version: 66.06
glider: 140
mission: 8
dive: 72
start: 10 20 109 21 32 41
data:
$ID,140
$MISSION,8
$DIVE,72
$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,-45634.953
$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,63
$R_STBD_OVSHOOT,49
$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
$GPS1,212636,6357.644,132.861,38,0.9,44,-4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.51
$_SM_ANGLEo,-63.3
$GPS2,213219,6357.676,133.017,12,1.1,12,-4.2
$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,136.3,157603,-13.7,-6.875
$D_GRID,1991
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.80,-116.7,0.0,0.0,0,25,0.00,0.00,-7.70,0.000,2,0.000,0.000,214,2302,2043,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.6,-0.0,1,121,9.12,2.15,-76.93,0.000,4,0.252,0.056,2500,3699,3481,0,0,0,0,0,0
$GC,141,-0.90,-116.7,4.2,-3.5,20,148,0.00,2.10,0.00,0.000,6,0.000,0.024,2500,2286,3482,0,0,0,0,0,0
$GC,481,-0.77,-116.7,37.5,-9.2,81,486,0.00,2.15,0.00,0.000,4,0.000,0.041,2500,3702,3482,0,0,0,0,0,0
$GC,527,-0.63,-116.7,42.0,-10.0,89,533,0.20,2.03,0.00,0.000,6,0.191,0.024,2554,2280,3483,0,0,0,0,0,0
$GC,862,-0.63,-116.7,70.6,-8.7,133,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2280,3484,0,0,0,0,0,0
$GC,1170,-0.63,-116.7,97.1,-8.2,148,1174,0.00,1.98,0.00,0.000,4,0.000,0.036,2554,933,3484,0,0,0,0,0,0
$GC,1194,-0.63,-116.7,99.0,-8.0,149,1198,0.00,2.03,0.00,0.000,6,0.000,0.029,2554,2314,3484,0,0,0,0,0,0
$GC,1521,-0.63,-116.7,122.6,-6.8,165,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2314,3484,0,0,0,0,0,0
$GC,1829,-0.63,-116.7,144.0,-7.0,180,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2314,3484,0,0,0,0,0,0
$GC,2139,-0.63,-116.7,166.0,-6.9,195,2143,0.00,2.05,0.00,0.000,4,0.000,0.035,2554,925,3484,0,0,0,0,0,0
$GC,2148,-0.63,-116.7,166.8,-7.0,195,2155,0.00,2.05,0.00,0.000,6,0.000,0.029,2554,2302,3485,0,0,0,0,0,0
$GC,2465,-0.63,-116.7,188.6,-7.2,211,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2303,3485,0,0,0,0,0,0
$GC,2773,-0.63,-116.7,210.4,-7.0,226,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2302,3485,0,0,0,0,0,0
$GC,3083,-0.63,-116.7,233.7,-7.8,241,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2302,3485,0,0,0,0,0,0
$GC,3392,-0.63,-116.7,256.2,-6.9,256,3396,0.00,2.03,0.00,0.000,4,0.000,0.035,2554,931,3485,0,0,0,0,0,0
$GC,3407,-0.63,-116.7,257.4,-7.1,256,3414,0.00,2.03,0.00,0.000,6,0.000,0.029,2554,2298,3485,0,0,0,0,0,0
$GC,3723,-0.63,-116.7,279.6,-7.2,272,3727,0.00,2.00,0.00,0.000,4,0.000,0.035,2554,933,3484,0,0,0,0,0,0
$GC,3750,-0.63,-116.7,281.6,-7.2,273,3754,0.00,2.03,0.00,0.000,6,0.000,0.029,2554,2302,3485,0,0,0,0,0,0
$GC,4077,-0.63,-116.7,305.0,-7.3,288,4081,0.00,2.05,0.00,0.000,4,0.000,0.041,2554,3702,3485,0,0,0,0,0,0
$GC,4092,-0.63,-116.7,306.2,-7.3,288,4097,0.00,2.00,0.00,0.000,6,0.000,0.025,2554,2312,3484,0,0,0,0,0,0
$GC,4410,-0.63,-116.7,328.2,-6.8,299,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2310,3484,0,0,0,0,0,0
$GC,4717,-0.63,-116.7,347.3,-6.1,309,4720,0.00,2.08,0.00,0.000,4,0.000,0.042,2554,3702,3484,0,0,0,0,0,0
$GC,4755,-0.63,-116.7,349.6,-5.7,310,4759,0.00,2.03,0.00,0.000,6,0.000,0.025,2554,2297,3484,0,0,0,0,0,0
$GC,5090,-0.63,-116.7,371.1,-6.6,321,5094,0.00,2.10,0.00,0.000,4,0.000,0.043,2554,3704,3483,0,0,0,0,0,0
$GC,5122,-0.63,-116.7,373.4,-7.1,322,5127,0.00,2.03,0.00,0.000,6,0.000,0.025,2554,2303,3483,0,0,0,0,0,0
$GC,5457,-0.63,-116.7,395.6,-6.5,333,5461,0.00,2.10,0.00,0.000,4,0.000,0.043,2554,3706,3482,0,0,0,0,0,0
$GC,5496,-0.63,-116.7,398.2,-6.7,334,5500,0.00,2.00,0.00,0.000,6,0.000,0.026,2554,2297,3482,0,0,0,0,0,0
$GC,5830,-0.63,-116.7,420.1,-6.7,345,5834,0.00,2.10,0.00,0.000,4,0.000,0.043,2554,3703,3482,0,0,0,0,0,0
$GC,5863,-0.63,-116.7,422.5,-7.3,346,5867,0.00,2.03,0.00,0.000,6,0.000,0.026,2554,2304,3481,0,0,0,0,0,0
$GC,6198,-0.63,-116.7,443.7,-6.2,357,6202,0.00,2.10,0.00,0.000,4,0.000,0.043,2554,3705,3481,0,0,0,0,0,0
$GC,6236,-0.63,-116.7,446.1,-6.0,358,6240,0.00,2.05,0.00,0.000,6,0.000,0.026,2554,2295,3481,0,0,0,0,0,0
$GC,6571,-0.63,-116.7,466.7,-6.3,369,6574,0.00,2.10,0.00,0.000,4,0.000,0.043,2554,3699,3480,0,0,0,0,0,0
$GC,6649,-0.67,-116.7,472.2,-6.6,371,6653,0.00,2.03,0.00,0.000,6,0.000,0.026,2554,2286,3479,0,0,0,0,0,0
$GC,6972,-0.67,-116.7,494.3,-6.9,382,6976,0.00,2.12,0.00,0.000,4,0.000,0.044,2554,3705,3478,0,0,0,0,0,0
$GC,7021,-0.71,-116.7,497.8,-7.4,383,7025,0.00,2.00,0.00,0.000,6,0.000,0.026,2554,2299,3478,0,0,0,0,0,0
$GC,7366,-0.71,-116.7,522.2,-7.1,390,7370,0.00,2.10,0.00,0.000,4,0.000,0.044,2554,3702,3477,0,0,0,0,0,0
$GC,7432,-0.75,-116.7,526.8,-7.0,391,7436,0.00,2.05,0.00,0.000,6,0.000,0.027,2554,2292,3477,0,0,0,0,0,0
$GC,7798,-0.75,-116.7,550.7,-6.6,397,7801,0.00,2.10,0.00,0.000,4,0.000,0.044,2554,3698,3476,0,0,0,0,0,0
$GC,7860,-0.79,-116.7,554.9,-6.8,398,7864,0.15,2.00,0.00,0.000,6,0.135,0.027,2505,2289,3476,0,0,0,0,0,0
$GC,8225,-0.71,-116.7,586.2,-8.7,404,8227,0.12,0.00,0.00,0.000,6,0.207,0.000,2535,2286,3475,0,0,0,0,0,0
$GC,8527,-0.71,-116.7,608.3,-7.2,409,8531,0.00,2.12,0.00,0.000,4,0.000,0.044,2536,3704,3474,0,0,0,0,0,0
$GC,8542,-0.71,-116.7,609.4,-6.9,409,8546,0.00,2.03,0.00,0.000,6,0.000,0.028,2536,2313,3474,0,0,0,0,0,0
$GC,8891,-0.71,-116.7,632.9,-6.8,415,8895,0.00,2.08,0.00,0.000,4,0.000,0.044,2536,3701,3473,0,0,0,0,0,0
$GC,8922,-0.71,-116.7,635.2,-7.1,415,8927,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2294,3473,0,0,0,0,0,0
$GC,9260,-0.71,-116.7,657.6,-6.7,421,9264,0.00,2.10,0.00,0.000,4,0.000,0.044,2536,3697,3472,0,0,0,0,0,0
$GC,9286,-0.71,-116.7,659.6,-7.6,421,9291,0.00,2.03,0.00,0.000,6,0.000,0.028,2536,2303,3472,0,0,0,0,0,0
$GC,9624,-0.71,-116.7,683.3,-7.1,427,9628,0.00,2.10,0.00,0.000,4,0.000,0.045,2536,3702,3471,0,0,0,0,0,0
$GC,9645,-0.71,-116.7,685.0,-7.5,427,9649,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2297,3470,0,0,0,0,0,0
$GC,9988,-0.71,-116.7,709.0,-7.0,433,9992,0.00,2.10,0.00,0.000,4,0.000,0.045,2536,3698,3470,0,0,0,0,0,0
$GC,10026,-0.71,-116.7,711.7,-7.5,433,10030,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2293,3470,0,0,0,0,0,0
$GC,10358,-0.71,-116.7,734.8,-7.1,439,10362,0.00,2.12,0.00,0.000,4,0.000,0.045,2536,3707,3470,0,0,0,0,0,0
$GC,10390,-0.71,-116.7,737.2,-7.4,439,10394,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2302,3469,0,0,0,0,0,0
$GC,10722,-0.71,-116.7,759.4,-6.7,445,10726,0.00,2.12,0.00,0.000,4,0.000,0.046,2536,3698,3469,0,0,0,0,0,0
$GC,10765,-0.71,-116.7,762.4,-7.0,445,10769,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2299,3469,0,0,0,0,0,0
$GC,11086,-0.71,-116.7,782.5,-6.3,451,11090,0.00,2.10,0.00,0.000,4,0.000,0.045,2536,3697,3469,0,0,0,0,0,0
$GC,11113,-0.71,-116.7,784.5,-6.8,451,11117,0.00,2.03,0.00,0.000,6,0.000,0.028,2536,2287,3468,0,0,0,0,0,0
$GC,11450,-0.71,-116.7,806.1,-6.4,457,11454,0.00,2.12,0.00,0.000,4,0.000,0.045,2536,3701,3468,0,0,0,0,0,0
$GC,11487,-0.71,-116.7,808.8,-7.2,457,11492,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2298,3468,0,0,0,0,0,0
$GC,11814,-0.71,-116.7,831.2,-6.9,463,11818,0.00,2.10,0.00,0.000,4,0.000,0.045,2536,3697,3467,0,0,0,0,0,0
$GC,11840,-0.71,-116.7,833.2,-6.7,463,11844,0.00,2.03,0.00,0.000,6,0.000,0.028,2536,2288,3467,0,0,0,0,0,0
$GC,12177,-0.71,-116.7,857.1,-7.1,469,12181,0.00,2.12,0.00,0.000,4,0.000,0.045,2536,3701,3467,0,0,0,0,0,0
$GC,12222,-0.71,-116.7,860.3,-6.7,469,12225,0.00,2.03,0.00,0.000,6,0.000,0.028,2536,2291,3467,0,0,0,0,0,0
$GC,12542,-0.71,-116.7,882.4,-6.8,475,12546,0.00,2.12,0.00,0.000,4,0.000,0.046,2536,3698,3467,0,0,0,0,0,0
$GC,12580,-0.71,-116.7,885.1,-7.8,475,12584,0.00,2.05,0.00,0.000,6,0.000,0.028,2537,2295,3466,0,0,0,0,0,0
$GC,12912,-0.71,-116.7,906.5,-6.5,481,12916,0.00,2.12,0.00,0.000,4,0.000,0.046,2537,3705,3466,0,0,0,0,0,0
$GC,12950,-0.71,-116.7,909.2,-7.0,481,12954,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2307,3466,0,0,0,0,0,0
$GC,13276,-0.71,-116.7,929.6,-6.3,487,13280,0.00,2.10,0.00,0.000,4,0.000,0.046,2536,3701,3465,0,0,0,0,0,0
$GC,13314,-0.71,-116.7,932.0,-6.1,487,13318,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2304,3465,0,0,0,0,0,0
$GC,13640,-0.71,-116.7,952.2,-6.3,493,13644,0.00,2.10,0.00,0.000,4,0.000,0.046,2536,3697,3465,0,0,0,0,0,0
$GC,13683,-0.71,-116.7,955.1,-7.1,493,13687,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2300,3465,0,0,0,0,0,0
$GC,14004,-0.71,-116.7,976.3,-6.6,499,14008,0.00,2.10,0.00,0.000,4,0.000,0.046,2536,3695,3464,0,0,0,0,0,0
$GC,14041,-0.71,-116.7,978.9,-7.0,499,14046,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2297,3464,0,0,0,0,0,0
$STATE,14250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14250,begin apogee
$GC,14255,-0.24,0.0,992.6,6.6,503,14356,0.50,0.00,97.47,1.559,6,0.175,0.000,2687,2643,3006,0,0,0,0,0,0
$STATE,14356,end apogee,CONTROL_FINISHED_OK
$STATE,14356,begin climb
$GC,14358,0.80,116.7,994.5,0.0,504,14473,1.08,2.42,104.20,1.459,4,0.121,0.048,3017,4039,2528,0,0,0,0,0,0
$GC,14518,0.53,116.7,988.8,8.7,507,14523,0.35,2.20,0.00,0.000,6,0.193,0.028,2942,2648,2523,0,0,0,0,0,0
$GC,14861,0.53,142.2,968.2,5.9,513,14885,0.00,0.00,22.27,1.421,6,0.000,0.000,2942,2648,2426,0,0,0,0,0,0
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$STATE,27115,end climb,SURFACE_DEPTH_REACHED
$STATE,27115,begin surface coast
$FINISH,2.8,1.014574
$STATE,27149,end surface coast,CONTROL_FINISHED_OK
$STATE,27149,begin surface
$SM_CCo,27165,35.40,0.781,0,0,1884,275.23
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$HUMID,1078334829
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$TCM_TEMP,15.30
$XPDR_PINGS,0
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$10V_AH,10.1,8.455
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.700,208.850,311.150,35.400,0.000,24.011,40.389,162.131,0.000,0.000,12.960,2084.229,22026.125,520.128,2411.753,494.232,0.000,1763.251,0.000,2386.465,0.000,0.534,0.000
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$SENSOR_SECS,655.247,969.836,524.715,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241580
$DATA_FILE_SIZE,53842,947
$CAP_FILE_SIZE,205631,0
$CFSIZE,260165632,249139200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145, 87.8,1
$GPS,211009,050727,6355.414,142.746,28,2.2,48,-4.1