version: 66.06
glider: 140
mission: 8
dive: 213
start: 12 3 109 5 3 35
data:
$ID,140
$MISSION,8
$DIVE,213
$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,-2
$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,-48175.582
$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,78
$R_STBD_OVSHOOT,43
$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
$GPS1,045636,6321.561,303.529,35,1.2,41,-3.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.47
$_SM_ANGLEo,-59.1
$GPS2,050313,6321.586,303.423,15,1.4,32,-3.2
$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,318.7,270965,-13.7,-6.875
$D_GRID,1106
$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,-7.68,0.000,2,0.000,0.000,219,2270,2046,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.3,-0.0,1,116,8.98,2.12,-73.00,0.000,4,0.235,0.051,2504,918,3482,0,0,0,0,0,0
$GC,367,-0.67,-116.7,26.7,-7.7,61,373,0.15,2.08,0.00,0.000,6,0.193,0.029,2543,2315,3483,0,0,0,0,0,0
$GC,704,-0.64,-116.7,51.9,-9.3,122,711,0.00,2.12,0.00,0.000,4,0.000,0.035,2543,927,3484,0,0,0,0,0,0
$GC,839,-0.60,-116.7,64.8,-8.5,146,844,0.00,2.03,0.00,0.000,6,0.000,0.028,2543,2303,3484,0,0,0,0,0,0
$GC,1180,-0.60,-116.7,96.5,-8.5,207,1186,0.00,2.08,0.00,0.000,4,0.000,0.041,2543,3698,3484,0,0,0,0,0,0
$GC,1242,-0.60,-116.7,101.8,-8.7,218,1248,0.00,2.00,0.00,0.000,6,0.000,0.022,2543,2289,3485,0,0,0,0,0,0
$GC,1590,-0.60,-116.7,129.7,-7.7,264,1593,0.00,2.00,0.00,0.000,4,0.000,0.034,2543,929,3485,0,0,0,0,0,0
$GC,1645,-0.56,-116.7,134.8,-9.0,266,1649,0.08,2.05,0.00,0.000,6,0.162,0.028,2581,2302,3485,0,0,0,0,0,0
$GC,1966,-0.61,-116.7,154.7,-6.9,282,1970,0.00,2.05,0.00,0.000,4,0.000,0.040,2581,3695,3484,0,0,0,0,0,0
$GC,2033,-0.69,-116.7,159.4,-6.9,285,2037,0.12,1.98,0.00,0.000,6,0.124,0.023,2541,2289,3485,0,0,0,0,0,0
$GC,2361,-0.66,-116.7,188.0,-9.2,301,2365,0.00,1.98,0.00,0.000,4,0.000,0.035,2541,936,3485,0,0,0,0,0,0
$GC,2411,-0.61,-116.7,192.9,-9.0,303,2415,0.00,2.00,0.00,0.000,6,0.000,0.028,2541,2303,3485,0,0,0,0,0,0
$GC,2738,-0.58,-116.7,219.6,-7.7,319,2742,0.12,2.05,0.00,0.000,4,0.208,0.034,2571,932,3484,0,0,0,0,0,0
$GC,2801,-0.58,-116.7,224.0,-6.8,322,2804,0.00,2.00,0.00,0.000,6,0.000,0.028,2571,2304,3485,0,0,0,0,0,0
$GC,3133,-0.63,-116.7,245.1,-5.6,338,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2304,3484,0,0,0,0,0,0
$GC,3442,-0.67,-116.7,263.6,-6.9,353,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2304,3484,0,0,0,0,0,0
$GC,3752,-0.71,-116.7,287.7,-7.9,368,3753,0.12,0.00,0.00,0.000,6,0.136,0.000,2530,2305,3485,0,0,0,0,0,0
$GC,4070,-0.67,-116.7,314.2,-8.2,381,4073,0.00,2.03,0.00,0.000,4,0.000,0.034,2530,938,3485,0,0,0,0,0,0
$GC,4192,-0.61,-116.7,325.0,-8.5,384,4197,0.12,2.05,0.00,0.000,6,0.191,0.028,2560,2309,3485,0,0,0,0,0,0
$GC,4510,-0.61,-116.7,346.8,-6.9,395,4514,0.00,2.08,0.00,0.000,4,0.000,0.040,2560,3709,3485,0,0,0,0,0,0
$GC,4565,-0.66,-116.7,350.7,-6.8,396,4570,0.00,1.98,0.00,0.000,6,0.000,0.023,2561,2308,3485,0,0,0,0,0,0
$GC,4877,-0.70,-116.7,368.4,-4.9,407,4878,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2308,3485,0,0,0,0,0,0
$GC,5183,-0.73,-116.7,389.9,-7.9,417,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2308,3485,0,0,0,0,0,0
$GC,5490,-0.77,-116.7,411.7,-6.4,427,5494,0.15,2.12,0.00,0.000,4,0.125,0.041,2511,3706,3484,0,0,0,0,0,0
$GC,5572,-0.71,-116.7,418.6,-7.9,429,5576,0.00,2.03,0.00,0.000,6,0.000,0.023,2511,2309,3484,0,0,0,0,0,0
$GC,5897,-0.65,-116.7,442.7,-6.7,440,5902,0.15,2.08,0.00,0.000,4,0.196,0.035,2549,908,3484,0,0,0,0,0,0
$GC,5968,-0.65,-116.7,447.3,-5.8,442,5972,0.00,2.08,0.00,0.000,6,0.000,0.028,2550,2302,3484,0,0,0,0,0,0
$GC,6298,-0.65,-116.7,468.2,-7.1,453,6302,0.00,2.08,0.00,0.000,4,0.000,0.041,2550,3708,3484,0,0,0,0,0,0
$GC,6381,-0.69,-116.7,475.1,-8.5,455,6385,0.00,2.05,0.00,0.000,6,0.000,0.023,2550,2290,3484,0,0,0,0,0,0
$GC,6700,-0.72,-116.7,497.3,-6.1,466,6701,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2290,3483,0,0,0,0,0,0
$GC,7003,-0.72,-116.7,518.3,-7.1,472,7004,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2290,3483,0,0,0,0,0,0
$GC,7306,-0.75,-116.7,538.5,-6.5,477,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2290,3482,0,0,0,0,0,0
$GC,7609,-0.75,-116.7,556.8,-6.1,482,7613,0.00,2.15,0.00,0.000,4,0.000,0.041,2550,3702,3481,0,0,0,0,0,0
$GC,7681,-0.81,-116.7,561.2,-5.7,483,7686,0.15,2.00,0.00,0.000,6,0.124,0.025,2501,2295,3481,0,0,0,0,0,0
$GC,8035,-0.74,-116.7,588.1,-7.7,489,8039,0.00,2.03,0.00,0.000,4,0.000,0.037,2501,927,3480,0,0,0,0,0,0
$GC,8124,-0.65,-116.7,595.4,-8.3,490,8128,0.17,2.03,0.00,0.000,6,0.188,0.030,2547,2311,3479,0,0,0,0,0,0
$GC,8473,-0.65,-116.7,616.3,-5.9,496,8477,0.00,2.08,0.00,0.000,4,0.000,0.043,2547,3707,3477,0,0,0,0,0,0
$GC,8528,-0.70,-116.7,619.7,-5.8,496,8534,0.00,2.00,0.00,0.000,6,0.000,0.025,2547,2311,3477,0,0,0,0,0,0
$GC,8838,-0.73,-116.7,639.4,-6.5,502,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2311,3476,0,0,0,0,0,0
$GC,9140,-0.73,-116.7,660.9,-7.1,507,9141,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2311,3476,0,0,0,0,0,0
$GC,9444,-0.77,-116.7,682.7,-7.2,512,9445,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2310,3475,0,0,0,0,0,0
$GC,9747,-0.80,-116.7,701.9,-6.1,517,9749,0.12,0.00,0.00,0.000,6,0.138,0.000,2506,2307,3473,0,0,0,0,0,0
$GC,10050,-0.75,-116.7,724.6,-7.7,522,10051,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2307,3472,0,0,0,0,0,0
$GC,10353,-0.70,-116.7,749.3,-8.2,527,10357,0.12,2.10,0.00,0.000,4,0.193,0.038,2537,909,3471,0,0,0,0,0,0
$GC,10413,-0.70,-116.7,754.3,-8.8,527,10420,0.00,2.08,0.00,0.000,6,0.000,0.031,2538,2289,3471,0,0,0,0,0,0
$GC,10722,-0.70,-116.7,775.6,-6.9,533,10724,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2288,3470,0,0,0,0,0,0
$GC,11025,-0.70,-116.7,795.6,-6.6,538,11027,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2289,3469,0,0,0,0,0,0
$GC,11329,-0.70,-116.7,814.0,-6.0,543,11333,0.00,2.12,0.00,0.000,4,0.000,0.044,2538,3705,3468,0,0,0,0,0,0
$GC,11379,-0.73,-116.7,817.3,-6.5,543,11383,0.00,2.05,0.00,0.000,6,0.000,0.026,2538,2292,3468,0,0,0,0,0,0
$GC,11688,-0.73,-116.7,837.8,-6.8,548,11689,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2292,3467,0,0,0,0,0,0
$GC,11991,-0.73,-116.7,858.0,-6.6,553,11995,0.00,2.15,0.00,0.000,4,0.000,0.044,2538,3705,3466,0,0,0,0,0,0
$GC,12069,-0.76,-116.7,863.2,-6.6,554,12072,0.00,2.05,0.00,0.000,6,0.000,0.027,2538,2293,3466,0,0,0,0,0,0
$GC,12417,-0.76,-116.7,884.4,-6.2,560,12421,0.00,2.15,0.00,0.000,4,0.000,0.044,2538,3705,3465,0,0,0,0,0,0
$GC,12485,-0.80,-116.7,888.8,-6.7,561,12489,0.00,2.05,0.00,0.000,6,0.000,0.027,2538,2292,3466,0,0,0,0,0,0
$GC,12850,-0.80,-116.7,912.4,-6.5,567,12854,0.00,2.15,0.00,0.000,4,0.000,0.044,2538,3699,3465,0,0,0,0,0,0
$GC,12899,-0.84,-116.7,915.6,-6.4,567,12904,0.15,2.05,0.00,0.000,6,0.132,0.027,2489,2281,3464,0,0,0,0,0,0
$GC,13209,-0.77,-116.7,941.7,-8.7,572,13210,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2279,3464,0,0,0,0,0,0
$GC,13511,-0.69,-116.7,966.7,-8.2,577,13513,0.20,0.00,0.00,0.000,6,0.183,0.000,2542,2278,3463,0,0,0,0,0,0
$GC,13815,-0.72,-116.7,984.6,-5.8,582,13819,0.00,2.17,0.00,0.000,4,0.000,0.045,2542,3700,3463,0,0,0,0,0,0
$STATE,13907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13907,begin apogee
$GC,13913,-0.24,0.0,990.2,6.1,583,14015,0.43,0.00,98.12,1.550,6,0.156,0.000,2676,2629,3006,0,0,0,0,0,0
$STATE,14015,end apogee,CONTROL_FINISHED_OK
$STATE,14016,begin climb
$GC,14017,0.80,116.7,993.1,0.0,585,14134,1.08,2.50,106.60,1.448,4,0.114,0.047,3015,4036,2528,0,0,0,0,0,0
$GC,14235,0.55,116.7,981.4,9.5,588,14240,0.30,2.12,0.00,0.000,6,0.172,0.026,2950,2664,2522,0,0,0,0,0,0
$GC,14579,0.54,131.2,959.3,6.3,594,14598,0.00,2.28,12.38,1.391,4,0.000,0.048,2949,4041,2470,0,0,0,0,0,0
$GC,14609,0.50,151.3,957.2,6.1,594,14635,0.00,2.10,19.58,1.368,6,0.000,0.027,2955,2652,2388,0,0,0,0,0,0
$GC,14944,0.50,151.3,934.0,7.0,600,14948,0.00,2.17,0.00,0.000,4,0.000,0.047,2954,4037,2382,0,0,0,0,0,0
$GC,14977,0.42,151.3,931.3,8.4,600,14982,0.22,2.08,0.00,0.000,6,0.176,0.028,2902,2643,2381,0,0,0,0,0,0
$GC,15309,0.54,173.3,911.5,6.0,606,15331,0.10,0.00,19.77,1.432,6,0.133,0.000,2937,2643,2299,0,0,0,0,0,0
$GC,15612,0.57,173.3,889.0,7.5,611,15613,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2642,2294,0,0,0,0,0,0
$GC,15915,0.57,173.3,867.4,7.1,616,15916,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2643,2292,0,0,0,0,0,0
$GC,16218,0.57,173.3,845.6,7.2,621,16219,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2643,2292,0,0,0,0,0,0
$GC,16521,0.57,173.3,824.3,7.0,626,16522,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2642,2291,0,0,0,0,0,0
$GC,16825,0.60,173.3,802.7,7.1,631,16826,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2642,2291,0,0,0,0,0,0
$GC,17128,0.63,173.3,781.4,7.0,636,17129,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2642,2290,0,0,0,0,0,0
$GC,17431,0.67,176.1,760.8,6.8,641,17433,0.12,0.00,0.00,0.000,6,0.124,0.000,2982,2643,2290,0,0,0,0,0,0
$GC,17734,0.62,176.1,735.1,8.6,646,17738,0.00,2.15,0.00,0.000,4,0.000,0.048,2982,4039,2290,0,0,0,0,0,0
$GC,17767,0.50,176.1,731.9,9.7,646,17771,0.22,2.03,0.00,0.000,6,0.183,0.028,2932,2645,2290,0,0,0,0,0,0
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$STATE,26137,end climb,SURFACE_DEPTH_REACHED
$STATE,26137,begin surface coast
$FINISH,2.7,1.013640
$STATE,26189,end surface coast,CONTROL_FINISHED_OK
$STATE,26189,begin surface
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$HUMID,1078361926
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$TCM_TEMP,15.70
$XPDR_PINGS,0
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$10V_AH,10.0,23.319
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.750,158.825,335.525,10.700,0.000,24.764,35.348,194.820,0.000,0.000,33.847,2255.240,20825.344,482.203,2517.421,525.189,0.000,1711.768,0.000,2474.743,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,233840
$DATA_FILE_SIZE,60190,1089
$CAP_FILE_SIZE,199340,0
$CFSIZE,260165632,237412352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.182,250.8,1
$GPS,031209,122137,6322.906,252.574,27,1.3,28,-3.3