version: 66.06
glider: 140
mission: 8
dive: 17
start: 10 4 109 6 58 3
data:
$ID,140
$MISSION,8
$DIVE,17
$D_SURF,3
$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,-44634.398
$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
$PITCH_ADJ_DBAND,1
$ROLL_MIN,174
$ROLL_MAX,4054
$ROLL_DEG,40
$C_ROLL_DIVE,2275
$C_ROLL_CLIMB,2850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,38
$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,800
$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
$GPS1,064837,6421.779,104.235,29,1.4,29,-4.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.15
$_SM_ANGLEo,-58.0
$GPS2,065740,6421.720,104.259,11,3.0,30,-4.5
$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,314.7,126938,-13.7,-6.875
$D_GRID,2521
$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,-7.97,0.000,2,0.000,0.000,215,2273,2036,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.3,-0.0,1,120,9.57,2.20,-76.12,0.000,4,0.268,0.058,2500,3681,3482,0,0,0,0,0,0
$GC,364,-0.80,-116.7,33.8,-10.2,61,370,0.00,2.08,0.00,0.000,6,0.000,0.026,2500,2264,3484,0,0,0,0,0,0
$GC,699,-0.80,-116.7,69.2,-10.3,111,703,0.00,2.08,0.00,0.000,4,0.000,0.041,2500,876,3484,0,0,0,0,0,0
$GC,904,-0.80,-116.7,90.5,-10.6,120,909,0.00,2.12,0.00,0.000,6,0.000,0.031,2500,2284,3485,0,0,0,0,0,0
$GC,1226,-0.80,-116.7,116.1,-7.6,136,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2285,3486,0,0,0,0,0,0
$GC,1536,-0.80,-116.7,141.5,-8.3,151,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2285,3486,0,0,0,0,0,0
$GC,1844,-0.80,-116.7,167.2,-8.5,166,1848,0.00,2.10,0.00,0.000,4,0.000,0.040,2500,885,3486,0,0,0,0,0,0
$GC,1912,-0.80,-116.7,173.3,-9.5,169,1916,0.00,2.08,0.00,0.000,6,0.000,0.031,2500,2285,3486,0,0,0,0,0,0
$GC,2244,-0.80,-116.7,202.0,-9.0,185,2248,0.00,2.05,0.00,0.000,4,0.000,0.044,2500,3672,3487,0,0,0,0,0,0
$GC,2351,-0.80,-116.7,212.0,-9.5,190,2354,0.00,2.00,0.00,0.000,6,0.000,0.026,2500,2272,3486,0,0,0,0,0,0
$GC,2682,-0.80,-116.7,243.8,-10.0,206,2686,0.00,2.03,0.00,0.000,4,0.000,0.041,2500,893,3486,0,0,0,0,0,0
$GC,2754,-0.80,-116.7,251.6,-11.2,209,2758,0.00,2.08,0.00,0.000,6,0.000,0.031,2500,2272,3486,0,0,0,0,0,0
$GC,3081,-0.80,-116.7,284.5,-10.1,225,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2272,3485,0,0,0,0,0,0
$GC,3399,-0.80,-116.7,315.9,-9.7,238,3403,0.00,2.05,0.00,0.000,4,0.000,0.041,2500,890,3485,0,0,0,0,0,0
$GC,3459,-0.80,-116.7,322.1,-9.8,239,3465,0.00,2.08,0.00,0.000,6,0.000,0.032,2500,2276,3485,0,0,0,0,0,0
$GC,3771,-0.80,-116.7,351.8,-9.7,250,3775,0.00,2.08,0.00,0.000,4,0.000,0.046,2500,3677,3483,0,0,0,0,0,0
$GC,3826,-0.80,-116.7,357.2,-10.1,251,3832,0.00,2.05,0.00,0.000,6,0.000,0.028,2500,2277,3484,0,0,0,0,0,0
$GC,4138,-0.80,-116.7,385.4,-9.0,262,4142,0.00,2.05,0.00,0.000,4,0.000,0.042,2500,887,3483,0,0,0,0,0,0
$GC,4194,-0.80,-116.7,390.8,-9.5,263,4198,0.00,2.05,0.00,0.000,6,0.000,0.033,2500,2281,3483,0,0,0,0,0,0
$GC,4507,-0.80,-116.7,418.0,-8.4,273,4510,0.00,2.08,0.00,0.000,4,0.000,0.046,2500,3683,3482,0,0,0,0,0,0
$GC,4572,-0.80,-116.7,423.8,-8.5,275,4577,0.00,2.08,0.00,0.000,6,0.000,0.028,2500,2269,3481,0,0,0,0,0,0
$GC,4907,-0.80,-116.7,451.2,-8.3,286,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2268,3481,0,0,0,0,0,0
$GC,5214,-0.80,-116.7,476.5,-8.2,296,5215,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2268,3480,0,0,0,0,0,0
$GC,5520,-0.80,-116.7,502.4,-8.6,306,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2267,3479,0,0,0,0,0,0
$GC,5823,-0.80,-116.7,529.1,-8.9,311,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2267,3478,0,0,0,0,0,0
$GC,6126,-0.80,-116.7,556.3,-8.9,316,6130,0.00,2.12,0.00,0.000,4,0.000,0.048,2500,3683,3477,0,0,0,0,0,0
$GC,6180,-0.80,-116.7,561.3,-8.9,316,6187,0.00,2.08,0.00,0.000,6,0.000,0.029,2500,2272,3477,0,0,0,0,0,0
$GC,6489,-0.80,-116.7,589.0,-9.0,322,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2272,3476,0,0,0,0,0,0
$GC,6792,-0.80,-116.7,615.2,-8.6,327,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2271,3475,0,0,0,0,0,0
$GC,7096,-0.80,-116.7,641.1,-8.5,332,7100,0.00,2.10,0.00,0.000,4,0.000,0.048,2500,3673,3474,0,0,0,0,0,0
$GC,7139,-0.80,-116.7,644.8,-8.2,332,7144,0.00,2.05,0.00,0.000,6,0.000,0.030,2500,2273,3474,0,0,0,0,0,0
$GC,7460,-0.80,-116.7,671.1,-8.2,338,7461,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2272,3474,0,0,0,0,0,0
$GC,7763,-0.80,-116.7,696.2,-8.3,343,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2271,3473,0,0,0,0,0,0
$GC,8066,-0.80,-116.7,720.8,-8.1,348,8070,0.00,2.12,0.00,0.000,4,0.000,0.048,2500,3686,3472,0,0,0,0,0,0
$GC,8120,-0.80,-116.7,725.4,-8.3,348,8125,0.00,2.08,0.00,0.000,6,0.000,0.030,2500,2277,3472,0,0,0,0,0,0
$GC,8434,-0.80,-116.7,751.2,-8.2,354,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2277,3472,0,0,0,0,0,0
$GC,8737,-0.80,-116.7,775.9,-8.2,359,8739,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2276,3471,0,0,0,0,0,0
$GC,9042,-0.80,-116.7,800.7,-8.2,364,9043,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2276,3471,0,0,0,0,0,0
$GC,9345,-0.80,-116.7,825.8,-8.3,369,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2276,3470,0,0,0,0,0,0
$GC,9648,-0.80,-116.7,850.4,-8.1,374,9652,0.00,2.10,0.00,0.000,4,0.000,0.048,2500,3675,3470,0,0,0,0,0,0
$GC,9709,-0.80,-116.7,855.5,-8.0,375,9713,0.00,2.03,0.00,0.000,6,0.000,0.030,2500,2268,3469,0,0,0,0,0,0
$GC,10081,-0.80,-116.7,885.5,-8.1,381,10082,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2267,3469,0,0,0,0,0,0
$GC,10383,-0.80,-116.7,910.5,-8.3,386,10387,0.00,2.12,0.00,0.000,4,0.000,0.048,2500,3681,3469,0,0,0,0,0,0
$GC,10426,-0.80,-116.7,914.3,-8.9,386,10430,0.00,2.08,0.00,0.000,6,0.000,0.030,2500,2269,3469,0,0,0,0,0,0
$GC,10746,-0.80,-116.7,941.2,-8.4,392,10747,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2269,3469,0,0,0,0,0,0
$GC,11050,-0.80,-116.7,966.2,-8.2,397,11054,0.00,2.12,0.00,0.000,4,0.000,0.048,2500,3683,3468,0,0,0,0,0,0
$GC,11111,-0.80,-116.7,971.3,-7.7,398,11115,0.00,2.03,0.00,0.000,6,0.000,0.031,2500,2276,3468,0,0,0,0,0,0
$STATE,11358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11358,begin apogee
$GC,11364,-0.24,0.0,990.9,7.8,402,11467,0.62,0.00,99.32,1.620,6,0.189,0.000,2686,2845,3006,0,0,0,0,0,0
$STATE,11467,end apogee,CONTROL_FINISHED_OK
$STATE,11468,begin climb
$GC,11469,0.80,116.7,993.0,0.0,403,11586,1.08,2.08,106.35,1.532,4,0.130,0.052,3014,4040,2529,0,0,0,0,0,0
$GC,11669,0.80,116.7,983.7,10.0,406,11674,0.00,1.85,0.00,0.000,6,0.000,0.028,3023,2856,2522,0,0,0,0,0,0
$GC,12029,0.80,116.7,952.6,8.6,412,12033,0.00,1.88,0.00,0.000,4,0.000,0.052,3019,4043,2517,0,0,0,0,0,0
$GC,12045,0.80,116.7,951.0,8.6,412,12049,0.00,1.83,0.00,0.000,6,0.000,0.030,3027,2847,2517,0,0,0,0,0,0
$GC,12399,0.80,116.7,920.6,8.6,418,12402,0.00,1.88,0.00,0.000,4,0.000,0.051,3019,4051,2516,0,0,0,0,0,0
$GC,12437,0.80,116.7,917.0,8.8,418,12441,0.00,1.83,0.00,0.000,6,0.000,0.030,3027,2846,2516,0,0,0,0,0,0
$GC,12768,0.80,116.7,889.2,8.3,424,12772,0.00,1.88,0.00,0.000,4,0.000,0.053,3028,4050,2515,0,0,0,0,0,0
$GC,12801,0.80,116.7,886.2,9.4,424,12806,0.00,1.80,0.00,0.000,6,0.000,0.030,3036,2851,2515,0,0,0,0,0,0
$GC,13138,0.80,116.7,858.1,8.3,430,13142,0.00,1.88,0.00,0.000,4,0.000,0.053,3033,4042,2515,0,0,0,0,0,0
$GC,13164,0.80,116.7,855.6,8.7,430,13169,0.00,1.77,0.00,0.000,6,0.000,0.031,3041,2850,2515,0,0,0,0,0,0
$GC,13507,0.80,116.7,826.7,8.4,436,13511,0.00,1.83,0.00,0.000,4,0.000,0.052,3034,4045,2514,0,0,0,0,0,0
$GC,13545,0.80,116.7,823.1,9.4,436,13549,0.00,1.77,0.00,0.000,6,0.000,0.030,3041,2848,2514,0,0,0,0,0,0
$GC,13877,0.80,116.7,795.2,8.4,442,13878,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2847,2514,0,0,0,0,0,0
$GC,14180,0.80,116.7,769.7,8.4,447,14183,0.00,1.85,0.00,0.000,4,0.000,0.052,3034,4054,2513,0,0,0,0,0,0
$GC,14212,0.80,116.7,766.6,9.1,447,14216,0.00,1.77,0.00,0.000,6,0.000,0.030,3041,2852,2513,0,0,0,0,0,0
$GC,14550,0.80,116.7,737.5,8.7,453,14551,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2851,2513,0,0,0,0,0,0
$GC,14852,0.80,116.7,710.7,8.8,458,14856,0.00,1.83,0.00,0.000,4,0.000,0.052,3034,4049,2513,0,0,0,0,0,0
$GC,14890,0.80,116.7,707.0,9.1,458,14895,0.00,1.75,0.00,0.000,6,0.000,0.030,3042,2853,2513,0,0,0,0,0,0
$GC,15222,0.80,116.7,678.6,8.6,464,15223,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2851,2513,0,0,0,0,0,0
$GC,15526,0.80,116.7,652.8,8.5,469,15529,0.00,1.83,0.00,0.000,4,0.000,0.052,3034,4049,2513,0,0,0,0,0,0
$GC,15546,0.80,116.7,650.8,9.5,469,15551,0.00,1.75,0.00,0.000,6,0.000,0.030,3041,2854,2513,0,0,0,0,0,0
$GC,15895,0.80,116.7,621.1,8.5,475,15896,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2853,2512,0,0,0,0,0,0
$GC,16198,0.80,116.7,595.8,8.3,480,16199,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2853,2512,0,0,0,0,0,0
$GC,16502,0.80,116.7,571.3,8.1,485,16506,0.00,1.85,0.00,0.000,4,0.000,0.053,3034,4043,2512,0,0,0,0,0,0
$GC,16522,0.80,116.7,569.5,7.7,485,16527,0.00,1.75,0.00,0.000,6,0.000,0.030,3042,2848,2511,0,0,0,0,0,0
$GC,16871,0.80,116.7,542.2,7.8,491,16872,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2847,2512,0,0,0,0,0,0
$GC,17174,0.80,116.7,518.2,7.9,496,17178,0.00,1.85,0.00,0.000,4,0.000,0.052,3034,4040,2511,0,0,0,0,0,0
$GC,17228,0.80,116.7,513.6,8.6,496,17233,0.00,1.73,0.00,0.000,6,0.000,0.029,3042,2851,2512,0,0,0,0,0,0
$GC,17544,0.80,116.7,490.2,7.4,504,17548,0.00,1.85,0.00,0.000,4,0.000,0.052,3034,4043,2512,0,0,0,0,0,0
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$STATE,23854,end climb,SURFACE_DEPTH_REACHED
$STATE,23854,begin surface coast
$FINISH,2.6,1.013285
$STATE,23888,end surface coast,CONTROL_FINISHED_OK
$STATE,23889,begin surface
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$HUMID,1078298700
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$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,23.1,5.259
$10V_AH,10.1,2.998
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241612
$DATA_FILE_SIZE,50811,875
$CAP_FILE_SIZE,172437,0
$CFSIZE,260165632,253530112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.023, 72.2,1
$GPS,041009,133937,6423.303,100.179,43,1.2,43,-4.5