version: 66.06
glider: 140
mission: 8
dive: 267
start: 12 20 109 9 23 6
data:
$ID,140
$MISSION,8
$DIVE,267
$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,-49256.742
$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,76
$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
$GPS1,091536,6502.532,-51.746,38,1.3,44,-5.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.61
$_SM_ANGLEo,-55.5
$GPS2,092245,6502.521,-51.773,36,1.9,37,-5.7
$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,139.1,328500,-13.7,-6.875
$D_GRID,2905
$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,-6.75,0.000,2,0.000,0.000,216,2271,1957,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.5,-0.0,1,130,8.75,2.08,-86.62,0.000,4,0.222,0.049,2500,918,3481,0,0,0,0,0,0
$GC,279,-0.66,-116.7,19.1,-12.7,46,287,0.15,2.12,0.00,0.000,6,0.167,0.029,2546,2307,3483,0,0,0,0,0,0
$GC,616,-0.66,-116.7,42.6,-4.2,107,622,0.00,2.10,0.00,0.000,4,0.000,0.035,2546,920,3483,0,0,0,0,0,0
$GC,656,-0.66,-116.7,45.3,-6.8,114,664,0.00,2.10,0.00,0.000,6,0.000,0.028,2546,2305,3483,0,0,0,0,0,0
$GC,995,-0.66,-116.7,69.8,-9.8,175,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2305,3484,0,0,0,0,0,0
$GC,1337,-0.66,-116.7,105.5,-7.9,236,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2305,3484,0,0,0,0,0,0
$GC,1663,-0.66,-116.7,135.2,-7.6,270,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2305,3485,0,0,0,0,0,0
$GC,1973,-0.66,-116.7,158.2,-7.7,285,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2305,3485,0,0,0,0,0,0
$GC,2282,-0.66,-116.7,180.7,-7.3,300,2286,0.00,2.08,0.00,0.000,4,0.000,0.034,2546,918,3485,0,0,0,0,0,0
$GC,2314,-0.66,-116.7,183.4,-7.7,301,2320,0.00,2.08,0.00,0.000,6,0.000,0.028,2546,2308,3485,0,0,0,0,0,0
$GC,2630,-0.66,-116.7,208.5,-7.4,317,2634,0.00,2.05,0.00,0.000,4,0.000,0.039,2546,3697,3485,0,0,0,0,0,0
$GC,2651,-0.66,-116.7,210.1,-7.1,318,2655,0.00,2.05,0.00,0.000,6,0.000,0.023,2546,2285,3486,0,0,0,0,0,0
$GC,2978,-0.66,-116.7,231.8,-6.7,334,2982,0.00,2.15,0.00,0.000,4,0.000,0.039,2546,3708,3486,0,0,0,0,0,0
$GC,2988,-0.66,-116.7,232.5,-6.6,334,2994,0.00,2.00,0.00,0.000,6,0.000,0.024,2547,2306,3486,0,0,0,0,0,0
$GC,3303,-0.66,-116.7,255.2,-7.2,350,3307,0.00,2.12,0.00,0.000,4,0.000,0.040,2546,3706,3486,0,0,0,0,0,0
$GC,3342,-0.69,-116.7,258.0,-7.6,352,3346,0.00,2.03,0.00,0.000,6,0.000,0.024,2546,2288,3486,0,0,0,0,0,0
$GC,3668,-0.69,-116.7,281.9,-7.2,368,3672,0.00,2.15,0.00,0.000,4,0.000,0.040,2546,3707,3485,0,0,0,0,0,0
$GC,3757,-0.74,-116.7,288.4,-6.8,372,3761,0.00,2.03,0.00,0.000,6,0.000,0.024,2546,2299,3486,0,0,0,0,0,0
$GC,4092,-0.74,-116.7,311.7,-7.0,386,4096,0.00,2.15,0.00,0.000,4,0.000,0.040,2546,3706,3485,0,0,0,0,0,0
$GC,4153,-0.77,-116.7,316.1,-7.2,388,4157,0.00,2.03,0.00,0.000,6,0.000,0.025,2546,2301,3484,0,0,0,0,0,0
$GC,4494,-0.77,-116.7,338.9,-6.7,399,4498,0.00,2.15,0.00,0.000,4,0.000,0.041,2546,3703,3484,0,0,0,0,0,0
$GC,4544,-0.82,-116.7,342.4,-7.0,400,4548,0.15,2.03,0.00,0.000,6,0.132,0.025,2499,2287,3484,0,0,0,0,0,0
$GC,4856,-0.75,-116.7,369.5,-9.0,410,4860,0.00,2.15,0.00,0.000,4,0.000,0.041,2499,3702,3483,0,0,0,0,0,0
$GC,4866,-0.69,-116.7,370.5,-9.0,410,4871,0.12,2.05,0.00,0.000,6,0.167,0.025,2538,2296,3483,0,0,0,0,0,0
$GC,5189,-0.69,-116.7,394.7,-7.5,421,5193,0.00,2.12,0.00,0.000,4,0.000,0.041,2538,3697,3482,0,0,0,0,0,0
$GC,5204,-0.69,-116.7,395.9,-7.3,421,5208,0.00,2.03,0.00,0.000,6,0.000,0.025,2538,2311,3482,0,0,0,0,0,0
$GC,5522,-0.69,-116.7,419.4,-7.3,432,5526,0.00,2.10,0.00,0.000,4,0.000,0.041,2538,3697,3481,0,0,0,0,0,0
$GC,5561,-0.69,-116.7,422.3,-7.4,433,5565,0.00,2.00,0.00,0.000,6,0.000,0.025,2538,2301,3481,0,0,0,0,0,0
$GC,5890,-0.69,-116.7,446.3,-7.3,444,5894,0.00,2.15,0.00,0.000,4,0.000,0.041,2538,3704,3480,0,0,0,0,0,0
$GC,5927,-0.69,-116.7,449.3,-7.4,445,5932,0.00,2.08,0.00,0.000,6,0.000,0.025,2538,2290,3481,0,0,0,0,0,0
$GC,6257,-0.69,-116.7,473.3,-7.4,456,6261,0.00,2.15,0.00,0.000,4,0.000,0.041,2538,3701,3480,0,0,0,0,0,0
$GC,6295,-0.72,-116.7,476.3,-7.5,457,6299,0.00,2.03,0.00,0.000,6,0.000,0.025,2538,2294,3479,0,0,0,0,0,0
$GC,6624,-0.72,-116.7,500.7,-7.6,468,6628,0.00,2.15,0.00,0.000,4,0.000,0.042,2538,3701,3479,0,0,0,0,0,0
$GC,6662,-0.72,-116.7,503.8,-7.9,468,6666,0.00,2.05,0.00,0.000,6,0.000,0.025,2538,2302,3478,0,0,0,0,0,0
$GC,6987,-0.72,-116.7,528.0,-7.5,474,6991,0.00,2.12,0.00,0.000,4,0.000,0.042,2538,3696,3478,0,0,0,0,0,0
$GC,7031,-0.72,-116.7,531.4,-7.2,474,7035,0.00,2.05,0.00,0.000,6,0.000,0.025,2538,2296,3478,0,0,0,0,0,0
$GC,7352,-0.72,-116.7,555.3,-7.4,480,7356,0.00,2.15,0.00,0.000,4,0.000,0.042,2538,3703,3477,0,0,0,0,0,0
$GC,7396,-0.76,-116.7,558.6,-7.6,480,7399,0.00,2.03,0.00,0.000,6,0.000,0.025,2538,2298,3477,0,0,0,0,0,0
$GC,7715,-0.76,-116.7,581.7,-7.2,486,7719,0.00,2.15,0.00,0.000,4,0.000,0.043,2538,3704,3477,0,0,0,0,0,0
$GC,7743,-0.79,-116.7,583.7,-7.4,486,7747,0.00,2.03,0.00,0.000,6,0.000,0.026,2538,2304,3476,0,0,0,0,0,0
$GC,8085,-0.79,-116.7,607.9,-7.0,492,8089,0.00,2.12,0.00,0.000,4,0.000,0.042,2538,3695,3475,0,0,0,0,0,0
$GC,8123,-0.82,-116.7,610.6,-7.1,492,8127,0.12,2.08,0.00,0.000,6,0.137,0.026,2500,2261,3475,0,0,0,0,0,0
$GC,8449,-0.76,-116.7,637.4,-8.3,498,8453,0.00,2.20,0.00,0.000,4,0.000,0.042,2500,3697,3475,0,0,0,0,0,0
$GC,8476,-0.71,-116.7,639.8,-8.4,498,8481,0.12,2.03,0.00,0.000,6,0.190,0.026,2529,2299,3475,0,0,0,0,0,0
$GC,8807,-0.71,-116.7,663.0,-7.0,504,8811,0.00,2.12,0.00,0.000,4,0.000,0.042,2530,3697,3474,0,0,0,0,0,0
$GC,8840,-0.71,-116.7,665.4,-7.3,504,8844,0.00,2.05,0.00,0.000,6,0.000,0.026,2530,2309,3474,0,0,0,0,0,0
$GC,9171,-0.71,-116.7,688.5,-7.1,510,9175,0.00,2.12,0.00,0.000,4,0.000,0.042,2530,3701,3473,0,0,0,0,0,0
$GC,9204,-0.71,-116.7,690.8,-7.1,510,9208,0.00,2.08,0.00,0.000,6,0.000,0.026,2530,2298,3473,0,0,0,0,0,0
$GC,9541,-0.71,-116.7,714.3,-7.0,516,9545,0.00,2.15,0.00,0.000,4,0.000,0.042,2530,3697,3473,0,0,0,0,0,0
$GC,9607,-0.71,-116.7,719.1,-7.5,517,9612,0.00,2.08,0.00,0.000,6,0.000,0.025,2530,2296,3473,0,0,0,0,0,0
$GC,9974,-0.71,-116.7,743.6,-6.8,523,9978,0.00,2.15,0.00,0.000,4,0.000,0.043,2530,3698,3473,0,0,0,0,0,0
$GC,10035,-0.71,-116.7,747.9,-6.9,524,10039,0.00,2.03,0.00,0.000,6,0.000,0.026,2530,2304,3473,0,0,0,0,0,0
$GC,10406,-0.71,-116.7,773.5,-6.8,530,10410,0.00,2.15,0.00,0.000,4,0.000,0.043,2530,3704,3472,0,0,0,0,0,0
$GC,10460,-0.71,-116.7,777.4,-7.5,530,10467,0.00,2.08,0.00,0.000,6,0.000,0.026,2530,2298,3472,0,0,0,0,0,0
$GC,10770,-0.71,-116.7,798.4,-6.8,536,10774,0.00,2.15,0.00,0.000,4,0.000,0.043,2530,3700,3472,0,0,0,0,0,0
$GC,10807,-0.71,-116.7,801.1,-7.6,536,10812,0.00,2.08,0.00,0.000,6,0.000,0.027,2530,2301,3471,0,0,0,0,0,0
$GC,11140,-0.71,-116.7,823.2,-6.6,542,11144,0.00,2.12,0.00,0.000,4,0.000,0.044,2530,3694,3471,0,0,0,0,0,0
$GC,11190,-0.74,-116.7,826.7,-7.2,542,11193,0.00,2.03,0.00,0.000,6,0.000,0.027,2530,2304,3471,0,0,0,0,0,0
$GC,11504,-0.74,-116.7,847.0,-6.5,548,11508,0.00,2.12,0.00,0.000,4,0.000,0.043,2530,3694,3470,0,0,0,0,0,0
$GC,11554,-0.77,-116.7,850.6,-6.9,548,11557,0.00,2.03,0.00,0.000,6,0.000,0.027,2530,2301,3470,0,0,0,0,0,0
$GC,11868,-0.77,-116.7,871.3,-6.5,554,11872,0.00,2.15,0.00,0.000,4,0.000,0.043,2530,3698,3470,0,0,0,0,0,0
$GC,11918,-0.81,-116.7,874.7,-6.8,554,11922,0.00,2.05,0.00,0.000,6,0.000,0.027,2530,2290,3470,0,0,0,0,0,0
$GC,12233,-0.81,-116.7,895.7,-6.8,560,12237,0.00,2.15,0.00,0.000,4,0.000,0.043,2530,3693,3469,0,0,0,0,0,0
$GC,12288,-0.84,-116.7,899.5,-6.8,560,12293,0.12,2.08,0.00,0.000,6,0.142,0.027,2490,2290,3470,0,0,0,0,0,0
$GC,12602,-0.78,-116.7,924.4,-8.0,566,12603,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2289,3469,0,0,0,0,0,0
$GC,12906,-0.72,-116.7,948.2,-7.8,571,12911,0.15,2.20,0.00,0.000,4,0.186,0.044,2528,3702,3469,0,0,0,0,0,0
$GC,12927,-0.72,-116.7,949.8,-6.5,571,12931,0.00,2.08,0.00,0.000,6,0.000,0.027,2528,2310,3469,0,0,0,0,0,0
$GC,13276,-0.72,-116.7,972.3,-6.4,577,13280,0.00,2.12,0.00,0.000,4,0.000,0.044,2528,3693,3469,0,0,0,0,0,0
$GC,13315,-0.75,-116.7,974.8,-6.6,577,13319,0.00,2.05,0.00,0.000,6,0.000,0.027,2528,2289,3469,0,0,0,0,0,0
$STATE,13572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13572,begin apogee
$GC,13577,-0.24,0.0,990.8,6.2,582,13682,0.52,0.00,101.40,1.555,6,0.165,0.000,2684,2644,3007,0,0,0,0,0,0
$STATE,13682,end apogee,CONTROL_FINISHED_OK
$STATE,13683,begin climb
$GC,13684,0.80,116.7,992.7,0.0,583,13803,1.05,2.42,108.97,1.453,4,0.112,0.044,3006,4042,2529,0,0,0,0,0,0
$GC,13858,0.59,116.7,987.4,8.7,584,13863,0.22,2.22,0.00,0.000,6,0.166,0.026,2961,2644,2523,0,0,0,0,0,0
$GC,14174,0.57,132.3,967.7,6.3,590,14192,0.00,0.00,13.95,1.400,6,0.000,0.000,2961,2644,2465,0,0,0,0,0,0
$GC,14542,0.55,142.7,943.8,6.5,596,14554,0.00,0.00,10.45,1.380,6,0.000,0.000,2961,2644,2424,0,0,0,0,0,0
$GC,14845,0.56,149.0,923.8,6.6,601,14854,0.00,0.00,7.18,1.302,6,0.000,0.000,2961,2644,2398,0,0,0,0,0,0
$GC,15148,0.56,149.0,903.1,6.9,606,15149,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2644,2396,0,0,0,0,0,0
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$STATE,26862,end climb,SURFACE_DEPTH_REACHED
$STATE,26862,begin surface coast
$FINISH,2.9,1.027426
$STATE,26912,end surface coast,CONTROL_FINISHED_OK
$STATE,26912,begin surface
$SM_CCo,26928,52.33,0.794,0,0,1883,275.23
$SM_GC,3.58,0.00,0.00,52.33,0.000,0.000,0.794,213,2291,1883,-7.98,-0.25,275.23
$IRIDIUM_FIX,6436.42,-56.10,160399,010125
$TT8_MAMPS,0.027612
$HUMID,1078367087
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,19.60
$XPDR_PINGS,1
$24V_AH,22.1,43.988
$10V_AH,9.8,29.364
$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,19.725,203.000,300.975,52.325,0.000,31.271,33.350,203.520,0.250,0.000,37.195,2380.183,21176.811,540.083,2725.712,575.021,0.000,1892.620,0.000,2676.771,0.000,0.535,0.000
$DEVICE_MAMPS,222.430,49.088,1555.476,793.845,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,800.595,1061.074,648.151,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241276
$DATA_FILE_SIZE,66484,1158
$CAP_FILE_SIZE,209065,0
$CFSIZE,260165632,232685568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058, 19.7,1
$GPS,201209,165406,6500.878,-46.188,36,1.1,42,-5.7