version: 66.06
glider: 140
mission: 8
dive: 264
start: 12 19 109 10 48 33
data:
$ID,140
$MISSION,8
$DIVE,264
$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,-49188.031
$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,80
$R_STBD_OVSHOOT,44
$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
$GPS1,104136,6504.103,-54.005,37,1.4,38,-5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.65
$_SM_ANGLEo,-56.7
$GPS2,104756,6504.100,-53.964,12,1.9,18,-5.8
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,OFFSHORE
$TGT_LATLONG,6506.000,-100.000
$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,312.6,5877,-15.0,-6.875
$D_GRID,2918
$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,-0.84,-100.5,0.0,0.0,0,24,0.00,0.00,-7.28,0.000,2,0.000,0.000,216,2276,2024,0,0,0,0,0,0
$GC,27,-0.86,-116.7,3.7,-0.0,1,128,8.85,0.00,-86.82,0.000,6,0.229,0.000,2485,2276,3482,0,0,0,0,0,0
$GC,460,-0.77,-116.7,32.7,-9.4,79,467,0.10,2.22,0.00,0.000,4,0.233,0.041,2509,3706,3484,0,0,0,0,0,0
$GC,518,-0.77,-116.7,38.5,-9.4,89,523,0.00,2.03,0.00,0.000,6,0.000,0.024,2509,2304,3484,0,0,0,0,0,0
$GC,857,-0.73,-116.7,71.6,-8.9,150,862,0.00,2.08,0.00,0.000,4,0.000,0.034,2509,908,3485,0,0,0,0,0,0
$GC,942,-0.67,-116.7,80.0,-9.0,165,948,0.12,2.08,0.00,0.000,6,0.209,0.028,2540,2309,3485,0,0,0,0,0,0
$GC,1284,-0.67,-116.7,104.3,-5.9,226,1290,0.00,2.10,0.00,0.000,4,0.000,0.041,2540,3702,3485,0,0,0,0,0,0
$GC,1348,-0.71,-116.7,108.9,-7.7,237,1353,0.00,2.03,0.00,0.000,6,0.000,0.024,2541,2288,3485,0,0,0,0,0,0
$GC,1690,-0.75,-116.7,134.6,-7.9,274,1694,0.00,2.03,0.00,0.000,4,0.000,0.035,2541,923,3485,0,0,0,0,0,0
$GC,1759,-0.75,-116.7,139.8,-7.6,277,1763,0.00,2.05,0.00,0.000,6,0.000,0.028,2541,2310,3486,0,0,0,0,0,0
$GC,2087,-0.79,-116.7,163.9,-7.3,293,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2310,3486,0,0,0,0,0,0
$GC,2395,-0.83,-116.7,187.5,-7.5,308,2397,0.15,0.00,0.00,0.000,6,0.130,0.000,2490,2310,3487,0,0,0,0,0,0
$GC,2703,-0.78,-116.7,215.5,-8.8,323,2707,0.00,2.08,0.00,0.000,4,0.000,0.035,2490,927,3487,0,0,0,0,0,0
$GC,2753,-0.71,-116.7,220.3,-9.8,325,2758,0.17,2.03,0.00,0.000,6,0.188,0.028,2536,2308,3487,0,0,0,0,0,0
$GC,3069,-0.74,-116.7,242.4,-7.2,340,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2308,3487,0,0,0,0,0,0
$GC,3378,-0.78,-116.7,266.0,-7.9,355,3382,0.00,2.08,0.00,0.000,4,0.000,0.041,2536,3700,3486,0,0,0,0,0,0
$GC,3433,-0.84,-116.7,270.6,-8.2,357,3440,0.12,2.05,0.00,0.000,6,0.140,0.024,2497,2288,3486,0,0,0,0,0,0
$GC,3749,-0.79,-116.7,298.4,-8.6,373,3752,0.00,2.03,0.00,0.000,4,0.000,0.036,2497,925,3486,0,0,0,0,0,0
$GC,3804,-0.74,-116.7,303.6,-9.5,375,3809,0.12,2.05,0.00,0.000,6,0.202,0.029,2526,2316,3486,0,0,0,0,0,0
$GC,4121,-0.74,-116.7,327.9,-7.9,386,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2316,3486,0,0,0,0,0,0
$GC,4428,-0.74,-116.7,353.7,-8.4,396,4432,0.00,2.05,0.00,0.000,4,0.000,0.041,2526,3697,3485,0,0,0,0,0,0
$GC,4472,-0.78,-116.7,357.8,-8.8,397,4476,0.00,2.03,0.00,0.000,6,0.000,0.025,2527,2309,3485,0,0,0,0,0,0
$GC,4796,-0.78,-116.7,385.2,-8.5,408,4800,0.00,2.12,0.00,0.000,4,0.000,0.041,2526,3705,3484,0,0,0,0,0,0
$GC,4845,-0.82,-116.7,389.4,-8.4,409,4849,0.00,2.03,0.00,0.000,6,0.000,0.025,2527,2297,3484,0,0,0,0,0,0
$GC,5164,-0.85,-116.7,415.5,-8.2,420,5165,0.12,0.00,0.00,0.000,6,0.138,0.000,2487,2292,3483,0,0,0,0,0,0
$GC,5469,-0.80,-116.7,444.1,-9.4,430,5473,0.00,2.05,0.00,0.000,4,0.000,0.037,2487,910,3483,0,0,0,0,0,0
$GC,5533,-0.73,-116.7,450.2,-9.8,432,5537,0.15,2.05,0.00,0.000,6,0.196,0.030,2525,2301,3483,0,0,0,0,0,0
$GC,5866,-0.73,-116.7,476.2,-7.7,443,5870,0.00,2.08,0.00,0.000,4,0.000,0.041,2525,3698,3481,0,0,0,0,0,0
$GC,5928,-0.78,-116.7,481.0,-7.8,445,5932,0.00,2.03,0.00,0.000,6,0.000,0.025,2526,2289,3481,0,0,0,0,0,0
$GC,6263,-0.78,-116.7,505.5,-7.2,455,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2287,3480,0,0,0,0,0,0
$GC,6565,-0.81,-116.7,528.7,-7.8,460,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2287,3479,0,0,0,0,0,0
$GC,6868,-0.84,-116.7,551.7,-7.5,465,6872,0.00,2.17,0.00,0.000,4,0.000,0.042,2525,3708,3479,0,0,0,0,0,0
$GC,6930,-0.89,-116.7,556.3,-7.4,466,6934,0.15,2.05,0.00,0.000,6,0.129,0.026,2476,2292,3479,0,0,0,0,0,0
$GC,7300,-0.83,-116.7,589.2,-8.9,472,7304,0.00,2.05,0.00,0.000,4,0.000,0.038,2476,916,3478,0,0,0,0,0,0
$GC,7384,-0.75,-116.7,597.1,-9.1,473,7389,0.17,2.08,0.00,0.000,6,0.192,0.031,2522,2308,3478,0,0,0,0,0,0
$GC,7731,-0.75,-116.7,622.1,-7.1,479,7735,0.00,2.08,0.00,0.000,4,0.000,0.042,2521,3698,3478,0,0,0,0,0,0
$GC,7781,-0.79,-116.7,625.8,-8.0,479,7785,0.00,2.05,0.00,0.000,6,0.000,0.025,2522,2281,3477,0,0,0,0,0,0
$GC,8096,-0.82,-116.7,647.9,-7.0,485,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2279,3477,0,0,0,0,0,0
$GC,8399,-0.86,-116.7,668.3,-6.7,490,8403,0.00,2.17,0.00,0.000,4,0.000,0.042,2522,3701,3476,0,0,0,0,0,0
$GC,8454,-0.90,-116.7,672.3,-6.9,490,8461,0.15,2.05,0.00,0.000,6,0.130,0.026,2474,2275,3477,0,0,0,0,0,0
$GC,8765,-0.83,-116.7,699.1,-8.8,496,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2275,3476,0,0,0,0,0,0
$GC,9067,-0.77,-116.7,726.3,-9.0,501,9069,0.15,0.00,0.00,0.000,6,0.192,0.000,2512,2272,3475,0,0,0,0,0,0
$GC,9370,-0.77,-116.7,748.6,-7.3,506,9374,0.00,2.20,0.00,0.000,4,0.000,0.043,2512,3706,3475,0,0,0,0,0,0
$GC,9419,-0.77,-116.7,752.4,-7.8,506,9423,0.00,2.05,0.00,0.000,6,0.000,0.027,2513,2294,3475,0,0,0,0,0,0
$GC,9734,-0.77,-116.7,775.4,-7.3,512,9735,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2293,3474,0,0,0,0,0,0
$GC,10037,-0.77,-116.7,797.8,-7.4,517,10041,0.00,2.15,0.00,0.000,4,0.000,0.043,2513,3698,3474,0,0,0,0,0,0
$GC,10099,-0.80,-116.7,802.6,-7.6,518,10103,0.00,2.05,0.00,0.000,6,0.000,0.026,2513,2292,3474,0,0,0,0,0,0
$GC,10469,-0.80,-116.7,830.1,-7.4,524,10470,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2290,3474,0,0,0,0,0,0
$GC,10772,-0.80,-116.7,852.4,-7.4,529,10776,0.00,2.15,0.00,0.000,4,0.000,0.043,2513,3698,3473,0,0,0,0,0,0
$GC,10816,-0.83,-116.7,855.7,-6.9,529,10819,0.00,2.03,0.00,0.000,6,0.000,0.026,2513,2300,3473,0,0,0,0,0,0
$GC,11135,-0.83,-116.7,879.4,-7.4,535,11136,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2297,3473,0,0,0,0,0,0
$GC,11439,-0.83,-116.7,902.2,-7.5,540,11443,0.00,2.15,0.00,0.000,4,0.000,0.044,2513,3701,3472,0,0,0,0,0,0
$GC,11482,-0.87,-116.7,905.7,-7.6,540,11486,0.00,2.05,0.00,0.000,6,0.000,0.027,2513,2290,3473,0,0,0,0,0,0
$GC,11803,-0.87,-116.7,929.4,-7.5,546,11804,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2289,3472,0,0,0,0,0,0
$GC,12105,-0.87,-116.7,951.8,-7.4,551,12109,0.00,2.15,0.00,0.000,4,0.000,0.043,2513,3697,3472,0,0,0,0,0,0
$GC,12149,-0.91,-116.7,955.1,-7.3,551,12154,0.12,2.05,0.00,0.000,6,0.137,0.027,2474,2285,3472,0,0,0,0,0,0
$GC,12475,-0.86,-116.7,983.3,-8.8,557,12479,0.00,2.05,0.00,0.000,4,0.000,0.040,2473,915,3471,0,0,0,0,0,0
$GC,12525,-0.79,-116.7,988.1,-9.8,557,12530,0.12,2.05,0.00,0.000,6,0.210,0.031,2503,2297,3472,0,0,0,0,0,0
$STATE,12595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12595,begin apogee
$GC,12600,-0.24,0.0,993.7,7.9,559,12705,0.60,0.00,101.78,1.552,6,0.170,0.000,2679,2659,3006,0,0,0,0,0,0
$STATE,12706,end apogee,CONTROL_FINISHED_OK
$STATE,12706,begin climb
$GC,12708,0.86,116.7,995.7,0.0,560,12828,1.17,2.45,108.82,1.454,4,0.114,0.044,3035,4036,2529,0,0,0,0,0,0
$GC,12850,0.62,116.7,993.1,7.5,563,12856,0.30,2.22,0.00,0.000,6,0.173,0.026,2970,2654,2526,0,0,0,0,0,0
$GC,13204,0.64,134.7,971.3,6.0,569,13222,0.00,0.00,16.20,1.414,6,0.000,0.000,2970,2654,2456,0,0,0,0,0,0
$GC,13507,0.65,144.4,952.1,6.4,574,13522,0.00,2.22,10.07,1.371,4,0.000,0.044,2966,4042,2417,0,0,0,0,0,0
$GC,13539,0.64,159.6,949.9,6.2,574,13559,0.00,2.12,15.32,1.349,6,0.000,0.027,2975,2640,2355,0,0,0,0,0,0
$GC,13862,0.64,159.6,927.1,7.1,579,13864,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2640,2350,0,0,0,0,0,0
$GC,14166,0.64,159.6,905.3,7.2,584,14170,0.00,2.20,0.00,0.000,4,0.000,0.045,2975,4046,2349,0,0,0,0,0,0
$GC,14198,0.57,159.6,902.7,8.2,584,14203,0.12,2.08,0.00,0.000,6,0.185,0.028,2954,2647,2348,0,0,0,0,0,0
$GC,14524,0.62,166.6,881.1,6.5,590,14533,0.00,0.00,6.93,1.302,6,0.000,0.000,2954,2645,2326,0,0,0,0,0,0
$GC,14827,0.67,167.2,860.5,6.8,595,14831,0.00,2.17,0.00,0.000,4,0.000,0.045,2953,4046,2325,0,0,0,0,0,0
$GC,14837,0.71,167.9,859.7,6.8,595,14841,0.00,2.08,0.00,0.000,6,0.000,0.028,2962,2649,2325,0,0,0,0,0,0
$GC,15186,0.74,167.9,835.7,6.9,601,15190,0.12,2.17,0.00,0.000,4,0.117,0.045,3006,4040,2324,0,0,0,0,0,0
$GC,15207,0.68,167.9,833.9,7.9,601,15211,0.00,2.08,0.00,0.000,6,0.000,0.028,3015,2637,2324,0,0,0,0,0,0
$GC,15556,0.62,167.9,802.9,8.9,607,15560,0.17,2.20,0.00,0.000,4,0.180,0.046,2966,4045,2324,0,0,0,0,0,0
$GC,15638,0.62,167.9,795.6,7.9,608,15643,0.00,2.10,0.00,0.000,6,0.000,0.028,2974,2642,2324,0,0,0,0,0,0
$GC,15987,0.62,167.9,769.2,7.6,614,15991,0.00,2.17,0.00,0.000,4,0.000,0.045,2975,4050,2323,0,0,0,0,0,0
$GC,16003,0.62,167.9,767.8,7.7,614,16007,0.00,2.10,0.00,0.000,6,0.000,0.028,2983,2649,2323,0,0,0,0,0,0
$GC,16352,0.62,167.9,741.1,7.6,620,16356,0.00,2.15,0.00,0.000,4,0.000,0.045,2980,4043,2323,0,0,0,0,0,0
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$STATE,25559,end climb,SURFACE_DEPTH_REACHED
$STATE,25559,begin surface coast
$FINISH,2.8,1.015701
$STATE,25611,end surface coast,CONTROL_FINISHED_OK
$STATE,25611,begin surface
$SM_CCo,25628,52.22,0.806,0,0,1884,275.23
$SM_GC,3.61,0.00,0.00,52.22,0.000,0.000,0.806,217,2282,1884,-7.96,-0.51,275.23
$IRIDIUM_FIX,6431.40,-50.85,150399,030302
$TT8_MAMPS,0.027612
$HUMID,1078395474
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,13.10
$XPDR_PINGS,2
$24V_AH,22.1,43.516
$10V_AH,9.9,29.029
$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
$DEVICE_SECS,22.725,194.675,305.900,52.225,0.000,29.621,35.887,179.268,0.500,0.000,18.031,2316.418,20130.312,535.078,2535.375,546.498,0.000,1795.030,0.000,2513.340,0.000,0.534,0.000
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$SENSOR_SECS,766.183,997.876,605.304,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241324
$DATA_FILE_SIZE,63210,1107
$CAP_FILE_SIZE,207375,0
$CFSIZE,260165632,232955904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.024,339.0,1
$GPS,191209,175737,6505.986,-100.513,25,1.6,26,-5.8