version: 66.06
glider: 140
mission: 8
dive: 199
start: 11 29 109 0 5 19
data:
$ID,140
$MISSION,8
$DIVE,199
$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,-2
$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,-47888.184
$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,80
$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
$GPS1,235400,6312.609,309.277,39,1.0,44,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.21
$_SM_ANGLEo,-56.5
$GPS2,000456,6312.594,309.210,14,1.2,14,-3.2
$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,124.8,42343,-13.7,-6.875
$D_GRID,919
$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,-116.7,0.0,0.0,0,24,0.00,0.00,-7.30,0.000,2,0.000,0.000,215,2265,1775,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.2,-0.0,1,140,8.68,2.30,-93.95,0.000,4,0.221,0.058,2507,3705,3483,0,0,0,0,0,0
$GC,147,-0.95,-116.7,3.9,-2.8,22,153,0.12,2.08,0.00,0.000,6,0.107,0.024,2462,2313,3482,0,0,0,0,0,0
$GC,486,-0.74,-116.7,45.0,-10.6,83,493,0.22,2.10,0.00,0.000,4,0.189,0.034,2521,911,3484,0,0,0,0,0,0
$GC,745,-0.64,-116.7,71.3,-10.9,129,751,0.12,2.08,0.00,0.000,6,0.199,0.028,2553,2312,3484,0,0,0,0,0,0
$GC,1087,-0.64,-116.7,97.9,-8.1,190,1092,0.00,2.10,0.00,0.000,4,0.000,0.035,2554,909,3484,0,0,0,0,0,0
$GC,1234,-0.64,-116.7,110.3,-7.6,216,1240,0.00,2.08,0.00,0.000,6,0.000,0.028,2553,2295,3484,0,0,0,0,0,0
$GC,1560,-0.64,-116.7,133.5,-7.5,250,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2295,3484,0,0,0,0,0,0
$GC,1870,-0.64,-116.7,157.0,-7.6,265,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2295,3484,0,0,0,0,0,0
$GC,2180,-0.64,-116.7,178.4,-6.6,280,2183,0.00,2.08,0.00,0.000,4,0.000,0.040,2554,3702,3484,0,0,0,0,0,0
$GC,2223,-0.64,-116.7,181.6,-6.7,282,2227,0.00,2.05,0.00,0.000,6,0.000,0.023,2554,2286,3484,0,0,0,0,0,0
$GC,2549,-0.64,-116.7,204.9,-7.3,298,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2286,3484,0,0,0,0,0,0
$GC,2859,-0.64,-116.7,225.6,-6.7,313,2863,0.00,2.12,0.00,0.000,4,0.000,0.040,2554,3704,3484,0,0,0,0,0,0
$GC,2886,-0.64,-116.7,227.5,-6.7,314,2890,0.00,2.03,0.00,0.000,6,0.000,0.023,2554,2298,3484,0,0,0,0,0,0
$GC,3207,-0.64,-116.7,248.8,-6.9,330,3211,0.00,2.10,0.00,0.000,4,0.000,0.040,2554,3701,3484,0,0,0,0,0,0
$GC,3224,-0.64,-116.7,250.0,-7.2,331,3228,0.00,2.00,0.00,0.000,6,0.000,0.024,2554,2296,3484,0,0,0,0,0,0
$GC,3556,-0.64,-116.7,273.6,-7.2,347,3560,0.00,2.10,0.00,0.000,4,0.000,0.040,2554,3698,3484,0,0,0,0,0,0
$GC,3587,-0.64,-116.7,276.0,-7.7,348,3594,0.00,2.03,0.00,0.000,6,0.000,0.023,2554,2294,3484,0,0,0,0,0,0
$GC,3904,-0.64,-116.7,300.0,-8.0,364,3908,0.00,2.10,0.00,0.000,4,0.000,0.040,2554,3697,3484,0,0,0,0,0,0
$GC,3926,-0.64,-116.7,301.8,-7.8,365,3929,0.00,1.98,0.00,0.000,6,0.000,0.023,2554,2298,3484,0,0,0,0,0,0
$GC,4243,-0.64,-116.7,327.1,-7.5,376,4247,0.00,2.10,0.00,0.000,4,0.000,0.040,2554,3700,3484,0,0,0,0,0,0
$GC,4282,-0.64,-116.7,330.0,-7.3,377,4286,0.00,2.00,0.00,0.000,6,0.000,0.023,2554,2305,3484,0,0,0,0,0,0
$GC,4617,-0.64,-116.7,350.4,-6.0,388,4621,0.00,2.08,0.00,0.000,4,0.000,0.040,2554,3697,3484,0,0,0,0,0,0
$GC,4638,-0.64,-116.7,351.9,-6.7,388,4644,0.00,2.03,0.00,0.000,6,0.000,0.023,2554,2295,3484,0,0,0,0,0,0
$GC,4951,-0.64,-116.7,372.6,-6.9,399,4954,0.00,2.10,0.00,0.000,4,0.000,0.040,2554,3698,3484,0,0,0,0,0,0
$GC,4983,-0.64,-116.7,374.9,-7.0,400,4987,0.00,2.03,0.00,0.000,6,0.000,0.023,2554,2297,3484,0,0,0,0,0,0
$GC,5318,-0.64,-116.7,398.2,-6.8,411,5322,0.00,2.10,0.00,0.000,4,0.000,0.041,2554,3698,3484,0,0,0,0,0,0
$GC,5362,-0.67,-116.7,401.0,-6.6,412,5366,0.00,1.98,0.00,0.000,6,0.000,0.023,2554,2297,3484,0,0,0,0,0,0
$GC,5690,-0.67,-116.7,418.8,-5.0,423,5694,0.00,2.10,0.00,0.000,4,0.000,0.041,2554,3697,3484,0,0,0,0,0,0
$GC,5729,-0.71,-116.7,421.0,-5.3,424,5732,0.00,1.98,0.00,0.000,6,0.000,0.023,2554,2301,3483,0,0,0,0,0,0
$GC,6057,-0.71,-116.7,440.2,-6.3,435,6061,0.00,2.10,0.00,0.000,4,0.000,0.040,2554,3698,3483,0,0,0,0,0,0
$GC,6096,-0.75,-116.7,442.8,-6.8,436,6100,0.00,1.98,0.00,0.000,6,0.000,0.023,2554,2298,3483,0,0,0,0,0,0
$GC,6431,-0.78,-116.7,466.1,-7.0,447,6435,0.12,2.12,0.00,0.000,4,0.126,0.041,2512,3700,3483,0,0,0,0,0,0
$GC,6508,-0.74,-116.7,473.0,-8.9,449,6512,0.00,2.03,0.00,0.000,6,0.000,0.023,2512,2298,3483,0,0,0,0,0,0
$GC,6832,-0.68,-116.7,497.8,-7.2,460,6834,0.12,0.00,0.00,0.000,6,0.195,0.000,2543,2295,3483,0,0,0,0,0,0
$GC,7135,-0.68,-116.7,518.0,-6.7,466,7139,0.00,2.10,0.00,0.000,4,0.000,0.042,2543,3701,3482,0,0,0,0,0,0
$GC,7190,-0.71,-116.7,521.6,-6.8,466,7194,0.00,2.03,0.00,0.000,6,0.000,0.024,2543,2299,3482,0,0,0,0,0,0
$GC,7505,-0.71,-116.7,542.2,-6.6,472,7509,0.00,2.10,0.00,0.000,4,0.000,0.041,2543,3697,3481,0,0,0,0,0,0
$GC,7531,-0.71,-116.7,544.4,-7.2,472,7536,0.00,2.03,0.00,0.000,6,0.000,0.025,2543,2302,3481,0,0,0,0,0,0
$GC,7869,-0.71,-116.7,568.7,-7.3,478,7873,0.00,2.10,0.00,0.000,4,0.000,0.042,2543,3695,3481,0,0,0,0,0,0
$GC,7931,-0.74,-116.7,573.0,-7.0,479,7935,0.00,2.00,0.00,0.000,6,0.000,0.025,2543,2296,3481,0,0,0,0,0,0
$GC,8302,-0.74,-116.7,596.8,-6.2,485,8305,0.00,2.12,0.00,0.000,4,0.000,0.042,2543,3696,3479,0,0,0,0,0,0
$GC,8368,-0.78,-116.7,601.0,-6.2,486,8372,0.00,2.00,0.00,0.000,6,0.000,0.025,2543,2298,3479,0,0,0,0,0,0
$GC,8735,-0.78,-116.7,622.1,-5.7,492,8739,0.00,2.12,0.00,0.000,4,0.000,0.043,2544,3700,3477,0,0,0,0,0,0
$GC,8823,-0.82,-116.7,627.6,-6.5,493,8828,0.12,2.00,0.00,0.000,6,0.138,0.025,2503,2291,3477,0,0,0,0,0,0
$GC,9171,-0.75,-116.7,654.1,-7.8,499,9175,0.00,2.12,0.00,0.000,4,0.000,0.043,2502,3694,3476,0,0,0,0,0,0
$GC,9193,-0.69,-116.7,655.8,-7.4,499,9198,0.10,2.03,0.00,0.000,6,0.162,0.026,2546,2304,3475,0,0,0,0,0,0
$GC,9536,-0.69,-116.7,677.5,-6.3,505,9540,0.00,2.12,0.00,0.000,4,0.000,0.044,2546,3702,3475,0,0,0,0,0,0
$GC,9586,-0.74,-116.7,680.8,-6.8,505,9590,0.00,2.03,0.00,0.000,6,0.000,0.026,2547,2299,3474,0,0,0,0,0,0
$GC,9895,-0.77,-116.7,699.7,-6.1,510,9899,0.00,2.15,0.00,0.000,4,0.000,0.044,2547,3697,3473,0,0,0,0,0,0
$GC,9956,-0.81,-116.7,703.5,-5.7,510,9962,0.12,2.03,0.00,0.000,6,0.136,0.026,2506,2288,3473,0,0,0,0,0,0
$GC,10266,-0.76,-116.7,726.8,-7.6,516,10270,0.00,2.15,0.00,0.000,4,0.000,0.044,2505,3701,3471,0,0,0,0,0,0
$GC,10292,-0.71,-116.7,729.1,-8.2,516,10297,0.12,2.05,0.00,0.000,6,0.192,0.027,2537,2303,3471,0,0,0,0,0,0
$GC,10629,-0.71,-116.7,752.6,-7.1,522,10633,0.00,2.12,0.00,0.000,4,0.000,0.044,2536,3700,3470,0,0,0,0,0,0
$GC,10678,-0.71,-116.7,756.5,-8.0,522,10683,0.00,2.05,0.00,0.000,6,0.000,0.026,2537,2310,3470,0,0,0,0,0,0
$GC,10994,-0.71,-116.7,778.9,-7.1,528,10998,0.00,2.10,0.00,0.000,4,0.000,0.044,2537,3693,3469,0,0,0,0,0,0
$GC,11049,-0.71,-116.7,782.8,-6.2,528,11054,0.00,2.03,0.00,0.000,6,0.000,0.027,2537,2289,3468,0,0,0,0,0,0
$GC,11358,-0.71,-116.7,803.9,-6.8,534,11362,0.00,2.15,0.00,0.000,4,0.000,0.044,2537,3700,3468,0,0,0,0,0,0
$GC,11412,-0.71,-116.7,807.9,-7.1,534,11417,0.00,2.08,0.00,0.000,6,0.000,0.027,2537,2293,3468,0,0,0,0,0,0
$GC,11728,-0.71,-116.7,829.7,-6.9,540,11732,0.00,2.12,0.00,0.000,4,0.000,0.045,2537,3693,3467,0,0,0,0,0,0
$GC,11794,-0.71,-116.7,834.3,-7.4,541,11798,0.00,2.05,0.00,0.000,6,0.000,0.027,2537,2301,3466,0,0,0,0,0,0
$GC,12159,-0.71,-116.7,858.9,-6.7,547,12162,0.00,2.12,0.00,0.000,4,0.000,0.045,2537,3694,3466,0,0,0,0,0,0
$GC,12231,-0.74,-116.7,864.0,-6.5,548,12235,0.00,2.03,0.00,0.000,6,0.000,0.027,2537,2299,3465,0,0,0,0,0,0
$GC,12591,-0.74,-116.7,887.3,-6.5,554,12595,0.00,2.12,0.00,0.000,4,0.000,0.045,2537,3692,3465,0,0,0,0,0,0
$GC,12663,-0.77,-116.7,892.2,-6.6,555,12667,0.00,2.03,0.00,0.000,6,0.000,0.027,2537,2297,3464,0,0,0,0,0,0
$GC,13023,-0.77,-116.7,915.3,-6.4,561,13027,0.00,2.15,0.00,0.000,4,0.000,0.045,2537,3701,3463,0,0,0,0,0,0
$STATE,13082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13082,begin apogee
$GC,13088,-0.24,0.0,919.3,6.4,561,13188,0.45,0.00,97.07,1.495,6,0.166,0.000,2676,2628,3006,0,0,0,0,0,0
$STATE,13189,end apogee,CONTROL_FINISHED_OK
$STATE,13189,begin climb
$GC,13191,0.80,116.7,921.7,0.0,563,13305,1.05,2.42,104.57,1.402,4,0.116,0.046,3006,4026,2529,0,0,0,0,0,0
$GC,13368,0.58,116.7,915.7,8.8,565,13373,0.25,2.15,0.00,0.000,6,0.183,0.027,2955,2661,2523,0,0,0,0,0,0
$GC,13677,0.56,133.2,896.0,6.2,570,13693,0.00,0.00,14.43,1.357,6,0.000,0.000,2955,2661,2462,0,0,0,0,0,0
$GC,13980,0.53,143.8,876.4,6.5,575,13992,0.00,0.00,10.52,1.330,6,0.000,0.000,2954,2661,2419,0,0,0,0,0,0
$GC,14283,0.54,149.5,856.3,6.6,580,14292,0.00,0.00,6.40,1.226,6,0.000,0.000,2955,2661,2395,0,0,0,0,0,0
$GC,14586,0.54,150.3,835.5,6.8,585,14587,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2661,2394,0,0,0,0,0,0
$GC,14888,0.54,150.3,814.8,6.9,590,14890,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2661,2393,0,0,0,0,0,0
$GC,15192,0.55,153.2,794.4,6.8,595,15198,0.00,0.00,4.47,1.058,6,0.000,0.000,2954,2661,2381,0,0,0,0,0,0
$GC,15496,0.55,153.6,773.6,6.9,600,15497,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2661,2380,0,0,0,0,0,0
$GC,15798,0.55,153.6,752.1,7.2,605,15802,0.00,2.12,0.00,0.000,4,0.000,0.048,2954,4036,2380,0,0,0,0,0,0
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$STATE,25113,end climb,SURFACE_DEPTH_REACHED
$STATE,25113,begin surface coast
$FINISH,2.4,1.012896
$STATE,25150,end surface coast,CONTROL_FINISHED_OK
$STATE,25150,begin surface
$SM_CCo,25227,0.00,0.000,0,0,1767,303.68
$SM_GC,3.35,8.27,0.00,0.00,0.097,0.000,0.000,213,2307,1767,-7.95,0.20,303.68
$IRIDIUM_FIX,6249.28,301.52,230299,000053
$TT8_MAMPS,0.026845
$HUMID,1078328377
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,22.7,33.466
$10V_AH,10.0,21.798
$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,21.900,208.575,370.825,0.000,0.000,53.053,84.857,326.490,0.000,0.000,14.304,2278.109,19661.172,536.634,2646.199,750.864,0.000,1882.083,0.000,2613.856,0.000,0.535,0.000
$DEVICE_MAMPS,220.896,58.292,1494.883,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,747.337,983.898,588.534,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,233812
$DATA_FILE_SIZE,60121,1087
$CAP_FILE_SIZE,214491,0
$CFSIZE,260165632,238604288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074, 59.4,1
$GPS,291109,070701,6311.542,315.992,41,1.2,41,-3.1