version: 66.06
glider: 140
mission: 8
dive: 286
start: 12 26 109 10 53 32
data:
$ID,140
$MISSION,8
$DIVE,286
$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,-49575.848
$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,77
$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
$GPS1,104636,6414.012,37.695,25,1.6,26,-4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.71
$_SM_ANGLEo,-58.7
$GPS2,105308,6413.986,37.768,12,1.6,12,-4.7
$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,134.5,212487,-13.7,-6.875
$D_GRID,2426
$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,-7.20,0.000,2,0.000,0.000,219,2281,2013,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.7,-0.0,1,134,9.30,2.12,-88.05,0.000,4,0.244,0.051,2505,927,3482,0,0,0,0,0,0
$GC,311,-0.71,-116.7,19.7,-11.7,52,318,0.00,2.10,0.00,0.000,6,0.000,0.030,2505,2305,3484,0,0,0,0,0,0
$GC,651,-0.64,-116.7,53.6,-12.8,113,657,0.17,2.12,0.00,0.000,4,0.190,0.035,2553,918,3485,0,0,0,0,0,0
$GC,720,-0.64,-116.7,61.5,-11.1,125,726,0.00,2.08,0.00,0.000,6,0.000,0.029,2553,2313,3485,0,0,0,0,0,0
$GC,1062,-0.64,-116.7,87.4,-6.8,186,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2313,3485,0,0,0,0,0,0
$GC,1403,-0.64,-116.7,113.5,-7.5,247,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2313,3486,0,0,0,0,0,0
$GC,1728,-0.67,-116.7,135.0,-6.6,275,1732,0.00,2.08,0.00,0.000,4,0.000,0.041,2553,3698,3486,0,0,0,0,0,0
$GC,1745,-0.71,-116.7,136.3,-6.8,276,1749,0.00,2.03,0.00,0.000,6,0.000,0.024,2553,2290,3486,0,0,0,0,0,0
$GC,2072,-0.75,-116.7,160.2,-7.2,292,2076,0.00,2.15,0.00,0.000,4,0.000,0.041,2553,3702,3487,0,0,0,0,0,0
$GC,2105,-0.79,-116.7,162.8,-7.3,293,2111,0.08,2.05,0.00,0.000,6,0.114,0.024,2509,2297,3487,0,0,0,0,0,0
$GC,2422,-0.74,-116.7,190.9,-9.0,309,2426,0.00,2.15,0.00,0.000,4,0.000,0.041,2509,3703,3487,0,0,0,0,0,0
$GC,2471,-0.70,-116.7,195.6,-9.1,311,2476,0.12,2.00,0.00,0.000,6,0.186,0.024,2539,2297,3487,0,0,0,0,0,0
$GC,2792,-0.70,-116.7,219.0,-7.1,327,2796,0.00,2.15,0.00,0.000,4,0.000,0.041,2539,3698,3487,0,0,0,0,0,0
$GC,2809,-0.70,-116.7,220.2,-7.2,328,2813,0.00,2.00,0.00,0.000,6,0.000,0.025,2540,2315,3487,0,0,0,0,0,0
$GC,3141,-0.70,-116.7,244.6,-7.4,344,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2311,3486,0,0,0,0,0,0
$GC,3450,-0.70,-116.7,268.1,-7.6,359,3454,0.00,2.12,0.00,0.000,4,0.000,0.041,2540,3698,3487,0,0,0,0,0,0
$GC,3470,-0.70,-116.7,269.8,-8.0,360,3475,0.00,2.08,0.00,0.000,6,0.000,0.025,2540,2293,3486,0,0,0,0,0,0
$GC,3798,-0.70,-116.7,294.1,-7.2,376,3802,0.00,2.15,0.00,0.000,4,0.000,0.041,2540,3705,3486,0,0,0,0,0,0
$GC,3825,-0.70,-116.7,296.1,-7.5,377,3829,0.00,2.08,0.00,0.000,6,0.000,0.025,2540,2295,3486,0,0,0,0,0,0
$GC,4159,-0.70,-116.7,321.1,-7.6,389,4163,0.00,2.15,0.00,0.000,4,0.000,0.041,2540,3706,3486,0,0,0,0,0,0
$GC,4179,-0.70,-116.7,322.8,-7.6,389,4186,0.00,2.08,0.00,0.000,6,0.000,0.025,2540,2301,3486,0,0,0,0,0,0
$GC,4493,-0.70,-116.7,346.6,-7.8,400,4496,0.00,2.15,0.00,0.000,4,0.000,0.042,2540,3708,3485,0,0,0,0,0,0
$GC,4514,-0.70,-116.7,348.4,-8.2,400,4520,0.00,2.08,0.00,0.000,6,0.000,0.025,2540,2304,3485,0,0,0,0,0,0
$GC,4826,-0.70,-116.7,372.6,-7.9,411,4830,0.00,2.12,0.00,0.000,4,0.000,0.041,2539,3698,3484,0,0,0,0,0,0
$GC,4864,-0.73,-116.7,375.6,-7.7,412,4868,0.00,2.08,0.00,0.000,6,0.000,0.025,2540,2292,3484,0,0,0,0,0,0
$GC,5193,-0.73,-116.7,401.1,-7.7,423,5197,0.00,2.15,0.00,0.000,4,0.000,0.042,2539,3700,3484,0,0,0,0,0,0
$GC,5224,-0.73,-116.7,403.6,-8.2,424,5229,0.00,2.08,0.00,0.000,6,0.000,0.025,2540,2296,3484,0,0,0,0,0,0
$GC,5559,-0.73,-116.7,428.6,-7.1,435,5563,0.00,2.15,0.00,0.000,4,0.000,0.042,2540,3704,3484,0,0,0,0,0,0
$GC,5621,-0.77,-116.7,433.0,-7.1,437,5625,0.00,2.05,0.00,0.000,6,0.000,0.026,2539,2287,3483,0,0,0,0,0,0
$GC,5956,-0.77,-116.7,456.3,-6.7,448,5960,0.00,2.15,0.00,0.000,4,0.000,0.042,2540,3700,3483,0,0,0,0,0,0
$GC,6000,-0.81,-116.7,459.4,-7.1,449,6005,0.12,2.03,0.00,0.000,6,0.145,0.026,2502,2294,3482,0,0,0,0,0,0
$GC,6318,-0.76,-116.7,486.2,-8.7,460,6321,0.00,2.15,0.00,0.000,4,0.000,0.042,2501,3698,3482,0,0,0,0,0,0
$GC,6334,-0.71,-116.7,487.8,-8.8,460,6338,0.12,2.03,0.00,0.000,6,0.187,0.026,2531,2298,3482,0,0,0,0,0,0
$GC,6675,-0.71,-116.7,513.8,-7.5,468,6679,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3701,3481,0,0,0,0,0,0
$GC,6696,-0.71,-116.7,515.5,-7.7,468,6700,0.00,2.08,0.00,0.000,6,0.000,0.026,2532,2304,3481,0,0,0,0,0,0
$GC,7039,-0.71,-116.7,539.9,-7.2,474,7042,0.00,2.12,0.00,0.000,4,0.000,0.043,2532,3697,3481,0,0,0,0,0,0
$GC,7094,-0.71,-116.7,543.9,-7.8,474,7098,0.00,2.08,0.00,0.000,6,0.000,0.026,2532,2294,3481,0,0,0,0,0,0
$GC,7409,-0.71,-116.7,565.0,-6.7,480,7413,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3701,3480,0,0,0,0,0,0
$GC,7442,-0.71,-116.7,567.4,-6.8,480,7446,0.00,2.08,0.00,0.000,6,0.000,0.026,2532,2302,3480,0,0,0,0,0,0
$GC,7774,-0.71,-116.7,590.0,-6.9,486,7778,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3706,3480,0,0,0,0,0,0
$GC,7817,-0.71,-116.7,593.3,-7.3,486,7822,0.00,2.10,0.00,0.000,6,0.000,0.026,2532,2293,3480,0,0,0,0,0,0
$GC,8139,-0.71,-116.7,615.2,-6.8,492,8143,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3698,3479,0,0,0,0,0,0
$GC,8177,-0.71,-116.7,618.0,-7.0,492,8181,0.00,2.08,0.00,0.000,6,0.000,0.026,2532,2295,3479,0,0,0,0,0,0
$GC,8503,-0.71,-116.7,640.1,-6.8,498,8507,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3700,3479,0,0,0,0,0,0
$GC,8558,-0.74,-116.7,643.8,-6.5,498,8564,0.00,2.05,0.00,0.000,6,0.000,0.027,2532,2289,3479,0,0,0,0,0,0
$GC,8868,-0.74,-116.7,664.2,-6.6,504,8872,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3697,3478,0,0,0,0,0,0
$GC,8917,-0.78,-116.7,667.6,-6.8,504,8921,0.00,2.03,0.00,0.000,6,0.000,0.027,2532,2297,3478,0,0,0,0,0,0
$GC,9232,-0.78,-116.7,687.7,-6.4,510,9236,0.00,2.17,0.00,0.000,4,0.000,0.043,2532,3704,3478,0,0,0,0,0,0
$GC,9276,-0.81,-116.7,690.6,-6.5,510,9280,0.00,2.05,0.00,0.000,6,0.000,0.027,2532,2296,3477,0,0,0,0,0,0
$GC,9596,-0.81,-116.7,710.8,-6.4,516,9600,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3699,3477,0,0,0,0,0,0
$GC,9640,-0.85,-116.7,713.7,-6.4,516,9645,0.12,2.05,0.00,0.000,6,0.146,0.027,2492,2292,3477,0,0,0,0,0,0
$GC,9954,-0.79,-116.7,738.7,-8.1,522,9955,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2290,3477,0,0,0,0,0,0
$GC,10257,-0.73,-116.7,763.6,-8.2,527,10262,0.12,2.17,0.00,0.000,4,0.198,0.044,2523,3697,3477,0,0,0,0,0,0
$GC,10267,-0.69,-116.7,764.5,-8.3,527,10271,0.00,2.05,0.00,0.000,6,0.000,0.028,2523,2294,3477,0,0,0,0,0,0
$GC,10621,-0.69,-116.7,789.7,-7.1,533,10625,0.00,2.15,0.00,0.000,4,0.000,0.044,2523,3697,3477,0,0,0,0,0,0
$GC,10643,-0.69,-116.7,791.3,-7.3,533,10647,0.00,2.05,0.00,0.000,6,0.000,0.027,2523,2294,3476,0,0,0,0,0,0
$GC,10979,-0.69,-116.7,815.0,-7.0,539,10983,0.00,2.15,0.00,0.000,4,0.000,0.044,2523,3697,3476,0,0,0,0,0,0
$GC,11012,-0.69,-116.7,817.2,-6.1,539,11016,0.00,2.08,0.00,0.000,6,0.000,0.027,2523,2304,3476,0,0,0,0,0,0
$GC,11343,-0.69,-116.7,840.7,-7.2,545,11347,0.00,2.15,0.00,0.000,4,0.000,0.044,2523,3704,3476,0,0,0,0,0,0
$GC,11376,-0.69,-116.7,843.2,-8.0,545,11380,0.00,2.10,0.00,0.000,6,0.000,0.027,2523,2297,3476,0,0,0,0,0,0
$GC,11713,-0.69,-116.7,867.2,-7.2,551,11717,0.00,2.15,0.00,0.000,4,0.000,0.044,2523,3698,3475,0,0,0,0,0,0
$GC,11757,-0.69,-116.7,870.6,-7.5,551,11761,0.00,2.08,0.00,0.000,6,0.000,0.027,2523,2299,3476,0,0,0,0,0,0
$GC,12077,-0.69,-116.7,893.7,-7.2,557,12081,0.00,2.15,0.00,0.000,4,0.000,0.044,2523,3699,3475,0,0,0,0,0,0
$GC,12115,-0.69,-116.7,896.5,-7.6,557,12120,0.00,2.08,0.00,0.000,6,0.000,0.027,2523,2305,3475,0,0,0,0,0,0
$GC,12442,-0.69,-116.7,919.7,-7.1,563,12446,0.00,2.15,0.00,0.000,4,0.000,0.044,2523,3705,3474,0,0,0,0,0,0
$GC,12481,-0.69,-116.7,922.5,-6.5,563,12485,0.00,2.05,0.00,0.000,6,0.000,0.028,2523,2302,3474,0,0,0,0,0,0
$GC,12800,-0.69,-116.7,945.5,-7.2,569,12804,0.00,2.15,0.00,0.000,4,0.000,0.044,2523,3704,3474,0,0,0,0,0,0
$GC,12832,-0.69,-116.7,947.7,-6.9,569,12836,0.00,2.08,0.00,0.000,6,0.000,0.027,2523,2288,3475,0,0,0,0,0,0
$GC,13169,-0.69,-116.7,971.6,-7.1,575,13173,0.00,2.15,0.00,0.000,4,0.000,0.044,2523,3695,3474,0,0,0,0,0,0
$GC,13224,-0.69,-116.7,975.5,-6.8,575,13231,0.00,2.08,0.00,0.000,6,0.000,0.027,2523,2298,3474,0,0,0,0,0,0
$STATE,13471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13471,begin apogee
$GC,13477,-0.24,0.0,992.3,6.8,580,13583,0.55,0.00,102.82,1.552,6,0.171,0.000,2683,2644,3006,0,0,0,0,0,0
$STATE,13584,end apogee,CONTROL_FINISHED_OK
$STATE,13584,begin climb
$GC,13586,0.80,116.7,994.2,0.0,581,13705,1.10,2.42,109.50,1.455,4,0.113,0.046,3017,4038,2529,0,0,0,0,0,0
$GC,13778,0.57,116.7,987.6,9.1,585,13783,0.30,2.20,0.00,0.000,6,0.168,0.026,2953,2651,2523,0,0,0,0,0,0
$GC,14143,0.59,132.0,964.3,6.3,591,14159,0.00,0.00,13.77,1.407,6,0.000,0.000,2953,2651,2467,0,0,0,0,0,0
$GC,14447,0.60,140.9,944.8,6.5,596,14458,0.00,0.00,9.52,1.368,6,0.000,0.000,2953,2651,2431,0,0,0,0,0,0
$GC,14749,0.60,145.7,924.6,6.7,601,14757,0.00,0.00,5.60,1.204,6,0.000,0.000,2953,2651,2412,0,0,0,0,0,0
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$STATE,27245,end climb,SURFACE_DEPTH_REACHED
$STATE,27245,begin surface coast
$FINISH,2.9,1.013418
$STATE,27292,end surface coast,CONTROL_FINISHED_OK
$STATE,27292,begin surface
$SM_CCo,27308,8.43,0.795,0,0,1884,275.23
$SM_GC,4.50,0.00,0.00,8.43,0.000,0.000,0.795,215,2298,1884,-7.97,-0.06,275.23
$IRIDIUM_FIX,6351.77,24.80,220399,030328
$TT8_MAMPS,0.027612
$HUMID,1078443216
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.0,46.936
$10V_AH,9.8,31.519
$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
$DEVICE_SECS,21.700,186.500,360.575,8.425,0.000,29.512,49.446,181.870,0.000,0.000,12.874,2354.403,21656.070,551.255,2572.979,565.002,0.000,1832.587,0.000,2551.869,0.000,0.533,0.000
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$SENSOR_SECS,802.432,1049.992,631.150,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241316
$DATA_FILE_SIZE,66383,1159
$CAP_FILE_SIZE,205219,0
$CFSIZE,260165632,230989824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077, 69.6,1
$GPS,261209,183007,6412.125,45.366,40,1.5,41,-4.6