version: 66.06
glider: 140
mission: 8
dive: 275
start: 12 22 109 22 34 26
data:
$ID,140
$MISSION,8
$DIVE,275
$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,-49392.324
$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,89
$R_STBD_OVSHOOT,43
$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
$GPS1,222757,6441.582,-10.909,39,2.2,59,-5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.39
$_SM_ANGLEo,-67.6
$GPS2,223402,6441.586,-10.842,16,1.7,16,-5.3
$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,137.8,276900,-13.7,-6.875
$D_GRID,2681
$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,-116.7,0.0,0.0,0,23,0.00,0.00,-7.22,0.000,2,0.000,0.000,212,2275,1984,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.6,-0.0,1,131,8.65,2.08,-87.40,0.000,4,0.216,0.047,2508,933,3482,0,0,0,0,0,0
$GC,378,-0.71,-116.7,27.2,-8.2,64,384,0.00,2.10,0.00,0.000,6,0.000,0.028,2508,2308,3483,0,0,0,0,0,0
$GC,715,-0.62,-116.7,64.2,-12.4,125,721,0.20,2.08,0.00,0.000,4,0.189,0.031,2563,931,3484,0,0,0,0,0,0
$GC,799,-0.62,-116.7,73.4,-10.6,140,806,0.00,2.05,0.00,0.000,6,0.000,0.028,2563,2296,3484,0,0,0,0,0,0
$GC,1144,-0.66,-116.7,98.6,-6.5,201,1149,0.00,2.10,0.00,0.000,4,0.000,0.040,2563,3701,3484,0,0,0,0,0,0
$GC,1161,-0.69,-116.7,100.0,-6.8,204,1168,0.00,2.03,0.00,0.000,6,0.000,0.023,2564,2309,3484,0,0,0,0,0,0
$GC,1499,-0.73,-116.7,124.7,-7.3,256,1503,0.00,2.10,0.00,0.000,4,0.000,0.040,2563,3697,3484,0,0,0,0,0,0
$GC,1532,-0.78,-116.7,128.0,-9.9,257,1538,0.10,2.03,0.00,0.000,6,0.104,0.023,2511,2295,3484,0,0,0,0,0,0
$GC,1849,-0.70,-116.7,158.8,-9.0,273,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2294,3485,0,0,0,0,0,0
$GC,2157,-0.64,-116.7,186.2,-8.7,288,2161,0.17,2.03,0.00,0.000,4,0.184,0.035,2557,934,3485,0,0,0,0,0,0
$GC,2180,-0.64,-116.7,187.9,-7.5,289,2184,0.00,2.03,0.00,0.000,6,0.000,0.028,2557,2307,3485,0,0,0,0,0,0
$GC,2506,-0.67,-116.7,208.8,-6.1,305,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2308,3485,0,0,0,0,0,0
$GC,2815,-0.71,-116.7,227.2,-5.7,320,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2308,3485,0,0,0,0,0,0
$GC,3126,-0.75,-116.7,245.5,-6.2,335,3128,0.12,0.00,0.00,0.000,6,0.138,0.000,2516,2308,3485,0,0,0,0,0,0
$GC,3434,-0.71,-116.7,269.5,-8.0,350,3437,0.00,2.08,0.00,0.000,4,0.000,0.040,2515,3700,3485,0,0,0,0,0,0
$GC,3506,-0.67,-116.7,275.7,-9.1,353,3511,0.05,2.03,0.00,0.000,6,0.148,0.023,2543,2296,3485,0,0,0,0,0,0
$GC,3828,-0.67,-116.7,299.5,-7.3,369,3832,0.00,2.12,0.00,0.000,4,0.000,0.040,2543,3701,3485,0,0,0,0,0,0
$GC,3844,-0.67,-116.7,300.8,-7.5,370,3848,0.00,1.98,0.00,0.000,6,0.000,0.024,2543,2310,3485,0,0,0,0,0,0
$GC,4161,-0.67,-116.7,323.1,-6.9,381,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2307,3485,0,0,0,0,0,0
$GC,4468,-0.67,-116.7,344.3,-6.8,391,4472,0.00,2.05,0.00,0.000,4,0.000,0.035,2544,919,3484,0,0,0,0,0,0
$GC,4501,-0.67,-116.7,346.8,-7.6,392,4505,0.00,2.03,0.00,0.000,6,0.000,0.028,2543,2303,3484,0,0,0,0,0,0
$GC,4836,-0.67,-116.7,369.8,-7.0,403,4840,0.00,2.05,0.00,0.000,4,0.000,0.035,2544,925,3483,0,0,0,0,0,0
$GC,4880,-0.67,-116.7,373.2,-7.3,404,4884,0.00,2.05,0.00,0.000,6,0.000,0.028,2543,2297,3483,0,0,0,0,0,0
$GC,5204,-0.67,-116.7,395.9,-6.9,415,5208,0.00,2.05,0.00,0.000,4,0.000,0.034,2544,921,3483,0,0,0,0,0,0
$GC,5237,-0.67,-116.7,398.2,-7.5,416,5241,0.00,2.03,0.00,0.000,6,0.000,0.028,2543,2302,3483,0,0,0,0,0,0
$GC,5571,-0.67,-116.7,421.2,-6.9,427,5575,0.00,2.05,0.00,0.000,4,0.000,0.035,2543,925,3482,0,0,0,0,0,0
$GC,5599,-0.67,-116.7,423.1,-7.6,428,5603,0.00,2.03,0.00,0.000,6,0.000,0.029,2543,2298,3482,0,0,0,0,0,0
$GC,5934,-0.67,-116.7,444.7,-6.4,439,5938,0.00,2.05,0.00,0.000,4,0.000,0.035,2544,924,3481,0,0,0,0,0,0
$GC,5950,-0.67,-116.7,445.9,-6.3,439,5954,0.00,2.05,0.00,0.000,6,0.000,0.029,2543,2296,3481,0,0,0,0,0,0
$GC,6268,-0.67,-116.7,466.7,-6.7,450,6272,0.00,2.05,0.00,0.000,4,0.000,0.035,2543,919,3480,0,0,0,0,0,0
$GC,6296,-0.67,-116.7,468.6,-7.5,451,6300,0.00,2.05,0.00,0.000,6,0.000,0.030,2543,2311,3480,0,0,0,0,0,0
$GC,6629,-0.67,-116.7,491.5,-6.9,462,6633,0.00,2.08,0.00,0.000,4,0.000,0.035,2543,921,3478,0,0,0,0,0,0
$GC,6645,-0.67,-116.7,492.6,-6.9,462,6649,0.00,2.05,0.00,0.000,6,0.000,0.029,2543,2292,3478,0,0,0,0,0,0
$GC,6967,-0.70,-116.7,514.7,-6.9,470,6969,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2293,3477,0,0,0,0,0,0
$GC,7271,-0.70,-116.7,535.3,-6.8,475,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2292,3477,0,0,0,0,0,0
$GC,7573,-0.70,-116.7,556.4,-7.0,480,7577,0.00,2.10,0.00,0.000,4,0.000,0.042,2544,3703,3476,0,0,0,0,0,0
$GC,7594,-0.74,-116.7,557.9,-7.0,480,7598,0.00,2.05,0.00,0.000,6,0.000,0.025,2543,2297,3476,0,0,0,0,0,0
$GC,7938,-0.77,-116.7,582.6,-7.2,486,7942,0.00,2.15,0.00,0.000,4,0.000,0.042,2543,3704,3475,0,0,0,0,0,0
$GC,7970,-0.82,-116.7,585.2,-7.8,486,7975,0.12,2.05,0.00,0.000,6,0.143,0.025,2503,2299,3475,0,0,0,0,0,0
$GC,8307,-0.77,-116.7,613.4,-8.5,492,8311,0.00,2.05,0.00,0.000,4,0.000,0.038,2503,917,3474,0,0,0,0,0,0
$GC,8323,-0.71,-116.7,614.8,-8.3,492,8327,0.12,2.05,0.00,0.000,6,0.194,0.031,2533,2303,3474,0,0,0,0,0,0
$GC,8664,-0.71,-116.7,639.6,-7.3,498,8666,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2304,3474,0,0,0,0,0,0
$GC,8968,-0.71,-116.7,661.2,-7.1,503,8972,0.00,2.10,0.00,0.000,4,0.000,0.042,2534,3706,3473,0,0,0,0,0,0
$GC,8989,-0.71,-116.7,662.8,-7.5,503,8993,0.00,2.08,0.00,0.000,6,0.000,0.026,2534,2301,3473,0,0,0,0,0,0
$GC,9331,-0.71,-116.7,687.1,-7.1,509,9335,0.00,2.15,0.00,0.000,4,0.000,0.042,2534,3706,3472,0,0,0,0,0,0
$GC,9393,-0.75,-116.7,691.6,-7.4,510,9397,0.00,2.05,0.00,0.000,6,0.000,0.026,2534,2288,3472,0,0,0,0,0,0
$GC,9758,-0.75,-116.7,717.6,-7.1,516,9762,0.00,2.15,0.00,0.000,4,0.000,0.042,2534,3700,3471,0,0,0,0,0,0
$GC,9820,-0.79,-116.7,722.0,-7.2,517,9824,0.00,2.03,0.00,0.000,6,0.000,0.026,2534,2295,3471,0,0,0,0,0,0
$GC,10186,-0.79,-116.7,746.6,-6.6,523,10190,0.00,2.15,0.00,0.000,4,0.000,0.042,2534,3699,3470,0,0,0,0,0,0
$GC,10275,-0.82,-116.7,752.8,-7.0,524,10279,0.00,2.05,0.00,0.000,6,0.000,0.026,2534,2302,3470,0,0,0,0,0,0
$GC,10624,-0.82,-116.7,775.8,-6.7,530,10628,0.00,2.15,0.00,0.000,4,0.000,0.043,2534,3709,3470,0,0,0,0,0,0
$GC,10707,-0.86,-116.7,781.6,-6.9,531,10712,0.15,2.05,0.00,0.000,6,0.134,0.026,2488,2289,3469,0,0,0,0,0,0
$GC,11049,-0.79,-116.7,810.0,-8.4,537,11053,0.00,2.15,0.00,0.000,4,0.000,0.042,2487,3698,3469,0,0,0,0,0,0
$GC,11127,-0.73,-116.7,816.8,-8.5,538,11131,0.15,2.03,0.00,0.000,6,0.182,0.026,2526,2296,3469,0,0,0,0,0,0
$GC,11480,-0.73,-116.7,841.4,-7.0,544,11484,0.00,2.15,0.00,0.000,4,0.000,0.043,2525,3704,3468,0,0,0,0,0,0
$GC,11609,-0.73,-116.7,850.7,-7.0,546,11613,0.00,2.03,0.00,0.000,6,0.000,0.026,2526,2296,3468,0,0,0,0,0,0
$GC,11973,-0.73,-116.7,875.4,-6.7,552,11977,0.00,2.15,0.00,0.000,4,0.000,0.043,2526,3699,3468,0,0,0,0,0,0
$GC,12108,-0.73,-116.7,884.6,-7.0,554,12112,0.00,2.03,0.00,0.000,6,0.000,0.026,2526,2300,3468,0,0,0,0,0,0
$GC,12479,-0.73,-116.7,908.1,-6.3,560,12483,0.00,2.15,0.00,0.000,4,0.000,0.043,2526,3700,3468,0,0,0,0,0,0
$GC,12651,-0.73,-116.7,919.3,-7.3,562,12656,0.00,2.05,0.00,0.000,6,0.000,0.025,2526,2298,3468,0,0,0,0,0,0
$GC,12983,-0.73,-116.7,939.7,-6.2,568,12987,0.00,2.15,0.00,0.000,4,0.000,0.043,2526,3698,3467,0,0,0,0,0,0
$GC,13125,-0.76,-116.7,948.5,-6.7,570,13129,0.00,2.03,0.00,0.000,6,0.000,0.026,2526,2294,3467,0,0,0,0,0,0
$GC,13490,-0.76,-116.7,969.9,-5.8,576,13494,0.00,2.17,0.00,0.000,4,0.000,0.043,2527,3701,3467,0,0,0,0,0,0
$GC,13657,-0.76,-116.7,980.0,-6.5,578,13661,0.00,2.08,0.00,0.000,6,0.000,0.026,2526,2290,3467,0,0,0,0,0,0
$STATE,13871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13871,begin apogee
$GC,13876,-0.24,0.0,992.6,5.8,582,13980,0.52,0.00,100.65,1.554,6,0.166,0.000,2681,2649,3006,0,0,0,0,0,0
$STATE,13981,end apogee,CONTROL_FINISHED_OK
$STATE,13981,begin climb
$GC,13983,0.80,116.7,994.2,0.0,583,14101,1.05,2.35,108.90,1.457,4,0.113,0.035,3021,1277,2529,0,0,0,0,0,0
$GC,14156,0.66,116.7,988.7,7.4,584,14161,0.15,2.25,0.00,0.000,6,0.173,0.032,2983,2653,2523,0,0,0,0,0,0
$GC,14471,0.57,117.0,966.8,6.9,590,14476,0.12,2.17,0.00,0.000,4,0.199,0.045,2952,4045,2519,0,0,0,0,0,0
$GC,14555,0.49,120.9,960.9,6.7,591,14560,0.12,2.08,0.00,0.000,6,0.186,0.027,2930,2652,2519,0,0,0,0,0,0
$GC,14897,0.55,164.4,943.0,5.1,597,14946,0.00,2.25,41.55,1.457,4,0.000,0.036,2939,1269,2334,0,0,0,0,0,0
$GC,14987,0.60,172.7,937.9,6.5,598,15001,0.00,2.17,8.85,1.299,6,0.000,0.032,2939,2656,2300,0,0,0,0,0,0
$GC,15328,0.65,183.5,915.9,6.4,604,15344,0.10,2.17,10.43,1.371,4,0.130,0.044,2975,4049,2257,0,0,0,0,0,0
$GC,15390,0.56,183.5,910.8,8.9,605,15395,0.15,2.10,0.00,0.000,6,0.176,0.027,2948,2644,2255,0,0,0,0,0,0
$GC,15755,0.57,189.9,886.2,6.6,611,15769,0.00,2.17,6.82,1.282,4,0.000,0.036,2957,1258,2232,0,0,0,0,0,0
$GC,15825,0.62,201.1,881.5,6.4,612,15844,0.00,2.17,12.10,1.352,6,0.000,0.033,2953,2653,2185,0,0,0,0,0,0
$GC,16189,0.66,202.0,856.8,6.8,618,16191,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2654,2182,0,0,0,0,0,0
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$STATE,26839,end climb,SURFACE_DEPTH_REACHED
$STATE,26839,begin surface coast
$FINISH,2.6,1.015123
$STATE,26913,end surface coast,CONTROL_FINISHED_OK
$STATE,26915,begin surface
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$IRIDIUM_FIX,6416.43,-15.10,180399,151527
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$HUMID,1078364506
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$TCM_TEMP,14.80
$XPDR_PINGS,2
$24V_AH,22.1,45.244
$10V_AH,9.8,30.279
$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
$DEVICE_SECS,21.625,210.000,320.825,37.800,0.000,25.724,32.195,174.370,0.500,0.000,16.065,2413.844,20935.348,521.463,2911.322,542.710,0.000,1970.994,0.000,2870.432,0.000,0.534,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241316
$DATA_FILE_SIZE,63266,1121
$CAP_FILE_SIZE,223508,0
$CFSIZE,260165632,231956480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.015,165.5,1
$GPS,231209,060506,6439.206,-5.803,33,1.7,34,-5.2