version: 66.06
glider: 140
mission: 8
dive: 118
start: 11 3 109 14 26 1
data:
$ID,140
$MISSION,8
$DIVE,118
$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,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,-46474.816
$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,82
$R_STBD_OVSHOOT,50
$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
$GPS1,142007,6340.732,154.828,39,1.1,40,-3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.19
$_SM_ANGLEo,-61.3
$GPS2,142538,6340.755,154.867,10,1.4,10,-3.9
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,OFFSHORE
$TGT_LATLONG,6506.000,-100.000
$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,323.1,208606,-13.7,-6.875
$D_GRID,1517
$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,15,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-7.22,0.000,2,0.000,0.000,221,2268,2033,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.2,-0.0,1,118,8.98,2.20,-76.25,0.000,4,0.245,0.053,2499,3705,3482,0,0,0,0,0,0
$GC,369,-0.66,-116.7,31.1,-12.0,62,376,0.15,2.05,0.00,0.000,6,0.174,0.023,2545,2291,3483,0,0,0,0,0,0
$GC,709,-0.61,-116.7,58.5,-8.2,123,715,0.00,2.12,0.00,0.000,4,0.000,0.041,2545,3699,3484,0,0,0,0,0,0
$GC,873,-0.56,-116.7,72.2,-8.4,133,878,0.12,1.98,0.00,0.000,6,0.189,0.023,2579,2292,3485,0,0,0,0,0,0
$GC,1195,-0.56,-116.7,95.0,-6.6,149,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2291,3485,0,0,0,0,0,0
$GC,1504,-0.60,-116.7,115.6,-6.4,164,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2291,3485,0,0,0,0,0,0
$GC,1814,-0.64,-116.7,135.1,-6.8,179,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2291,3485,0,0,0,0,0,0
$GC,2123,-0.68,-116.7,154.7,-5.7,194,2127,0.00,2.12,0.00,0.000,4,0.000,0.041,2579,3708,3485,0,0,0,0,0,0
$GC,2195,-0.74,-116.7,158.9,-5.4,197,2199,0.15,1.98,0.00,0.000,6,0.125,0.023,2529,2300,3485,0,0,0,0,0,0
$GC,2516,-0.67,-116.7,183.3,-7.9,213,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2298,3485,0,0,0,0,0,0
$GC,2824,-0.61,-116.7,209.1,-8.4,228,2826,0.12,0.00,0.00,0.000,6,0.193,0.000,2561,2296,3485,0,0,0,0,0,0
$GC,3133,-0.61,-116.7,230.4,-6.9,243,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2296,3486,0,0,0,0,0,0
$GC,3443,-0.61,-116.7,250.9,-6.6,258,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2296,3486,0,0,0,0,0,0
$GC,3752,-0.61,-116.7,272.5,-7.3,273,3755,0.00,2.10,0.00,0.000,4,0.000,0.041,2561,3700,3486,0,0,0,0,0,0
$GC,3801,-0.61,-116.7,276.3,-7.3,275,3805,0.00,2.00,0.00,0.000,6,0.000,0.023,2561,2297,3485,0,0,0,0,0,0
$GC,4122,-0.61,-116.7,298.5,-6.5,291,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2297,3485,0,0,0,0,0,0
$GC,4440,-0.61,-116.7,317.4,-5.7,302,4443,0.00,2.10,0.00,0.000,4,0.000,0.041,2561,3706,3485,0,0,0,0,0,0
$GC,4546,-0.64,-116.7,323.4,-5.9,305,4550,0.00,1.98,0.00,0.000,6,0.000,0.024,2561,2302,3485,0,0,0,0,0,0
$GC,4875,-0.64,-116.7,343.3,-6.6,316,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2296,3485,0,0,0,0,0,0
$GC,5181,-0.64,-116.7,363.8,-6.8,326,5185,0.00,2.10,0.00,0.000,4,0.000,0.041,2561,3706,3486,0,0,0,0,0,0
$GC,5244,-0.69,-116.7,368.0,-7.1,328,5247,0.00,1.98,0.00,0.000,6,0.000,0.024,2561,2301,3485,0,0,0,0,0,0
$GC,5584,-0.69,-116.7,389.9,-6.3,339,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2298,3485,0,0,0,0,0,0
$GC,5890,-0.72,-116.7,407.7,-5.8,349,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2297,3485,0,0,0,0,0,0
$GC,6197,-0.75,-116.7,427.3,-6.5,359,6201,0.12,2.12,0.00,0.000,4,0.136,0.042,2519,3706,3484,0,0,0,0,0,0
$GC,6293,-0.70,-116.7,434.7,-7.9,362,6296,0.00,1.98,0.00,0.000,6,0.000,0.025,2519,2306,3484,0,0,0,0,0,0
$GC,6633,-0.64,-116.7,461.4,-7.7,373,6637,0.12,2.03,0.00,0.000,4,0.194,0.037,2552,922,3483,0,0,0,0,0,0
$GC,6728,-0.64,-116.7,467.8,-6.1,376,6732,0.00,2.03,0.00,0.000,6,0.000,0.029,2552,2312,3483,0,0,0,0,0,0
$GC,7062,-0.64,-116.7,488.9,-6.4,387,7066,0.00,2.03,0.00,0.000,4,0.000,0.041,2552,3697,3482,0,0,0,0,0,0
$GC,7139,-0.64,-116.7,494.0,-6.9,389,7143,0.00,2.03,0.00,0.000,6,0.000,0.025,2552,2286,3482,0,0,0,0,0,0
$GC,7497,-0.64,-116.7,516.3,-6.2,397,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2285,3481,0,0,0,0,0,0
$GC,7800,-0.64,-116.7,535.0,-6.1,402,7802,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2285,3481,0,0,0,0,0,0
$GC,8103,-0.64,-116.7,554.1,-6.3,407,8107,0.00,2.12,0.00,0.000,4,0.000,0.043,2552,3705,3479,0,0,0,0,0,0
$GC,8186,-0.68,-116.7,559.3,-6.2,408,8190,0.00,1.98,0.00,0.000,6,0.000,0.025,2552,2301,3478,0,0,0,0,0,0
$GC,8535,-0.68,-116.7,579.6,-5.9,414,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2300,3478,0,0,0,0,0,0
$GC,8838,-0.68,-116.7,597.3,-5.8,419,8841,0.00,2.12,0.00,0.000,4,0.000,0.044,2552,3698,3476,0,0,0,0,0,0
$GC,8904,-0.71,-116.7,601.4,-6.1,420,8908,0.00,2.00,0.00,0.000,6,0.000,0.026,2552,2293,3476,0,0,0,0,0,0
$GC,9270,-0.71,-116.7,622.4,-5.8,426,9271,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2292,3475,0,0,0,0,0,0
$GC,9573,-0.71,-116.7,640.7,-6.1,431,9576,0.00,2.10,0.00,0.000,4,0.000,0.044,2552,3695,3474,0,0,0,0,0,0
$GC,9662,-0.74,-116.7,646.5,-6.7,432,9666,0.00,1.98,0.00,0.000,6,0.000,0.026,2552,2303,3474,0,0,0,0,0,0
$GC,10005,-0.74,-116.7,669.7,-6.9,438,10009,0.00,2.10,0.00,0.000,4,0.000,0.044,2552,3695,3473,0,0,0,0,0,0
$GC,10066,-0.78,-116.7,674.2,-6.8,438,10072,0.12,2.00,0.00,0.000,6,0.138,0.026,2513,2293,3473,0,0,0,0,0,0
$GC,10375,-0.73,-116.7,699.9,-8.4,444,10379,0.00,2.03,0.00,0.000,4,0.000,0.040,2513,917,3472,0,0,0,0,0,0
$GC,10430,-0.65,-116.7,705.0,-9.4,444,10435,0.08,2.08,0.00,0.000,6,0.161,0.031,2549,2299,3471,0,0,0,0,0,0
$GC,10745,-0.65,-116.7,727.3,-7.1,450,10749,0.00,2.08,0.00,0.000,4,0.000,0.044,2549,3702,3471,0,0,0,0,0,0
$GC,10845,-0.69,-116.7,734.9,-7.4,451,10849,0.00,2.00,0.00,0.000,6,0.000,0.026,2550,2295,3471,0,0,0,0,0,0
$GC,11176,-0.69,-116.7,758.6,-7.2,457,11180,0.00,2.12,0.00,0.000,4,0.000,0.044,2549,3707,3470,0,0,0,0,0,0
$GC,11239,-0.72,-116.7,763.2,-7.3,458,11243,0.00,2.00,0.00,0.000,6,0.000,0.028,2549,2309,3470,0,0,0,0,0,0
$GC,11609,-0.72,-116.7,790.1,-7.3,464,11613,0.00,2.10,0.00,0.000,4,0.000,0.044,2549,3701,3469,0,0,0,0,0,0
$GC,11664,-0.76,-116.7,794.4,-7.6,464,11669,0.00,2.05,0.00,0.000,6,0.000,0.027,2549,2300,3469,0,0,0,0,0,0
$GC,11980,-0.79,-116.7,817.5,-7.4,470,11985,0.12,2.15,0.00,0.000,4,0.138,0.045,2509,3709,3468,0,0,0,0,0,0
$GC,12035,-0.74,-116.7,822.2,-8.1,470,12041,0.00,2.08,0.00,0.000,6,0.000,0.028,2509,2301,3468,0,0,0,0,0,0
$GC,12344,-0.68,-116.7,847.7,-8.2,476,12346,0.12,0.00,0.00,0.000,6,0.202,0.000,2540,2298,3467,0,0,0,0,0,0
$GC,12647,-0.68,-116.7,868.4,-6.8,481,12651,0.00,2.12,0.00,0.000,4,0.000,0.045,2540,3707,3467,0,0,0,0,0,0
$GC,12725,-0.68,-116.7,873.6,-6.6,482,12729,0.00,2.08,0.00,0.000,6,0.000,0.028,2541,2293,3467,0,0,0,0,0,0
$GC,13079,-0.68,-116.7,896.8,-6.6,488,13080,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2292,3466,0,0,0,0,0,0
$GC,13382,-0.68,-116.7,916.1,-6.3,493,13386,0.00,2.12,0.00,0.000,4,0.000,0.045,2541,3699,3466,0,0,0,0,0,0
$GC,13488,-0.68,-116.7,923.0,-6.8,494,13492,0.00,2.05,0.00,0.000,6,0.000,0.027,2541,2294,3466,0,0,0,0,0,0
$GC,13814,-0.68,-116.7,942.7,-6.1,500,13818,0.00,2.12,0.00,0.000,4,0.000,0.045,2541,3701,3465,0,0,0,0,0,0
$GC,13869,-0.68,-116.7,946.4,-6.1,500,13876,0.00,2.05,0.00,0.000,6,0.000,0.027,2541,2302,3465,0,0,0,0,0,0
$GC,14180,-0.68,-116.7,965.1,-6.0,506,14181,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2302,3464,0,0,0,0,0,0
$GC,14482,-0.68,-116.7,983.7,-6.2,511,14486,0.00,2.12,0.00,0.000,4,0.000,0.045,2541,3708,3464,0,0,0,0,0,0
$GC,14565,-0.68,-116.7,989.2,-6.7,512,14569,0.00,2.08,0.00,0.000,6,0.000,0.028,2541,2296,3464,0,0,0,0,0,0
$STATE,14578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14578,begin apogee
$GC,14583,-0.24,0.0,990.3,6.5,512,14684,0.45,0.00,97.28,1.560,6,0.176,0.000,2678,2656,3006,0,0,0,0,0,0
$STATE,14685,end apogee,CONTROL_FINISHED_OK
$STATE,14685,begin climb
$GC,14687,0.80,116.7,993.2,0.0,514,14800,1.08,2.35,104.78,1.461,4,0.119,0.050,3015,4036,2528,0,0,0,0,0,0
$GC,14879,0.55,116.7,983.7,9.1,517,14884,0.32,2.17,0.00,0.000,6,0.186,0.027,2945,2649,2521,0,0,0,0,0,0
$GC,15239,0.53,128.7,960.3,6.4,523,15254,0.00,2.25,10.00,1.371,4,0.000,0.048,2939,4048,2481,0,0,0,0,0,0
$GC,15276,0.47,138.7,957.7,6.5,523,15292,0.12,2.12,10.57,1.301,6,0.192,0.028,2919,2647,2440,0,0,0,0,0,0
$GC,15595,0.53,162.2,938.8,5.9,528,15619,0.00,0.00,21.90,1.430,6,0.000,0.000,2919,2647,2344,0,0,0,0,0,0
$GC,15899,0.61,183.4,920.7,6.0,533,15921,0.12,0.00,19.60,1.420,6,0.123,0.000,2962,2645,2258,0,0,0,0,0,0
$GC,16202,0.61,183.4,897.3,7.8,538,16203,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2644,2253,0,0,0,0,0,0
$GC,16504,0.61,183.4,873.6,7.8,543,16508,0.00,2.17,0.00,0.000,4,0.000,0.047,2962,4050,2251,0,0,0,0,0,0
$GC,16519,0.56,183.4,872.3,7.7,543,16524,0.00,2.10,0.00,0.000,6,0.000,0.028,2971,2650,2251,0,0,0,0,0,0
$GC,16868,0.52,183.4,844.6,7.9,549,16873,0.15,2.15,0.00,0.000,4,0.191,0.047,2927,4042,2250,0,0,0,0,0,0
$GC,16912,0.53,184.6,841.3,6.8,549,16916,0.00,2.05,0.00,0.000,6,0.000,0.028,2936,2641,2250,0,0,0,0,0,0
$GC,17232,0.57,191.7,820.1,6.6,555,17242,0.00,0.00,7.82,1.340,6,0.000,0.000,2936,2640,2224,0,0,0,0,0,0
$GC,17536,0.61,194.0,799.7,6.8,560,17537,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2640,2222,0,0,0,0,0,0
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$STATE,27170,end climb,SURFACE_DEPTH_REACHED
$STATE,27170,begin surface coast
$FINISH,2.5,1.013069
$STATE,27209,end surface coast,CONTROL_FINISHED_OK
$STATE,27209,begin surface
$SM_CCo,27226,21.92,0.770,0,0,1883,275.23
$SM_GC,3.07,0.00,0.00,21.92,0.000,0.000,0.770,215,2250,1883,-7.97,-1.41,275.23
$IRIDIUM_FIX,6313.04,156.16,280199,060650
$TT8_MAMPS,0.027612
$HUMID,1078338700
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,15.00
$XPDR_PINGS,1
$24V_AH,22.8,20.690
$10V_AH,10.1,12.966
$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
$DEVICE_SECS,22.175,167.650,329.075,21.925,0.000,28.542,32.907,155.333,0.250,0.000,10.897,2077.955,22157.814,491.340,2377.794,469.060,0.000,1695.110,0.000,2349.517,0.000,0.536,0.000
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$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,652.760,966.186,518.934,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235212
$DATA_FILE_SIZE,53889,945
$CAP_FILE_SIZE,202233,0
$CFSIZE,260165632,245555200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.038,105.3,1
$GPS,031109,220125,6343.042,151.660,38,1.7,39,-3.9