version: 66.06
glider: 140
mission: 8
dive: 319
start: 1 5 110 13 12 10
data:
$ID,140
$MISSION,8
$DIVE,319
$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,602.45679
$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,-87746.367
$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,58
$R_STBD_OVSHOOT,46
$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
$GPS1,061850,6350.368,223.979,901,99.0,901,-3.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.20
$_SM_ANGLEo,-60.1
$GPS2,061850,6350.368,223.979,901,99.0,901,-3.7
$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,144.9,118241,-13.7,-6.875
$D_GRID,1488
$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,-7.57,0.000,2,0.000,0.000,219,2284,709,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.1,-0.0,1,190,8.68,2.05,-145.18,0.000,4,0.227,0.051,2507,898,3482,0,0,0,0,0,0
$GC,267,-0.50,-116.7,9.8,-10.9,44,275,0.30,2.10,0.00,0.000,6,0.185,0.028,2594,2308,3483,0,0,0,0,0,0
$GC,607,-0.42,-116.7,34.4,-6.9,105,612,0.12,0.00,0.00,0.000,6,0.198,0.000,2628,2308,3483,0,0,0,0,0,0
$GC,942,-0.56,-116.7,56.4,-7.2,166,950,0.15,2.15,0.00,0.000,4,0.123,0.033,2576,903,3483,0,0,0,0,0,0
$GC,1065,-0.45,-116.7,65.4,-8.0,187,1071,0.15,2.05,0.00,0.000,6,0.199,0.027,2611,2308,3483,0,0,0,0,0,0
$GC,1408,-0.58,-116.7,85.7,-5.5,248,1415,0.12,2.12,0.00,0.000,4,0.140,0.040,2570,3700,3483,0,0,0,0,0,0
$GC,1433,-0.63,-116.7,87.7,-6.6,252,1440,0.00,2.05,0.00,0.000,6,0.000,0.023,2570,2274,3483,0,0,0,0,0,0
$GC,1778,-0.66,-116.7,113.9,-6.8,313,1784,0.00,2.12,0.00,0.000,4,0.000,0.038,2570,3694,3482,0,0,0,0,0,0
$GC,1870,-0.66,-116.7,120.3,-6.8,329,1874,0.00,1.98,0.00,0.000,6,0.000,0.023,2570,2293,3483,0,0,0,0,0,0
$GC,2203,-0.70,-116.7,144.4,-7.1,345,2207,0.00,2.10,0.00,0.000,4,0.000,0.038,2570,3694,3483,0,0,0,0,0,0
$GC,2265,-0.70,-116.7,148.7,-6.7,348,2269,0.00,1.98,0.00,0.000,6,0.000,0.022,2570,2293,3483,0,0,0,0,0,0
$GC,2598,-0.75,-116.7,173.3,-7.5,364,2602,0.15,2.12,0.00,0.000,4,0.123,0.038,2518,3694,3483,0,0,0,0,0,0
$GC,2635,-0.60,-116.7,176.5,-9.0,365,2642,0.17,1.98,0.00,0.000,6,0.189,0.022,2564,2272,3482,0,0,0,0,0,0
$GC,2951,-0.47,-116.7,201.7,-8.3,381,2956,0.17,2.15,0.00,0.000,4,0.196,0.039,2610,3694,3482,0,0,0,0,0,0
$GC,3012,-0.47,-116.7,206.3,-7.6,384,3016,0.00,1.95,0.00,0.000,6,0.000,0.022,2611,2308,3482,0,0,0,0,0,0
$GC,3344,-0.60,-116.7,232.3,-8.0,400,3348,0.12,2.03,0.00,0.000,4,0.130,0.033,2568,926,3483,0,0,0,0,0,0
$GC,3474,-0.60,-116.7,243.3,-8.4,406,3477,0.00,2.00,0.00,0.000,6,0.000,0.027,2567,2303,3482,0,0,0,0,0,0
$GC,3806,-0.66,-116.7,267.0,-6.8,422,3810,0.00,2.05,0.00,0.000,4,0.000,0.039,2567,3694,3482,0,0,0,0,0,0
$GC,3895,-0.66,-116.7,273.0,-6.2,426,3899,0.00,1.98,0.00,0.000,6,0.000,0.022,2567,2285,3482,0,0,0,0,0,0
$GC,4222,-0.71,-116.7,292.7,-6.0,442,4226,0.00,2.12,0.00,0.000,4,0.000,0.038,2567,3700,3482,0,0,0,0,0,0
$GC,4322,-0.71,-116.7,298.7,-5.9,446,4329,0.00,1.98,0.00,0.000,6,0.000,0.023,2567,2288,3482,0,0,0,0,0,0
$GC,4655,-0.77,-116.7,320.1,-6.9,458,4660,0.15,2.12,0.00,0.000,4,0.124,0.038,2515,3695,3482,0,0,0,0,0,0
$GC,4773,-0.67,-116.7,329.2,-7.7,461,4777,0.12,1.95,0.00,0.000,6,0.186,0.022,2546,2294,3482,0,0,0,0,0,0
$GC,5085,-0.67,-116.7,352.4,-7.3,471,5089,0.00,2.10,0.00,0.000,4,0.000,0.039,2546,3693,3482,0,0,0,0,0,0
$GC,5128,-0.67,-116.7,355.7,-7.5,472,5132,0.00,1.98,0.00,0.000,6,0.000,0.023,2547,2317,3481,0,0,0,0,0,0
$GC,5452,-0.67,-116.7,379.0,-7.4,483,5456,0.00,2.08,0.00,0.000,4,0.000,0.039,2547,3698,3481,0,0,0,0,0,0
$GC,5524,-0.67,-116.7,384.3,-7.0,485,5528,0.00,2.03,0.00,0.000,6,0.000,0.023,2547,2296,3481,0,0,0,0,0,0
$GC,5854,-0.67,-116.7,405.6,-6.3,496,5858,0.00,2.10,0.00,0.000,4,0.000,0.039,2546,3692,3480,0,0,0,0,0,0
$GC,5920,-0.67,-116.7,409.9,-6.0,498,5924,0.00,2.00,0.00,0.000,6,0.000,0.024,2547,2308,3480,0,0,0,0,0,0
$GC,6254,-0.67,-116.7,433.0,-7.1,509,6258,0.00,2.10,0.00,0.000,4,0.000,0.040,2547,3698,3479,0,0,0,0,0,0
$GC,6321,-0.67,-116.7,437.8,-7.0,511,6325,0.00,2.03,0.00,0.000,6,0.000,0.024,2546,2302,3478,0,0,0,0,0,0
$GC,6655,-0.67,-116.7,462.4,-7.3,522,6659,0.00,2.10,0.00,0.000,4,0.000,0.040,2547,3693,3478,0,0,0,0,0,0
$GC,6727,-0.67,-116.7,467.6,-7.0,524,6731,0.00,2.03,0.00,0.000,6,0.000,0.024,2547,2299,3477,0,0,0,0,0,0
$GC,7058,-0.67,-116.7,490.3,-6.7,535,7061,0.00,2.12,0.00,0.000,4,0.000,0.041,2547,3693,3476,0,0,0,0,0,0
$GC,7068,-0.67,-116.7,491.1,-6.7,535,7072,0.00,2.03,0.00,0.000,6,0.000,0.025,2547,2308,3476,0,0,0,0,0,0
$GC,7390,-0.67,-116.7,512.1,-6.5,543,7394,0.00,2.10,0.00,0.000,4,0.000,0.041,2547,3691,3475,0,0,0,0,0,0
$GC,7446,-0.67,-116.7,515.7,-6.1,543,7451,0.00,2.00,0.00,0.000,6,0.000,0.025,2547,2297,3475,0,0,0,0,0,0
$GC,7754,-0.67,-116.7,537.8,-7.3,549,7758,0.00,2.12,0.00,0.000,4,0.000,0.042,2547,3695,3474,0,0,0,0,0,0
$GC,7781,-0.67,-116.7,540.0,-8.0,549,7785,0.00,2.05,0.00,0.000,6,0.000,0.025,2547,2308,3473,0,0,0,0,0,0
$GC,8119,-0.67,-116.7,565.7,-7.7,555,8123,0.00,2.08,0.00,0.000,4,0.000,0.038,2546,912,3472,0,0,0,0,0,0
$GC,8231,-0.62,-116.7,574.4,-7.6,556,8235,0.00,2.08,0.00,0.000,6,0.000,0.031,2547,2295,3472,0,0,0,0,0,0
$GC,8551,-0.62,-116.7,598.9,-7.8,562,8555,0.00,2.10,0.00,0.000,4,0.000,0.043,2547,3701,3471,0,0,0,0,0,0
$GC,8613,-0.62,-116.7,603.3,-8.0,563,8617,0.00,2.03,0.00,0.000,6,0.000,0.025,2546,2294,3471,0,0,0,0,0,0
$GC,8977,-0.65,-116.7,630.8,-7.5,569,8981,0.00,2.15,0.00,0.000,4,0.000,0.043,2547,3702,3470,0,0,0,0,0,0
$GC,9044,-0.65,-116.7,635.9,-7.5,570,9048,0.00,2.03,0.00,0.000,6,0.000,0.025,2547,2304,3470,0,0,0,0,0,0
$GC,9409,-0.69,-116.7,662.4,-7.3,576,9413,0.00,2.12,0.00,0.000,4,0.000,0.043,2547,3697,3468,0,0,0,0,0,0
$GC,9436,-0.69,-116.7,664.4,-7.5,576,9440,0.00,2.08,0.00,0.000,6,0.000,0.026,2547,2296,3468,0,0,0,0,0,0
$GC,9780,-0.73,-116.7,688.2,-7.0,582,9784,0.00,2.15,0.00,0.000,4,0.000,0.043,2547,3701,3467,0,0,0,0,0,0
$GC,9857,-0.73,-116.7,693.7,-7.0,583,9861,0.00,2.08,0.00,0.000,6,0.000,0.026,2547,2299,3467,0,0,0,0,0,0
$GC,10211,-0.76,-116.7,718.6,-7.1,589,10215,0.00,2.15,0.00,0.000,4,0.000,0.044,2547,3704,3466,0,0,0,0,0,0
$GC,10301,-0.76,-116.7,724.9,-7.1,590,10304,0.00,2.05,0.00,0.000,6,0.000,0.026,2547,2294,3466,0,0,0,0,0,0
$GC,10643,-0.80,-116.7,748.7,-7.0,596,10648,0.12,2.17,0.00,0.000,4,0.144,0.044,2506,3702,3465,0,0,0,0,0,0
$GC,10721,-0.68,-116.7,754.7,-7.6,597,10726,0.12,2.05,0.00,0.000,6,0.196,0.026,2538,2286,3465,0,0,0,0,0,0
$GC,11069,-0.68,-116.7,780.5,-7.4,603,11073,0.00,2.17,0.00,0.000,4,0.000,0.044,2538,3698,3464,0,0,0,0,0,0
$GC,11129,-0.68,-116.7,785.1,-7.6,603,11135,0.00,2.05,0.00,0.000,6,0.000,0.026,2539,2313,3464,0,0,0,0,0,0
$GC,11439,-0.68,-116.7,808.2,-7.6,609,11442,0.00,2.12,0.00,0.000,4,0.000,0.044,2538,3700,3463,0,0,0,0,0,0
$GC,11488,-0.68,-116.7,811.9,-7.5,609,11492,0.00,2.08,0.00,0.000,6,0.000,0.027,2538,2308,3463,0,0,0,0,0,0
$GC,11803,-0.68,-116.7,835.5,-7.6,615,11807,0.00,2.12,0.00,0.000,4,0.000,0.044,2538,3697,3463,0,0,0,0,0,0
$GC,11842,-0.68,-116.7,838.5,-7.5,615,11846,0.00,2.05,0.00,0.000,6,0.000,0.027,2538,2292,3463,0,0,0,0,0,0
$GC,12168,-0.71,-116.7,863.6,-7.8,621,12172,0.00,2.17,0.00,0.000,4,0.000,0.044,2538,3705,3462,0,0,0,0,0,0
$GC,12211,-0.71,-116.7,866.9,-7.7,621,12215,0.00,2.10,0.00,0.000,6,0.000,0.027,2538,2299,3462,0,0,0,0,0,0
$GC,12533,-0.71,-116.7,891.0,-7.6,627,12537,0.00,2.15,0.00,0.000,4,0.000,0.044,2538,3695,3462,0,0,0,0,0,0
$GC,12587,-0.71,-116.7,895.4,-7.5,627,12592,0.00,2.08,0.00,0.000,6,0.000,0.027,2538,2297,3462,0,0,0,0,0,0
$GC,12902,-0.71,-116.7,919.2,-7.6,633,12906,0.00,2.12,0.00,0.000,4,0.000,0.044,2538,3697,3461,0,0,0,0,0,0
$GC,12964,-0.71,-116.7,923.6,-6.9,634,12968,0.00,2.05,0.00,0.000,6,0.000,0.027,2539,2290,3461,0,0,0,0,0,0
$GC,13334,-0.71,-116.7,950.4,-7.3,640,13338,0.00,2.17,0.00,0.000,4,0.000,0.044,2538,3706,3461,0,0,0,0,0,0
$GC,13405,-0.71,-116.7,955.5,-7.1,641,13409,0.00,2.08,0.00,0.000,6,0.000,0.027,2538,2310,3461,0,0,0,0,0,0
$GC,13766,-0.75,-116.7,981.0,-7.2,647,13770,0.00,2.12,0.00,0.000,4,0.000,0.044,2538,3695,3461,0,0,0,0,0,0
$GC,13838,-0.75,-116.7,986.0,-6.5,648,13842,0.00,2.08,0.00,0.000,6,0.000,0.027,2538,2296,3460,0,0,0,0,0,0
$STATE,13953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13954,begin apogee
$GC,13959,-0.24,0.0,994.1,7.1,650,14062,0.50,0.00,99.78,1.544,6,0.173,0.000,2684,2651,3006,0,0,0,0,0,0
$STATE,14062,end apogee,CONTROL_FINISHED_OK
$STATE,14063,begin climb
$GC,14064,0.80,116.7,997.1,0.0,651,14187,1.08,2.40,109.93,1.453,4,0.125,0.044,3012,4036,2528,0,0,0,0,0,0
$GC,14256,0.73,136.6,992.9,6.1,654,14280,0.00,2.20,19.12,1.372,6,0.000,0.026,3022,2649,2448,0,0,0,0,0,0
$GC,14625,0.74,145.3,969.3,6.5,660,14639,0.00,2.28,8.12,1.306,4,0.000,0.047,3021,4037,2413,0,0,0,0,0,0
$GC,14708,0.68,151.9,963.7,6.6,661,14723,0.17,2.10,7.72,1.257,6,0.177,0.027,2984,2641,2386,0,0,0,0,0,0
$GC,15063,0.81,164.5,941.7,6.4,667,15082,0.12,2.30,12.50,1.396,4,0.117,0.047,3028,4049,2334,0,0,0,0,0,0
$GC,15256,0.76,164.5,927.8,7.1,669,15262,0.00,2.08,0.00,0.000,6,0.000,0.027,3038,2650,2332,0,0,0,0,0,0
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$STATE,27600,end climb,SURFACE_DEPTH_REACHED
$STATE,27600,begin surface coast
$FINISH,2.9,1.004244
$STATE,27648,end surface coast,CONTROL_FINISHED_OK
$STATE,27648,begin surface
$SM_CCo,27665,270.90,0.726,0,0,549,602.46
$SM_GC,3.48,0.00,0.00,270.90,0.000,0.000,0.726,217,2281,549,-7.96,-0.51,602.46
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$TT8_MAMPS,0.027612
$HUMID,1078290958
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$TCM_TEMP,19.80
$XPDR_PINGS,1
$24V_AH,22.1,52.763
$10V_AH,9.7,36.136
$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
$DEVICE_SECS,23.375,265.025,354.150,270.900,0.000,164.004,141.147,0.000,0.250,0.000,903.767,2709.442,20837.984,863.140,4421.313,660.612,0.000,2619.253,0.000,3483.595,0.000,0.536,0.000
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$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235252
$DATA_FILE_SIZE,72656,1240
$CAP_FILE_SIZE,256105,0
$CFSIZE,260165632,227450880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.009,150.5,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7