version: 66.06
glider: 140
mission: 8
dive: 65
start: 10 18 109 15 53 11
data:
$ID,140
$MISSION,8
$DIVE,65
$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,-45531.16
$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,78
$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
$GPS1,154636,6412.763,46.734,27,1.9,28,-4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.67
$_SM_ANGLEo,-64.2
$GPS2,155250,6412.750,46.814,14,2.0,32,-4.6
$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,135.2,205201,-13.7,-6.875
$D_GRID,2378
$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,13,begin dive
$GC,15,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-6.90,0.000,2,0.000,0.000,211,2281,2017,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.4,-0.0,1,128,9.23,2.12,-81.88,0.000,4,0.255,0.054,2504,923,3482,0,0,0,0,0,0
$GC,135,-0.95,-116.7,4.4,-3.3,20,143,0.10,2.12,0.00,0.000,6,0.118,0.031,2466,2309,3483,0,0,0,0,0,0
$GC,476,-0.74,-116.7,45.9,-12.2,81,483,0.22,2.10,0.00,0.000,4,0.202,0.041,2524,3700,3484,0,0,0,0,0,0
$GC,492,-0.55,-116.7,47.5,-12.1,83,498,0.22,2.03,0.00,0.000,6,0.188,0.025,2585,2286,3485,0,0,0,0,0,0
$GC,835,-0.58,-116.7,70.5,-6.5,123,839,0.00,2.15,0.00,0.000,4,0.000,0.043,2585,3705,3486,0,0,0,0,0,0
$GC,1092,-0.64,-116.7,88.9,-7.0,134,1099,0.00,2.03,0.00,0.000,6,0.000,0.025,2586,2305,3486,0,0,0,0,0,0
$GC,1409,-0.71,-116.7,107.4,-5.8,150,1413,0.15,2.12,0.00,0.000,4,0.129,0.042,2538,3702,3486,0,0,0,0,0,0
$GC,1435,-0.71,-116.7,109.4,-7.4,151,1439,0.00,2.03,0.00,0.000,6,0.000,0.025,2538,2310,3486,0,0,0,0,0,0
$GC,1758,-0.67,-116.7,133.7,-7.4,167,1762,0.00,2.10,0.00,0.000,4,0.000,0.042,2538,3705,3487,0,0,0,0,0,0
$GC,1785,-0.64,-116.7,136.1,-8.3,168,1789,0.00,2.00,0.00,0.000,6,0.000,0.025,2538,2299,3486,0,0,0,0,0,0
$GC,2106,-0.61,-116.7,162.0,-8.3,184,2108,0.10,0.00,0.00,0.000,6,0.216,0.000,2562,2296,3487,0,0,0,0,0,0
$GC,2417,-0.61,-116.7,183.2,-6.5,199,2420,0.00,2.10,0.00,0.000,4,0.000,0.043,2562,3698,3488,0,0,0,0,0,0
$GC,2433,-0.61,-116.7,184.4,-6.5,200,2438,0.00,2.03,0.00,0.000,6,0.000,0.025,2562,2290,3488,0,0,0,0,0,0
$GC,2765,-0.61,-116.7,203.9,-5.6,216,2769,0.00,2.12,0.00,0.000,4,0.000,0.043,2562,3705,3488,0,0,0,0,0,0
$GC,2793,-0.64,-116.7,205.6,-5.9,217,2797,0.00,2.00,0.00,0.000,6,0.000,0.025,2562,2303,3488,0,0,0,0,0,0
$GC,3113,-0.64,-116.7,223.6,-5.9,233,3117,0.00,2.10,0.00,0.000,4,0.000,0.044,2562,3698,3487,0,0,0,0,0,0
$GC,3146,-0.67,-116.7,225.9,-6.5,234,3152,0.00,2.00,0.00,0.000,6,0.000,0.026,2562,2290,3487,0,0,0,0,0,0
$GC,3462,-0.67,-116.7,245.4,-5.9,250,3466,0.00,2.12,0.00,0.000,4,0.000,0.044,2562,3698,3486,0,0,0,0,0,0
$GC,3490,-0.71,-116.7,247.0,-5.8,251,3493,0.00,2.00,0.00,0.000,6,0.000,0.026,2562,2298,3486,0,0,0,0,0,0
$GC,3816,-0.71,-116.7,265.5,-5.7,267,3820,0.00,2.10,0.00,0.000,4,0.000,0.044,2562,3698,3486,0,0,0,0,0,0
$GC,3871,-0.75,-116.7,268.8,-5.8,269,3878,0.12,2.00,0.00,0.000,6,0.143,0.026,2523,2286,3486,0,0,0,0,0,0
$GC,4188,-0.70,-116.7,292.4,-7.7,285,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2287,3485,0,0,0,0,0,0
$GC,4504,-0.64,-116.7,317.5,-8.0,297,4508,0.12,2.03,0.00,0.000,4,0.206,0.039,2554,924,3484,0,0,0,0,0,0
$GC,4519,-0.61,-116.7,318.8,-8.2,297,4523,0.00,2.03,0.00,0.000,6,0.000,0.031,2554,2307,3485,0,0,0,0,0,0
$GC,4837,-0.61,-116.7,341.9,-7.3,308,4840,0.00,2.05,0.00,0.000,4,0.000,0.039,2554,925,3484,0,0,0,0,0,0
$GC,4853,-0.61,-116.7,343.1,-7.2,308,4857,0.00,2.03,0.00,0.000,6,0.000,0.031,2555,2306,3484,0,0,0,0,0,0
$GC,5165,-0.61,-116.7,365.3,-7.1,318,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2306,3483,0,0,0,0,0,0
$GC,5471,-0.61,-116.7,386.1,-6.8,328,5475,0.00,2.05,0.00,0.000,4,0.000,0.038,2554,923,3482,0,0,0,0,0,0
$GC,5487,-0.61,-116.7,387.3,-6.6,328,5491,0.00,2.03,0.00,0.000,6,0.000,0.031,2554,2310,3482,0,0,0,0,0,0
$GC,5805,-0.61,-116.7,408.3,-6.6,339,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2310,3482,0,0,0,0,0,0
$GC,6111,-0.61,-116.7,428.3,-6.6,349,6115,0.00,2.05,0.00,0.000,4,0.000,0.044,2554,3700,3481,0,0,0,0,0,0
$GC,6122,-0.61,-116.7,429.0,-6.7,349,6126,0.00,2.03,0.00,0.000,6,0.000,0.027,2554,2309,3480,0,0,0,0,0,0
$GC,6445,-0.61,-116.7,450.0,-6.5,360,6449,0.00,2.10,0.00,0.000,4,0.000,0.045,2555,3705,3480,0,0,0,0,0,0
$GC,6460,-0.61,-116.7,451.1,-6.7,360,6464,0.00,2.05,0.00,0.000,6,0.000,0.028,2554,2302,3480,0,0,0,0,0,0
$GC,6778,-0.61,-116.7,471.4,-6.3,371,6782,0.00,2.12,0.00,0.000,4,0.000,0.045,2554,3698,3479,0,0,0,0,0,0
$GC,6807,-0.64,-116.7,473.2,-6.8,372,6811,0.00,2.03,0.00,0.000,6,0.000,0.028,2554,2291,3479,0,0,0,0,0,0
$GC,7146,-0.64,-116.7,494.0,-6.0,383,7150,0.00,2.12,0.00,0.000,4,0.000,0.045,2554,3704,3479,0,0,0,0,0,0
$GC,7175,-0.67,-116.7,495.6,-6.1,384,7179,0.00,2.03,0.00,0.000,6,0.000,0.028,2554,2294,3478,0,0,0,0,0,0
$GC,7507,-0.67,-116.7,514.3,-5.6,391,7511,0.00,2.12,0.00,0.000,4,0.000,0.045,2555,3703,3477,0,0,0,0,0,0
$GC,7540,-0.70,-116.7,516.2,-5.8,391,7543,0.00,2.03,0.00,0.000,6,0.000,0.028,2554,2293,3478,0,0,0,0,0,0
$GC,7871,-0.70,-116.7,534.7,-5.6,397,7875,0.00,2.12,0.00,0.000,4,0.000,0.046,2554,3704,3477,0,0,0,0,0,0
$GC,7899,-0.74,-116.7,536.2,-5.7,397,7903,0.00,2.00,0.00,0.000,6,0.000,0.028,2554,2302,3476,0,0,0,0,0,0
$GC,8236,-0.74,-116.7,554.6,-5.5,403,8240,0.00,2.12,0.00,0.000,4,0.000,0.046,2554,3698,3476,0,0,0,0,0,0
$GC,8263,-0.77,-116.7,556.2,-5.5,403,8268,0.12,2.03,0.00,0.000,6,0.144,0.028,2516,2288,3476,0,0,0,0,0,0
$GC,8594,-0.71,-116.7,579.7,-7.2,409,8595,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2287,3476,0,0,0,0,0,0
$GC,8897,-0.66,-116.7,601.5,-7.2,414,8899,0.12,0.00,0.00,0.000,6,0.199,0.000,2546,2284,3475,0,0,0,0,0,0
$GC,9200,-0.66,-116.7,620.3,-6.2,419,9204,0.00,2.15,0.00,0.000,4,0.000,0.046,2546,3705,3475,0,0,0,0,0,0
$GC,9210,-0.66,-116.7,621.0,-6.3,419,9215,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2308,3475,0,0,0,0,0,0
$GC,9570,-0.66,-116.7,644.7,-6.7,425,9574,0.00,2.10,0.00,0.000,4,0.000,0.047,2546,3699,3474,0,0,0,0,0,0
$GC,9603,-0.66,-116.7,647.0,-7.0,425,9607,0.00,2.05,0.00,0.000,6,0.000,0.028,2547,2298,3474,0,0,0,0,0,0
$GC,9934,-0.66,-116.7,670.1,-7.0,431,9938,0.00,2.12,0.00,0.000,4,0.000,0.047,2546,3706,3474,0,0,0,0,0,0
$GC,9944,-0.66,-116.7,670.8,-6.9,431,9949,0.00,2.08,0.00,0.000,6,0.000,0.028,2546,2298,3473,0,0,0,0,0,0
$GC,10298,-0.66,-116.7,695.6,-7.1,437,10302,0.00,2.12,0.00,0.000,4,0.000,0.047,2546,3707,3473,0,0,0,0,0,0
$GC,10331,-0.66,-116.7,698.0,-7.7,437,10335,0.00,2.08,0.00,0.000,6,0.000,0.029,2546,2295,3473,0,0,0,0,0,0
$GC,10668,-0.66,-116.7,722.0,-7.1,443,10672,0.00,2.12,0.00,0.000,4,0.000,0.047,2546,3702,3473,0,0,0,0,0,0
$GC,10730,-0.69,-116.7,726.3,-6.9,444,10734,0.00,2.05,0.00,0.000,6,0.000,0.028,2547,2289,3472,0,0,0,0,0,0
$GC,11100,-0.69,-116.7,751.9,-6.9,450,11104,0.00,2.12,0.00,0.000,4,0.000,0.046,2546,3697,3472,0,0,0,0,0,0
$GC,11171,-0.72,-116.7,757.2,-8.1,451,11175,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2298,3472,0,0,0,0,0,0
$GC,11531,-0.72,-116.7,782.5,-7.0,457,11535,0.00,2.12,0.00,0.000,4,0.000,0.047,2546,3703,3472,0,0,0,0,0,0
$GC,11586,-0.76,-116.7,786.4,-6.7,457,11592,0.00,2.03,0.00,0.000,6,0.000,0.028,2546,2297,3472,0,0,0,0,0,0
$GC,11895,-0.76,-116.7,808.5,-7.2,463,11899,0.00,2.12,0.00,0.000,4,0.000,0.047,2547,3698,3472,0,0,0,0,0,0
$GC,11933,-0.79,-116.7,811.3,-7.3,463,11938,0.05,2.05,0.00,0.000,6,0.131,0.028,2512,2301,3471,0,0,0,0,0,0
$GC,12265,-0.74,-116.7,839.0,-8.5,469,12266,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2300,3471,0,0,0,0,0,0
$GC,12569,-0.69,-116.7,865.2,-8.6,474,12570,0.12,0.00,0.00,0.000,6,0.210,0.000,2541,2297,3471,0,0,0,0,0,0
$GC,12871,-0.69,-116.7,887.8,-7.4,479,12872,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2298,3470,0,0,0,0,0,0
$GC,13174,-0.69,-116.7,909.7,-7.2,484,13178,0.00,2.12,0.00,0.000,4,0.000,0.048,2541,3702,3471,0,0,0,0,0,0
$GC,13211,-0.69,-116.7,912.6,-7.7,484,13216,0.00,2.08,0.00,0.000,6,0.000,0.028,2542,2295,3471,0,0,0,0,0,0
$GC,13538,-0.69,-116.7,936.0,-7.2,490,13542,0.00,2.12,0.00,0.000,4,0.000,0.047,2542,3702,3470,0,0,0,0,0,0
$GC,13582,-0.72,-116.7,939.2,-6.9,490,13586,0.00,2.03,0.00,0.000,6,0.000,0.029,2541,2296,3470,0,0,0,0,0,0
$GC,13902,-0.72,-116.7,962.0,-7.1,496,13906,0.00,2.12,0.00,0.000,4,0.000,0.047,2542,3705,3470,0,0,0,0,0,0
$GC,13980,-0.75,-116.7,967.7,-7.2,497,13984,0.00,2.03,0.00,0.000,6,0.000,0.028,2541,2293,3470,0,0,0,0,0,0
$STATE,14338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14338,begin apogee
$GC,14343,-0.24,0.0,993.2,7.1,503,14445,0.47,0.00,98.88,1.561,6,0.175,0.000,2685,2654,3005,0,0,0,0,0,0
$STATE,14446,end apogee,CONTROL_FINISHED_OK
$STATE,14446,begin climb
$GC,14448,0.80,116.7,995.5,0.0,504,14557,1.05,0.00,105.30,1.458,6,0.124,0.000,3013,2653,2530,0,0,0,0,0,0
$GC,14814,0.62,116.7,975.7,7.8,510,14816,0.17,0.00,0.00,0.000,6,0.178,0.000,2970,2654,2519,0,0,0,0,0,0
$GC,15116,0.54,120.0,955.1,6.7,515,15120,0.12,2.17,0.00,0.000,4,0.203,0.049,2939,4039,2517,0,0,0,0,0,0
$GC,15177,0.46,121.8,951.0,6.8,516,15182,0.12,2.10,0.00,0.000,6,0.200,0.028,2918,2640,2517,0,0,0,0,0,0
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$STATE,27012,end climb,SURFACE_DEPTH_REACHED
$STATE,27013,begin surface coast
$FINISH,2.8,1.013808
$STATE,27057,end surface coast,CONTROL_FINISHED_OK
$STATE,27057,begin surface
$SM_CCo,27074,29.45,0.826,0,0,1883,275.23
$SM_GC,3.75,0.00,0.00,29.45,0.000,0.000,0.826,220,2278,1883,-7.96,-0.62,275.23
$IRIDIUM_FIX,6346.88,39.51,120199,080846
$TT8_MAMPS,0.027612
$HUMID,1078382571
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,23.0,12.574
$10V_AH,10.1,7.739
$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,22.000,201.600,312.600,29.450,0.000,25.898,37.652,174.269,0.000,0.000,32.271,2106.456,21894.340,527.346,2442.501,499.213,0.000,1770.252,0.000,2393.992,0.000,0.533,0.000
$DEVICE_MAMPS,255.411,53.690,1560.845,826.059,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,662.258,976.926,529.770,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241596
$DATA_FILE_SIZE,53898,955
$CAP_FILE_SIZE,208128,0
$CFSIZE,260165632,249712640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.112, 55.7,1
$GPS,181009,232607,6411.614,54.765,35,1.0,36,-4.6