version: 66.06
glider: 140
mission: 8
dive: 218
start: 12 4 109 19 13 54
data:
$ID,140
$MISSION,8
$DIVE,218
$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,-48251.84
$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,45
$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
$GPS1,190655,6333.482,221.418,42,0.9,43,-3.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,3.43
$_SM_ANGLEo,-64.0
$GPS2,191331,6333.501,221.400,10,1.1,15,-3.6
$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,321.1,232398,-13.7,-6.875
$D_GRID,1308
$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,-8.07,0.000,2,0.000,0.000,212,2287,2054,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.4,-0.0,1,120,9.05,2.08,-75.85,0.000,4,0.235,0.048,2503,920,3482,0,0,0,0,0,0
$GC,369,-0.67,-116.7,27.9,-10.6,62,375,0.12,2.10,0.00,0.000,6,0.176,0.028,2541,2315,3483,0,0,0,0,0,0
$GC,707,-0.63,-116.7,55.5,-6.9,123,712,0.00,2.10,0.00,0.000,4,0.000,0.033,2541,912,3483,0,0,0,0,0,0
$GC,823,-0.58,-116.7,65.0,-7.5,144,831,0.08,2.08,0.00,0.000,6,0.169,0.028,2567,2297,3483,0,0,0,0,0,0
$GC,1163,-0.58,-116.7,87.3,-6.7,205,1169,0.00,2.08,0.00,0.000,4,0.000,0.041,2567,3695,3483,0,0,0,0,0,0
$GC,1232,-0.63,-116.7,92.2,-7.2,217,1238,0.00,2.00,0.00,0.000,6,0.000,0.022,2567,2291,3483,0,0,0,0,0,0
$GC,1568,-0.63,-116.7,117.0,-7.5,278,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2291,3484,0,0,0,0,0,0
$GC,1900,-0.63,-116.7,141.9,-7.4,300,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2291,3484,0,0,0,0,0,0
$GC,2211,-0.63,-116.7,162.8,-6.3,315,2215,0.00,2.12,0.00,0.000,4,0.000,0.040,2567,3695,3484,0,0,0,0,0,0
$GC,2273,-0.67,-116.7,166.7,-5.7,318,2277,0.00,1.98,0.00,0.000,6,0.000,0.023,2567,2304,3484,0,0,0,0,0,0
$GC,2605,-0.71,-116.7,186.0,-6.1,334,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2301,3484,0,0,0,0,0,0
$GC,2915,-0.74,-116.7,206.1,-6.8,349,2917,0.12,0.00,0.00,0.000,6,0.129,0.000,2528,2298,3484,0,0,0,0,0,0
$GC,3223,-0.70,-116.7,234.1,-9.6,364,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2298,3483,0,0,0,0,0,0
$GC,3533,-0.65,-116.7,258.8,-7.3,379,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2298,3484,0,0,0,0,0,0
$GC,3842,-0.60,-116.7,283.6,-8.5,394,3847,0.15,2.05,0.00,0.000,4,0.189,0.035,2567,915,3484,0,0,0,0,0,0
$GC,3905,-0.60,-116.7,288.5,-7.9,397,3909,0.00,2.03,0.00,0.000,6,0.000,0.028,2567,2308,3484,0,0,0,0,0,0
$GC,4226,-0.64,-116.7,311.4,-6.9,410,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2308,3484,0,0,0,0,0,0
$GC,4532,-0.68,-116.7,330.0,-5.9,420,4536,0.00,2.05,0.00,0.000,4,0.000,0.040,2567,3698,3484,0,0,0,0,0,0
$GC,4604,-0.75,-116.7,334.5,-5.8,422,4608,0.12,1.98,0.00,0.000,6,0.126,0.022,2527,2286,3484,0,0,0,0,0,0
$GC,4939,-0.70,-116.7,358.9,-7.4,433,4942,0.00,1.98,0.00,0.000,4,0.000,0.035,2527,935,3484,0,0,0,0,0,0
$GC,4988,-0.64,-116.7,363.1,-8.6,434,4993,0.08,2.03,0.00,0.000,6,0.186,0.028,2550,2305,3484,0,0,0,0,0,0
$GC,5311,-0.64,-116.7,387.6,-7.6,445,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2305,3484,0,0,0,0,0,0
$GC,5618,-0.64,-116.7,407.8,-6.3,455,5622,0.00,2.08,0.00,0.000,4,0.000,0.041,2550,3709,3483,0,0,0,0,0,0
$GC,5680,-0.67,-116.7,412.0,-6.8,457,5684,0.00,1.98,0.00,0.000,6,0.000,0.023,2550,2310,3483,0,0,0,0,0,0
$GC,6020,-0.67,-116.7,436.1,-7.5,468,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2309,3483,0,0,0,0,0,0
$GC,6327,-0.67,-116.7,456.5,-6.6,478,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2309,3483,0,0,0,0,0,0
$GC,6633,-0.67,-116.7,476.4,-6.1,488,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2309,3483,0,0,0,0,0,0
$GC,6939,-0.67,-116.7,495.2,-6.7,498,6943,0.00,2.03,0.00,0.000,4,0.000,0.035,2550,926,3482,0,0,0,0,0,0
$GC,7011,-0.67,-116.7,501.0,-7.6,500,7016,0.00,2.05,0.00,0.000,6,0.000,0.028,2550,2299,3482,0,0,0,0,0,0
$GC,7377,-0.67,-116.7,525.8,-6.7,506,7381,0.00,2.10,0.00,0.000,4,0.000,0.041,2550,3699,3482,0,0,0,0,0,0
$GC,7471,-0.72,-116.7,532.7,-7.5,507,7475,0.00,1.98,0.00,0.000,6,0.000,0.023,2550,2297,3482,0,0,0,0,0,0
$GC,7809,-0.76,-116.7,557.1,-7.2,513,7810,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2296,3481,0,0,0,0,0,0
$GC,8111,-0.79,-116.7,578.3,-7.0,518,8116,0.12,2.15,0.00,0.000,4,0.133,0.041,2509,3702,3481,0,0,0,0,0,0
$GC,8178,-0.75,-116.7,583.5,-8.1,519,8182,0.00,2.03,0.00,0.000,6,0.000,0.024,2510,2309,3481,0,0,0,0,0,0
$GC,8543,-0.70,-116.7,609.9,-7.1,525,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2309,3480,0,0,0,0,0,0
$GC,8846,-0.66,-116.7,633.4,-7.8,530,8848,0.15,0.00,0.00,0.000,6,0.192,0.000,2548,2305,3478,0,0,0,0,0,0
$GC,9149,-0.69,-116.7,655.1,-7.1,535,9153,0.00,2.12,0.00,0.000,4,0.000,0.043,2549,3700,3477,0,0,0,0,0,0
$GC,9238,-0.74,-116.7,661.4,-7.4,536,9242,0.00,2.05,0.00,0.000,6,0.000,0.025,2549,2296,3477,0,0,0,0,0,0
$GC,9582,-0.78,-116.7,683.9,-6.5,542,9586,0.12,2.17,0.00,0.000,4,0.131,0.043,2508,3702,3475,0,0,0,0,0,0
$GC,9642,-0.75,-116.7,688.5,-7.8,542,9648,0.00,2.03,0.00,0.000,6,0.000,0.025,2508,2296,3475,0,0,0,0,0,0
$GC,9951,-0.70,-116.7,710.9,-7.3,548,9953,0.10,0.00,0.00,0.000,6,0.203,0.000,2532,2292,3474,0,0,0,0,0,0
$GC,10256,-0.70,-116.7,730.3,-6.4,553,10260,0.00,2.15,0.00,0.000,4,0.000,0.044,2532,3703,3473,0,0,0,0,0,0
$GC,10311,-0.70,-116.7,734.1,-6.5,553,10317,0.00,2.08,0.00,0.000,6,0.000,0.025,2532,2295,3473,0,0,0,0,0,0
$GC,10620,-0.70,-116.7,755.1,-6.9,559,10621,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2294,3472,0,0,0,0,0,0
$GC,10923,-0.70,-116.7,776.1,-6.9,564,10927,0.00,2.15,0.00,0.000,4,0.000,0.044,2532,3701,3471,0,0,0,0,0,0
$GC,11005,-0.70,-116.7,782.1,-6.9,565,11010,0.00,2.08,0.00,0.000,6,0.000,0.025,2532,2299,3470,0,0,0,0,0,0
$GC,11354,-0.70,-116.7,805.2,-6.6,571,11355,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2298,3469,0,0,0,0,0,0
$GC,11658,-0.70,-116.7,825.5,-6.7,576,11662,0.00,2.15,0.00,0.000,4,0.000,0.044,2532,3705,3469,0,0,0,0,0,0
$GC,11752,-0.70,-116.7,832.0,-7.4,577,11757,0.00,2.08,0.00,0.000,6,0.000,0.026,2532,2301,3468,0,0,0,0,0,0
$GC,12090,-0.70,-116.7,855.0,-6.9,583,12091,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2301,3468,0,0,0,0,0,0
$GC,12393,-0.70,-116.7,876.7,-7.2,588,12397,0.00,2.12,0.00,0.000,4,0.000,0.044,2532,3697,3467,0,0,0,0,0,0
$GC,12481,-0.70,-116.7,883.6,-8.0,589,12486,0.00,2.08,0.00,0.000,6,0.000,0.026,2532,2297,3466,0,0,0,0,0,0
$GC,12824,-0.70,-116.7,909.8,-7.7,595,12825,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2297,3466,0,0,0,0,0,0
$GC,13128,-0.70,-116.7,932.2,-7.3,600,13132,0.00,2.15,0.00,0.000,4,0.000,0.044,2532,3698,3465,0,0,0,0,0,0
$GC,13222,-0.70,-116.7,939.1,-7.1,601,13226,0.00,2.08,0.00,0.000,6,0.000,0.026,2532,2301,3464,0,0,0,0,0,0
$GC,13559,-0.70,-116.7,961.5,-6.5,607,13563,0.00,2.17,0.00,0.000,4,0.000,0.045,2532,3697,3464,0,0,0,0,0,0
$GC,13615,-0.74,-116.7,965.1,-6.2,607,13619,0.00,2.05,0.00,0.000,6,0.000,0.027,2531,2296,3464,0,0,0,0,0,0
$GC,13930,-0.74,-116.7,983.9,-5.9,613,13932,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2296,3463,0,0,0,0,0,0
$STATE,14049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14049,begin apogee
$GC,14054,-0.24,0.0,991.4,6.1,615,14155,0.50,0.00,98.35,1.546,6,0.163,0.000,2680,2653,3006,0,0,0,0,0,0
$STATE,14156,end apogee,CONTROL_FINISHED_OK
$STATE,14156,begin climb
$GC,14158,0.80,116.7,993.2,0.0,616,14275,1.05,2.45,106.28,1.447,4,0.113,0.047,3013,4039,2528,0,0,0,0,0,0
$GC,14286,0.61,132.0,991.2,6.3,618,14307,0.22,2.22,15.38,1.334,6,0.170,0.026,2970,2651,2467,0,0,0,0,0,0
$GC,14646,0.56,135.0,967.0,6.8,624,14650,0.00,2.20,0.00,0.000,4,0.000,0.047,2967,4037,2457,0,0,0,0,0,0
$GC,14668,0.46,135.0,965.2,7.2,624,14672,0.22,2.10,0.00,0.000,6,0.178,0.027,2917,2638,2458,0,0,0,0,0,0
$GC,15017,0.55,179.0,947.3,5.1,630,15060,0.00,0.00,41.03,1.448,6,0.000,0.000,2917,2638,2276,0,0,0,0,0,0
$GC,15320,0.65,203.3,929.6,5.9,635,15345,0.17,0.00,22.58,1.414,6,0.100,0.000,2979,2637,2177,0,0,0,0,0,0
$GC,15623,0.62,203.3,904.0,8.7,640,15627,0.00,2.20,0.00,0.000,4,0.000,0.047,2980,4040,2172,0,0,0,0,0,0
$GC,15650,0.54,203.3,901.2,9.8,640,15655,0.17,2.08,0.00,0.000,6,0.175,0.027,2945,2641,2171,0,0,0,0,0,0
$GC,15981,0.58,203.3,875.1,8.0,646,15985,0.00,2.20,0.00,0.000,4,0.000,0.047,2945,4048,2169,0,0,0,0,0,0
$GC,16019,0.58,203.3,871.5,8.9,646,16023,0.00,2.10,0.00,0.000,6,0.000,0.028,2951,2659,2169,0,0,0,0,0,0
$GC,16344,0.58,203.3,844.9,8.1,652,16348,0.00,2.15,0.00,0.000,4,0.000,0.048,2951,4038,2168,0,0,0,0,0,0
$GC,16377,0.58,203.3,841.9,9.2,652,16381,0.00,2.08,0.00,0.000,6,0.000,0.028,2950,2655,2168,0,0,0,0,0,0
$GC,16708,0.58,203.3,815.5,7.8,658,16712,0.00,2.15,0.00,0.000,4,0.000,0.047,2951,4039,2167,0,0,0,0,0,0
$GC,16735,0.58,203.3,813.1,7.9,658,16740,0.00,2.10,0.00,0.000,6,0.000,0.028,2951,2646,2167,0,0,0,0,0,0
$GC,17073,0.58,203.3,788.0,7.4,664,17076,0.00,2.17,0.00,0.000,4,0.000,0.047,2950,4047,2167,0,0,0,0,0,0
$GC,17127,0.58,203.3,783.4,8.0,664,17135,0.00,2.10,0.00,0.000,6,0.000,0.028,2951,2650,2167,0,0,0,0,0,0
$GC,17437,0.61,203.3,761.7,7.0,670,17438,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2650,2166,0,0,0,0,0,0
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$STATE,26981,end climb,SURFACE_DEPTH_REACHED
$STATE,26982,begin surface coast
$FINISH,2.6,1.015180
$STATE,27019,end surface coast,CONTROL_FINISHED_OK
$STATE,27020,begin surface
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$HUMID,1078351603
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$TCM_TEMP,20.30
$XPDR_PINGS,0
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$10V_AH,10.0,23.892
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,235104
$DATA_FILE_SIZE,66378,1174
$CAP_FILE_SIZE,212193,0
$CFSIZE,260165632,236945408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,340.2,1
$GPS,051209,024631,6336.976,215.028,39,1.4,40,-3.7