version: 66.06
glider: 140
mission: 8
dive: 291
start: 12 28 109 1 3 1
data:
$ID,140
$MISSION,8
$DIVE,291
$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,-49673.695
$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,61
$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
$GPS1,005606,6405.583,123.151,28,2.0,29,-4.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.54
$_SM_ANGLEo,-59.4
$GPS2,010239,6405.587,123.321,13,1.5,14,-4.3
$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,138.2,173559,-13.7,-6.875
$D_GRID,2258
$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,-6.78,0.000,2,0.000,0.000,214,2290,2019,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.6,-0.0,1,124,8.93,2.12,-80.53,0.000,4,0.227,0.048,2500,904,3481,0,0,0,0,0,0
$GC,136,-0.90,-116.7,4.0,-2.6,20,143,0.00,2.15,0.00,0.000,6,0.000,0.028,2500,2310,3482,0,0,0,0,0,0
$GC,477,-0.80,-116.7,38.5,-9.3,81,484,0.00,2.10,0.00,0.000,4,0.000,0.041,2500,3698,3483,0,0,0,0,0,0
$GC,731,-0.72,-116.7,69.2,-12.4,127,737,0.10,2.05,0.00,0.000,6,0.200,0.023,2525,2260,3484,0,0,0,0,0,0
$GC,1073,-0.68,-116.7,99.1,-8.3,188,1079,0.00,2.22,0.00,0.000,4,0.000,0.039,2525,3697,3485,0,0,0,0,0,0
$GC,1113,-0.68,-116.7,103.0,-9.4,195,1119,0.00,1.98,0.00,0.000,6,0.000,0.023,2525,2313,3484,0,0,0,0,0,0
$GC,1456,-0.65,-116.7,133.3,-9.1,237,1460,0.10,2.12,0.00,0.000,4,0.210,0.040,2550,3701,3485,0,0,0,0,0,0
$GC,1487,-0.65,-116.7,136.1,-8.4,238,1495,0.00,2.03,0.00,0.000,6,0.000,0.023,2550,2308,3485,0,0,0,0,0,0
$GC,1804,-0.65,-116.7,160.0,-7.3,254,1808,0.00,2.12,0.00,0.000,4,0.000,0.039,2550,3709,3485,0,0,0,0,0,0
$GC,1822,-0.65,-116.7,161.3,-7.3,255,1825,0.00,2.03,0.00,0.000,6,0.000,0.024,2550,2297,3485,0,0,0,0,0,0
$GC,2149,-0.65,-116.7,184.5,-6.9,271,2153,0.00,2.12,0.00,0.000,4,0.000,0.040,2550,3701,3485,0,0,0,0,0,0
$GC,2176,-0.65,-116.7,186.4,-6.8,272,2180,0.00,2.00,0.00,0.000,6,0.000,0.024,2550,2299,3485,0,0,0,0,0,0
$GC,2496,-0.65,-116.7,208.5,-7.4,288,2500,0.00,2.12,0.00,0.000,4,0.000,0.040,2550,3702,3485,0,0,0,0,0,0
$GC,2506,-0.65,-116.7,209.3,-7.6,288,2511,0.00,2.05,0.00,0.000,6,0.000,0.024,2551,2299,3485,0,0,0,0,0,0
$GC,2828,-0.65,-116.7,234.4,-7.8,304,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2299,3485,0,0,0,0,0,0
$GC,3137,-0.65,-116.7,255.6,-7.2,319,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2299,3485,0,0,0,0,0,0
$GC,3448,-0.68,-116.7,277.9,-7.3,334,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2298,3486,0,0,0,0,0,0
$GC,3756,-0.71,-116.7,297.1,-6.2,349,3760,0.00,2.12,0.00,0.000,4,0.000,0.040,2550,3700,3486,0,0,0,0,0,0
$GC,3780,-0.75,-116.7,298.6,-6.3,350,3783,0.00,2.00,0.00,0.000,6,0.000,0.024,2550,2301,3485,0,0,0,0,0,0
$GC,4099,-0.79,-116.7,319.1,-6.4,361,4104,0.12,2.17,0.00,0.000,4,0.134,0.045,2511,3709,3486,0,0,0,0,0,0
$GC,4148,-0.75,-116.7,322.8,-8.0,362,4152,0.00,2.05,0.00,0.000,6,0.000,0.024,2511,2299,3486,0,0,0,0,0,0
$GC,4466,-0.70,-116.7,346.7,-7.6,373,4470,0.00,2.12,0.00,0.000,4,0.000,0.040,2511,3704,3485,0,0,0,0,0,0
$GC,4496,-0.66,-116.7,349.1,-8.1,374,4500,0.15,2.03,0.00,0.000,6,0.186,0.024,2550,2286,3485,0,0,0,0,0,0
$GC,4831,-0.70,-116.7,372.1,-6.8,385,4835,0.00,2.15,0.00,0.000,4,0.000,0.040,2550,3706,3485,0,0,0,0,0,0
$GC,4859,-0.74,-116.7,374.1,-7.1,386,4863,0.00,2.03,0.00,0.000,6,0.000,0.025,2550,2298,3484,0,0,0,0,0,0
$GC,5199,-0.79,-116.7,398.5,-7.0,397,5204,0.12,2.15,0.00,0.000,4,0.135,0.041,2510,3698,3483,0,0,0,0,0,0
$GC,5242,-0.75,-116.7,402.2,-8.8,398,5246,0.00,2.05,0.00,0.000,6,0.000,0.025,2510,2298,3483,0,0,0,0,0,0
$GC,5566,-0.71,-116.7,430.0,-8.5,409,5570,0.00,2.12,0.00,0.000,4,0.000,0.041,2510,3698,3483,0,0,0,0,0,0
$GC,5582,-0.68,-116.7,431.4,-8.1,409,5587,0.05,2.05,0.00,0.000,6,0.147,0.025,2540,2296,3483,0,0,0,0,0,0
$GC,5900,-0.68,-116.7,453.2,-6.8,420,5904,0.00,2.12,0.00,0.000,4,0.000,0.041,2540,3698,3482,0,0,0,0,0,0
$GC,5928,-0.71,-116.7,455.1,-7.2,421,5932,0.00,2.03,0.00,0.000,6,0.000,0.025,2540,2295,3482,0,0,0,0,0,0
$GC,6268,-0.71,-116.7,478.2,-6.8,432,6272,0.00,2.12,0.00,0.000,4,0.000,0.041,2540,3698,3482,0,0,0,0,0,0
$GC,6306,-0.75,-116.7,481.1,-7.4,433,6311,0.00,2.05,0.00,0.000,6,0.000,0.025,2540,2302,3481,0,0,0,0,0,0
$GC,6666,-0.75,-116.7,504.6,-6.6,444,6670,0.00,2.15,0.00,0.000,4,0.000,0.042,2540,3700,3481,0,0,0,0,0,0
$GC,6732,-0.79,-116.7,509.2,-6.5,445,6736,0.00,2.03,0.00,0.000,6,0.000,0.025,2540,2294,3481,0,0,0,0,0,0
$GC,7098,-0.79,-116.7,535.1,-7.2,451,7101,0.00,2.15,0.00,0.000,4,0.000,0.041,2540,3702,3479,0,0,0,0,0,0
$GC,7141,-0.83,-116.7,538.3,-7.5,451,7146,0.15,2.08,0.00,0.000,6,0.130,0.025,2491,2265,3479,0,0,0,0,0,0
$GC,7467,-0.76,-116.7,566.9,-8.8,457,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2263,3478,0,0,0,0,0,0
$GC,7771,-0.69,-116.7,591.7,-8.2,462,7773,0.17,0.00,0.00,0.000,6,0.181,0.000,2537,2261,3477,0,0,0,0,0,0
$GC,8073,-0.69,-116.7,610.3,-6.0,467,8077,0.00,2.20,0.00,0.000,4,0.000,0.042,2537,3705,3477,0,0,0,0,0,0
$GC,8094,-0.73,-116.7,611.6,-5.7,467,8098,0.00,2.03,0.00,0.000,6,0.000,0.026,2538,2303,3476,0,0,0,0,0,0
$GC,8437,-0.73,-116.7,629.6,-5.2,473,8441,0.00,2.15,0.00,0.000,4,0.000,0.042,2538,3705,3476,0,0,0,0,0,0
$GC,8476,-0.77,-116.7,631.6,-5.4,473,8480,0.00,2.05,0.00,0.000,6,0.000,0.025,2538,2290,3475,0,0,0,0,0,0
$GC,8808,-0.80,-116.7,648.6,-5.2,479,8812,0.00,2.15,0.00,0.000,4,0.000,0.042,2538,3697,3475,0,0,0,0,0,0
$GC,8852,-0.85,-116.7,651.0,-5.5,479,8857,0.15,2.03,0.00,0.000,6,0.133,0.026,2489,2293,3474,0,0,0,0,0,0
$GC,9166,-0.78,-116.7,674.5,-7.6,485,9167,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2291,3474,0,0,0,0,0,0
$GC,9470,-0.71,-116.7,699.7,-8.4,490,9472,0.17,0.00,0.00,0.000,6,0.181,0.000,2536,2289,3473,0,0,0,0,0,0
$GC,9773,-0.71,-116.7,720.1,-6.6,495,9777,0.00,2.15,0.00,0.000,4,0.000,0.043,2536,3697,3472,0,0,0,0,0,0
$GC,9789,-0.74,-116.7,721.2,-6.5,495,9793,0.00,2.03,0.00,0.000,6,0.000,0.027,2536,2304,3472,0,0,0,0,0,0
$GC,10137,-0.78,-116.7,742.6,-6.1,501,10141,0.00,2.15,0.00,0.000,4,0.000,0.043,2537,3704,3472,0,0,0,0,0,0
$GC,10182,-0.82,-116.7,745.5,-6.5,501,10187,0.12,2.05,0.00,0.000,6,0.140,0.026,2498,2292,3471,0,0,0,0,0,0
$GC,10502,-0.77,-116.7,768.7,-7.3,507,10506,0.00,2.15,0.00,0.000,4,0.000,0.043,2498,3697,3471,0,0,0,0,0,0
$GC,10517,-0.73,-116.7,769.9,-7.2,507,10522,0.08,2.08,0.00,0.000,6,0.179,0.027,2521,2300,3471,0,0,0,0,0,0
$GC,10866,-0.73,-116.7,793.1,-6.7,513,10870,0.00,2.15,0.00,0.000,4,0.000,0.043,2521,3702,3471,0,0,0,0,0,0
$GC,10887,-0.73,-116.7,794.6,-6.8,513,10891,0.00,2.08,0.00,0.000,6,0.000,0.027,2522,2306,3470,0,0,0,0,0,0
$GC,11230,-0.73,-116.7,816.6,-6.4,519,11234,0.00,2.15,0.00,0.000,4,0.000,0.043,2521,3704,3470,0,0,0,0,0,0
$GC,11257,-0.73,-116.7,818.5,-6.6,519,11262,0.00,2.10,0.00,0.000,6,0.000,0.027,2522,2294,3470,0,0,0,0,0,0
$GC,11601,-0.73,-116.7,840.0,-6.3,525,11604,0.00,2.15,0.00,0.000,4,0.000,0.043,2522,3700,3469,0,0,0,0,0,0
$GC,11622,-0.73,-116.7,841.3,-5.9,525,11626,0.00,2.05,0.00,0.000,6,0.000,0.027,2522,2296,3469,0,0,0,0,0,0
$GC,11965,-0.73,-116.7,861.9,-6.0,531,11969,0.00,2.15,0.00,0.000,4,0.000,0.043,2522,3698,3469,0,0,0,0,0,0
$GC,12026,-0.73,-116.7,865.7,-6.1,532,12030,0.00,2.05,0.00,0.000,6,0.000,0.027,2522,2292,3469,0,0,0,0,0,0
$GC,12392,-0.73,-116.7,889.1,-6.5,538,12396,0.00,2.15,0.00,0.000,4,0.000,0.043,2522,3697,3468,0,0,0,0,0,0
$GC,12447,-0.73,-116.7,892.9,-7.2,538,12453,0.00,2.08,0.00,0.000,6,0.000,0.026,2522,2303,3469,0,0,0,0,0,0
$GC,12757,-0.73,-116.7,913.4,-6.6,544,12761,0.00,2.15,0.00,0.000,4,0.000,0.043,2522,3697,3468,0,0,0,0,0,0
$GC,12789,-0.73,-116.7,915.7,-6.9,544,12793,0.00,2.05,0.00,0.000,6,0.000,0.027,2522,2290,3468,0,0,0,0,0,0
$GC,13127,-0.73,-116.7,938.3,-6.7,550,13131,0.00,2.15,0.00,0.000,4,0.000,0.043,2522,3697,3468,0,0,0,0,0,0
$GC,13160,-0.73,-116.7,940.7,-6.8,550,13164,0.00,2.08,0.00,0.000,6,0.000,0.026,2522,2301,3467,0,0,0,0,0,0
$GC,13492,-0.73,-116.7,963.2,-6.8,556,13496,0.00,2.15,0.00,0.000,4,0.000,0.044,2522,3702,3467,0,0,0,0,0,0
$GC,13524,-0.73,-116.7,965.6,-6.9,556,13528,0.00,2.08,0.00,0.000,6,0.000,0.027,2522,2308,3467,0,0,0,0,0,0
$GC,13856,-0.73,-116.7,988.9,-7.0,562,13860,0.00,2.12,0.00,0.000,4,0.000,0.043,2522,3695,3467,0,0,0,0,0,0
$STATE,13869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13869,begin apogee
$GC,13876,-0.24,0.0,990.0,6.9,562,13980,0.52,0.00,100.68,1.548,6,0.162,0.000,2681,2622,3006,0,0,0,0,0,0
$STATE,13981,end apogee,CONTROL_FINISHED_OK
$STATE,13981,begin climb
$GC,13983,0.80,116.7,993.6,0.0,564,14102,1.05,2.47,109.03,1.454,4,0.111,0.044,3006,4034,2529,0,0,0,0,0,0
$GC,14180,0.59,116.7,985.5,8.8,566,14185,0.22,2.17,0.00,0.000,6,0.170,0.026,2960,2655,2523,0,0,0,0,0,0
$GC,14541,0.58,139.7,963.7,6.0,572,14563,0.00,0.00,20.35,1.424,6,0.000,0.000,2961,2654,2436,0,0,0,0,0,0
$GC,14843,0.59,149.9,944.1,6.5,577,14855,0.00,0.00,10.25,1.366,6,0.000,0.000,2961,2654,2394,0,0,0,0,0,0
$GC,15146,0.61,161.1,924.7,6.4,582,15160,0.00,0.00,11.32,1.381,6,0.000,0.000,2961,2654,2349,0,0,0,0,0,0
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$STATE,26751,end climb,SURFACE_DEPTH_REACHED
$STATE,26752,begin surface coast
$FINISH,2.7,1.027536
$STATE,26814,end surface coast,CONTROL_FINISHED_OK
$STATE,26814,begin surface
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$TT8_MAMPS,0.026845
$HUMID,1078400635
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$TCM_TEMP,14.90
$XPDR_PINGS,8
$24V_AH,22.1,47.751
$10V_AH,9.8,32.079
$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
$DEVICE_SECS,21.325,197.550,362.825,7.475,0.000,29.470,39.466,192.770,2.000,0.000,15.305,2291.404,21295.980,533.739,2537.304,563.334,0.000,1818.432,0.000,2513.341,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241312
$DATA_FILE_SIZE,60293,1089
$CAP_FILE_SIZE,211012,0
$CFSIZE,260165632,230551552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083, 52.2,1
$GPS,281209,083207,6403.947,129.880,69,1.7,70,-4.2