version: 66.06
glider: 140
mission: 8
dive: 162
start: 11 17 109 6 32 19
data:
$ID,140
$MISSION,8
$DIVE,162
$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,-47233.016
$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,64
$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
$GPS1,062531,6436.529,-4.151,41,1.3,42,-5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.61
$_SM_ANGLEo,-64.4
$GPS2,063156,6436.524,-4.095,12,1.5,12,-5.2
$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,137.0,266404,-13.7,-6.875
$D_GRID,2644
$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,-7.57,0.000,2,0.000,0.000,221,2298,2027,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.6,-0.0,1,127,9.10,0.00,-87.72,0.000,6,0.244,0.000,2500,2298,3482,0,0,0,0,0,0
$GC,460,-0.67,-116.7,33.2,-10.5,79,467,0.15,2.17,0.00,0.000,4,0.197,0.042,2540,3704,3484,0,0,0,0,0,0
$GC,508,-0.63,-116.7,37.4,-8.5,87,515,0.00,2.08,0.00,0.000,6,0.000,0.024,2541,2277,3484,0,0,0,0,0,0
$GC,847,-0.59,-116.7,66.5,-8.1,148,855,0.12,2.25,0.00,0.000,4,0.202,0.042,2572,3706,3485,0,0,0,0,0,0
$GC,866,-0.59,-116.7,68.1,-8.1,151,873,0.00,2.05,0.00,0.000,6,0.000,0.025,2572,2291,3484,0,0,0,0,0,0
$GC,1208,-0.62,-116.7,92.8,-7.9,212,1215,0.00,2.17,0.00,0.000,4,0.000,0.041,2572,3698,3485,0,0,0,0,0,0
$GC,1266,-0.67,-116.7,97.0,-6.9,222,1271,0.00,2.03,0.00,0.000,6,0.000,0.025,2572,2289,3485,0,0,0,0,0,0
$GC,1610,-0.72,-116.7,119.5,-6.6,283,1617,0.12,2.17,0.00,0.000,4,0.142,0.041,2531,3712,3486,0,0,0,0,0,0
$GC,1702,-0.72,-116.7,127.3,-9.0,289,1706,0.00,2.03,0.00,0.000,6,0.000,0.025,2532,2306,3486,0,0,0,0,0,0
$GC,2035,-0.68,-116.7,155.1,-8.3,305,2039,0.00,2.12,0.00,0.000,4,0.000,0.041,2531,3702,3486,0,0,0,0,0,0
$GC,2046,-0.64,-116.7,156.0,-7.9,305,2051,0.00,2.03,0.00,0.000,6,0.000,0.025,2532,2288,3486,0,0,0,0,0,0
$GC,2362,-0.61,-116.7,179.9,-7.7,321,2364,0.12,0.00,0.00,0.000,6,0.198,0.000,2563,2285,3486,0,0,0,0,0,0
$GC,2671,-0.64,-116.7,201.1,-7.0,336,2675,0.00,2.12,0.00,0.000,4,0.000,0.041,2563,3704,3487,0,0,0,0,0,0
$GC,2779,-0.69,-116.7,208.6,-6.8,341,2782,0.00,2.03,0.00,0.000,6,0.000,0.024,2563,2293,3486,0,0,0,0,0,0
$GC,3111,-0.73,-116.7,230.4,-6.4,357,3115,0.00,2.15,0.00,0.000,4,0.000,0.041,2563,3708,3487,0,0,0,0,0,0
$GC,3246,-0.78,-116.7,239.4,-7.0,363,3251,0.15,2.03,0.00,0.000,6,0.129,0.025,2515,2286,3486,0,0,0,0,0,0
$GC,3567,-0.72,-116.7,265.5,-8.2,379,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2285,3486,0,0,0,0,0,0
$GC,3875,-0.66,-116.7,291.9,-8.8,394,3880,0.12,2.17,0.00,0.000,4,0.193,0.043,2546,3708,3486,0,0,0,0,0,0
$GC,3896,-0.66,-116.7,293.8,-8.7,395,3901,0.00,2.05,0.00,0.000,6,0.000,0.025,2546,2313,3485,0,0,0,0,0,0
$GC,4210,-0.66,-116.7,318.5,-8.0,407,4214,0.00,2.10,0.00,0.000,4,0.000,0.042,2546,3709,3485,0,0,0,0,0,0
$GC,4239,-0.66,-116.7,320.8,-8.2,408,4242,0.00,2.03,0.00,0.000,6,0.000,0.026,2545,2304,3484,0,0,0,0,0,0
$GC,4578,-0.66,-116.7,348.0,-7.8,419,4582,0.00,2.12,0.00,0.000,4,0.000,0.043,2546,3702,3485,0,0,0,0,0,0
$GC,4616,-0.66,-116.7,351.1,-8.2,420,4621,0.00,2.05,0.00,0.000,6,0.000,0.025,2546,2302,3484,0,0,0,0,0,0
$GC,4951,-0.66,-116.7,377.5,-7.7,431,4955,0.00,2.12,0.00,0.000,4,0.000,0.043,2546,3705,3483,0,0,0,0,0,0
$GC,5017,-0.66,-116.7,382.7,-7.8,433,5021,0.00,2.05,0.00,0.000,6,0.000,0.025,2546,2302,3483,0,0,0,0,0,0
$GC,5352,-0.66,-116.7,406.8,-7.1,444,5355,0.00,2.15,0.00,0.000,4,0.000,0.044,2546,3701,3482,0,0,0,0,0,0
$GC,5440,-0.66,-116.7,413.2,-7.1,446,5446,0.00,2.05,0.00,0.000,6,0.000,0.025,2546,2295,3482,0,0,0,0,0,0
$GC,5753,-0.66,-116.7,434.2,-6.8,457,5757,0.00,2.12,0.00,0.000,4,0.000,0.043,2546,3701,3482,0,0,0,0,0,0
$GC,5802,-0.66,-116.7,437.9,-7.9,458,5807,0.00,2.05,0.00,0.000,6,0.000,0.025,2546,2300,3481,0,0,0,0,0,0
$GC,6121,-0.66,-116.7,459.6,-6.8,469,6125,0.00,2.15,0.00,0.000,4,0.000,0.044,2546,3708,3481,0,0,0,0,0,0
$GC,6209,-0.66,-116.7,465.9,-7.3,471,6213,0.00,2.08,0.00,0.000,6,0.000,0.026,2546,2296,3480,0,0,0,0,0,0
$GC,6527,-0.66,-116.7,487.9,-7.0,482,6531,0.00,2.12,0.00,0.000,4,0.000,0.044,2546,3701,3480,0,0,0,0,0,0
$GC,6595,-0.66,-116.7,492.6,-7.3,484,6599,0.00,2.03,0.00,0.000,6,0.000,0.026,2546,2298,3480,0,0,0,0,0,0
$GC,6964,-0.66,-116.7,517.9,-6.9,492,6968,0.00,2.15,0.00,0.000,4,0.000,0.044,2546,3710,3479,0,0,0,0,0,0
$GC,7052,-0.69,-116.7,524.2,-7.0,493,7057,0.00,2.08,0.00,0.000,6,0.000,0.026,2546,2299,3478,0,0,0,0,0,0
$GC,7396,-0.69,-116.7,547.2,-6.7,499,7400,0.00,2.12,0.00,0.000,4,0.000,0.044,2546,3701,3478,0,0,0,0,0,0
$GC,7485,-0.69,-116.7,553.2,-6.8,500,7489,0.00,2.03,0.00,0.000,6,0.000,0.026,2546,2293,3478,0,0,0,0,0,0
$GC,7828,-0.69,-116.7,575.6,-6.6,506,7832,0.00,2.15,0.00,0.000,4,0.000,0.044,2546,3709,3477,0,0,0,0,0,0
$GC,7899,-0.69,-116.7,580.6,-7.6,507,7904,0.00,2.08,0.00,0.000,6,0.000,0.027,2546,2301,3477,0,0,0,0,0,0
$GC,8260,-0.69,-116.7,604.7,-6.8,513,8263,0.00,2.15,0.00,0.000,4,0.000,0.045,2546,3704,3477,0,0,0,0,0,0
$GC,8371,-0.73,-116.7,612.5,-7.0,514,8375,0.00,2.08,0.00,0.000,6,0.000,0.027,2546,2295,3476,0,0,0,0,0,0
$GC,8697,-0.73,-116.7,635.0,-6.9,520,8701,0.00,2.15,0.00,0.000,4,0.000,0.044,2546,3710,3476,0,0,0,0,0,0
$GC,8780,-0.76,-116.7,640.9,-7.1,521,8784,0.00,2.08,0.00,0.000,6,0.000,0.027,2546,2301,3475,0,0,0,0,0,0
$GC,9129,-0.76,-116.7,664.3,-6.7,527,9133,0.00,2.15,0.00,0.000,4,0.000,0.045,2546,3700,3475,0,0,0,0,0,0
$GC,9224,-0.80,-116.7,670.9,-7.2,528,9229,0.12,2.08,0.00,0.000,6,0.146,0.027,2506,2289,3475,0,0,0,0,0,0
$GC,9562,-0.74,-116.7,698.5,-8.2,534,9566,0.00,2.15,0.00,0.000,4,0.000,0.044,2505,3703,3474,0,0,0,0,0,0
$GC,9594,-0.68,-116.7,701.4,-8.5,534,9599,0.10,2.08,0.00,0.000,6,0.176,0.027,2537,2299,3474,0,0,0,0,0,0
$GC,9926,-0.68,-116.7,725.3,-7.2,540,9929,0.00,2.12,0.00,0.000,4,0.000,0.045,2537,3701,3474,0,0,0,0,0,0
$GC,9986,-0.68,-116.7,730.0,-7.6,540,9992,0.00,2.03,0.00,0.000,6,0.000,0.027,2537,2300,3474,0,0,0,0,0,0
$GC,10295,-0.68,-116.7,751.8,-7.1,546,10299,0.00,2.17,0.00,0.000,4,0.000,0.045,2537,3712,3473,0,0,0,0,0,0
$GC,10349,-0.68,-116.7,755.8,-7.8,546,10355,0.00,2.10,0.00,0.000,6,0.000,0.028,2537,2295,3473,0,0,0,0,0,0
$GC,10660,-0.68,-116.7,776.9,-6.8,552,10664,0.00,2.15,0.00,0.000,4,0.000,0.044,2537,3708,3473,0,0,0,0,0,0
$GC,10731,-0.68,-116.7,781.8,-7.0,553,10735,0.00,2.08,0.00,0.000,6,0.000,0.027,2537,2305,3473,0,0,0,0,0,0
$GC,11091,-0.68,-116.7,804.5,-6.3,559,11095,0.00,2.12,0.00,0.000,4,0.000,0.044,2537,3708,3472,0,0,0,0,0,0
$GC,11163,-0.68,-116.7,809.2,-7.0,560,11167,0.00,2.10,0.00,0.000,6,0.000,0.028,2537,2291,3472,0,0,0,0,0,0
$GC,11529,-0.68,-116.7,832.0,-6.3,566,11533,0.00,2.15,0.00,0.000,4,0.000,0.044,2537,3704,3472,0,0,0,0,0,0
$GC,11607,-0.68,-116.7,837.1,-6.1,567,11610,0.00,2.05,0.00,0.000,6,0.000,0.028,2537,2290,3472,0,0,0,0,0,0
$GC,11960,-0.68,-116.7,858.4,-6.1,573,11964,0.00,2.15,0.00,0.000,4,0.000,0.044,2537,3704,3471,0,0,0,0,0,0
$GC,12032,-0.68,-116.7,863.0,-6.3,574,12037,0.00,2.08,0.00,0.000,6,0.000,0.027,2537,2297,3472,0,0,0,0,0,0
$GC,12393,-0.68,-116.7,884.6,-6.0,580,12397,0.00,2.12,0.00,0.000,4,0.000,0.044,2537,3699,3471,0,0,0,0,0,0
$GC,12487,-0.71,-116.7,890.8,-6.7,581,12492,0.00,2.08,0.00,0.000,6,0.000,0.028,2537,2295,3471,0,0,0,0,0,0
$GC,12825,-0.71,-116.7,911.2,-6.1,587,12829,0.00,2.15,0.00,0.000,4,0.000,0.045,2537,3700,3471,0,0,0,0,0,0
$GC,12914,-0.74,-116.7,916.8,-6.2,588,12918,0.00,2.03,0.00,0.000,6,0.000,0.028,2537,2300,3470,0,0,0,0,0,0
$GC,13263,-0.74,-116.7,936.9,-5.8,594,13266,0.00,2.12,0.00,0.000,4,0.000,0.044,2537,3700,3470,0,0,0,0,0,0
$GC,13335,-0.78,-116.7,941.3,-5.7,595,13339,0.00,2.03,0.00,0.000,6,0.000,0.028,2537,2305,3470,0,0,0,0,0,0
$GC,13695,-0.78,-116.7,962.5,-5.9,601,13698,0.00,2.15,0.00,0.000,4,0.000,0.046,2537,3700,3470,0,0,0,0,0,0
$GC,13779,-0.81,-116.7,967.8,-6.3,602,13783,0.00,2.05,0.00,0.000,6,0.000,0.028,2537,2295,3470,0,0,0,0,0,0
$GC,14127,-0.81,-116.7,988.7,-6.0,608,14131,0.00,2.15,0.00,0.000,4,0.000,0.045,2537,3706,3470,0,0,0,0,0,0
$STATE,14146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14146,begin apogee
$GC,14153,-0.24,0.0,990.2,6.4,608,14255,0.45,0.00,99.40,1.557,6,0.169,0.000,2676,2630,3006,0,0,0,0,0,0
$STATE,14256,end apogee,CONTROL_FINISHED_OK
$STATE,14256,begin climb
$GC,14258,0.80,116.7,993.3,0.0,610,14371,1.12,0.00,107.43,1.458,6,0.123,0.000,3017,2630,2530,0,0,0,0,0,0
$GC,14673,0.62,116.7,965.9,8.5,617,14678,0.20,2.28,0.00,0.000,4,0.167,0.047,2966,4043,2519,0,0,0,0,0,0
$GC,14797,0.49,116.7,955.6,7.6,618,14803,0.20,2.10,0.00,0.000,6,0.183,0.028,2924,2651,2518,0,0,0,0,0,0
$GC,15106,0.51,137.7,936.7,6.0,624,15131,0.00,2.20,17.80,1.432,4,0.000,0.038,2933,1272,2444,0,0,0,0,0,0
$GC,15181,0.55,138.9,931.7,6.8,625,15186,0.00,2.15,0.00,0.000,6,0.000,0.035,2928,2645,2442,0,0,0,0,0,0
$GC,15536,0.56,147.9,908.7,6.5,631,15551,0.00,2.20,10.27,1.378,4,0.000,0.046,2928,4049,2401,0,0,0,0,0,0
$GC,15589,0.56,147.9,904.7,7.8,631,15596,0.00,2.12,0.00,0.000,6,0.000,0.028,2937,2656,2400,0,0,0,0,0,0
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$GC,27194,0.73,233.9,27.4,9.1,1116,27201,0.00,2.12,0.00,0.000,4,0.000,0.045,3016,4039,2049,0,0,0,0,0,0
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$STATE,27446,end climb,SURFACE_DEPTH_REACHED
$STATE,27446,begin surface coast
$FINISH,2.8,1.024835
$STATE,27506,end surface coast,CONTROL_FINISHED_OK
$STATE,27506,begin surface
$SM_CCo,27523,31.98,0.802,0,0,1883,275.23
$SM_GC,3.85,0.00,0.00,31.98,0.000,0.000,0.802,213,2284,1883,-7.98,-0.45,275.23
$IRIDIUM_FIX,6411.46,-10.04,100299,222257
$TT8_MAMPS,0.027612
$HUMID,1078369668
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,22.6,27.791
$10V_AH,10.0,17.601
$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,20.675,210.425,322.200,31.975,0.000,25.349,37.752,190.580,0.000,0.000,12.664,2473.080,21363.551,539.730,2996.597,556.336,0.000,2017.010,0.000,2963.263,0.000,0.533,0.000
$DEVICE_MAMPS,243.906,47.554,1557.010,801.515,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,810.400,1053.092,630.935,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241352
$DATA_FILE_SIZE,66441,1172
$CAP_FILE_SIZE,222842,0
$CFSIZE,260165632,241897472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,100.5,1
$GPS,171109,141257,6433.969,1.599,25,2.6,44,-5.1