version: 66.06
glider: 140
mission: 8
dive: 326
start: 1 7 110 8 3 54
data:
$ID,140
$MISSION,8
$DIVE,326
$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,-100396.11
$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,71
$R_STBD_OVSHOOT,47
$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,3.41
$_SM_ANGLEo,-66.1
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.80,-116.7,0.0,0.0,0,25,0.00,0.00,-6.88,0.000,2,0.000,0.000,220,2280,691,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.3,-0.0,1,189,8.85,2.28,-144.60,0.000,4,0.229,0.055,2501,3709,3483,0,0,0,0,0,0
$GC,423,-0.48,-116.7,32.4,-12.8,72,430,0.35,2.08,0.00,0.000,6,0.182,0.024,2604,2272,3484,0,0,0,0,0,0
$GC,764,-0.43,-116.7,55.6,-6.5,133,770,0.00,2.20,0.00,0.000,4,0.000,0.041,2604,3704,3484,0,0,0,0,0,0
$GC,781,-0.38,-116.7,56.9,-6.9,136,788,0.10,2.03,0.00,0.000,6,0.174,0.024,2637,2311,3484,0,0,0,0,0,0
$GC,1125,-0.56,-116.7,77.7,-6.3,197,1132,0.17,2.15,0.00,0.000,4,0.110,0.040,2573,3706,3484,0,0,0,0,0,0
$GC,1156,-0.65,-116.7,79.8,-6.5,202,1162,0.00,2.00,0.00,0.000,6,0.000,0.024,2573,2313,3484,0,0,0,0,0,0
$GC,1497,-0.69,-116.7,104.0,-7.3,263,1503,0.00,2.08,0.00,0.000,4,0.000,0.037,2573,911,3484,0,0,0,0,0,0
$GC,1514,-0.69,-116.7,105.2,-7.2,266,1520,0.00,2.05,0.00,0.000,6,0.000,0.027,2573,2309,3484,0,0,0,0,0,0
$GC,1854,-0.73,-116.7,130.7,-7.4,308,1858,0.12,2.10,0.00,0.000,4,0.138,0.033,2530,910,3484,0,0,0,0,0,0
$GC,2022,-0.47,-116.7,145.6,-9.7,315,2028,0.30,2.03,0.00,0.000,6,0.191,0.027,2610,2304,3484,0,0,0,0,0,0
$GC,2340,-0.59,-116.7,165.8,-6.6,331,2344,0.00,2.08,0.00,0.000,4,0.000,0.039,2609,3698,3484,0,0,0,0,0,0
$GC,2381,-0.70,-116.7,168.4,-6.5,333,2386,0.22,2.00,0.00,0.000,6,0.104,0.022,2533,2274,3484,0,0,0,0,0,0
$GC,2709,-0.64,-116.7,193.9,-7.8,349,2713,0.00,1.95,0.00,0.000,4,0.000,0.033,2532,941,3483,0,0,0,0,0,0
$GC,2782,-0.45,-116.7,200.0,-8.3,352,2787,0.30,2.00,0.00,0.000,6,0.193,0.028,2612,2292,3484,0,0,0,0,0,0
$GC,3109,-0.60,-116.7,220.5,-6.2,368,3114,0.12,2.03,0.00,0.000,4,0.130,0.032,2568,939,3484,0,0,0,0,0,0
$GC,3150,-0.54,-116.7,223.1,-6.1,370,3153,0.00,2.00,0.00,0.000,6,0.000,0.027,2567,2310,3483,0,0,0,0,0,0
$GC,3482,-0.59,-116.7,246.6,-7.3,386,3486,0.00,2.05,0.00,0.000,4,0.000,0.031,2567,929,3483,0,0,0,0,0,0
$GC,3604,-0.46,-116.7,255.9,-7.4,391,3611,0.17,2.00,0.00,0.000,6,0.196,0.027,2611,2309,3484,0,0,0,0,0,0
$GC,3922,-0.62,-116.7,274.7,-5.9,407,3926,0.15,2.05,0.00,0.000,4,0.118,0.038,2557,3693,3484,0,0,0,0,0,0
$GC,4028,-0.62,-116.7,281.6,-6.4,412,4032,0.00,1.95,0.00,0.000,6,0.000,0.022,2557,2306,3483,0,0,0,0,0,0
$GC,4360,-0.65,-116.7,305.3,-7.5,427,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2295,3483,0,0,0,0,0,0
$GC,4666,-0.69,-116.7,328.4,-7.3,437,4669,0.00,2.12,0.00,0.000,4,0.000,0.039,2557,3699,3483,0,0,0,0,0,0
$GC,4749,-0.69,-116.7,334.4,-6.8,439,4753,0.00,1.98,0.00,0.000,6,0.000,0.023,2557,2302,3483,0,0,0,0,0,0
$GC,5067,-0.73,-116.7,358.3,-7.9,450,5071,0.00,2.12,0.00,0.000,4,0.000,0.038,2557,3698,3482,0,0,0,0,0,0
$GC,5129,-0.73,-116.7,363.1,-7.5,452,5133,0.00,2.00,0.00,0.000,6,0.000,0.023,2557,2280,3482,0,0,0,0,0,0
$GC,5469,-0.77,-116.7,390.0,-8.0,463,5474,0.12,2.15,0.00,0.000,4,0.140,0.039,2515,3694,3482,0,0,0,0,0,0
$GC,5569,-0.58,-116.7,399.0,-9.0,466,5574,0.22,2.00,0.00,0.000,6,0.189,0.023,2574,2263,3482,0,0,0,0,0,0
$GC,5904,-0.66,-116.7,424.2,-7.5,477,5908,0.00,2.15,0.00,0.000,4,0.000,0.040,2574,3693,3480,0,0,0,0,0,0
$GC,6021,-0.72,-116.7,432.8,-7.2,480,6026,0.08,2.00,0.00,0.000,6,0.083,0.024,2528,2305,3480,0,0,0,0,0,0
$GC,6339,-0.72,-116.7,457.6,-7.8,491,6343,0.00,2.03,0.00,0.000,4,0.000,0.035,2528,927,3479,0,0,0,0,0,0
$GC,6360,-0.66,-116.7,459.2,-7.1,491,6364,0.00,2.03,0.00,0.000,6,0.000,0.028,2528,2290,3478,0,0,0,0,0,0
$GC,6678,-0.66,-116.7,482.3,-7.3,502,6682,0.00,2.03,0.00,0.000,4,0.000,0.034,2528,924,3477,0,0,0,0,0,0
$GC,6695,-0.61,-116.7,483.7,-7.4,502,6699,0.15,2.03,0.00,0.000,6,0.198,0.028,2566,2306,3477,0,0,0,0,0,0
$GC,7011,-0.67,-116.7,505.1,-6.9,512,7015,0.00,2.08,0.00,0.000,4,0.000,0.041,2566,3702,3476,0,0,0,0,0,0
$GC,7094,-0.71,-116.7,510.8,-7.2,513,7098,0.00,2.03,0.00,0.000,6,0.000,0.025,2566,2306,3475,0,0,0,0,0,0
$GC,7443,-0.78,-116.7,534.3,-6.9,519,7448,0.15,2.12,0.00,0.000,4,0.123,0.041,2516,3700,3475,0,0,0,0,0,0
$GC,7585,-0.68,-116.7,545.4,-8.0,521,7589,0.00,2.00,0.00,0.000,6,0.000,0.025,2516,2303,3474,0,0,0,0,0,0
$GC,7945,-0.63,-116.7,574.9,-8.2,527,7949,0.15,2.08,0.00,0.000,4,0.185,0.036,2556,908,3473,0,0,0,0,0,0
$GC,7988,-0.63,-116.7,578.4,-7.2,527,7992,0.00,2.10,0.00,0.000,6,0.000,0.029,2556,2300,3473,0,0,0,0,0,0
$GC,8309,-0.68,-116.7,602.3,-7.5,533,8313,0.00,2.10,0.00,0.000,4,0.000,0.041,2555,3708,3472,0,0,0,0,0,0
$GC,8410,-0.68,-116.7,609.9,-7.5,534,8414,0.00,2.05,0.00,0.000,6,0.000,0.025,2556,2286,3471,0,0,0,0,0,0
$GC,8736,-0.73,-116.7,634.3,-7.6,540,8740,0.00,2.17,0.00,0.000,4,0.000,0.041,2556,3707,3470,0,0,0,0,0,0
$GC,8836,-0.73,-116.7,642.0,-8.0,541,8840,0.00,2.03,0.00,0.000,6,0.000,0.025,2556,2292,3470,0,0,0,0,0,0
$GC,9173,-0.77,-116.7,667.7,-7.7,547,9178,0.12,2.17,0.00,0.000,4,0.140,0.042,2515,3698,3469,0,0,0,0,0,0
$GC,9274,-0.66,-116.7,676.0,-8.5,548,9278,0.12,2.03,0.00,0.000,6,0.193,0.025,2545,2288,3469,0,0,0,0,0,0
$GC,9599,-0.66,-116.7,700.4,-7.5,554,9603,0.00,2.15,0.00,0.000,4,0.000,0.041,2545,3698,3468,0,0,0,0,0,0
$GC,9676,-0.66,-116.7,706.1,-6.9,555,9681,0.00,2.05,0.00,0.000,6,0.000,0.025,2545,2302,3468,0,0,0,0,0,0
$GC,10031,-0.69,-116.7,732.1,-7.4,561,10035,0.00,2.12,0.00,0.000,4,0.000,0.042,2545,3698,3467,0,0,0,0,0,0
$GC,10096,-0.69,-116.7,736.9,-7.9,562,10101,0.00,2.05,0.00,0.000,6,0.000,0.025,2545,2300,3467,0,0,0,0,0,0
$GC,10463,-0.73,-116.7,764.1,-7.5,568,10467,0.00,2.15,0.00,0.000,4,0.000,0.042,2545,3705,3466,0,0,0,0,0,0
$GC,10545,-0.73,-116.7,770.3,-8.2,569,10550,0.00,2.05,0.00,0.000,6,0.000,0.026,2545,2310,3466,0,0,0,0,0,0
$GC,10900,-0.77,-116.7,796.7,-7.5,575,10904,0.00,2.12,0.00,0.000,4,0.000,0.042,2545,3701,3465,0,0,0,0,0,0
$GC,10949,-0.77,-116.7,800.4,-8.0,575,10953,0.00,2.03,0.00,0.000,6,0.000,0.026,2546,2295,3465,0,0,0,0,0,0
$GC,11264,-0.80,-116.7,823.4,-7.4,581,11268,0.12,2.17,0.00,0.000,4,0.146,0.043,2505,3703,3464,0,0,0,0,0,0
$GC,11353,-0.68,-116.7,830.4,-8.0,582,11358,0.15,2.03,0.00,0.000,6,0.192,0.025,2541,2296,3464,0,0,0,0,0,0
$GC,11689,-0.68,-116.7,854.7,-7.2,588,11693,0.00,2.15,0.00,0.000,4,0.000,0.043,2542,3702,3464,0,0,0,0,0,0
$GC,11772,-0.68,-116.7,860.5,-6.8,589,11776,0.00,2.05,0.00,0.000,6,0.000,0.026,2542,2312,3463,0,0,0,0,0,0
$GC,12121,-0.72,-116.7,885.0,-7.1,595,12125,0.00,2.15,0.00,0.000,4,0.000,0.042,2543,3708,3463,0,0,0,0,0,0
$GC,12215,-0.72,-116.7,891.5,-6.5,596,12219,0.00,2.08,0.00,0.000,6,0.000,0.026,2543,2303,3463,0,0,0,0,0,0
$GC,12559,-0.72,-116.7,914.7,-6.7,602,12563,0.00,2.17,0.00,0.000,4,0.000,0.043,2543,3701,3463,0,0,0,0,0,0
$GC,12665,-0.72,-116.7,922.0,-6.5,603,12669,0.00,2.08,0.00,0.000,6,0.000,0.026,2542,2295,3463,0,0,0,0,0,0
$GC,12992,-0.88,-116.7,931.3,-1.2,609,12997,0.17,2.08,0.00,0.000,4,0.111,0.037,2477,920,3462,0,0,0,0,0,0
$STATE,13120,end dive,NO_VERTICAL_VELOCITY
$STATE,13120,begin apogee
$GC,13128,-0.24,0.0,931.4,0.0,611,13230,0.68,0.00,99.72,1.505,6,0.144,0.000,2685,2642,3006,0,0,0,0,0,0
$STATE,13231,end apogee,CONTROL_FINISHED_OK
$STATE,13231,begin climb
$GC,13234,0.80,116.7,931.3,0.0,612,13352,1.10,2.42,109.60,1.414,4,0.144,0.042,3006,4044,2528,0,0,0,0,0,0
$GC,13403,0.72,141.3,926.7,5.9,613,13433,0.00,2.20,23.77,1.350,6,0.000,0.026,3017,2656,2429,0,0,0,0,0,0
$GC,13789,0.75,165.0,903.8,5.9,620,13812,0.00,0.00,21.25,1.384,6,0.000,0.000,3017,2656,2333,0,0,0,0,0,0
$GC,14090,0.76,176.2,884.5,6.4,625,14106,0.00,2.22,10.75,1.335,4,0.000,0.043,3017,4054,2287,0,0,0,0,0,0
$GC,14178,0.76,176.2,878.1,7.6,626,14183,0.00,2.10,0.00,0.000,6,0.000,0.027,3024,2644,2285,0,0,0,0,0,0
$GC,14521,0.77,180.1,855.0,6.7,632,14528,0.00,0.00,4.75,1.085,6,0.000,0.000,3024,2644,2271,0,0,0,0,0,0
$GC,14824,0.77,180.1,833.9,7.0,637,14828,0.00,2.17,0.00,0.000,4,0.000,0.044,3024,4048,2269,0,0,0,0,0,0
$GC,14912,0.77,180.1,827.0,8.0,638,14916,0.00,2.05,0.00,0.000,6,0.000,0.027,3033,2649,2269,0,0,0,0,0,0
$GC,15255,0.77,180.1,803.0,7.0,644,15256,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2647,2268,0,0,0,0,0,0
$GC,15558,0.77,180.1,781.9,7.0,649,15559,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2647,2267,0,0,0,0,0,0
$GC,15863,0.77,183.4,761.3,6.7,654,15869,0.00,0.00,4.15,0.996,6,0.000,0.000,3033,2647,2258,0,0,0,0,0,0
$GC,16165,0.77,186.0,740.8,6.8,659,16174,0.00,2.22,4.15,0.997,4,0.000,0.045,3033,4046,2247,0,0,0,0,0,0
$GC,16252,0.73,186.0,733.9,7.7,660,16257,0.15,2.10,0.00,0.000,6,0.178,0.027,3003,2617,2246,0,0,0,0,0,0
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$STATE,26114,end climb,SURFACE_DEPTH_REACHED
$STATE,26114,begin surface coast
$FINISH,2.9,1.013621
$STATE,26154,end surface coast,CONTROL_FINISHED_OK
$STATE,26154,begin surface
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$HUMID,1078298700
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,19.80
$XPDR_PINGS,1
$24V_AH,22.0,54.000
$10V_AH,9.6,37.134
$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
$DEVICE_SECS,23.900,201.875,324.700,298.875,0.000,164.638,141.218,0.000,0.250,0.000,903.224,2523.701,19995.604,836.646,4051.036,629.651,0.000,2368.339,0.000,3119.269,0.000,0.537,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235252
$DATA_FILE_SIZE,66391,1182
$CAP_FILE_SIZE,224451,0
$CFSIZE,260165632,226775040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.007,143.6,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7