version: 66.06
glider: 140
mission: 8
dive: 272
start: 12 21 109 23 28 14
data:
$ID,140
$MISSION,8
$DIVE,272
$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,-49349.953
$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,59
$R_STBD_OVSHOOT,42
$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
$GPS1,232137,6450.404,-26.365,30,0.9,31,-5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.51
$_SM_ANGLEo,-63.3
$GPS2,232750,6450.358,-26.354,13,0.9,13,-5.5
$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,138.6,297505,-13.7,-6.875
$D_GRID,2771
$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,-116.7,0.0,0.0,0,23,0.00,0.00,-7.15,0.000,2,0.000,0.000,219,2311,2023,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.4,-0.0,1,128,9.05,2.20,-84.00,0.000,4,0.236,0.050,2500,900,3483,0,0,0,0,0,0
$GC,312,-0.69,-116.7,18.6,-10.4,52,318,0.10,2.15,0.00,0.000,6,0.171,0.028,2531,2313,3484,0,0,0,0,0,0
$GC,649,-0.66,-116.7,41.3,-8.0,113,656,0.00,2.12,0.00,0.000,4,0.000,0.035,2532,901,3484,0,0,0,0,0,0
$GC,685,-0.62,-116.7,44.2,-8.2,119,691,0.12,2.08,0.00,0.000,6,0.195,0.028,2564,2306,3485,0,0,0,0,0,0
$GC,1025,-0.65,-116.7,63.0,-5.3,180,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2306,3485,0,0,0,0,0,0
$GC,1370,-0.69,-116.7,83.8,-6.8,241,1376,0.00,2.08,0.00,0.000,4,0.000,0.040,2564,3701,3485,0,0,0,0,0,0
$GC,1388,-0.73,-116.7,85.2,-6.7,244,1395,0.08,2.08,0.00,0.000,6,0.110,0.023,2534,2278,3485,0,0,0,0,0,0
$GC,1733,-0.73,-116.7,110.8,-6.0,305,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2277,3486,0,0,0,0,0,0
$GC,2075,-0.73,-116.7,133.6,-7.6,342,2079,0.00,2.15,0.00,0.000,4,0.000,0.040,2533,3704,3485,0,0,0,0,0,0
$GC,2092,-0.73,-116.7,134.8,-7.1,343,2096,0.00,2.00,0.00,0.000,6,0.000,0.024,2533,2302,3485,0,0,0,0,0,0
$GC,2425,-0.73,-116.7,160.1,-7.8,359,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2295,3485,0,0,0,0,0,0
$GC,2734,-0.73,-116.7,184.3,-8.0,374,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2295,3486,0,0,0,0,0,0
$GC,3043,-0.73,-116.7,207.0,-7.2,389,3046,0.00,2.12,0.00,0.000,4,0.000,0.040,2533,3700,3486,0,0,0,0,0,0
$GC,3120,-0.73,-116.7,212.7,-7.4,392,3126,0.00,2.03,0.00,0.000,6,0.000,0.023,2533,2291,3486,0,0,0,0,0,0
$GC,3436,-0.73,-116.7,233.6,-6.8,408,3440,0.00,2.12,0.00,0.000,4,0.000,0.039,2533,3701,3486,0,0,0,0,0,0
$GC,3475,-0.73,-116.7,236.4,-7.5,410,3479,0.00,1.98,0.00,0.000,6,0.000,0.024,2533,2306,3486,0,0,0,0,0,0
$GC,3808,-0.73,-116.7,258.9,-6.8,426,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2301,3487,0,0,0,0,0,0
$GC,4116,-0.73,-116.7,281.0,-7.4,441,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2301,3487,0,0,0,0,0,0
$GC,4445,-0.73,-116.7,305.8,-7.7,456,4446,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2301,3486,0,0,0,0,0,0
$GC,4752,-0.73,-116.7,329.2,-7.7,466,4756,0.00,2.12,0.00,0.000,4,0.000,0.041,2533,3695,3485,0,0,0,0,0,0
$GC,4780,-0.73,-116.7,331.5,-8.1,467,4784,0.00,2.00,0.00,0.000,6,0.000,0.025,2533,2302,3486,0,0,0,0,0,0
$GC,5120,-0.73,-116.7,356.5,-7.4,478,5124,0.00,2.12,0.00,0.000,4,0.000,0.041,2533,3695,3485,0,0,0,0,0,0
$GC,5135,-0.73,-116.7,357.8,-7.3,478,5140,0.00,2.05,0.00,0.000,6,0.000,0.025,2533,2292,3484,0,0,0,0,0,0
$GC,5460,-0.73,-116.7,381.0,-7.2,489,5464,0.00,2.12,0.00,0.000,4,0.000,0.041,2533,3698,3484,0,0,0,0,0,0
$GC,5503,-0.73,-116.7,384.3,-7.2,490,5508,0.00,2.05,0.00,0.000,6,0.000,0.025,2533,2290,3483,0,0,0,0,0,0
$GC,5832,-0.73,-116.7,408.4,-7.2,501,5836,0.00,2.12,0.00,0.000,4,0.000,0.041,2533,3695,3483,0,0,0,0,0,0
$GC,5898,-0.73,-116.7,413.2,-7.1,503,5903,0.00,2.03,0.00,0.000,6,0.000,0.025,2533,2299,3483,0,0,0,0,0,0
$GC,6233,-0.73,-116.7,436.0,-6.7,514,6237,0.00,2.12,0.00,0.000,4,0.000,0.041,2533,3699,3482,0,0,0,0,0,0
$GC,6272,-0.73,-116.7,438.6,-6.7,515,6276,0.00,2.00,0.00,0.000,6,0.000,0.025,2533,2299,3482,0,0,0,0,0,0
$GC,6601,-0.73,-116.7,460.8,-6.7,526,6605,0.00,2.12,0.00,0.000,4,0.000,0.041,2533,3700,3481,0,0,0,0,0,0
$GC,6629,-0.73,-116.7,462.9,-7.1,527,6633,0.00,2.00,0.00,0.000,6,0.000,0.025,2533,2307,3481,0,0,0,0,0,0
$GC,6969,-0.73,-116.7,488.3,-7.6,538,6973,0.00,2.12,0.00,0.000,4,0.000,0.042,2533,3702,3480,0,0,0,0,0,0
$GC,7030,-0.73,-116.7,493.1,-7.9,540,7034,0.00,2.03,0.00,0.000,6,0.000,0.025,2533,2298,3480,0,0,0,0,0,0
$GC,7367,-0.73,-116.7,519.1,-7.7,547,7371,0.00,2.15,0.00,0.000,4,0.000,0.042,2533,3704,3479,0,0,0,0,0,0
$GC,7416,-0.73,-116.7,523.0,-7.9,547,7420,0.00,2.08,0.00,0.000,6,0.000,0.025,2533,2290,3479,0,0,0,0,0,0
$GC,7736,-0.73,-116.7,546.7,-7.4,553,7740,0.00,2.15,0.00,0.000,4,0.000,0.042,2533,3704,3478,0,0,0,0,0,0
$GC,7790,-0.73,-116.7,551.0,-7.6,553,7797,0.00,2.05,0.00,0.000,6,0.000,0.025,2533,2299,3477,0,0,0,0,0,0
$GC,8100,-0.73,-116.7,574.0,-7.5,559,8104,0.00,2.12,0.00,0.000,4,0.000,0.042,2533,3698,3477,0,0,0,0,0,0
$GC,8137,-0.73,-116.7,577.0,-7.8,559,8142,0.00,2.05,0.00,0.000,6,0.000,0.025,2533,2298,3477,0,0,0,0,0,0
$GC,8463,-0.73,-116.7,600.0,-7.0,565,8467,0.00,2.12,0.00,0.000,4,0.000,0.042,2533,3693,3476,0,0,0,0,0,0
$GC,8513,-0.73,-116.7,603.6,-7.3,565,8517,0.00,2.05,0.00,0.000,6,0.000,0.025,2533,2298,3475,0,0,0,0,0,0
$GC,8828,-0.73,-116.7,623.8,-6.4,571,8832,0.00,2.12,0.00,0.000,4,0.000,0.043,2533,3694,3476,0,0,0,0,0,0
$GC,8871,-0.73,-116.7,626.7,-7.1,571,8875,0.00,2.05,0.00,0.000,6,0.000,0.025,2533,2301,3475,0,0,0,0,0,0
$GC,9192,-0.73,-116.7,646.4,-6.2,577,9196,0.00,2.12,0.00,0.000,4,0.000,0.043,2533,3695,3475,0,0,0,0,0,0
$GC,9230,-0.73,-116.7,648.8,-6.5,577,9234,0.00,2.05,0.00,0.000,6,0.000,0.026,2533,2278,3475,0,0,0,0,0,0
$GC,9556,-0.73,-116.7,669.1,-6.2,583,9560,0.00,2.17,0.00,0.000,4,0.000,0.043,2533,3701,3474,0,0,0,0,0,0
$GC,9610,-0.73,-116.7,672.8,-7.1,583,9616,0.00,2.08,0.00,0.000,6,0.000,0.026,2533,2292,3474,0,0,0,0,0,0
$GC,9920,-0.73,-116.7,693.3,-6.8,589,9924,0.00,2.15,0.00,0.000,4,0.000,0.043,2533,3702,3474,0,0,0,0,0,0
$GC,9964,-0.73,-116.7,696.7,-6.6,589,9968,0.00,2.03,0.00,0.000,6,0.000,0.026,2533,2296,3474,0,0,0,0,0,0
$GC,10284,-0.73,-116.7,719.1,-7.0,595,10288,0.00,2.15,0.00,0.000,4,0.000,0.043,2533,3697,3473,0,0,0,0,0,0
$GC,10317,-0.73,-116.7,721.4,-7.1,595,10321,0.00,2.08,0.00,0.000,6,0.000,0.026,2533,2294,3473,0,0,0,0,0,0
$GC,10654,-0.73,-116.7,745.3,-7.1,601,10658,0.00,2.15,0.00,0.000,4,0.000,0.043,2533,3701,3472,0,0,0,0,0,0
$GC,10692,-0.77,-116.7,748.1,-7.4,601,10696,0.00,2.05,0.00,0.000,6,0.000,0.026,2533,2286,3472,0,0,0,0,0,0
$GC,11018,-0.77,-116.7,771.9,-7.4,607,11022,0.00,2.15,0.00,0.000,4,0.000,0.042,2533,3695,3472,0,0,0,0,0,0
$GC,11079,-0.80,-116.7,776.5,-7.7,608,11083,0.00,2.03,0.00,0.000,6,0.000,0.026,2533,2301,3471,0,0,0,0,0,0
$GC,11450,-0.80,-116.7,803.4,-7.3,614,11454,0.00,2.12,0.00,0.000,4,0.000,0.043,2533,3693,3471,0,0,0,0,0,0
$GC,11527,-0.83,-116.7,809.4,-7.6,615,11532,0.12,2.03,0.00,0.000,6,0.144,0.026,2491,2290,3471,0,0,0,0,0,0
$GC,11875,-0.78,-116.7,840.3,-9.0,621,11879,0.00,2.15,0.00,0.000,4,0.000,0.043,2491,3697,3470,0,0,0,0,0,0
$GC,11891,-0.72,-116.7,841.7,-9.0,621,11896,0.15,2.03,0.00,0.000,6,0.183,0.027,2529,2296,3470,0,0,0,0,0,0
$GC,12238,-0.72,-116.7,867.8,-7.4,627,12242,0.00,2.15,0.00,0.000,4,0.000,0.044,2529,3700,3470,0,0,0,0,0,0
$GC,12264,-0.72,-116.7,869.9,-7.7,627,12269,0.00,2.08,0.00,0.000,6,0.000,0.027,2529,2303,3470,0,0,0,0,0,0
$GC,12602,-0.72,-116.7,894.2,-7.2,633,12606,0.00,2.12,0.00,0.000,4,0.000,0.043,2529,3693,3470,0,0,0,0,0,0
$GC,12657,-0.75,-116.7,898.4,-6.9,633,12664,0.00,2.05,0.00,0.000,6,0.000,0.026,2529,2301,3470,0,0,0,0,0,0
$GC,12965,-0.75,-116.7,921.3,-7.5,639,12969,0.00,2.12,0.00,0.000,4,0.000,0.044,2529,3692,3469,0,0,0,0,0,0
$GC,13015,-0.79,-116.7,925.1,-7.5,639,13019,0.00,2.03,0.00,0.000,6,0.000,0.027,2529,2297,3469,0,0,0,0,0,0
$GC,13330,-0.79,-116.7,948.4,-7.4,645,13334,0.00,2.15,0.00,0.000,4,0.000,0.044,2529,3692,3469,0,0,0,0,0,0
$GC,13385,-0.83,-116.7,952.7,-7.2,645,13389,0.00,2.05,0.00,0.000,6,0.000,0.027,2529,2305,3469,0,0,0,0,0,0
$GC,13700,-0.83,-116.7,974.8,-7.0,651,13704,0.00,2.12,0.00,0.000,4,0.000,0.043,2529,3696,3469,0,0,0,0,0,0
$GC,13749,-0.86,-116.7,978.5,-7.5,651,13754,0.08,2.08,0.00,0.000,6,0.087,0.027,2483,2295,3469,0,0,0,0,0,0
$STATE,13940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13940,begin apogee
$GC,13946,-0.24,0.0,994.5,8.4,655,14051,0.70,0.00,101.47,1.557,6,0.173,0.000,2684,2638,3006,0,0,0,0,0,0
$STATE,14051,end apogee,CONTROL_FINISHED_OK
$STATE,14051,begin climb
$GC,14053,0.80,116.7,996.8,0.0,656,14171,1.08,2.42,108.85,1.459,4,0.113,0.044,3014,4041,2529,0,0,0,0,0,0
$GC,14244,0.58,116.7,990.6,9.2,659,14250,0.28,2.20,0.00,0.000,6,0.170,0.026,2956,2647,2523,0,0,0,0,0,0
$GC,14553,0.57,139.0,972.0,6.0,665,14575,0.00,0.00,19.85,1.424,6,0.000,0.000,2956,2648,2439,0,0,0,0,0,0
$GC,14857,0.58,146.0,952.3,6.6,670,14866,0.00,0.00,7.53,1.309,6,0.000,0.000,2956,2648,2410,0,0,0,0,0,0
$GC,15159,0.58,147.9,931.8,6.8,675,15161,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2648,2409,0,0,0,0,0,0
$GC,15462,0.59,157.0,912.0,6.5,680,15478,0.00,2.20,11.25,1.404,4,0.000,0.044,2953,4042,2364,0,0,0,0,0,0
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$STATE,27454,end climb,SURFACE_DEPTH_REACHED
$STATE,27454,begin surface coast
$FINISH,3.0,1.027464
$STATE,27466,end surface coast,CONTROL_FINISHED_OK
$STATE,27467,begin surface
$SM_CCo,27484,3.42,0.539,0,0,1884,275.23
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$IRIDIUM_FIX,6426.39,-5.07,170399,151549
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$HUMID,1078398055
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.1,44.777
$10V_AH,9.7,29.934
$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
$DEVICE_SECS,20.400,201.825,357.750,3.425,0.000,28.894,32.169,179.444,0.000,0.000,13.467,2448.905,21479.150,542.617,2833.979,546.361,0.000,1944.385,0.000,2803.404,0.000,0.533,0.000
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$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241336
$DATA_FILE_SIZE,66428,1197
$CAP_FILE_SIZE,213352,0
$CFSIZE,260165632,232235008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031,178.0,1
$GPS,221209,070737,6447.471,-21.572,37,1.5,38,-5.4