version: 66.06
glider: 140
mission: 8
dive: 68
start: 10 19 109 14 49 25
data:
$ID,140
$MISSION,8
$DIVE,68
$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,-45574.738
$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,84
$R_STBD_OVSHOOT,44
$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
$GPS1,144307,6408.429,109.845,35,1.0,36,-4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.53
$_SM_ANGLEo,-63.3
$GPS2,144902,6408.444,109.962,14,1.5,14,-4.4
$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,137.1,185361,-13.7,-6.875
$D_GRID,2340
$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,-7.72,0.000,2,0.000,0.000,212,2261,2039,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.5,-0.0,1,123,9.25,2.08,-79.38,0.000,4,0.258,0.056,2501,933,3482,0,0,0,0,0,0
$GC,132,-1.00,-116.7,3.4,-0.8,19,138,0.17,2.08,0.00,0.000,6,0.137,0.031,2448,2315,3483,0,0,0,0,0,0
$GC,464,-0.76,-116.7,47.0,-12.6,80,472,0.25,2.12,0.00,0.000,4,0.204,0.041,2516,3697,3484,0,0,0,0,0,0
$GC,720,-0.65,-116.7,75.2,-10.5,107,725,0.12,2.00,0.00,0.000,6,0.199,0.025,2548,2291,3484,0,0,0,0,0,0
$GC,1043,-0.62,-116.7,101.2,-7.6,123,1047,0.00,2.12,0.00,0.000,4,0.000,0.042,2547,3698,3485,0,0,0,0,0,0
$GC,1069,-0.62,-116.7,103.5,-8.2,124,1073,0.00,2.03,0.00,0.000,6,0.000,0.025,2548,2313,3485,0,0,0,0,0,0
$GC,1390,-0.62,-116.7,128.6,-7.7,140,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2312,3486,0,0,0,0,0,0
$GC,1701,-0.62,-116.7,151.7,-7.3,155,1705,0.00,2.10,0.00,0.000,4,0.000,0.042,2548,3706,3486,0,0,0,0,0,0
$GC,1767,-0.62,-116.7,156.8,-7.5,158,1771,0.00,2.05,0.00,0.000,6,0.000,0.025,2548,2300,3486,0,0,0,0,0,0
$GC,2093,-0.62,-116.7,182.6,-8.0,174,2097,0.00,2.05,0.00,0.000,4,0.000,0.038,2548,910,3486,0,0,0,0,0,0
$GC,2103,-0.62,-116.7,183.4,-7.9,174,2108,0.00,2.08,0.00,0.000,6,0.000,0.029,2548,2299,3486,0,0,0,0,0,0
$GC,2424,-0.62,-116.7,209.0,-7.6,190,2428,0.00,2.08,0.00,0.000,4,0.000,0.042,2548,3702,3487,0,0,0,0,0,0
$GC,2496,-0.62,-116.7,214.7,-7.7,193,2500,0.00,2.03,0.00,0.000,6,0.000,0.025,2548,2296,3487,0,0,0,0,0,0
$GC,2823,-0.62,-116.7,239.0,-7.6,209,2827,0.00,2.10,0.00,0.000,4,0.000,0.043,2548,3698,3487,0,0,0,0,0,0
$GC,2855,-0.62,-116.7,241.6,-7.9,210,2862,0.00,2.03,0.00,0.000,6,0.000,0.025,2548,2298,3487,0,0,0,0,0,0
$GC,3170,-0.62,-116.7,266.2,-7.8,226,3174,0.00,2.10,0.00,0.000,4,0.000,0.043,2548,3698,3487,0,0,0,0,0,0
$GC,3202,-0.62,-116.7,268.7,-7.6,227,3208,0.00,2.03,0.00,0.000,6,0.000,0.025,2548,2302,3487,0,0,0,0,0,0
$GC,3518,-0.62,-116.7,292.4,-7.4,243,3522,0.00,2.12,0.00,0.000,4,0.000,0.044,2548,3699,3486,0,0,0,0,0,0
$GC,3567,-0.62,-116.7,296.0,-7.3,245,3571,0.00,2.03,0.00,0.000,6,0.000,0.025,2549,2302,3486,0,0,0,0,0,0
$GC,3886,-0.62,-116.7,319.2,-7.5,257,3889,0.00,2.12,0.00,0.000,4,0.000,0.044,2548,3706,3485,0,0,0,0,0,0
$GC,3918,-0.62,-116.7,322.0,-8.1,258,3923,0.00,2.05,0.00,0.000,6,0.000,0.026,2547,2303,3485,0,0,0,0,0,0
$GC,4253,-0.62,-116.7,346.6,-7.1,269,4254,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2303,3484,0,0,0,0,0,0
$GC,4559,-0.62,-116.7,369.0,-7.2,279,4563,0.00,2.10,0.00,0.000,4,0.000,0.044,2548,3701,3483,0,0,0,0,0,0
$GC,4580,-0.62,-116.7,370.8,-8.0,279,4587,0.00,2.05,0.00,0.000,6,0.000,0.026,2548,2295,3483,0,0,0,0,0,0
$GC,4893,-0.62,-116.7,393.9,-7.3,290,4897,0.00,2.12,0.00,0.000,4,0.000,0.044,2548,3706,3483,0,0,0,0,0,0
$GC,4931,-0.62,-116.7,396.8,-7.8,291,4935,0.00,2.05,0.00,0.000,6,0.000,0.027,2548,2302,3483,0,0,0,0,0,0
$GC,5260,-0.62,-116.7,419.0,-6.8,302,5264,0.00,2.10,0.00,0.000,4,0.000,0.044,2548,3697,3482,0,0,0,0,0,0
$GC,5298,-0.62,-116.7,421.8,-7.2,303,5302,0.00,2.05,0.00,0.000,6,0.000,0.027,2548,2293,3482,0,0,0,0,0,0
$GC,5633,-0.62,-116.7,446.0,-7.1,314,5637,0.00,2.12,0.00,0.000,4,0.000,0.044,2548,3704,3481,0,0,0,0,0,0
$GC,5676,-0.62,-116.7,449.3,-7.8,315,5680,0.00,2.05,0.00,0.000,6,0.000,0.027,2548,2303,3480,0,0,0,0,0,0
$GC,6000,-0.62,-116.7,474.4,-7.8,326,6003,0.00,2.10,0.00,0.000,4,0.000,0.044,2548,3697,3480,0,0,0,0,0,0
$GC,6034,-0.62,-116.7,477.1,-7.9,327,6038,0.00,2.03,0.00,0.000,6,0.000,0.027,2548,2288,3480,0,0,0,0,0,0
$GC,6398,-0.62,-116.7,507.0,-8.2,338,6402,0.00,2.12,0.00,0.000,4,0.000,0.044,2548,3700,3479,0,0,0,0,0,0
$GC,6407,-0.62,-116.7,507.9,-8.1,338,6412,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2300,3479,0,0,0,0,0,0
$GC,6762,-0.62,-116.7,534.5,-7.4,344,6766,0.00,2.15,0.00,0.000,4,0.000,0.046,2548,3704,3478,0,0,0,0,0,0
$GC,6782,-0.62,-116.7,536.0,-7.0,344,6787,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2306,3478,0,0,0,0,0,0
$GC,7131,-0.62,-116.7,558.9,-6.4,350,7135,0.00,2.10,0.00,0.000,4,0.000,0.045,2548,3701,3477,0,0,0,0,0,0
$GC,7153,-0.62,-116.7,560.2,-6.3,350,7157,0.00,2.03,0.00,0.000,6,0.000,0.028,2548,2291,3477,0,0,0,0,0,0
$GC,7496,-0.62,-116.7,581.0,-6.1,356,7500,0.00,2.12,0.00,0.000,4,0.000,0.045,2548,3701,3476,0,0,0,0,0,0
$GC,7545,-0.62,-116.7,584.3,-6.1,356,7549,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2299,3476,0,0,0,0,0,0
$GC,7860,-0.62,-116.7,604.6,-6.5,362,7864,0.00,2.10,0.00,0.000,4,0.000,0.045,2548,3697,3475,0,0,0,0,0,0
$GC,7882,-0.62,-116.7,606.1,-6.8,362,7886,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2294,3475,0,0,0,0,0,0
$GC,8225,-0.62,-116.7,629.4,-6.9,368,8229,0.00,2.12,0.00,0.000,4,0.000,0.046,2548,3698,3475,0,0,0,0,0,0
$GC,8267,-0.62,-116.7,632.6,-7.8,368,8272,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2296,3474,0,0,0,0,0,0
$GC,8594,-0.62,-116.7,654.9,-6.9,374,8598,0.00,2.12,0.00,0.000,4,0.000,0.046,2548,3703,3474,0,0,0,0,0,0
$GC,8637,-0.62,-116.7,658.0,-7.0,374,8641,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2303,3474,0,0,0,0,0,0
$GC,8958,-0.62,-116.7,680.1,-6.9,380,8962,0.00,2.10,0.00,0.000,4,0.000,0.046,2548,3697,3473,0,0,0,0,0,0
$GC,9001,-0.62,-116.7,683.3,-7.5,380,9005,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2295,3473,0,0,0,0,0,0
$GC,9322,-0.62,-116.7,704.9,-6.8,386,9326,0.00,2.12,0.00,0.000,4,0.000,0.046,2548,3700,3473,0,0,0,0,0,0
$GC,9365,-0.62,-116.7,707.9,-6.6,386,9369,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2303,3472,0,0,0,0,0,0
$GC,9691,-0.62,-116.7,729.0,-6.4,392,9695,0.00,2.10,0.00,0.000,4,0.000,0.046,2548,3697,3472,0,0,0,0,0,0
$GC,9741,-0.65,-116.7,732.2,-7.0,392,9745,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2304,3472,0,0,0,0,0,0
$GC,10056,-0.65,-116.7,750.2,-5.7,398,10060,0.00,2.10,0.00,0.000,4,0.000,0.046,2548,3697,3471,0,0,0,0,0,0
$GC,10100,-0.69,-116.7,752.9,-5.9,398,10104,0.00,2.03,0.00,0.000,6,0.000,0.028,2548,2295,3471,0,0,0,0,0,0
$GC,10420,-0.69,-116.7,770.6,-5.5,404,10424,0.00,2.12,0.00,0.000,4,0.000,0.046,2548,3700,3471,0,0,0,0,0,0
$GC,10453,-0.73,-116.7,772.7,-6.1,404,10457,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2306,3471,0,0,0,0,0,0
$GC,10785,-0.73,-116.7,792.1,-5.9,410,10789,0.00,2.10,0.00,0.000,4,0.000,0.046,2548,3697,3470,0,0,0,0,0,0
$GC,10853,-0.77,-116.7,796.3,-6.0,411,10857,0.00,2.03,0.00,0.000,6,0.000,0.028,2548,2291,3470,0,0,0,0,0,0
$GC,11224,-0.77,-116.7,819.2,-6.2,417,11228,0.00,2.12,0.00,0.000,4,0.000,0.046,2548,3698,3470,0,0,0,0,0,0
$GC,11296,-0.80,-116.7,823.9,-6.5,418,11301,0.12,2.03,0.00,0.000,6,0.145,0.028,2509,2291,3470,0,0,0,0,0,0
$GC,11650,-0.75,-116.7,851.1,-7.8,424,11651,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2289,3470,0,0,0,0,0,0
$GC,11952,-0.69,-116.7,874.2,-7.6,429,11957,0.12,2.15,0.00,0.000,4,0.206,0.048,2539,3698,3469,0,0,0,0,0,0
$GC,11968,-0.66,-116.7,875.5,-7.5,429,11972,0.00,2.05,0.00,0.000,6,0.000,0.029,2540,2310,3469,0,0,0,0,0,0
$GC,12323,-0.66,-116.7,898.7,-6.6,435,12326,0.00,2.10,0.00,0.000,4,0.000,0.047,2540,3700,3469,0,0,0,0,0,0
$GC,12338,-0.66,-116.7,899.8,-6.7,435,12342,0.00,2.08,0.00,0.000,6,0.000,0.029,2540,2295,3469,0,0,0,0,0,0
$GC,12687,-0.66,-116.7,922.2,-6.4,441,12691,0.00,2.12,0.00,0.000,4,0.000,0.047,2540,3701,3469,0,0,0,0,0,0
$GC,12736,-0.66,-116.7,925.5,-6.9,441,12740,0.00,2.05,0.00,0.000,6,0.000,0.028,2540,2302,3468,0,0,0,0,0,0
$GC,13051,-0.66,-116.7,945.5,-6.4,447,13055,0.00,2.10,0.00,0.000,4,0.000,0.047,2540,3697,3469,0,0,0,0,0,0
$GC,13091,-0.66,-116.7,948.1,-6.6,447,13095,0.00,2.03,0.00,0.000,6,0.000,0.029,2540,2296,3468,0,0,0,0,0,0
$GC,13417,-0.66,-116.7,968.3,-6.2,453,13421,0.00,2.12,0.00,0.000,4,0.000,0.047,2540,3703,3468,0,0,0,0,0,0
$GC,13466,-0.66,-116.7,971.6,-6.7,453,13471,0.00,2.08,0.00,0.000,6,0.000,0.028,2540,2292,3468,0,0,0,0,0,0
$STATE,13785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13785,begin apogee
$GC,13791,-0.24,0.0,992.0,6.4,459,13892,0.47,0.00,98.62,1.569,6,0.176,0.000,2683,2654,3006,0,0,0,0,0,0
$STATE,13893,end apogee,CONTROL_FINISHED_OK
$STATE,13893,begin climb
$GC,13895,0.80,116.7,993.8,0.0,460,14010,1.05,2.42,105.00,1.464,4,0.126,0.048,3009,4040,2528,0,0,0,0,0,0
$GC,14038,0.54,116.7,989.5,8.5,462,14043,0.32,2.22,0.00,0.000,6,0.193,0.028,2941,2648,2524,0,0,0,0,0,0
$GC,14381,0.52,126.6,967.1,6.5,468,14395,0.00,2.22,8.55,1.339,4,0.000,0.039,2950,1261,2489,0,0,0,0,0,0
$GC,14434,0.52,130.4,963.5,6.7,468,14446,0.00,2.22,4.93,1.042,6,0.000,0.035,2950,2644,2474,0,0,0,0,0,0
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$STATE,26808,end climb,SURFACE_DEPTH_REACHED
$STATE,26808,begin surface coast
$FINISH,2.7,1.016348
$STATE,26884,end surface coast,CONTROL_FINISHED_OK
$STATE,26884,begin surface
$SM_CCo,26900,30.33,0.796,0,0,1883,275.23
$SM_GC,3.95,0.00,0.00,30.33,0.000,0.000,0.796,214,2285,1883,-7.97,-0.42,275.23
$IRIDIUM_FIX,6342.00,59.10,130199,070742
$TT8_MAMPS,0.027612
$HUMID,1078345152
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,23.0,13.026
$10V_AH,10.1,8.044
$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,21.700,231.250,321.325,30.325,0.000,28.629,36.702,171.354,0.000,0.000,14.775,2097.191,21635.150,526.050,2511.488,510.324,0.000,1833.663,0.000,2474.796,0.000,0.532,0.000
$DEVICE_MAMPS,257.712,55.991,1568.515,796.146,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,643.795,950.993,504.305,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241600
$DATA_FILE_SIZE,53822,929
$CAP_FILE_SIZE,213741,0
$CFSIZE,260165632,249462784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.015, 18.8,1
$GPS,191009,221936,6406.354,114.700,37,1.1,43,-4.4