version: 66.06
glider: 140
mission: 8
dive: 196
start: 11 28 109 1 53 37
data:
$ID,140
$MISSION,8
$DIVE,196
$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,-47843.609
$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,73
$R_STBD_OVSHOOT,46
$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
$GPS1,014637,6314.754,247.611,39,1.5,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.33
$_SM_ANGLEo,-62.4
$GPS2,015314,6314.718,247.554,14,1.4,14,-3.4
$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,119.1,60223,-13.7,-6.875
$D_GRID,1013
$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,-7.53,0.000,2,0.000,0.000,212,2283,1927,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.2,-0.0,1,131,8.82,2.08,-87.47,0.000,4,0.232,0.053,2501,923,3482,0,0,0,0,0,0
$GC,381,-0.64,-116.7,22.0,-9.5,65,388,0.20,2.05,0.00,0.000,6,0.185,0.030,2555,2305,3484,0,0,0,0,0,0
$GC,719,-0.64,-116.7,46.6,-7.1,126,726,0.00,2.12,0.00,0.000,4,0.000,0.036,2555,915,3484,0,0,0,0,0,0
$GC,765,-0.64,-116.7,50.2,-8.0,134,771,0.00,2.08,0.00,0.000,6,0.000,0.029,2555,2301,3483,0,0,0,0,0,0
$GC,1107,-0.64,-116.7,73.3,-6.3,195,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2301,3484,0,0,0,0,0,0
$GC,1447,-0.64,-116.7,97.9,-6.9,256,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2301,3484,0,0,0,0,0,0
$GC,1788,-0.64,-116.7,121.8,-6.8,314,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2301,3484,0,0,0,0,0,0
$GC,2098,-0.64,-116.7,143.2,-7.3,329,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2301,3484,0,0,0,0,0,0
$GC,2406,-0.64,-116.7,166.4,-7.8,344,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2301,3484,0,0,0,0,0,0
$GC,2717,-0.64,-116.7,191.0,-7.9,359,2721,0.00,2.08,0.00,0.000,4,0.000,0.041,2555,3698,3484,0,0,0,0,0,0
$GC,2733,-0.64,-116.7,192.5,-7.9,360,2737,0.00,2.00,0.00,0.000,6,0.000,0.023,2555,2297,3484,0,0,0,0,0,0
$GC,3066,-0.64,-116.7,217.3,-7.5,376,3070,0.00,2.12,0.00,0.000,4,0.000,0.041,2555,3701,3484,0,0,0,0,0,0
$GC,3076,-0.64,-116.7,218.2,-7.5,376,3082,0.00,2.03,0.00,0.000,6,0.000,0.024,2555,2306,3484,0,0,0,0,0,0
$GC,3391,-0.64,-116.7,244.4,-8.5,392,3395,0.00,2.10,0.00,0.000,4,0.000,0.046,2555,3698,3485,0,0,0,0,0,0
$GC,3412,-0.64,-116.7,246.3,-8.6,393,3416,0.00,2.03,0.00,0.000,6,0.000,0.023,2555,2300,3484,0,0,0,0,0,0
$GC,3739,-0.64,-116.7,273.0,-7.7,409,3743,0.00,2.12,0.00,0.000,4,0.000,0.041,2555,3699,3484,0,0,0,0,0,0
$GC,3765,-0.64,-116.7,275.1,-7.3,410,3770,0.00,2.03,0.00,0.000,6,0.000,0.023,2555,2301,3484,0,0,0,0,0,0
$GC,4087,-0.64,-116.7,296.0,-6.3,426,4091,0.00,2.10,0.00,0.000,4,0.000,0.041,2555,3705,3485,0,0,0,0,0,0
$GC,4120,-0.64,-116.7,298.2,-6.6,427,4124,0.00,2.00,0.00,0.000,6,0.000,0.023,2555,2297,3485,0,0,0,0,0,0
$GC,4459,-0.64,-116.7,319.0,-6.1,439,4463,0.00,2.10,0.00,0.000,4,0.000,0.041,2555,3698,3485,0,0,0,0,0,0
$GC,4469,-0.64,-116.7,319.7,-6.0,439,4473,0.00,2.03,0.00,0.000,6,0.000,0.024,2555,2301,3485,0,0,0,0,0,0
$GC,4794,-0.64,-116.7,339.8,-6.1,450,4798,0.00,2.10,0.00,0.000,4,0.000,0.041,2555,3702,3485,0,0,0,0,0,0
$GC,4832,-0.64,-116.7,342.4,-6.6,451,4836,0.00,1.98,0.00,0.000,6,0.000,0.023,2555,2296,3485,0,0,0,0,0,0
$GC,5162,-0.64,-116.7,362.8,-6.5,462,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2296,3485,0,0,0,0,0,0
$GC,5468,-0.64,-116.7,380.1,-4.8,472,5472,0.00,2.10,0.00,0.000,4,0.000,0.041,2555,3698,3485,0,0,0,0,0,0
$GC,5506,-0.68,-116.7,381.7,-4.3,473,5510,0.00,1.98,0.00,0.000,6,0.000,0.023,2555,2296,3485,0,0,0,0,0,0
$GC,5841,-0.68,-116.7,401.8,-6.8,484,5845,0.00,2.10,0.00,0.000,4,0.000,0.041,2555,3698,3485,0,0,0,0,0,0
$GC,5870,-0.71,-116.7,404.1,-7.5,485,5873,0.00,1.98,0.00,0.000,6,0.000,0.023,2555,2302,3484,0,0,0,0,0,0
$GC,6210,-0.75,-116.7,430.8,-7.7,496,6214,0.00,2.10,0.00,0.000,4,0.000,0.041,2555,3698,3485,0,0,0,0,0,0
$GC,6237,-0.78,-116.7,432.9,-7.5,496,6243,0.08,2.03,0.00,0.000,6,0.105,0.023,2509,2289,3484,0,0,0,0,0,0
$GC,6549,-0.72,-116.7,458.9,-7.9,507,6553,0.00,2.15,0.00,0.000,4,0.000,0.041,2509,3708,3484,0,0,0,0,0,0
$GC,6571,-0.66,-116.7,460.7,-7.8,507,6575,0.10,2.03,0.00,0.000,6,0.167,0.024,2553,2304,3484,0,0,0,0,0,0
$GC,6890,-0.66,-116.7,480.0,-6.3,518,6894,0.00,2.10,0.00,0.000,4,0.000,0.041,2553,3698,3484,0,0,0,0,0,0
$GC,6957,-0.70,-116.7,484.2,-6.5,520,6961,0.00,1.98,0.00,0.000,6,0.000,0.024,2553,2306,3483,0,0,0,0,0,0
$GC,7298,-0.74,-116.7,504.4,-5.9,530,7302,0.00,2.10,0.00,0.000,4,0.000,0.041,2553,3700,3483,0,0,0,0,0,0
$GC,7330,-0.79,-116.7,506.8,-7.0,530,7335,0.12,2.00,0.00,0.000,6,0.130,0.024,2514,2288,3482,0,0,0,0,0,0
$GC,7662,-0.73,-116.7,533.6,-8.2,536,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2286,3482,0,0,0,0,0,0
$GC,7965,-0.69,-116.7,558.7,-8.2,541,7967,0.10,0.00,0.00,0.000,6,0.211,0.000,2537,2284,3482,0,0,0,0,0,0
$GC,8269,-0.69,-116.7,583.2,-8.0,546,8272,0.00,2.15,0.00,0.000,4,0.000,0.043,2538,3705,3481,0,0,0,0,0,0
$GC,8289,-0.69,-116.7,584.9,-7.7,546,8294,0.00,2.03,0.00,0.000,6,0.000,0.025,2538,2315,3480,0,0,0,0,0,0
$GC,8633,-0.69,-116.7,603.1,-4.7,552,8637,0.00,2.10,0.00,0.000,4,0.000,0.042,2538,3698,3480,0,0,0,0,0,0
$GC,8688,-0.69,-116.7,606.0,-4.9,552,8692,0.00,2.05,0.00,0.000,6,0.000,0.025,2538,2293,3479,0,0,0,0,0,0
$GC,9003,-0.69,-116.7,622.5,-5.4,558,9007,0.00,2.12,0.00,0.000,4,0.000,0.043,2538,3697,3478,0,0,0,0,0,0
$GC,9085,-0.69,-116.7,627.8,-6.0,559,9090,0.00,2.05,0.00,0.000,6,0.000,0.025,2538,2298,3478,0,0,0,0,0,0
$GC,9435,-0.69,-116.7,649.8,-6.4,565,9438,0.00,2.12,0.00,0.000,4,0.000,0.046,2538,3697,3476,0,0,0,0,0,0
$GC,9497,-0.69,-116.7,653.9,-6.7,566,9501,0.00,2.00,0.00,0.000,6,0.000,0.025,2539,2304,3476,0,0,0,0,0,0
$GC,9868,-0.69,-116.7,676.4,-5.9,572,9872,0.00,2.12,0.00,0.000,4,0.000,0.044,2538,3699,3475,0,0,0,0,0,0
$GC,9907,-0.69,-116.7,678.7,-6.0,572,9911,0.00,2.03,0.00,0.000,6,0.000,0.026,2538,2301,3475,0,0,0,0,0,0
$GC,10233,-0.69,-116.7,698.0,-5.9,578,10237,0.00,2.15,0.00,0.000,4,0.000,0.044,2538,3704,3473,0,0,0,0,0,0
$GC,10277,-0.69,-116.7,700.9,-6.5,578,10281,0.00,2.05,0.00,0.000,6,0.000,0.026,2538,2286,3473,0,0,0,0,0,0
$GC,10603,-0.69,-116.7,721.5,-6.4,584,10607,0.00,2.15,0.00,0.000,4,0.000,0.044,2538,3702,3472,0,0,0,0,0,0
$GC,10657,-0.69,-116.7,725.3,-7.0,584,10663,0.00,2.08,0.00,0.000,6,0.000,0.026,2538,2296,3472,0,0,0,0,0,0
$GC,10968,-0.69,-116.7,746.8,-7.1,590,10971,0.00,2.12,0.00,0.000,4,0.000,0.044,2538,3695,3471,0,0,0,0,0,0
$GC,11029,-0.69,-116.7,751.5,-7.4,591,11033,0.00,2.03,0.00,0.000,6,0.000,0.027,2538,2298,3471,0,0,0,0,0,0
$GC,11399,-0.69,-116.7,777.4,-6.9,597,11403,0.00,2.15,0.00,0.000,4,0.000,0.044,2538,3698,3470,0,0,0,0,0,0
$GC,11449,-0.72,-116.7,781.1,-7.9,597,11453,0.00,2.08,0.00,0.000,6,0.000,0.027,2538,2296,3469,0,0,0,0,0,0
$GC,11769,-0.72,-116.7,802.4,-6.7,603,11773,0.00,2.15,0.00,0.000,4,0.000,0.044,2538,3704,3469,0,0,0,0,0,0
$GC,11825,-0.75,-116.7,806.3,-6.7,603,11830,0.00,2.05,0.00,0.000,6,0.000,0.027,2538,2290,3468,0,0,0,0,0,0
$GC,12134,-0.75,-116.7,827.3,-6.8,609,12138,0.00,2.15,0.00,0.000,4,0.000,0.044,2538,3701,3468,0,0,0,0,0,0
$GC,12189,-0.78,-116.7,831.3,-7.6,609,12195,0.00,2.08,0.00,0.000,6,0.000,0.027,2538,2268,3467,0,0,0,0,0,0
$GC,12498,-0.78,-116.7,852.2,-6.8,615,12502,0.00,2.20,0.00,0.000,4,0.000,0.044,2538,3702,3467,0,0,0,0,0,0
$GC,12565,-0.82,-116.7,856.7,-6.5,616,12570,0.12,2.05,0.00,0.000,6,0.136,0.027,2500,2286,3466,0,0,0,0,0,0
$GC,12932,-0.76,-116.7,886.1,-8.1,622,12936,0.00,2.15,0.00,0.000,4,0.000,0.044,2500,3697,3466,0,0,0,0,0,0
$GC,12948,-0.70,-116.7,887.6,-8.2,622,12953,0.15,2.03,0.00,0.000,6,0.192,0.028,2539,2297,3466,0,0,0,0,0,0
$GC,13290,-0.70,-116.7,910.1,-6.5,628,13294,0.00,2.15,0.00,0.000,4,0.000,0.046,2538,3705,3465,0,0,0,0,0,0
$GC,13340,-0.74,-116.7,913.3,-6.3,628,13343,0.00,2.03,0.00,0.000,6,0.000,0.027,2539,2308,3465,0,0,0,0,0,0
$GC,13655,-0.74,-116.7,933.7,-6.6,634,13659,0.00,2.12,0.00,0.000,4,0.000,0.045,2539,3699,3464,0,0,0,0,0,0
$GC,13710,-0.78,-116.7,937.4,-7.1,634,13715,0.00,2.08,0.00,0.000,6,0.000,0.028,2539,2299,3464,0,0,0,0,0,0
$GC,14019,-0.78,-116.7,956.0,-6.0,640,14023,0.00,2.12,0.00,0.000,4,0.000,0.045,2539,3696,3464,0,0,0,0,0,0
$GC,14074,-0.82,-116.7,959.5,-5.9,640,14079,0.12,2.05,0.00,0.000,6,0.137,0.028,2501,2288,3464,0,0,0,0,0,0
$GC,14389,-0.77,-116.7,983.0,-7.5,646,14393,0.00,2.15,0.00,0.000,4,0.000,0.045,2501,3697,3463,0,0,0,0,0,0
$GC,14415,-0.72,-116.7,985.3,-8.0,646,14420,0.12,2.08,0.00,0.000,6,0.193,0.028,2531,2265,3463,0,0,0,0,0,0
$STATE,14507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14508,begin apogee
$GC,14513,-0.24,0.0,991.6,6.7,648,14614,0.50,0.00,98.03,1.547,6,0.169,0.000,2679,2654,3006,0,0,0,0,0,0
$STATE,14615,end apogee,CONTROL_FINISHED_OK
$STATE,14615,begin climb
$GC,14617,0.80,116.7,993.6,0.0,649,14732,1.10,2.38,106.35,1.450,4,0.115,0.046,3018,4035,2528,0,0,0,0,0,0
$GC,14800,0.54,116.7,986.6,8.7,652,14805,0.32,2.17,0.00,0.000,6,0.179,0.026,2947,2651,2522,0,0,0,0,0,0
$GC,15115,0.54,137.5,967.0,6.0,658,15135,0.00,0.00,17.90,1.414,6,0.000,0.000,2947,2650,2445,0,0,0,0,0,0
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$STATE,27437,end climb,SURFACE_DEPTH_REACHED
$STATE,27438,begin surface coast
$FINISH,2.6,1.014636
$STATE,27489,end surface coast,CONTROL_FINISHED_OK
$STATE,27489,begin surface
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$IRIDIUM_FIX,6249.28,242.67,210299,181856
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$HUMID,1078361926
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$TCM_TEMP,14.90
$XPDR_PINGS,2
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$10V_AH,10.0,21.478
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.625,202.000,351.300,0.000,0.000,27.601,47.833,191.231,0.500,0.000,15.448,2419.241,21663.824,528.274,2776.149,564.379,0.000,1912.152,0.000,2746.080,0.000,0.535,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235212
$DATA_FILE_SIZE,66507,1167
$CAP_FILE_SIZE,216593,0
$CFSIZE,260165632,238850048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,167.4,1
$GPS,281109,093407,6312.369,254.227,29,1.3,30,-3.3