version: 66.06
glider: 140
mission: 8
dive: 266
start: 12 20 109 1 37 55
data:
$ID,140
$MISSION,8
$DIVE,266
$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,-49218.922
$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,82
$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
$GPS1,013037,6504.639,-56.053,38,1.3,39,-5.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,3.74
$_SM_ANGLEo,-57.3
$GPS2,013732,6504.657,-56.071,12,1.3,12,-5.8
$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,139.3,333844,-13.7,-6.875
$D_GRID,2915
$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,-7.55,0.000,2,0.000,0.000,211,2275,1788,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.5,-0.0,1,139,8.75,2.15,-97.10,0.000,4,0.220,0.049,2503,915,3483,0,0,0,0,0,0
$GC,231,-0.66,-116.7,13.6,-14.2,37,237,0.17,2.10,0.00,0.000,6,0.204,0.029,2548,2311,3485,0,0,0,0,0,0
$GC,567,-0.63,-116.7,35.8,-7.5,98,573,0.00,2.15,0.00,0.000,4,0.000,0.035,2548,922,3485,0,0,0,0,0,0
$GC,612,-0.63,-116.7,39.1,-7.1,106,619,0.00,2.10,0.00,0.000,6,0.000,0.029,2549,2302,3485,0,0,0,0,0,0
$GC,949,-0.63,-116.7,62.1,-7.4,167,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2303,3486,0,0,0,0,0,0
$GC,1291,-0.63,-116.7,91.1,-7.7,228,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2303,3486,0,0,0,0,0,0
$GC,1633,-0.63,-116.7,118.2,-8.0,289,1639,0.00,2.10,0.00,0.000,4,0.000,0.041,2548,3701,3486,0,0,0,0,0,0
$GC,1645,-0.63,-116.7,119.2,-7.9,291,1651,0.00,2.03,0.00,0.000,6,0.000,0.024,2548,2296,3486,0,0,0,0,0,0
$GC,1966,-0.63,-116.7,142.7,-7.7,308,1970,0.00,2.15,0.00,0.000,4,0.000,0.040,2548,3708,3486,0,0,0,0,0,0
$GC,1998,-0.63,-116.7,145.2,-7.8,309,2004,0.00,2.08,0.00,0.000,6,0.000,0.024,2548,2292,3486,0,0,0,0,0,0
$GC,2315,-0.63,-116.7,169.3,-7.9,325,2319,0.00,2.15,0.00,0.000,4,0.000,0.040,2549,3705,3486,0,0,0,0,0,0
$GC,2336,-0.63,-116.7,171.1,-7.7,326,2341,0.00,2.05,0.00,0.000,6,0.000,0.023,2549,2302,3486,0,0,0,0,0,0
$GC,2663,-0.63,-116.7,194.3,-7.5,342,2667,0.00,2.17,0.00,0.000,4,0.000,0.041,2548,3708,3486,0,0,0,0,0,0
$GC,2709,-0.67,-116.7,197.6,-6.9,344,2713,0.00,2.03,0.00,0.000,6,0.000,0.024,2548,2294,3487,0,0,0,0,0,0
$GC,3035,-0.67,-116.7,220.1,-6.5,360,3039,0.00,2.15,0.00,0.000,4,0.000,0.040,2549,3709,3487,0,0,0,0,0,0
$GC,3098,-0.70,-116.7,224.3,-6.2,363,3102,0.00,2.05,0.00,0.000,6,0.000,0.024,2548,2289,3487,0,0,0,0,0,0
$GC,3429,-0.70,-116.7,246.0,-6.9,379,3433,0.00,2.15,0.00,0.000,4,0.000,0.040,2548,3706,3486,0,0,0,0,0,0
$GC,3456,-0.74,-116.7,248.0,-6.9,380,3461,0.00,2.05,0.00,0.000,6,0.000,0.024,2548,2301,3486,0,0,0,0,0,0
$GC,3779,-0.77,-116.7,270.5,-6.9,396,3783,0.00,2.15,0.00,0.000,4,0.000,0.041,2549,3706,3487,0,0,0,0,0,0
$GC,3806,-0.80,-116.7,272.5,-7.0,397,3810,0.08,2.05,0.00,0.000,6,0.117,0.025,2503,2298,3486,0,0,0,0,0,0
$GC,4133,-0.73,-116.7,301.6,-9.1,413,4137,0.00,2.12,0.00,0.000,4,0.000,0.041,2502,3701,3486,0,0,0,0,0,0
$GC,4154,-0.67,-116.7,303.8,-9.6,413,4160,0.10,2.05,0.00,0.000,6,0.166,0.025,2547,2295,3485,0,0,0,0,0,0
$GC,4466,-0.67,-116.7,326.5,-7.2,424,4470,0.00,2.15,0.00,0.000,4,0.000,0.041,2547,3706,3485,0,0,0,0,0,0
$GC,4495,-0.70,-116.7,328.5,-7.0,425,4499,0.00,2.03,0.00,0.000,6,0.000,0.025,2547,2302,3485,0,0,0,0,0,0
$GC,4830,-0.74,-116.7,350.6,-6.4,436,4834,0.00,2.15,0.00,0.000,4,0.000,0.041,2547,3708,3485,0,0,0,0,0,0
$GC,4864,-0.78,-116.7,352.9,-6.3,437,4868,0.00,2.05,0.00,0.000,6,0.000,0.025,2547,2290,3485,0,0,0,0,0,0
$GC,5200,-0.81,-116.7,374.7,-6.6,448,5204,0.15,2.17,0.00,0.000,4,0.132,0.041,2498,3702,3484,0,0,0,0,0,0
$GC,5227,-0.76,-116.7,377.0,-8.2,449,5231,0.00,2.03,0.00,0.000,6,0.000,0.025,2498,2296,3484,0,0,0,0,0,0
$GC,5563,-0.69,-116.7,406.6,-9.0,460,5567,0.15,2.17,0.00,0.000,4,0.196,0.042,2537,3704,3483,0,0,0,0,0,0
$GC,5583,-0.69,-116.7,408.6,-8.6,460,5590,0.00,2.05,0.00,0.000,6,0.000,0.025,2537,2310,3483,0,0,0,0,0,0
$GC,5896,-0.69,-116.7,432.1,-7.4,471,5900,0.00,2.12,0.00,0.000,4,0.000,0.041,2537,3704,3482,0,0,0,0,0,0
$GC,5924,-0.69,-116.7,434.2,-7.8,472,5928,0.00,2.05,0.00,0.000,6,0.000,0.025,2537,2286,3482,0,0,0,0,0,0
$GC,6259,-0.69,-116.7,457.2,-6.8,483,6263,0.00,2.15,0.00,0.000,4,0.000,0.041,2537,3698,3482,0,0,0,0,0,0
$GC,6302,-0.69,-116.7,460.2,-6.8,484,6307,0.00,2.05,0.00,0.000,6,0.000,0.025,2537,2301,3481,0,0,0,0,0,0
$GC,6632,-0.69,-116.7,482.9,-6.9,495,6636,0.00,2.15,0.00,0.000,4,0.000,0.042,2537,3708,3481,0,0,0,0,0,0
$GC,6681,-0.72,-116.7,486.4,-7.3,496,6685,0.00,2.08,0.00,0.000,6,0.000,0.025,2537,2274,3480,0,0,0,0,0,0
$GC,7029,-0.72,-116.7,509.9,-6.7,506,7033,0.00,2.17,0.00,0.000,4,0.000,0.042,2537,3698,3480,0,0,0,0,0,0
$GC,7091,-0.75,-116.7,514.2,-7.2,507,7095,0.00,2.03,0.00,0.000,6,0.000,0.025,2537,2302,3479,0,0,0,0,0,0
$GC,7462,-0.75,-116.7,539.5,-6.8,513,7465,0.00,2.15,0.00,0.000,4,0.000,0.042,2537,3698,3479,0,0,0,0,0,0
$GC,7495,-0.78,-116.7,541.8,-7.1,513,7498,0.00,2.03,0.00,0.000,6,0.000,0.025,2537,2295,3479,0,0,0,0,0,0
$GC,7832,-0.78,-116.7,564.9,-6.8,519,7836,0.00,2.15,0.00,0.000,4,0.000,0.042,2537,3702,3478,0,0,0,0,0,0
$GC,7847,-0.78,-116.7,566.1,-6.9,519,7851,0.00,2.05,0.00,0.000,6,0.000,0.025,2537,2309,3478,0,0,0,0,0,0
$GC,8196,-0.78,-116.7,589.9,-6.8,525,8200,0.00,2.10,0.00,0.000,4,0.000,0.042,2537,3698,3477,0,0,0,0,0,0
$GC,8212,-0.78,-116.7,591.1,-6.8,525,8216,0.00,2.08,0.00,0.000,6,0.000,0.025,2537,2296,3477,0,0,0,0,0,0
$GC,8560,-0.78,-116.7,615.0,-6.9,531,8564,0.00,2.15,0.00,0.000,4,0.000,0.042,2537,3704,3477,0,0,0,0,0,0
$GC,8588,-0.81,-116.7,616.9,-7.1,531,8592,0.00,2.05,0.00,0.000,6,0.000,0.026,2537,2293,3476,0,0,0,0,0,0
$GC,8924,-0.81,-116.7,640.4,-7.0,537,8928,0.00,2.15,0.00,0.000,4,0.000,0.042,2537,3698,3476,0,0,0,0,0,0
$GC,8940,-0.81,-116.7,641.5,-6.7,537,8945,0.05,2.08,0.00,0.000,6,0.124,0.026,2501,2295,3476,0,0,0,0,0,0
$GC,9289,-0.76,-116.7,670.0,-8.3,543,9290,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2294,3475,0,0,0,0,0,0
$GC,9592,-0.70,-116.7,694.4,-8.1,548,9594,0.12,0.00,0.00,0.000,6,0.195,0.000,2531,2292,3475,0,0,0,0,0,0
$GC,9894,-0.70,-116.7,716.4,-7.2,553,9895,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2292,3475,0,0,0,0,0,0
$GC,10197,-0.70,-116.7,737.4,-6.9,558,10201,0.00,2.17,0.00,0.000,4,0.000,0.043,2531,3703,3474,0,0,0,0,0,0
$GC,10208,-0.70,-116.7,738.1,-6.8,558,10212,0.00,2.05,0.00,0.000,6,0.000,0.026,2532,2301,3474,0,0,0,0,0,0
$GC,10562,-0.70,-116.7,761.5,-6.6,564,10566,0.00,2.15,0.00,0.000,4,0.000,0.044,2532,3698,3474,0,0,0,0,0,0
$GC,10623,-0.74,-116.7,765.6,-6.6,564,10629,0.00,2.05,0.00,0.000,6,0.000,0.026,2532,2288,3473,0,0,0,0,0,0
$GC,10932,-0.74,-116.7,785.5,-6.4,570,10936,0.00,2.17,0.00,0.000,4,0.000,0.043,2532,3706,3473,0,0,0,0,0,0
$GC,10998,-0.77,-116.7,789.8,-6.6,571,11002,0.00,2.08,0.00,0.000,6,0.000,0.026,2532,2304,3473,0,0,0,0,0,0
$GC,11364,-0.77,-116.7,812.7,-6.4,577,11368,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3706,3473,0,0,0,0,0,0
$GC,11408,-0.81,-116.7,815.6,-6.2,577,11411,0.00,2.05,0.00,0.000,6,0.000,0.027,2532,2298,3473,0,0,0,0,0,0
$GC,11728,-0.81,-116.7,836.3,-6.5,583,11732,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3698,3472,0,0,0,0,0,0
$GC,11777,-0.85,-116.7,839.7,-6.9,583,11782,0.12,2.05,0.00,0.000,6,0.142,0.027,2491,2287,3472,0,0,0,0,0,0
$GC,12087,-0.79,-116.7,865.1,-8.3,588,12091,0.00,2.17,0.00,0.000,4,0.000,0.043,2491,3707,3472,0,0,0,0,0,0
$GC,12097,-0.73,-116.7,866.0,-8.3,588,12101,0.15,2.05,0.00,0.000,6,0.185,0.027,2528,2296,3472,0,0,0,0,0,0
$GC,12445,-0.73,-116.7,889.7,-6.8,594,12449,0.00,2.15,0.00,0.000,4,0.000,0.043,2528,3698,3472,0,0,0,0,0,0
$GC,12466,-0.73,-116.7,891.2,-6.4,594,12470,0.00,2.08,0.00,0.000,6,0.000,0.027,2528,2302,3471,0,0,0,0,0,0
$GC,12809,-0.73,-116.7,914.0,-6.6,600,12813,0.00,2.15,0.00,0.000,4,0.000,0.044,2529,3701,3471,0,0,0,0,0,0
$GC,12864,-0.76,-116.7,917.8,-7.5,600,12868,0.00,2.05,0.00,0.000,6,0.000,0.027,2529,2295,3471,0,0,0,0,0,0
$GC,13179,-0.76,-116.7,938.1,-6.4,606,13183,0.00,2.15,0.00,0.000,4,0.000,0.043,2529,3698,3471,0,0,0,0,0,0
$GC,13229,-0.80,-116.7,941.4,-6.3,606,13232,0.00,2.05,0.00,0.000,6,0.000,0.026,2529,2289,3471,0,0,0,0,0,0
$GC,13544,-0.80,-116.7,961.5,-6.4,612,13548,0.00,2.17,0.00,0.000,4,0.000,0.043,2529,3706,3471,0,0,0,0,0,0
$GC,13588,-0.83,-116.7,964.4,-6.8,612,13591,0.00,2.05,0.00,0.000,6,0.000,0.027,2529,2300,3470,0,0,0,0,0,0
$GC,13908,-0.83,-116.7,984.6,-6.4,618,13912,0.00,2.15,0.00,0.000,4,0.000,0.044,2529,3701,3471,0,0,0,0,0,0
$GC,13957,-0.87,-116.7,987.9,-7.1,618,13962,0.15,2.05,0.00,0.000,6,0.128,0.026,2479,2293,3470,0,0,0,0,0,0
$STATE,14021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14021,begin apogee
$GC,14027,-0.24,0.0,993.1,7.8,619,14132,0.70,0.00,101.82,1.555,6,0.173,0.000,2680,2648,3006,0,0,0,0,0,0
$STATE,14133,end apogee,CONTROL_FINISHED_OK
$STATE,14133,begin climb
$GC,14135,0.80,116.7,995.3,0.0,620,14254,1.10,2.47,108.88,1.456,4,0.110,0.045,3017,4036,2529,0,0,0,0,0,0
$GC,14339,0.56,116.7,987.6,8.9,624,14344,0.30,2.17,0.00,0.000,6,0.170,0.026,2952,2653,2522,0,0,0,0,0,0
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$STATE,27260,end climb,SURFACE_DEPTH_REACHED
$STATE,27260,begin surface coast
$FINISH,2.8,1.027422
$STATE,27306,end surface coast,CONTROL_FINISHED_OK
$STATE,27306,begin surface
$SM_CCo,27383,0.00,0.000,0,0,1825,289.70
$SM_GC,3.74,8.15,0.00,0.00,0.097,0.000,0.000,216,2273,1825,-7.94,-0.76,289.70
$IRIDIUM_FIX,6441.46,-101.29,150399,181832
$TT8_MAMPS,0.027612
$HUMID,1078376119
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,22.1,43.837
$10V_AH,9.8,29.250
$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,21.550,207.725,370.375,0.000,0.000,29.592,36.070,220.081,0.000,0.000,12.772,2373.591,21573.402,559.378,2677.537,602.924,0.000,1914.684,0.000,2657.148,0.000,0.533,0.000
$DEVICE_MAMPS,220.129,49.088,1555.476,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,786.370,1046.268,615.899,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241412
$DATA_FILE_SIZE,63321,1137
$CAP_FILE_SIZE,216967,0
$CFSIZE,260165632,232775680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.029,328.5,1
$GPS,201209,091536,6502.532,-51.746,38,1.3,44,-5.7