version: 66.06
glider: 140
mission: 8
dive: 51
start: 10 14 109 3 41 16
data:
$ID,140
$MISSION,8
$DIVE,51
$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,-45247.199
$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,67
$R_STBD_OVSHOOT,49
$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
$GPS1,033406,6451.691,-31.690,33,1.4,34,-5.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,3.77
$_SM_ANGLEo,-60.2
$GPS2,034055,6451.693,-31.581,10,2.0,51,-5.5
$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,138.4,302404,-13.7,-6.875
$D_GRID,2779
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,14051,-0.74,-116.7,955.2,-6.3,506,14055,0.00,2.03,0.00,0.000,6,0.000,0.029,2542,2295,3470,0,0,0,0,0,0
$GC,14411,-0.74,-116.7,976.7,-6.0,512,14415,0.00,2.12,0.00,0.000,4,0.000,0.047,2542,3700,3470,0,0,0,0,0,0
$GC,14477,-0.77,-116.7,981.1,-6.4,513,14481,0.00,2.03,0.00,0.000,6,0.000,0.029,2542,2292,3470,0,0,0,0,0,0
$STATE,14658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14658,begin apogee
$GC,14664,-0.24,0.0,992.2,6.1,516,14766,0.47,0.00,98.95,1.556,6,0.179,0.000,2684,2653,3006,0,0,0,0,0,0
$STATE,14766,end apogee,CONTROL_FINISHED_OK
$STATE,14767,begin climb
$GC,14768,0.80,116.7,993.8,0.0,517,14882,1.08,2.35,104.97,1.460,4,0.124,0.049,3006,4036,2528,0,0,0,0,0,0
$GC,14943,0.56,116.7,986.3,9.0,520,14949,0.22,2.22,0.00,0.000,6,0.189,0.028,2956,2652,2522,0,0,0,0,0,0
$GC,15275,0.51,117.9,963.3,6.8,526,15276,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2652,2517,0,0,0,0,0,0
$GC,15579,0.46,121.2,943.0,6.7,531,15581,0.15,0.00,0.00,0.000,6,0.197,0.000,2917,2651,2516,0,0,0,0,0,0
$GC,15881,0.50,156.0,926.2,5.5,536,15916,0.00,0.00,33.45,1.465,6,0.000,0.000,2917,2651,2370,0,0,0,0,0,0
$GC,16184,0.56,172.4,907.5,6.2,541,16205,0.00,2.20,15.70,1.409,4,0.000,0.038,2926,1249,2301,0,0,0,0,0,0
$GC,16245,0.62,172.4,903.4,7.4,542,16250,0.12,2.20,0.00,0.000,6,0.123,0.036,2966,2655,2299,0,0,0,0,0,0
$GC,16610,0.58,172.4,873.3,8.3,548,16614,0.00,2.15,0.00,0.000,4,0.000,0.048,2966,4050,2295,0,0,0,0,0,0
$GC,16682,0.48,172.4,866.6,10.0,549,16687,0.20,2.10,0.00,0.000,6,0.196,0.029,2924,2637,2295,0,0,0,0,0,0
$GC,17042,0.55,185.2,843.0,6.4,555,17059,0.00,2.12,11.43,1.400,4,0.000,0.038,2933,1250,2252,0,0,0,0,0,0
$GC,17109,0.60,185.2,838.5,6.9,556,17113,0.00,2.15,0.00,0.000,6,0.000,0.036,2933,2651,2250,0,0,0,0,0,0
$GC,17474,0.65,190.9,814.5,6.6,562,17484,0.12,0.00,6.75,1.279,6,0.127,0.000,2976,2652,2227,0,0,0,0,0,0
$GC,17778,0.60,190.9,788.4,8.7,567,17779,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2651,2225,0,0,0,0,0,0
$GC,18080,0.56,190.9,760.3,9.4,572,18084,0.00,2.12,0.00,0.000,4,0.000,0.049,2976,4046,2225,0,0,0,0,0,0
$GC,18147,0.46,190.9,753.1,11.2,573,18152,0.17,2.10,0.00,0.000,6,0.179,0.029,2919,2644,2224,0,0,0,0,0,0
$GC,18513,0.54,190.9,724.5,7.8,579,18517,0.00,2.08,0.00,0.000,4,0.000,0.041,2924,1258,2224,0,0,0,0,0,0
$GC,18574,0.62,190.9,719.7,7.9,580,18579,0.12,2.10,0.00,0.000,6,0.125,0.036,2968,2654,2224,0,0,0,0,0,0
$GC,18938,0.62,190.9,685.8,9.3,586,18942,0.00,2.10,0.00,0.000,4,0.000,0.048,2967,4050,2223,0,0,0,0,0,0
$GC,19016,0.54,190.9,677.7,12.0,587,19021,0.12,2.05,0.00,0.000,6,0.211,0.030,2946,2644,2223,0,0,0,0,0,0
$GC,19375,0.54,190.9,649.2,7.7,593,19379,0.00,2.05,0.00,0.000,4,0.000,0.041,2949,1265,2223,0,0,0,0,0,0
$GC,19443,0.58,190.9,644.2,7.5,594,19447,0.00,2.08,0.00,0.000,6,0.000,0.036,2950,2647,2223,0,0,0,0,0,0
$GC,19807,0.58,190.9,617.1,7.4,600,19808,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2646,2223,0,0,0,0,0,0
$GC,20110,0.58,190.9,594.9,7.4,605,20111,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2646,2223,0,0,0,0,0,0
$GC,20413,0.58,190.9,572.1,7.5,610,20414,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2646,2223,0,0,0,0,0,0
$GC,20717,0.58,190.9,549.9,7.3,615,20721,0.00,2.08,0.00,0.000,4,0.000,0.041,2951,1264,2222,0,0,0,0,0,0
$GC,20766,0.62,190.9,546.2,7.6,615,20770,0.00,2.12,0.00,0.000,6,0.000,0.037,2951,2685,2223,0,0,0,0,0,0
$GC,21081,0.62,190.9,522.8,7.5,621,21082,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2685,2222,0,0,0,0,0,0
$GC,21384,0.62,190.9,500.0,7.5,626,21385,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2685,2222,0,0,0,0,0,0
$GC,21690,0.62,190.9,478.4,6.9,636,21694,0.00,2.15,0.00,0.000,4,0.000,0.041,2951,1255,2222,0,0,0,0,0,0
$GC,21745,0.68,206.6,474.6,6.2,637,21765,0.10,2.08,14.55,1.250,6,0.146,0.036,2985,2651,2164,0,0,0,0,0,0
$GC,22090,0.65,206.6,447.0,7.9,649,22094,0.00,2.10,0.00,0.000,4,0.000,0.048,2980,4042,2160,0,0,0,0,0,0
$GC,22156,0.57,206.6,440.8,9.9,651,22161,0.10,2.08,0.00,0.000,6,0.183,0.029,2946,2652,2159,0,0,0,0,0,0
$GC,22491,0.63,214.1,418.6,6.6,662,22505,0.00,2.17,7.62,1.138,4,0.000,0.041,2948,1258,2133,0,0,0,0,0,0
$GC,22545,0.69,215.1,414.9,6.8,663,22550,0.12,2.10,0.00,0.000,6,0.130,0.035,2991,2649,2132,0,0,0,0,0,0
$GC,22863,0.66,215.1,388.2,8.6,674,22867,0.00,2.12,0.00,0.000,4,0.000,0.048,2990,4050,2131,0,0,0,0,0,0
$GC,22929,0.56,215.1,381.5,9.7,676,22934,0.12,2.08,0.00,0.000,6,0.176,0.029,2949,2653,2130,0,0,0,0,0,0
$GC,23265,0.60,215.1,357.2,7.3,687,23266,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2652,2130,0,0,0,0,0,0
$GC,23570,0.65,215.1,334.4,7.5,697,23571,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2652,2130,0,0,0,0,0,0
$GC,23877,0.70,215.1,310.4,8.1,707,23879,0.12,0.00,0.00,0.000,6,0.132,0.000,2989,2650,2130,0,0,0,0,0,0
$GC,24184,0.70,215.1,281.3,9.3,720,24185,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2650,2130,0,0,0,0,0,0
$GC,24495,0.70,215.1,253.8,8.5,735,24497,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2649,2130,0,0,0,0,0,0
$GC,24803,0.67,215.1,228.8,8.0,750,24807,0.00,2.15,0.00,0.000,4,0.000,0.050,2989,4047,2130,0,0,0,0,0,0
$GC,24870,0.58,215.1,222.6,8.8,753,24875,0.15,2.03,0.00,0.000,6,0.214,0.029,2954,2652,2130,0,0,0,0,0,0
$GC,25192,0.63,220.2,201.2,6.7,769,25205,0.00,2.15,6.68,0.988,4,0.000,0.041,2953,1256,2107,0,0,0,0,0,0
$GC,25267,0.71,220.2,196.5,7.4,772,25271,0.12,2.10,0.00,0.000,6,0.128,0.035,2994,2657,2107,0,0,0,0,0,0
$GC,25588,0.68,220.2,169.6,8.5,788,25592,0.00,2.08,0.00,0.000,4,0.000,0.048,2994,4042,2106,0,0,0,0,0,0
$GC,25633,0.58,220.2,165.2,10.4,790,25637,0.17,2.03,0.00,0.000,6,0.212,0.029,2957,2647,2106,0,0,0,0,0,0
$GC,25959,0.63,220.2,141.6,7.0,806,25963,0.00,2.12,0.00,0.000,4,0.000,0.048,2954,4045,2106,0,0,0,0,0,0
$GC,26030,0.63,220.2,136.0,7.5,809,26034,0.00,2.05,0.00,0.000,6,0.000,0.028,2961,2653,2106,0,0,0,0,0,0
$GC,26353,0.68,234.6,114.5,6.3,825,26374,0.00,2.15,13.60,0.960,4,0.000,0.041,2961,1257,2048,0,0,0,0,0,0
$GC,26448,0.77,249.4,107.9,6.3,829,26467,0.15,2.12,13.93,0.909,6,0.119,0.035,3014,2659,1988,0,0,0,0,0,0
$GC,26794,0.73,249.4,74.4,9.8,846,26798,0.00,2.10,0.00,0.000,4,0.000,0.048,3014,4042,1983,0,0,0,0,0,0
$GC,26887,0.65,249.4,64.6,13.0,850,26891,0.15,2.05,0.00,0.000,6,0.216,0.028,2979,2643,1982,0,0,0,0,0,0
$GC,27218,0.69,249.4,39.0,6.9,901,27223,0.00,2.05,0.00,0.000,4,0.000,0.040,2980,1263,1982,0,0,0,0,0,0
$GC,27268,0.76,249.4,34.9,7.4,910,27275,0.00,2.12,0.00,0.000,6,0.000,0.035,2979,2653,1981,0,0,0,0,0,0
$GC,27604,0.76,249.4,6.3,7.8,971,27610,0.00,2.10,0.00,0.000,4,0.000,0.048,2978,4052,1981,0,0,0,0,0,0
$STATE,27628,end climb,SURFACE_DEPTH_REACHED
$STATE,27628,begin surface coast
$FINISH,3.2,1.027162
$STATE,27644,end surface coast,CONTROL_FINISHED_OK
$STATE,27644,begin surface
$SM_CCo,27662,20.50,0.823,0,0,1884,275.23
$SM_GC,3.71,0.00,0.00,20.50,0.000,0.000,0.823,213,2303,1884,-7.98,0.08,275.23
$IRIDIUM_FIX,6426.39,-35.49,070199,202035
$TT8_MAMPS,0.027612
$HUMID,1078410958
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.0,10.476
$10V_AH,10.1,6.308
$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,22.175,248.000,327.625,20.500,0.000,29.476,40.989,181.248,0.000,0.000,51.030,2230.790,22063.096,541.232,2722.389,526.431,0.000,1915.667,0.000,2648.956,0.000,0.534,0.000
$DEVICE_MAMPS,253.110,62.894,1556.243,822.991,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,678.737,1000.296,565.743,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241540
$DATA_FILE_SIZE,56979,978
$CAP_FILE_SIZE,229901,0
$CFSIZE,260165632,250847232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045, 90.2,1
$GPS,141009,112355,6449.256,-25.257,38,1.8,38,-5.4