version: 66.06
glider: 140
mission: 8
dive: 532
start: 2 6 110 19 57 27
data:
$ID,140
$MISSION,8
$DIVE,532
$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,-469422.09
$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,48
$R_STBD_OVSHOOT,74
$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
$GPS1,193657,6340.207,818.386,38,2.1,57,-0.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-9.1
$GPS2,195704,6340.205,818.383,14,99.0,33,-0.5
$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,252.4,235524,-13.7,-6.875
$D_GRID,1000
$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,16,-0.80,-116.7,0.0,0.0,0,205,0.00,0.00,-182.65,0.000,6,0.000,0.000,208,2287,3480,0,0,0,0,0,0
$GC,209,-0.80,-116.7,2.5,0.0,36,226,7.25,2.25,0.00,0.000,4,0.134,0.050,2504,906,3482,0,0,0,0,0,0
$GC,478,-0.93,-116.7,2.4,0.1,84,485,0.10,2.10,0.00,0.000,6,0.108,0.030,2466,2290,3482,0,0,0,0,0,0
$GC,823,-1.07,-116.7,2.4,-0.0,145,829,0.15,2.20,0.00,0.000,4,0.133,0.050,2417,902,3483,0,0,0,0,0,0
$GC,1084,-1.21,-116.7,2.4,0.7,191,1090,0.12,2.10,0.00,0.000,6,0.140,0.030,2377,2312,3483,0,0,0,0,0,0
$GC,1428,-1.35,-116.7,2.4,-0.2,252,1435,0.15,2.25,0.00,0.000,4,0.130,0.048,2327,912,3483,0,0,0,0,0,0
$GC,1688,-1.49,-116.7,2.4,-0.0,298,1695,0.10,2.10,0.00,0.000,6,0.110,0.030,2285,2298,3483,0,0,0,0,0,0
$GC,2035,-1.63,-116.7,2.5,-0.1,359,2041,0.12,2.20,0.00,0.000,4,0.139,0.048,2242,901,3483,0,0,0,0,0,0
$GC,2295,-1.77,-116.7,2.5,-0.1,405,2301,0.12,2.08,0.00,0.000,6,0.141,0.030,2201,2302,3483,0,0,0,0,0,0
$GC,2636,-1.91,-116.7,2.5,-0.0,466,2643,0.15,2.22,0.00,0.000,4,0.131,0.048,2149,913,3483,0,0,0,0,0,0
$GC,2899,-2.04,-116.7,2.5,0.2,512,2905,0.10,2.10,0.00,0.000,6,0.113,0.030,2109,2303,3483,0,0,0,0,0,0
$GC,3246,-2.19,-116.7,2.5,0.1,573,3252,0.15,2.20,0.00,0.000,4,0.130,0.048,2058,903,3483,0,0,0,0,0,0
$GC,3385,-2.33,-116.7,2.4,0.1,597,3391,0.12,2.08,0.00,0.000,6,0.143,0.030,2017,2305,3483,0,0,0,0,0,0
$GC,3727,-2.47,-116.7,2.5,-0.4,658,3734,0.12,2.25,0.00,0.000,4,0.149,0.048,1974,901,3483,0,0,0,0,0,0
$GC,3752,-2.61,-116.7,2.4,-0.0,662,3759,0.10,2.12,0.00,0.000,6,0.107,0.031,1932,2301,3483,0,0,0,0,0,0
$GC,4100,-2.75,-116.7,2.4,0.1,723,4105,0.15,2.10,0.00,0.000,4,0.132,0.032,1878,3701,3482,0,0,0,0,0,0
$GC,4126,-2.89,-116.7,2.4,0.8,727,4132,0.12,2.10,0.00,0.000,6,0.138,0.028,1835,2287,3482,0,0,0,0,0,0
$GC,4472,-3.03,-116.7,2.4,0.0,788,4479,0.12,2.17,0.00,0.000,4,0.141,0.032,1792,3695,3482,0,0,0,0,0,0
$GC,4734,-3.17,-116.7,2.4,0.1,834,4741,0.10,2.10,0.00,0.000,6,0.107,0.028,1751,2298,3483,0,0,0,0,0,0
$GC,5079,-3.17,-116.7,2.4,-0.2,895,5084,0.00,2.10,0.00,0.000,4,0.000,0.032,1751,3700,3483,0,0,0,0,0,0
$GC,5337,-3.17,-116.7,2.4,0.0,941,5342,0.00,2.08,0.00,0.000,6,0.000,0.027,1751,2298,3482,0,0,0,0,0,0
$GC,5681,-3.17,-116.7,2.4,0.1,1002,5687,0.00,2.12,0.00,0.000,4,0.000,0.032,1751,3692,3482,0,0,0,0,0,0
$GC,5940,-3.17,-116.7,2.4,-0.0,1048,5946,0.00,2.10,0.00,0.000,6,0.000,0.028,1751,2302,3483,0,0,0,0,0,0
$GC,6286,-3.17,-116.7,2.4,-0.0,1109,6291,0.00,2.10,0.00,0.000,4,0.000,0.032,1751,3704,3483,0,0,0,0,0,0
$GC,6547,-3.17,-116.7,2.4,-0.2,1155,6553,0.00,2.08,0.00,0.000,6,0.000,0.028,1751,2296,3482,0,0,0,0,0,0
$GC,6891,-3.17,-116.7,2.4,0.1,1216,6898,0.00,2.15,0.00,0.000,4,0.000,0.032,1751,3700,3483,0,0,0,0,0,0
$GC,7151,-3.17,-116.7,2.4,0.0,1262,7158,0.00,2.12,0.00,0.000,6,0.000,0.028,1751,2295,3483,0,0,0,0,0,0
$GC,7494,-3.17,-116.7,2.4,0.3,1323,7500,0.00,2.10,0.00,0.000,4,0.000,0.031,1751,3698,3482,0,0,0,0,0,0
$GC,7755,-3.17,-116.7,2.4,0.1,1369,7760,0.00,2.08,0.00,0.000,6,0.000,0.028,1751,2297,3482,0,0,0,0,0,0
$GC,8097,-3.17,-116.7,2.4,0.1,1430,8103,0.00,2.12,0.00,0.000,4,0.000,0.031,1751,3691,3483,0,0,0,0,0,0
$GC,8355,-3.17,-116.7,2.4,-0.0,1476,8361,0.00,2.10,0.00,0.000,6,0.000,0.028,1751,2303,3482,0,0,0,0,0,0
$GC,8700,-3.17,-116.7,2.4,0.1,1537,8705,0.00,2.10,0.00,0.000,4,0.000,0.032,1751,3701,3482,0,0,0,0,0,0
$GC,8960,-3.17,-116.7,2.4,0.1,1583,8966,0.00,2.10,0.00,0.000,6,0.000,0.028,1751,2287,3482,0,0,0,0,0,0
$GC,9305,-3.17,-116.7,2.4,0.1,1644,9312,0.00,2.15,0.00,0.000,4,0.000,0.032,1751,3697,3482,0,0,0,0,0,0
$GC,9509,-3.17,-116.7,2.4,-0.1,1680,9516,0.00,2.12,0.00,0.000,6,0.000,0.028,1751,2296,3482,0,0,0,0,0,0
$GC,9854,-3.17,-116.7,2.5,0.1,1741,9859,0.00,2.10,0.00,0.000,4,0.000,0.032,1751,3697,3482,0,0,0,0,0,0
$GC,9868,-3.17,-116.7,2.3,0.1,1743,9874,0.00,2.10,0.00,0.000,6,0.000,0.029,1751,2290,3482,0,0,0,0,0,0
$GC,10213,-3.17,-116.7,2.4,-0.0,1804,10219,0.00,2.17,0.00,0.000,4,0.000,0.048,1751,908,3482,0,0,0,0,0,0
$GC,10255,-3.17,-116.7,2.5,-0.2,1811,10261,0.00,2.08,0.00,0.000,6,0.000,0.031,1751,2309,3482,0,0,0,0,0,0
$GC,10603,-3.17,-116.7,2.5,-0.0,1872,10609,0.00,2.22,0.00,0.000,4,0.000,0.048,1751,908,3482,0,0,0,0,0,0
$GC,10627,-3.17,-116.7,2.4,0.1,1876,10633,0.00,2.10,0.00,0.000,6,0.000,0.031,1751,2299,3482,0,0,0,0,0,0
$GC,10971,-3.17,-116.7,2.5,0.1,1937,10977,0.00,2.08,0.00,0.000,4,0.000,0.033,1751,3697,3482,0,0,0,0,0,0
$GC,11230,-3.17,-116.7,2.4,0.5,1983,11235,0.00,2.08,0.00,0.000,6,0.000,0.028,1751,2296,3482,0,0,0,0,0,0
$GC,11573,-3.17,-116.7,2.4,0.2,2044,11579,0.00,2.12,0.00,0.000,4,0.000,0.032,1751,3690,3482,0,0,0,0,0,0
$GC,11835,-3.17,-116.7,2.5,-0.1,2090,11842,0.00,2.10,0.00,0.000,6,0.000,0.028,1750,2302,3482,0,0,0,0,0,0
$GC,12182,-3.17,-116.7,2.4,-0.1,2151,12187,0.00,2.08,0.00,0.000,4,0.000,0.032,1751,3694,3482,0,0,0,0,0,0
$GC,12337,-3.17,-116.7,2.5,-0.2,2178,12343,0.00,2.10,0.00,0.000,6,0.000,0.028,1751,2307,3482,0,0,0,0,0,0
$GC,12685,-3.17,-116.7,2.4,1.4,2239,12690,0.00,2.08,0.00,0.000,4,0.000,0.031,1751,3693,3482,0,0,0,0,0,0
$GC,12943,-3.17,-116.7,2.4,0.2,2285,12949,0.00,2.08,0.00,0.000,6,0.000,0.028,1751,2296,3482,0,0,0,0,0,0
$GC,13289,-3.17,-116.7,2.4,0.1,2346,13295,0.00,2.17,0.00,0.000,4,0.000,0.048,1751,915,3482,0,0,0,0,0,0
$GC,13322,-3.17,-116.7,2.4,-0.0,2351,13327,0.00,2.05,0.00,0.000,6,0.000,0.031,1751,2301,3482,0,0,0,0,0,0
$GC,13664,-3.17,-116.7,2.5,0.0,2412,13670,0.00,2.22,0.00,0.000,4,0.000,0.048,1751,902,3482,0,0,0,0,0,0
$GC,13774,-3.17,-116.7,2.5,-0.3,2431,13779,0.00,2.08,0.00,0.000,6,0.000,0.031,1751,2303,3482,0,0,0,0,0,0
$GC,14118,-3.17,-116.7,2.4,0.3,2492,14124,0.00,2.22,0.00,0.000,4,0.000,0.048,1751,908,3482,0,0,0,0,0,0
$GC,14172,-3.17,-116.7,2.4,-0.0,2501,14177,0.00,2.08,0.00,0.000,6,0.000,0.031,1751,2303,3482,0,0,0,0,0,0
$GC,14515,-3.17,-116.7,2.4,0.3,2562,14521,0.00,2.22,0.00,0.000,4,0.000,0.048,1751,903,3482,0,0,0,0,0,0
$GC,14775,-3.17,-116.7,2.4,0.1,2608,14782,0.00,2.10,0.00,0.000,6,0.000,0.031,1750,2298,3482,0,0,0,0,0,0
$GC,15120,-3.17,-116.7,2.4,-0.1,2669,15125,0.00,2.17,0.00,0.000,4,0.000,0.047,1751,908,3482,0,0,0,0,0,0
$GC,15161,-3.17,-116.7,2.4,0.0,2676,15168,0.00,2.10,0.00,0.000,6,0.000,0.031,1750,2300,3482,0,0,0,0,0,0
$GC,15508,-3.17,-116.7,2.4,-0.0,2737,15513,0.00,2.10,0.00,0.000,4,0.000,0.033,1751,3698,3482,0,0,0,0,0,0
$GC,15526,-3.17,-116.7,2.4,-0.1,2740,15533,0.00,2.12,0.00,0.000,6,0.000,0.029,1751,2301,3482,0,0,0,0,0,0
$GC,15873,-3.17,-116.7,2.4,0.2,2801,15878,0.00,2.17,0.00,0.000,4,0.000,0.048,1751,902,3482,0,0,0,0,0,0
$GC,15898,-3.17,-116.7,2.5,-0.0,2805,15904,0.00,2.08,0.00,0.000,6,0.000,0.031,1751,2303,3482,0,0,0,0,0,0
$STATE,16209,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,16209,begin apogee
$GC,16217,-0.24,0.0,2.4,0.0,2861,16223,3.05,0.00,0.82,0.118,2,0.143,0.000,2686,2663,3479,0,0,0,0,0,0
$STATE,16224,end apogee,SURFACE_DEPTH_REACHED
$STATE,16224,begin surface coast
$FINISH,2.4,0.999961
$STATE,16345,end surface coast,NO_VERTICAL_VELOCITY
$STATE,16345,begin surface
$SM_CCo,16364,360.00,0.799,0,1,1655,331.15
$SM_CCo,16731,231.27,0.735,0,0,549,602.46
$SM_GC,2.53,0.00,0.00,231.27,0.000,0.000,0.735,216,2282,549,-7.97,-0.48,602.46
$IRIDIUM_FIX,6317.84,816.73,030599,202043
$TT8_MAMPS,0.027612
$HUMID,1078398055
$INTERNAL_PRESSURE,8.04718
$TCM_TEMP,11.40
$XPDR_PINGS,3
$24V_AH,22.4,85.297
$10V_AH,9.6,62.484
$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,19.600,132.875,0.825,591.275,0.000,157.432,348.754,0.000,0.750,0.000,34.337,4058.791,5925.904,864.176,6058.978,1207.033,0.000,2866.877,0.000,6054.236,0.000,0.533,0.000
$DEVICE_MAMPS,148.798,49.855,118.118,799.214,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,2049.219,2944.928,3670.719,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235348
$DATA_FILE_SIZE,160944,2883
$CAP_FILE_SIZE,224205,7
$CFSIZE,260165632,211177472
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$CURRENT,0.001, 40.3,1
$GPS,070210,004154,6340.211,818.396,46,1.7,63,-0.5