version: 66.06
glider: 140
mission: 8
dive: 531
start: 2 6 110 14 54 0
data:
$ID,140
$MISSION,8
$DIVE,531
$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,-469387.12
$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,91
$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
$GPS1,143205,6340.761,816.782,266,99.0,285,-0.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-9.1
$GPS2,145337,6340.204,818.389,161,1.7,161,-0.5
$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,252.4,235528,-26.7,-6.875
$D_GRID,1000
$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,-1.31,-36.0,0.0,0.0,0,169,0.00,0.00,-147.88,0.000,6,0.000,0.000,219,2303,3153,0,0,0,0,0,0
$GC,174,-1.39,-94.0,2.3,0.5,29,201,6.45,2.12,-14.45,0.000,4,0.129,0.060,2313,946,3389,0,0,0,0,0,0
$GC,225,-1.94,-116.7,2.2,0.0,38,237,0.45,2.08,-5.68,0.000,6,0.091,0.028,2149,2320,3481,0,0,0,0,0,0
$GC,578,-2.46,-116.7,2.2,-0.3,100,585,0.47,2.08,0.00,0.000,4,0.094,0.029,1976,3688,3482,0,0,0,0,0,0
$GC,627,-2.99,-116.7,2.1,0.2,108,633,0.43,2.03,0.00,0.000,6,0.087,0.027,1806,2337,3482,0,0,0,0,0,0
$GC,973,-3.52,-116.7,2.1,2.2,169,979,0.45,2.03,0.00,0.000,4,0.093,0.028,1641,3694,3482,0,0,0,0,0,0
$GC,1021,-3.52,-116.7,2.3,-0.0,177,1027,0.00,2.05,0.00,0.000,6,0.000,0.027,1641,2302,3482,0,0,0,0,0,0
$GC,1366,-3.52,-116.7,2.2,-0.2,238,1372,0.00,2.10,0.00,0.000,4,0.000,0.031,1641,3691,3482,0,0,0,0,0,0
$GC,1627,-3.52,-116.7,2.2,0.2,284,1633,0.00,2.08,0.00,0.000,6,0.000,0.027,1641,2302,3482,0,0,0,0,0,0
$GC,1973,-3.52,-116.7,2.2,-0.1,345,1978,0.00,2.08,0.00,0.000,4,0.000,0.031,1640,3702,3482,0,0,0,0,0,0
$GC,2100,-3.52,-116.7,2.2,-0.1,367,2105,0.00,2.08,0.00,0.000,6,0.000,0.026,1640,2291,3482,0,0,0,0,0,0
$GC,2439,-3.52,-116.7,2.2,0.3,428,2446,0.00,2.12,0.00,0.000,4,0.000,0.031,1640,3695,3481,0,0,0,0,0,0
$GC,2460,-3.52,-116.7,2.3,0.1,431,2465,0.00,2.05,0.00,0.000,6,0.000,0.028,1641,2302,3481,0,0,0,0,0,0
$GC,2804,-3.52,-116.7,2.3,-0.0,492,2810,0.00,2.10,0.00,0.000,4,0.000,0.031,1641,3689,3481,0,0,0,0,0,0
$GC,2826,-3.52,-116.7,2.2,0.4,495,2831,0.00,2.05,0.00,0.000,6,0.000,0.028,1641,2299,3481,0,0,0,0,0,0
$GC,3166,-3.52,-116.7,2.2,-0.1,556,3173,0.00,2.15,0.00,0.000,4,0.000,0.046,1641,912,3480,0,0,0,0,0,0
$GC,3180,-3.52,-116.7,2.2,0.1,558,3187,0.00,2.08,0.00,0.000,6,0.000,0.030,1641,2299,3481,0,0,0,0,0,0
$GC,3527,-3.52,-116.7,2.3,0.1,619,3532,0.00,2.15,0.00,0.000,4,0.000,0.045,1641,905,3480,0,0,0,0,0,0
$GC,3787,-3.52,-116.7,2.2,-0.1,665,3792,0.00,2.05,0.00,0.000,6,0.000,0.029,1641,2305,3480,0,0,0,0,0,0
$GC,4129,-3.52,-116.7,2.3,-0.0,726,4135,0.00,2.20,0.00,0.000,4,0.000,0.045,1640,902,3480,0,0,0,0,0,0
$GC,4390,-3.52,-116.7,2.3,-0.2,772,4397,0.00,2.10,0.00,0.000,6,0.000,0.029,1641,2305,3479,0,0,0,0,0,0
$GC,4734,-3.52,-116.7,2.3,-0.2,833,4739,0.00,2.15,0.00,0.000,4,0.000,0.045,1641,908,3479,0,0,0,0,0,0
$GC,4942,-3.52,-116.7,2.3,-0.0,870,4948,0.00,2.08,0.00,0.000,6,0.000,0.029,1641,2298,3479,0,0,0,0,0,0
$GC,5287,-3.52,-116.7,2.2,0.0,931,5292,0.00,2.15,0.00,0.000,4,0.000,0.046,1641,902,3479,0,0,0,0,0,0
$GC,5545,-3.52,-116.7,2.4,-0.2,977,5550,0.00,2.05,0.00,0.000,6,0.000,0.030,1641,2301,3478,0,0,0,0,0,0
$GC,5888,-3.52,-116.7,2.2,0.1,1038,5894,0.00,2.20,0.00,0.000,4,0.000,0.046,1640,902,3477,0,0,0,0,0,0
$GC,5920,-3.52,-116.7,2.3,-0.0,1043,5925,0.00,2.08,0.00,0.000,6,0.000,0.030,1641,2307,3478,0,0,0,0,0,0
$GC,6263,-3.52,-116.7,2.3,-0.0,1104,6270,0.00,2.20,0.00,0.000,4,0.000,0.046,1641,909,3477,0,0,0,0,0,0
$GC,6522,-3.52,-116.7,2.2,-0.0,1150,6529,0.00,2.08,0.00,0.000,6,0.000,0.030,1641,2298,3477,0,0,0,0,0,0
$GC,6868,-3.52,-116.7,2.2,0.1,1211,6873,0.00,2.15,0.00,0.000,4,0.000,0.046,1641,907,3477,0,0,0,0,0,0
$GC,7128,-3.52,-116.7,2.3,-0.0,1257,7133,0.00,2.05,0.00,0.000,6,0.000,0.030,1641,2300,3476,0,0,0,0,0,0
$GC,7469,-3.52,-116.7,2.4,-0.0,1318,7476,0.00,2.20,0.00,0.000,4,0.000,0.048,1641,913,3476,0,0,0,0,0,0
$GC,7726,-3.52,-116.7,2.4,-0.1,1364,7733,0.00,2.08,0.00,0.000,6,0.000,0.030,1640,2299,3476,0,0,0,0,0,0
$GC,8073,-3.52,-116.7,2.3,0.0,1425,8078,0.00,2.15,0.00,0.000,4,0.000,0.047,1641,908,3476,0,0,0,0,0,0
$GC,8333,-3.52,-116.7,2.3,0.1,1471,8339,0.00,2.05,0.00,0.000,6,0.000,0.030,1641,2304,3476,0,0,0,0,0,0
$GC,8677,-3.52,-116.7,2.4,-0.0,1532,8683,0.00,2.20,0.00,0.000,4,0.000,0.047,1641,906,3476,0,0,0,0,0,0
$GC,8754,-3.52,-116.7,2.3,-0.0,1545,8759,0.00,2.08,0.00,0.000,6,0.000,0.031,1641,2309,3476,0,0,0,0,0,0
$GC,9096,-3.52,-116.7,2.4,-0.5,1606,9102,0.00,2.22,0.00,0.000,4,0.000,0.047,1641,902,3475,0,0,0,0,0,0
$GC,9140,-3.52,-116.7,2.3,-0.0,1613,9145,0.00,2.08,0.00,0.000,6,0.000,0.031,1641,2301,3475,0,0,0,0,0,0
$GC,9482,-3.52,-116.7,2.3,-0.0,1674,9489,0.00,2.20,0.00,0.000,4,0.000,0.048,1641,905,3475,0,0,0,0,0,0
$GC,9515,-3.52,-116.7,2.4,-0.2,1679,9520,0.00,2.08,0.00,0.000,6,0.000,0.031,1641,2307,3476,0,0,0,0,0,0
$GC,9855,-3.52,-116.7,2.2,0.2,1740,9861,0.00,2.20,0.00,0.000,4,0.000,0.047,1641,913,3475,0,0,0,0,0,0
$GC,9880,-3.52,-116.7,2.5,-1.6,1744,9887,0.00,2.10,0.00,0.000,6,0.000,0.031,1641,2303,3475,0,0,0,0,0,0
$GC,10226,-3.52,-116.7,2.3,0.3,1805,10231,0.00,2.08,0.00,0.000,4,0.000,0.032,1641,3705,3475,0,0,0,0,0,0
$GC,10245,-3.52,-116.7,2.4,-0.1,1808,10252,0.00,2.12,0.00,0.000,6,0.000,0.028,1641,2304,3475,0,0,0,0,0,0
$GC,10594,-3.52,-116.7,2.4,-0.1,1869,10599,0.00,2.15,0.00,0.000,4,0.000,0.047,1640,900,3475,0,0,0,0,0,0
$GC,10686,-3.52,-116.7,2.4,-0.0,1885,10692,0.00,2.08,0.00,0.000,6,0.000,0.031,1641,2303,3475,0,0,0,0,0,0
$GC,11030,-3.52,-116.7,2.3,0.1,1946,11037,0.00,2.22,0.00,0.000,4,0.000,0.048,1641,895,3474,0,0,0,0,0,0
$GC,11055,-3.52,-116.7,2.4,-0.0,1950,11061,0.00,2.12,0.00,0.000,6,0.000,0.031,1641,2301,3474,0,0,0,0,0,0
$GC,11400,-3.52,-116.7,2.3,0.0,2011,11405,0.00,2.08,0.00,0.000,4,0.000,0.032,1641,3704,3474,0,0,0,0,0,0
$GC,11419,-3.52,-116.7,2.4,-0.0,2014,11426,0.00,2.12,0.00,0.000,6,0.000,0.029,1641,2301,3474,0,0,0,0,0,0
$GC,11764,-3.52,-116.7,2.3,0.1,2075,11769,0.00,2.08,0.00,0.000,4,0.000,0.032,1641,3694,3474,0,0,0,0,0,0
$GC,11782,-3.52,-116.7,2.4,0.0,2078,11789,0.00,2.12,0.00,0.000,6,0.000,0.028,1641,2292,3474,0,0,0,0,0,0
$GC,12130,-3.52,-116.7,2.3,0.3,2139,12135,0.00,2.15,0.00,0.000,4,0.000,0.048,1641,891,3474,0,0,0,0,0,0
$GC,12166,-3.52,-116.7,2.4,0.1,2145,12172,0.00,2.10,0.00,0.000,6,0.000,0.031,1641,2309,3474,0,0,0,0,0,0
$GC,12507,-3.52,-116.7,2.4,-0.0,2206,12514,0.00,2.12,-0.57,0.000,4,0.000,0.045,1640,3689,3481,0,0,0,0,0,0
$GC,12522,-3.52,-116.7,2.3,0.2,2208,12528,0.00,2.10,0.00,0.000,6,0.000,0.029,1641,2305,3481,0,0,0,0,0,0
$GC,12869,-3.52,-116.7,2.4,-0.0,2269,12874,0.00,2.17,0.00,0.000,4,0.000,0.048,1641,891,3481,0,0,0,0,0,0
$GC,13029,-3.52,-116.7,2.4,-0.2,2297,13034,0.00,2.10,0.00,0.000,6,0.000,0.031,1641,2306,3481,0,0,0,0,0,0
$GC,13370,-3.52,-116.7,2.4,0.1,2358,13376,0.00,2.22,0.00,0.000,4,0.000,0.048,1641,902,3481,0,0,0,0,0,0
$GC,13391,-3.52,-116.7,2.4,0.1,2361,13397,0.00,2.08,0.00,0.000,6,0.000,0.031,1641,2301,3481,0,0,0,0,0,0
$GC,13733,-3.52,-116.7,2.4,0.1,2422,13739,0.00,2.10,0.00,0.000,4,0.000,0.032,1641,3689,3481,0,0,0,0,0,0
$GC,13758,-3.52,-116.7,2.4,-1.0,2426,13764,0.00,2.12,0.00,0.000,6,0.000,0.029,1641,2290,3481,0,0,0,0,0,0
$GC,14104,-3.52,-116.7,2.4,-0.1,2487,14109,0.00,2.15,0.00,0.000,4,0.000,0.048,1640,894,3481,0,0,0,0,0,0
$GC,14129,-3.52,-116.7,2.4,-0.1,2491,14135,0.00,2.10,0.00,0.000,6,0.000,0.031,1641,2309,3481,0,0,0,0,0,0
$GC,14469,-3.52,-116.7,2.4,0.1,2552,14475,0.00,2.22,0.00,0.000,4,0.000,0.048,1641,905,3480,0,0,0,0,0,0
$GC,14483,-3.52,-116.7,2.4,-0.0,2554,14489,0.00,2.12,0.00,0.000,6,0.000,0.031,1641,2306,3480,0,0,0,0,0,0
$GC,14829,-3.52,-116.7,2.4,-0.0,2615,14835,0.00,2.20,0.00,0.000,4,0.000,0.047,1641,895,3480,0,0,0,0,0,0
$GC,14847,-3.52,-116.7,2.4,0.1,2618,14853,0.00,2.15,0.00,0.000,6,0.000,0.031,1641,2307,3480,0,0,0,0,0,0
$GC,15192,-3.52,-116.7,2.4,-0.0,2679,15197,0.00,2.20,0.00,0.000,4,0.000,0.047,1641,893,3480,0,0,0,0,0,0
$GC,15209,-3.52,-116.7,2.3,-0.0,2682,15216,0.00,2.15,0.00,0.000,6,0.000,0.031,1640,2308,3480,0,0,0,0,0,0
$GC,15557,-3.52,-116.7,2.4,-0.1,2743,15562,0.00,2.20,0.00,0.000,4,0.000,0.048,1641,894,3480,0,0,0,0,0,0
$GC,15572,-3.52,-116.7,2.3,-0.0,2745,15578,0.00,2.10,0.00,0.000,6,0.000,0.031,1641,2303,3480,0,0,0,0,0,0
$GC,15914,-3.52,-116.7,2.4,0.0,2806,15920,0.00,2.22,0.00,0.000,4,0.000,0.048,1641,901,3480,0,0,0,0,0,0
$GC,15970,-3.52,-116.7,2.4,-0.0,2815,15975,0.00,2.08,0.00,0.000,6,0.000,0.031,1641,2303,3480,0,0,0,0,0,0
$STATE,16209,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,16209,begin apogee
$GC,16217,-0.24,0.0,2.4,-0.1,2858,16225,3.38,0.00,1.80,0.114,2,0.142,0.000,2684,2667,3475,0,0,0,0,0,0
$STATE,16225,end apogee,SURFACE_DEPTH_REACHED
$STATE,16226,begin surface coast
$FINISH,2.5,0.999949
$STATE,16263,end surface coast,NO_VERTICAL_VELOCITY
$STATE,16264,begin surface
$SM_CCo,16283,360.00,0.807,0,1,1642,334.34
$SM_CCo,16650,227.10,0.740,0,0,550,602.46
$SM_GC,2.45,0.00,0.00,227.10,0.000,0.000,0.740,208,2287,550,-7.99,-0.37,602.46
$IRIDIUM_FIX,6313.04,820.83,030599,141425
$TT8_MAMPS,0.027612
$HUMID,1078412248
$INTERNAL_PRESSURE,8.02765
$TCM_TEMP,17.90
$XPDR_PINGS,4
$24V_AH,22.6,85.148
$10V_AH,9.7,62.198
$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,18.800,157.950,1.800,587.100,0.000,138.718,417.919,40.463,1.000,0.000,161.449,4065.159,5863.844,877.197,6146.828,1228.803,0.000,2898.908,0.000,6011.008,0.000,0.535,0.000
$DEVICE_MAMPS,141.895,59.826,113.516,806.884,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,2036.027,2927.817,3647.653,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235132
$DATA_FILE_SIZE,161260,2866
$CAP_FILE_SIZE,232368,7
$CFSIZE,260165632,211337216
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$CURRENT,0.000,333.7,1
$GPS,060210,193657,6340.207,818.386,38,2.1,57,-0.5