version: 66.06
glider: 140
mission: 8
dive: 61
start: 10 17 109 8 51 36
data:
$ID,140
$MISSION,8
$DIVE,61
$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,-45439.586
$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,55
$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
$GPS1,084530,6421.636,16.979,38,1.2,44,-4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.79
$_SM_ANGLEo,-61.9
$GPS2,085113,6421.640,17.009,11,1.4,11,-4.9
$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,134.6,234965,-13.7,-6.875
$D_GRID,2514
$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,-7.70,0.000,2,0.000,0.000,220,2303,2047,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.9,-0.0,1,118,8.98,2.17,-75.50,0.000,4,0.248,0.057,2500,3704,3482,0,0,0,0,0,0
$GC,314,-0.66,-116.7,25.9,-11.3,52,321,0.12,2.10,0.00,0.000,6,0.180,0.025,2540,2278,3484,0,0,0,0,0,0
$GC,653,-0.60,-116.7,56.9,-8.6,113,659,0.10,0.00,0.00,0.000,6,0.234,0.000,2564,2276,3485,0,0,0,0,0,0
$GC,987,-0.60,-116.7,82.9,-8.1,135,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2275,3486,0,0,0,0,0,0
$GC,1295,-0.60,-116.7,106.4,-7.6,150,1298,0.00,2.00,0.00,0.000,4,0.000,0.038,2564,923,3486,0,0,0,0,0,0
$GC,1311,-0.60,-116.7,107.6,-7.0,150,1318,0.00,2.08,0.00,0.000,6,0.000,0.030,2564,2305,3486,0,0,0,0,0,0
$GC,1626,-0.60,-116.7,128.7,-6.3,166,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2305,3486,0,0,0,0,0,0
$GC,1937,-0.60,-116.7,148.7,-6.5,181,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2305,3487,0,0,0,0,0,0
$GC,2245,-0.60,-116.7,170.9,-7.7,196,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2305,3487,0,0,0,0,0,0
$GC,2555,-0.60,-116.7,194.0,-7.6,211,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2305,3487,0,0,0,0,0,0
$GC,2865,-0.60,-116.7,217.1,-7.4,226,2868,0.00,2.08,0.00,0.000,4,0.000,0.043,2564,3710,3488,0,0,0,0,0,0
$GC,2892,-0.64,-116.7,219.3,-7.2,227,2896,0.00,2.03,0.00,0.000,6,0.000,0.025,2564,2284,3487,0,0,0,0,0,0
$GC,3212,-0.64,-116.7,242.2,-7.1,243,3216,0.00,2.12,0.00,0.000,4,0.000,0.043,2564,3701,3487,0,0,0,0,0,0
$GC,3267,-0.69,-116.7,246.2,-7.1,245,3273,0.00,2.03,0.00,0.000,6,0.000,0.025,2565,2274,3487,0,0,0,0,0,0
$GC,3583,-0.72,-116.7,268.2,-7.0,261,3587,0.00,2.15,0.00,0.000,4,0.000,0.044,2565,3709,3487,0,0,0,0,0,0
$GC,3604,-0.76,-116.7,269.9,-7.8,262,3608,0.10,2.03,0.00,0.000,6,0.111,0.026,2512,2309,3486,0,0,0,0,0,0
$GC,3932,-0.69,-116.7,299.1,-8.8,278,3933,0.12,0.00,0.00,0.000,6,0.207,0.000,2541,2305,3486,0,0,0,0,0,0
$GC,4257,-0.69,-116.7,323.9,-7.6,289,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2305,3485,0,0,0,0,0,0
$GC,4563,-0.69,-116.7,345.9,-7.1,299,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2305,3484,0,0,0,0,0,0
$GC,4869,-0.69,-116.7,367.3,-7.1,309,4871,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2305,3484,0,0,0,0,0,0
$GC,5176,-0.69,-116.7,390.2,-7.5,319,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2304,3483,0,0,0,0,0,0
$GC,5482,-0.69,-116.7,413.3,-7.4,329,5486,0.00,2.10,0.00,0.000,4,0.000,0.045,2542,3702,3482,0,0,0,0,0,0
$GC,5491,-0.69,-116.7,414.0,-7.4,329,5496,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2299,3482,0,0,0,0,0,0
$GC,5821,-0.69,-116.7,438.9,-7.6,340,5825,0.00,2.12,0.00,0.000,4,0.000,0.045,2542,3705,3482,0,0,0,0,0,0
$GC,5842,-0.69,-116.7,440.6,-7.3,340,5847,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2302,3481,0,0,0,0,0,0
$GC,6160,-0.69,-116.7,463.3,-7.1,351,6164,0.00,2.12,0.00,0.000,4,0.000,0.045,2542,3708,3480,0,0,0,0,0,0
$GC,6182,-0.69,-116.7,464.9,-7.1,351,6186,0.00,2.08,0.00,0.000,6,0.000,0.028,2541,2292,3480,0,0,0,0,0,0
$GC,6499,-0.69,-116.7,487.6,-7.1,362,6503,0.00,2.12,0.00,0.000,4,0.000,0.045,2542,3702,3479,0,0,0,0,0,0
$GC,6526,-0.69,-116.7,489.6,-7.3,362,6532,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2302,3479,0,0,0,0,0,0
$GC,6867,-0.69,-116.7,514.3,-7.2,371,6871,0.00,2.10,0.00,0.000,4,0.000,0.045,2542,3700,3478,0,0,0,0,0,0
$GC,6888,-0.69,-116.7,515.9,-7.4,371,6893,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2302,3479,0,0,0,0,0,0
$GC,7231,-0.69,-116.7,540.6,-7.2,377,7235,0.00,2.10,0.00,0.000,4,0.000,0.046,2542,3698,3478,0,0,0,0,0,0
$GC,7263,-0.69,-116.7,543.0,-7.6,377,7268,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2296,3477,0,0,0,0,0,0
$GC,7595,-0.69,-116.7,566.2,-7.0,383,7599,0.00,2.12,0.00,0.000,4,0.000,0.046,2542,3706,3477,0,0,0,0,0,0
$GC,7633,-0.69,-116.7,568.9,-7.3,383,7638,0.00,2.05,0.00,0.000,6,0.000,0.028,2541,2309,3477,0,0,0,0,0,0
$GC,7959,-0.69,-116.7,591.5,-7.0,389,7963,0.00,2.10,0.00,0.000,4,0.000,0.046,2542,3703,3476,0,0,0,0,0,0
$GC,7980,-0.69,-116.7,593.1,-7.0,389,7985,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2302,3476,0,0,0,0,0,0
$GC,8324,-0.69,-116.7,616.5,-6.8,395,8328,0.00,2.12,0.00,0.000,4,0.000,0.046,2542,3698,3475,0,0,0,0,0,0
$GC,8356,-0.69,-116.7,619.0,-7.3,395,8360,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2297,3475,0,0,0,0,0,0
$GC,8688,-0.69,-116.7,641.4,-6.7,401,8692,0.00,2.12,0.00,0.000,4,0.000,0.046,2542,3708,3475,0,0,0,0,0,0
$GC,8743,-0.69,-116.7,645.2,-7.2,401,8749,0.00,2.08,0.00,0.000,6,0.000,0.028,2542,2295,3474,0,0,0,0,0,0
$GC,9053,-0.69,-116.7,664.8,-6.4,407,9056,0.00,2.12,0.00,0.000,4,0.000,0.046,2542,3698,3474,0,0,0,0,0,0
$GC,9079,-0.69,-116.7,666.7,-7.1,407,9084,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2300,3474,0,0,0,0,0,0
$GC,9423,-0.69,-116.7,688.5,-6.4,413,9426,0.00,2.12,0.00,0.000,4,0.000,0.047,2542,3707,3473,0,0,0,0,0,0
$GC,9477,-0.69,-116.7,692.4,-7.3,413,9483,0.00,2.08,0.00,0.000,6,0.000,0.028,2542,2293,3473,0,0,0,0,0,0
$GC,9787,-0.69,-116.7,713.5,-6.9,419,9791,0.00,2.12,0.00,0.000,4,0.000,0.047,2542,3702,3473,0,0,0,0,0,0
$GC,9808,-0.69,-116.7,715.0,-7.2,419,9812,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2303,3473,0,0,0,0,0,0
$GC,10151,-0.69,-116.7,739.4,-7.2,425,10155,0.00,2.10,0.00,0.000,4,0.000,0.047,2542,3698,3472,0,0,0,0,0,0
$GC,10205,-0.69,-116.7,743.5,-7.1,425,10210,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2298,3473,0,0,0,0,0,0
$GC,10520,-0.69,-116.7,766.1,-7.2,431,10524,0.00,2.12,0.00,0.000,4,0.000,0.047,2542,3706,3472,0,0,0,0,0,0
$GC,10536,-0.69,-116.7,767.2,-7.1,431,10540,0.00,2.08,0.00,0.000,6,0.000,0.029,2542,2302,3472,0,0,0,0,0,0
$GC,10884,-0.69,-116.7,792.7,-7.3,437,10888,0.00,2.12,0.00,0.000,4,0.000,0.048,2542,3697,3471,0,0,0,0,0,0
$GC,10917,-0.69,-116.7,795.1,-7.7,437,10921,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2299,3471,0,0,0,0,0,0
$GC,11248,-0.69,-116.7,819.2,-7.2,443,11252,0.00,2.12,0.00,0.000,4,0.000,0.047,2543,3705,3471,0,0,0,0,0,0
$GC,11292,-0.69,-116.7,822.3,-7.1,443,11296,0.00,2.08,0.00,0.000,6,0.000,0.028,2542,2298,3471,0,0,0,0,0,0
$GC,11613,-0.69,-116.7,843.4,-6.6,449,11617,0.00,2.12,0.00,0.000,4,0.000,0.047,2542,3702,3471,0,0,0,0,0,0
$GC,11651,-0.69,-116.7,845.9,-6.7,449,11655,0.00,2.08,0.00,0.000,6,0.000,0.029,2542,2291,3470,0,0,0,0,0,0
$GC,11982,-0.69,-116.7,866.5,-6.2,455,11986,0.00,2.12,0.00,0.000,4,0.000,0.046,2542,3702,3470,0,0,0,0,0,0
$GC,12038,-0.72,-116.7,870.0,-6.1,455,12044,0.00,2.03,0.00,0.000,6,0.000,0.029,2542,2296,3470,0,0,0,0,0,0
$GC,12347,-0.72,-116.7,888.6,-6.0,461,12351,0.00,2.12,0.00,0.000,4,0.000,0.047,2542,3705,3470,0,0,0,0,0,0
$GC,12402,-0.75,-116.7,892.0,-5.6,461,12408,0.00,2.03,0.00,0.000,6,0.000,0.029,2542,2300,3470,0,0,0,0,0,0
$GC,12711,-0.75,-116.7,910.4,-6.0,467,12715,0.00,2.15,0.00,0.000,4,0.000,0.048,2543,3701,3470,0,0,0,0,0,0
$GC,12756,-0.78,-116.7,913.2,-5.9,467,12759,0.00,2.03,0.00,0.000,6,0.000,0.029,2542,2292,3470,0,0,0,0,0,0
$GC,13081,-0.78,-116.7,932.2,-5.8,473,13085,0.00,2.12,0.00,0.000,4,0.000,0.047,2542,3701,3470,0,0,0,0,0,0
$GC,13126,-0.81,-116.7,934.9,-6.3,473,13130,0.12,2.03,0.00,0.000,6,0.151,0.029,2503,2293,3469,0,0,0,0,0,0
$GC,13440,-0.75,-116.7,958.3,-7.5,479,13441,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2292,3469,0,0,0,0,0,0
$GC,13743,-0.68,-116.7,982.1,-8.0,484,13745,0.15,0.00,0.00,0.000,6,0.200,0.000,2541,2290,3469,0,0,0,0,0,0
$STATE,13862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13862,begin apogee
$GC,13867,-0.24,0.0,990.4,7.4,486,13969,0.47,0.00,98.85,1.559,6,0.172,0.000,2686,2654,3006,0,0,0,0,0,0
$STATE,13970,end apogee,CONTROL_FINISHED_OK
$STATE,13970,begin climb
$GC,13972,0.80,116.7,992.3,0.0,487,14086,1.08,2.35,105.10,1.461,4,0.123,0.049,3015,4036,2529,0,0,0,0,0,0
$GC,14175,0.54,116.7,983.0,8.9,491,14180,0.32,2.15,0.00,0.000,6,0.196,0.028,2946,2655,2522,0,0,0,0,0,0
$GC,14541,0.53,138.8,960.7,6.0,497,14562,0.00,0.00,19.15,1.425,6,0.000,0.000,2946,2654,2440,0,0,0,0,0,0
$GC,14843,0.54,145.7,941.0,6.6,502,14852,0.00,0.00,7.22,1.302,6,0.000,0.000,2946,2654,2412,0,0,0,0,0,0
$GC,15146,0.56,159.7,921.7,6.3,507,15162,0.00,0.00,14.10,1.409,6,0.000,0.000,2946,2654,2354,0,0,0,0,0,0
$GC,15450,0.57,167.6,901.8,6.6,512,15460,0.00,0.00,8.35,1.342,6,0.000,0.000,2946,2654,2322,0,0,0,0,0,0
$GC,15752,0.57,167.6,881.0,6.9,517,15753,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2654,2319,0,0,0,0,0,0
$GC,16055,0.57,167.6,859.3,7.2,522,16056,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2654,2318,0,0,0,0,0,0
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$GC,27274,0.73,236.9,11.9,9.9,937,27280,0.00,2.10,0.00,0.000,4,0.000,0.038,3000,1246,2037,0,0,0,0,0,0
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$STATE,27364,end climb,SURFACE_DEPTH_REACHED
$STATE,27364,begin surface coast
$FINISH,3.0,1.013502
$STATE,27410,end surface coast,CONTROL_FINISHED_OK
$STATE,27410,begin surface
$SM_CCo,27426,31.12,0.814,0,0,1884,275.23
$SM_GC,3.95,0.00,0.00,31.12,0.000,0.000,0.814,216,2261,1884,-7.97,-1.10,275.23
$IRIDIUM_FIX,6401.59,9.96,110199,010103
$TT8_MAMPS,0.027612
$HUMID,1078379990
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,23.0,11.972
$10V_AH,10.1,7.331
$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,20.725,160.200,317.750,31.125,0.000,31.155,32.730,164.901,0.000,0.000,11.933,2020.725,22572.016,533.868,2201.648,466.926,0.000,1641.474,0.000,2179.810,0.000,0.534,0.000
$DEVICE_MAMPS,247.741,56.758,1558.544,813.787,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,666.505,981.905,539.966,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241516
$DATA_FILE_SIZE,53797,961
$CAP_FILE_SIZE,186371,0
$CFSIZE,260165632,250052608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,155.7,1
$GPS,171009,163036,6418.543,23.107,40,1.8,45,-4.9