version: 66.06
glider: 140
mission: 8
dive: 276
start: 12 23 109 6 11 33
data:
$ID,140
$MISSION,8
$DIVE,276
$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,-49424.68
$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,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
$GPS1,060506,6439.206,-5.803,33,1.7,34,-5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.40
$_SM_ANGLEo,-64.2
$GPS2,061111,6439.196,-5.811,11,2.3,30,-5.2
$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,137.6,270793,-13.7,-6.875
$D_GRID,2653
$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,-6.80,0.000,2,0.000,0.000,218,2289,2013,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.4,-0.0,1,132,9.12,2.12,-86.10,0.000,4,0.239,0.049,2503,925,3483,0,0,0,0,0,0
$GC,140,-0.92,-116.7,3.6,-1.9,21,147,0.12,2.08,0.00,0.000,6,0.143,0.028,2465,2308,3484,0,0,0,0,0,0
$GC,477,-0.76,-116.7,42.5,-12.9,82,484,0.20,2.15,0.00,0.000,4,0.186,0.033,2516,920,3484,0,0,0,0,0,0
$GC,732,-0.67,-116.7,64.8,-8.8,128,739,0.00,2.08,0.00,0.000,6,0.000,0.028,2517,2298,3485,0,0,0,0,0,0
$GC,1079,-0.62,-116.7,99.8,-8.2,189,1086,0.17,2.10,0.00,0.000,4,0.189,0.034,2565,912,3485,0,0,0,0,0,0
$GC,1217,-0.62,-116.7,111.5,-8.0,213,1223,0.00,2.05,0.00,0.000,6,0.000,0.027,2565,2309,3485,0,0,0,0,0,0
$GC,1541,-0.66,-116.7,133.5,-6.1,244,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2309,3486,0,0,0,0,0,0
$GC,1852,-0.69,-116.7,155.3,-5.2,259,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2309,3486,0,0,0,0,0,0
$GC,2161,-0.74,-116.7,174.1,-6.4,274,2163,0.12,0.00,0.00,0.000,6,0.133,0.000,2525,2310,3486,0,0,0,0,0,0
$GC,2470,-0.71,-116.7,200.0,-9.0,289,2474,0.00,2.05,0.00,0.000,4,0.000,0.039,2524,3698,3486,0,0,0,0,0,0
$GC,2487,-0.71,-116.7,201.6,-9.0,290,2491,0.00,2.00,0.00,0.000,6,0.000,0.023,2524,2294,3486,0,0,0,0,0,0
$GC,2820,-0.67,-116.7,229.6,-8.0,306,2823,0.00,2.00,0.00,0.000,4,0.000,0.035,2524,923,3486,0,0,0,0,0,0
$GC,2836,-0.63,-116.7,230.9,-7.8,306,2842,0.08,2.05,0.00,0.000,6,0.176,0.028,2559,2296,3486,0,0,0,0,0,0
$GC,3154,-0.67,-116.7,251.1,-6.0,322,3158,0.00,2.05,0.00,0.000,4,0.000,0.033,2559,910,3486,0,0,0,0,0,0
$GC,3175,-0.71,-116.7,252.6,-6.3,323,3179,0.00,2.03,0.00,0.000,6,0.000,0.028,2559,2301,3486,0,0,0,0,0,0
$GC,3502,-0.76,-116.7,273.6,-6.4,339,3504,0.12,0.00,0.00,0.000,6,0.139,0.000,2518,2301,3486,0,0,0,0,0,0
$GC,3812,-0.72,-116.7,297.8,-7.7,354,3816,0.00,2.08,0.00,0.000,4,0.000,0.041,2517,3700,3487,0,0,0,0,0,0
$GC,3822,-0.68,-116.7,298.8,-7.7,354,3828,0.00,2.03,0.00,0.000,6,0.000,0.023,2517,2302,3486,0,0,0,0,0,0
$GC,4156,-0.65,-116.7,324.5,-7.7,366,4161,0.12,2.12,0.00,0.000,4,0.187,0.041,2549,3698,3486,0,0,0,0,0,0
$GC,4171,-0.65,-116.7,325.8,-7.7,366,4176,0.00,2.03,0.00,0.000,6,0.000,0.023,2550,2302,3486,0,0,0,0,0,0
$GC,4490,-0.69,-116.7,347.9,-7.0,377,4494,0.00,2.12,0.00,0.000,4,0.000,0.041,2550,3706,3486,0,0,0,0,0,0
$GC,4602,-0.74,-116.7,355.6,-6.6,380,4606,0.00,2.00,0.00,0.000,6,0.000,0.024,2550,2304,3485,0,0,0,0,0,0
$GC,4926,-0.78,-116.7,377.1,-6.7,391,4930,0.12,2.15,0.00,0.000,4,0.136,0.041,2509,3700,3485,0,0,0,0,0,0
$GC,5026,-0.74,-116.7,385.7,-8.5,394,5030,0.00,2.03,0.00,0.000,6,0.000,0.024,2509,2280,3485,0,0,0,0,0,0
$GC,5354,-0.70,-116.7,414.2,-8.5,405,5359,0.10,2.17,0.00,0.000,4,0.199,0.041,2532,3700,3485,0,0,0,0,0,0
$GC,5382,-0.70,-116.7,416.5,-8.3,406,5386,0.00,2.00,0.00,0.000,6,0.000,0.025,2533,2302,3484,0,0,0,0,0,0
$GC,5722,-0.70,-116.7,442.9,-7.7,417,5726,0.00,2.12,0.00,0.000,4,0.000,0.041,2532,3701,3483,0,0,0,0,0,0
$GC,5766,-0.70,-116.7,446.4,-7.7,418,5770,0.00,2.05,0.00,0.000,6,0.000,0.025,2532,2298,3483,0,0,0,0,0,0
$GC,6090,-0.70,-116.7,470.4,-7.5,429,6093,0.00,2.12,0.00,0.000,4,0.000,0.041,2532,3698,3482,0,0,0,0,0,0
$GC,6134,-0.70,-116.7,473.9,-7.9,430,6137,0.00,2.03,0.00,0.000,6,0.000,0.025,2532,2290,3482,0,0,0,0,0,0
$GC,6457,-0.70,-116.7,498.4,-7.6,441,6461,0.00,2.15,0.00,0.000,4,0.000,0.041,2532,3705,3481,0,0,0,0,0,0
$GC,6500,-0.70,-116.7,501.5,-7.0,442,6505,0.00,2.05,0.00,0.000,6,0.000,0.025,2532,2306,3481,0,0,0,0,0,0
$GC,6821,-0.70,-116.7,525.3,-7.5,448,6825,0.00,2.12,0.00,0.000,4,0.000,0.041,2532,3703,3480,0,0,0,0,0,0
$GC,6858,-0.70,-116.7,528.3,-8.1,448,6863,0.00,2.08,0.00,0.000,6,0.000,0.025,2532,2293,3480,0,0,0,0,0,0
$GC,7185,-0.70,-116.7,552.8,-7.5,454,7189,0.00,2.15,0.00,0.000,4,0.000,0.041,2532,3705,3479,0,0,0,0,0,0
$GC,7240,-0.70,-116.7,557.0,-7.6,454,7245,0.00,2.08,0.00,0.000,6,0.000,0.025,2532,2294,3479,0,0,0,0,0,0
$GC,7549,-0.70,-116.7,579.6,-7.3,460,7553,0.00,2.15,0.00,0.000,4,0.000,0.042,2533,3705,3478,0,0,0,0,0,0
$GC,7592,-0.70,-116.7,582.8,-7.4,460,7596,0.00,2.08,0.00,0.000,6,0.000,0.025,2532,2295,3478,0,0,0,0,0,0
$GC,7919,-0.70,-116.7,604.5,-6.7,466,7923,0.00,2.15,0.00,0.000,4,0.000,0.042,2532,3704,3477,0,0,0,0,0,0
$GC,7981,-0.73,-116.7,608.8,-7.2,467,7985,0.00,2.03,0.00,0.000,6,0.000,0.026,2532,2298,3477,0,0,0,0,0,0
$GC,8352,-0.73,-116.7,632.1,-6.3,473,8356,0.00,2.15,0.00,0.000,4,0.000,0.042,2532,3705,3476,0,0,0,0,0,0
$GC,8407,-0.73,-116.7,635.5,-6.4,473,8413,0.00,2.03,0.00,0.000,6,0.000,0.026,2532,2301,3476,0,0,0,0,0,0
$GC,8716,-0.73,-116.7,654.9,-6.3,479,8720,0.00,2.12,0.00,0.000,4,0.000,0.042,2532,3696,3475,0,0,0,0,0,0
$GC,8759,-0.73,-116.7,657.7,-6.3,479,8763,0.00,2.03,0.00,0.000,6,0.000,0.026,2532,2295,3474,0,0,0,0,0,0
$GC,9080,-0.73,-116.7,678.0,-6.4,485,9084,0.00,2.15,0.00,0.000,4,0.000,0.042,2532,3701,3474,0,0,0,0,0,0
$GC,9128,-0.73,-116.7,681.5,-7.2,485,9133,0.00,2.05,0.00,0.000,6,0.000,0.025,2532,2307,3474,0,0,0,0,0,0
$GC,9449,-0.73,-116.7,703.0,-6.7,491,9453,0.00,2.12,0.00,0.000,4,0.000,0.042,2533,3697,3474,0,0,0,0,0,0
$GC,9488,-0.73,-116.7,705.9,-7.3,491,9492,0.00,2.05,0.00,0.000,6,0.000,0.026,2532,2301,3474,0,0,0,0,0,0
$GC,9813,-0.73,-116.7,729.5,-7.3,497,9817,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3705,3473,0,0,0,0,0,0
$GC,9863,-0.76,-116.7,733.4,-7.4,497,9867,0.00,2.08,0.00,0.000,6,0.000,0.026,2533,2301,3472,0,0,0,0,0,0
$GC,10178,-0.76,-116.7,756.4,-7.3,503,10182,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3703,3472,0,0,0,0,0,0
$GC,10216,-0.80,-116.7,759.3,-8.0,503,10220,0.00,2.08,0.00,0.000,6,0.000,0.026,2532,2297,3472,0,0,0,0,0,0
$GC,10541,-0.80,-116.7,783.3,-7.4,509,10545,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3704,3472,0,0,0,0,0,0
$GC,10591,-0.83,-116.7,787.1,-8.1,509,10596,0.12,2.05,0.00,0.000,6,0.144,0.026,2492,2288,3472,0,0,0,0,0,0
$GC,10901,-0.77,-116.7,814.0,-8.7,514,10905,0.00,2.15,0.00,0.000,4,0.000,0.043,2491,3697,3471,0,0,0,0,0,0
$GC,10910,-0.71,-116.7,814.8,-8.5,514,10915,0.08,2.08,0.00,0.000,6,0.158,0.026,2527,2292,3471,0,0,0,0,0,0
$GC,11264,-0.71,-116.7,840.6,-7.3,520,11268,0.00,2.12,0.00,0.000,4,0.000,0.043,2527,3695,3470,0,0,0,0,0,0
$GC,11296,-0.71,-116.7,843.2,-7.4,520,11301,0.00,2.05,0.00,0.000,6,0.000,0.026,2528,2304,3470,0,0,0,0,0,0
$GC,11634,-0.71,-116.7,867.3,-7.1,526,11638,0.00,2.12,0.00,0.000,4,0.000,0.043,2528,3695,3470,0,0,0,0,0,0
$GC,11673,-0.71,-116.7,870.1,-7.4,526,11677,0.00,2.08,0.00,0.000,6,0.000,0.026,2528,2263,3470,0,0,0,0,0,0
$GC,11998,-0.71,-116.7,892.5,-6.9,532,12002,0.00,2.20,0.00,0.000,4,0.000,0.043,2528,3702,3469,0,0,0,0,0,0
$GC,12070,-0.74,-116.7,897.7,-7.1,533,12074,0.00,2.08,0.00,0.000,6,0.000,0.026,2528,2270,3469,0,0,0,0,0,0
$GC,12431,-0.74,-116.7,922.3,-6.8,539,12435,0.00,2.20,0.00,0.000,4,0.000,0.043,2528,3704,3469,0,0,0,0,0,0
$GC,12509,-0.78,-116.7,927.9,-6.7,540,12512,0.00,2.03,0.00,0.000,6,0.000,0.026,2528,2302,3468,0,0,0,0,0,0
$GC,12863,-0.78,-116.7,951.1,-6.5,546,12867,0.00,2.15,0.00,0.000,4,0.000,0.044,2527,3704,3468,0,0,0,0,0,0
$GC,12925,-0.81,-116.7,955.2,-6.1,546,12930,0.00,2.05,0.00,0.000,6,0.000,0.027,2528,2292,3468,0,0,0,0,0,0
$GC,13234,-0.81,-116.7,974.8,-6.3,552,13238,0.00,2.15,0.00,0.000,4,0.000,0.043,2528,3697,3468,0,0,0,0,0,0
$GC,13278,-0.85,-116.7,977.7,-6.5,552,13283,0.12,2.03,0.00,0.000,6,0.142,0.026,2489,2297,3468,0,0,0,0,0,0
$STATE,13469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13469,begin apogee
$GC,13474,-0.24,0.0,991.9,7.4,556,13578,0.68,0.00,101.10,1.554,6,0.170,0.000,2684,2654,3006,0,0,0,0,0,0
$STATE,13579,end apogee,CONTROL_FINISHED_OK
$STATE,13579,begin climb
$GC,13581,0.80,116.7,993.8,0.0,557,13699,1.08,2.40,108.55,1.457,4,0.110,0.045,3015,4035,2529,0,0,0,0,0,0
$GC,13794,0.57,116.7,984.0,9.2,561,13799,0.28,2.15,0.00,0.000,6,0.168,0.025,2955,2653,2523,0,0,0,0,0,0
$GC,14154,0.56,130.2,960.9,6.3,567,14168,0.00,0.00,11.82,1.392,6,0.000,0.000,2956,2653,2475,0,0,0,0,0,0
$GC,14456,0.56,131.6,940.3,6.8,572,14458,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2653,2473,0,0,0,0,0,0
$GC,14759,0.57,136.7,919.9,6.7,577,14769,0.00,0.00,7.35,1.322,6,0.000,0.000,2955,2653,2448,0,0,0,0,0,0
$GC,15063,0.57,136.7,899.1,6.9,582,15067,0.00,2.17,0.00,0.000,4,0.000,0.045,2953,4049,2447,0,0,0,0,0,0
$GC,15135,0.49,136.7,893.3,7.7,583,15140,0.15,2.10,0.00,0.000,6,0.183,0.027,2924,2624,2446,0,0,0,0,0,0
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$STATE,26702,end climb,SURFACE_DEPTH_REACHED
$STATE,26702,begin surface coast
$FINISH,2.7,1.026739
$STATE,26753,end surface coast,CONTROL_FINISHED_OK
$STATE,26753,begin surface
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$HUMID,1078377410
$INTERNAL_PRESSURE,8.26204
$TCM_TEMP,19.80
$XPDR_PINGS,1
$24V_AH,22.1,45.392
$10V_AH,9.8,30.389
$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
$DEVICE_SECS,22.175,215.300,318.175,36.150,0.000,22.700,39.218,158.381,0.250,0.000,31.735,2328.686,21053.977,538.269,2720.375,517.785,0.000,1902.155,0.000,2669.436,0.000,0.533,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241312
$DATA_FILE_SIZE,63406,1096
$CAP_FILE_SIZE,216634,0
$CFSIZE,260165632,231874560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043,212.1,1
$GPS,231209,133937,6436.478,-1.714,41,1.7,42,-5.2