version: 66.06
glider: 140
mission: 8
dive: 293
start: 12 28 109 16 18 54
data:
$ID,140
$MISSION,8
$DIVE,293
$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,-49707.758
$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,82
$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
$GPS1,161107,6401.908,135.062,36,1.5,37,-4.2
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,3.59
$_SM_ANGLEo,-57.6
$GPS2,161831,6401.888,135.082,11,1.5,16,-4.2
$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,138.8,161698,-13.7,-6.875
$D_GRID,2080
$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,-116.7,0.0,0.0,0,24,0.00,0.00,-7.57,0.000,2,0.000,0.000,212,2280,2035,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.8,-0.0,1,124,8.98,2.08,-81.75,0.000,4,0.230,0.048,2506,918,3482,0,0,0,0,0,0
$GC,376,-0.69,-116.7,34.7,-15.9,63,383,0.12,2.10,0.00,0.000,6,0.199,0.028,2538,2317,3484,0,0,0,0,0,0
$GC,714,-0.69,-116.7,61.5,-6.5,124,721,0.00,2.15,0.00,0.000,4,0.000,0.034,2539,918,3484,0,0,0,0,0,0
$GC,839,-0.69,-116.7,70.3,-6.6,146,845,0.00,2.05,0.00,0.000,6,0.000,0.028,2539,2313,3484,0,0,0,0,0,0
$GC,1182,-0.69,-116.7,92.7,-5.2,207,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2313,3485,0,0,0,0,0,0
$GC,1522,-0.69,-116.7,117.0,-8.2,268,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2313,3485,0,0,0,0,0,0
$GC,1852,-0.69,-116.7,142.8,-7.5,289,1856,0.00,2.08,0.00,0.000,4,0.000,0.033,2539,919,3485,0,0,0,0,0,0
$GC,1897,-0.69,-116.7,146.2,-7.2,291,1901,0.00,2.05,0.00,0.000,6,0.000,0.028,2538,2308,3485,0,0,0,0,0,0
$GC,2219,-0.69,-116.7,169.3,-6.6,307,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2308,3486,0,0,0,0,0,0
$GC,2527,-0.69,-116.7,189.1,-6.1,322,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2308,3486,0,0,0,0,0,0
$GC,2836,-0.69,-116.7,209.7,-7.0,337,2840,0.00,2.08,0.00,0.000,4,0.000,0.040,2539,3700,3486,0,0,0,0,0,0
$GC,2854,-0.69,-116.7,210.8,-7.1,338,2857,0.00,2.00,0.00,0.000,6,0.000,0.023,2538,2295,3486,0,0,0,0,0,0
$GC,3186,-0.69,-116.7,236.5,-7.9,354,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2287,3485,0,0,0,0,0,0
$GC,3494,-0.69,-116.7,259.7,-7.1,369,3498,0.00,2.03,0.00,0.000,4,0.000,0.035,2539,911,3486,0,0,0,0,0,0
$GC,3504,-0.69,-116.7,260.5,-7.1,369,3509,0.00,2.08,0.00,0.000,6,0.000,0.028,2539,2303,3486,0,0,0,0,0,0
$GC,3826,-0.69,-116.7,279.5,-5.7,385,3830,0.00,2.08,0.00,0.000,4,0.000,0.033,2539,909,3486,0,0,0,0,0,0
$GC,3844,-0.69,-116.7,280.7,-5.9,386,3848,0.00,2.05,0.00,0.000,6,0.000,0.028,2539,2313,3486,0,0,0,0,0,0
$GC,4158,-0.69,-116.7,302.7,-7.7,401,4162,0.00,2.05,0.00,0.000,4,0.000,0.039,2538,3704,3486,0,0,0,0,0,0
$GC,4203,-0.69,-116.7,306.0,-7.1,402,4207,0.00,2.00,0.00,0.000,6,0.000,0.023,2539,2286,3485,0,0,0,0,0,0
$GC,4526,-0.69,-116.7,328.5,-6.8,413,4530,0.00,2.12,0.00,0.000,4,0.000,0.039,2539,3698,3485,0,0,0,0,0,0
$GC,4535,-0.69,-116.7,329.2,-6.9,413,4540,0.00,2.03,0.00,0.000,6,0.000,0.023,2539,2295,3485,0,0,0,0,0,0
$GC,4859,-0.69,-116.7,351.5,-6.8,424,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2293,3485,0,0,0,0,0,0
$GC,5164,-0.69,-116.7,372.9,-6.9,434,5168,0.00,2.12,0.00,0.000,4,0.000,0.040,2539,3700,3484,0,0,0,0,0,0
$GC,5202,-0.69,-116.7,375.6,-7.4,435,5207,0.00,2.03,0.00,0.000,6,0.000,0.023,2539,2294,3484,0,0,0,0,0,0
$GC,5532,-0.69,-116.7,398.3,-6.7,446,5536,0.00,2.12,0.00,0.000,4,0.000,0.040,2539,3698,3483,0,0,0,0,0,0
$GC,5605,-0.72,-116.7,403.3,-6.6,448,5608,0.00,1.98,0.00,0.000,6,0.000,0.024,2538,2302,3484,0,0,0,0,0,0
$GC,5940,-0.72,-116.7,426.1,-6.7,459,5944,0.00,2.12,0.00,0.000,4,0.000,0.041,2538,3704,3483,0,0,0,0,0,0
$GC,5989,-0.75,-116.7,429.4,-6.9,460,5993,0.00,2.03,0.00,0.000,6,0.000,0.024,2539,2310,3483,0,0,0,0,0,0
$GC,6313,-0.75,-116.7,449.8,-6.2,471,6317,0.00,2.10,0.00,0.000,4,0.000,0.041,2539,3697,3482,0,0,0,0,0,0
$GC,6334,-0.75,-116.7,451.3,-6.5,471,6340,0.00,2.00,0.00,0.000,6,0.000,0.025,2538,2296,3482,0,0,0,0,0,0
$GC,6646,-0.75,-116.7,469.9,-5.9,482,6650,0.00,2.12,0.00,0.000,4,0.000,0.041,2538,3697,3482,0,0,0,0,0,0
$GC,6685,-0.79,-116.7,472.2,-6.3,483,6689,0.00,2.00,0.00,0.000,6,0.000,0.025,2539,2296,3482,0,0,0,0,0,0
$GC,7014,-0.79,-116.7,491.1,-5.7,494,7018,0.00,2.12,0.00,0.000,4,0.000,0.041,2539,3697,3480,0,0,0,0,0,0
$GC,7071,-0.83,-116.7,494.3,-5.9,495,7075,0.12,2.00,0.00,0.000,6,0.140,0.025,2501,2297,3480,0,0,0,0,0,0
$GC,7411,-0.77,-116.7,519.8,-7.6,502,7415,0.00,2.12,0.00,0.000,4,0.000,0.041,2501,3696,3480,0,0,0,0,0,0
$GC,7421,-0.72,-116.7,520.6,-7.8,502,7426,0.12,2.00,0.00,0.000,6,0.189,0.025,2531,2302,3479,0,0,0,0,0,0
$GC,7775,-0.72,-116.7,544.8,-6.8,508,7779,0.00,2.12,0.00,0.000,4,0.000,0.041,2531,3699,3478,0,0,0,0,0,0
$GC,7796,-0.72,-116.7,546.2,-6.4,508,7800,0.00,2.05,0.00,0.000,6,0.000,0.025,2531,2298,3478,0,0,0,0,0,0
$GC,8139,-0.72,-116.7,569.7,-6.9,514,8143,0.00,2.12,0.00,0.000,4,0.000,0.042,2531,3696,3477,0,0,0,0,0,0
$GC,8193,-0.72,-116.7,573.6,-6.9,514,8201,0.00,2.05,0.00,0.000,6,0.000,0.025,2531,2297,3477,0,0,0,0,0,0
$GC,8503,-0.72,-116.7,595.0,-7.0,520,8506,0.00,2.12,0.00,0.000,4,0.000,0.042,2531,3695,3476,0,0,0,0,0,0
$GC,8547,-0.72,-116.7,598.3,-7.6,520,8551,0.00,2.00,0.00,0.000,6,0.000,0.025,2531,2302,3476,0,0,0,0,0,0
$GC,8867,-0.72,-116.7,621.4,-7.2,526,8871,0.00,2.15,0.00,0.000,4,0.000,0.042,2531,3695,3475,0,0,0,0,0,0
$GC,8904,-0.72,-116.7,624.1,-7.1,526,8908,0.00,2.05,0.00,0.000,6,0.000,0.025,2531,2301,3475,0,0,0,0,0,0
$GC,9236,-0.72,-116.7,647.7,-7.2,532,9240,0.00,2.12,0.00,0.000,4,0.000,0.042,2531,3695,3475,0,0,0,0,0,0
$GC,9286,-0.75,-116.7,651.3,-7.6,532,9290,0.00,2.05,0.00,0.000,6,0.000,0.026,2531,2302,3474,0,0,0,0,0,0
$GC,9601,-0.75,-116.7,672.9,-6.8,538,9605,0.00,2.15,0.00,0.000,4,0.000,0.042,2531,3704,3474,0,0,0,0,0,0
$GC,9645,-0.75,-116.7,676.0,-6.8,538,9649,0.00,2.05,0.00,0.000,6,0.000,0.026,2531,2293,3474,0,0,0,0,0,0
$GC,9965,-0.75,-116.7,697.4,-6.7,544,9969,0.00,2.15,0.00,0.000,4,0.000,0.042,2531,3695,3473,0,0,0,0,0,0
$GC,10009,-0.79,-116.7,700.5,-6.6,544,10013,0.00,2.03,0.00,0.000,6,0.000,0.026,2531,2297,3473,0,0,0,0,0,0
$GC,10323,-0.79,-116.7,720.4,-6.3,550,10327,0.00,2.15,0.00,0.000,4,0.000,0.043,2531,3702,3472,0,0,0,0,0,0
$GC,10362,-0.82,-116.7,723.0,-6.5,550,10366,0.00,2.05,0.00,0.000,6,0.000,0.026,2531,2290,3472,0,0,0,0,0,0
$GC,10688,-0.82,-116.7,743.4,-6.3,556,10692,0.00,2.15,0.00,0.000,4,0.000,0.042,2531,3698,3472,0,0,0,0,0,0
$GC,10744,-0.86,-116.7,747.0,-6.2,556,10750,0.15,2.05,0.00,0.000,6,0.131,0.026,2484,2283,3471,0,0,0,0,0,0
$GC,11053,-0.79,-116.7,771.3,-8.0,562,11057,0.00,2.17,0.00,0.000,4,0.000,0.042,2484,3704,3471,0,0,0,0,0,0
$GC,11063,-0.72,-116.7,772.2,-8.0,562,11067,0.17,2.08,0.00,0.000,6,0.181,0.026,2529,2298,3471,0,0,0,0,0,0
$GC,11417,-0.72,-116.7,795.0,-6.5,568,11421,0.00,2.12,0.00,0.000,4,0.000,0.043,2529,3695,3470,0,0,0,0,0,0
$GC,11444,-0.72,-116.7,796.8,-6.7,568,11449,0.00,2.05,0.00,0.000,6,0.000,0.027,2530,2310,3470,0,0,0,0,0,0
$GC,11788,-0.72,-116.7,818.5,-6.3,574,11792,0.00,2.12,0.00,0.000,4,0.000,0.043,2530,3701,3470,0,0,0,0,0,0
$GC,11826,-0.75,-116.7,821.1,-6.4,574,11830,0.00,2.03,0.00,0.000,6,0.000,0.026,2530,2296,3470,0,0,0,0,0,0
$GC,12151,-0.75,-116.7,843.3,-6.9,580,12155,0.00,2.15,0.00,0.000,4,0.000,0.043,2530,3701,3470,0,0,0,0,0,0
$GC,12201,-0.79,-116.7,846.8,-7.3,580,12205,0.00,2.03,0.00,0.000,6,0.000,0.026,2530,2299,3469,0,0,0,0,0,0
$GC,12516,-0.79,-116.7,868.3,-6.8,586,12520,0.00,2.12,0.00,0.000,4,0.000,0.043,2530,3694,3469,0,0,0,0,0,0
$GC,12560,-0.83,-116.7,871.4,-6.7,586,12564,0.00,2.03,0.00,0.000,6,0.000,0.027,2530,2305,3469,0,0,0,0,0,0
$GC,12880,-0.83,-116.7,892.9,-6.7,592,12884,0.00,2.12,0.00,0.000,4,0.000,0.043,2530,3694,3468,0,0,0,0,0,0
$GC,12925,-0.87,-116.7,895.9,-6.7,592,12929,0.15,2.03,0.00,0.000,6,0.130,0.026,2482,2294,3468,0,0,0,0,0,0
$GC,13244,-0.80,-116.7,922.6,-8.4,598,13248,0.00,2.15,0.00,0.000,4,0.000,0.043,2481,3698,3468,0,0,0,0,0,0
$GC,13255,-0.72,-116.7,923.6,-8.4,598,13260,0.17,2.05,0.00,0.000,6,0.179,0.027,2527,2286,3468,0,0,0,0,0,0
$GC,13603,-0.72,-116.7,947.6,-6.8,604,13607,0.00,2.17,0.00,0.000,4,0.000,0.043,2526,3702,3468,0,0,0,0,0,0
$GC,13647,-0.76,-116.7,950.7,-6.8,604,13651,0.00,2.03,0.00,0.000,6,0.000,0.027,2527,2305,3468,0,0,0,0,0,0
$GC,13972,-0.76,-116.7,972.9,-6.9,610,13976,0.00,2.12,0.00,0.000,4,0.000,0.043,2528,3695,3467,0,0,0,0,0,0
$GC,14022,-0.79,-116.7,976.5,-6.8,610,14026,0.00,2.03,0.00,0.000,6,0.000,0.027,2527,2299,3467,0,0,0,0,0,0
$STATE,14274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14275,begin apogee
$GC,14280,-0.24,0.0,993.7,6.8,615,14384,0.52,0.00,101.12,1.549,6,0.165,0.000,2683,2640,3006,0,0,0,0,0,0
$STATE,14385,end apogee,CONTROL_FINISHED_OK
$STATE,14385,begin climb
$GC,14387,0.80,116.7,995.8,0.0,616,14505,1.05,2.42,109.32,1.458,4,0.113,0.044,3007,4039,2528,0,0,0,0,0,0
$GC,14550,0.58,116.7,992.2,7.7,617,14555,0.25,2.22,0.00,0.000,6,0.170,0.026,2955,2650,2524,0,0,0,0,0,0
$GC,14871,0.61,140.5,973.1,5.9,623,14894,0.00,0.00,21.15,1.424,6,0.000,0.000,2955,2649,2433,0,0,0,0,0,0
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$STATE,27465,end climb,SURFACE_DEPTH_REACHED
$STATE,27465,begin surface coast
$FINISH,2.9,1.007977
$STATE,27503,end surface coast,CONTROL_FINISHED_OK
$STATE,27503,begin surface
$SM_CCo,27519,7.38,0.739,0,0,1884,275.23
$SM_GC,4.79,0.00,0.00,7.38,0.000,0.000,0.739,214,2282,1884,-7.97,-0.51,275.23
$IRIDIUM_FIX,6337.14,128.38,240399,080823
$TT8_MAMPS,0.027612
$HUMID,1078398055
$INTERNAL_PRESSURE,8.2718
$TCM_TEMP,19.90
$XPDR_PINGS,0
$24V_AH,22.0,48.065
$10V_AH,9.8,32.308
$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
$DEVICE_SECS,21.100,210.425,351.975,7.375,0.000,25.579,40.619,237.449,0.000,0.000,16.266,2427.111,21650.867,531.071,2737.018,615.165,0.000,1909.188,0.000,2705.369,0.000,0.534,0.000
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$SENSOR_SECS,800.654,1042.216,610.214,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241308
$DATA_FILE_SIZE,66606,1160
$CAP_FILE_SIZE,219413,0
$CFSIZE,260165632,230359040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079, 36.4,1
$GPS,281209,235906,6400.509,141.456,35,1.4,48,-4.1