version: 66.06
glider: 140
mission: 8
dive: 191
start: 11 26 109 12 13 25
data:
$ID,140
$MISSION,8
$DIVE,191
$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,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,-47742.383
$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,97
$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
$GPS1,120307,6324.470,244.355,25,1.8,26,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.07
$_SM_ANGLEo,-67.2
$GPS2,121302,6324.496,244.198,15,1.7,15,-3.4
$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,131.2,72220,-13.7,-6.875
$D_GRID,1120
$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,-7.20,0.000,2,0.000,0.000,211,2265,2024,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.0,-0.0,1,131,8.85,2.05,-84.78,0.000,4,0.231,0.051,2501,937,3482,0,0,0,0,0,0
$GC,342,-0.65,-116.7,23.5,-10.5,57,348,0.17,2.03,0.00,0.000,6,0.183,0.029,2549,2307,3483,0,0,0,0,0,0
$GC,677,-0.65,-116.7,52.2,-8.5,118,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2308,3484,0,0,0,0,0,0
$GC,1019,-0.65,-116.7,81.4,-8.2,179,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2308,3484,0,0,0,0,0,0
$GC,1358,-0.65,-116.7,111.6,-7.9,240,1365,0.00,2.08,0.00,0.000,4,0.000,0.035,2549,944,3484,0,0,0,0,0,0
$GC,1389,-0.62,-116.7,114.0,-8.3,245,1395,0.00,2.00,0.00,0.000,6,0.000,0.028,2549,2304,3484,0,0,0,0,0,0
$GC,1718,-0.62,-116.7,138.8,-7.5,271,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2304,3484,0,0,0,0,0,0
$GC,2024,-0.62,-116.7,162.3,-7.8,286,2028,0.00,2.03,0.00,0.000,4,0.000,0.035,2549,942,3484,0,0,0,0,0,0
$GC,2074,-0.58,-116.7,166.2,-7.5,288,2077,0.00,2.00,0.00,0.000,6,0.000,0.028,2549,2313,3484,0,0,0,0,0,0
$GC,2400,-0.58,-116.7,190.3,-7.4,304,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2313,3484,0,0,0,0,0,0
$GC,2710,-0.58,-116.7,211.6,-6.6,319,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2313,3483,0,0,0,0,0,0
$GC,3018,-0.58,-116.7,232.3,-6.9,334,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2313,3485,0,0,0,0,0,0
$GC,3328,-0.58,-116.7,252.8,-6.6,349,3332,0.00,2.03,0.00,0.000,4,0.000,0.034,2549,947,3484,0,0,0,0,0,0
$GC,3343,-0.58,-116.7,254.0,-6.9,349,3350,0.00,2.00,0.00,0.000,6,0.000,0.028,2549,2295,3484,0,0,0,0,0,0
$GC,3660,-0.58,-116.7,274.8,-6.4,365,3661,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2295,3484,0,0,0,0,0,0
$GC,3969,-0.58,-116.7,293.1,-5.7,380,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2295,3484,0,0,0,0,0,0
$GC,4276,-0.58,-116.7,312.0,-6.5,392,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2295,3484,0,0,0,0,0,0
$GC,4583,-0.58,-116.7,332.8,-6.7,402,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2296,3484,0,0,0,0,0,0
$GC,4889,-0.58,-116.7,353.3,-6.6,412,4892,0.00,2.05,0.00,0.000,4,0.000,0.040,2549,3698,3484,0,0,0,0,0,0
$GC,4899,-0.58,-116.7,354.0,-6.7,412,4903,0.00,1.98,0.00,0.000,6,0.000,0.023,2549,2323,3484,0,0,0,0,0,0
$GC,5229,-0.58,-116.7,375.9,-6.7,423,5233,0.00,2.08,0.00,0.000,4,0.000,0.041,2549,3705,3484,0,0,0,0,0,0
$GC,5244,-0.58,-116.7,377.1,-6.8,423,5249,0.00,2.03,0.00,0.000,6,0.000,0.024,2549,2307,3484,0,0,0,0,0,0
$GC,5568,-0.58,-116.7,399.4,-7.0,434,5572,0.00,2.10,0.00,0.000,4,0.000,0.040,2549,3706,3484,0,0,0,0,0,0
$GC,5611,-0.58,-116.7,402.6,-7.3,435,5616,0.00,2.05,0.00,0.000,6,0.000,0.023,2549,2290,3484,0,0,0,0,0,0
$GC,5940,-0.58,-116.7,425.9,-6.8,446,5944,0.00,2.10,0.00,0.000,4,0.000,0.040,2549,3697,3483,0,0,0,0,0,0
$GC,5972,-0.58,-116.7,428.1,-6.9,447,5977,0.00,2.03,0.00,0.000,6,0.000,0.023,2549,2290,3483,0,0,0,0,0,0
$GC,6308,-0.58,-116.7,452.2,-7.3,458,6309,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2290,3483,0,0,0,0,0,0
$GC,6614,-0.58,-116.7,475.5,-7.9,468,6615,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2289,3483,0,0,0,0,0,0
$GC,6920,-0.58,-116.7,498.9,-7.6,478,6924,0.00,2.03,0.00,0.000,4,0.000,0.035,2549,914,3483,0,0,0,0,0,0
$GC,6935,-0.58,-116.7,500.1,-7.3,478,6940,0.00,2.05,0.00,0.000,6,0.000,0.028,2549,2298,3483,0,0,0,0,0,0
$GC,7256,-0.58,-116.7,521.9,-6.7,484,7260,0.00,2.08,0.00,0.000,4,0.000,0.041,2549,3710,3483,0,0,0,0,0,0
$GC,7301,-0.62,-116.7,525.1,-6.9,484,7304,0.00,2.00,0.00,0.000,6,0.000,0.024,2549,2290,3482,0,0,0,0,0,0
$GC,7621,-0.62,-116.7,545.2,-6.3,490,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2290,3482,0,0,0,0,0,0
$GC,7925,-0.62,-116.7,565.8,-6.8,495,7929,0.00,2.12,0.00,0.000,4,0.000,0.041,2549,3707,3482,0,0,0,0,0,0
$GC,7987,-0.66,-116.7,570.2,-6.7,496,7991,0.00,2.00,0.00,0.000,6,0.000,0.024,2548,2300,3482,0,0,0,0,0,0
$GC,8358,-0.66,-116.7,594.3,-6.4,502,8362,0.00,2.15,0.00,0.000,4,0.000,0.042,2549,3709,3481,0,0,0,0,0,0
$GC,8436,-0.69,-116.7,599.5,-6.5,503,8440,0.00,2.03,0.00,0.000,6,0.000,0.025,2549,2290,3481,0,0,0,0,0,0
$GC,8790,-0.72,-116.7,623.5,-6.8,509,8794,0.00,2.12,0.00,0.000,4,0.000,0.042,2549,3698,3480,0,0,0,0,0,0
$GC,8845,-0.76,-116.7,627.2,-6.5,509,8850,0.00,2.00,0.00,0.000,6,0.000,0.025,2549,2300,3480,0,0,0,0,0,0
$GC,9155,-0.80,-116.7,645.5,-5.8,515,9160,0.12,2.12,0.00,0.000,4,0.130,0.043,2507,3698,3478,0,0,0,0,0,0
$GC,9204,-0.74,-116.7,649.3,-7.8,515,9208,0.00,2.03,0.00,0.000,6,0.000,0.025,2507,2306,3478,0,0,0,0,0,0
$GC,9519,-0.69,-116.7,673.6,-7.8,521,9521,0.12,0.00,0.00,0.000,6,0.192,0.000,2539,2302,3477,0,0,0,0,0,0
$GC,9821,-0.69,-116.7,695.1,-7.1,526,9825,0.00,2.12,0.00,0.000,4,0.000,0.043,2539,3708,3475,0,0,0,0,0,0
$GC,9842,-0.69,-116.7,696.7,-7.6,526,9847,0.00,2.08,0.00,0.000,6,0.000,0.026,2540,2298,3475,0,0,0,0,0,0
$GC,10186,-0.69,-116.7,722.3,-7.5,532,10190,0.00,2.12,0.00,0.000,4,0.000,0.044,2539,3699,3475,0,0,0,0,0,0
$GC,10218,-0.69,-116.7,724.9,-7.7,532,10222,0.00,2.05,0.00,0.000,6,0.000,0.025,2539,2303,3474,0,0,0,0,0,0
$GC,10556,-0.73,-116.7,748.7,-6.9,538,10560,0.00,2.12,0.00,0.000,4,0.000,0.044,2539,3702,3473,0,0,0,0,0,0
$GC,10567,-0.78,-116.7,749.5,-6.7,538,10570,0.00,2.05,0.00,0.000,6,0.000,0.027,2539,2289,3473,0,0,0,0,0,0
$GC,10915,-0.78,-116.7,771.8,-6.4,544,10919,0.00,2.15,0.00,0.000,4,0.000,0.044,2539,3705,3472,0,0,0,0,0,0
$GC,10936,-0.78,-116.7,773.2,-6.1,544,10940,0.00,2.08,0.00,0.000,6,0.000,0.027,2539,2303,3472,0,0,0,0,0,0
$GC,11279,-0.78,-116.7,793.9,-6.0,550,11283,0.00,2.12,0.00,0.000,4,0.000,0.044,2539,3698,3470,0,0,0,0,0,0
$GC,11301,-0.78,-116.7,795.3,-6.2,550,11305,0.00,2.08,0.00,0.000,6,0.000,0.027,2540,2292,3470,0,0,0,0,0,0
$GC,11649,-0.78,-116.7,817.5,-6.6,556,11653,0.00,2.15,0.00,0.000,4,0.000,0.044,2539,3703,3469,0,0,0,0,0,0
$GC,11682,-0.81,-116.7,820.0,-7.7,556,11687,0.12,2.05,0.00,0.000,6,0.134,0.027,2501,2284,3469,0,0,0,0,0,0
$GC,12013,-0.75,-116.7,848.0,-8.6,562,12014,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2283,3468,0,0,0,0,0,0
$GC,12317,-0.69,-116.7,874.5,-8.8,567,12319,0.15,0.00,0.00,0.000,6,0.191,0.000,2539,2281,3467,0,0,0,0,0,0
$GC,12619,-0.69,-116.7,898.4,-7.8,572,12623,0.00,2.15,0.00,0.000,4,0.000,0.045,2539,3695,3466,0,0,0,0,0,0
$GC,12646,-0.69,-116.7,900.6,-7.7,572,12651,0.00,2.05,0.00,0.000,6,0.000,0.027,2540,2311,3466,0,0,0,0,0,0
$GC,12983,-0.69,-116.7,926.7,-7.7,578,12987,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3704,3465,0,0,0,0,0,0
$GC,13005,-0.69,-116.7,928.2,-7.3,578,13009,0.00,2.08,0.00,0.000,6,0.000,0.027,2540,2304,3465,0,0,0,0,0,0
$GC,13347,-0.69,-116.7,954.5,-7.8,584,13351,0.00,2.12,0.00,0.000,4,0.000,0.045,2540,3697,3464,0,0,0,0,0,0
$GC,13374,-0.69,-116.7,956.8,-8.6,584,13379,0.00,2.08,0.00,0.000,6,0.000,0.027,2540,2296,3464,0,0,0,0,0,0
$GC,13712,-0.69,-116.7,982.6,-7.7,590,13716,0.00,2.15,0.00,0.000,4,0.000,0.045,2540,3702,3463,0,0,0,0,0,0
$GC,13755,-0.73,-116.7,985.9,-7.9,590,13759,0.00,2.05,0.00,0.000,6,0.000,0.027,2540,2290,3463,0,0,0,0,0,0
$STATE,13831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13831,begin apogee
$GC,13836,-0.24,0.0,991.3,7.2,592,13937,0.47,0.00,97.68,1.545,6,0.164,0.000,2681,2646,3006,0,0,0,0,0,0
$STATE,13938,end apogee,CONTROL_FINISHED_OK
$STATE,13938,begin climb
$GC,13940,0.80,116.7,993.7,0.0,593,14054,1.08,2.42,105.50,1.453,4,0.111,0.048,3017,4031,2529,0,0,0,0,0,0
$GC,14161,0.54,116.7,984.3,9.5,597,14166,0.32,2.15,0.00,0.000,6,0.177,0.027,2945,2648,2522,0,0,0,0,0,0
$GC,14510,0.54,137.8,963.2,6.0,603,14530,0.00,0.00,18.33,1.417,6,0.000,0.000,2945,2648,2443,0,0,0,0,0,0
$GC,14812,0.57,163.9,945.5,5.8,608,14838,0.00,0.00,24.15,1.427,6,0.000,0.000,2945,2648,2337,0,0,0,0,0,0
$GC,15115,0.60,190.8,927.9,5.8,613,15142,0.00,0.00,24.65,1.420,6,0.000,0.000,2945,2648,2228,0,0,0,0,0,0
$GC,15418,0.61,200.5,908.6,6.5,618,15432,0.00,2.22,9.48,1.345,4,0.000,0.048,2941,4043,2188,0,0,0,0,0,0
$GC,15493,0.61,200.5,902.8,7.5,619,15498,0.00,2.12,0.00,0.000,6,0.000,0.028,2950,2654,2186,0,0,0,0,0,0
$GC,15854,0.64,220.1,880.1,6.1,625,15875,0.00,0.00,19.20,1.407,6,0.000,0.000,2950,2654,2107,0,0,0,0,0,0
$GC,16157,0.69,230.6,860.8,6.5,630,16173,0.10,2.22,10.65,1.351,4,0.127,0.048,2985,4047,2064,0,0,0,0,0,0
$GC,16230,0.60,230.6,854.3,9.9,631,16235,0.15,2.12,0.00,0.000,6,0.179,0.028,2959,2641,2062,0,0,0,0,0,0
$GC,16589,0.60,230.6,827.8,7.3,637,16590,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2641,2059,0,0,0,0,0,0
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$GC,21605,0.72,247.3,422.2,6.2,733,21624,0.00,2.08,14.35,1.097,6,0.000,0.034,2963,2653,1996,0,0,0,0,0,0
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$STATE,26235,end climb,SURFACE_DEPTH_REACHED
$STATE,26235,begin surface coast
$FINISH,2.3,1.002737
$STATE,26284,end surface coast,CONTROL_FINISHED_OK
$STATE,26284,begin surface
$SM_CCo,26300,16.25,0.762,0,0,1883,275.23
$SM_GC,3.39,0.00,0.00,16.25,0.000,0.000,0.762,219,2280,1883,-7.96,-0.54,275.23
$IRIDIUM_FIX,6258.74,243.58,200299,121200
$TT8_MAMPS,0.027612
$HUMID,1078347732
$INTERNAL_PRESSURE,8.3304
$TCM_TEMP,20.50
$XPDR_PINGS,0
$24V_AH,22.7,32.231
$10V_AH,10.0,20.923
$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,20.900,172.400,333.250,16.250,0.000,53.126,65.534,277.842,0.000,0.000,15.560,2284.002,20813.000,530.777,2591.503,681.417,0.000,1808.787,0.000,2564.316,0.000,0.535,0.000
$DEVICE_MAMPS,230.867,50.622,1544.738,761.631,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,759.884,1009.399,587.396,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235104
$DATA_FILE_SIZE,63468,1106
$CAP_FILE_SIZE,203753,0
$CFSIZE,260165632,239300608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111,285.4,1
$GPS,261109,193327,6322.895,246.295,28,99.0,47,-3.4