version: 66.06
glider: 140
mission: 8
dive: 235
start: 12 10 109 5 28 55
data:
$ID,140
$MISSION,8
$DIVE,235
$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,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,-48633.129
$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,65
$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
$GPS1,052137,6414.028,120.768,31,1.4,32,-4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.67
$_SM_ANGLEo,-63.7
$GPS2,052834,6414.074,120.921,14,2.2,33,-4.3
$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,315.5,146022,-13.7,-6.875
$D_GRID,2393
$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,-116.7,0.0,0.0,0,25,0.00,0.00,-7.60,0.000,2,0.000,0.000,218,2282,2041,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.9,-0.0,1,122,9.20,2.10,-78.50,0.000,4,0.242,0.048,2500,912,3480,0,0,0,0,0,0
$GC,372,-0.66,-116.7,26.5,-9.9,62,380,0.15,2.12,0.00,0.000,6,0.164,0.029,2546,2305,3482,0,0,0,0,0,0
$GC,710,-0.66,-116.7,52.4,-7.1,123,716,0.00,2.10,0.00,0.000,4,0.000,0.035,2546,908,3482,0,0,0,0,0,0
$GC,810,-0.66,-116.7,61.9,-10.2,141,816,0.00,2.08,0.00,0.000,6,0.000,0.028,2546,2303,3482,0,0,0,0,0,0
$GC,1152,-0.66,-116.7,88.7,-7.5,202,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2303,3483,0,0,0,0,0,0
$GC,1495,-0.66,-116.7,114.8,-8.0,263,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2303,3484,0,0,0,0,0,0
$GC,1829,-0.66,-116.7,141.2,-7.7,288,1833,0.00,2.10,0.00,0.000,4,0.000,0.041,2547,3706,3483,0,0,0,0,0,0
$GC,1872,-0.66,-116.7,144.7,-7.5,290,1876,0.00,2.05,0.00,0.000,6,0.000,0.023,2546,2292,3484,0,0,0,0,0,0
$GC,2198,-0.66,-116.7,169.8,-7.4,306,2202,0.00,2.03,0.00,0.000,4,0.000,0.035,2546,910,3484,0,0,0,0,0,0
$GC,2247,-0.66,-116.7,173.9,-8.2,308,2252,0.00,2.08,0.00,0.000,6,0.000,0.028,2547,2306,3484,0,0,0,0,0,0
$GC,2575,-0.66,-116.7,198.1,-7.4,324,2579,0.00,2.05,0.00,0.000,4,0.000,0.040,2546,3698,3484,0,0,0,0,0,0
$GC,2665,-0.66,-116.7,204.9,-7.8,328,2669,0.00,2.00,0.00,0.000,6,0.000,0.023,2546,2292,3484,0,0,0,0,0,0
$GC,2997,-0.66,-116.7,228.0,-7.2,344,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2286,3484,0,0,0,0,0,0
$GC,3306,-0.66,-116.7,251.2,-7.3,359,3310,0.00,2.15,0.00,0.000,4,0.000,0.040,2547,3705,3485,0,0,0,0,0,0
$GC,3373,-0.66,-116.7,256.5,-7.8,362,3377,0.00,2.00,0.00,0.000,6,0.000,0.023,2546,2300,3484,0,0,0,0,0,0
$GC,3706,-0.66,-116.7,280.6,-6.8,378,3709,0.00,2.03,0.00,0.000,4,0.000,0.035,2546,915,3484,0,0,0,0,0,0
$GC,3755,-0.66,-116.7,284.5,-7.2,380,3759,0.00,2.08,0.00,0.000,6,0.000,0.028,2546,2304,3484,0,0,0,0,0,0
$GC,4070,-0.66,-116.7,306.8,-7.0,394,4074,0.00,2.05,0.00,0.000,4,0.000,0.035,2547,921,3484,0,0,0,0,0,0
$GC,4137,-0.66,-116.7,311.7,-7.6,396,4141,0.00,2.08,0.00,0.000,6,0.000,0.028,2546,2305,3484,0,0,0,0,0,0
$GC,4472,-0.66,-116.7,333.7,-6.6,407,4476,0.00,2.08,0.00,0.000,4,0.000,0.041,2546,3698,3483,0,0,0,0,0,0
$GC,4583,-0.69,-116.7,341.5,-7.0,410,4587,0.00,2.00,0.00,0.000,6,0.000,0.024,2546,2290,3484,0,0,0,0,0,0
$GC,4906,-0.69,-116.7,363.8,-7.0,421,4910,0.00,2.12,0.00,0.000,4,0.000,0.041,2546,3697,3483,0,0,0,0,0,0
$GC,4968,-0.74,-116.7,368.2,-7.3,423,4972,0.00,2.00,0.00,0.000,6,0.000,0.024,2547,2298,3483,0,0,0,0,0,0
$GC,5308,-0.74,-116.7,392.8,-7.2,434,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2293,3483,0,0,0,0,0,0
$GC,5614,-0.74,-116.7,414.7,-7.3,444,5618,0.00,2.12,0.00,0.000,4,0.000,0.041,2546,3697,3481,0,0,0,0,0,0
$GC,5676,-0.77,-116.7,419.2,-7.1,446,5679,0.00,2.00,0.00,0.000,6,0.000,0.025,2546,2301,3481,0,0,0,0,0,0
$GC,6016,-0.77,-116.7,443.6,-7.1,457,6019,0.00,2.12,0.00,0.000,4,0.000,0.041,2547,3697,3480,0,0,0,0,0,0
$GC,6078,-0.81,-116.7,448.1,-7.1,459,6083,0.12,2.00,0.00,0.000,6,0.140,0.025,2507,2296,3480,0,0,0,0,0,0
$GC,6412,-0.75,-116.7,476.6,-8.5,470,6416,0.00,2.03,0.00,0.000,4,0.000,0.038,2507,927,3479,0,0,0,0,0,0
$GC,6473,-0.67,-116.7,482.2,-8.9,471,6480,0.08,2.05,0.00,0.000,6,0.170,0.030,2542,2296,3479,0,0,0,0,0,0
$GC,6817,-0.67,-116.7,506.2,-6.9,482,6821,0.00,2.10,0.00,0.000,4,0.000,0.042,2542,3705,3478,0,0,0,0,0,0
$GC,6889,-0.70,-116.7,511.5,-7.2,483,6893,0.00,2.03,0.00,0.000,6,0.000,0.025,2542,2294,3477,0,0,0,0,0,0
$GC,7248,-0.70,-116.7,536.7,-7.0,489,7249,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2294,3476,0,0,0,0,0,0
$GC,7552,-0.70,-116.7,557.6,-6.9,494,7556,0.00,2.15,0.00,0.000,4,0.000,0.043,2542,3704,3476,0,0,0,0,0,0
$GC,7653,-0.74,-116.7,564.5,-6.9,495,7657,0.00,2.03,0.00,0.000,6,0.000,0.025,2542,2294,3475,0,0,0,0,0,0
$GC,7979,-0.74,-116.7,587.2,-7.0,501,7982,0.00,2.15,0.00,0.000,4,0.000,0.043,2542,3697,3474,0,0,0,0,0,0
$GC,8051,-0.77,-116.7,592.5,-7.3,502,8055,0.00,2.03,0.00,0.000,6,0.000,0.025,2542,2293,3474,0,0,0,0,0,0
$GC,8416,-0.77,-116.7,617.9,-6.9,508,8420,0.00,2.15,0.00,0.000,4,0.000,0.043,2543,3704,3473,0,0,0,0,0,0
$GC,8488,-0.81,-116.7,622.7,-6.9,509,8493,0.12,2.03,0.00,0.000,6,0.143,0.026,2502,2295,3473,0,0,0,0,0,0
$GC,8842,-0.75,-116.7,651.1,-8.1,515,8846,0.00,2.05,0.00,0.000,4,0.000,0.038,2502,913,3472,0,0,0,0,0,0
$GC,8898,-0.67,-116.7,656.2,-9.6,515,8904,0.10,2.10,0.00,0.000,6,0.150,0.031,2546,2301,3472,0,0,0,0,0,0
$GC,9208,-0.71,-116.7,676.4,-6.5,521,9212,0.00,2.10,0.00,0.000,4,0.000,0.044,2546,3704,3471,0,0,0,0,0,0
$GC,9286,-0.75,-116.7,681.8,-6.8,522,9290,0.00,2.03,0.00,0.000,6,0.000,0.026,2546,2297,3471,0,0,0,0,0,0
$GC,9639,-0.80,-116.7,705.4,-6.8,528,9644,0.12,2.17,0.00,0.000,4,0.142,0.044,2506,3706,3470,0,0,0,0,0,0
$GC,9723,-0.76,-116.7,712.2,-8.2,529,9726,0.00,2.03,0.00,0.000,6,0.000,0.026,2506,2304,3469,0,0,0,0,0,0
$GC,10077,-0.71,-116.7,740.3,-7.9,535,10079,0.10,0.00,0.00,0.000,6,0.200,0.000,2528,2300,3469,0,0,0,0,0,0
$GC,10380,-0.71,-116.7,761.6,-7.0,540,10384,0.00,2.17,0.00,0.000,4,0.000,0.044,2529,3705,3468,0,0,0,0,0,0
$GC,10423,-0.71,-116.7,765.0,-7.3,540,10428,0.00,2.08,0.00,0.000,6,0.000,0.026,2529,2305,3469,0,0,0,0,0,0
$GC,10744,-0.71,-116.7,787.1,-7.0,546,10745,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2304,3468,0,0,0,0,0,0
$GC,11048,-0.71,-116.7,807.9,-6.8,551,11052,0.00,2.15,0.00,0.000,4,0.000,0.044,2529,3709,3468,0,0,0,0,0,0
$GC,11125,-0.71,-116.7,813.4,-7.3,552,11129,0.00,2.10,0.00,0.000,6,0.000,0.026,2529,2293,3468,0,0,0,0,0,0
$GC,11479,-0.71,-116.7,837.0,-6.7,558,11480,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2293,3467,0,0,0,0,0,0
$GC,11783,-0.71,-116.7,856.6,-6.4,563,11787,0.00,2.15,0.00,0.000,4,0.000,0.044,2529,3700,3467,0,0,0,0,0,0
$GC,11866,-0.71,-116.7,862.2,-6.3,564,11870,0.00,2.08,0.00,0.000,6,0.000,0.027,2529,2298,3466,0,0,0,0,0,0
$GC,12215,-0.71,-116.7,884.5,-6.4,570,12219,0.00,2.15,0.00,0.000,4,0.000,0.044,2529,3705,3466,0,0,0,0,0,0
$GC,12270,-0.71,-116.7,888.3,-7.1,570,12275,0.00,2.08,0.00,0.000,6,0.000,0.027,2529,2309,3465,0,0,0,0,0,0
$GC,12585,-0.71,-116.7,908.0,-6.2,576,12586,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2308,3466,0,0,0,0,0,0
$GC,12888,-0.71,-116.7,927.0,-6.2,581,12892,0.00,2.15,0.00,0.000,4,0.000,0.044,2529,3708,3465,0,0,0,0,0,0
$GC,12983,-0.71,-116.7,933.2,-6.4,582,12987,0.00,2.05,0.00,0.000,6,0.000,0.027,2529,2298,3465,0,0,0,0,0,0
$GC,13326,-0.71,-116.7,953.9,-6.0,588,13330,0.00,2.15,0.00,0.000,4,0.000,0.044,2529,3699,3465,0,0,0,0,0,0
$GC,13387,-0.71,-116.7,957.7,-6.5,589,13391,0.00,2.05,0.00,0.000,6,0.000,0.027,2529,2291,3465,0,0,0,0,0,0
$GC,13758,-0.71,-116.7,979.7,-6.0,595,13762,0.00,2.17,0.00,0.000,4,0.000,0.044,2529,3708,3464,0,0,0,0,0,0
$GC,13813,-0.74,-116.7,983.0,-5.8,595,13818,0.00,2.05,0.00,0.000,6,0.000,0.028,2529,2301,3464,0,0,0,0,0,0
$STATE,13938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13938,begin apogee
$GC,13943,-0.24,0.0,990.3,5.7,598,14046,0.52,0.00,99.57,1.548,6,0.166,0.000,2685,2656,3006,0,0,0,0,0,0
$STATE,14047,end apogee,CONTROL_FINISHED_OK
$STATE,14047,begin climb
$GC,14049,0.80,116.7,991.6,0.0,599,14166,1.08,2.42,107.82,1.450,4,0.110,0.046,3017,4032,2530,0,0,0,0,0,0
$GC,14267,0.56,116.7,979.3,10.4,603,14272,0.30,2.17,0.00,0.000,6,0.173,0.026,2952,2649,2522,0,0,0,0,0,0
$GC,14615,0.53,116.7,954.7,7.0,609,14616,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2649,2519,0,0,0,0,0,0
$GC,14919,0.49,116.7,933.5,7.0,614,14923,0.00,2.17,0.00,0.000,4,0.000,0.046,2951,4041,2518,0,0,0,0,0,0
$GC,14929,0.45,116.7,932.8,7.0,614,14934,0.17,2.12,0.00,0.000,6,0.182,0.028,2915,2638,2518,0,0,0,0,0,0
$GC,15283,0.51,133.9,910.8,6.2,620,15300,0.00,0.00,14.45,1.441,6,0.000,0.000,2915,2638,2460,0,0,0,0,0,0
$GC,15587,0.58,143.7,891.3,6.5,625,15600,0.10,0.00,10.35,1.378,6,0.134,0.000,2950,2637,2420,0,0,0,0,0,0
$GC,15889,0.58,143.7,869.1,7.3,630,15890,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2637,2417,0,0,0,0,0,0
$GC,16192,0.58,143.7,847.3,7.2,635,16196,0.00,2.17,0.00,0.000,4,0.000,0.046,2950,4040,2416,0,0,0,0,0,0
$GC,16208,0.54,143.7,845.9,7.3,635,16212,0.00,2.08,0.00,0.000,6,0.000,0.028,2959,2642,2416,0,0,0,0,0,0
$GC,16556,0.54,143.7,820.3,7.3,641,16560,0.00,2.17,0.00,0.000,4,0.000,0.045,2953,4047,2416,0,0,0,0,0,0
$GC,16572,0.50,143.7,819.0,7.3,641,16577,0.12,2.10,0.00,0.000,6,0.185,0.028,2932,2627,2416,0,0,0,0,0,0
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$GC,25902,0.78,261.5,66.1,11.0,983,25907,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2660,1926,0,0,0,0,0,0
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$STATE,26518,end climb,SURFACE_DEPTH_REACHED
$STATE,26519,begin surface coast
$FINISH,2.9,1.014386
$STATE,26557,end surface coast,CONTROL_FINISHED_OK
$STATE,26557,begin surface
$SM_CCo,26573,9.75,0.811,0,0,1884,275.23
$SM_GC,4.49,0.00,0.00,9.75,0.000,0.000,0.811,219,2255,1884,-7.96,-1.27,275.23
$IRIDIUM_FIX,6346.88,128.89,050399,212122
$TT8_MAMPS,0.027612
$HUMID,1078381281
$INTERNAL_PRESSURE,8.26204
$TCM_TEMP,19.80
$XPDR_PINGS,1
$24V_AH,22.4,38.992
$10V_AH,9.8,25.795
$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,21.975,181.450,355.100,9.750,0.000,30.672,34.726,199.781,0.250,0.000,34.949,2326.585,20869.928,525.904,2710.132,557.477,0.000,1855.448,0.000,2665.092,0.000,0.534,0.000
$DEVICE_MAMPS,242.372,48.321,1547.806,810.719,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,761.605,1005.365,576.879,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241380
$DATA_FILE_SIZE,63199,1102
$CAP_FILE_SIZE,208983,0
$CFSIZE,260165632,235458560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.046, 84.5,1
$GPS,101209,125307,6416.275,117.045,30,1.9,31,-4.4