version: 66.06
glider: 140
mission: 8
dive: 323
start: 1 6 110 15 13 55
data:
$ID,140
$MISSION,8
$DIVE,323
$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,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,-94973.977
$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,64
$R_STBD_OVSHOOT,44
$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
$GPS1,061850,6350.368,223.979,901,99.0,901,-3.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.17
$_SM_ANGLEo,-63.0
$GPS2,061850,6350.368,223.979,901,99.0,901,-3.7
$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,144.9,118241,-13.7,-6.875
$D_GRID,1488
$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,15,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-7.72,0.000,2,0.000,0.000,216,2278,710,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.1,-0.0,1,191,8.57,2.03,-146.55,0.000,4,0.220,0.054,2505,908,3482,0,0,0,0,0,0
$GC,385,-0.48,-116.7,26.1,-13.0,65,391,0.35,2.08,0.00,0.000,6,0.192,0.028,2601,2325,3482,0,0,0,0,0,0
$GC,721,-0.43,-116.7,55.6,-10.1,126,727,0.00,2.17,0.00,0.000,4,0.000,0.035,2602,902,3482,0,0,0,0,0,0
$GC,734,-0.38,-116.7,56.9,-9.7,128,742,0.10,2.08,0.00,0.000,6,0.171,0.028,2634,2291,3482,0,0,0,0,0,0
$GC,1076,-0.56,-116.7,86.6,-9.1,189,1082,0.15,2.10,0.00,0.000,4,0.123,0.035,2583,899,3482,0,0,0,0,0,0
$GC,1199,-0.46,-116.7,98.9,-10.7,211,1205,0.12,2.08,0.00,0.000,6,0.206,0.028,2612,2316,3482,0,0,0,0,0,0
$GC,1531,-0.46,-116.7,134.6,-9.4,252,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2317,3482,0,0,0,0,0,0
$GC,1842,-0.60,-116.7,162.7,-9.4,267,1847,0.12,2.08,0.00,0.000,4,0.133,0.041,2569,3703,3481,0,0,0,0,0,0
$GC,1981,-0.60,-116.7,174.4,-8.1,273,1985,0.00,2.03,0.00,0.000,6,0.000,0.022,2570,2278,3481,0,0,0,0,0,0
$GC,2296,-0.64,-116.7,199.7,-8.2,288,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2279,3481,0,0,0,0,0,0
$GC,2605,-0.69,-116.7,223.7,-7.6,303,2609,0.00,2.15,0.00,0.000,4,0.000,0.038,2570,3698,3481,0,0,0,0,0,0
$GC,2695,-0.69,-116.7,230.0,-6.7,307,2699,0.00,1.98,0.00,0.000,6,0.000,0.023,2570,2296,3481,0,0,0,0,0,0
$GC,3022,-0.74,-116.7,253.7,-7.3,323,3026,0.12,2.03,0.00,0.000,4,0.127,0.035,2528,924,3482,0,0,0,0,0,0
$GC,3273,-0.51,-116.7,276.0,-10.0,334,3278,0.22,2.03,0.00,0.000,6,0.183,0.028,2593,2295,3481,0,0,0,0,0,0
$GC,3594,-0.62,-116.7,298.3,-7.0,350,3598,0.00,2.08,0.00,0.000,4,0.000,0.040,2593,3698,3482,0,0,0,0,0,0
$GC,3627,-0.72,-116.7,300.6,-6.4,351,3634,0.17,1.98,0.00,0.000,6,0.107,0.023,2534,2290,3482,0,0,0,0,0,0
$GC,3940,-0.72,-116.7,323.9,-7.5,362,3943,0.00,2.00,0.00,0.000,4,0.000,0.036,2534,934,3481,0,0,0,0,0,0
$GC,3995,-0.59,-116.7,328.4,-8.2,363,3999,0.08,2.05,0.00,0.000,6,0.157,0.029,2569,2297,3481,0,0,0,0,0,0
$GC,4313,-0.66,-116.7,349.7,-6.5,374,4316,0.00,2.10,0.00,0.000,4,0.000,0.041,2569,3700,3481,0,0,0,0,0,0
$GC,4385,-0.70,-116.7,354.2,-5.5,376,4389,0.00,1.98,0.00,0.000,6,0.000,0.023,2569,2305,3481,0,0,0,0,0,0
$GC,4720,-0.78,-116.7,375.1,-6.5,387,4725,0.17,2.05,0.00,0.000,4,0.116,0.037,2510,920,3480,0,0,0,0,0,0
$GC,4856,-0.53,-116.7,386.6,-9.3,391,4861,0.30,2.03,0.00,0.000,6,0.199,0.029,2590,2301,3480,0,0,0,0,0,0
$GC,5191,-0.65,-116.7,408.8,-6.7,402,5195,0.10,2.08,0.00,0.000,4,0.141,0.037,2557,925,3479,0,0,0,0,0,0
$GC,5314,-0.65,-116.7,417.4,-7.0,405,5319,0.00,2.03,0.00,0.000,6,0.000,0.029,2556,2306,3478,0,0,0,0,0,0
$GC,5626,-0.69,-116.7,439.5,-7.3,416,5630,0.00,2.08,0.00,0.000,4,0.000,0.041,2556,3705,3477,0,0,0,0,0,0
$GC,5692,-0.69,-116.7,444.4,-7.0,418,5696,0.00,2.00,0.00,0.000,6,0.000,0.025,2556,2306,3476,0,0,0,0,0,0
$GC,6028,-0.74,-116.7,468.5,-7.2,429,6031,0.00,2.12,0.00,0.000,4,0.000,0.041,2556,3705,3475,0,0,0,0,0,0
$GC,6099,-0.74,-116.7,473.7,-6.5,431,6104,0.00,2.05,0.00,0.000,6,0.000,0.025,2557,2307,3475,0,0,0,0,0,0
$GC,6430,-0.78,-116.7,496.1,-6.8,442,6434,0.12,2.15,0.00,0.000,4,0.134,0.042,2514,3704,3474,0,0,0,0,0,0
$GC,6491,-0.69,-116.7,500.8,-7.6,444,6495,0.00,2.05,0.00,0.000,6,0.000,0.025,2514,2290,3474,0,0,0,0,0,0
$GC,6862,-0.63,-116.7,530.1,-8.0,450,6867,0.17,2.08,0.00,0.000,4,0.184,0.038,2562,908,3472,0,0,0,0,0,0
$GC,6911,-0.63,-116.7,533.9,-7.6,450,6915,0.00,2.10,0.00,0.000,6,0.000,0.031,2562,2301,3471,0,0,0,0,0,0
$GC,7226,-0.69,-116.7,556.3,-7.3,456,7230,0.00,2.10,0.00,0.000,4,0.000,0.044,2561,3699,3471,0,0,0,0,0,0
$GC,7345,-0.72,-116.7,564.7,-6.7,457,7349,0.00,2.03,0.00,0.000,6,0.000,0.025,2561,2296,3471,0,0,0,0,0,0
$GC,7654,-0.79,-116.7,586.9,-7.2,462,7659,0.15,2.17,0.00,0.000,4,0.128,0.043,2513,3708,3469,0,0,0,0,0,0
$GC,7766,-0.69,-116.7,595.8,-8.0,463,7771,0.12,2.05,0.00,0.000,6,0.196,0.026,2543,2286,3469,0,0,0,0,0,0
$GC,8092,-0.69,-116.7,619.7,-7.3,469,8096,0.00,2.15,0.00,0.000,4,0.000,0.043,2542,3700,3468,0,0,0,0,0,0
$GC,8135,-0.69,-116.7,623.0,-7.1,469,8139,0.00,2.05,0.00,0.000,6,0.000,0.025,2543,2310,3468,0,0,0,0,0,0
$GC,8461,-0.69,-116.7,646.3,-7.2,475,8465,0.00,2.10,0.00,0.000,4,0.000,0.039,2543,903,3467,0,0,0,0,0,0
$GC,8573,-0.64,-116.7,654.4,-6.8,476,8577,0.00,2.08,0.00,0.000,6,0.000,0.031,2543,2300,3467,0,0,0,0,0,0
$GC,8887,-0.64,-116.7,677.0,-7.3,482,8891,0.00,2.15,0.00,0.000,4,0.000,0.044,2543,3709,3466,0,0,0,0,0,0
$GC,8920,-0.64,-116.7,679.3,-6.5,482,8924,0.00,2.05,0.00,0.000,6,0.000,0.026,2543,2299,3466,0,0,0,0,0,0
$GC,9253,-0.67,-116.7,702.1,-6.9,488,9257,0.00,2.12,0.00,0.000,4,0.000,0.043,2543,3700,3465,0,0,0,0,0,0
$GC,9318,-0.67,-116.7,706.7,-6.8,489,9322,0.00,2.08,0.00,0.000,6,0.000,0.026,2543,2298,3464,0,0,0,0,0,0
$GC,9685,-0.70,-116.7,731.4,-6.8,495,9689,0.00,2.15,0.00,0.000,4,0.000,0.043,2543,3700,3464,0,0,0,0,0,0
$GC,9728,-0.70,-116.7,734.5,-6.2,495,9732,0.00,2.08,0.00,0.000,6,0.000,0.027,2543,2304,3463,0,0,0,0,0,0
$GC,10056,-0.74,-116.7,756.3,-6.7,501,10060,0.00,2.15,0.00,0.000,4,0.000,0.043,2543,3706,3463,0,0,0,0,0,0
$GC,10077,-0.74,-116.7,757.9,-6.9,501,10081,0.00,2.10,0.00,0.000,6,0.000,0.027,2543,2299,3463,0,0,0,0,0,0
$GC,10420,-0.77,-116.7,781.2,-6.9,507,10424,0.00,2.15,0.00,0.000,4,0.000,0.044,2543,3705,3462,0,0,0,0,0,0
$GC,10492,-0.77,-116.7,786.0,-6.2,508,10496,0.00,2.05,0.00,0.000,6,0.000,0.027,2543,2299,3462,0,0,0,0,0,0
$GC,10846,-0.80,-116.7,810.7,-7.0,514,10850,0.12,2.12,0.00,0.000,4,0.140,0.040,2503,908,3462,0,0,0,0,0,0
$GC,11103,-0.54,-116.7,833.3,-8.9,517,11107,0.30,2.08,0.00,0.000,6,0.196,0.032,2581,2307,3462,0,0,0,0,0,0
$GC,11418,-0.65,-116.7,854.1,-6.7,523,11422,0.00,2.12,0.00,0.000,4,0.000,0.039,2581,906,3462,0,0,0,0,0,0
$GC,11571,-0.72,-116.7,864.1,-6.3,525,11575,0.15,2.08,0.00,0.000,6,0.121,0.032,2531,2301,3461,0,0,0,0,0,0
$GC,11918,-0.72,-116.7,889.4,-7.3,531,11922,0.00,2.10,0.00,0.000,4,0.000,0.044,2531,3698,3461,0,0,0,0,0,0
$GC,12001,-0.72,-116.7,895.2,-7.8,532,12005,0.00,2.05,0.00,0.000,6,0.000,0.027,2530,2290,3461,0,0,0,0,0,0
$GC,12349,-0.72,-116.7,920.4,-7.4,538,12353,0.00,2.17,0.00,0.000,4,0.000,0.044,2531,3702,3461,0,0,0,0,0,0
$GC,12370,-0.72,-116.7,921.8,-6.5,538,12374,0.00,2.08,0.00,0.000,6,0.000,0.027,2531,2309,3460,0,0,0,0,0,0
$GC,12719,-0.72,-116.7,931.4,-0.7,544,12723,0.00,2.10,0.00,0.000,4,0.000,0.039,2531,907,3460,0,0,0,0,0,0
$STATE,12840,end dive,NO_VERTICAL_VELOCITY
$STATE,12841,begin apogee
$GC,12849,-0.24,0.0,931.4,0.0,545,12950,0.50,0.00,98.80,1.503,6,0.165,0.000,2681,2654,3006,0,0,0,0,0,0
$STATE,12951,end apogee,CONTROL_FINISHED_OK
$STATE,12951,begin climb
$GC,12954,0.80,116.7,931.3,0.0,547,13072,1.12,2.40,108.95,1.407,4,0.150,0.045,3006,4043,2529,0,0,0,0,0,0
$GC,13325,0.75,137.4,912.5,6.1,551,13349,0.00,2.12,18.33,1.368,6,0.000,0.026,3015,2647,2445,0,0,0,0,0,0
$GC,13711,0.78,166.1,890.4,5.7,558,13742,0.00,2.17,26.30,1.400,4,0.000,0.038,3023,1255,2327,0,0,0,0,0,0
$GC,13804,0.78,166.1,884.6,7.0,559,13808,0.00,2.17,0.00,0.000,6,0.000,0.035,3021,2646,2323,0,0,0,0,0,0
$GC,14141,0.80,180.1,863.2,6.3,565,14156,0.00,0.00,12.85,1.368,6,0.000,0.000,3021,2646,2271,0,0,0,0,0,0
$GC,14444,0.87,180.1,842.0,7.2,570,14448,0.00,2.12,0.00,0.000,4,0.000,0.037,3030,1258,2267,0,0,0,0,0,0
$GC,14506,0.90,181.9,837.7,6.8,571,14510,0.00,2.12,0.00,0.000,6,0.000,0.035,3030,2653,2266,0,0,0,0,0,0
$GC,14871,0.96,181.9,810.9,7.4,577,14876,0.12,2.15,0.00,0.000,4,0.116,0.038,3086,1258,2265,0,0,0,0,0,0
$GC,14943,0.89,181.9,805.1,7.6,578,14947,0.12,2.12,0.00,0.000,6,0.183,0.035,3054,2654,2264,0,0,0,0,0,0
$GC,15308,0.89,181.9,778.6,7.3,584,15309,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2654,2263,0,0,0,0,0,0
$GC,15611,0.89,181.9,756.3,7.4,589,15612,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2654,2264,0,0,0,0,0,0
$GC,15913,0.89,181.9,734.3,7.3,594,15917,0.00,2.12,0.00,0.000,4,0.000,0.038,3061,1256,2263,0,0,0,0,0,0
$GC,15980,0.86,181.9,729.3,7.7,595,15984,0.00,2.12,0.00,0.000,6,0.000,0.035,3061,2650,2263,0,0,0,0,0,0
$GC,16346,0.83,181.9,702.6,7.3,601,16347,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2650,2263,0,0,0,0,0,0
$GC,16648,0.79,181.9,680.6,7.3,606,16650,0.15,0.00,0.00,0.000,6,0.178,0.000,3019,2651,2263,0,0,0,0,0,0
$GC,16952,0.86,190.9,660.9,6.5,611,16966,0.00,2.17,9.85,1.307,4,0.000,0.040,3019,1252,2227,0,0,0,0,0,0
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$STATE,25530,end climb,SURFACE_DEPTH_REACHED
$STATE,25530,begin surface coast
$FINISH,3.0,1.014103
$STATE,25575,end surface coast,CONTROL_FINISHED_OK
$STATE,25575,begin surface
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$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078321926
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,14.40
$XPDR_PINGS,2
$24V_AH,22.1,53.482
$10V_AH,9.6,36.727
$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
$DEVICE_SECS,23.075,202.325,312.325,301.550,0.000,164.844,140.847,0.000,0.500,0.000,902.791,2411.050,19624.145,813.600,3985.414,617.634,0.000,2331.373,0.000,3051.500,0.000,0.537,0.000
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$SENSOR_SECS,766.471,1012.704,615.483,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235252
$DATA_FILE_SIZE,63389,1111
$CAP_FILE_SIZE,221710,0
$CFSIZE,260165632,227065856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.007,138.6,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7