version: 66.06
glider: 140
mission: 8
dive: 336
start: 1 10 110 0 12 21
data:
$ID,140
$MISSION,8
$DIVE,336
$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,-118471.52
$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,90
$R_STBD_OVSHOOT,45
$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,3.40
$_SM_ANGLEo,-59.6
$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,15,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-6.97,0.000,2,0.000,0.000,220,2288,692,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.4,-0.0,1,183,8.62,2.20,-141.18,0.000,4,0.223,0.054,2500,3706,3481,0,0,0,0,0,0
$GC,431,-0.49,-116.7,31.0,-11.9,74,438,0.32,2.03,0.00,0.000,6,0.177,0.023,2598,2290,3481,0,0,0,0,0,0
$GC,771,-0.44,-116.7,56.6,-10.7,135,777,0.00,1.98,0.00,0.000,4,0.000,0.035,2598,949,3481,0,0,0,0,0,0
$GC,785,-0.38,-116.7,57.9,-10.1,137,791,0.15,2.00,0.00,0.000,6,0.196,0.028,2637,2316,3482,0,0,0,0,0,0
$GC,1128,-0.54,-116.7,93.0,-9.6,198,1134,0.15,2.08,0.00,0.000,4,0.119,0.041,2584,3704,3481,0,0,0,0,0,0
$GC,1207,-0.54,-116.7,102.6,-12.5,212,1214,0.00,2.00,0.00,0.000,6,0.000,0.023,2584,2314,3481,0,0,0,0,0,0
$GC,1549,-0.59,-116.7,144.9,-9.8,246,1553,0.00,2.10,0.00,0.000,4,0.000,0.041,2584,3704,3481,0,0,0,0,0,0
$GC,1638,-0.59,-116.7,151.8,-7.8,250,1642,0.00,1.98,0.00,0.000,6,0.000,0.023,2584,2308,3481,0,0,0,0,0,0
$GC,1966,-0.66,-116.7,170.2,-6.0,266,1969,0.00,2.10,0.00,0.000,4,0.000,0.040,2584,3697,3481,0,0,0,0,0,0
$GC,2006,-0.70,-116.7,172.8,-6.6,268,2010,0.12,2.00,0.00,0.000,6,0.130,0.023,2542,2279,3481,0,0,0,0,0,0
$GC,2338,-0.70,-116.7,200.6,-8.9,284,2341,0.00,1.98,0.00,0.000,4,0.000,0.035,2542,931,3481,0,0,0,0,0,0
$GC,2365,-0.62,-116.7,203.3,-9.2,285,2369,0.00,2.03,0.00,0.000,6,0.000,0.028,2541,2317,3481,0,0,0,0,0,0
$GC,2691,-0.62,-116.7,229.5,-7.4,301,2695,0.00,2.05,0.00,0.000,4,0.000,0.034,2541,928,3481,0,0,0,0,0,0
$GC,2719,-0.55,-116.7,231.7,-7.8,302,2724,0.17,2.00,0.00,0.000,6,0.192,0.028,2586,2304,3481,0,0,0,0,0,0
$GC,3034,-0.64,-116.7,252.9,-7.0,317,3038,0.00,2.05,0.00,0.000,4,0.000,0.040,2586,3695,3481,0,0,0,0,0,0
$GC,3140,-0.73,-116.7,260.4,-7.1,322,3145,0.17,1.98,0.00,0.000,6,0.118,0.023,2529,2294,3481,0,0,0,0,0,0
$GC,3466,-0.73,-116.7,285.1,-7.2,338,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2291,3481,0,0,0,0,0,0
$GC,3785,-0.73,-116.7,307.8,-7.2,352,3789,0.00,2.12,0.00,0.000,4,0.000,0.040,2528,3702,3481,0,0,0,0,0,0
$GC,3801,-0.69,-116.7,308.9,-7.3,352,3804,0.00,1.98,0.00,0.000,6,0.000,0.023,2528,2316,3481,0,0,0,0,0,0
$GC,4123,-0.69,-116.7,335.4,-8.4,363,4127,0.00,2.08,0.00,0.000,4,0.000,0.035,2528,911,3481,0,0,0,0,0,0
$GC,4158,-0.57,-116.7,338.3,-8.3,364,4163,0.17,2.05,0.00,0.000,6,0.196,0.028,2573,2308,3481,0,0,0,0,0,0
$GC,4494,-0.65,-116.7,361.4,-6.6,375,4498,0.00,2.05,0.00,0.000,4,0.000,0.041,2573,3697,3481,0,0,0,0,0,0
$GC,4577,-0.72,-116.7,366.5,-6.1,377,4582,0.12,2.00,0.00,0.000,6,0.133,0.024,2533,2283,3481,0,0,0,0,0,0
$GC,4890,-0.72,-116.7,385.6,-6.0,387,4894,0.00,2.15,0.00,0.000,4,0.000,0.040,2533,3706,3480,0,0,0,0,0,0
$GC,4899,-0.72,-116.7,386.3,-6.2,387,4904,0.00,2.03,0.00,0.000,6,0.000,0.024,2533,2317,3480,0,0,0,0,0,0
$GC,5223,-0.72,-116.7,409.6,-7.7,398,5224,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2316,3479,0,0,0,0,0,0
$GC,5530,-0.72,-116.7,434.7,-8.3,408,5534,0.00,2.10,0.00,0.000,4,0.000,0.041,2533,3701,3478,0,0,0,0,0,0
$GC,5573,-0.67,-116.7,438.3,-7.8,409,5577,0.00,2.03,0.00,0.000,6,0.000,0.024,2533,2289,3478,0,0,0,0,0,0
$GC,5897,-0.67,-116.7,464.2,-7.9,420,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2288,3477,0,0,0,0,0,0
$GC,6203,-0.67,-116.7,488.0,-7.7,430,6207,0.00,2.15,0.00,0.000,4,0.000,0.041,2533,3700,3476,0,0,0,0,0,0
$GC,6237,-0.61,-116.7,490.6,-7.4,431,6242,0.12,2.03,0.00,0.000,6,0.186,0.025,2564,2285,3476,0,0,0,0,0,0
$GC,6569,-0.68,-116.7,515.0,-7.4,439,6573,0.00,2.15,0.00,0.000,4,0.000,0.041,2564,3698,3475,0,0,0,0,0,0
$GC,6681,-0.72,-116.7,523.3,-7.2,440,6685,0.00,2.00,0.00,0.000,6,0.000,0.025,2564,2299,3475,0,0,0,0,0,0
$GC,7006,-0.79,-116.7,548.7,-7.9,446,7011,0.17,2.15,0.00,0.000,4,0.122,0.042,2504,3695,3473,0,0,0,0,0,0
$GC,7073,-0.67,-116.7,554.7,-8.9,447,7078,0.15,2.00,0.00,0.000,6,0.181,0.025,2542,2294,3472,0,0,0,0,0,0
$GC,7437,-0.67,-116.7,584.9,-8.2,453,7441,0.00,2.15,0.00,0.000,4,0.000,0.043,2542,3702,3471,0,0,0,0,0,0
$GC,7491,-0.67,-116.7,589.4,-8.3,453,7497,0.00,2.05,0.00,0.000,6,0.000,0.025,2542,2308,3471,0,0,0,0,0,0
$GC,7801,-0.70,-116.7,614.4,-8.1,459,7805,0.00,2.10,0.00,0.000,4,0.000,0.042,2542,3695,3470,0,0,0,0,0,0
$GC,7850,-0.70,-116.7,618.3,-7.2,459,7855,0.00,2.05,0.00,0.000,6,0.000,0.025,2542,2299,3470,0,0,0,0,0,0
$GC,8165,-0.70,-116.7,642.5,-7.7,465,8169,0.00,2.12,0.00,0.000,4,0.000,0.043,2543,3694,3469,0,0,0,0,0,0
$GC,8227,-0.70,-116.7,647.0,-7.2,465,8232,0.00,2.03,0.00,0.000,6,0.000,0.026,2542,2295,3469,0,0,0,0,0,0
$GC,8535,-0.70,-116.7,670.2,-7.5,471,8539,0.00,2.15,0.00,0.000,4,0.000,0.043,2543,3698,3468,0,0,0,0,0,0
$GC,8597,-0.70,-116.7,674.7,-7.2,472,8601,0.00,2.05,0.00,0.000,6,0.000,0.026,2542,2296,3468,0,0,0,0,0,0
$GC,8968,-0.74,-116.7,702.0,-7.4,478,8972,0.00,2.15,0.00,0.000,4,0.000,0.043,2543,3698,3466,0,0,0,0,0,0
$GC,9029,-0.74,-116.7,706.5,-7.2,479,9033,0.00,2.05,0.00,0.000,6,0.000,0.026,2543,2288,3466,0,0,0,0,0,0
$GC,9394,-0.77,-116.7,732.7,-7.2,485,9397,0.00,2.15,0.00,0.000,4,0.000,0.043,2543,3694,3465,0,0,0,0,0,0
$GC,9483,-0.77,-116.7,739.1,-7.5,486,9486,0.00,2.03,0.00,0.000,6,0.000,0.026,2543,2291,3465,0,0,0,0,0,0
$GC,9826,-0.80,-116.7,763.3,-7.1,492,9831,0.12,2.17,0.00,0.000,4,0.140,0.044,2502,3694,3464,0,0,0,0,0,0
$GC,9926,-0.69,-116.7,771.2,-8.0,493,9931,0.15,2.03,0.00,0.000,6,0.179,0.026,2540,2291,3463,0,0,0,0,0,0
$GC,10257,-0.72,-116.7,795.1,-7.2,499,10261,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3693,3463,0,0,0,0,0,0
$GC,10320,-0.72,-116.7,799.4,-6.7,500,10324,0.00,2.03,0.00,0.000,6,0.000,0.027,2541,2300,3463,0,0,0,0,0,0
$GC,10691,-0.76,-116.7,826.7,-7.5,506,10695,0.00,2.15,0.00,0.000,4,0.000,0.044,2541,3697,3463,0,0,0,0,0,0
$GC,10745,-0.76,-116.7,830.9,-7.6,506,10751,0.00,2.08,0.00,0.000,6,0.000,0.026,2541,2299,3463,0,0,0,0,0,0
$GC,11056,-0.79,-116.7,854.2,-7.6,512,11060,0.00,2.12,0.00,0.000,4,0.000,0.044,2541,3693,3462,0,0,0,0,0,0
$GC,11133,-0.79,-116.7,860.3,-7.6,513,11138,0.00,2.08,0.00,0.000,6,0.000,0.027,2541,2295,3462,0,0,0,0,0,0
$GC,11489,-0.97,-116.7,871.7,-1.2,519,11493,0.25,2.17,0.00,0.000,4,0.099,0.043,2442,3692,3462,0,0,0,0,0,0
$STATE,11617,end dive,NO_VERTICAL_VELOCITY
$STATE,11617,begin apogee
$GC,11624,-0.24,0.0,871.7,0.0,521,11725,0.77,0.00,98.47,1.460,6,0.135,0.000,2685,2625,3006,0,0,0,0,0,0
$STATE,11726,end apogee,CONTROL_FINISHED_OK
$STATE,11726,begin climb
$GC,11728,0.80,116.7,871.7,0.0,522,11844,1.12,2.45,108.62,1.369,4,0.133,0.044,3017,4027,2528,0,0,0,0,0,0
$GC,11900,0.72,139.5,866.4,6.0,525,11927,0.00,2.15,21.62,1.304,6,0.000,0.026,3025,2669,2437,0,0,0,0,0,0
$GC,12289,0.72,145.9,841.6,6.6,532,12299,0.00,2.17,5.85,1.142,4,0.000,0.045,3020,4035,2411,0,0,0,0,0,0
$GC,12338,0.67,163.3,838.1,6.2,532,12363,0.17,2.08,17.20,1.315,6,0.173,0.027,2984,2645,2340,0,0,0,0,0,0
$GC,12717,0.80,185.7,815.6,6.0,539,12744,0.12,2.15,20.62,1.354,4,0.115,0.037,3036,1258,2248,0,0,0,0,0,0
$GC,12895,0.85,188.8,803.3,6.7,541,12899,0.00,2.12,0.00,0.000,6,0.000,0.034,3035,2636,2243,0,0,0,0,0,0
$GC,13211,0.91,189.3,781.7,6.9,547,13215,0.00,2.17,0.00,0.000,4,0.000,0.047,3035,4049,2242,0,0,0,0,0,0
$GC,13395,0.87,189.3,768.4,7.5,549,13399,0.00,2.08,0.00,0.000,6,0.000,0.027,3043,2644,2241,0,0,0,0,0,0
$GC,13711,0.91,189.3,746.7,7.1,555,13715,0.00,2.17,0.00,0.000,4,0.000,0.046,3043,4046,2240,0,0,0,0,0,0
$GC,13884,0.86,189.3,733.5,7.7,557,13888,0.00,2.10,0.00,0.000,6,0.000,0.027,3049,2640,2239,0,0,0,0,0,0
$GC,14216,0.86,189.3,709.6,7.4,563,14220,0.00,2.17,0.00,0.000,4,0.000,0.047,3049,4049,2239,0,0,0,0,0,0
$GC,14422,0.80,189.3,693.3,7.8,566,14427,0.12,2.08,0.00,0.000,6,0.191,0.028,3026,2633,2238,0,0,0,0,0,0
$GC,14788,0.87,189.3,667.7,7.1,572,14792,0.00,2.17,0.00,0.000,4,0.000,0.047,3022,4045,2238,0,0,0,0,0,0
$GC,14827,0.86,202.2,664.9,6.4,572,14847,0.00,2.05,14.62,1.322,6,0.000,0.028,3030,2648,2181,0,0,0,0,0,0
$GC,15157,0.94,202.2,641.6,7.2,578,15159,0.10,0.00,0.00,0.000,6,0.127,0.000,3069,2642,2178,0,0,0,0,0,0
$GC,15459,0.94,202.2,618.3,7.7,583,15463,0.00,2.17,0.00,0.000,4,0.000,0.047,3069,4046,2177,0,0,0,0,0,0
$GC,15645,0.87,202.2,603.2,8.4,585,15649,0.00,2.08,0.00,0.000,6,0.000,0.028,3070,2645,2176,0,0,0,0,0,0
$GC,15959,0.87,202.2,580.4,7.2,591,15963,0.00,2.10,0.00,0.000,4,0.000,0.041,3073,1246,2176,0,0,0,0,0,0
$GC,16217,0.87,202.2,560.7,8.1,594,16223,0.00,2.15,0.00,0.000,6,0.000,0.034,3073,2663,2176,0,0,0,0,0,0
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$STATE,23589,end climb,SURFACE_DEPTH_REACHED
$STATE,23590,begin surface coast
$FINISH,3.0,1.011117
$STATE,23653,end surface coast,CONTROL_FINISHED_OK
$STATE,23654,begin surface
$SM_CCo,23671,290.23,0.733,0,0,550,602.46
$SM_GC,3.73,0.00,0.00,290.23,0.000,0.000,0.733,221,2237,550,-7.96,-1.78,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.028379
$HUMID,1078338700
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,14.00
$XPDR_PINGS,1
$24V_AH,22.1,55.810
$10V_AH,9.6,38.637
$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,22.175,209.775,325.600,290.225,0.000,165.310,141.090,0.000,0.250,0.000,902.947,2371.738,17568.854,829.689,4126.221,630.561,0.000,2399.367,0.000,3189.722,0.000,0.536,0.000
$DEVICE_MAMPS,223.197,54.457,1459.601,733.252,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,740.551,985.674,620.274,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235276
$DATA_FILE_SIZE,63349,1075
$CAP_FILE_SIZE,218831,0
$CFSIZE,260165632,225714176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.003,167.1,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7