version: 66.06
glider: 140
mission: 8
dive: 260
start: 12 18 109 4 22 38
data:
$ID,140
$MISSION,8
$DIVE,260
$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,-49118.844
$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,92
$R_STBD_OVSHOOT,46
$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
$GPS1,041614,6456.526,-34.983,41,1.9,50,-5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.95
$_SM_ANGLEo,-56.0
$GPS2,042214,6456.473,-34.915,14,1.4,14,-5.6
$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,317.7,26342,-13.7,-6.875
$D_GRID,2838
$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,-7.82,0.000,2,0.000,0.000,219,2260,2035,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.9,-0.0,1,124,9.23,2.28,-80.88,0.000,4,0.243,0.057,2503,3708,3482,0,0,0,0,0,0
$GC,257,-0.72,-116.7,17.8,-9.6,42,264,0.00,2.08,0.00,0.000,6,0.000,0.025,2504,2316,3484,0,0,0,0,0,0
$GC,594,-0.62,-116.7,48.3,-8.7,103,600,0.20,2.10,0.00,0.000,4,0.184,0.034,2558,921,3485,0,0,0,0,0,0
$GC,662,-0.62,-116.7,53.5,-7.6,115,668,0.00,2.08,0.00,0.000,6,0.000,0.029,2558,2315,3485,0,0,0,0,0,0
$GC,999,-0.62,-116.7,82.9,-7.4,176,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2314,3485,0,0,0,0,0,0
$GC,1339,-0.62,-116.7,110.1,-7.9,237,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2315,3486,0,0,0,0,0,0
$GC,1664,-0.66,-116.7,130.7,-6.6,274,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2314,3486,0,0,0,0,0,0
$GC,1975,-0.69,-116.7,150.1,-6.4,289,1979,0.00,2.10,0.00,0.000,4,0.000,0.035,2558,916,3487,0,0,0,0,0,0
$GC,2036,-0.69,-116.7,154.6,-7.2,292,2040,0.00,2.05,0.00,0.000,6,0.000,0.028,2558,2305,3487,0,0,0,0,0,0
$GC,2363,-0.73,-116.7,176.2,-6.5,308,2367,0.00,2.08,0.00,0.000,4,0.000,0.041,2558,3700,3488,0,0,0,0,0,0
$GC,2434,-0.79,-116.7,181.2,-7.4,311,2439,0.15,2.03,0.00,0.000,6,0.132,0.024,2511,2280,3488,0,0,0,0,0,0
$GC,2751,-0.73,-116.7,208.3,-8.8,326,2755,0.00,2.00,0.00,0.000,4,0.000,0.036,2511,929,3487,0,0,0,0,0,0
$GC,2820,-0.66,-116.7,214.6,-8.6,329,2824,0.15,2.03,0.00,0.000,6,0.200,0.029,2548,2303,3487,0,0,0,0,0,0
$GC,3147,-0.66,-116.7,236.5,-6.3,345,3151,0.00,2.10,0.00,0.000,4,0.000,0.041,2548,3702,3487,0,0,0,0,0,0
$GC,3214,-0.70,-116.7,240.8,-6.4,348,3218,0.00,2.00,0.00,0.000,6,0.000,0.024,2548,2310,3487,0,0,0,0,0,0
$GC,3540,-0.70,-116.7,262.7,-7.0,364,3544,0.00,2.12,0.00,0.000,4,0.000,0.041,2548,3703,3486,0,0,0,0,0,0
$GC,3606,-0.74,-116.7,267.3,-7.2,367,3610,0.00,2.05,0.00,0.000,6,0.000,0.025,2548,2278,3486,0,0,0,0,0,0
$GC,3933,-0.74,-116.7,288.9,-6.3,383,3937,0.00,2.17,0.00,0.000,4,0.000,0.041,2548,3705,3486,0,0,0,0,0,0
$GC,3996,-0.78,-116.7,293.0,-6.7,386,4001,0.12,2.03,0.00,0.000,6,0.140,0.025,2510,2295,3486,0,0,0,0,0,0
$GC,4310,-0.73,-116.7,317.7,-7.9,398,4314,0.00,2.05,0.00,0.000,4,0.000,0.038,2510,914,3486,0,0,0,0,0,0
$GC,4371,-0.67,-116.7,323.1,-8.6,400,4376,0.15,2.08,0.00,0.000,6,0.196,0.030,2546,2310,3486,0,0,0,0,0,0
$GC,4711,-0.67,-116.7,345.0,-6.3,411,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2310,3485,0,0,0,0,0,0
$GC,5018,-0.67,-116.7,364.5,-6.4,421,5022,0.00,2.08,0.00,0.000,4,0.000,0.041,2547,3698,3484,0,0,0,0,0,0
$GC,5085,-0.72,-116.7,368.8,-6.4,423,5089,0.00,2.00,0.00,0.000,6,0.000,0.025,2547,2306,3484,0,0,0,0,0,0
$GC,5426,-0.75,-116.7,390.1,-6.2,434,5430,0.00,2.12,0.00,0.000,4,0.000,0.042,2547,3697,3484,0,0,0,0,0,0
$GC,5471,-0.80,-116.7,393.0,-6.4,435,5475,0.12,2.03,0.00,0.000,6,0.141,0.025,2507,2289,3484,0,0,0,0,0,0
$GC,5793,-0.75,-116.7,417.7,-7.8,446,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2288,3483,0,0,0,0,0,0
$GC,6100,-0.70,-116.7,442.1,-8.0,456,6102,0.12,0.00,0.00,0.000,6,0.194,0.000,2538,2285,3482,0,0,0,0,0,0
$GC,6406,-0.70,-116.7,463.0,-6.7,466,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2285,3482,0,0,0,0,0,0
$GC,6712,-0.70,-116.7,483.7,-6.7,476,6716,0.00,2.15,0.00,0.000,4,0.000,0.042,2538,3697,3481,0,0,0,0,0,0
$GC,6784,-0.74,-116.7,488.7,-7.1,478,6788,0.00,2.03,0.00,0.000,6,0.000,0.025,2539,2290,3481,0,0,0,0,0,0
$GC,7141,-0.74,-116.7,512.3,-6.7,487,7143,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2288,3480,0,0,0,0,0,0
$GC,7445,-0.74,-116.7,532.7,-6.7,492,7448,0.00,2.15,0.00,0.000,4,0.000,0.042,2539,3697,3479,0,0,0,0,0,0
$GC,7518,-0.78,-116.7,537.5,-6.4,493,7522,0.00,2.03,0.00,0.000,6,0.000,0.025,2539,2289,3479,0,0,0,0,0,0
$GC,7871,-0.78,-116.7,560.7,-6.5,499,7875,0.00,2.15,0.00,0.000,4,0.000,0.042,2539,3697,3479,0,0,0,0,0,0
$GC,7921,-0.82,-116.7,564.1,-6.9,499,7926,0.12,2.03,0.00,0.000,6,0.143,0.026,2501,2290,3478,0,0,0,0,0,0
$GC,8230,-0.76,-116.7,588.5,-8.0,504,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2288,3479,0,0,0,0,0,0
$GC,8534,-0.71,-116.7,613.5,-8.3,509,8538,0.12,2.08,0.00,0.000,4,0.193,0.040,2532,919,3478,0,0,0,0,0,0
$GC,8583,-0.71,-116.7,617.5,-7.9,509,8587,0.00,2.08,0.00,0.000,6,0.000,0.031,2532,2291,3478,0,0,0,0,0,0
$GC,8897,-0.71,-116.7,639.4,-7.0,515,8901,0.00,2.12,0.00,0.000,4,0.000,0.043,2532,3700,3478,0,0,0,0,0,0
$GC,8952,-0.74,-116.7,643.3,-7.1,515,8957,0.00,2.05,0.00,0.000,6,0.000,0.026,2532,2309,3478,0,0,0,0,0,0
$GC,9268,-0.74,-116.7,665.1,-7.0,521,9269,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2308,3477,0,0,0,0,0,0
$GC,9569,-0.74,-116.7,686.8,-7.2,526,9573,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3709,3477,0,0,0,0,0,0
$GC,9635,-0.77,-116.7,691.9,-8.4,527,9639,0.00,2.08,0.00,0.000,6,0.000,0.026,2532,2303,3477,0,0,0,0,0,0
$GC,10001,-0.77,-116.7,718.6,-7.3,533,10003,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2302,3476,0,0,0,0,0,0
$GC,10303,-0.77,-116.7,740.4,-7.1,538,10307,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3707,3476,0,0,0,0,0,0
$GC,10398,-0.80,-116.7,747.7,-8.1,539,10402,0.00,2.08,0.00,0.000,6,0.000,0.026,2532,2304,3475,0,0,0,0,0,0
$GC,10736,-0.80,-116.7,772.6,-7.4,545,10740,0.00,2.15,0.00,0.000,4,0.000,0.044,2532,3702,3475,0,0,0,0,0,0
$GC,10803,-0.84,-116.7,777.9,-7.8,546,10808,0.12,2.05,0.00,0.000,6,0.143,0.026,2492,2290,3475,0,0,0,0,0,0
$GC,11169,-0.78,-116.7,810.3,-8.9,552,11170,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2289,3474,0,0,0,0,0,0
$GC,11472,-0.72,-116.7,837.8,-9.1,557,11473,0.15,0.00,0.00,0.000,6,0.187,0.000,2529,2286,3474,0,0,0,0,0,0
$GC,11773,-0.72,-116.7,861.5,-7.7,562,11777,0.00,2.17,0.00,0.000,4,0.000,0.044,2530,3704,3474,0,0,0,0,0,0
$GC,11840,-0.75,-116.7,866.7,-7.3,563,11844,0.00,2.08,0.00,0.000,6,0.000,0.026,2530,2305,3473,0,0,0,0,0,0
$GC,12206,-0.75,-116.7,893.8,-7.4,569,12207,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2304,3474,0,0,0,0,0,0
$GC,12508,-0.75,-116.7,915.4,-7.1,574,12512,0.00,2.15,0.00,0.000,4,0.000,0.044,2531,3701,3474,0,0,0,0,0,0
$GC,12603,-0.79,-116.7,922.1,-6.7,575,12607,0.00,2.05,0.00,0.000,6,0.000,0.026,2530,2297,3473,0,0,0,0,0,0
$GC,12934,-0.79,-116.7,944.5,-6.7,581,12938,0.00,2.17,0.00,0.000,4,0.000,0.044,2530,3708,3473,0,0,0,0,0,0
$GC,12990,-0.83,-116.7,948.3,-6.4,581,12996,0.00,2.05,0.00,0.000,6,0.000,0.027,2530,2304,3473,0,0,0,0,0,0
$GC,13299,-0.83,-116.7,968.0,-6.3,587,13300,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2303,3473,0,0,0,0,0,0
$GC,13602,-0.83,-116.7,986.8,-6.2,592,13606,0.00,2.15,0.00,0.000,4,0.000,0.044,2530,3701,3472,0,0,0,0,0,0
$STATE,13649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13649,begin apogee
$GC,13655,-0.24,0.0,990.2,6.7,592,13760,0.47,0.00,102.07,1.549,6,0.161,0.000,2677,2621,3006,0,0,0,0,0,0
$STATE,13761,end apogee,CONTROL_FINISHED_OK
$STATE,13761,begin climb
$GC,13764,0.80,116.7,992.5,0.0,594,13882,1.08,2.47,109.32,1.453,4,0.115,0.044,3006,4034,2528,0,0,0,0,0,0
$GC,13966,0.59,116.7,984.1,8.3,596,13971,0.22,2.17,0.00,0.000,6,0.176,0.026,2961,2651,2522,0,0,0,0,0,0
$GC,14314,0.56,126.3,961.2,6.5,602,14325,0.00,0.00,8.48,1.341,6,0.000,0.000,2961,2651,2490,0,0,0,0,0,0
$GC,14618,0.52,135.7,941.4,6.5,607,14630,0.00,0.00,9.75,1.369,6,0.000,0.000,2961,2651,2453,0,0,0,0,0,0
$GC,14921,0.50,139.6,921.2,6.7,612,14932,0.12,2.20,5.18,1.159,4,0.199,0.044,2930,4049,2437,0,0,0,0,0,0
$GC,14948,0.54,172.7,919.4,5.6,612,14984,0.00,2.12,31.33,1.421,6,0.000,0.028,2938,2651,2300,0,0,0,0,0,0
$GC,15344,0.59,183.0,893.8,6.5,619,15356,0.00,0.00,10.05,1.368,6,0.000,0.000,2938,2651,2259,0,0,0,0,0,0
$GC,15647,0.65,190.0,873.8,6.6,624,15658,0.10,0.00,7.82,1.315,6,0.131,0.000,2974,2649,2231,0,0,0,0,0,0
$GC,15950,0.65,190.0,850.4,7.7,629,15952,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2649,2228,0,0,0,0,0,0
$GC,16253,0.65,190.0,826.9,7.8,634,16254,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2649,2227,0,0,0,0,0,0
$GC,16556,0.65,190.0,802.9,7.9,639,16560,0.00,2.17,0.00,0.000,4,0.000,0.045,2974,4046,2227,0,0,0,0,0,0
$GC,16571,0.61,190.0,801.7,7.8,639,16575,0.00,2.08,0.00,0.000,6,0.000,0.028,2984,2644,2227,0,0,0,0,0,0
$GC,16921,0.58,190.0,773.6,8.0,645,16925,0.12,2.17,0.00,0.000,4,0.189,0.046,2953,4039,2225,0,0,0,0,0,0
$GC,16936,0.58,190.0,772.2,7.9,645,16940,0.00,2.08,0.00,0.000,6,0.000,0.028,2962,2652,2226,0,0,0,0,0,0
$GC,17284,0.58,190.0,747.2,7.2,651,17285,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2650,2225,0,0,0,0,0,0
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$STATE,26631,end climb,SURFACE_DEPTH_REACHED
$STATE,26631,begin surface coast
$FINISH,3.2,1.027418
$STATE,26677,end surface coast,CONTROL_FINISHED_OK
$STATE,26677,begin surface
$SM_CCo,26693,15.48,0.831,0,0,1884,275.23
$SM_GC,4.28,0.00,0.00,15.48,0.000,0.000,0.831,221,2276,1884,-7.95,-0.68,275.23
$IRIDIUM_FIX,6426.39,-45.56,130399,212159
$TT8_MAMPS,0.027612
$HUMID,1078427732
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,22.1,42.884
$10V_AH,9.8,28.588
$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,21.450,168.525,354.525,15.475,0.000,31.038,32.197,171.875,0.000,0.000,14.688,2328.871,21113.016,523.506,2569.215,529.947,0.000,1793.929,0.000,2548.764,0.000,0.533,0.000
$DEVICE_MAMPS,243.139,56.758,1549.340,831.428,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,780.047,1023.173,605.383,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241340
$DATA_FILE_SIZE,63285,1126
$CAP_FILE_SIZE,203858,0
$CFSIZE,260165632,233304064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057,101.5,1
$GPS,181209,114911,6458.390,-38.822,41,1.0,47,-5.6