version: 66.06
glider: 140
mission: 8
dive: 187
start: 11 25 109 5 52 42
data:
$ID,140
$MISSION,8
$DIVE,187
$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,-1
$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,-47680.59
$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,79
$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
$GPS1,054601,6328.530,239.816,41,1.5,42,-3.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-55.8
$GPS2,055220,6328.599,239.629,15,1.5,15,-3.5
$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,133.9,79994,-13.7,-6.875
$D_GRID,1199
$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,-116.7,0.0,0.0,0,40,0.00,0.00,-23.00,0.000,2,0.000,0.000,218,2279,2342,0,0,0,0,0,0
$GC,43,-0.80,-116.7,3.2,-1.6,4,111,9.23,0.00,-55.80,0.000,6,0.247,0.000,2502,2279,3483,0,0,0,0,0,0
$GC,444,-0.66,-116.7,37.4,-5.3,76,450,0.17,0.00,0.00,0.000,6,0.199,0.000,2548,2279,3485,0,0,0,0,0,0
$GC,784,-0.66,-116.7,71.0,-8.2,137,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2279,3485,0,0,0,0,0,0
$GC,1125,-0.62,-116.7,101.5,-8.8,198,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2279,3486,0,0,0,0,0,0
$GC,1467,-0.62,-116.7,130.0,-7.9,243,1471,0.00,2.15,0.00,0.000,4,0.000,0.041,2548,3703,3485,0,0,0,0,0,0
$GC,1499,-0.62,-116.7,132.9,-8.5,244,1507,0.00,2.05,0.00,0.000,6,0.000,0.023,2548,2309,3485,0,0,0,0,0,0
$GC,1816,-0.62,-116.7,157.8,-8.2,260,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2309,3486,0,0,0,0,0,0
$GC,2126,-0.62,-116.7,181.3,-7.4,275,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2309,3486,0,0,0,0,0,0
$GC,2434,-0.62,-116.7,204.4,-7.3,290,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2309,3486,0,0,0,0,0,0
$GC,2743,-0.62,-116.7,226.3,-7.2,305,2747,0.00,2.05,0.00,0.000,4,0.000,0.036,2548,908,3486,0,0,0,0,0,0
$GC,2760,-0.62,-116.7,227.6,-7.1,306,2764,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2313,3486,0,0,0,0,0,0
$GC,3086,-0.62,-116.7,251.7,-7.4,322,3090,0.00,2.08,0.00,0.000,4,0.000,0.035,2548,907,3485,0,0,0,0,0,0
$GC,3102,-0.62,-116.7,253.0,-7.8,323,3106,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2308,3486,0,0,0,0,0,0
$GC,3428,-0.62,-116.7,277.6,-7.5,339,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2308,3485,0,0,0,0,0,0
$GC,3748,-0.62,-116.7,302.5,-7.9,354,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2308,3485,0,0,0,0,0,0
$GC,4054,-0.62,-116.7,326.3,-7.8,364,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2308,3485,0,0,0,0,0,0
$GC,4360,-0.62,-116.7,351.1,-8.2,374,4364,0.00,2.08,0.00,0.000,4,0.000,0.035,2548,901,3486,0,0,0,0,0,0
$GC,4398,-0.62,-116.7,354.6,-8.9,375,4402,0.00,2.08,0.00,0.000,6,0.000,0.028,2548,2299,3485,0,0,0,0,0,0
$GC,4727,-0.62,-116.7,379.8,-7.3,386,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2299,3486,0,0,0,0,0,0
$GC,5034,-0.62,-116.7,402.0,-7.3,396,5038,0.00,2.05,0.00,0.000,4,0.000,0.035,2548,909,3486,0,0,0,0,0,0
$GC,5067,-0.62,-116.7,404.5,-7.1,397,5071,0.00,2.03,0.00,0.000,6,0.000,0.028,2548,2304,3486,0,0,0,0,0,0
$GC,5401,-0.62,-116.7,427.2,-6.8,408,5405,0.00,2.05,0.00,0.000,4,0.000,0.041,2548,3701,3485,0,0,0,0,0,0
$GC,5434,-0.62,-116.7,429.7,-7.2,409,5438,0.00,2.03,0.00,0.000,6,0.000,0.023,2548,2293,3485,0,0,0,0,0,0
$GC,5770,-0.62,-116.7,452.0,-6.5,420,5774,0.00,2.10,0.00,0.000,4,0.000,0.041,2548,3698,3485,0,0,0,0,0,0
$GC,5875,-0.62,-116.7,459.3,-6.9,423,5879,0.00,2.03,0.00,0.000,6,0.000,0.023,2548,2290,3485,0,0,0,0,0,0
$GC,6210,-0.62,-116.7,481.8,-6.8,434,6214,0.00,2.10,0.00,0.000,4,0.000,0.041,2548,3700,3485,0,0,0,0,0,0
$GC,6259,-0.62,-116.7,485.3,-7.3,435,6263,0.00,2.00,0.00,0.000,6,0.000,0.024,2548,2304,3485,0,0,0,0,0,0
$GC,6606,-0.62,-116.7,507.8,-6.5,445,6610,0.00,2.10,0.00,0.000,4,0.000,0.041,2548,3704,3485,0,0,0,0,0,0
$GC,6633,-0.62,-116.7,509.7,-6.6,445,6637,0.00,2.03,0.00,0.000,6,0.000,0.024,2548,2304,3484,0,0,0,0,0,0
$GC,6977,-0.62,-116.7,531.6,-6.4,451,6980,0.00,2.10,0.00,0.000,4,0.000,0.041,2548,3708,3484,0,0,0,0,0,0
$GC,7003,-0.62,-116.7,533.4,-6.6,451,7007,0.00,2.05,0.00,0.000,6,0.000,0.025,2548,2298,3484,0,0,0,0,0,0
$GC,7341,-0.62,-116.7,555.4,-6.6,457,7345,0.00,2.10,0.00,0.000,4,0.000,0.041,2548,3699,3484,0,0,0,0,0,0
$GC,7446,-0.67,-116.7,563.0,-7.4,458,7450,0.00,2.00,0.00,0.000,6,0.000,0.025,2548,2288,3483,0,0,0,0,0,0
$GC,7773,-0.67,-116.7,584.4,-6.6,464,7777,0.00,2.12,0.00,0.000,4,0.000,0.042,2548,3701,3483,0,0,0,0,0,0
$GC,7857,-0.70,-116.7,589.9,-6.6,465,7860,0.00,2.00,0.00,0.000,6,0.000,0.025,2548,2302,3482,0,0,0,0,0,0
$GC,8205,-0.73,-116.7,612.8,-6.6,471,8209,0.00,2.12,0.00,0.000,4,0.000,0.043,2548,3706,3482,0,0,0,0,0,0
$GC,8266,-0.77,-116.7,617.2,-7.1,471,8272,0.00,2.03,0.00,0.000,6,0.000,0.025,2548,2293,3481,0,0,0,0,0,0
$GC,8575,-0.77,-116.7,638.2,-6.8,477,8579,0.00,2.12,0.00,0.000,4,0.000,0.043,2548,3700,3480,0,0,0,0,0,0
$GC,8629,-0.82,-116.7,641.9,-7.1,477,8636,0.08,2.05,0.00,0.000,6,0.110,0.025,2501,2290,3480,0,0,0,0,0,0
$GC,8939,-0.75,-116.7,666.4,-8.0,483,8940,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2290,3479,0,0,0,0,0,0
$GC,9243,-0.68,-116.7,693.4,-9.0,488,9245,0.15,0.00,0.00,0.000,6,0.187,0.000,2541,2286,3477,0,0,0,0,0,0
$GC,9545,-0.68,-116.7,716.8,-7.7,493,9548,0.00,2.15,0.00,0.000,4,0.000,0.044,2541,3704,3476,0,0,0,0,0,0
$GC,9582,-0.68,-116.7,719.6,-7.7,493,9587,0.00,2.05,0.00,0.000,6,0.000,0.026,2541,2311,3476,0,0,0,0,0,0
$GC,9915,-0.68,-116.7,744.3,-7.4,499,9918,0.00,2.10,0.00,0.000,4,0.000,0.044,2541,3696,3475,0,0,0,0,0,0
$GC,9982,-0.68,-116.7,749.3,-7.6,500,9986,0.00,2.03,0.00,0.000,6,0.000,0.026,2541,2292,3475,0,0,0,0,0,0
$GC,10341,-0.68,-116.7,773.8,-6.7,506,10345,0.00,2.12,0.00,0.000,4,0.000,0.044,2541,3695,3474,0,0,0,0,0,0
$GC,10391,-0.72,-116.7,777.2,-6.9,506,10394,0.00,2.03,0.00,0.000,6,0.000,0.027,2541,2294,3473,0,0,0,0,0,0
$GC,10706,-0.72,-116.7,796.2,-5.9,512,10710,0.00,2.12,0.00,0.000,4,0.000,0.044,2541,3695,3472,0,0,0,0,0,0
$GC,10744,-0.75,-116.7,798.6,-5.8,512,10748,0.00,2.05,0.00,0.000,6,0.000,0.027,2541,2306,3472,0,0,0,0,0,0
$GC,11070,-0.75,-116.7,817.2,-5.7,518,11074,0.00,2.12,0.00,0.000,4,0.000,0.044,2541,3702,3471,0,0,0,0,0,0
$GC,11126,-0.79,-116.7,820.5,-6.0,518,11132,0.00,2.05,0.00,0.000,6,0.000,0.027,2541,2288,3470,0,0,0,0,0,0
$GC,11436,-0.79,-116.7,837.8,-5.5,524,11439,0.00,2.15,0.00,0.000,4,0.000,0.045,2541,3701,3469,0,0,0,0,0,0
$GC,11481,-0.82,-116.7,840.5,-6.3,524,11485,0.12,2.05,0.00,0.000,6,0.137,0.027,2502,2284,3469,0,0,0,0,0,0
$GC,11795,-0.77,-116.7,863.9,-7.6,530,11796,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2282,3468,0,0,0,0,0,0
$GC,12098,-0.71,-116.7,887.1,-7.7,535,12100,0.12,0.00,0.00,0.000,6,0.193,0.000,2533,2280,3468,0,0,0,0,0,0
$GC,12402,-0.71,-116.7,906.3,-6.3,540,12406,0.00,2.15,0.00,0.000,4,0.000,0.045,2532,3696,3466,0,0,0,0,0,0
$GC,12439,-0.71,-116.7,908.8,-6.4,540,12444,0.00,2.05,0.00,0.000,6,0.000,0.027,2533,2313,3467,0,0,0,0,0,0
$GC,12766,-0.71,-116.7,928.5,-6.1,546,12770,0.00,2.10,0.00,0.000,4,0.000,0.045,2533,3695,3466,0,0,0,0,0,0
$GC,12776,-0.71,-116.7,929.2,-6.1,546,12780,0.00,2.05,0.00,0.000,6,0.000,0.028,2533,2289,3466,0,0,0,0,0,0
$GC,13130,-0.71,-116.7,951.3,-6.2,552,13134,0.00,2.15,0.00,0.000,4,0.000,0.045,2533,3697,3465,0,0,0,0,0,0
$GC,13169,-0.71,-116.7,953.9,-6.3,552,13173,0.00,2.08,0.00,0.000,6,0.000,0.028,2533,2301,3465,0,0,0,0,0,0
$GC,13501,-0.71,-116.7,974.9,-6.3,558,13505,0.00,2.12,0.00,0.000,4,0.000,0.045,2533,3695,3465,0,0,0,0,0,0
$GC,13544,-0.71,-116.7,977.7,-5.9,558,13548,0.00,2.08,0.00,0.000,6,0.000,0.028,2533,2295,3464,0,0,0,0,0,0
$STATE,13802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13802,begin apogee
$GC,13807,-0.24,0.0,993.2,6.0,563,13908,0.50,0.00,97.88,1.543,6,0.166,0.000,2681,2654,3006,0,0,0,0,0,0
$STATE,13909,end apogee,CONTROL_FINISHED_OK
$STATE,13909,begin climb
$GC,13911,0.80,116.7,995.1,0.0,564,14025,1.08,2.38,105.35,1.449,4,0.114,0.048,3016,4037,2530,0,0,0,0,0,0
$GC,14070,0.55,116.7,989.3,9.3,567,14075,0.32,2.20,0.00,0.000,6,0.179,0.026,2946,2648,2524,0,0,0,0,0,0
$GC,14407,0.53,126.3,967.1,6.5,573,14417,0.00,0.00,8.23,1.318,6,0.000,0.000,2946,2648,2491,0,0,0,0,0,0
$GC,14710,0.54,135.3,947.4,6.5,578,14721,0.00,0.00,9.50,1.351,6,0.000,0.000,2946,2648,2453,0,0,0,0,0,0
$GC,15013,0.55,141.7,927.3,6.6,583,15022,0.00,0.00,7.22,1.299,6,0.000,0.000,2946,2648,2428,0,0,0,0,0,0
$GC,15316,0.56,151.3,907.6,6.5,588,15328,0.00,0.00,10.05,1.368,6,0.000,0.000,2946,2648,2389,0,0,0,0,0,0
$GC,15619,0.56,151.3,886.2,7.1,593,15623,0.00,2.17,0.00,0.000,4,0.000,0.048,2941,4044,2386,0,0,0,0,0,0
$GC,15668,0.50,151.3,882.4,8.0,593,15672,0.00,2.08,0.00,0.000,6,0.000,0.028,2950,2640,2386,0,0,0,0,0,0
$GC,15982,0.50,151.3,860.1,7.1,599,15983,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2639,2386,0,0,0,0,0,0
$GC,16286,0.50,151.3,838.9,7.0,604,16287,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2639,2385,0,0,0,0,0,0
$GC,16589,0.51,153.5,818.4,6.8,609,16593,0.00,2.17,0.00,0.000,4,0.000,0.048,2950,4049,2384,0,0,0,0,0,0
$GC,16667,0.44,153.5,812.5,7.0,610,16671,0.17,2.10,0.00,0.000,6,0.189,0.028,2911,2621,2384,0,0,0,0,0,0
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$STATE,26471,end climb,SURFACE_DEPTH_REACHED
$STATE,26471,begin surface coast
$FINISH,2.4,1.027246
$STATE,26525,end surface coast,CONTROL_FINISHED_OK
$STATE,26525,begin surface
$SM_CCo,26541,30.95,0.757,0,0,1883,275.23
$SM_GC,3.30,0.00,0.00,30.95,0.000,0.000,0.757,216,2281,1883,-7.96,-0.54,275.23
$IRIDIUM_FIX,6303.50,307.85,180299,222208
$TT8_MAMPS,0.027612
$HUMID,1078341281
$INTERNAL_PRESSURE,8.3304
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,22.7,31.601
$10V_AH,10.0,20.470
$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,20.500,189.300,315.050,30.950,0.000,28.704,37.572,185.076,0.000,0.000,15.869,2304.635,20913.928,520.752,2665.457,536.919,0.000,1843.102,0.000,2637.532,0.000,0.536,0.000
$DEVICE_MAMPS,246.974,48.321,1543.204,757.029,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,757.015,1001.577,584.927,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235188
$DATA_FILE_SIZE,63210,1101
$CAP_FILE_SIZE,204622,0
$CFSIZE,260165632,239648768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.176,289.3,1
$GPS,251109,131637,6327.232,239.472,26,1.9,26,-3.5