version: 66.06
glider: 140
mission: 8
dive: 281
start: 12 24 109 20 21 13
data:
$ID,140
$MISSION,8
$DIVE,281
$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,-49498.004
$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,83
$R_STBD_OVSHOOT,41
$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
$GPS1,201407,6425.784,8.858,37,0.9,38,-5.0
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,3.72
$_SM_ANGLEo,-68.2
$GPS2,202050,6425.753,8.680,15,0.9,15,-5.0
$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,135.0,245221,-13.7,-6.875
$D_GRID,2597
$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,-7.57,0.000,2,0.000,0.000,217,2268,2022,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.6,-0.0,1,135,9.27,2.12,-86.75,0.000,4,0.244,0.051,2500,923,3483,0,0,0,0,0,0
$GC,164,-0.66,-116.7,6.8,-7.8,25,170,0.17,2.10,0.00,0.000,6,0.194,0.028,2545,2317,3483,0,0,0,0,0,0
$GC,500,-0.66,-116.7,32.1,-7.3,86,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2317,3486,0,0,0,0,0,0
$GC,840,-0.66,-116.7,58.0,-6.8,147,846,0.00,2.10,0.00,0.000,4,0.000,0.035,2545,926,3485,0,0,0,0,0,0
$GC,858,-0.66,-116.7,59.4,-7.0,150,864,0.00,2.08,0.00,0.000,6,0.000,0.029,2545,2303,3485,0,0,0,0,0,0
$GC,1200,-0.66,-116.7,86.1,-8.4,211,1207,0.00,2.08,0.00,0.000,4,0.000,0.035,2545,923,3485,0,0,0,0,0,0
$GC,1215,-0.66,-116.7,87.0,-8.4,213,1221,0.00,2.05,0.00,0.000,6,0.000,0.028,2545,2310,3485,0,0,0,0,0,0
$GC,1557,-0.66,-116.7,112.6,-6.2,274,1562,0.00,2.08,0.00,0.000,4,0.000,0.034,2545,920,3486,0,0,0,0,0,0
$GC,1602,-0.66,-116.7,115.5,-6.7,282,1608,0.00,2.08,0.00,0.000,6,0.000,0.028,2545,2310,3486,0,0,0,0,0,0
$GC,1925,-0.66,-116.7,135.9,-6.7,307,1929,0.00,2.08,0.00,0.000,4,0.000,0.034,2545,920,3486,0,0,0,0,0,0
$GC,1966,-0.66,-116.7,138.7,-7.2,309,1970,0.00,2.05,0.00,0.000,6,0.000,0.028,2545,2313,3486,0,0,0,0,0,0
$GC,2299,-0.66,-116.7,161.6,-7.0,325,2303,0.00,2.08,0.00,0.000,4,0.000,0.034,2545,921,3487,0,0,0,0,0,0
$GC,2339,-0.66,-116.7,164.7,-7.6,327,2343,0.00,2.05,0.00,0.000,6,0.000,0.028,2545,2307,3487,0,0,0,0,0,0
$GC,2666,-0.66,-116.7,188.2,-7.4,343,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2308,3487,0,0,0,0,0,0
$GC,2975,-0.66,-116.7,211.3,-7.3,358,2979,0.00,2.08,0.00,0.000,4,0.000,0.035,2545,919,3487,0,0,0,0,0,0
$GC,3018,-0.66,-116.7,214.9,-7.7,360,3022,0.00,2.08,0.00,0.000,6,0.000,0.028,2545,2304,3487,0,0,0,0,0,0
$GC,3346,-0.66,-116.7,238.7,-7.3,376,3350,0.00,2.08,0.00,0.000,4,0.000,0.041,2545,3701,3487,0,0,0,0,0,0
$GC,3373,-0.66,-116.7,240.8,-7.1,377,3377,0.00,2.03,0.00,0.000,6,0.000,0.024,2545,2304,3486,0,0,0,0,0,0
$GC,3694,-0.66,-116.7,263.2,-6.8,393,3698,0.00,2.12,0.00,0.000,4,0.000,0.041,2545,3702,3486,0,0,0,0,0,0
$GC,3744,-0.70,-116.7,266.8,-7.1,395,3748,0.00,2.05,0.00,0.000,6,0.000,0.025,2545,2296,3486,0,0,0,0,0,0
$GC,4065,-0.70,-116.7,288.1,-6.4,411,4069,0.00,2.12,0.00,0.000,4,0.000,0.041,2545,3697,3486,0,0,0,0,0,0
$GC,4128,-0.74,-116.7,292.1,-6.5,414,4131,0.00,2.00,0.00,0.000,6,0.000,0.025,2545,2304,3486,0,0,0,0,0,0
$GC,4458,-0.77,-116.7,313.0,-6.5,427,4462,0.00,2.12,0.00,0.000,4,0.000,0.041,2545,3697,3485,0,0,0,0,0,0
$GC,4487,-0.81,-116.7,314.8,-6.7,428,4492,0.12,2.03,0.00,0.000,6,0.146,0.025,2505,2288,3485,0,0,0,0,0,0
$GC,4821,-0.75,-116.7,341.9,-8.1,439,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2287,3485,0,0,0,0,0,0
$GC,5127,-0.69,-116.7,366.9,-8.4,449,5129,0.12,0.00,0.00,0.000,6,0.202,0.000,2536,2285,3485,0,0,0,0,0,0
$GC,5433,-0.69,-116.7,389.0,-7.3,459,5437,0.00,2.17,0.00,0.000,4,0.000,0.041,2536,3705,3484,0,0,0,0,0,0
$GC,5449,-0.69,-116.7,390.3,-7.4,459,5453,0.00,2.05,0.00,0.000,6,0.000,0.025,2537,2309,3483,0,0,0,0,0,0
$GC,5772,-0.69,-116.7,414.4,-7.6,470,5776,0.00,2.12,0.00,0.000,4,0.000,0.041,2537,3697,3483,0,0,0,0,0,0
$GC,5811,-0.69,-116.7,417.5,-8.3,471,5815,0.00,2.03,0.00,0.000,6,0.000,0.025,2537,2290,3483,0,0,0,0,0,0
$GC,6145,-0.69,-116.7,443.4,-7.8,482,6149,0.00,2.15,0.00,0.000,4,0.000,0.041,2537,3701,3482,0,0,0,0,0,0
$GC,6173,-0.69,-116.7,445.7,-8.5,483,6177,0.00,2.03,0.00,0.000,6,0.000,0.025,2537,2302,3482,0,0,0,0,0,0
$GC,6513,-0.69,-116.7,473.3,-8.2,494,6517,0.00,2.15,0.00,0.000,4,0.000,0.042,2537,3699,3481,0,0,0,0,0,0
$GC,6534,-0.69,-116.7,475.2,-8.8,494,6539,0.00,2.08,0.00,0.000,6,0.000,0.026,2537,2296,3481,0,0,0,0,0,0
$GC,6852,-0.69,-116.7,501.4,-8.4,505,6856,0.00,2.15,0.00,0.000,4,0.000,0.042,2536,3697,3481,0,0,0,0,0,0
$GC,6879,-0.69,-116.7,503.7,-8.4,505,6884,0.00,2.08,0.00,0.000,6,0.000,0.026,2537,2293,3481,0,0,0,0,0,0
$GC,7223,-0.69,-116.7,532.3,-8.4,511,7227,0.00,2.15,0.00,0.000,4,0.000,0.042,2537,3701,3480,0,0,0,0,0,0
$GC,7261,-0.73,-116.7,535.7,-8.8,511,7265,0.00,2.08,0.00,0.000,6,0.000,0.026,2536,2267,3480,0,0,0,0,0,0
$GC,7587,-0.73,-116.7,563.6,-8.6,517,7591,0.00,2.20,0.00,0.000,4,0.000,0.042,2537,3705,3480,0,0,0,0,0,0
$GC,7649,-0.77,-116.7,568.9,-8.8,518,7653,0.00,2.05,0.00,0.000,6,0.000,0.026,2537,2290,3479,0,0,0,0,0,0
$GC,8014,-0.77,-116.7,599.1,-8.1,524,8018,0.00,2.15,0.00,0.000,4,0.000,0.042,2537,3698,3479,0,0,0,0,0,0
$GC,8069,-0.81,-116.7,603.7,-8.7,524,8075,0.00,2.03,0.00,0.000,6,0.000,0.026,2537,2297,3478,0,0,0,0,0,0
$GC,8378,-0.81,-116.7,627.3,-7.6,530,8382,0.00,2.15,0.00,0.000,4,0.000,0.043,2537,3702,3478,0,0,0,0,0,0
$GC,8415,-0.85,-116.7,630.1,-7.7,530,8420,0.08,2.05,0.00,0.000,6,0.114,0.026,2490,2308,3478,0,0,0,0,0,0
$GC,8747,-0.78,-116.7,659.7,-9.0,536,8749,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2305,3478,0,0,0,0,0,0
$GC,9050,-0.71,-116.7,686.9,-8.9,541,9052,0.17,0.00,0.00,0.000,6,0.183,0.000,2537,2304,3477,0,0,0,0,0,0
$GC,9352,-0.71,-116.7,708.2,-6.9,546,9354,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2304,3477,0,0,0,0,0,0
$GC,9655,-0.71,-116.7,729.7,-7.1,551,9659,0.00,2.17,0.00,0.000,4,0.000,0.043,2537,3705,3477,0,0,0,0,0,0
$GC,9677,-0.75,-116.7,731.2,-7.4,551,9681,0.00,2.05,0.00,0.000,6,0.000,0.027,2537,2297,3477,0,0,0,0,0,0
$GC,10020,-0.78,-116.7,754.8,-6.9,557,10024,0.00,2.12,0.00,0.000,4,0.000,0.043,2538,3697,3476,0,0,0,0,0,0
$GC,10081,-0.83,-116.7,759.1,-7.4,558,10086,0.12,2.05,0.00,0.000,6,0.140,0.027,2499,2291,3476,0,0,0,0,0,0
$GC,10452,-0.78,-116.7,788.8,-8.0,564,10456,0.00,2.15,0.00,0.000,4,0.000,0.043,2499,3697,3476,0,0,0,0,0,0
$GC,10468,-0.74,-116.7,790.3,-8.1,564,10473,0.00,2.08,0.00,0.000,6,0.000,0.027,2499,2301,3476,0,0,0,0,0,0
$GC,10817,-0.69,-116.7,817.0,-7.6,570,10822,0.15,2.17,0.00,0.000,4,0.189,0.044,2538,3703,3475,0,0,0,0,0,0
$GC,10827,-0.66,-116.7,817.9,-7.5,570,10831,0.00,2.08,0.00,0.000,6,0.000,0.028,2539,2308,3475,0,0,0,0,0,0
$GC,11182,-0.70,-116.7,839.6,-6.1,576,11186,0.00,2.12,0.00,0.000,4,0.000,0.043,2539,3697,3475,0,0,0,0,0,0
$GC,11222,-0.75,-116.7,842.1,-6.2,576,11226,0.00,2.05,0.00,0.000,6,0.000,0.027,2539,2290,3475,0,0,0,0,0,0
$GC,11548,-0.79,-116.7,862.7,-6.3,582,11552,0.00,2.15,0.00,0.000,4,0.000,0.043,2539,3697,3474,0,0,0,0,0,0
$GC,11603,-0.85,-116.7,866.4,-7.0,582,11610,0.15,2.03,0.00,0.000,6,0.133,0.026,2490,2294,3474,0,0,0,0,0,0
$GC,11913,-0.79,-116.7,891.1,-8.1,588,11914,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2294,3474,0,0,0,0,0,0
$GC,12215,-0.73,-116.7,914.9,-7.8,593,12220,0.12,2.17,0.00,0.000,4,0.194,0.044,2523,3698,3474,0,0,0,0,0,0
$GC,12225,-0.69,-116.7,915.8,-7.8,593,12229,0.00,2.03,0.00,0.000,6,0.000,0.027,2522,2310,3474,0,0,0,0,0,0
$GC,12580,-0.69,-116.7,938.9,-6.5,599,12584,0.00,2.12,0.00,0.000,4,0.000,0.043,2522,3698,3474,0,0,0,0,0,0
$GC,12595,-0.69,-116.7,940.1,-6.6,599,12600,0.00,2.08,0.00,0.000,6,0.000,0.027,2522,2299,3474,0,0,0,0,0,0
$GC,12945,-0.69,-116.7,962.8,-6.5,605,12949,0.00,2.15,0.00,0.000,4,0.000,0.044,2522,3704,3473,0,0,0,0,0,0
$GC,12972,-0.69,-116.7,964.8,-6.7,605,12976,0.00,2.10,0.00,0.000,6,0.000,0.027,2522,2295,3474,0,0,0,0,0,0
$GC,13309,-0.69,-116.7,987.4,-6.7,611,13313,0.00,2.15,0.00,0.000,4,0.000,0.043,2522,3695,3473,0,0,0,0,0,0
$STATE,13345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13345,begin apogee
$GC,13351,-0.24,0.0,990.1,7.5,611,13457,0.52,0.00,102.57,1.544,6,0.162,0.000,2681,2633,3006,0,0,0,0,0,0
$STATE,13458,end apogee,CONTROL_FINISHED_OK
$STATE,13458,begin climb
$GC,13460,0.80,116.7,993.2,0.0,613,13583,1.05,2.53,110.00,1.453,4,0.111,0.044,3009,4033,2528,0,0,0,0,0,0
$GC,13667,0.59,116.7,985.0,9.0,616,13672,0.25,2.17,0.00,0.000,6,0.171,0.026,2957,2652,2522,0,0,0,0,0,0
$GC,14021,0.57,134.0,963.2,6.2,622,14038,0.00,0.00,15.30,1.407,6,0.000,0.000,2957,2652,2459,0,0,0,0,0,0
$GC,14324,0.59,145.5,943.9,6.4,627,14338,0.00,0.00,11.57,1.384,6,0.000,0.000,2957,2652,2413,0,0,0,0,0,0
$GC,14627,0.60,155.7,924.3,6.5,632,14640,0.00,0.00,10.80,1.376,6,0.000,0.000,2958,2652,2371,0,0,0,0,0,0
$GC,14930,0.60,160.0,904.1,6.7,637,14937,0.00,0.00,5.25,1.160,6,0.000,0.000,2958,2652,2353,0,0,0,0,0,0
$GC,15234,0.61,162.3,883.5,6.8,642,15235,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2652,2352,0,0,0,0,0,0
$GC,15536,0.61,167.2,863.2,6.7,647,15546,0.00,0.00,8.05,1.336,6,0.000,0.000,2957,2651,2325,0,0,0,0,0,0
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$STATE,26476,end climb,SURFACE_DEPTH_REACHED
$STATE,26476,begin surface coast
$FINISH,3.1,1.027384
$STATE,26539,end surface coast,CONTROL_FINISHED_OK
$STATE,26539,begin surface
$SM_CCo,26555,30.02,0.831,0,0,1884,275.23
$SM_GC,3.85,0.00,0.00,30.02,0.000,0.000,0.831,218,2300,1884,-7.96,-0.03,275.23
$IRIDIUM_FIX,6406.52,9.99,200399,121230
$TT8_MAMPS,0.027612
$HUMID,1078434184
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,22.0,46.170
$10V_AH,9.8,30.954
$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
$DEVICE_SECS,20.675,176.575,342.925,30.025,0.000,28.264,36.322,205.292,0.000,0.000,15.166,2338.136,20951.357,557.665,2562.752,568.889,0.000,1820.144,0.000,2537.510,0.000,0.534,0.000
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$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,803.559,1053.045,643.999,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241312
$DATA_FILE_SIZE,66625,1160
$CAP_FILE_SIZE,200437,0
$CFSIZE,260165632,231440384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043,207.1,1
$GPS,251209,034537,6423.000,13.515,40,1.4,41,-5.0