version: 66.06
glider: 140
mission: 8
dive: 134
start: 11 8 109 17 6 56
data:
$ID,140
$MISSION,8
$DIVE,134
$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,-46732.672
$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,74
$R_STBD_OVSHOOT,50
$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
$GPS1,170101,6425.484,17.538,40,1.4,41,-5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.75
$_SM_ANGLEo,-67.0
$GPS2,170632,6425.475,17.506,12,1.2,12,-5.0
$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,326.2,96360,-13.7,-6.875
$D_GRID,2552
$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,-116.7,0.0,0.0,0,23,0.00,0.00,-7.28,0.000,2,0.000,0.000,216,2310,2031,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.8,-0.0,1,121,9.12,2.15,-78.15,0.000,4,0.249,0.058,2504,3691,3483,0,0,0,0,0,0
$GC,355,-0.68,-116.7,29.5,-11.3,60,362,0.10,2.05,0.00,0.000,6,0.180,0.025,2535,2293,3485,0,0,0,0,0,0
$GC,697,-0.62,-116.7,60.5,-8.7,121,701,0.00,2.03,0.00,0.000,4,0.000,0.036,2536,925,3485,0,0,0,0,0,0
$GC,792,-0.55,-116.7,69.5,-9.6,125,797,0.17,2.05,0.00,0.000,6,0.187,0.029,2582,2309,3485,0,0,0,0,0,0
$GC,1121,-0.58,-116.7,92.2,-6.8,141,1125,0.00,2.08,0.00,0.000,4,0.000,0.041,2583,3701,3485,0,0,0,0,0,0
$GC,1177,-0.65,-116.7,96.2,-6.7,143,1184,0.00,2.00,0.00,0.000,6,0.000,0.024,2583,2293,3486,0,0,0,0,0,0
$GC,1493,-0.71,-116.7,116.3,-6.5,159,1495,0.15,0.00,0.00,0.000,6,0.124,0.000,2534,2292,3486,0,0,0,0,0,0
$GC,1801,-0.66,-116.7,142.1,-8.1,174,1805,0.00,2.12,0.00,0.000,4,0.000,0.041,2533,3697,3486,0,0,0,0,0,0
$GC,1850,-0.62,-116.7,146.3,-8.3,176,1855,0.08,2.03,0.00,0.000,6,0.170,0.023,2556,2292,3486,0,0,0,0,0,0
$GC,2177,-0.62,-116.7,168.2,-6.7,192,2181,0.00,2.00,0.00,0.000,4,0.000,0.035,2556,926,3486,0,0,0,0,0,0
$GC,2260,-0.62,-116.7,174.5,-7.7,195,2267,0.00,2.05,0.00,0.000,6,0.000,0.028,2556,2306,3487,0,0,0,0,0,0
$GC,2577,-0.62,-116.7,197.2,-6.8,211,2581,0.00,2.05,0.00,0.000,4,0.000,0.041,2556,3699,3487,0,0,0,0,0,0
$GC,2745,-0.62,-116.7,208.3,-6.7,218,2751,0.00,1.98,0.00,0.000,6,0.000,0.024,2557,2293,3488,0,0,0,0,0,0
$GC,3062,-0.62,-116.7,228.8,-6.6,234,3066,0.00,2.10,0.00,0.000,4,0.000,0.041,2556,3697,3488,0,0,0,0,0,0
$GC,3117,-0.62,-116.7,232.9,-7.2,236,3123,0.00,2.00,0.00,0.000,6,0.000,0.024,2556,2306,3488,0,0,0,0,0,0
$GC,3432,-0.62,-116.7,255.3,-7.3,252,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2304,3488,0,0,0,0,0,0
$GC,3742,-0.62,-116.7,274.7,-5.8,267,3746,0.00,2.10,0.00,0.000,4,0.000,0.041,2556,3705,3488,0,0,0,0,0,0
$GC,3827,-0.65,-116.7,279.9,-6.2,271,3831,0.00,2.00,0.00,0.000,6,0.000,0.025,2557,2300,3487,0,0,0,0,0,0
$GC,4168,-0.65,-116.7,303.2,-7.2,287,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2298,3486,0,0,0,0,0,0
$GC,4474,-0.65,-116.7,326.6,-7.8,297,4478,0.00,2.10,0.00,0.000,4,0.000,0.042,2556,3697,3486,0,0,0,0,0,0
$GC,4571,-0.68,-116.7,333.7,-7.5,300,4575,0.00,1.98,0.00,0.000,6,0.000,0.025,2556,2305,3486,0,0,0,0,0,0
$GC,4911,-0.68,-116.7,356.0,-6.2,311,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2300,3485,0,0,0,0,0,0
$GC,5217,-0.68,-116.7,376.1,-6.8,321,5221,0.00,2.15,0.00,0.000,4,0.000,0.044,2556,3703,3483,0,0,0,0,0,0
$GC,5267,-0.72,-116.7,379.7,-7.2,322,5271,0.00,2.05,0.00,0.000,6,0.000,0.025,2556,2296,3483,0,0,0,0,0,0
$GC,5590,-0.72,-116.7,403.6,-7.4,333,5594,0.00,2.12,0.00,0.000,4,0.000,0.043,2556,3705,3483,0,0,0,0,0,0
$GC,5656,-0.76,-116.7,408.7,-7.5,335,5661,0.12,2.03,0.00,0.000,6,0.140,0.026,2516,2289,3482,0,0,0,0,0,0
$GC,5991,-0.69,-116.7,437.9,-8.7,346,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2288,3482,0,0,0,0,0,0
$GC,6298,-0.63,-116.7,463.5,-8.3,356,6300,0.15,0.00,0.00,0.000,6,0.189,0.000,2555,2285,3480,0,0,0,0,0,0
$GC,6603,-0.63,-116.7,485.1,-6.8,366,6607,0.00,2.12,0.00,0.000,4,0.000,0.044,2555,3697,3480,0,0,0,0,0,0
$GC,6666,-0.67,-116.7,489.4,-7.4,368,6670,0.00,2.00,0.00,0.000,6,0.000,0.026,2555,2298,3480,0,0,0,0,0,0
$GC,7035,-0.67,-116.7,513.9,-6.7,377,7039,0.00,2.12,0.00,0.000,4,0.000,0.044,2555,3705,3479,0,0,0,0,0,0
$GC,7090,-0.71,-116.7,517.8,-6.7,377,7096,0.00,2.03,0.00,0.000,6,0.000,0.027,2555,2292,3478,0,0,0,0,0,0
$GC,7399,-0.71,-116.7,538.9,-6.9,383,7403,0.00,2.12,0.00,0.000,4,0.000,0.044,2555,3700,3478,0,0,0,0,0,0
$GC,7454,-0.76,-116.7,542.8,-7.4,383,7461,0.00,2.03,0.00,0.000,6,0.000,0.027,2555,2288,3477,0,0,0,0,0,0
$GC,7763,-0.79,-116.7,564.1,-6.9,389,7768,0.15,2.15,0.00,0.000,4,0.130,0.044,2505,3697,3477,0,0,0,0,0,0
$GC,7819,-0.72,-116.7,569.0,-9.4,389,7823,0.00,2.00,0.00,0.000,6,0.000,0.027,2504,2307,3476,0,0,0,0,0,0
$GC,8134,-0.64,-116.7,597.8,-9.2,395,8139,0.17,2.08,0.00,0.000,4,0.196,0.039,2552,913,3476,0,0,0,0,0,0
$GC,8201,-0.64,-116.7,603.4,-8.2,396,8205,0.00,2.03,0.00,0.000,6,0.000,0.031,2553,2298,3476,0,0,0,0,0,0
$GC,8560,-0.64,-116.7,630.0,-7.4,402,8564,0.00,2.08,0.00,0.000,4,0.000,0.044,2553,3698,3475,0,0,0,0,0,0
$GC,8649,-0.68,-116.7,637.0,-7.5,403,8652,0.00,2.03,0.00,0.000,6,0.000,0.027,2553,2281,3475,0,0,0,0,0,0
$GC,8991,-0.68,-116.7,663.1,-7.7,409,8995,0.00,2.15,0.00,0.000,4,0.000,0.044,2552,3704,3475,0,0,0,0,0,0
$GC,9046,-0.72,-116.7,667.5,-7.6,409,9051,0.00,2.03,0.00,0.000,6,0.000,0.027,2552,2296,3475,0,0,0,0,0,0
$GC,9355,-0.75,-116.7,691.1,-7.7,415,9359,0.00,2.12,0.00,0.000,4,0.000,0.044,2552,3698,3474,0,0,0,0,0,0
$GC,9404,-0.80,-116.7,694.9,-7.8,415,9409,0.10,2.05,0.00,0.000,6,0.109,0.027,2514,2301,3474,0,0,0,0,0,0
$GC,9725,-0.75,-116.7,722.9,-8.8,421,9726,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2300,3473,0,0,0,0,0,0
$GC,10028,-0.70,-116.7,747.9,-8.2,426,10029,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2300,3473,0,0,0,0,0,0
$GC,10331,-0.65,-116.7,772.2,-7.9,431,10333,0.15,0.00,0.00,0.000,6,0.196,0.000,2554,2298,3472,0,0,0,0,0,0
$GC,10635,-0.68,-116.7,791.7,-6.3,436,10639,0.00,2.12,0.00,0.000,4,0.000,0.045,2553,3704,3472,0,0,0,0,0,0
$GC,10719,-0.74,-116.7,797.3,-7.1,437,10723,0.00,2.08,0.00,0.000,6,0.000,0.027,2554,2295,3471,0,0,0,0,0,0
$GC,11073,-0.78,-116.7,819.1,-6.1,443,11078,0.12,2.15,0.00,0.000,4,0.135,0.045,2514,3701,3471,0,0,0,0,0,0
$GC,11145,-0.74,-116.7,824.5,-7.7,444,11149,0.00,2.03,0.00,0.000,6,0.000,0.027,2514,2299,3471,0,0,0,0,0,0
$GC,11499,-0.70,-116.7,851.6,-7.7,450,11500,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2297,3471,0,0,0,0,0,0
$GC,11803,-0.66,-116.7,874.2,-7.4,455,11804,0.15,0.00,0.00,0.000,6,0.196,0.000,2554,2296,3471,0,0,0,0,0,0
$GC,12107,-0.70,-116.7,891.7,-5.7,460,12111,0.00,2.12,0.00,0.000,4,0.000,0.045,2553,3706,3470,0,0,0,0,0,0
$GC,12196,-0.75,-116.7,897.0,-6.0,461,12200,0.00,2.03,0.00,0.000,6,0.000,0.028,2554,2299,3470,0,0,0,0,0,0
$GC,12539,-0.80,-116.7,914.9,-5.2,467,12544,0.15,2.15,0.00,0.000,4,0.130,0.045,2504,3697,3470,0,0,0,0,0,0
$GC,12611,-0.75,-116.7,919.9,-7.3,468,12615,0.00,2.05,0.00,0.000,6,0.000,0.027,2504,2304,3469,0,0,0,0,0,0
$GC,12977,-0.69,-116.7,944.5,-6.7,474,12979,0.15,0.00,0.00,0.000,6,0.191,0.000,2542,2301,3469,0,0,0,0,0,0
$GC,13279,-0.69,-116.7,961.0,-5.4,479,13280,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2301,3469,0,0,0,0,0,0
$GC,13583,-0.69,-116.7,977.2,-5.3,484,13587,0.00,2.12,0.00,0.000,4,0.000,0.045,2542,3704,3469,0,0,0,0,0,0
$GC,13672,-0.73,-116.7,982.1,-5.3,485,13676,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2286,3469,0,0,0,0,0,0
$STATE,13885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13885,begin apogee
$GC,13890,-0.24,0.0,993.0,5.1,489,13991,0.47,0.00,98.30,1.559,6,0.170,0.000,2686,2646,3006,0,0,0,0,0,0
$STATE,13992,end apogee,CONTROL_FINISHED_OK
$STATE,13992,begin climb
$GC,13994,0.80,116.7,994.3,0.0,490,14109,1.08,2.42,105.40,1.457,4,0.118,0.047,3017,4032,2529,0,0,0,0,0,0
$GC,14153,0.54,116.7,986.9,9.9,493,14158,0.35,2.17,0.00,0.000,6,0.179,0.027,2941,2653,2524,0,0,0,0,0,0
$GC,14495,0.54,116.7,961.7,7.3,499,14499,0.00,2.22,0.00,0.000,4,0.000,0.047,2940,4043,2519,0,0,0,0,0,0
$GC,14511,0.49,116.7,960.5,7.2,499,14515,0.00,2.12,0.00,0.000,6,0.000,0.028,2948,2647,2519,0,0,0,0,0,0
$GC,14866,0.45,116.7,935.3,7.1,505,14870,0.15,2.20,0.00,0.000,4,0.190,0.047,2910,4050,2517,0,0,0,0,0,0
$GC,14887,0.46,120.0,933.6,6.7,505,14891,0.00,2.10,0.00,0.000,6,0.000,0.028,2919,2637,2517,0,0,0,0,0,0
$GC,15229,0.48,141.6,912.8,6.0,511,15252,0.00,0.00,20.92,1.453,6,0.000,0.000,2919,2635,2428,0,0,0,0,0,0
$GC,15534,0.54,153.9,893.5,6.4,516,15552,0.00,2.30,11.90,1.392,4,0.000,0.048,2913,4040,2378,0,0,0,0,0,0
$GC,15559,0.59,171.5,891.8,6.2,516,15583,0.10,2.12,17.20,1.344,6,0.126,0.028,2956,2637,2307,0,0,0,0,0,0
$GC,15897,0.59,171.5,865.1,7.9,522,15899,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2637,2301,0,0,0,0,0,0
$GC,16201,0.59,171.5,841.1,7.9,527,16205,0.00,2.17,0.00,0.000,4,0.000,0.047,2956,4040,2299,0,0,0,0,0,0
$GC,16227,0.53,171.5,838.8,9.2,527,16231,0.00,2.10,0.00,0.000,6,0.000,0.028,2966,2649,2299,0,0,0,0,0,0
$GC,16564,0.53,171.5,812.4,7.8,533,16568,0.00,2.15,0.00,0.000,4,0.000,0.047,2966,4040,2298,0,0,0,0,0,0
$GC,16580,0.48,171.5,811.0,7.7,533,16585,0.17,2.10,0.00,0.000,6,0.174,0.028,2923,2644,2298,0,0,0,0,0,0
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$STATE,26906,end climb,SURFACE_DEPTH_REACHED
$STATE,26906,begin surface coast
$FINISH,3.1,1.027024
$STATE,26968,end surface coast,CONTROL_FINISHED_OK
$STATE,26968,begin surface
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$TCM_TEMP,19.70
$XPDR_PINGS,0
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$10V_AH,10.1,14.631
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.725,193.525,305.200,40.675,0.000,27.214,33.328,153.158,0.000,0.000,12.224,2130.906,21752.521,523.097,2454.431,490.015,0.000,1761.407,0.000,2432.683,0.000,0.534,0.000
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$MEM,241520
$DATA_FILE_SIZE,53880,966
$CAP_FILE_SIZE,206975,0
$CFSIZE,260165632,244252672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,229.5,1
$GPS,091109,003856,6427.207,10.886,38,2.9,58,-5.0