678,15772,0.00,2.17,14.27,1.391,4,0.000,0.038,3059,1243,2226,0,0,0,0,0,0
$GC,15834,0.85,195.6,873.6,6.7,679,15844,0.00,2.17,5.30,1.081,6,0.000,0.034,3059,2653,2208,0,0,0,0,0,0
$GC,16182,0.89,195.6,848.2,7.4,685,16185,0.00,2.17,0.00,0.000,4,0.000,0.048,3059,4053,2205,0,0,0,0,0,0
$GC,16209,0.85,195.6,846.0,7.0,685,16213,0.00,2.08,0.00,0.000,6,0.000,0.027,3066,2650,2205,0,0,0,0,0,0
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$STATE,26341,end climb,SURFACE_DEPTH_REACHED
$STATE,26341,begin surface coast
$FINISH,3.0,1.014101
$STATE,26383,end surface coast,CONTROL_FINISHED_OK
$STATE,26383,begin surface
$SM_CCo,26400,242.07,0.723,0,0,549,602.46
$SM_GC,3.60,0.00,0.00,242.07,0.000,0.000,0.723,221,2265,549,-7.95,-1.02,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078325797
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,22.2,50.708
$10V_AH,9.7,34.440
$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,23.375,231.575,375.950,242.075,0.000,164.514,140.959,0.000,0.000,0.000,903.225,2500.282,20180.811,809.757,4080.448,630.444,0.000,2408.544,0.000,3145.262,0.000,0.536,0.000
$DEVICE_MAMPS,230.867,52.156,1534.000,722.514,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,785.250,1039.619,635.551,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235228
$DATA_FILE_SIZE,66442,1141
$CAP_FILE_SIZE,237904,0
$CFSIZE,260165632,228712448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.017,152.5,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7