version: 66.06
glider: 140
mission: 8
dive: 115
start: 11 2 109 15 16 36
data:
$ID,140
$MISSION,8
$DIVE,115
$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,-1
$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,-46433.328
$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,67
$R_STBD_OVSHOOT,42
$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
$GPS1,150954,6331.839,205.693,23,1.5,41,-3.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,3.18
$_SM_ANGLEo,-55.8
$GPS2,151613,6331.894,205.521,19,1.6,19,-3.8
$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,324.1,226499,-13.7,-6.875
$D_GRID,1330
$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,-7.60,0.000,2,0.000,0.000,214,2291,2037,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.1,-0.0,1,111,8.85,2.25,-69.15,0.000,4,0.239,0.055,2507,3715,3483,0,0,0,0,0,0
$GC,359,-0.66,-116.7,35.8,-8.1,60,367,0.12,2.10,0.00,0.000,6,0.181,0.023,2545,2271,3485,0,0,0,0,0,0
$GC,702,-0.61,-116.7,65.8,-8.7,114,706,0.00,2.17,0.00,0.000,4,0.000,0.041,2545,3709,3486,0,0,0,0,0,0
$GC,841,-0.57,-116.7,78.4,-9.2,120,845,0.12,2.00,0.00,0.000,6,0.189,0.024,2578,2289,3486,0,0,0,0,0,0
$GC,1157,-0.57,-116.7,99.6,-6.2,135,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2288,3486,0,0,0,0,0,0
$GC,1466,-0.60,-116.7,119.5,-6.7,150,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2288,3486,0,0,0,0,0,0
$GC,1776,-0.64,-116.7,142.3,-7.5,165,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2288,3486,0,0,0,0,0,0
$GC,2084,-0.67,-116.7,164.5,-6.8,180,2088,0.00,2.12,0.00,0.000,4,0.000,0.041,2578,3711,3486,0,0,0,0,0,0
$GC,2184,-0.73,-116.7,171.1,-6.4,184,2192,0.12,2.00,0.00,0.000,6,0.097,0.024,2530,2306,3487,0,0,0,0,0,0
$GC,2500,-0.67,-116.7,194.8,-7.5,200,2503,0.00,2.00,0.00,0.000,4,0.000,0.035,2529,932,3487,0,0,0,0,0,0
$GC,2577,-0.59,-116.7,201.3,-8.1,203,2582,0.15,2.03,0.00,0.000,6,0.191,0.028,2568,2326,3487,0,0,0,0,0,0
$GC,2898,-0.59,-116.7,221.1,-6.2,219,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2326,3487,0,0,0,0,0,0
$GC,3207,-0.59,-116.7,240.5,-6.5,234,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2326,3487,0,0,0,0,0,0
$GC,3516,-0.59,-116.7,260.6,-6.2,249,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2326,3487,0,0,0,0,0,0
$GC,3826,-0.59,-116.7,279.8,-6.2,264,3829,0.00,2.03,0.00,0.000,4,0.000,0.041,2568,3704,3487,0,0,0,0,0,0
$GC,3887,-0.64,-116.7,283.8,-5.8,266,3894,0.00,1.98,0.00,0.000,6,0.000,0.024,2569,2295,3487,0,0,0,0,0,0
$GC,4202,-0.67,-116.7,304.5,-6.6,281,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2294,3487,0,0,0,0,0,0
$GC,4509,-0.71,-116.7,324.8,-6.4,291,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2294,3486,0,0,0,0,0,0
$GC,4814,-0.75,-116.7,343.9,-6.1,301,4819,0.12,2.12,0.00,0.000,4,0.129,0.041,2527,3705,3486,0,0,0,0,0,0
$GC,4891,-0.70,-116.7,350.1,-8.7,303,4895,0.00,1.98,0.00,0.000,6,0.000,0.024,2527,2291,3486,0,0,0,0,0,0
$GC,5221,-0.65,-116.7,376.3,-7.8,314,5224,0.00,1.98,0.00,0.000,4,0.000,0.036,2527,929,3486,0,0,0,0,0,0
$GC,5281,-0.58,-116.7,381.3,-8.0,315,5288,0.10,2.03,0.00,0.000,6,0.153,0.029,2571,2304,3486,0,0,0,0,0,0
$GC,5595,-0.62,-116.7,400.8,-6.2,326,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2304,3486,0,0,0,0,0,0
$GC,5900,-0.67,-116.7,420.3,-6.3,336,5904,0.00,2.05,0.00,0.000,4,0.000,0.041,2571,3698,3486,0,0,0,0,0,0
$GC,5957,-0.74,-116.7,423.9,-6.6,337,5962,0.15,1.95,0.00,0.000,6,0.123,0.024,2521,2292,3485,0,0,0,0,0,0
$GC,6270,-0.69,-116.7,449.3,-8.6,347,6274,0.00,1.98,0.00,0.000,4,0.000,0.036,2521,931,3485,0,0,0,0,0,0
$GC,6381,-0.61,-116.7,460.2,-9.7,350,6386,0.10,2.03,0.00,0.000,6,0.171,0.029,2565,2299,3484,0,0,0,0,0,0
$GC,6711,-0.65,-116.7,483.3,-6.7,361,6715,0.00,2.05,0.00,0.000,4,0.000,0.041,2565,3699,3484,0,0,0,0,0,0
$GC,6841,-0.71,-116.7,492.0,-6.4,365,6845,0.00,1.95,0.00,0.000,6,0.000,0.025,2566,2307,3483,0,0,0,0,0,0
$GC,7180,-0.76,-116.7,512.5,-6.0,373,7182,0.15,0.00,0.00,0.000,6,0.123,0.000,2515,2303,3483,0,0,0,0,0,0
$GC,7483,-0.70,-116.7,535.7,-7.7,378,7486,0.00,2.08,0.00,0.000,4,0.000,0.042,2514,3697,3482,0,0,0,0,0,0
$GC,7572,-0.65,-116.7,542.7,-7.6,379,7576,0.15,1.98,0.00,0.000,6,0.183,0.025,2554,2284,3482,0,0,0,0,0,0
$GC,7914,-0.65,-116.7,566.4,-7.0,385,7915,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2282,3481,0,0,0,0,0,0
$GC,8217,-0.65,-116.7,586.5,-6.7,390,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2283,3480,0,0,0,0,0,0
$GC,8521,-0.65,-116.7,605.8,-6.4,395,8524,0.00,2.12,0.00,0.000,4,0.000,0.043,2554,3701,3479,0,0,0,0,0,0
$GC,8599,-0.69,-116.7,610.9,-6.6,396,8603,0.00,1.98,0.00,0.000,6,0.000,0.025,2555,2310,3479,0,0,0,0,0,0
$GC,8953,-0.69,-116.7,633.3,-6.4,402,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2309,3477,0,0,0,0,0,0
$GC,9257,-0.72,-116.7,653.4,-6.6,407,9261,0.00,2.08,0.00,0.000,4,0.000,0.044,2555,3695,3476,0,0,0,0,0,0
$GC,9329,-0.77,-116.7,658.4,-6.5,408,9334,0.12,1.98,0.00,0.000,6,0.137,0.026,2515,2296,3476,0,0,0,0,0,0
$GC,9689,-0.71,-116.7,686.1,-7.8,414,9692,0.00,2.00,0.00,0.000,4,0.000,0.039,2515,931,3475,0,0,0,0,0,0
$GC,9744,-0.64,-116.7,690.6,-8.3,414,9749,0.15,2.00,0.00,0.000,6,0.195,0.031,2554,2302,3475,0,0,0,0,0,0
$GC,10059,-0.64,-116.7,709.8,-6.0,420,10063,0.00,2.08,0.00,0.000,4,0.000,0.044,2554,3706,3474,0,0,0,0,0,0
$GC,10137,-0.69,-116.7,714.9,-6.7,421,10141,0.00,2.00,0.00,0.000,6,0.000,0.027,2554,2304,3473,0,0,0,0,0,0
$GC,10497,-0.72,-116.7,737.1,-6.2,427,10498,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2302,3472,0,0,0,0,0,0
$GC,10799,-0.76,-116.7,755.8,-6.2,432,10803,0.00,2.10,0.00,0.000,4,0.000,0.044,2554,3704,3472,0,0,0,0,0,0
$GC,10849,-0.80,-116.7,759.1,-6.4,432,10854,0.15,2.03,0.00,0.000,6,0.128,0.027,2504,2288,3471,0,0,0,0,0,0
$GC,11159,-0.73,-116.7,784.2,-8.3,437,11162,0.00,2.03,0.00,0.000,4,0.000,0.040,2504,912,3470,0,0,0,0,0,0
$GC,11208,-0.64,-116.7,788.9,-9.3,437,11213,0.20,2.08,0.00,0.000,6,0.189,0.032,2557,2323,3470,0,0,0,0,0,0
$GC,11530,-0.68,-116.7,810.3,-6.7,443,11533,0.00,2.05,0.00,0.000,4,0.000,0.044,2557,3709,3470,0,0,0,0,0,0
$GC,11596,-0.74,-116.7,814.9,-6.9,444,11600,0.00,2.05,0.00,0.000,6,0.000,0.027,2557,2299,3469,0,0,0,0,0,0
$GC,11962,-0.79,-116.7,839.2,-6.7,450,11967,0.15,2.12,0.00,0.000,4,0.130,0.045,2507,3700,3469,0,0,0,0,0,0
$GC,12011,-0.73,-116.7,843.3,-8.3,450,12015,0.00,2.05,0.00,0.000,6,0.000,0.027,2507,2300,3469,0,0,0,0,0,0
$GC,12326,-0.67,-116.7,869.4,-8.3,456,12331,0.15,2.05,0.00,0.000,4,0.191,0.041,2546,915,3468,0,0,0,0,0,0
$GC,12387,-0.67,-116.7,874.2,-7.9,456,12392,0.00,2.05,0.00,0.000,6,0.000,0.032,2546,2309,3468,0,0,0,0,0,0
$GC,12696,-0.67,-116.7,895.2,-6.8,462,12699,0.00,2.05,0.00,0.000,4,0.000,0.044,2546,3695,3468,0,0,0,0,0,0
$GC,12779,-0.70,-116.7,900.9,-7.1,463,12783,0.00,2.05,0.00,0.000,6,0.000,0.027,2547,2290,3468,0,0,0,0,0,0
$GC,13133,-0.70,-116.7,923.7,-6.4,469,13137,0.00,2.12,0.00,0.000,4,0.000,0.045,2546,3704,3467,0,0,0,0,0,0
$GC,13200,-0.74,-116.7,928.3,-6.9,470,13204,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2298,3467,0,0,0,0,0,0
$GC,13565,-0.74,-116.7,952.0,-6.5,476,13569,0.00,2.10,0.00,0.000,4,0.000,0.044,2546,3698,3466,0,0,0,0,0,0
$GC,13621,-0.78,-116.7,955.8,-6.5,476,13627,0.00,2.00,0.00,0.000,6,0.000,0.028,2546,2298,3466,0,0,0,0,0,0
$GC,13930,-0.81,-116.7,976.3,-6.6,482,13935,0.12,2.12,0.00,0.000,4,0.144,0.046,2505,3698,3466,0,0,0,0,0,0
$GC,13979,-0.76,-116.7,980.2,-8.4,482,13984,0.00,2.05,0.00,0.000,6,0.000,0.028,2505,2297,3465,0,0,0,0,0,0
$STATE,14116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14116,begin apogee
$GC,14121,-0.24,0.0,991.1,8.0,485,14221,0.60,0.00,97.47,1.558,6,0.176,0.000,2684,2645,3006,0,0,0,0,0,0
$STATE,14222,end apogee,CONTROL_FINISHED_OK
$STATE,14222,begin climb
$GC,14224,0.80,116.7,993.4,0.0,486,14338,1.05,2.38,104.22,1.458,4,0.118,0.047,3014,4040,2529,0,0,0,0,0,0
$GC,14405,0.55,116.7,986.2,9.2,488,14411,0.32,2.17,0.00,0.000,6,0.179,0.027,2944,2648,2523,0,0,0,0,0,0
$GC,14715,0.54,136.1,966.9,6.1,494,14738,0.00,2.33,16.50,1.411,4,0.000,0.047,2940,4043,2450,0,0,0,0,0,0
$GC,14744,0.54,164.6,964.9,5.7,494,14777,0.00,2.15,27.08,1.399,6,0.000,0.028,2949,2644,2334,0,0,0,0,0,0
$GC,15077,0.54,164.6,940.2,7.6,500,15081,0.00,2.20,0.00,0.000,4,0.000,0.047,2949,4044,2326,0,0,0,0,0,0
$GC,15093,0.51,164.6,938.9,7.8,500,15097,0.00,2.12,0.00,0.000,6,0.000,0.028,2958,2628,2325,0,0,0,0,0,0
$GC,15441,0.51,164.6,910.9,8.0,506,15445,0.00,2.22,0.00,0.000,4,0.000,0.047,2953,4050,2324,0,0,0,0,0,0
$GC,15469,0.45,164.6,908.4,8.6,506,15473,0.17,2.10,0.00,0.000,6,0.184,0.029,2916,2631,2323,0,0,0,0,0,0
$GC,15811,0.52,173.2,886.0,6.5,512,15820,0.00,0.00,7.20,1.328,6,0.000,0.000,2916,2631,2299,0,0,0,0,0,0
$GC,16114,0.60,182.4,866.2,6.5,517,16127,0.12,0.00,9.80,1.370,6,0.123,0.000,2960,2629,2262,0,0,0,0,0,0
$GC,16417,0.60,182.4,842.5,7.9,522,16421,0.00,2.17,0.00,0.000,4,0.000,0.047,2960,4042,2258,0,0,0,0,0,0
$GC,16426,0.60,182.4,841.6,7.9,522,16431,0.00,2.10,0.00,0.000,6,0.000,0.028,2969,2649,2258,0,0,0,0,0,0
$GC,16781,0.57,182.4,812.6,8.2,528,16785,0.00,2.15,0.00,0.000,4,0.000,0.047,2967,4049,2258,0,0,0,0,0,0
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$STATE,26839,end climb,SURFACE_DEPTH_REACHED
$STATE,26840,begin surface coast
$FINISH,2.3,1.017484
$STATE,26874,end surface coast,CONTROL_FINISHED_OK
$STATE,26874,begin surface
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$TCM_TEMP,20.20
$XPDR_PINGS,0
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$10V_AH,10.0,12.651
$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,235256
$DATA_FILE_SIZE,53922,926
$CAP_FILE_SIZE,211896,0
$CFSIZE,260165632,245800960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049, 34.0,1
$GPS,021109,224730,6334.825,201.861,64,1.7,70,-3.8