version: 66.06
glider: 140
mission: 8
dive: 157
start: 11 15 109 15 50 46
data:
$ID,140
$MISSION,8
$DIVE,157
$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,602.45679
$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,-47154.094
$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,78
$R_STBD_OVSHOOT,46
$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
$GPS1,154336,6448.520,-25.524,34,1.8,34,-5.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.10
$_SM_ANGLEo,-43.8
$GPS2,155025,6448.550,-25.568,15,1.9,32,-5.4
$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,138.1,294741,-13.7,-6.875
$D_GRID,2755
$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,-116.7,0.0,0.0,0,29,0.00,0.00,-12.35,0.000,2,0.000,0.000,215,2267,812,0,0,0,0,0,0
$GC,32,-0.80,-116.7,3.1,-2.3,2,196,8.38,0.00,-146.90,0.000,6,0.204,0.000,2508,2268,3482,0,0,0,0,0,0
$GC,526,-0.67,-116.7,41.5,-10.1,91,533,0.15,2.22,0.00,0.000,4,0.209,0.043,2546,3704,3483,0,0,0,0,0,0
$GC,621,-0.67,-116.7,49.9,-7.5,108,628,0.00,2.08,0.00,0.000,6,0.000,0.025,2547,2297,3483,0,0,0,0,0,0
$GC,961,-0.67,-116.7,78.5,-9.5,169,966,0.00,2.05,0.00,0.000,4,0.000,0.035,2546,913,3483,0,0,0,0,0,0
$GC,1017,-0.63,-116.7,83.7,-9.2,179,1022,0.00,2.08,0.00,0.000,6,0.000,0.029,2546,2312,3483,0,0,0,0,0,0
$GC,1353,-0.63,-116.7,113.6,-8.6,240,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2312,3483,0,0,0,0,0,0
$GC,1678,-0.63,-116.7,140.9,-8.2,266,1682,0.00,2.08,0.00,0.000,4,0.000,0.041,2546,3702,3484,0,0,0,0,0,0
$GC,1702,-0.63,-116.7,142.8,-8.6,267,1705,0.00,2.00,0.00,0.000,6,0.000,0.024,2546,2300,3484,0,0,0,0,0,0
$GC,2034,-0.63,-116.7,169.0,-6.9,283,2038,0.00,2.12,0.00,0.000,4,0.000,0.041,2546,3702,3484,0,0,0,0,0,0
$GC,2106,-0.63,-116.7,174.1,-6.4,286,2111,0.00,2.05,0.00,0.000,6,0.000,0.024,2546,2289,3483,0,0,0,0,0,0
$GC,2428,-0.63,-116.7,193.2,-5.5,302,2432,0.00,2.12,0.00,0.000,4,0.000,0.041,2546,3701,3483,0,0,0,0,0,0
$GC,2438,-0.63,-116.7,193.8,-5.6,302,2445,0.00,2.03,0.00,0.000,6,0.000,0.025,2546,2305,3484,0,0,0,0,0,0
$GC,2753,-0.63,-116.7,211.4,-6.0,318,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2305,3484,0,0,0,0,0,0
$GC,3064,-0.63,-116.7,231.7,-6.9,333,3068,0.00,2.10,0.00,0.000,4,0.000,0.042,2546,3698,3483,0,0,0,0,0,0
$GC,3084,-0.63,-116.7,233.4,-7.1,334,3089,0.00,2.03,0.00,0.000,6,0.000,0.025,2547,2306,3483,0,0,0,0,0,0
$GC,3411,-0.63,-116.7,257.8,-7.9,350,3415,0.00,2.10,0.00,0.000,4,0.000,0.042,2546,3699,3482,0,0,0,0,0,0
$GC,3450,-0.63,-116.7,260.9,-8.0,352,3454,0.00,2.00,0.00,0.000,6,0.000,0.025,2546,2301,3482,0,0,0,0,0,0
$GC,3782,-0.63,-116.7,286.3,-7.4,368,3786,0.00,2.12,0.00,0.000,4,0.000,0.042,2547,3705,3481,0,0,0,0,0,0
$GC,3844,-0.63,-116.7,291.0,-7.4,371,3848,0.00,2.03,0.00,0.000,6,0.000,0.025,2546,2291,3481,0,0,0,0,0,0
$GC,4179,-0.63,-116.7,316.6,-7.7,384,4182,0.00,2.15,0.00,0.000,4,0.000,0.043,2546,3707,3480,0,0,0,0,0,0
$GC,4235,-0.63,-116.7,321.1,-8.1,385,4239,0.00,2.03,0.00,0.000,6,0.000,0.025,2546,2293,3480,0,0,0,0,0,0
$GC,4546,-0.63,-116.7,345.5,-7.8,395,4550,0.00,2.12,0.00,0.000,4,0.000,0.043,2546,3698,3479,0,0,0,0,0,0
$GC,4595,-0.63,-116.7,349.3,-7.9,396,4600,0.00,2.05,0.00,0.000,6,0.000,0.025,2546,2292,3479,0,0,0,0,0,0
$GC,4914,-0.63,-116.7,373.6,-7.6,407,4918,0.00,2.12,0.00,0.000,4,0.000,0.043,2546,3701,3478,0,0,0,0,0,0
$GC,4975,-0.63,-116.7,378.4,-7.7,408,4981,0.00,2.03,0.00,0.000,6,0.000,0.025,2546,2288,3478,0,0,0,0,0,0
$GC,5286,-0.63,-116.7,402.2,-7.5,419,5290,0.00,2.12,0.00,0.000,4,0.000,0.043,2546,3697,3477,0,0,0,0,0,0
$GC,5319,-0.63,-116.7,404.9,-8.3,420,5323,0.00,2.05,0.00,0.000,6,0.000,0.025,2546,2298,3477,0,0,0,0,0,0
$GC,5654,-0.63,-116.7,429.9,-7.5,431,5658,0.00,2.12,0.00,0.000,4,0.000,0.044,2546,3697,3477,0,0,0,0,0,0
$GC,5697,-0.63,-116.7,433.4,-7.8,432,5702,0.00,2.05,0.00,0.000,6,0.000,0.025,2546,2292,3476,0,0,0,0,0,0
$GC,6027,-0.63,-116.7,457.4,-7.3,443,6030,0.00,2.12,0.00,0.000,4,0.000,0.044,2546,3697,3475,0,0,0,0,0,0
$GC,6110,-0.63,-116.7,463.5,-7.8,445,6114,0.00,2.05,0.00,0.000,6,0.000,0.026,2547,2296,3475,0,0,0,0,0,0
$GC,6427,-0.63,-116.7,486.8,-7.5,456,6431,0.00,2.12,0.00,0.000,4,0.000,0.044,2546,3701,3474,0,0,0,0,0,0
$GC,6465,-0.63,-116.7,489.8,-8.0,457,6470,0.00,2.05,0.00,0.000,6,0.000,0.026,2546,2302,3474,0,0,0,0,0,0
$GC,6793,-0.63,-116.7,514.1,-7.4,465,6797,0.00,2.12,0.00,0.000,4,0.000,0.044,2546,3704,3474,0,0,0,0,0,0
$GC,6870,-0.63,-116.7,520.0,-7.6,466,6875,0.00,2.05,0.00,0.000,6,0.000,0.026,2546,2304,3473,0,0,0,0,0,0
$GC,7225,-0.63,-116.7,545.6,-7.2,472,7229,0.00,2.12,0.00,0.000,4,0.000,0.044,2546,3705,3473,0,0,0,0,0,0
$GC,7291,-0.63,-116.7,550.5,-7.6,473,7295,0.00,2.08,0.00,0.000,6,0.000,0.027,2546,2295,3472,0,0,0,0,0,0
$GC,7656,-0.63,-116.7,576.2,-7.1,479,7660,0.00,2.12,0.00,0.000,4,0.000,0.044,2546,3697,3471,0,0,0,0,0,0
$GC,7723,-0.63,-116.7,581.2,-7.5,480,7727,0.00,2.03,0.00,0.000,6,0.000,0.027,2547,2290,3471,0,0,0,0,0,0
$GC,8089,-0.63,-116.7,606.4,-6.8,486,8092,0.00,2.15,0.00,0.000,4,0.000,0.044,2546,3706,3471,0,0,0,0,0,0
$GC,8151,-0.66,-116.7,610.5,-6.7,487,8155,0.00,2.03,0.00,0.000,6,0.000,0.027,2546,2298,3470,0,0,0,0,0,0
$GC,8522,-0.66,-116.7,633.6,-6.2,493,8526,0.00,2.12,0.00,0.000,4,0.000,0.044,2547,3698,3470,0,0,0,0,0,0
$GC,8584,-0.69,-116.7,637.6,-6.1,494,8588,0.00,2.03,0.00,0.000,6,0.000,0.027,2546,2290,3470,0,0,0,0,0,0
$GC,8948,-0.69,-116.7,660.4,-6.3,500,8952,0.00,2.12,0.00,0.000,4,0.000,0.044,2546,3697,3469,0,0,0,0,0,0
$GC,9026,-0.73,-116.7,665.5,-6.4,501,9030,0.00,2.03,0.00,0.000,6,0.000,0.027,2546,2289,3469,0,0,0,0,0,0
$GC,9373,-0.73,-116.7,687.0,-6.2,507,9377,0.00,2.15,0.00,0.000,4,0.000,0.044,2546,3701,3468,0,0,0,0,0,0
$GC,9429,-0.76,-116.7,690.7,-6.3,507,9433,0.00,2.05,0.00,0.000,6,0.000,0.027,2546,2289,3468,0,0,0,0,0,0
$GC,9744,-0.76,-116.7,710.0,-6.2,513,9747,0.00,2.15,0.00,0.000,4,0.000,0.044,2546,3704,3468,0,0,0,0,0,0
$GC,9799,-0.80,-116.7,713.6,-6.5,513,9805,0.12,2.03,0.00,0.000,6,0.146,0.027,2507,2295,3467,0,0,0,0,0,0
$GC,10108,-0.74,-116.7,736.8,-7.6,519,10112,0.00,2.12,0.00,0.000,4,0.000,0.045,2507,3696,3467,0,0,0,0,0,0
$GC,10118,-0.69,-116.7,737.6,-7.6,519,10123,0.08,2.05,0.00,0.000,6,0.163,0.028,2543,2308,3467,0,0,0,0,0,0
$GC,10473,-0.69,-116.7,758.7,-5.9,525,10476,0.00,2.12,0.00,0.000,4,0.000,0.045,2543,3702,3467,0,0,0,0,0,0
$GC,10517,-0.72,-116.7,761.5,-6.3,525,10521,0.00,2.05,0.00,0.000,6,0.000,0.027,2543,2288,3467,0,0,0,0,0,0
$GC,10836,-0.72,-116.7,780.1,-5.8,531,10840,0.00,2.15,0.00,0.000,4,0.000,0.045,2543,3704,3466,0,0,0,0,0,0
$GC,10892,-0.75,-116.7,783.5,-6.3,531,10898,0.00,2.03,0.00,0.000,6,0.000,0.028,2543,2299,3467,0,0,0,0,0,0
$GC,11202,-0.75,-116.7,800.8,-5.6,537,11206,0.00,2.12,0.00,0.000,4,0.000,0.045,2543,3697,3466,0,0,0,0,0,0
$GC,11242,-0.78,-116.7,803.1,-5.9,537,11246,0.00,2.03,0.00,0.000,6,0.000,0.027,2543,2302,3466,0,0,0,0,0,0
$GC,11568,-0.78,-116.7,821.3,-5.6,543,11572,0.00,2.15,0.00,0.000,4,0.000,0.045,2543,3701,3466,0,0,0,0,0,0
$GC,11623,-0.82,-116.7,824.6,-5.4,543,11628,0.08,2.08,0.00,0.000,6,0.112,0.027,2501,2294,3466,0,0,0,0,0,0
$GC,11938,-0.76,-116.7,847.4,-7.4,549,11939,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2293,3466,0,0,0,0,0,0
$GC,12241,-0.69,-116.7,870.7,-7.7,554,12245,0.15,2.15,0.00,0.000,4,0.194,0.046,2539,3697,3465,0,0,0,0,0,0
$GC,12256,-0.69,-116.7,872.0,-7.7,554,12260,0.00,2.05,0.00,0.000,6,0.000,0.028,2540,2307,3465,0,0,0,0,0,0
$GC,12605,-0.69,-116.7,894.0,-6.3,560,12609,0.00,2.12,0.00,0.000,4,0.000,0.045,2540,3699,3465,0,0,0,0,0,0
$GC,12649,-0.69,-116.7,897.1,-6.6,560,12653,0.00,2.05,0.00,0.000,6,0.000,0.028,2540,2286,3465,0,0,0,0,0,0
$GC,12975,-0.69,-116.7,918.2,-6.5,566,12978,0.00,2.15,0.00,0.000,4,0.000,0.045,2540,3700,3464,0,0,0,0,0,0
$GC,13041,-0.73,-116.7,922.7,-6.7,567,13045,0.00,2.05,0.00,0.000,6,0.000,0.028,2540,2283,3464,0,0,0,0,0,0
$GC,13407,-0.73,-116.7,946.2,-6.4,573,13411,0.00,2.15,0.00,0.000,4,0.000,0.045,2540,3698,3464,0,0,0,0,0,0
$GC,13479,-0.77,-116.7,951.2,-7.5,574,13483,0.00,2.08,0.00,0.000,6,0.000,0.028,2540,2292,3464,0,0,0,0,0,0
$GC,13839,-0.77,-116.7,974.1,-6.4,580,13843,0.00,2.12,0.00,0.000,4,0.000,0.045,2540,3697,3464,0,0,0,0,0,0
$GC,13905,-0.80,-116.7,978.7,-6.8,581,13909,0.00,2.03,0.00,0.000,6,0.000,0.028,2540,2295,3464,0,0,0,0,0,0
$STATE,14087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14087,begin apogee
$GC,14092,-0.24,0.0,990.1,6.2,584,14193,0.47,0.00,98.00,1.549,6,0.172,0.000,2680,2654,3007,0,0,0,0,0,0
$STATE,14194,end apogee,CONTROL_FINISHED_OK
$STATE,14194,begin climb
$GC,14196,0.80,116.7,992.1,0.0,585,14311,1.10,2.38,106.65,1.453,4,0.120,0.046,3017,4033,2528,0,0,0,0,0,0
$GC,14367,0.55,116.7,986.0,9.6,588,14372,0.32,2.20,0.00,0.000,6,0.180,0.027,2947,2651,2522,0,0,0,0,0,0
$GC,14698,0.54,137.4,965.6,6.0,594,14718,0.00,0.00,18.05,1.414,6,0.000,0.000,2946,2651,2445,0,0,0,0,0,0
$GC,15001,0.55,141.0,945.5,6.7,599,15007,0.00,0.00,3.95,0.966,6,0.000,0.000,2947,2651,2431,0,0,0,0,0,0
$GC,15305,0.55,141.0,924.7,6.9,604,15309,0.00,2.17,0.00,0.000,4,0.000,0.047,2940,4042,2429,0,0,0,0,0,0
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$STATE,26577,end climb,SURFACE_DEPTH_REACHED
$STATE,26577,begin surface coast
$FINISH,2.7,1.027242
$STATE,26612,end surface coast,CONTROL_FINISHED_OK
$STATE,26612,begin surface
$SM_CCo,26628,251.02,0.755,0,0,549,602.46
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$HUMID,1078301281
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.6,26.868
$10V_AH,10.1,16.989
$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
$DEVICE_SECS,20.850,219.400,361.550,251.025,0.000,31.052,31.708,199.822,0.000,0.000,32.183,2305.588,20790.838,835.210,2789.079,556.967,0.000,2259.824,0.000,2738.736,0.000,0.534,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241388
$DATA_FILE_SIZE,60179,1075
$CAP_FILE_SIZE,220867,0
$CFSIZE,260165632,242384896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,335.2,1
$GPS,151109,232001,6447.048,-21.999,38,1.4,39,-5.4