version: 66.06
glider: 140
mission: 8
dive: 160
start: 11 16 109 15 14 12
data:
$ID,140
$MISSION,8
$DIVE,160
$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,-47203.625
$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,90
$R_STBD_OVSHOOT,45
$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
$GPS1,150724,6441.925,-13.811,41,1.5,41,-5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.25
$_SM_ANGLEo,-53.7
$GPS2,151349,6441.928,-13.764,10,1.1,15,-5.3
$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,137.5,279141,-13.7,-6.875
$D_GRID,2694
$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,-7.55,0.000,2,0.000,0.000,219,2270,708,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.2,-0.0,1,198,8.73,2.28,-151.00,0.000,4,0.222,0.054,2507,3706,3483,0,0,0,0,0,0
$GC,293,-0.67,-116.7,11.5,-9.7,48,300,0.10,2.08,0.00,0.000,6,0.179,0.024,2538,2309,3484,0,0,0,0,0,0
$GC,632,-0.63,-116.7,40.4,-8.3,109,638,0.00,2.15,0.00,0.000,4,0.000,0.041,2538,3709,3484,0,0,0,0,0,0
$GC,677,-0.59,-116.7,44.0,-7.7,117,683,0.12,2.05,0.00,0.000,6,0.198,0.025,2569,2292,3484,0,0,0,0,0,0
$GC,1016,-0.59,-116.7,68.9,-7.0,178,1022,0.00,2.15,0.00,0.000,4,0.000,0.041,2569,3702,3485,0,0,0,0,0,0
$GC,1050,-0.59,-116.7,71.4,-7.2,184,1057,0.00,2.05,0.00,0.000,6,0.000,0.025,2569,2306,3485,0,0,0,0,0,0
$GC,1391,-0.62,-116.7,94.8,-6.4,245,1397,0.00,2.12,0.00,0.000,4,0.000,0.041,2569,3706,3485,0,0,0,0,0,0
$GC,1426,-0.66,-116.7,97.1,-6.5,251,1432,0.00,2.03,0.00,0.000,6,0.000,0.025,2569,2296,3485,0,0,0,0,0,0
$GC,1767,-0.69,-116.7,119.5,-6.9,312,1774,0.00,2.17,0.00,0.000,4,0.000,0.041,2569,3705,3485,0,0,0,0,0,0
$GC,1814,-0.74,-116.7,122.9,-7.2,316,1818,0.15,2.03,0.00,0.000,6,0.128,0.024,2521,2290,3485,0,0,0,0,0,0
$GC,2140,-0.69,-116.7,149.2,-7.9,332,2144,0.00,2.15,0.00,0.000,4,0.000,0.041,2520,3710,3485,0,0,0,0,0,0
$GC,2159,-0.64,-116.7,150.6,-8.1,333,2164,0.12,2.03,0.00,0.000,6,0.192,0.025,2552,2292,3485,0,0,0,0,0,0
$GC,2487,-0.64,-116.7,171.7,-6.6,349,2491,0.00,2.12,0.00,0.000,4,0.000,0.041,2552,3702,3485,0,0,0,0,0,0
$GC,2581,-0.64,-116.7,178.1,-6.4,353,2585,0.00,2.03,0.00,0.000,6,0.000,0.024,2552,2302,3485,0,0,0,0,0,0
$GC,2903,-0.64,-116.7,199.3,-7.1,369,2907,0.00,2.12,0.00,0.000,4,0.000,0.041,2552,3708,3485,0,0,0,0,0,0
$GC,2935,-0.64,-116.7,201.8,-7.4,370,2943,0.00,2.05,0.00,0.000,6,0.000,0.025,2552,2297,3484,0,0,0,0,0,0
$GC,3251,-0.64,-116.7,225.2,-7.6,386,3255,0.00,2.12,0.00,0.000,4,0.000,0.041,2552,3706,3485,0,0,0,0,0,0
$GC,3278,-0.64,-116.7,227.4,-8.1,387,3282,0.00,2.05,0.00,0.000,6,0.000,0.025,2552,2302,3484,0,0,0,0,0,0
$GC,3601,-0.64,-116.7,252.6,-7.9,403,3605,0.00,2.12,0.00,0.000,4,0.000,0.042,2552,3709,3484,0,0,0,0,0,0
$GC,3667,-0.64,-116.7,258.2,-7.9,406,3671,0.00,2.05,0.00,0.000,6,0.000,0.025,2552,2304,3484,0,0,0,0,0,0
$GC,3993,-0.64,-116.7,283.1,-7.7,422,3997,0.00,2.12,0.00,0.000,4,0.000,0.042,2552,3709,3483,0,0,0,0,0,0
$GC,4031,-0.64,-116.7,286.2,-8.2,424,4035,0.00,2.03,0.00,0.000,6,0.000,0.025,2552,2298,3483,0,0,0,0,0,0
$GC,4366,-0.64,-116.7,311.8,-7.5,438,4370,0.00,2.12,0.00,0.000,4,0.000,0.042,2552,3706,3482,0,0,0,0,0,0
$GC,4432,-0.64,-116.7,316.9,-7.4,440,4437,0.00,2.05,0.00,0.000,6,0.000,0.025,2552,2301,3482,0,0,0,0,0,0
$GC,4768,-0.64,-116.7,339.9,-6.7,451,4772,0.00,2.15,0.00,0.000,4,0.000,0.043,2552,3705,3481,0,0,0,0,0,0
$GC,4824,-0.67,-116.7,343.8,-6.9,452,4829,0.00,2.03,0.00,0.000,6,0.000,0.025,2552,2293,3481,0,0,0,0,0,0
$GC,5136,-0.67,-116.7,364.2,-6.6,463,5140,0.00,2.12,0.00,0.000,4,0.000,0.043,2552,3702,3480,0,0,0,0,0,0
$GC,5226,-0.71,-116.7,370.4,-6.8,465,5230,0.00,2.03,0.00,0.000,6,0.000,0.025,2552,2290,3480,0,0,0,0,0,0
$GC,5538,-0.71,-116.7,390.9,-6.6,475,5542,0.00,2.15,0.00,0.000,4,0.000,0.043,2552,3710,3479,0,0,0,0,0,0
$GC,5587,-0.74,-116.7,394.3,-7.1,476,5591,0.00,2.05,0.00,0.000,6,0.000,0.026,2552,2307,3479,0,0,0,0,0,0
$GC,5906,-0.74,-116.7,416.3,-7.1,487,5909,0.00,2.12,0.00,0.000,4,0.000,0.043,2552,3709,3478,0,0,0,0,0,0
$GC,5944,-0.78,-116.7,419.2,-7.4,488,5949,0.12,2.03,0.00,0.000,6,0.138,0.026,2514,2297,3477,0,0,0,0,0,0
$GC,6274,-0.73,-116.7,448.6,-9.2,499,6278,0.00,2.12,0.00,0.000,4,0.000,0.044,2513,3701,3477,0,0,0,0,0,0
$GC,6301,-0.67,-116.7,451.2,-9.2,500,6306,0.12,2.03,0.00,0.000,6,0.195,0.026,2543,2293,3477,0,0,0,0,0,0
$GC,6635,-0.67,-116.7,477.6,-7.8,511,6639,0.00,2.15,0.00,0.000,4,0.000,0.044,2544,3711,3476,0,0,0,0,0,0
$GC,6685,-0.67,-116.7,481.6,-8.0,512,6689,0.00,2.08,0.00,0.000,6,0.000,0.026,2544,2297,3476,0,0,0,0,0,0
$GC,7002,-0.67,-116.7,506.2,-7.7,522,7006,0.00,2.12,0.00,0.000,4,0.000,0.044,2544,3701,3475,0,0,0,0,0,0
$GC,7079,-0.67,-116.7,512.3,-8.0,523,7084,0.00,2.05,0.00,0.000,6,0.000,0.026,2544,2301,3474,0,0,0,0,0,0
$GC,7433,-0.67,-116.7,539.0,-7.5,529,7437,0.00,2.15,0.00,0.000,4,0.000,0.044,2544,3701,3474,0,0,0,0,0,0
$GC,7495,-0.67,-116.7,543.5,-7.2,530,7499,0.00,2.03,0.00,0.000,6,0.000,0.027,2544,2296,3474,0,0,0,0,0,0
$GC,7859,-0.67,-116.7,569.9,-7.3,536,7863,0.00,2.15,0.00,0.000,4,0.000,0.044,2544,3709,3473,0,0,0,0,0,0
$GC,7914,-0.67,-116.7,574.0,-7.5,536,7919,0.00,2.08,0.00,0.000,6,0.000,0.027,2544,2298,3472,0,0,0,0,0,0
$GC,8228,-0.67,-116.7,596.7,-7.2,542,8232,0.00,2.12,0.00,0.000,4,0.000,0.044,2544,3702,3472,0,0,0,0,0,0
$GC,8272,-0.67,-116.7,599.9,-7.6,542,8276,0.00,2.08,0.00,0.000,6,0.000,0.027,2544,2295,3472,0,0,0,0,0,0
$GC,8593,-0.67,-116.7,622.3,-7.0,548,8597,0.00,2.15,0.00,0.000,4,0.000,0.044,2544,3709,3471,0,0,0,0,0,0
$GC,8654,-0.70,-116.7,626.7,-7.1,549,8658,0.00,2.05,0.00,0.000,6,0.000,0.028,2544,2294,3471,0,0,0,0,0,0
$GC,9020,-0.70,-116.7,651.8,-6.8,555,9024,0.00,2.15,0.00,0.000,4,0.000,0.044,2544,3709,3471,0,0,0,0,0,0
$GC,9097,-0.70,-116.7,657.1,-6.9,556,9102,0.00,2.08,0.00,0.000,6,0.000,0.027,2544,2301,3470,0,0,0,0,0,0
$GC,9452,-0.70,-116.7,680.0,-6.5,562,9456,0.00,2.15,0.00,0.000,4,0.000,0.045,2544,3701,3470,0,0,0,0,0,0
$GC,9524,-0.70,-116.7,684.8,-6.7,563,9528,0.00,2.03,0.00,0.000,6,0.000,0.027,2544,2297,3469,0,0,0,0,0,0
$GC,9889,-0.70,-116.7,708.4,-6.5,569,9893,0.00,2.12,0.00,0.000,4,0.000,0.044,2544,3699,3469,0,0,0,0,0,0
$GC,9967,-0.74,-116.7,713.7,-6.8,570,9970,0.00,2.03,0.00,0.000,6,0.000,0.027,2544,2296,3469,0,0,0,0,0,0
$GC,10314,-0.74,-116.7,737.6,-6.9,576,10318,0.00,2.15,0.00,0.000,4,0.000,0.044,2544,3711,3468,0,0,0,0,0,0
$GC,10398,-0.77,-116.7,743.7,-7.3,577,10402,0.00,2.08,0.00,0.000,6,0.000,0.027,2544,2302,3468,0,0,0,0,0,0
$GC,10746,-0.77,-116.7,769.0,-7.3,583,10750,0.00,2.12,0.00,0.000,4,0.000,0.044,2544,3701,3468,0,0,0,0,0,0
$GC,10817,-0.81,-116.7,774.4,-7.2,584,10822,0.05,2.08,0.00,0.000,6,0.098,0.027,2506,2292,3468,0,0,0,0,0,0
$GC,11177,-0.76,-116.7,805.3,-8.7,590,11181,0.00,2.17,0.00,0.000,4,0.000,0.045,2506,3709,3468,0,0,0,0,0,0
$GC,11203,-0.71,-116.7,807.7,-8.3,590,11208,0.08,2.08,0.00,0.000,6,0.175,0.028,2529,2307,3467,0,0,0,0,0,0
$GC,11545,-0.71,-116.7,834.2,-7.7,596,11549,0.00,2.12,0.00,0.000,4,0.000,0.045,2529,3702,3467,0,0,0,0,0,0
$GC,11607,-0.71,-116.7,838.9,-7.1,597,11611,0.00,2.05,0.00,0.000,6,0.000,0.028,2529,2290,3467,0,0,0,0,0,0
$GC,11977,-0.71,-116.7,866.2,-7.4,603,11981,0.00,2.15,0.00,0.000,4,0.000,0.045,2529,3702,3466,0,0,0,0,0,0
$GC,12039,-0.71,-116.7,870.9,-7.6,604,12043,0.00,2.05,0.00,0.000,6,0.000,0.028,2529,2290,3467,0,0,0,0,0,0
$GC,12403,-0.71,-116.7,896.9,-7.1,610,12407,0.00,2.15,0.00,0.000,4,0.000,0.045,2529,3702,3467,0,0,0,0,0,0
$GC,12466,-0.71,-116.7,901.3,-6.7,611,12470,0.00,2.05,0.00,0.000,6,0.000,0.028,2529,2288,3466,0,0,0,0,0,0
$GC,12831,-0.71,-116.7,926.5,-6.8,617,12835,0.00,2.15,0.00,0.000,4,0.000,0.045,2529,3705,3466,0,0,0,0,0,0
$GC,12891,-0.71,-116.7,930.8,-6.7,617,12897,0.00,2.05,0.00,0.000,6,0.000,0.028,2529,2293,3466,0,0,0,0,0,0
$GC,13201,-0.71,-116.7,951.1,-6.5,623,13205,0.00,2.15,0.00,0.000,4,0.000,0.045,2529,3705,3466,0,0,0,0,0,0
$GC,13263,-0.71,-116.7,955.4,-7.1,624,13267,0.00,2.05,0.00,0.000,6,0.000,0.028,2529,2294,3466,0,0,0,0,0,0
$GC,13633,-0.71,-116.7,980.0,-6.7,630,13637,0.00,2.12,0.00,0.000,4,0.000,0.045,2529,3700,3465,0,0,0,0,0,0
$GC,13706,-0.71,-116.7,985.1,-6.6,631,13709,0.00,2.03,0.00,0.000,6,0.000,0.028,2529,2298,3465,0,0,0,0,0,0
$STATE,13821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13821,begin apogee
$GC,13826,-0.24,0.0,992.8,6.5,633,13927,0.50,0.00,98.00,1.550,6,0.168,0.000,2679,2656,3006,0,0,0,0,0,0
$STATE,13927,end apogee,CONTROL_FINISHED_OK
$STATE,13928,begin climb
$GC,13929,0.80,116.7,994.9,0.0,634,14045,1.10,2.38,106.32,1.455,4,0.116,0.048,3018,4034,2529,0,0,0,0,0,0
$GC,14095,0.54,116.7,989.3,8.8,637,14100,0.32,2.20,0.00,0.000,6,0.178,0.027,2948,2651,2523,0,0,0,0,0,0
$GC,14433,0.54,137.3,968.6,6.1,643,14453,0.00,0.00,18.00,1.414,6,0.000,0.000,2948,2652,2446,0,0,0,0,0,0
$GC,14735,0.55,150.0,949.4,6.4,648,14749,0.00,0.00,12.43,1.387,6,0.000,0.000,2948,2651,2394,0,0,0,0,0,0
$GC,15038,0.57,165.5,930.4,6.3,653,15058,0.00,2.25,14.80,1.405,4,0.000,0.048,2939,4047,2331,0,0,0,0,0,0
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$STATE,26523,end climb,SURFACE_DEPTH_REACHED
$STATE,26523,begin surface coast
$FINISH,2.8,1.019890
$STATE,26562,end surface coast,CONTROL_FINISHED_OK
$STATE,26562,begin surface
$SM_CCo,26578,275.67,0.754,0,0,549,602.46
$SM_GC,3.49,0.00,0.00,275.67,0.000,0.000,0.754,213,2282,549,-7.98,-0.51,602.46
$IRIDIUM_FIX,6421.40,-15.12,100299,070756
$TT8_MAMPS,0.027612
$HUMID,1078283216
$INTERNAL_PRESSURE,8.11555
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,22.6,27.487
$10V_AH,10.0,17.362
$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,20.725,224.250,338.450,275.675,0.000,28.174,29.922,193.174,0.000,0.000,15.931,2430.913,20428.268,846.542,2976.592,544.133,0.000,2333.088,0.000,2939.842,0.000,0.534,0.000
$DEVICE_MAMPS,222.430,54.457,1550.107,753.961,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,795.525,1033.599,633.514,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241368
$DATA_FILE_SIZE,66457,1152
$CAP_FILE_SIZE,225777,0
$CFSIZE,260165632,242081792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.017, 59.7,1
$GPS,161109,224306,6439.556,-8.784,36,1.3,43,-5.2