version: 66.06
glider: 140
mission: 8
dive: 231
start: 12 8 109 22 29 49
data:
$ID,140
$MISSION,8
$DIVE,231
$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,-48548.492
$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,45
$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
$GPS1,221101,6402.696,137.521,40,1.9,41,-4.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.48
$_SM_ANGLEo,-56.7
$GPS2,222901,6402.802,137.704,14,2.0,31,-4.1
$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,317.7,169767,-13.7,-6.875
$D_GRID,2138
$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,-6.90,0.000,2,0.000,0.000,219,2280,2027,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.4,-0.0,1,121,8.93,2.10,-78.10,0.000,4,0.233,0.052,2502,917,3482,0,0,0,0,0,0
$GC,373,-0.68,-116.7,34.6,-9.2,63,380,0.15,2.08,0.00,0.000,6,0.192,0.028,2541,2311,3483,0,0,0,0,0,0
$GC,713,-0.64,-116.7,64.5,-9.8,124,719,0.00,2.12,0.00,0.000,4,0.000,0.034,2541,922,3484,0,0,0,0,0,0
$GC,922,-0.60,-116.7,81.8,-8.5,161,928,0.10,2.05,0.00,0.000,6,0.202,0.028,2567,2310,3484,0,0,0,0,0,0
$GC,1264,-0.60,-116.7,103.1,-5.9,222,1270,0.00,2.08,0.00,0.000,4,0.000,0.040,2567,3696,3484,0,0,0,0,0,0
$GC,1305,-0.63,-116.7,105.5,-6.3,229,1311,0.00,2.00,0.00,0.000,6,0.000,0.023,2567,2289,3484,0,0,0,0,0,0
$GC,1656,-0.67,-116.7,127.3,-7.0,278,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2288,3485,0,0,0,0,0,0
$GC,1967,-0.70,-116.7,149.8,-7.3,293,1971,0.00,2.12,0.00,0.000,4,0.000,0.040,2567,3697,3485,0,0,0,0,0,0
$GC,2029,-0.75,-116.7,154.6,-7.2,296,2034,0.15,1.98,0.00,0.000,6,0.123,0.023,2518,2295,3484,0,0,0,0,0,0
$GC,2357,-0.68,-116.7,182.0,-8.5,312,2360,0.00,2.00,0.00,0.000,4,0.000,0.034,2518,936,3484,0,0,0,0,0,0
$GC,2463,-0.60,-116.7,192.4,-9.6,316,2470,0.15,2.05,0.00,0.000,6,0.168,0.028,2563,2302,3484,0,0,0,0,0,0
$GC,2780,-0.60,-116.7,214.6,-6.7,332,2784,0.00,2.08,0.00,0.000,4,0.000,0.040,2564,3697,3484,0,0,0,0,0,0
$GC,2887,-0.65,-116.7,221.8,-6.3,337,2891,0.00,1.98,0.00,0.000,6,0.000,0.023,2563,2302,3484,0,0,0,0,0,0
$GC,3219,-0.69,-116.7,244.4,-7.3,353,3223,0.00,2.12,0.00,0.000,4,0.000,0.040,2564,3704,3485,0,0,0,0,0,0
$GC,3274,-0.74,-116.7,248.4,-7.5,355,3281,0.12,2.00,0.00,0.000,6,0.130,0.023,2524,2286,3484,0,0,0,0,0,0
$GC,3589,-0.69,-116.7,275.3,-8.7,371,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2286,3484,0,0,0,0,0,0
$GC,3899,-0.64,-116.7,300.2,-7.9,386,3903,0.12,2.00,0.00,0.000,4,0.191,0.035,2555,933,3484,0,0,0,0,0,0
$GC,3975,-0.64,-116.7,306.2,-7.7,388,3980,0.00,2.03,0.00,0.000,6,0.000,0.027,2555,2300,3484,0,0,0,0,0,0
$GC,4299,-0.64,-116.7,328.4,-6.6,399,4303,0.00,2.08,0.00,0.000,4,0.000,0.040,2556,3695,3484,0,0,0,0,0,0
$GC,4378,-0.69,-116.7,333.4,-6.1,401,4382,0.00,1.95,0.00,0.000,6,0.000,0.023,2555,2306,3484,0,0,0,0,0,0
$GC,4707,-0.72,-116.7,354.4,-6.3,412,4711,0.00,2.10,0.00,0.000,4,0.000,0.040,2555,3697,3484,0,0,0,0,0,0
$GC,4758,-0.77,-116.7,357.5,-5.9,413,4762,0.12,1.98,0.00,0.000,6,0.135,0.023,2515,2292,3484,0,0,0,0,0,0
$GC,5070,-0.72,-116.7,381.4,-8.4,423,5073,0.00,2.00,0.00,0.000,4,0.000,0.035,2515,928,3484,0,0,0,0,0,0
$GC,5119,-0.65,-116.7,386.0,-8.9,424,5124,0.08,2.05,0.00,0.000,6,0.150,0.028,2552,2299,3483,0,0,0,0,0,0
$GC,5442,-0.65,-116.7,407.2,-6.2,435,5446,0.00,2.10,0.00,0.000,4,0.000,0.041,2552,3708,3484,0,0,0,0,0,0
$GC,5515,-0.69,-116.7,411.8,-6.3,437,5519,0.00,2.00,0.00,0.000,6,0.000,0.024,2552,2303,3483,0,0,0,0,0,0
$GC,5845,-0.73,-116.7,431.9,-6.3,448,5849,0.00,2.03,0.00,0.000,4,0.000,0.035,2552,929,3483,0,0,0,0,0,0
$GC,5900,-0.73,-116.7,436.0,-7.4,449,5904,0.00,2.05,0.00,0.000,6,0.000,0.028,2552,2306,3483,0,0,0,0,0,0
$GC,6219,-0.76,-116.7,455.8,-6.0,460,6223,0.00,2.08,0.00,0.000,4,0.000,0.041,2553,3700,3482,0,0,0,0,0,0
$GC,6292,-0.81,-116.7,460.5,-6.2,462,6297,0.15,2.00,0.00,0.000,6,0.124,0.024,2503,2286,3482,0,0,0,0,0,0
$GC,6615,-0.74,-116.7,488.8,-9.2,473,6616,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2285,3481,0,0,0,0,0,0
$GC,6950,-0.67,-116.7,516.2,-8.0,481,6952,0.15,0.00,0.00,0.000,6,0.179,0.000,2541,2282,3480,0,0,0,0,0,0
$GC,7253,-0.67,-116.7,535.7,-6.4,486,7257,0.00,2.17,0.00,0.000,4,0.000,0.041,2541,3705,3480,0,0,0,0,0,0
$GC,7325,-0.70,-116.7,540.7,-7.1,487,7329,0.00,2.05,0.00,0.000,6,0.000,0.025,2542,2308,3479,0,0,0,0,0,0
$GC,7685,-0.70,-116.7,564.3,-6.6,493,7689,0.00,2.12,0.00,0.000,4,0.000,0.042,2542,3698,3477,0,0,0,0,0,0
$GC,7752,-0.74,-116.7,569.1,-7.1,494,7756,0.00,2.03,0.00,0.000,6,0.000,0.025,2542,2297,3477,0,0,0,0,0,0
$GC,8118,-0.74,-116.7,594.3,-6.9,500,8122,0.00,2.15,0.00,0.000,4,0.000,0.042,2542,3705,3476,0,0,0,0,0,0
$GC,8174,-0.77,-116.7,598.2,-6.9,500,8179,0.00,2.03,0.00,0.000,6,0.000,0.025,2542,2302,3476,0,0,0,0,0,0
$GC,8483,-0.77,-116.7,618.9,-6.8,506,8484,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2302,3476,0,0,0,0,0,0
$GC,8786,-0.77,-116.7,638.8,-6.5,511,8790,0.00,2.15,0.00,0.000,4,0.000,0.042,2542,3707,3474,0,0,0,0,0,0
$GC,8875,-0.81,-116.7,644.8,-7.1,512,8879,0.12,2.05,0.00,0.000,6,0.140,0.025,2502,2288,3474,0,0,0,0,0,0
$GC,9211,-0.74,-116.7,672.4,-8.4,518,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2288,3473,0,0,0,0,0,0
$GC,9515,-0.68,-116.7,698.0,-8.4,523,9517,0.15,0.00,0.00,0.000,6,0.181,0.000,2541,2285,3472,0,0,0,0,0,0
$GC,9818,-0.68,-116.7,718.3,-6.6,528,9822,0.00,2.17,0.00,0.000,4,0.000,0.043,2542,3702,3471,0,0,0,0,0,0
$GC,9885,-0.72,-116.7,722.7,-7.2,529,9889,0.00,2.05,0.00,0.000,6,0.000,0.025,2542,2291,3471,0,0,0,0,0,0
$GC,10250,-0.72,-116.7,745.1,-6.2,535,10254,0.00,2.15,0.00,0.000,4,0.000,0.043,2542,3698,3470,0,0,0,0,0,0
$GC,10305,-0.76,-116.7,748.6,-6.7,535,10311,0.00,2.03,0.00,0.000,6,0.000,0.026,2542,2302,3470,0,0,0,0,0,0
$GC,10614,-0.76,-116.7,767.8,-6.2,541,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2302,3470,0,0,0,0,0,0
$GC,10918,-0.79,-116.7,785.7,-5.8,546,10922,0.00,2.15,0.00,0.000,4,0.000,0.043,2541,3704,3469,0,0,0,0,0,0
$GC,11018,-0.84,-116.7,791.7,-6.3,547,11023,0.15,2.05,0.00,0.000,6,0.130,0.026,2492,2288,3469,0,0,0,0,0,0
$GC,11344,-0.77,-116.7,816.0,-7.6,553,11348,0.00,2.05,0.00,0.000,4,0.000,0.040,2491,913,3468,0,0,0,0,0,0
$GC,11406,-0.67,-116.7,821.1,-8.3,554,11410,0.20,2.05,0.00,0.000,6,0.186,0.031,2544,2297,3468,0,0,0,0,0,0
$GC,11772,-0.71,-116.7,841.9,-5.6,560,11776,0.00,2.10,0.00,0.000,4,0.000,0.044,2544,3704,3467,0,0,0,0,0,0
$GC,11897,-0.76,-116.7,849.1,-5.3,561,11901,0.00,2.05,0.00,0.000,6,0.000,0.026,2544,2293,3467,0,0,0,0,0,0
$GC,12206,-0.80,-116.7,866.8,-5.8,566,12211,0.12,2.17,0.00,0.000,4,0.140,0.044,2503,3699,3467,0,0,0,0,0,0
$GC,12261,-0.75,-116.7,871.0,-7.1,566,12267,0.00,2.03,0.00,0.000,6,0.000,0.027,2503,2304,3467,0,0,0,0,0,0
$GC,12571,-0.71,-116.7,894.4,-7.6,572,12572,0.12,0.00,0.00,0.000,6,0.193,0.000,2534,2300,3466,0,0,0,0,0,0
$GC,12874,-0.71,-116.7,914.0,-6.4,577,12877,0.00,2.15,0.00,0.000,4,0.000,0.044,2534,3702,3466,0,0,0,0,0,0
$GC,12957,-0.74,-116.7,919.4,-6.2,578,12961,0.00,2.05,0.00,0.000,6,0.000,0.027,2534,2293,3466,0,0,0,0,0,0
$GC,13306,-0.74,-116.7,940.7,-6.1,584,13307,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2293,3465,0,0,0,0,0,0
$GC,13609,-0.74,-116.7,958.7,-5.9,589,13613,0.00,2.17,0.00,0.000,4,0.000,0.044,2534,3708,3465,0,0,0,0,0,0
$GC,13709,-0.78,-116.7,964.8,-6.3,590,13713,0.00,2.05,0.00,0.000,6,0.000,0.027,2534,2301,3464,0,0,0,0,0,0
$GC,14041,-0.78,-116.7,983.7,-5.7,596,14045,0.00,2.15,0.00,0.000,4,0.000,0.044,2534,3701,3464,0,0,0,0,0,0
$GC,14103,-0.82,-116.7,987.4,-5.9,597,14107,0.00,2.05,0.00,0.000,6,0.000,0.027,2534,2296,3464,0,0,0,0,0,0
$STATE,14151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14151,begin apogee
$GC,14156,-0.24,0.0,990.2,5.4,597,14258,0.47,0.00,98.90,1.548,6,0.164,0.000,2678,2650,3006,0,0,0,0,0,0
$STATE,14259,end apogee,CONTROL_FINISHED_OK
$STATE,14259,begin climb
$GC,14261,0.80,116.7,991.9,0.0,599,14378,1.05,2.42,107.05,1.448,4,0.112,0.046,3009,4030,2528,0,0,0,0,0,0
$GC,14468,0.57,116.7,980.9,10.2,602,14473,0.28,2.17,0.00,0.000,6,0.172,0.026,2951,2648,2523,0,0,0,0,0,0
$GC,14817,0.54,122.3,957.1,6.7,608,14826,0.00,2.22,4.60,1.064,4,0.000,0.048,2951,4042,2507,0,0,0,0,0,0
$GC,14843,0.48,128.4,955.2,6.6,608,14858,0.15,2.10,7.53,1.272,6,0.188,0.027,2920,2645,2482,0,0,0,0,0,0
$GC,15186,0.54,150.7,934.6,6.0,614,15209,0.00,0.00,21.30,1.427,6,0.000,0.000,2920,2645,2391,0,0,0,0,0,0
$GC,15488,0.61,167.3,916.0,6.2,619,15506,0.12,0.00,15.93,1.404,6,0.121,0.000,2964,2644,2323,0,0,0,0,0,0
$GC,15791,0.61,167.3,892.3,7.9,624,15792,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2644,2319,0,0,0,0,0,0
$GC,16093,0.61,167.3,868.6,7.7,629,16097,0.00,2.17,0.00,0.000,4,0.000,0.047,2964,4043,2318,0,0,0,0,0,0
$GC,16126,0.53,167.3,865.8,8.7,629,16130,0.08,2.10,0.00,0.000,6,0.156,0.027,2937,2650,2318,0,0,0,0,0,0
$GC,16458,0.54,174.7,843.7,6.6,635,16467,0.00,0.00,7.20,1.308,6,0.000,0.000,2937,2649,2293,0,0,0,0,0,0
$GC,16762,0.59,188.0,824.4,6.3,640,16777,0.00,0.00,13.65,1.376,6,0.000,0.000,2937,2649,2239,0,0,0,0,0,0
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$STATE,27464,end climb,SURFACE_DEPTH_REACHED
$STATE,27464,begin surface coast
$FINISH,2.7,1.024424
$STATE,27517,end surface coast,CONTROL_FINISHED_OK
$STATE,27517,begin surface
$SM_CCo,27533,278.23,0.720,0,0,550,602.46
$SM_GC,3.27,0.00,0.00,278.23,0.000,0.000,0.720,220,2282,550,-7.96,-0.48,602.46
$IRIDIUM_FIX,6337.14,133.29,040399,222248
$TT8_MAMPS,0.026845
$HUMID,1078288377
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,14.70
$XPDR_PINGS,1
$24V_AH,22.5,38.360
$10V_AH,9.9,25.341
$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,21.650,172.350,335.275,278.225,0.000,135.321,318.380,222.592,0.250,0.000,31.761,2433.105,21940.633,773.813,2752.788,1008.488,0.000,2110.945,0.000,2709.583,0.000,0.536,0.000
$DEVICE_MAMPS,233.168,52.156,1547.806,720.213,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,806.347,1051.142,625.351,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241652
$DATA_FILE_SIZE,66395,1169
$CAP_FILE_SIZE,217451,0
$CFSIZE,260165632,235790336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066, 18.2,1
$GPS,091209,061437,6405.794,133.186,38,1.8,39,-4.2