version: 66.06
glider: 140
mission: 8
dive: 296
start: 12 29 109 15 14 56
data:
$ID,140
$MISSION,8
$DIVE,296
$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,-49766.836
$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,75
$R_STBD_OVSHOOT,48
$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
$GPS1,150800,6357.205,205.001,39,2.0,40,-3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.61
$_SM_ANGLEo,-59.6
$GPS2,151434,6357.180,205.467,14,2.4,33,-3.9
$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,143.4,137886,-13.7,-6.875
$D_GRID,1674
$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,-116.7,0.0,0.0,0,25,0.00,0.00,-7.68,0.000,2,0.000,0.000,213,2282,2043,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.6,-0.0,1,122,8.90,2.10,-78.68,0.000,4,0.229,0.046,2501,912,3480,0,0,0,0,0,0
$GC,136,-1.08,-116.7,2.9,0.2,20,143,0.22,2.12,0.00,0.000,6,0.082,0.028,2414,2314,3481,0,0,0,0,0,0
$GC,478,-0.82,-116.7,49.5,-14.3,81,484,0.28,2.08,0.00,0.000,4,0.189,0.037,2492,3700,3482,0,0,0,0,0,0
$GC,735,-0.72,-116.7,74.0,-9.8,127,742,0.15,2.03,0.00,0.000,6,0.180,0.022,2532,2268,3482,0,0,0,0,0,0
$GC,1079,-0.72,-116.7,99.4,-7.9,188,1086,0.00,2.20,0.00,0.000,4,0.000,0.039,2532,3695,3482,0,0,0,0,0,0
$GC,1154,-0.72,-116.7,105.4,-7.5,201,1160,0.00,1.98,0.00,0.000,6,0.000,0.023,2532,2304,3483,0,0,0,0,0,0
$GC,1489,-0.72,-116.7,130.8,-7.2,242,1493,0.00,2.10,0.00,0.000,4,0.000,0.039,2532,3697,3483,0,0,0,0,0,0
$GC,1508,-0.72,-116.7,132.0,-7.4,243,1511,0.00,2.00,0.00,0.000,6,0.000,0.023,2532,2298,3483,0,0,0,0,0,0
$GC,1841,-0.72,-116.7,157.8,-7.6,259,1845,0.00,2.12,0.00,0.000,4,0.000,0.039,2532,3702,3483,0,0,0,0,0,0
$GC,1862,-0.72,-116.7,159.4,-6.6,260,1866,0.00,2.05,0.00,0.000,6,0.000,0.022,2532,2290,3483,0,0,0,0,0,0
$GC,2189,-0.72,-116.7,182.7,-7.4,276,2193,0.00,2.15,0.00,0.000,4,0.000,0.039,2532,3702,3483,0,0,0,0,0,0
$GC,2199,-0.72,-116.7,183.5,-7.4,276,2203,0.00,2.05,0.00,0.000,6,0.000,0.023,2532,2297,3483,0,0,0,0,0,0
$GC,2520,-0.72,-116.7,208.5,-7.9,292,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2295,3483,0,0,0,0,0,0
$GC,2829,-0.72,-116.7,233.6,-8.1,307,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2295,3484,0,0,0,0,0,0
$GC,3138,-0.72,-116.7,258.7,-8.0,322,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2295,3484,0,0,0,0,0,0
$GC,3447,-0.72,-116.7,283.0,-7.9,337,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2295,3483,0,0,0,0,0,0
$GC,3766,-0.72,-116.7,309.0,-8.3,351,3770,0.00,2.12,0.00,0.000,4,0.000,0.039,2532,3700,3483,0,0,0,0,0,0
$GC,3781,-0.72,-116.7,310.4,-8.6,351,3786,0.00,2.05,0.00,0.000,6,0.000,0.023,2532,2294,3483,0,0,0,0,0,0
$GC,4099,-0.72,-116.7,335.1,-7.2,362,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2293,3483,0,0,0,0,0,0
$GC,4406,-0.72,-116.7,355.7,-7.3,372,4410,0.00,2.12,0.00,0.000,4,0.000,0.039,2532,3702,3483,0,0,0,0,0,0
$GC,4489,-0.72,-116.7,362.8,-8.2,374,4493,0.00,2.03,0.00,0.000,6,0.000,0.022,2532,2298,3483,0,0,0,0,0,0
$GC,4807,-0.72,-116.7,386.8,-7.1,385,4811,0.00,2.12,0.00,0.000,4,0.000,0.039,2532,3704,3483,0,0,0,0,0,0
$GC,4906,-0.72,-116.7,394.0,-7.0,388,4911,0.00,2.03,0.00,0.000,6,0.000,0.022,2532,2298,3483,0,0,0,0,0,0
$GC,5242,-0.72,-116.7,412.3,-5.3,399,5246,0.00,2.12,0.00,0.000,4,0.000,0.039,2532,3703,3483,0,0,0,0,0,0
$GC,5358,-0.72,-116.7,420.0,-6.7,402,5362,0.00,2.03,0.00,0.000,6,0.000,0.022,2532,2297,3483,0,0,0,0,0,0
$GC,5677,-0.72,-116.7,443.3,-7.6,413,5680,0.00,2.12,0.00,0.000,4,0.000,0.039,2532,3702,3483,0,0,0,0,0,0
$GC,5720,-0.72,-116.7,446.6,-7.4,414,5724,0.00,2.03,0.00,0.000,6,0.000,0.023,2532,2305,3483,0,0,0,0,0,0
$GC,6044,-0.72,-116.7,468.0,-6.5,425,6048,0.00,2.10,0.00,0.000,4,0.000,0.040,2532,3697,3482,0,0,0,0,0,0
$GC,6099,-0.72,-116.7,471.8,-7.4,426,6105,0.00,2.03,0.00,0.000,6,0.000,0.023,2532,2296,3483,0,0,0,0,0,0
$GC,6411,-0.72,-116.7,495.3,-7.9,437,6415,0.00,2.12,0.00,0.000,4,0.000,0.040,2532,3702,3482,0,0,0,0,0,0
$GC,6493,-0.72,-116.7,502.1,-8.1,439,6498,0.00,2.03,0.00,0.000,6,0.000,0.023,2532,2305,3481,0,0,0,0,0,0
$GC,6843,-0.72,-116.7,529.8,-7.9,445,6846,0.00,2.10,0.00,0.000,4,0.000,0.041,2532,3697,3481,0,0,0,0,0,0
$GC,6904,-0.72,-116.7,534.5,-7.2,446,6908,0.00,2.00,0.00,0.000,6,0.000,0.024,2532,2298,3481,0,0,0,0,0,0
$GC,7275,-0.72,-116.7,560.2,-6.9,452,7279,0.00,2.12,0.00,0.000,4,0.000,0.041,2532,3697,3479,0,0,0,0,0,0
$GC,7329,-0.72,-116.7,564.6,-7.8,452,7335,0.00,2.03,0.00,0.000,6,0.000,0.024,2532,2301,3478,0,0,0,0,0,0
$GC,7639,-0.72,-116.7,587.8,-7.5,458,7642,0.00,2.12,0.00,0.000,4,0.000,0.041,2532,3702,3478,0,0,0,0,0,0
$GC,7676,-0.72,-116.7,590.6,-7.4,458,7681,0.00,2.05,0.00,0.000,6,0.000,0.025,2533,2299,3478,0,0,0,0,0,0
$GC,8010,-0.72,-116.7,611.8,-6.2,464,8013,0.00,2.12,0.00,0.000,4,0.000,0.041,2532,3698,3477,0,0,0,0,0,0
$GC,8082,-0.72,-116.7,616.4,-6.3,465,8086,0.00,2.03,0.00,0.000,6,0.000,0.025,2532,2289,3476,0,0,0,0,0,0
$GC,8442,-0.72,-116.7,639.5,-6.5,471,8446,0.00,2.15,0.00,0.000,4,0.000,0.041,2532,3701,3475,0,0,0,0,0,0
$GC,8497,-0.76,-116.7,643.3,-6.8,471,8503,0.00,2.03,0.00,0.000,6,0.000,0.025,2532,2293,3475,0,0,0,0,0,0
$GC,8805,-0.76,-116.7,664.6,-7.0,477,8809,0.00,2.12,0.00,0.000,4,0.000,0.041,2532,3694,3474,0,0,0,0,0,0
$GC,8861,-0.79,-116.7,668.5,-7.3,477,8867,0.00,2.00,0.00,0.000,6,0.000,0.025,2532,2302,3474,0,0,0,0,0,0
$GC,9170,-0.79,-116.7,689.2,-6.7,483,9174,0.00,2.12,0.00,0.000,4,0.000,0.042,2532,3695,3473,0,0,0,0,0,0
$GC,9208,-0.82,-116.7,691.9,-6.9,483,9212,0.00,2.03,0.00,0.000,6,0.000,0.025,2532,2291,3473,0,0,0,0,0,0
$GC,9540,-0.82,-116.7,713.5,-6.5,489,9544,0.00,2.15,0.00,0.000,4,0.000,0.042,2532,3699,3472,0,0,0,0,0,0
$GC,9613,-0.86,-116.7,718.4,-6.8,490,9618,0.15,2.03,0.00,0.000,6,0.133,0.025,2485,2294,3471,0,0,0,0,0,0
$GC,9967,-0.78,-116.7,748.1,-8.5,496,9968,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2292,3470,0,0,0,0,0,0
$GC,10270,-0.71,-116.7,774.0,-8.6,501,10272,0.17,0.00,0.00,0.000,6,0.184,0.000,2530,2290,3469,0,0,0,0,0,0
$GC,10572,-0.71,-116.7,794.9,-6.8,506,10576,0.00,2.15,0.00,0.000,4,0.000,0.043,2530,3698,3469,0,0,0,0,0,0
$GC,10611,-0.74,-116.7,797.7,-7.7,506,10615,0.00,2.05,0.00,0.000,6,0.000,0.025,2531,2307,3468,0,0,0,0,0,0
$GC,10937,-0.74,-116.7,820.5,-7.1,512,10941,0.00,2.12,0.00,0.000,4,0.000,0.042,2531,3697,3468,0,0,0,0,0,0
$GC,10987,-0.78,-116.7,824.3,-7.3,512,10991,0.00,2.08,0.00,0.000,6,0.000,0.026,2531,2296,3468,0,0,0,0,0,0
$GC,11302,-0.78,-116.7,846.9,-7.3,518,11305,0.00,2.15,0.00,0.000,4,0.000,0.042,2531,3701,3467,0,0,0,0,0,0
$GC,11346,-0.82,-116.7,850.0,-7.9,518,11350,0.00,2.05,0.00,0.000,6,0.000,0.026,2531,2293,3467,0,0,0,0,0,0
$GC,11666,-0.82,-116.7,873.0,-7.1,524,11670,0.00,2.15,0.00,0.000,4,0.000,0.042,2531,3698,3466,0,0,0,0,0,0
$GC,11716,-0.86,-116.7,876.7,-7.6,524,11721,0.12,2.05,0.00,0.000,6,0.143,0.026,2490,2283,3466,0,0,0,0,0,0
$GC,12031,-0.80,-116.7,902.1,-8.1,530,12035,0.00,2.15,0.00,0.000,4,0.000,0.042,2490,3694,3466,0,0,0,0,0,0
$GC,12041,-0.74,-116.7,903.0,-7.9,530,12046,0.05,2.05,0.00,0.000,6,0.156,0.027,2519,2309,3465,0,0,0,0,0,0
$GC,12401,-0.74,-116.7,927.4,-6.8,536,12405,0.00,2.12,0.00,0.000,4,0.000,0.043,2519,3699,3465,0,0,0,0,0,0
$GC,12412,-0.74,-116.7,928.1,-6.7,536,12416,0.00,2.05,0.00,0.000,6,0.000,0.027,2520,2292,3465,0,0,0,0,0,0
$GC,12760,-0.74,-116.7,951.5,-6.7,542,12764,0.00,2.15,0.00,0.000,4,0.000,0.043,2520,3696,3464,0,0,0,0,0,0
$GC,12792,-0.74,-116.7,953.7,-7.4,542,12797,0.00,2.08,0.00,0.000,6,0.000,0.026,2520,2296,3465,0,0,0,0,0,0
$GC,13125,-0.74,-116.7,976.4,-6.9,548,13129,0.00,2.15,0.00,0.000,4,0.000,0.043,2520,3698,3463,0,0,0,0,0,0
$GC,13157,-0.74,-116.7,978.8,-6.7,548,13161,0.00,2.08,0.00,0.000,6,0.000,0.027,2520,2298,3464,0,0,0,0,0,0
$STATE,13373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13373,begin apogee
$GC,13378,-0.24,0.0,994.3,7.2,552,13481,0.55,0.00,100.18,1.549,6,0.167,0.000,2682,2639,3006,0,0,0,0,0,0
$STATE,13482,end apogee,CONTROL_FINISHED_OK
$STATE,13482,begin climb
$GC,13484,0.80,116.7,996.7,0.0,553,13604,1.08,2.47,108.43,1.456,4,0.111,0.045,3014,4037,2528,0,0,0,0,0,0
$GC,13667,0.58,116.7,992.1,7.7,556,13672,0.28,2.20,0.00,0.000,6,0.171,0.026,2957,2648,2524,0,0,0,0,0,0
$GC,13981,0.57,139.3,973.2,6.0,562,14003,0.00,0.00,20.27,1.422,6,0.000,0.000,2957,2647,2437,0,0,0,0,0,0
$GC,14284,0.58,143.7,953.1,6.7,567,14290,0.00,0.00,4.78,1.097,6,0.000,0.000,2957,2647,2420,0,0,0,0,0,0
$GC,14588,0.59,149.8,933.1,6.6,572,14597,0.00,0.00,7.18,1.306,6,0.000,0.000,2956,2647,2395,0,0,0,0,0,0
$GC,14890,0.59,155.8,912.9,6.6,577,14899,0.00,0.00,6.95,1.296,6,0.000,0.000,2957,2647,2371,0,0,0,0,0,0
$GC,15193,0.60,160.6,892.7,6.7,582,15201,0.00,0.00,5.97,1.233,6,0.000,0.000,2956,2647,2351,0,0,0,0,0,0
$GC,15497,0.62,179.8,874.0,6.1,587,15521,0.00,2.28,18.70,1.411,4,0.000,0.046,2953,4047,2272,0,0,0,0,0,0
$GC,15562,0.59,179.8,869.7,7.0,588,15566,0.00,2.10,0.00,0.000,6,0.000,0.028,2962,2649,2270,0,0,0,0,0,0
$GC,15926,0.61,199.9,847.4,6.1,594,15951,0.00,2.20,19.17,1.400,4,0.000,0.038,2971,1255,2191,0,0,0,0,0,0
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$GC,26515,0.75,272.6,21.7,5.5,1064,26555,0.10,2.10,30.50,0.770,4,0.128,0.035,3014,1280,1893,0,0,0,0,0,0
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$STATE,26691,end climb,SURFACE_DEPTH_REACHED
$STATE,26691,begin surface coast
$FINISH,2.8,1.014338
$STATE,26737,end surface coast,CONTROL_FINISHED_OK
$STATE,26737,begin surface
$SM_CCo,26814,0.00,0.000,0,0,1882,275.72
$SM_GC,3.59,8.02,0.00,0.00,0.089,0.000,0.000,217,2277,1882,-7.94,-0.62,275.72
$IRIDIUM_FIX,6332.30,152.75,250399,070749
$TT8_MAMPS,0.027612
$HUMID,1078354184
$INTERNAL_PRESSURE,8.32063
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,22.1,48.523
$10V_AH,9.8,32.639
$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,21.150,181.325,356.350,0.000,0.000,29.821,33.075,180.093,0.000,0.000,34.192,2272.426,21248.826,518.042,2627.638,528.344,0.000,1823.916,0.000,2573.118,0.000,0.536,0.000
$DEVICE_MAMPS,229.333,46.020,1548.573,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,759.400,999.056,574.369,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241312
$DATA_FILE_SIZE,63342,1103
$CAP_FILE_SIZE,201630,0
$CFSIZE,260165632,230109184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.284, 90.6,1
$GPS,291209,224306,6354.558,218.416,41,1.0,42,-3.7