version: 66.06
glider: 140
mission: 8
dive: 10
start: 10 2 109 7 18 53
data:
$ID,140
$MISSION,8
$DIVE,10
$D_SURF,3
$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,-44512.988
$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,2760
$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
$PITCH_ADJ_DBAND,1
$ROLL_MIN,174
$ROLL_MAX,4054
$ROLL_DEG,40
$C_ROLL_DIVE,2275
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,38
$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,800
$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
$GPS1,071237,6414.219,121.707,28,1.9,28,-4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.43
$_SM_ANGLEo,-61.9
$GPS2,071831,6414.180,121.733,13,1.8,30,-4.3
$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,315.3,146370,-13.7,-6.875
$D_GRID,2393
$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,-7.32,0.000,2,0.000,0.000,217,2280,2025,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.3,-0.0,1,122,9.62,2.20,-79.18,0.000,4,0.271,0.061,2496,3690,3481,0,0,0,0,0,0
$GC,186,-0.80,-116.7,7.6,-8.4,29,192,0.00,2.12,0.00,0.000,6,0.000,0.028,2496,2263,3481,0,0,0,0,0,0
$GC,520,-0.80,-116.7,42.5,-12.0,90,527,0.00,2.12,0.00,0.000,4,0.000,0.043,2496,880,3482,0,0,0,0,0,0
$GC,583,-0.80,-116.7,49.9,-12.1,101,589,0.00,2.12,0.00,0.000,6,0.000,0.033,2496,2293,3483,0,0,0,0,0,0
$GC,921,-0.80,-116.7,85.4,-11.5,129,925,0.00,2.08,0.00,0.000,4,0.000,0.046,2496,3677,3484,0,0,0,0,0,0
$GC,962,-0.80,-116.7,90.2,-11.7,131,966,0.00,2.05,0.00,0.000,6,0.000,0.027,2496,2266,3484,0,0,0,0,0,0
$GC,1289,-0.80,-116.7,128.3,-11.8,147,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2264,3485,0,0,0,0,0,0
$GC,1597,-0.80,-116.7,163.2,-10.8,162,1600,0.00,2.15,0.00,0.000,4,0.000,0.046,2496,3677,3485,0,0,0,0,0,0
$GC,1669,-0.80,-116.7,170.6,-9.9,165,1673,0.00,2.03,0.00,0.000,6,0.000,0.028,2496,2278,3486,0,0,0,0,0,0
$GC,1997,-0.80,-116.7,201.6,-9.4,181,2000,0.00,2.08,0.00,0.000,4,0.000,0.043,2496,879,3486,0,0,0,0,0,0
$GC,2079,-0.80,-116.7,210.0,-10.1,184,2086,0.00,2.10,0.00,0.000,6,0.000,0.033,2496,2271,3485,0,0,0,0,0,0
$GC,2396,-0.80,-116.7,237.4,-8.8,200,2399,0.00,2.10,0.00,0.000,4,0.000,0.047,2496,3680,3485,0,0,0,0,0,0
$GC,2445,-0.80,-116.7,241.9,-9.1,202,2449,0.00,2.08,0.00,0.000,6,0.000,0.028,2496,2268,3484,0,0,0,0,0,0
$GC,2766,-0.80,-116.7,269.2,-8.7,218,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2267,3484,0,0,0,0,0,0
$GC,3075,-0.80,-116.7,296.7,-8.9,233,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2267,3483,0,0,0,0,0,0
$GC,3392,-0.80,-116.7,324.8,-8.9,244,3396,0.00,2.12,0.00,0.000,4,0.000,0.048,2496,3679,3482,0,0,0,0,0,0
$GC,3454,-0.80,-116.7,330.5,-8.8,246,3458,0.00,2.03,0.00,0.000,6,0.000,0.028,2496,2276,3482,0,0,0,0,0,0
$GC,3788,-0.80,-116.7,361.7,-9.6,257,3792,0.00,2.05,0.00,0.000,4,0.000,0.044,2496,887,3481,0,0,0,0,0,0
$GC,3849,-0.80,-116.7,368.1,-10.2,259,3853,0.00,2.05,0.00,0.000,6,0.000,0.035,2495,2275,3481,0,0,0,0,0,0
$GC,4183,-0.80,-116.7,400.1,-9.6,270,4187,0.00,2.10,0.00,0.000,4,0.000,0.048,2496,3674,3480,0,0,0,0,0,0
$GC,4260,-0.80,-116.7,407.8,-9.6,272,4265,0.00,2.05,0.00,0.000,6,0.000,0.028,2496,2278,3480,0,0,0,0,0,0
$GC,4584,-0.80,-116.7,438.8,-9.7,283,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2278,3479,0,0,0,0,0,0
$GC,4890,-0.80,-116.7,467.3,-9.3,293,4894,0.00,2.08,0.00,0.000,4,0.000,0.045,2496,874,3478,0,0,0,0,0,0
$GC,4956,-0.80,-116.7,473.8,-10.1,295,4961,0.00,2.10,0.00,0.000,6,0.000,0.035,2496,2271,3478,0,0,0,0,0,0
$GC,5321,-0.80,-116.7,507.5,-9.3,306,5325,0.00,2.10,0.00,0.000,4,0.000,0.048,2496,3683,3477,0,0,0,0,0,0
$GC,5370,-0.80,-116.7,512.0,-9.3,306,5374,0.00,2.08,0.00,0.000,6,0.000,0.030,2496,2271,3476,0,0,0,0,0,0
$GC,5685,-0.80,-116.7,540.8,-9.1,312,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2271,3476,0,0,0,0,0,0
$GC,5988,-0.80,-116.7,569.9,-9.6,317,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2270,3475,0,0,0,0,0,0
$GC,6291,-0.80,-116.7,599.7,-9.9,322,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2270,3474,0,0,0,0,0,0
$GC,6594,-0.80,-116.7,628.5,-9.4,327,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2269,3473,0,0,0,0,0,0
$GC,6898,-0.80,-116.7,656.3,-9.2,332,6899,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2269,3472,0,0,0,0,0,0
$GC,7200,-0.80,-116.7,683.8,-9.1,337,7204,0.00,2.12,0.00,0.000,4,0.000,0.049,2495,3682,3472,0,0,0,0,0,0
$GC,7254,-0.80,-116.7,688.8,-9.2,337,7261,0.00,2.05,0.00,0.000,6,0.000,0.030,2496,2284,3472,0,0,0,0,0,0
$GC,7564,-0.80,-116.7,716.0,-8.8,343,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2284,3471,0,0,0,0,0,0
$GC,7867,-0.80,-116.7,742.7,-8.8,348,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2284,3470,0,0,0,0,0,0
$GC,8170,-0.80,-116.7,769.1,-8.7,353,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2284,3470,0,0,0,0,0,0
$GC,8473,-0.80,-116.7,795.5,-8.7,358,8477,0.00,2.10,0.00,0.000,4,0.000,0.049,2496,3680,3469,0,0,0,0,0,0
$GC,8522,-0.80,-116.7,800.0,-9.3,358,8528,0.00,2.08,0.00,0.000,6,0.000,0.031,2496,2267,3469,0,0,0,0,0,0
$GC,8845,-0.80,-116.7,827.8,-8.8,364,8846,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2267,3469,0,0,0,0,0,0
$GC,9146,-0.80,-116.7,854.3,-8.7,369,9147,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2266,3469,0,0,0,0,0,0
$GC,9448,-0.80,-116.7,880.9,-8.8,374,9450,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2266,3468,0,0,0,0,0,0
$GC,9752,-0.80,-116.7,907.3,-8.6,379,9756,0.00,2.12,0.00,0.000,4,0.000,0.049,2496,3678,3468,0,0,0,0,0,0
$GC,9801,-0.80,-116.7,911.8,-9.3,379,9805,0.00,2.08,0.00,0.000,6,0.000,0.031,2496,2268,3468,0,0,0,0,0,0
$GC,10116,-0.80,-116.7,939.1,-8.7,385,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2269,3467,0,0,0,0,0,0
$GC,10419,-0.80,-116.7,965.3,-8.6,390,10420,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2269,3467,0,0,0,0,0,0
$STATE,10720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10720,begin apogee
$GC,10726,-0.24,0.0,990.7,8.3,395,10829,0.62,0.00,99.97,1.651,6,0.196,0.000,2679,2808,3006,0,0,0,0,0,0
$STATE,10830,end apogee,CONTROL_FINISHED_OK
$STATE,10830,begin climb
$GC,10832,0.80,116.7,993.0,0.0,396,10948,1.10,2.08,107.88,1.582,4,0.140,0.053,3006,4036,2529,0,0,0,0,0,0
$GC,10965,0.81,126.3,991.1,6.5,398,10980,0.00,2.00,10.32,1.360,6,0.000,0.029,3013,2796,2490,0,0,0,0,0,0
$GC,11324,0.81,126.3,960.6,8.7,404,11325,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2796,2480,0,0,0,0,0,0
$GC,11626,0.81,126.3,934.4,8.7,409,11630,0.00,1.98,0.00,0.000,4,0.000,0.053,3014,4050,2478,0,0,0,0,0,0
$GC,11664,0.81,126.3,930.6,9.8,409,11669,0.00,1.90,0.00,0.000,6,0.000,0.031,3023,2796,2478,0,0,0,0,0,0
$GC,11996,0.81,126.3,899.6,9.4,415,12000,0.00,1.98,0.00,0.000,4,0.000,0.053,3019,4035,2477,0,0,0,0,0,0
$GC,12039,0.81,126.3,895.1,9.5,415,12043,0.00,1.85,0.00,0.000,6,0.000,0.031,3028,2801,2477,0,0,0,0,0,0
$GC,12365,0.81,126.3,863.4,9.8,421,12366,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2799,2476,0,0,0,0,0,0
$GC,12668,0.81,126.3,834.0,9.7,426,12672,0.00,1.95,0.00,0.000,4,0.000,0.053,3020,4041,2476,0,0,0,0,0,0
$GC,12701,0.81,126.3,830.6,10.1,426,12705,0.00,1.85,0.00,0.000,6,0.000,0.031,3028,2795,2476,0,0,0,0,0,0
$GC,13039,0.81,126.3,797.6,9.8,432,13042,0.00,1.92,0.00,0.000,4,0.000,0.054,3028,4047,2476,0,0,0,0,0,0
$GC,13065,0.81,126.3,794.5,10.8,432,13070,0.00,1.85,0.00,0.000,6,0.000,0.031,3036,2804,2475,0,0,0,0,0,0
$GC,13408,0.81,126.3,761.2,9.7,438,13409,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2803,2475,0,0,0,0,0,0
$GC,13711,0.81,126.3,731.9,9.6,443,13715,0.00,1.92,0.00,0.000,4,0.000,0.053,3033,4039,2475,0,0,0,0,0,0
$GC,13760,0.81,126.3,726.7,10.5,443,13765,0.00,1.83,0.00,0.000,6,0.000,0.031,3041,2799,2475,0,0,0,0,0,0
$GC,14081,0.81,126.3,696.1,9.5,449,14085,0.00,1.90,0.00,0.000,4,0.000,0.053,3034,4042,2475,0,0,0,0,0,0
$GC,14136,0.81,126.3,690.4,11.0,449,14140,0.00,1.83,0.00,0.000,6,0.000,0.031,3042,2802,2475,0,0,0,0,0,0
$GC,14451,0.81,126.3,660.8,9.4,455,14454,0.00,1.90,0.00,0.000,4,0.000,0.052,3033,4046,2475,0,0,0,0,0,0
$GC,14478,0.81,126.3,658.0,10.1,455,14482,0.00,1.85,0.00,0.000,6,0.000,0.031,3042,2795,2474,0,0,0,0,0,0
$GC,14820,0.81,126.3,625.3,9.5,461,14824,0.00,1.90,0.00,0.000,4,0.000,0.053,3034,4043,2474,0,0,0,0,0,0
$GC,14847,0.81,126.3,622.6,9.3,461,14851,0.00,1.83,0.00,0.000,6,0.000,0.031,3042,2803,2474,0,0,0,0,0,0
$GC,15190,0.81,126.3,590.8,9.3,467,15194,0.00,1.92,0.00,0.000,4,0.000,0.053,3034,4039,2474,0,0,0,0,0,0
$GC,15222,0.81,126.3,587.6,10.2,467,15226,0.00,1.83,0.00,0.000,6,0.000,0.031,3042,2799,2474,0,0,0,0,0,0
$GC,15559,0.81,126.3,557.1,9.0,473,15563,0.00,1.90,0.00,0.000,4,0.000,0.053,3034,4044,2474,0,0,0,0,0,0
$GC,15596,0.81,126.3,553.4,9.8,473,15601,0.00,1.83,0.00,0.000,6,0.000,0.031,3042,2801,2473,0,0,0,0,0,0
$GC,15928,0.81,126.3,524.0,8.9,479,15932,0.00,1.90,0.00,0.000,4,0.000,0.052,3034,4048,2473,0,0,0,0,0,0
$GC,15996,0.81,126.3,517.4,9.5,480,16000,0.00,1.80,0.00,0.000,6,0.000,0.031,3041,2791,2474,0,0,0,0,0,0
$GC,16337,0.81,126.3,487.9,8.4,487,16340,0.00,2.03,0.00,0.000,4,0.000,0.043,3044,1421,2474,0,0,0,0,0,0
$GC,16346,0.81,126.3,487.0,8.3,487,16351,0.00,2.10,0.00,0.000,6,0.000,0.040,3035,2797,2474,0,0,0,0,0,0
$GC,16676,0.81,126.3,459.7,8.3,498,16677,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2797,2473,0,0,0,0,0,0
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$STATE,22465,end climb,SURFACE_DEPTH_REACHED
$STATE,22465,begin surface coast
$FINISH,2.7,1.013150
$STATE,22503,end surface coast,CONTROL_FINISHED_OK
$STATE,22503,begin surface
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$SM_GC,3.72,0.00,0.00,104.72,0.000,0.000,0.914,220,2267,1883,-7.94,-0.23,275.23
$IRIDIUM_FIX,6346.88,124.07,271298,000007
$TT8_MAMPS,0.027612
$HUMID,1078363216
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,23.0,4.192
$10V_AH,10.1,2.334
$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,19.675,151.475,231.250,104.725,0.000,28.449,34.354,161.775,2.000,0.000,30.480,1775.913,18164.449,491.550,2103.177,441.694,0.000,1535.628,0.000,2057.733,0.000,15.511,0.000
$DEVICE_MAMPS,270.751,60.593,1650.584,914.264,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241632
$DATA_FILE_SIZE,47505,850
$CAP_FILE_SIZE,159444,0
$CFSIZE,260165632,254050304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119,119.0,1
$GPS,021009,133707,6415.053,119.945,32,1.1,32,-4.3