version: 66.06
glider: 140
mission: 8
dive: 205
start: 11 30 109 19 51 20
data:
$ID,140
$MISSION,8
$DIVE,205
$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,-47978.141
$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,48
$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
$GPS1,194407,6302.553,348.862,32,1.3,32,-2.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,3.33
$_SM_ANGLEo,-62.5
$GPS2,195056,6302.581,348.809,11,1.1,11,-2.8
$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,145.8,4595,-26.7,-6.875
$D_GRID,876
$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,13,begin dive
$GC,15,-1.31,-36.0,0.0,0.0,0,24,0.00,0.00,-6.90,0.000,2,0.000,0.000,216,2287,2028,0,0,0,0,0,0
$GC,26,-1.38,-89.7,3.2,-0.0,1,117,8.12,2.28,-71.78,0.000,4,0.229,0.058,2312,3705,3372,0,0,0,0,0,0
$GC,241,-1.26,-89.7,18.7,-19.2,39,248,0.15,2.05,0.00,0.000,6,0.213,0.022,2351,2269,3373,0,0,0,0,0,0
$GC,581,-1.26,-89.7,79.8,-15.8,100,588,0.00,2.22,0.00,0.000,4,0.000,0.041,2351,3700,3373,0,0,0,0,0,0
$GC,839,-1.26,-89.7,121.2,-15.8,145,844,0.00,2.00,0.00,0.000,6,0.000,0.022,2351,2324,3373,0,0,0,0,0,0
$GC,1162,-1.26,-89.7,169.9,-15.3,161,1166,0.00,2.08,0.00,0.000,4,0.000,0.035,2351,912,3373,0,0,0,0,0,0
$GC,1183,-1.23,-89.7,173.4,-14.9,162,1187,0.00,2.05,0.00,0.000,6,0.000,0.028,2351,2311,3373,0,0,0,0,0,0
$GC,1511,-1.23,-89.7,221.6,-14.2,178,1515,0.00,2.08,0.00,0.000,4,0.000,0.033,2351,908,3373,0,0,0,0,0,0
$GC,1561,-1.20,-89.7,229.8,-16.3,180,1565,0.00,2.05,0.00,0.000,6,0.000,0.028,2351,2306,3373,0,0,0,0,0,0
$GC,1881,-1.20,-89.7,276.4,-14.3,196,1885,0.00,2.05,0.00,0.000,4,0.000,0.033,2351,916,3373,0,0,0,0,0,0
$GC,1947,-1.20,-89.7,286.2,-14.5,199,1952,0.00,2.05,0.00,0.000,6,0.000,0.028,2351,2295,3373,0,0,0,0,0,0
$GC,2262,-1.20,-89.7,330.3,-13.9,211,2266,0.00,2.05,0.00,0.000,4,0.000,0.033,2351,906,3374,0,0,0,0,0,0
$GC,2395,-1.20,-89.7,349.6,-14.6,215,2399,0.00,2.08,0.00,0.000,6,0.000,0.028,2351,2307,3374,0,0,0,0,0,0
$GC,2730,-1.20,-89.7,397.5,-14.4,226,2734,0.00,2.05,0.00,0.000,4,0.000,0.033,2351,916,3374,0,0,0,0,0,0
$GC,2830,-1.20,-89.7,413.1,-15.0,229,2834,0.00,2.05,0.00,0.000,6,0.000,0.028,2351,2300,3374,0,0,0,0,0,0
$GC,3165,-1.20,-89.7,460.7,-13.9,240,3169,0.00,2.08,0.00,0.000,4,0.000,0.034,2351,912,3374,0,0,0,0,0,0
$GC,3247,-1.20,-89.7,472.4,-13.3,242,3252,0.00,2.08,0.00,0.000,6,0.000,0.028,2351,2306,3374,0,0,0,0,0,0
$GC,3600,-1.20,-89.7,517.2,-12.6,252,3604,0.00,2.05,0.00,0.000,4,0.000,0.033,2351,919,3374,0,0,0,0,0,0
$GC,3667,-1.20,-89.7,525.9,-12.9,253,3671,0.00,2.03,0.00,0.000,6,0.000,0.028,2351,2306,3374,0,0,0,0,0,0
$GC,4038,-1.23,-89.7,572.9,-12.7,259,4042,0.00,2.05,0.00,0.000,4,0.000,0.034,2351,916,3374,0,0,0,0,0,0
$GC,4104,-1.23,-89.7,581.9,-12.5,260,4108,0.00,2.05,0.00,0.000,6,0.000,0.028,2351,2299,3374,0,0,0,0,0,0
$GC,4470,-1.26,-89.7,627.7,-12.6,266,4474,0.00,2.05,0.00,0.000,4,0.000,0.035,2351,912,3373,0,0,0,0,0,0
$GC,4559,-1.26,-89.7,639.7,-12.9,267,4563,0.00,2.05,0.00,0.000,6,0.000,0.029,2351,2291,3372,0,0,0,0,0,0
$GC,4902,-1.30,-89.7,683.1,-12.6,273,4906,0.00,2.05,0.00,0.000,4,0.000,0.035,2351,911,3371,0,0,0,0,0,0
$GC,4990,-1.30,-89.7,695.0,-13.8,274,4994,0.00,2.08,0.00,0.000,6,0.000,0.030,2351,2298,3370,0,0,0,0,0,0
$GC,5339,-1.34,-89.7,740.4,-13.0,280,5343,0.00,2.05,0.00,0.000,4,0.000,0.036,2351,917,3368,0,0,0,0,0,0
$GC,5400,-1.34,-89.7,748.9,-13.3,281,5404,0.00,2.05,0.00,0.000,6,0.000,0.031,2351,2303,3368,0,0,0,0,0,0
$GC,5771,-1.38,-89.7,797.1,-13.0,287,5775,0.00,2.08,0.00,0.000,4,0.000,0.037,2351,915,3366,0,0,0,0,0,0
$GC,5848,-1.38,-89.7,807.9,-13.9,288,5853,0.00,2.08,0.00,0.000,6,0.000,0.031,2351,2292,3366,0,0,0,0,0,0
$GC,6204,-1.42,-89.7,854.0,-12.9,294,6208,0.12,2.08,0.00,0.000,4,0.143,0.037,2312,915,3364,0,0,0,0,0,0
$GC,6275,-1.37,-89.7,864.8,-14.7,295,6279,0.00,2.08,0.00,0.000,6,0.000,0.031,2312,2293,3364,0,0,0,0,0,0
$STATE,6390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6390,begin apogee
$GC,6396,-0.24,0.0,881.3,14.1,297,6474,1.30,0.00,74.62,1.448,6,0.189,0.000,2680,2657,3006,0,0,0,0,0,0
$STATE,6475,end apogee,CONTROL_FINISHED_OK
$STATE,6475,begin climb
$GC,6477,1.38,89.7,884.0,0.0,298,6563,1.60,2.30,77.75,1.364,4,0.109,0.045,3198,4040,2639,0,0,0,0,0,0
$GC,6726,1.17,89.7,862.8,12.7,301,6733,0.25,2.10,0.00,0.000,6,0.221,0.026,3148,2648,2633,0,0,0,0,0,0
$GC,7035,1.14,89.7,832.0,10.0,307,7039,0.00,2.17,0.00,0.000,4,0.000,0.045,3144,4044,2631,0,0,0,0,0,0
$GC,7264,1.02,89.7,806.0,11.6,310,7269,0.22,2.05,0.00,0.000,6,0.211,0.026,3097,2642,2629,0,0,0,0,0,0
$GC,7601,1.08,89.7,776.1,8.9,316,7605,0.00,2.15,0.00,0.000,4,0.000,0.045,3090,4041,2627,0,0,0,0,0,0
$GC,7774,1.08,89.7,759.0,10.1,318,7778,0.00,2.08,0.00,0.000,6,0.000,0.027,3098,2650,2626,0,0,0,0,0,0
$GC,8101,1.14,89.7,731.1,8.5,324,8104,0.00,2.15,0.00,0.000,4,0.000,0.046,3099,4048,2626,0,0,0,0,0,0
$GC,8218,1.11,89.7,720.2,9.2,325,8222,0.00,2.08,0.00,0.000,6,0.000,0.027,3109,2648,2625,0,0,0,0,0,0
$GC,8537,1.15,89.7,694.0,8.1,331,8541,0.00,2.15,0.00,0.000,4,0.000,0.045,3104,4049,2624,0,0,0,0,0,0
$GC,8690,1.11,89.7,680.4,9.6,333,8694,0.00,2.05,0.00,0.000,6,0.000,0.028,3113,2644,2624,0,0,0,0,0,0
$GC,9032,1.15,89.7,652.1,8.2,339,9036,0.00,2.15,0.00,0.000,4,0.000,0.046,3113,4046,2623,0,0,0,0,0,0
$GC,9189,1.10,89.7,637.9,9.4,341,9193,0.00,2.05,0.00,0.000,6,0.000,0.028,3124,2638,2623,0,0,0,0,0,0
$GC,9525,1.10,89.7,609.9,8.3,347,9529,0.00,2.17,0.00,0.000,4,0.000,0.047,3120,4049,2622,0,0,0,0,0,0
$GC,9677,1.03,89.7,596.0,9.4,349,9681,0.12,2.05,0.00,0.000,6,0.222,0.028,3100,2640,2622,0,0,0,0,0,0
$GC,10018,1.10,89.7,569.0,8.0,355,10022,0.00,2.05,0.00,0.000,4,0.000,0.039,3109,1260,2622,0,0,0,0,0,0
$GC,10119,1.17,89.7,560.8,7.9,356,10123,0.12,2.10,0.00,0.000,6,0.127,0.035,3147,2670,2621,0,0,0,0,0,0
$GC,10456,1.17,89.7,533.2,8.2,362,10460,0.00,2.08,0.00,0.000,4,0.000,0.047,3145,4046,2621,0,0,0,0,0,0
$GC,10714,1.08,89.7,511.3,8.9,365,10721,0.15,2.03,0.00,0.000,6,0.221,0.027,3118,2642,2620,0,0,0,0,0,0
$GC,11024,1.12,89.7,489.2,7.5,373,11028,0.00,2.15,0.00,0.000,4,0.000,0.046,3118,4041,2620,0,0,0,0,0,0
$GC,11281,1.07,89.7,466.8,8.3,380,11285,0.00,2.05,0.00,0.000,6,0.000,0.026,3127,2653,2620,0,0,0,0,0,0
$GC,11599,1.07,93.1,444.5,6.4,391,11603,0.00,2.12,0.00,0.000,4,0.000,0.046,3127,4044,2619,0,0,0,0,0,0
$GC,11856,1.01,93.1,424.7,7.0,398,11862,0.10,2.05,0.00,0.000,6,0.212,0.027,3088,2649,2619,0,0,0,0,0,0
$GC,12169,1.11,93.2,405.0,6.9,409,12173,0.00,2.15,0.00,0.000,4,0.000,0.045,3088,4050,2620,0,0,0,0,0,0
$GC,12425,1.11,93.2,383.7,8.7,416,12430,0.00,2.05,0.00,0.000,6,0.000,0.026,3088,2658,2621,0,0,0,0,0,0
$GC,12744,1.21,93.2,360.4,7.6,427,12748,0.17,2.15,0.00,0.000,4,0.108,0.045,3153,4052,2622,0,0,0,0,0,0
$GC,13001,1.11,93.2,335.3,9.0,434,13005,0.12,2.08,0.00,0.000,6,0.241,0.026,3126,2642,2623,0,0,0,0,0,0
$GC,13319,1.15,94.5,313.8,6.7,445,13323,0.00,2.12,0.00,0.000,4,0.000,0.044,3119,4042,2624,0,0,0,0,0,0
$GC,13576,1.11,94.5,292.9,8.6,453,13580,0.00,2.00,0.00,0.000,6,0.000,0.025,3125,2647,2625,0,0,0,0,0,0
$GC,13896,1.15,94.5,268.8,7.9,469,13900,0.00,2.10,0.00,0.000,4,0.000,0.043,3120,4045,2626,0,0,0,0,0,0
$GC,14154,1.11,94.5,244.4,9.3,480,14160,0.00,2.03,0.00,0.000,6,0.000,0.025,3127,2652,2628,0,0,0,0,0,0
$GC,14469,1.15,94.5,217.1,8.6,496,14473,0.00,2.12,0.00,0.000,4,0.000,0.043,3127,4054,2629,0,0,0,0,0,0
$GC,14727,1.11,94.5,192.1,10.1,507,14737,0.00,2.05,3.95,0.626,6,0.000,0.025,3127,2650,2619,0,0,0,0,0,0
$GC,15066,1.15,94.5,162.5,8.8,524,15070,0.00,2.15,0.00,0.000,4,0.000,0.043,3127,4054,2620,0,0,0,0,0,0
$GC,15323,1.11,94.5,136.0,9.9,535,15328,0.00,2.05,0.00,0.000,6,0.000,0.025,3127,2650,2621,0,0,0,0,0,0
$GC,15650,1.15,94.5,108.1,8.1,569,15656,0.00,2.12,0.00,0.000,4,0.000,0.043,3127,4044,2621,0,0,0,0,0,0
$GC,15910,1.11,94.5,83.1,10.2,615,15915,0.00,2.00,0.00,0.000,6,0.000,0.025,3127,2646,2622,0,0,0,0,0,0
$GC,16251,1.17,109.9,56.8,4.9,676,16270,0.00,2.20,13.93,0.795,4,0.000,0.042,3127,4043,2557,0,0,0,0,0,0
$GC,16362,1.14,114.9,50.6,6.2,695,16374,0.00,2.00,5.75,0.679,6,0.000,0.024,3127,2650,2536,0,0,0,0,0,0
$GC,16708,1.21,114.9,16.3,11.0,757,16714,0.00,2.15,0.00,0.000,4,0.000,0.050,3127,4053,2535,0,0,0,0,0,0
$STATE,16811,end climb,SURFACE_DEPTH_REACHED
$STATE,16812,begin surface coast
$FINISH,2.6,1.027247
$STATE,16853,end surface coast,CONTROL_FINISHED_OK
$STATE,16853,begin surface
$SM_CCo,16872,122.10,0.726,0,0,1883,275.23
$SM_GC,3.48,0.00,0.00,122.10,0.000,0.000,0.726,218,2289,1883,-7.96,-0.31,275.23
$IRIDIUM_FIX,6239.86,343.16,240299,121253
$TT8_MAMPS,0.026845
$HUMID,1078310313
$INTERNAL_PRESSURE,8.34016
$TCM_TEMP,15.40
$XPDR_PINGS,1
$24V_AH,23.2,34.302
$10V_AH,10.0,22.450
$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,20.975,147.075,176.000,122.100,0.000,29.622,31.838,213.269,0.250,0.000,11.315,1762.971,12112.591,441.651,2571.778,507.560,0.000,1649.768,0.000,2538.147,0.000,0.537,0.000
$DEVICE_MAMPS,240.838,57.525,1448.096,726.349,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,536.620,705.976,452.422,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,233792
$DATA_FILE_SIZE,44318,783
$CAP_FILE_SIZE,160752,0
$CFSIZE,260165632,238149632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.122, 65.4,1
$GPS,011209,003536,6302.493,353.717,24,1.5,24,-2.7