version: 66.06
glider: 140
mission: 8
dive: 53
start: 10 14 109 19 16 37
data:
$ID,140
$MISSION,8
$DIVE,53
$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,-45280.453
$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,51
$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
$GPS1,191037,6446.859,-18.531,29,1.1,29,-5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.71
$_SM_ANGLEo,-59.5
$GPS2,191614,6446.861,-18.483,14,1.7,14,-5.4
$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,138.5,288249,-13.7,-6.875
$D_GRID,2735
$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,-7.70,0.000,2,0.000,0.000,219,2304,2035,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.7,-0.0,1,119,9.20,2.22,-77.62,0.000,4,0.256,0.059,2501,3702,3481,0,0,0,0,0,0
$GC,224,-0.63,-116.7,16.7,-14.3,36,231,0.17,2.12,0.00,0.000,6,0.186,0.025,2553,2264,3483,0,0,0,0,0,0
$GC,561,-0.60,-116.7,43.4,-7.7,97,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2263,3484,0,0,0,0,0,0
$GC,889,-0.56,-116.7,69.0,-8.3,143,891,0.10,0.00,0.00,0.000,6,0.227,0.000,2578,2262,3485,0,0,0,0,0,0
$GC,1197,-0.60,-116.7,88.3,-5.8,158,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2262,3486,0,0,0,0,0,0
$GC,1507,-0.66,-116.7,104.9,-5.8,173,1511,0.00,2.17,0.00,0.000,4,0.000,0.043,2578,3704,3487,0,0,0,0,0,0
$GC,1518,-0.71,-116.7,105.7,-5.8,173,1524,0.15,2.00,0.00,0.000,6,0.131,0.025,2531,2296,3486,0,0,0,0,0,0
$GC,1834,-0.66,-116.7,131.1,-8.5,189,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2295,3487,0,0,0,0,0,0
$GC,2142,-0.61,-116.7,159.4,-9.1,204,2144,0.12,0.00,0.00,0.000,6,0.199,0.000,2562,2292,3487,0,0,0,0,0,0
$GC,2453,-0.61,-116.7,182.4,-6.9,219,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2292,3487,0,0,0,0,0,0
$GC,2761,-0.61,-116.7,203.5,-6.8,234,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2292,3487,0,0,0,0,0,0
$GC,3072,-0.61,-116.7,224.1,-6.8,249,3076,0.00,2.12,0.00,0.000,4,0.000,0.044,2562,3703,3486,0,0,0,0,0,0
$GC,3093,-0.61,-116.7,225.8,-7.1,250,3097,0.00,2.03,0.00,0.000,6,0.000,0.026,2562,2310,3486,0,0,0,0,0,0
$GC,3420,-0.64,-116.7,248.3,-7.3,266,3424,0.00,2.10,0.00,0.000,4,0.000,0.044,2562,3706,3485,0,0,0,0,0,0
$GC,3437,-0.68,-116.7,249.5,-7.4,267,3441,0.00,2.03,0.00,0.000,6,0.000,0.027,2563,2296,3485,0,0,0,0,0,0
$GC,3763,-0.71,-116.7,272.5,-7.2,283,3767,0.00,2.12,0.00,0.000,4,0.000,0.045,2562,3709,3485,0,0,0,0,0,0
$GC,3785,-0.74,-116.7,274.2,-7.5,284,3790,0.08,2.08,0.00,0.000,6,0.118,0.027,2531,2291,3485,0,0,0,0,0,0
$GC,4112,-0.71,-116.7,300.9,-8.3,300,4116,0.00,2.12,0.00,0.000,4,0.000,0.045,2531,3706,3485,0,0,0,0,0,0
$GC,4122,-0.67,-116.7,301.8,-8.3,300,4126,0.00,2.05,0.00,0.000,6,0.000,0.028,2531,2305,3484,0,0,0,0,0,0
$GC,4446,-0.63,-116.7,327.9,-7.9,311,4450,0.10,2.12,0.00,0.000,4,0.209,0.046,2555,3702,3484,0,0,0,0,0,0
$GC,4455,-0.63,-116.7,328.7,-7.8,311,4459,0.00,2.05,0.00,0.000,6,0.000,0.028,2555,2300,3483,0,0,0,0,0,0
$GC,4785,-0.63,-116.7,350.3,-6.5,322,4789,0.00,2.12,0.00,0.000,4,0.000,0.045,2555,3709,3482,0,0,0,0,0,0
$GC,4795,-0.63,-116.7,351.3,-6.5,322,4799,0.00,2.08,0.00,0.000,6,0.000,0.028,2555,2295,3482,0,0,0,0,0,0
$GC,5124,-0.63,-116.7,373.3,-6.7,333,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2293,3482,0,0,0,0,0,0
$GC,5431,-0.63,-116.7,393.2,-6.5,343,5435,0.00,2.12,0.00,0.000,4,0.000,0.046,2555,3702,3481,0,0,0,0,0,0
$GC,5452,-0.63,-116.7,394.8,-7.0,343,5456,0.00,2.05,0.00,0.000,6,0.000,0.028,2555,2297,3481,0,0,0,0,0,0
$GC,5770,-0.63,-116.7,416.6,-7.0,354,5774,0.00,2.12,0.00,0.000,4,0.000,0.046,2555,3707,3481,0,0,0,0,0,0
$GC,5791,-0.63,-116.7,418.1,-6.9,354,5795,0.00,2.05,0.00,0.000,6,0.000,0.028,2555,2306,3480,0,0,0,0,0,0
$GC,6109,-0.63,-116.7,439.5,-6.6,365,6113,0.00,2.10,0.00,0.000,4,0.000,0.046,2555,3702,3480,0,0,0,0,0,0
$GC,6118,-0.63,-116.7,440.3,-6.6,365,6123,0.00,2.05,0.00,0.000,6,0.000,0.028,2555,2300,3479,0,0,0,0,0,0
$GC,6448,-0.63,-116.7,462.4,-6.8,376,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2299,3479,0,0,0,0,0,0
$GC,6754,-0.63,-116.7,482.7,-6.6,386,6758,0.00,2.12,0.00,0.000,4,0.000,0.046,2555,3706,3478,0,0,0,0,0,0
$GC,6776,-0.63,-116.7,484.2,-6.6,386,6780,0.00,2.05,0.00,0.000,6,0.000,0.028,2555,2302,3478,0,0,0,0,0,0
$GC,7093,-0.63,-116.7,504.8,-6.6,396,7097,0.00,2.15,0.00,0.000,4,0.000,0.047,2555,3711,3478,0,0,0,0,0,0
$GC,7103,-0.63,-116.7,505.6,-6.7,396,7108,0.00,2.03,0.00,0.000,6,0.000,0.028,2555,2297,3478,0,0,0,0,0,0
$GC,7458,-0.63,-116.7,528.7,-6.5,402,7461,0.00,2.12,0.00,0.000,4,0.000,0.046,2555,3705,3477,0,0,0,0,0,0
$GC,7485,-0.66,-116.7,530.4,-6.7,402,7489,0.00,2.03,0.00,0.000,6,0.000,0.028,2554,2295,3477,0,0,0,0,0,0
$GC,7817,-0.66,-116.7,551.7,-6.4,408,7820,0.00,2.12,0.00,0.000,4,0.000,0.046,2555,3702,3476,0,0,0,0,0,0
$GC,7833,-0.69,-116.7,552.7,-6.5,408,7836,0.00,2.03,0.00,0.000,6,0.000,0.028,2554,2294,3476,0,0,0,0,0,0
$GC,8187,-0.69,-116.7,576.3,-6.7,414,8191,0.00,2.12,0.00,0.000,4,0.000,0.046,2555,3704,3476,0,0,0,0,0,0
$GC,8219,-0.73,-116.7,578.6,-7.2,414,8223,0.00,2.05,0.00,0.000,6,0.000,0.028,2555,2306,3476,0,0,0,0,0,0
$GC,8551,-0.76,-116.7,599.5,-6.2,420,8553,0.12,0.00,0.00,0.000,6,0.145,0.000,2516,2303,3475,0,0,0,0,0,0
$GC,8854,-0.71,-116.7,622.5,-7.7,425,8855,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2303,3474,0,0,0,0,0,0
$GC,9157,-0.65,-116.7,645.9,-7.7,430,9159,0.15,0.00,0.00,0.000,6,0.199,0.000,2554,2302,3474,0,0,0,0,0,0
$GC,9461,-0.65,-116.7,665.5,-6.4,435,9462,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2302,3474,0,0,0,0,0,0
$GC,9763,-0.65,-116.7,684.8,-6.3,440,9767,0.00,2.10,0.00,0.000,4,0.000,0.048,2554,3700,3474,0,0,0,0,0,0
$GC,9785,-0.69,-116.7,686.2,-6.4,440,9789,0.00,2.03,0.00,0.000,6,0.000,0.028,2554,2291,3473,0,0,0,0,0,0
$GC,10134,-0.73,-116.7,706.7,-5.8,446,10138,0.00,2.12,0.00,0.000,4,0.000,0.047,2554,3702,3473,0,0,0,0,0,0
$GC,10150,-0.76,-116.7,707.7,-5.9,446,10154,0.12,2.03,0.00,0.000,6,0.144,0.029,2516,2291,3473,0,0,0,0,0,0
$GC,10498,-0.71,-116.7,731.6,-7.0,452,10502,0.00,2.12,0.00,0.000,4,0.000,0.047,2515,3701,3472,0,0,0,0,0,0
$GC,10508,-0.66,-116.7,732.4,-7.0,452,10513,0.10,2.05,0.00,0.000,6,0.185,0.029,2545,2303,3472,0,0,0,0,0,0
$GC,10862,-0.66,-116.7,754.0,-6.1,458,10863,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2300,3472,0,0,0,0,0,0
$GC,11166,-0.66,-116.7,772.6,-6.1,463,11170,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3700,3472,0,0,0,0,0,0
$GC,11187,-0.66,-116.7,774.1,-5.8,463,11191,0.00,2.05,0.00,0.000,6,0.000,0.029,2546,2300,3472,0,0,0,0,0,0
$GC,11530,-0.66,-116.7,796.1,-6.5,469,11534,0.00,2.12,0.00,0.000,4,0.000,0.048,2546,3709,3472,0,0,0,0,0,0
$GC,11546,-0.66,-116.7,797.3,-6.6,469,11550,0.00,2.08,0.00,0.000,6,0.000,0.029,2545,2296,3471,0,0,0,0,0,0
$GC,11901,-0.66,-116.7,820.7,-6.5,475,11905,0.00,2.12,0.00,0.000,4,0.000,0.047,2546,3709,3472,0,0,0,0,0,0
$GC,11916,-0.66,-116.7,821.7,-6.5,475,11920,0.00,2.03,0.00,0.000,6,0.000,0.029,2546,2298,3471,0,0,0,0,0,0
$GC,12265,-0.66,-116.7,844.5,-6.6,481,12269,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3706,3471,0,0,0,0,0,0
$GC,12287,-0.66,-116.7,846.1,-7.2,481,12291,0.00,2.03,0.00,0.000,6,0.000,0.029,2546,2302,3471,0,0,0,0,0,0
$GC,12630,-0.66,-116.7,868.4,-6.5,487,12634,0.00,2.12,0.00,0.000,4,0.000,0.048,2546,3706,3471,0,0,0,0,0,0
$GC,12656,-0.66,-116.7,870.4,-7.3,487,12661,0.00,2.08,0.00,0.000,6,0.000,0.029,2546,2296,3471,0,0,0,0,0,0
$GC,12994,-0.66,-116.7,892.3,-6.5,493,12998,0.00,2.12,0.00,0.000,4,0.000,0.048,2546,3704,3471,0,0,0,0,0,0
$GC,13015,-0.69,-116.7,893.8,-6.1,493,13019,0.00,2.03,0.00,0.000,6,0.000,0.029,2545,2298,3471,0,0,0,0,0,0
$GC,13358,-0.69,-116.7,915.4,-6.3,499,13362,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3707,3470,0,0,0,0,0,0
$GC,13386,-0.69,-116.7,917.2,-6.4,499,13390,0.00,2.03,0.00,0.000,6,0.000,0.030,2546,2298,3470,0,0,0,0,0,0
$GC,13723,-0.69,-116.7,937.5,-6.0,505,13727,0.00,2.12,0.00,0.000,4,0.000,0.048,2546,3705,3470,0,0,0,0,0,0
$GC,13750,-0.72,-116.7,939.1,-5.6,505,13753,0.00,2.03,0.00,0.000,6,0.000,0.029,2545,2301,3470,0,0,0,0,0,0
$GC,14087,-0.72,-116.7,959.3,-6.0,511,14091,0.00,2.15,0.00,0.000,4,0.000,0.048,2546,3706,3470,0,0,0,0,0,0
$GC,14125,-0.76,-116.7,961.8,-6.9,511,14129,0.00,2.05,0.00,0.000,6,0.000,0.030,2545,2288,3469,0,0,0,0,0,0
$GC,14451,-0.76,-116.7,981.3,-5.9,517,14455,0.00,2.15,0.00,0.000,4,0.000,0.048,2546,3710,3470,0,0,0,0,0,0
$GC,14495,-0.80,-116.7,983.9,-6.1,517,14499,0.12,2.05,0.00,0.000,6,0.151,0.029,2506,2287,3469,0,0,0,0,0,0
$STATE,14624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14624,begin apogee
$GC,14630,-0.24,0.0,993.3,7.1,520,14732,0.60,0.00,98.80,1.554,6,0.186,0.000,2682,2647,3006,0,0,0,0,0,0
$STATE,14732,end apogee,CONTROL_FINISHED_OK
$STATE,14732,begin climb
$GC,14734,0.80,116.7,995.2,0.0,521,14848,1.10,2.38,104.82,1.455,4,0.127,0.050,3016,4043,2529,0,0,0,0,0,0
$GC,14921,0.54,116.7,986.3,9.9,524,14926,0.32,2.17,0.00,0.000,6,0.197,0.028,2946,2654,2522,0,0,0,0,0,0
$GC,15242,0.51,126.6,965.3,6.5,530,15252,0.00,0.00,8.57,1.345,6,0.000,0.000,2946,2653,2489,0,0,0,0,0,0
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$STATE,28092,end climb,SURFACE_DEPTH_REACHED
$STATE,28092,begin surface coast
$FINISH,3.0,1.014964
$STATE,28137,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.1,6.521
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$FG_AHR_10Vo,0.000
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$MEM,241596
$DATA_FILE_SIZE,57044,1007
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$CFSIZE,260165632,250687488
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