version: 66.06
glider: 140
mission: 8
dive: 158
start: 11 15 109 23 26 48
data:
$ID,140
$MISSION,8
$DIVE,158
$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,-3
$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,-47170.336
$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,78
$R_STBD_OVSHOOT,41
$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
$GPS1,232001,6447.048,-21.999,38,1.4,39,-5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.15
$_SM_ANGLEo,-45.3
$GPS2,232625,6447.107,-21.916,9,1.1,14,-5.4
$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,138.1,290673,-13.7,-6.875
$D_GRID,2746
$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,14,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-7.65,0.000,2,0.000,0.000,217,2266,708,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.3,-0.0,1,189,8.48,2.30,-146.43,0.000,4,0.209,0.054,2502,3709,3482,0,0,0,0,0,0
$GC,222,-0.61,-116.7,8.0,-10.3,36,230,0.17,2.10,0.00,0.000,6,0.175,0.025,2555,2300,3483,0,0,0,0,0,0
$GC,562,-0.61,-116.7,31.1,-8.4,97,568,0.00,2.17,0.00,0.000,4,0.000,0.044,2556,3712,3484,0,0,0,0,0,0
$GC,664,-0.61,-116.7,40.4,-11.2,115,669,0.00,2.05,0.00,0.000,6,0.000,0.024,2556,2293,3484,0,0,0,0,0,0
$GC,1001,-0.61,-116.7,70.7,-7.9,176,1008,0.00,2.20,0.00,0.000,4,0.000,0.041,2556,3710,3485,0,0,0,0,0,0
$GC,1075,-0.61,-116.7,76.8,-8.1,189,1082,0.00,2.03,0.00,0.000,6,0.000,0.025,2556,2296,3485,0,0,0,0,0,0
$GC,1417,-0.61,-116.7,103.6,-7.9,250,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2296,3485,0,0,0,0,0,0
$GC,1753,-0.61,-116.7,130.1,-8.2,294,1757,0.00,2.15,0.00,0.000,4,0.000,0.041,2556,3715,3485,0,0,0,0,0,0
$GC,1819,-0.61,-116.7,135.6,-7.6,297,1824,0.00,2.05,0.00,0.000,6,0.000,0.024,2556,2307,3485,0,0,0,0,0,0
$GC,2148,-0.61,-116.7,159.0,-7.3,313,2151,0.00,2.12,0.00,0.000,4,0.000,0.041,2556,3712,3485,0,0,0,0,0,0
$GC,2157,-0.61,-116.7,160.0,-7.5,313,2164,0.00,2.05,0.00,0.000,6,0.000,0.024,2556,2305,3485,0,0,0,0,0,0
$GC,2474,-0.61,-116.7,182.6,-6.9,329,2478,0.00,2.12,0.00,0.000,4,0.000,0.041,2556,3714,3485,0,0,0,0,0,0
$GC,2500,-0.61,-116.7,184.5,-7.1,330,2505,0.00,2.08,0.00,0.000,6,0.000,0.024,2556,2289,3485,0,0,0,0,0,0
$GC,2822,-0.61,-116.7,204.7,-6.2,346,2826,0.00,2.15,0.00,0.000,4,0.000,0.041,2555,3716,3485,0,0,0,0,0,0
$GC,2923,-0.64,-116.7,211.2,-6.7,350,2929,0.00,2.03,0.00,0.000,6,0.000,0.024,2556,2292,3485,0,0,0,0,0,0
$GC,3239,-0.64,-116.7,230.6,-6.3,366,3243,0.00,2.15,0.00,0.000,4,0.000,0.041,2556,3715,3484,0,0,0,0,0,0
$GC,3305,-0.64,-116.7,235.0,-6.6,369,3309,0.00,2.03,0.00,0.000,6,0.000,0.025,2556,2296,3484,0,0,0,0,0,0
$GC,3632,-0.64,-116.7,255.8,-6.6,385,3636,0.00,2.12,0.00,0.000,4,0.000,0.041,2556,3706,3484,0,0,0,0,0,0
$GC,3694,-0.68,-116.7,260.1,-6.7,388,3698,0.00,2.00,0.00,0.000,6,0.000,0.025,2556,2308,3484,0,0,0,0,0,0
$GC,4025,-0.68,-116.7,283.0,-6.9,404,4029,0.00,2.12,0.00,0.000,4,0.000,0.042,2556,3716,3483,0,0,0,0,0,0
$GC,4093,-0.72,-116.7,287.6,-6.9,407,4097,0.00,2.03,0.00,0.000,6,0.000,0.025,2556,2296,3483,0,0,0,0,0,0
$GC,4418,-0.72,-116.7,309.1,-6.4,421,4421,0.00,2.15,0.00,0.000,4,0.000,0.044,2556,3713,3483,0,0,0,0,0,0
$GC,4490,-0.76,-116.7,313.8,-6.4,423,4495,0.12,2.03,0.00,0.000,6,0.143,0.025,2517,2297,3482,0,0,0,0,0,0
$GC,4813,-0.70,-116.7,337.2,-7.1,434,4817,0.00,2.12,0.00,0.000,4,0.000,0.043,2516,3705,3482,0,0,0,0,0,0
$GC,4829,-0.64,-116.7,338.4,-6.8,434,4834,0.15,2.00,0.00,0.000,6,0.184,0.026,2555,2302,3481,0,0,0,0,0,0
$GC,5142,-0.64,-116.7,355.7,-5.4,444,5146,0.00,2.12,0.00,0.000,4,0.000,0.043,2555,3705,3481,0,0,0,0,0,0
$GC,5192,-0.68,-116.7,358.6,-5.6,445,5196,0.00,2.05,0.00,0.000,6,0.000,0.025,2555,2303,3480,0,0,0,0,0,0
$GC,5515,-0.68,-116.7,376.8,-5.7,456,5519,0.00,2.12,0.00,0.000,4,0.000,0.043,2555,3706,3480,0,0,0,0,0,0
$GC,5578,-0.72,-116.7,380.6,-6.2,458,5581,0.00,2.03,0.00,0.000,6,0.000,0.026,2555,2302,3479,0,0,0,0,0,0
$GC,5918,-0.72,-116.7,401.3,-6.1,469,5921,0.00,2.15,0.00,0.000,4,0.000,0.043,2555,3715,3478,0,0,0,0,0,0
$GC,5968,-0.76,-116.7,404.5,-6.8,470,5972,0.12,2.05,0.00,0.000,6,0.142,0.026,2516,2288,3478,0,0,0,0,0,0
$GC,6280,-0.71,-116.7,428.5,-7.8,480,6284,0.00,2.15,0.00,0.000,4,0.000,0.043,2515,3705,3478,0,0,0,0,0,0
$GC,6295,-0.65,-116.7,429.9,-7.8,480,6300,0.08,2.05,0.00,0.000,6,0.161,0.026,2553,2304,3477,0,0,0,0,0,0
$GC,6618,-0.65,-116.7,451.8,-6.8,491,6622,0.00,2.15,0.00,0.000,4,0.000,0.044,2553,3714,3476,0,0,0,0,0,0
$GC,6657,-0.69,-116.7,454.5,-6.9,492,6661,0.00,2.05,0.00,0.000,6,0.000,0.026,2553,2292,3476,0,0,0,0,0,0
$GC,6992,-0.69,-116.7,477.2,-6.7,503,6996,0.00,2.15,0.00,0.000,4,0.000,0.044,2553,3708,3475,0,0,0,0,0,0
$GC,7058,-0.73,-116.7,481.8,-7.1,505,7062,0.00,2.08,0.00,0.000,6,0.000,0.026,2553,2297,3475,0,0,0,0,0,0
$GC,7423,-0.73,-116.7,505.1,-6.3,516,7427,0.00,2.15,0.00,0.000,4,0.000,0.044,2553,3715,3474,0,0,0,0,0,0
$GC,7501,-0.77,-116.7,510.1,-6.4,517,7506,0.12,2.05,0.00,0.000,6,0.140,0.026,2515,2296,3474,0,0,0,0,0,0
$GC,7854,-0.72,-116.7,537.6,-7.9,523,7858,0.00,2.15,0.00,0.000,4,0.000,0.044,2514,3713,3474,0,0,0,0,0,0
$GC,7870,-0.67,-116.7,538.9,-8.0,523,7874,0.12,2.03,0.00,0.000,6,0.193,0.027,2545,2304,3474,0,0,0,0,0,0
$GC,8217,-0.67,-116.7,563.5,-7.1,529,8221,0.00,2.12,0.00,0.000,4,0.000,0.044,2545,3705,3473,0,0,0,0,0,0
$GC,8271,-0.67,-116.7,567.5,-7.2,529,8276,0.00,2.05,0.00,0.000,6,0.000,0.026,2545,2305,3473,0,0,0,0,0,0
$GC,8586,-0.67,-116.7,590.2,-7.3,535,8590,0.00,2.12,0.00,0.000,4,0.000,0.044,2545,3705,3472,0,0,0,0,0,0
$GC,8635,-0.67,-116.7,594.0,-7.4,535,8639,0.00,2.08,0.00,0.000,6,0.000,0.027,2545,2297,3472,0,0,0,0,0,0
$GC,8950,-0.67,-116.7,617.1,-7.4,541,8954,0.00,2.15,0.00,0.000,4,0.000,0.044,2545,3713,3471,0,0,0,0,0,0
$GC,9005,-0.70,-116.7,621.1,-7.4,541,9011,0.00,2.05,0.00,0.000,6,0.000,0.027,2545,2293,3471,0,0,0,0,0,0
$GC,9313,-0.70,-116.7,643.1,-7.0,547,9317,0.00,2.15,0.00,0.000,4,0.000,0.044,2545,3709,3471,0,0,0,0,0,0
$GC,9385,-0.73,-116.7,648.2,-6.9,548,9389,0.00,2.05,0.00,0.000,6,0.000,0.027,2545,2286,3470,0,0,0,0,0,0
$GC,9745,-0.73,-116.7,672.9,-6.9,554,9749,0.00,2.17,0.00,0.000,4,0.000,0.044,2545,3710,3470,0,0,0,0,0,0
$GC,9829,-0.77,-116.7,678.9,-7.1,555,9833,0.00,2.08,0.00,0.000,6,0.000,0.028,2545,2304,3470,0,0,0,0,0,0
$GC,10183,-0.77,-116.7,704.1,-7.1,561,10187,0.00,2.12,0.00,0.000,4,0.000,0.044,2545,3704,3470,0,0,0,0,0,0
$GC,10261,-0.80,-116.7,709.7,-7.5,562,10265,0.12,2.05,0.00,0.000,6,0.144,0.027,2505,2288,3469,0,0,0,0,0,0
$GC,10614,-0.74,-116.7,739.3,-8.4,568,10618,0.00,2.15,0.00,0.000,4,0.000,0.044,2504,3704,3469,0,0,0,0,0,0
$GC,10635,-0.68,-116.7,741.0,-8.1,568,10640,0.10,2.08,0.00,0.000,6,0.166,0.028,2544,2295,3469,0,0,0,0,0,0
$GC,10978,-0.68,-116.7,764.3,-6.7,574,10982,0.00,2.15,0.00,0.000,4,0.000,0.045,2544,3709,3468,0,0,0,0,0,0
$GC,11033,-0.72,-116.7,768.2,-6.3,574,11037,0.00,2.08,0.00,0.000,6,0.000,0.028,2544,2287,3468,0,0,0,0,0,0
$GC,11348,-0.72,-116.7,788.1,-6.4,580,11352,0.00,2.15,0.00,0.000,4,0.000,0.044,2544,3704,3468,0,0,0,0,0,0
$GC,11425,-0.76,-116.7,793.1,-6.4,581,11429,0.00,2.05,0.00,0.000,6,0.000,0.028,2544,2288,3468,0,0,0,0,0,0
$GC,11780,-0.76,-116.7,814.5,-6.0,587,11784,0.00,2.15,0.00,0.000,4,0.000,0.044,2544,3704,3468,0,0,0,0,0,0
$GC,11863,-0.80,-116.7,819.8,-6.2,588,11868,0.12,2.05,0.00,0.000,6,0.142,0.028,2503,2282,3467,0,0,0,0,0,0
$GC,12212,-0.73,-116.7,845.3,-7.4,594,12216,0.00,2.17,0.00,0.000,4,0.000,0.044,2503,3711,3467,0,0,0,0,0,0
$GC,12233,-0.67,-116.7,846.9,-7.0,594,12237,0.15,2.08,0.00,0.000,6,0.187,0.028,2541,2277,3467,0,0,0,0,0,0
$GC,12575,-0.67,-116.7,867.2,-5.9,600,12579,0.00,2.17,0.00,0.000,4,0.000,0.045,2541,3711,3467,0,0,0,0,0,0
$GC,12647,-0.71,-116.7,871.6,-5.8,601,12651,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2299,3467,0,0,0,0,0,0
$GC,13007,-0.71,-116.7,892.1,-5.7,607,13010,0.00,2.15,0.00,0.000,4,0.000,0.045,2542,3711,3467,0,0,0,0,0,0
$GC,13085,-0.75,-116.7,896.9,-5.3,608,13089,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2298,3466,0,0,0,0,0,0
$GC,13433,-0.75,-116.7,916.9,-5.8,614,13437,0.00,2.15,0.00,0.000,4,0.000,0.045,2542,3709,3466,0,0,0,0,0,0
$GC,13510,-0.78,-116.7,921.5,-6.1,615,13514,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2295,3466,0,0,0,0,0,0
$GC,13864,-0.78,-116.7,941.9,-5.8,621,13868,0.00,2.15,0.00,0.000,4,0.000,0.045,2542,3706,3466,0,0,0,0,0,0
$GC,13942,-0.82,-116.7,946.6,-5.9,622,13947,0.12,2.05,0.00,0.000,6,0.143,0.028,2502,2292,3466,0,0,0,0,0,0
$GC,14290,-0.77,-116.7,971.5,-7.2,628,14294,0.00,2.15,0.00,0.000,4,0.000,0.045,2501,3705,3465,0,0,0,0,0,0
$GC,14306,-0.71,-116.7,972.7,-7.1,628,14311,0.05,2.08,0.00,0.000,6,0.156,0.028,2530,2304,3465,0,0,0,0,0,0
$STATE,14597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14597,begin apogee
$GC,14603,-0.24,0.0,990.5,6.0,633,14704,0.50,0.00,98.10,1.554,6,0.168,0.000,2680,2663,3006,0,0,0,0,0,0
$STATE,14705,end apogee,CONTROL_FINISHED_OK
$STATE,14705,begin climb
$GC,14707,0.80,116.7,992.1,0.0,634,14822,1.10,2.38,106.60,1.457,4,0.118,0.046,3018,4041,2529,0,0,0,0,0,0
$GC,14861,0.54,116.7,986.1,9.3,637,14866,0.35,2.22,0.00,0.000,6,0.182,0.027,2942,2649,2524,0,0,0,0,0,0
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$STATE,27700,end climb,SURFACE_DEPTH_REACHED
$STATE,27701,begin surface coast
$FINISH,2.8,1.027240
$STATE,27742,end surface coast,CONTROL_FINISHED_OK
$STATE,27742,begin surface
$SM_CCo,27759,260.10,0.748,0,0,550,602.46
$SM_GC,3.28,0.00,0.00,260.10,0.000,0.000,0.748,213,2258,550,-7.98,-1.22,602.46
$IRIDIUM_FIX,6421.40,-20.19,090299,151527
$TT8_MAMPS,0.027612
$HUMID,1078265152
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,14.50
$XPDR_PINGS,2
$24V_AH,22.6,27.074
$10V_AH,10.1,17.114
$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,21.975,220.425,351.200,260.100,0.000,27.898,37.132,189.380,0.500,0.000,15.618,2561.473,21367.941,816.298,3084.411,563.505,0.000,2351.473,0.000,3048.469,0.000,0.534,0.000
$DEVICE_MAMPS,211.692,53.690,1553.942,747.825,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,844.527,1104.791,682.668,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241408
$DATA_FILE_SIZE,69668,1223
$CAP_FILE_SIZE,236100,0
$CFSIZE,260165632,242266112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,243.1,1
$GPS,161109,071506,6444.289,-18.705,42,1.1,42,-5.4