version: 66.06
glider: 140
mission: 8
dive: 93
start: 10 27 109 11 59 42
data:
$ID,140
$MISSION,8
$DIVE,93
$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,-2
$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,-46016.668
$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,52
$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
$GPS1,114225,6306.363,318.277,40,1.1,40,-3.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.56
$_SM_ANGLEo,-67.2
$GPS2,115919,6306.370,317.968,10,1.3,15,-3.1
$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,113.5,30613,-13.7,-6.875
$D_GRID,871
$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,-8.25,0.000,2,0.000,0.000,212,2320,2058,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.6,-0.0,1,120,9.15,2.20,-74.28,0.000,4,0.251,0.052,2504,910,3482,0,0,0,0,0,0
$GC,226,-0.63,-116.7,13.5,-10.3,36,234,0.15,2.12,0.00,0.000,6,0.179,0.030,2551,2301,3483,0,0,0,0,0,0
$GC,566,-0.60,-116.7,41.1,-8.1,97,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2300,3485,0,0,0,0,0,0
$GC,910,-0.56,-116.7,68.2,-7.8,146,914,0.12,2.10,0.00,0.000,4,0.203,0.035,2583,909,3484,0,0,0,0,0,0
$GC,930,-0.56,-116.7,69.8,-7.1,147,935,0.00,2.10,0.00,0.000,6,0.000,0.028,2583,2308,3484,0,0,0,0,0,0
$GC,1259,-0.60,-116.7,88.6,-5.1,163,1263,0.00,2.05,0.00,0.000,4,0.000,0.041,2583,3700,3485,0,0,0,0,0,0
$GC,1281,-0.65,-116.7,89.9,-5.7,164,1285,0.00,2.03,0.00,0.000,6,0.000,0.024,2583,2282,3484,0,0,0,0,0,0
$GC,1608,-0.70,-116.7,109.2,-6.0,180,1610,0.15,0.00,0.00,0.000,6,0.123,0.000,2533,2274,3484,0,0,0,0,0,0
$GC,1918,-0.65,-116.7,135.5,-8.7,195,1922,0.00,2.00,0.00,0.000,4,0.000,0.036,2534,909,3485,0,0,0,0,0,0
$GC,1979,-0.58,-116.7,141.3,-9.3,197,1985,0.15,2.05,0.00,0.000,6,0.196,0.028,2571,2312,3485,0,0,0,0,0,0
$GC,2296,-0.58,-116.7,161.6,-6.1,213,2300,0.00,2.08,0.00,0.000,4,0.000,0.035,2571,908,3486,0,0,0,0,0,0
$GC,2351,-0.58,-116.7,165.5,-6.7,215,2357,0.00,2.03,0.00,0.000,6,0.000,0.028,2571,2300,3486,0,0,0,0,0,0
$GC,2668,-0.58,-116.7,185.2,-6.3,231,2671,0.00,2.05,0.00,0.000,4,0.000,0.036,2571,923,3486,0,0,0,0,0,0
$GC,2728,-0.58,-116.7,189.5,-6.6,233,2734,0.00,2.05,0.00,0.000,6,0.000,0.028,2571,2301,3486,0,0,0,0,0,0
$GC,3044,-0.58,-116.7,208.1,-5.8,249,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2301,3485,0,0,0,0,0,0
$GC,3352,-0.58,-116.7,224.8,-5.3,264,3356,0.00,2.05,0.00,0.000,4,0.000,0.035,2571,908,3486,0,0,0,0,0,0
$GC,3396,-0.58,-116.7,227.4,-5.6,266,3400,0.00,2.03,0.00,0.000,6,0.000,0.029,2571,2301,3486,0,0,0,0,0,0
$GC,3723,-0.61,-116.7,245.6,-5.8,282,3727,0.00,2.05,0.00,0.000,4,0.000,0.035,2571,910,3485,0,0,0,0,0,0
$GC,3795,-0.61,-116.7,250.4,-6.0,285,3800,0.00,2.05,0.00,0.000,6,0.000,0.028,2571,2297,3485,0,0,0,0,0,0
$GC,4118,-0.65,-116.7,271.3,-6.7,301,4121,0.00,2.05,0.00,0.000,4,0.000,0.035,2571,908,3485,0,0,0,0,0,0
$GC,4144,-0.65,-116.7,273.5,-7.4,302,4149,0.00,2.05,0.00,0.000,6,0.000,0.028,2571,2296,3486,0,0,0,0,0,0
$GC,4471,-0.69,-116.7,298.3,-7.7,318,4475,0.00,2.03,0.00,0.000,4,0.000,0.035,2571,919,3485,0,0,0,0,0,0
$GC,4487,-0.73,-116.7,299.7,-8.1,318,4494,0.08,2.05,0.00,0.000,6,0.108,0.029,2525,2307,3485,0,0,0,0,0,0
$GC,4800,-0.68,-116.7,328.4,-9.0,329,4804,0.00,2.05,0.00,0.000,4,0.000,0.036,2525,913,3485,0,0,0,0,0,0
$GC,4843,-0.62,-116.7,332.5,-9.4,330,4848,0.15,2.03,0.00,0.000,6,0.202,0.030,2564,2308,3485,0,0,0,0,0,0
$GC,5167,-0.65,-116.7,356.9,-7.7,341,5171,0.00,2.05,0.00,0.000,4,0.000,0.036,2565,917,3485,0,0,0,0,0,0
$GC,5227,-0.65,-116.7,362.0,-7.8,342,5233,0.00,2.05,0.00,0.000,6,0.000,0.029,2565,2298,3485,0,0,0,0,0,0
$GC,5541,-0.68,-116.7,382.4,-6.2,353,5545,0.00,2.05,0.00,0.000,4,0.000,0.036,2565,909,3484,0,0,0,0,0,0
$GC,5569,-0.68,-116.7,384.4,-6.8,354,5572,0.00,2.05,0.00,0.000,6,0.000,0.030,2565,2313,3484,0,0,0,0,0,0
$GC,5904,-0.72,-116.7,402.7,-5.1,365,5908,0.00,2.08,0.00,0.000,4,0.000,0.036,2565,910,3483,0,0,0,0,0,0
$GC,5925,-0.72,-116.7,403.9,-5.2,365,5929,0.00,2.05,0.00,0.000,6,0.000,0.030,2565,2294,3483,0,0,0,0,0,0
$GC,6243,-0.76,-116.7,419.3,-5.2,376,6248,0.15,2.10,0.00,0.000,4,0.127,0.044,2515,3705,3482,0,0,0,0,0,0
$GC,6270,-0.71,-116.7,421.2,-7.7,376,6277,0.00,2.00,0.00,0.000,6,0.000,0.025,2514,2294,3482,0,0,0,0,0,0
$GC,6582,-0.65,-116.7,444.6,-7.8,387,6584,0.15,0.00,0.00,0.000,6,0.190,0.000,2554,2292,3481,0,0,0,0,0,0
$GC,6889,-0.65,-116.7,463.4,-6.3,397,6892,0.00,2.03,0.00,0.000,4,0.000,0.038,2554,913,3480,0,0,0,0,0,0
$GC,6922,-0.65,-116.7,465.7,-7.1,398,6926,0.00,2.03,0.00,0.000,6,0.000,0.031,2555,2300,3480,0,0,0,0,0,0
$GC,7256,-0.65,-116.7,487.0,-6.3,409,7260,0.00,2.08,0.00,0.000,4,0.000,0.038,2555,916,3479,0,0,0,0,0,0
$GC,7283,-0.65,-116.7,489.0,-7.1,409,7289,0.00,2.08,0.00,0.000,6,0.000,0.031,2554,2302,3478,0,0,0,0,0,0
$GC,7594,-0.65,-116.7,510.8,-7.1,418,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2302,3478,0,0,0,0,0,0
$GC,7897,-0.65,-116.7,533.9,-7.8,423,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2302,3476,0,0,0,0,0,0
$GC,8200,-0.65,-116.7,558.3,-8.0,428,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2302,3476,0,0,0,0,0,0
$GC,8504,-0.65,-116.7,581.8,-7.7,433,8508,0.00,2.05,0.00,0.000,4,0.000,0.039,2555,922,3474,0,0,0,0,0,0
$GC,8519,-0.65,-116.7,583.0,-7.2,433,8523,0.00,2.05,0.00,0.000,6,0.000,0.032,2554,2295,3474,0,0,0,0,0,0
$GC,8873,-0.65,-116.7,607.5,-6.9,439,8877,0.00,2.08,0.00,0.000,4,0.000,0.045,2555,3701,3473,0,0,0,0,0,0
$GC,8895,-0.68,-116.7,609.0,-7.1,439,8899,0.00,2.03,0.00,0.000,6,0.000,0.028,2555,2306,3473,0,0,0,0,0,0
$GC,9238,-0.68,-116.7,632.8,-7.0,445,9242,0.00,2.10,0.00,0.000,4,0.000,0.044,2554,3705,3472,0,0,0,0,0,0
$GC,9281,-0.72,-116.7,635.9,-7.1,445,9285,0.00,2.03,0.00,0.000,6,0.000,0.028,2555,2295,3471,0,0,0,0,0,0
$GC,9602,-0.75,-116.7,657.5,-6.8,451,9606,0.00,2.12,0.00,0.000,4,0.000,0.044,2555,3707,3471,0,0,0,0,0,0
$GC,9685,-0.79,-116.7,663.4,-6.9,452,9690,0.15,2.03,0.00,0.000,6,0.130,0.028,2504,2293,3470,0,0,0,0,0,0
$GC,10033,-0.72,-116.7,693.4,-8.7,458,10038,0.10,2.15,0.00,0.000,4,0.207,0.046,2527,3705,3470,0,0,0,0,0,0
$GC,10065,-0.72,-116.7,696.2,-8.4,458,10070,0.00,2.05,0.00,0.000,6,0.000,0.028,2528,2307,3470,0,0,0,0,0,0
$GC,10403,-0.72,-116.7,722.6,-7.9,464,10407,0.00,2.10,0.00,0.000,4,0.000,0.045,2528,3704,3469,0,0,0,0,0,0
$GC,10418,-0.72,-116.7,723.9,-7.7,464,10423,0.00,2.08,0.00,0.000,6,0.000,0.028,2528,2294,3469,0,0,0,0,0,0
$GC,10767,-0.72,-116.7,749.8,-7.5,470,10771,0.00,2.12,0.00,0.000,4,0.000,0.045,2528,3704,3468,0,0,0,0,0,0
$GC,10794,-0.72,-116.7,752.1,-8.1,470,10798,0.00,2.03,0.00,0.000,6,0.000,0.028,2528,2299,3468,0,0,0,0,0,0
$GC,11131,-0.72,-116.7,777.7,-7.7,476,11134,0.00,2.05,0.00,0.000,4,0.000,0.041,2528,908,3467,0,0,0,0,0,0
$GC,11175,-0.68,-116.7,781.1,-7.4,476,11179,0.00,2.05,0.00,0.000,6,0.000,0.033,2528,2306,3467,0,0,0,0,0,0
$GC,11495,-0.68,-116.7,804.4,-7.3,482,11496,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2306,3467,0,0,0,0,0,0
$GC,11798,-0.68,-116.7,827.0,-7.5,487,11802,0.00,2.10,0.00,0.000,4,0.000,0.041,2528,901,3466,0,0,0,0,0,0
$GC,11813,-0.68,-116.7,828.3,-7.7,487,11818,0.00,2.10,0.00,0.000,6,0.000,0.033,2528,2297,3466,0,0,0,0,0,0
$GC,12162,-0.68,-116.7,854.6,-7.5,493,12166,0.00,2.08,0.00,0.000,4,0.000,0.041,2528,904,3466,0,0,0,0,0,0
$GC,12217,-0.65,-116.7,859.1,-8.1,493,12221,0.00,2.10,0.00,0.000,6,0.000,0.033,2528,2301,3465,0,0,0,0,0,0
$STATE,12408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12408,begin apogee
$GC,12413,-0.24,0.0,872.8,7.2,497,12512,0.50,0.00,95.85,1.488,6,0.170,0.000,2679,2650,3006,0,0,0,0,0,0
$STATE,12513,end apogee,CONTROL_FINISHED_OK
$STATE,12513,begin climb
$GC,12515,0.80,116.7,875.0,0.0,498,12626,1.10,2.33,102.30,1.390,4,0.120,0.048,3018,4042,2529,0,0,0,0,0,0
$GC,12688,0.54,116.7,867.7,9.5,501,12693,0.32,2.17,0.00,0.000,6,0.186,0.028,2947,2651,2523,0,0,0,0,0,0
$GC,13020,0.52,130.6,846.2,6.3,507,13034,0.00,0.00,11.80,1.322,6,0.000,0.000,2948,2650,2473,0,0,0,0,0,0
$GC,13322,0.55,149.9,827.6,6.1,512,13342,0.00,0.00,17.83,1.356,6,0.000,0.000,2947,2650,2395,0,0,0,0,0,0
$GC,13626,0.55,151.2,807.2,6.8,517,13627,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2650,2391,0,0,0,0,0,0
$GC,13929,0.55,153.5,786.4,6.8,522,13938,0.00,2.22,4.00,0.964,4,0.000,0.048,2939,4039,2380,0,0,0,0,0,0
$GC,13977,0.50,153.5,783.0,7.4,522,13981,0.00,2.10,0.00,0.000,6,0.000,0.028,2949,2650,2380,0,0,0,0,0,0
$GC,14298,0.52,171.9,763.2,6.1,528,14317,0.00,0.00,17.70,1.360,6,0.000,0.000,2948,2648,2305,0,0,0,0,0,0
$GC,14601,0.54,184.4,744.0,6.4,533,14615,0.00,0.00,12.18,1.321,6,0.000,0.000,2949,2648,2254,0,0,0,0,0,0
$GC,14903,0.54,184.4,721.9,7.6,538,14905,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2648,2250,0,0,0,0,0,0
$GC,15207,0.54,184.4,698.0,7.9,543,15210,0.00,2.08,0.00,0.000,4,0.000,0.039,2957,1260,2249,0,0,0,0,0,0
$GC,15244,0.54,184.4,694.9,7.5,543,15249,0.00,2.12,0.00,0.000,6,0.000,0.035,2953,2638,2249,0,0,0,0,0,0
$GC,15571,0.54,184.4,670.4,7.5,549,15572,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2638,2248,0,0,0,0,0,0
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$STATE,23799,end climb,SURFACE_DEPTH_REACHED
$STATE,23799,begin surface coast
$FINISH,2.8,1.001017
$STATE,23867,end surface coast,CONTROL_FINISHED_OK
$STATE,23867,begin surface
$SM_CCo,23883,30.52,0.784,0,0,1884,275.23
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$IRIDIUM_FIX,6244.56,315.28,210199,121225
$TT8_MAMPS,0.027612
$HUMID,1078343861
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,20.20
$XPDR_PINGS,0
$24V_AH,23.2,16.691
$10V_AH,10.1,10.616
$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,21.600,166.750,307.150,30.525,0.000,101.266,166.556,364.626,0.000,0.000,15.373,1937.396,19391.779,499.512,2141.343,955.475,0.000,1572.383,0.000,2121.935,0.000,0.535,0.000
$DEVICE_MAMPS,250.809,52.156,1487.980,783.874,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
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$SENSOR_SECS,637.188,943.648,562.922,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,233948
$DATA_FILE_SIZE,53805,922
$CAP_FILE_SIZE,189875,0
$CFSIZE,260165632,247414784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079,339.4,1
$GPS,271009,183937,6306.470,323.124,44,1.1,44,-3.0