version: 66.06
glider: 140
mission: 8
dive: 185
start: 11 24 109 14 25 49
data:
$ID,140
$MISSION,8
$DIVE,185
$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,-1
$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,-47647.016
$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,77
$R_STBD_OVSHOOT,43
$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
$GPS1,141907,6330.514,233.859,40,1.1,41,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.17
$_SM_ANGLEo,-66.0
$GPS2,142526,6330.574,233.877,14,1.1,14,-3.5
$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,133.7,86047,-13.7,-6.875
$D_GRID,1236
$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,-7.57,0.000,2,0.000,0.000,219,2285,2037,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.2,-0.0,1,124,9.20,2.25,-79.68,0.000,4,0.245,0.057,2505,3706,3482,0,0,0,0,0,0
$GC,243,-0.67,-116.7,14.4,-10.1,39,249,0.15,2.03,0.00,0.000,6,0.188,0.024,2543,2295,3483,0,0,0,0,0,0
$GC,577,-0.64,-116.7,44.7,-8.9,100,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2293,3484,0,0,0,0,0,0
$GC,917,-0.60,-116.7,72.2,-8.4,161,922,0.00,2.03,0.00,0.000,4,0.000,0.035,2543,923,3484,0,0,0,0,0,0
$GC,934,-0.55,-116.7,73.7,-8.5,164,942,0.10,2.08,0.00,0.000,6,0.168,0.028,2576,2306,3484,0,0,0,0,0,0
$GC,1281,-0.59,-116.7,96.4,-6.6,225,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2306,3484,0,0,0,0,0,0
$GC,1622,-0.62,-116.7,117.3,-6.3,286,1628,0.00,2.05,0.00,0.000,4,0.000,0.034,2576,925,3484,0,0,0,0,0,0
$GC,1651,-0.62,-116.7,119.4,-6.8,291,1657,0.00,2.03,0.00,0.000,6,0.000,0.028,2577,2311,3484,0,0,0,0,0,0
$GC,1973,-0.65,-116.7,140.2,-6.5,308,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2311,3484,0,0,0,0,0,0
$GC,2284,-0.69,-116.7,161.7,-6.9,323,2286,0.12,0.00,0.00,0.000,6,0.133,0.000,2537,2311,3484,0,0,0,0,0,0
$GC,2591,-0.65,-116.7,186.7,-8.1,338,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2311,3484,0,0,0,0,0,0
$GC,2900,-0.61,-116.7,210.8,-7.7,353,2902,0.12,0.00,0.00,0.000,6,0.186,0.000,2568,2311,3485,0,0,0,0,0,0
$GC,3210,-0.61,-116.7,230.5,-6.5,368,3214,0.00,2.05,0.00,0.000,4,0.000,0.033,2569,925,3484,0,0,0,0,0,0
$GC,3220,-0.61,-116.7,231.2,-6.4,368,3226,0.00,2.03,0.00,0.000,6,0.000,0.028,2569,2293,3484,0,0,0,0,0,0
$GC,3536,-0.64,-116.7,252.4,-6.8,384,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2293,3484,0,0,0,0,0,0
$GC,3846,-0.67,-116.7,274.0,-6.7,399,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2292,3484,0,0,0,0,0,0
$GC,4155,-0.71,-116.7,293.6,-6.5,414,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2293,3485,0,0,0,0,0,0
$GC,4472,-0.74,-116.7,314.5,-6.6,426,4474,0.12,0.00,0.00,0.000,6,0.131,0.000,2528,2293,3484,0,0,0,0,0,0
$GC,4778,-0.69,-116.7,339.8,-8.4,436,4782,0.00,2.08,0.00,0.000,4,0.000,0.040,2527,3706,3484,0,0,0,0,0,0
$GC,4788,-0.64,-116.7,340.7,-8.5,436,4793,0.08,2.03,0.00,0.000,6,0.170,0.023,2552,2297,3484,0,0,0,0,0,0
$GC,5118,-0.64,-116.7,364.6,-7.1,447,5122,0.00,2.00,0.00,0.000,4,0.000,0.035,2552,927,3484,0,0,0,0,0,0
$GC,5139,-0.64,-116.7,366.4,-7.5,447,5143,0.00,2.03,0.00,0.000,6,0.000,0.028,2552,2297,3484,0,0,0,0,0,0
$GC,5457,-0.64,-116.7,388.5,-6.9,458,5461,0.00,2.03,0.00,0.000,4,0.000,0.035,2552,919,3483,0,0,0,0,0,0
$GC,5467,-0.64,-116.7,389.2,-6.9,458,5471,0.00,2.00,0.00,0.000,6,0.000,0.028,2552,2302,3483,0,0,0,0,0,0
$GC,5796,-0.64,-116.7,411.5,-6.8,469,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2302,3484,0,0,0,0,0,0
$GC,6103,-0.64,-116.7,432.2,-6.7,479,6107,0.00,2.03,0.00,0.000,4,0.000,0.035,2552,926,3484,0,0,0,0,0,0
$GC,6118,-0.64,-116.7,433.4,-7.0,479,6122,0.00,2.03,0.00,0.000,6,0.000,0.028,2552,2299,3484,0,0,0,0,0,0
$GC,6442,-0.64,-116.7,454.7,-6.6,490,6446,0.00,2.05,0.00,0.000,4,0.000,0.041,2552,3702,3484,0,0,0,0,0,0
$GC,6452,-0.64,-116.7,455.4,-6.5,490,6456,0.00,2.00,0.00,0.000,6,0.000,0.023,2552,2311,3483,0,0,0,0,0,0
$GC,6782,-0.64,-116.7,476.8,-6.6,501,6786,0.00,2.08,0.00,0.000,4,0.000,0.048,2552,3696,3483,0,0,0,0,0,0
$GC,6809,-0.67,-116.7,478.7,-6.8,501,6815,0.00,1.98,0.00,0.000,6,0.000,0.024,2552,2296,3484,0,0,0,0,0,0
$GC,7121,-0.67,-116.7,498.6,-6.4,512,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2296,3483,0,0,0,0,0,0
$GC,7455,-0.67,-116.7,520.3,-6.6,518,7459,0.00,2.12,0.00,0.000,4,0.000,0.041,2552,3709,3482,0,0,0,0,0,0
$GC,7471,-0.70,-116.7,521.5,-6.9,518,7475,0.00,2.05,0.00,0.000,6,0.000,0.025,2552,2303,3482,0,0,0,0,0,0
$GC,7820,-0.73,-116.7,544.4,-6.5,524,7824,0.00,2.10,0.00,0.000,4,0.000,0.041,2552,3703,3482,0,0,0,0,0,0
$GC,7841,-0.77,-116.7,545.7,-6.3,524,7846,0.12,2.00,0.00,0.000,6,0.133,0.025,2513,2295,3482,0,0,0,0,0,0
$GC,8178,-0.72,-116.7,571.9,-7.9,530,8182,0.00,2.12,0.00,0.000,4,0.000,0.042,2512,3704,3480,0,0,0,0,0,0
$GC,8188,-0.67,-116.7,572.9,-8.1,530,8193,0.12,2.00,0.00,0.000,6,0.190,0.025,2543,2299,3481,0,0,0,0,0,0
$GC,8542,-0.67,-116.7,597.1,-6.7,536,8546,0.00,2.10,0.00,0.000,4,0.000,0.043,2543,3697,3480,0,0,0,0,0,0
$GC,8552,-0.67,-116.7,597.9,-6.7,536,8557,0.00,2.03,0.00,0.000,6,0.000,0.025,2544,2312,3480,0,0,0,0,0,0
$GC,8907,-0.67,-116.7,620.1,-6.2,542,8911,0.00,2.10,0.00,0.000,4,0.000,0.042,2544,3698,3479,0,0,0,0,0,0
$GC,8928,-0.67,-116.7,621.4,-6.1,542,8932,0.00,2.03,0.00,0.000,6,0.000,0.025,2544,2282,3478,0,0,0,0,0,0
$GC,9277,-0.67,-116.7,643.0,-6.3,548,9281,0.00,2.15,0.00,0.000,4,0.000,0.042,2544,3706,3477,0,0,0,0,0,0
$GC,9297,-0.67,-116.7,644.4,-6.5,548,9302,0.00,2.08,0.00,0.000,6,0.000,0.026,2543,2295,3476,0,0,0,0,0,0
$GC,9641,-0.67,-116.7,667.1,-6.6,554,9645,0.00,2.12,0.00,0.000,4,0.000,0.043,2544,3700,3476,0,0,0,0,0,0
$GC,9656,-0.67,-116.7,668.1,-6.6,554,9661,0.00,2.08,0.00,0.000,6,0.000,0.026,2544,2290,3475,0,0,0,0,0,0
$GC,10005,-0.67,-116.7,690.9,-6.5,560,10009,0.00,2.12,0.00,0.000,4,0.000,0.043,2544,3697,3475,0,0,0,0,0,0
$GC,10020,-0.67,-116.7,691.9,-6.4,560,10024,0.00,2.03,0.00,0.000,6,0.000,0.026,2544,2293,3474,0,0,0,0,0,0
$GC,10369,-0.67,-116.7,714.1,-6.4,566,10373,0.00,2.15,0.00,0.000,4,0.000,0.044,2544,3702,3473,0,0,0,0,0,0
$GC,10378,-0.67,-116.7,714.8,-6.4,566,10383,0.00,2.08,0.00,0.000,6,0.000,0.027,2544,2298,3472,0,0,0,0,0,0
$GC,10739,-0.67,-116.7,737.7,-6.4,572,10740,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2298,3471,0,0,0,0,0,0
$GC,11041,-0.67,-116.7,757.1,-6.4,577,11045,0.00,2.12,0.00,0.000,4,0.000,0.044,2544,3701,3470,0,0,0,0,0,0
$GC,11057,-0.67,-116.7,758.2,-6.4,577,11061,0.00,2.08,0.00,0.000,6,0.000,0.027,2544,2299,3470,0,0,0,0,0,0
$GC,11407,-0.67,-116.7,780.0,-6.2,583,11411,0.00,2.15,0.00,0.000,4,0.000,0.044,2544,3705,3469,0,0,0,0,0,0
$GC,11434,-0.71,-116.7,781.9,-6.3,583,11438,0.00,2.05,0.00,0.000,6,0.000,0.027,2543,2289,3469,0,0,0,0,0,0
$GC,11776,-0.71,-116.7,803.6,-6.4,589,11780,0.00,2.15,0.00,0.000,4,0.000,0.044,2544,3706,3468,0,0,0,0,0,0
$GC,11787,-0.74,-116.7,804.1,-6.3,589,11790,0.00,2.05,0.00,0.000,6,0.000,0.028,2543,2295,3468,0,0,0,0,0,0
$GC,12135,-0.74,-116.7,827.1,-6.6,595,12139,0.00,2.12,0.00,0.000,4,0.000,0.044,2544,3696,3467,0,0,0,0,0,0
$GC,12150,-0.74,-116.7,828.3,-6.4,595,12154,0.00,2.08,0.00,0.000,6,0.000,0.028,2544,2296,3467,0,0,0,0,0,0
$GC,12499,-0.74,-116.7,851.4,-6.7,601,12503,0.00,2.12,0.00,0.000,4,0.000,0.044,2544,3695,3466,0,0,0,0,0,0
$GC,12521,-0.77,-116.7,852.9,-7.0,601,12525,0.00,2.05,0.00,0.000,6,0.000,0.028,2544,2307,3466,0,0,0,0,0,0
$GC,12870,-0.77,-116.7,875.6,-6.5,607,12874,0.00,2.12,0.00,0.000,4,0.000,0.044,2544,3704,3465,0,0,0,0,0,0
$GC,12886,-0.80,-116.7,876.7,-6.4,607,12890,0.12,2.05,0.00,0.000,6,0.140,0.028,2503,2294,3465,0,0,0,0,0,0
$GC,13228,-0.75,-116.7,903.4,-7.9,613,13229,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2292,3465,0,0,0,0,0,0
$GC,13531,-0.69,-116.7,927.8,-8.1,618,13533,0.12,0.00,0.00,0.000,6,0.191,0.000,2536,2291,3464,0,0,0,0,0,0
$GC,13835,-0.69,-116.7,949.7,-7.2,623,13836,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2290,3463,0,0,0,0,0,0
$GC,14137,-0.69,-116.7,971.4,-7.1,628,14138,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2290,3463,0,0,0,0,0,0
$STATE,14438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14438,begin apogee
$GC,14443,-0.24,0.0,991.5,6.6,633,14544,0.50,0.00,97.65,1.546,6,0.163,0.000,2686,2645,3006,0,0,0,0,0,0
$STATE,14545,end apogee,CONTROL_FINISHED_OK
$STATE,14545,begin climb
$GC,14547,0.80,116.7,993.5,0.0,634,14661,1.02,2.40,105.62,1.453,4,0.110,0.046,3014,4038,2530,0,0,0,0,0,0
$GC,14786,0.55,116.7,981.7,9.4,637,14791,0.30,2.17,0.00,0.000,6,0.176,0.026,2949,2641,2522,0,0,0,0,0,0
$GC,15101,0.54,133.2,961.7,6.2,643,15117,0.00,0.00,14.15,1.397,6,0.000,0.000,2949,2641,2463,0,0,0,0,0,0
$GC,15403,0.55,143.3,942.2,6.5,648,15416,0.00,0.00,10.57,1.367,6,0.000,0.000,2949,2641,2421,0,0,0,0,0,0
$GC,15707,0.57,153.5,922.6,6.5,653,15719,0.00,0.00,10.18,1.364,6,0.000,0.000,2949,2641,2380,0,0,0,0,0,0
$GC,16009,0.58,164.6,903.1,6.4,658,16026,0.00,2.22,11.38,1.377,4,0.000,0.047,2948,4042,2334,0,0,0,0,0,0
$GC,16072,0.52,164.6,898.5,8.2,659,16076,0.00,2.10,0.00,0.000,6,0.000,0.028,2954,2643,2333,0,0,0,0,0,0
$GC,16437,0.52,164.6,871.3,7.5,665,16441,0.00,2.17,0.00,0.000,4,0.000,0.047,2953,4045,2331,0,0,0,0,0,0
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$STATE,27609,end climb,SURFACE_DEPTH_REACHED
$STATE,27609,begin surface coast
$FINISH,2.4,1.013272
$STATE,27656,end surface coast,CONTROL_FINISHED_OK
$STATE,27656,begin surface
$SM_CCo,27672,42.60,0.749,0,0,1882,275.23
$SM_GC,3.39,0.00,0.00,42.60,0.000,0.000,0.749,213,2272,1882,-7.98,-0.79,275.23
$IRIDIUM_FIX,6308.26,234.40,180299,060634
$TT8_MAMPS,0.027612
$HUMID,1078339990
$INTERNAL_PRESSURE,8.34016
$TCM_TEMP,15.50
$XPDR_PINGS,1
$24V_AH,22.7,31.302
$10V_AH,10.0,20.251
$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,21.325,176.950,304.025,42.600,0.000,29.031,32.353,187.682,0.250,0.000,14.511,2425.894,21882.980,521.631,2714.327,539.477,0.000,1847.186,0.000,2689.586,0.000,0.537,0.000
$DEVICE_MAMPS,245.440,56.758,1545.505,749.359,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,810.343,1070.314,638.266,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235156
$DATA_FILE_SIZE,66378,1179
$CAP_FILE_SIZE,211695,0
$CFSIZE,260165632,239812608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081,321.5,1
$GPS,241109,220901,6329.510,237.753,39,1.1,40,-3.5