version: 66.06
glider: 140
mission: 8
dive: 325
start: 1 7 110 0 8 41
data:
$ID,140
$MISSION,8
$DIVE,325
$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,-98588.594
$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,61
$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
$GPS1,061850,6350.368,223.979,901,99.0,901,-3.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.19
$_SM_ANGLEo,-63.4
$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,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,-7.47,0.000,2,0.000,0.000,214,2304,703,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.2,-0.0,1,191,8.45,2.17,-146.73,0.000,4,0.216,0.051,2502,905,3482,0,0,0,0,0,0
$GC,375,-0.47,-116.7,18.3,-12.6,63,381,0.40,2.08,0.00,0.000,6,0.189,0.031,2612,2311,3483,0,0,0,0,0,0
$GC,710,-0.47,-116.7,42.1,-5.7,124,716,0.00,2.10,0.00,0.000,4,0.000,0.041,2612,3701,3482,0,0,0,0,0,0
$GC,723,-0.47,-116.7,43.1,-6.2,126,731,0.00,2.08,0.00,0.000,6,0.000,0.024,2612,2280,3483,0,0,0,0,0,0
$GC,1062,-0.60,-116.7,66.9,-7.2,187,1067,0.12,0.00,0.00,0.000,6,0.132,0.000,2568,2276,3483,0,0,0,0,0,0
$GC,1402,-0.63,-116.7,91.9,-7.4,248,1409,0.00,2.17,0.00,0.000,4,0.000,0.040,2567,3698,3482,0,0,0,0,0,0
$GC,1434,-0.63,-116.7,94.3,-7.6,253,1439,0.00,2.00,0.00,0.000,6,0.000,0.023,2567,2292,3483,0,0,0,0,0,0
$GC,1790,-0.63,-116.7,121.8,-7.8,314,1794,0.00,2.12,0.00,0.000,4,0.000,0.039,2567,3704,3483,0,0,0,0,0,0
$GC,1838,-0.63,-116.7,125.6,-7.7,316,1843,0.00,2.03,0.00,0.000,6,0.000,0.022,2567,2297,3482,0,0,0,0,0,0
$GC,2160,-0.68,-116.7,150.4,-7.6,332,2164,0.00,2.12,0.00,0.000,4,0.000,0.040,2567,3708,3482,0,0,0,0,0,0
$GC,2187,-0.68,-116.7,152.4,-7.3,333,2191,0.00,2.05,0.00,0.000,6,0.000,0.023,2567,2295,3482,0,0,0,0,0,0
$GC,2515,-0.72,-116.7,173.8,-6.3,349,2519,0.10,2.15,0.00,0.000,4,0.143,0.040,2533,3706,3482,0,0,0,0,0,0
$GC,2536,-0.69,-116.7,175.4,-7.0,350,2540,0.00,2.00,0.00,0.000,6,0.000,0.023,2533,2308,3482,0,0,0,0,0,0
$GC,2862,-0.66,-116.7,201.7,-8.9,366,2866,0.00,2.05,0.00,0.000,4,0.000,0.035,2533,919,3482,0,0,0,0,0,0
$GC,2912,-0.49,-116.7,206.3,-9.0,368,2917,0.25,2.08,0.00,0.000,6,0.192,0.028,2599,2309,3482,0,0,0,0,0,0
$GC,3242,-0.61,-116.7,228.6,-6.6,384,3246,0.00,2.08,0.00,0.000,4,0.000,0.035,2600,911,3482,0,0,0,0,0,0
$GC,3360,-0.67,-116.7,236.9,-6.7,389,3365,0.15,2.03,0.00,0.000,6,0.119,0.028,2550,2311,3482,0,0,0,0,0,0
$GC,3675,-0.67,-116.7,260.1,-7.2,404,3679,0.00,2.05,0.00,0.000,4,0.000,0.039,2549,3700,3482,0,0,0,0,0,0
$GC,3692,-0.67,-116.7,261.4,-7.4,405,3695,0.00,2.00,0.00,0.000,6,0.000,0.023,2549,2294,3482,0,0,0,0,0,0
$GC,4024,-0.67,-116.7,286.1,-7.5,421,4027,0.00,2.03,0.00,0.000,4,0.000,0.035,2549,915,3481,0,0,0,0,0,0
$GC,4114,-0.60,-116.7,293.0,-7.9,425,4118,0.00,2.03,0.00,0.000,6,0.000,0.028,2549,2297,3482,0,0,0,0,0,0
$GC,4448,-0.60,-116.7,316.4,-6.7,438,4452,0.00,2.08,0.00,0.000,4,0.000,0.041,2549,3705,3482,0,0,0,0,0,0
$GC,4487,-0.60,-116.7,319.1,-6.4,439,4490,0.00,2.00,0.00,0.000,6,0.000,0.023,2549,2294,3481,0,0,0,0,0,0
$GC,4821,-0.60,-116.7,342.7,-7.4,450,4825,0.00,2.12,0.00,0.000,4,0.000,0.039,2550,3701,3481,0,0,0,0,0,0
$GC,4858,-0.60,-116.7,345.6,-7.2,451,4863,0.00,2.03,0.00,0.000,6,0.000,0.023,2549,2301,3481,0,0,0,0,0,0
$GC,5189,-0.63,-116.7,369.6,-7.1,462,5192,0.00,2.03,0.00,0.000,4,0.000,0.036,2549,929,3481,0,0,0,0,0,0
$GC,5244,-0.59,-116.7,373.6,-6.9,463,5248,0.00,2.05,0.00,0.000,6,0.000,0.029,2549,2291,3481,0,0,0,0,0,0
$GC,5561,-0.59,-116.7,395.1,-6.9,474,5565,0.00,2.10,0.00,0.000,4,0.000,0.041,2549,3698,3479,0,0,0,0,0,0
$GC,5639,-0.59,-116.7,400.5,-6.9,476,5643,0.00,2.00,0.00,0.000,6,0.000,0.024,2549,2293,3480,0,0,0,0,0,0
$GC,5963,-0.59,-116.7,423.2,-7.1,487,5967,0.00,2.12,0.00,0.000,4,0.000,0.040,2549,3705,3478,0,0,0,0,0,0
$GC,6002,-0.59,-116.7,426.0,-7.2,488,6005,0.00,2.00,0.00,0.000,6,0.000,0.025,2549,2308,3478,0,0,0,0,0,0
$GC,6331,-0.59,-116.7,449.7,-7.4,499,6335,0.00,2.12,0.00,0.000,4,0.000,0.041,2549,3704,3476,0,0,0,0,0,0
$GC,6385,-0.59,-116.7,453.9,-7.4,500,6391,0.00,2.08,0.00,0.000,6,0.000,0.024,2549,2292,3476,0,0,0,0,0,0
$GC,6699,-0.59,-116.7,477.5,-7.5,511,6703,0.00,2.05,0.00,0.000,4,0.000,0.038,2549,910,3475,0,0,0,0,0,0
$GC,6816,-0.55,-116.7,486.4,-7.1,514,6820,0.12,2.05,0.00,0.000,6,0.197,0.030,2580,2301,3475,0,0,0,0,0,0
$GC,7138,-0.66,-116.7,508.8,-7.0,523,7142,0.00,2.10,0.00,0.000,4,0.000,0.043,2580,3705,3474,0,0,0,0,0,0
$GC,7165,-0.74,-116.7,510.6,-6.6,523,7170,0.17,2.03,0.00,0.000,6,0.112,0.025,2522,2292,3474,0,0,0,0,0,0
$GC,7496,-0.74,-116.7,536.2,-7.9,529,7500,0.00,2.15,0.00,0.000,4,0.000,0.042,2522,3702,3472,0,0,0,0,0,0
$GC,7573,-0.66,-116.7,542.2,-7.9,530,7578,0.12,2.03,0.00,0.000,6,0.195,0.025,2553,2287,3472,0,0,0,0,0,0
$GC,7921,-0.70,-116.7,568.0,-7.4,536,7925,0.00,2.15,0.00,0.000,4,0.000,0.042,2553,3698,3470,0,0,0,0,0,0
$GC,7992,-0.70,-116.7,573.3,-7.4,537,7997,0.00,2.05,0.00,0.000,6,0.000,0.025,2553,2308,3470,0,0,0,0,0,0
$GC,8353,-0.75,-116.7,599.1,-7.3,543,8357,0.00,2.12,0.00,0.000,4,0.000,0.042,2553,3700,3469,0,0,0,0,0,0
$GC,8436,-0.75,-116.7,605.1,-6.9,544,8441,0.00,2.05,0.00,0.000,6,0.000,0.025,2553,2304,3469,0,0,0,0,0,0
$GC,8786,-0.79,-116.7,630.1,-7.3,550,8790,0.12,2.17,0.00,0.000,4,0.133,0.043,2513,3701,3468,0,0,0,0,0,0
$GC,8880,-0.70,-116.7,637.5,-8.4,551,8884,0.00,2.08,0.00,0.000,6,0.000,0.025,2513,2296,3467,0,0,0,0,0,0
$GC,9223,-0.65,-116.7,663.8,-7.7,557,9228,0.15,2.08,0.00,0.000,4,0.195,0.038,2553,915,3467,0,0,0,0,0,0
$GC,9267,-0.61,-116.7,667.2,-7.7,557,9271,0.00,2.05,0.00,0.000,6,0.000,0.031,2553,2297,3467,0,0,0,0,0,0
$GC,9582,-0.67,-116.7,688.9,-6.9,563,9586,0.00,2.10,0.00,0.000,4,0.000,0.044,2553,3699,3466,0,0,0,0,0,0
$GC,9671,-0.67,-116.7,695.0,-6.7,564,9675,0.00,2.03,0.00,0.000,6,0.000,0.026,2553,2298,3465,0,0,0,0,0,0
$GC,10013,-0.72,-116.7,718.4,-6.9,570,10017,0.00,2.15,0.00,0.000,4,0.000,0.043,2553,3701,3464,0,0,0,0,0,0
$GC,10096,-0.72,-116.7,724.2,-7.1,571,10101,0.00,2.08,0.00,0.000,6,0.000,0.025,2553,2302,3464,0,0,0,0,0,0
$GC,10452,-0.77,-116.7,748.7,-7.0,577,10456,0.12,2.10,0.00,0.000,4,0.132,0.040,2513,912,3463,0,0,0,0,0,0
$GC,10461,-0.77,-116.7,749.5,-7.0,577,10465,0.00,2.10,0.00,0.000,6,0.000,0.032,2513,2294,3463,0,0,0,0,0,0
$GC,10816,-0.73,-116.7,776.6,-7.7,583,10820,0.00,2.12,0.00,0.000,4,0.000,0.044,2513,3708,3462,0,0,0,0,0,0
$GC,10964,-0.61,-116.7,788.1,-8.3,585,10969,0.20,2.05,0.00,0.000,6,0.190,0.026,2565,2286,3462,0,0,0,0,0,0
$GC,11313,-0.69,-116.7,812.5,-7.0,591,11317,0.00,2.15,0.00,0.000,4,0.000,0.044,2565,3698,3462,0,0,0,0,0,0
$GC,11419,-0.75,-116.7,819.6,-6.5,592,11424,0.12,2.03,0.00,0.000,6,0.131,0.026,2526,2296,3462,0,0,0,0,0,0
$GC,11738,-0.75,-116.7,844.1,-7.8,598,11742,0.00,2.05,0.00,0.000,4,0.000,0.039,2527,925,3462,0,0,0,0,0,0
$GC,11755,-0.71,-116.7,845.4,-7.8,598,11759,0.00,2.05,0.00,0.000,6,0.000,0.032,2526,2298,3462,0,0,0,0,0,0
$GC,12097,-0.71,-116.7,871.9,-7.8,604,12101,0.00,2.12,0.00,0.000,4,0.000,0.044,2526,3708,3461,0,0,0,0,0,0
$GC,12118,-0.67,-116.7,873.6,-7.6,604,12122,0.00,2.08,0.00,0.000,6,0.000,0.027,2526,2312,3461,0,0,0,0,0,0
$GC,12461,-0.67,-116.7,898.8,-7.4,610,12465,0.00,2.15,0.00,0.000,4,0.000,0.043,2526,3709,3461,0,0,0,0,0,0
$GC,12471,-0.67,-116.7,899.6,-7.3,610,12475,0.00,2.10,0.00,0.000,6,0.000,0.027,2526,2299,3461,0,0,0,0,0,0
$GC,12825,-0.67,-116.7,925.1,-7.3,616,12829,0.00,2.17,0.00,0.000,4,0.000,0.044,2526,3701,3461,0,0,0,0,0,0
$GC,12853,-0.63,-116.7,927.1,-6.9,616,12858,0.12,2.05,0.00,0.000,6,0.198,0.027,2556,2292,3461,0,0,0,0,0,0
$STATE,13066,end dive,NO_VERTICAL_VELOCITY
$STATE,13066,begin apogee
$GC,13071,-0.24,0.0,928.2,0.0,620,13173,0.40,0.00,98.75,1.504,6,0.140,0.000,2682,2650,3006,0,0,0,0,0,0
$STATE,13174,end apogee,CONTROL_FINISHED_OK
$STATE,13174,begin climb
$GC,13176,0.80,116.7,928.2,0.0,621,13294,1.10,2.38,108.88,1.412,4,0.132,0.035,3022,1267,2529,0,0,0,0,0,0
$GC,13436,0.81,159.1,917.7,5.2,624,13481,0.00,2.22,38.78,1.378,6,0.000,0.035,3021,2647,2356,0,0,0,0,0,0
$GC,13797,0.84,159.1,893.4,7.0,630,13801,0.00,2.15,0.00,0.000,4,0.000,0.036,3030,1260,2347,0,0,0,0,0,0
$GC,13898,0.84,161.1,886.6,6.8,631,13902,0.00,2.17,0.00,0.000,6,0.000,0.035,3030,2661,2346,0,0,0,0,0,0
$GC,14223,0.86,171.0,865.6,6.5,637,14238,0.00,2.15,9.85,1.351,4,0.000,0.048,3030,4043,2309,0,0,0,0,0,0
$GC,14490,0.80,171.0,845.5,7.6,641,14494,0.00,2.05,0.00,0.000,6,0.000,0.026,3037,2650,2306,0,0,0,0,0,0
$GC,14849,0.81,175.6,821.4,6.7,647,14860,0.00,2.10,5.60,1.183,4,0.000,0.036,3048,1260,2289,0,0,0,0,0,0
$GC,15033,0.81,175.6,808.5,7.5,649,15037,0.00,2.17,0.00,0.000,6,0.000,0.035,3047,2654,2287,0,0,0,0,0,0
$GC,15349,0.81,175.7,787.2,6.9,655,15352,0.00,2.12,0.00,0.000,4,0.000,0.047,3048,4046,2286,0,0,0,0,0,0
$GC,15606,0.73,175.7,766.7,7.9,658,15614,0.15,2.08,0.00,0.000,6,0.157,0.027,3009,2649,2286,0,0,0,0,0,0
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$STATE,25615,end climb,SURFACE_DEPTH_REACHED
$STATE,25615,begin surface coast
$FINISH,2.9,1.012976
$STATE,25678,end surface coast,CONTROL_FINISHED_OK
$STATE,25678,begin surface
$SM_CCo,25695,281.55,0.732,0,0,549,602.46
$SM_GC,3.51,0.00,0.00,281.55,0.000,0.000,0.732,220,2281,549,-7.96,-0.54,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078320635
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,15.10
$XPDR_PINGS,1
$24V_AH,22.1,53.802
$10V_AH,9.7,36.966
$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
$DEVICE_SECS,22.700,235.525,333.125,281.550,0.000,164.166,140.732,0.000,0.250,0.000,903.811,2580.492,18990.900,827.271,4497.405,640.416,0.000,2573.032,0.000,3553.118,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235252
$DATA_FILE_SIZE,66461,1153
$CAP_FILE_SIZE,241517,0
$CFSIZE,260165632,226889728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.003,109.6,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7