version: 66.06
glider: 140
mission: 8
dive: 243
start: 12 12 109 18 34 31
data:
$ID,140
$MISSION,8
$DIVE,243
$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,-48773.332
$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,76
$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
$GPS1,182731,6432.046,47.452,41,1.9,42,-4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.92
$_SM_ANGLEo,-62.4
$GPS2,183408,6432.009,47.563,14,1.1,14,-4.7
$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,311.6,104870,-13.7,-6.875
$D_GRID,2590
$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,-7.43,0.000,2,0.000,0.000,214,2282,2036,0,0,0,0,0,0
$GC,26,-0.80,-116.7,4.0,-0.0,1,117,9.12,2.08,-74.45,0.000,4,0.236,0.048,2503,919,3481,0,0,0,0,0,0
$GC,235,-0.67,-116.7,15.7,-10.2,38,242,0.12,2.12,0.00,0.000,6,0.177,0.028,2541,2303,3483,0,0,0,0,0,0
$GC,574,-0.67,-116.7,40.2,-7.7,99,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2303,3484,0,0,0,0,0,0
$GC,910,-0.67,-116.7,67.4,-8.1,160,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2303,3484,0,0,0,0,0,0
$GC,1254,-0.67,-116.7,96.3,-8.8,221,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2303,3485,0,0,0,0,0,0
$GC,1606,-0.67,-116.7,127.2,-8.5,273,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2303,3485,0,0,0,0,0,0
$GC,1914,-0.67,-116.7,152.6,-8.5,288,1918,0.00,2.10,0.00,0.000,4,0.000,0.041,2541,3702,3485,0,0,0,0,0,0
$GC,1953,-0.67,-116.7,155.7,-7.8,290,1957,0.00,2.03,0.00,0.000,6,0.000,0.023,2541,2288,3485,0,0,0,0,0,0
$GC,2280,-0.67,-116.7,180.9,-7.6,306,2284,0.00,2.15,0.00,0.000,4,0.000,0.040,2541,3702,3485,0,0,0,0,0,0
$GC,2329,-0.67,-116.7,184.6,-7.5,308,2333,0.00,2.05,0.00,0.000,6,0.000,0.023,2541,2290,3485,0,0,0,0,0,0
$GC,2656,-0.67,-116.7,206.1,-6.0,324,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2290,3486,0,0,0,0,0,0
$GC,2965,-0.67,-116.7,226.3,-6.5,339,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2289,3486,0,0,0,0,0,0
$GC,3275,-0.67,-116.7,246.7,-6.4,354,3279,0.00,2.15,0.00,0.000,4,0.000,0.040,2541,3702,3486,0,0,0,0,0,0
$GC,3347,-0.67,-116.7,251.7,-6.7,357,3350,0.00,2.00,0.00,0.000,6,0.000,0.023,2541,2293,3486,0,0,0,0,0,0
$GC,3673,-0.67,-116.7,274.0,-7.1,373,3676,0.00,2.03,0.00,0.000,4,0.000,0.036,2541,922,3486,0,0,0,0,0,0
$GC,3711,-0.67,-116.7,276.9,-7.6,374,3717,0.00,2.08,0.00,0.000,6,0.000,0.028,2541,2309,3486,0,0,0,0,0,0
$GC,4027,-0.67,-116.7,299.5,-7.3,390,4028,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2309,3486,0,0,0,0,0,0
$GC,4353,-0.67,-116.7,323.5,-7.1,401,4357,0.00,2.08,0.00,0.000,4,0.000,0.041,2541,3705,3485,0,0,0,0,0,0
$GC,4391,-0.67,-116.7,326.2,-6.8,402,4395,0.00,2.05,0.00,0.000,6,0.000,0.024,2541,2298,3485,0,0,0,0,0,0
$GC,4720,-0.67,-116.7,349.3,-7.2,413,4724,0.00,2.12,0.00,0.000,4,0.000,0.041,2541,3698,3485,0,0,0,0,0,0
$GC,4781,-0.67,-116.7,353.6,-6.9,414,4786,0.00,2.00,0.00,0.000,6,0.000,0.024,2541,2292,3485,0,0,0,0,0,0
$GC,5093,-0.67,-116.7,375.2,-6.9,425,5097,0.00,2.15,0.00,0.000,4,0.000,0.041,2541,3708,3485,0,0,0,0,0,0
$GC,5147,-0.67,-116.7,379.2,-7.5,426,5153,0.00,2.05,0.00,0.000,6,0.000,0.025,2541,2306,3484,0,0,0,0,0,0
$GC,5460,-0.67,-116.7,400.6,-7.0,437,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2306,3483,0,0,0,0,0,0
$GC,5766,-0.67,-116.7,422.2,-7.0,447,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2306,3483,0,0,0,0,0,0
$GC,6073,-0.67,-116.7,443.0,-6.7,457,6077,0.00,2.12,0.00,0.000,4,0.000,0.042,2541,3702,3482,0,0,0,0,0,0
$GC,6122,-0.70,-116.7,446.6,-7.3,458,6127,0.00,2.05,0.00,0.000,6,0.000,0.025,2541,2301,3481,0,0,0,0,0,0
$GC,6446,-0.70,-116.7,468.2,-6.5,469,6450,0.00,2.12,0.00,0.000,4,0.000,0.042,2541,3698,3481,0,0,0,0,0,0
$GC,6508,-0.73,-116.7,472.6,-7.2,471,6512,0.00,2.03,0.00,0.000,6,0.000,0.025,2541,2290,3480,0,0,0,0,0,0
$GC,6842,-0.73,-116.7,496.1,-7.2,482,6846,0.00,2.15,0.00,0.000,4,0.000,0.041,2541,3705,3480,0,0,0,0,0,0
$GC,6897,-0.77,-116.7,500.3,-7.4,483,6903,0.00,2.03,0.00,0.000,6,0.000,0.025,2541,2298,3479,0,0,0,0,0,0
$GC,7205,-0.77,-116.7,522.8,-7.3,489,7209,0.00,2.15,0.00,0.000,4,0.000,0.042,2541,3707,3479,0,0,0,0,0,0
$GC,7250,-0.81,-116.7,526.1,-7.5,489,7254,0.12,2.03,0.00,0.000,6,0.143,0.026,2502,2298,3478,0,0,0,0,0,0
$GC,7570,-0.75,-116.7,553.9,-8.8,495,7574,0.00,2.05,0.00,0.000,4,0.000,0.038,2502,919,3478,0,0,0,0,0,0
$GC,7614,-0.67,-116.7,558.1,-9.3,495,7618,0.15,2.08,0.00,0.000,6,0.190,0.031,2541,2326,3478,0,0,0,0,0,0
$GC,7939,-0.67,-116.7,579.8,-6.5,501,7943,0.00,2.05,0.00,0.000,4,0.000,0.042,2541,3704,3477,0,0,0,0,0,0
$GC,8008,-0.71,-116.7,584.1,-6.2,502,8012,0.00,2.03,0.00,0.000,6,0.000,0.025,2541,2294,3477,0,0,0,0,0,0
$GC,8367,-0.71,-116.7,606.7,-6.3,508,8371,0.00,2.15,0.00,0.000,4,0.000,0.042,2541,3702,3476,0,0,0,0,0,0
$GC,8423,-0.75,-116.7,610.4,-6.4,508,8429,0.00,2.03,0.00,0.000,6,0.000,0.026,2542,2298,3476,0,0,0,0,0,0
$GC,8732,-0.75,-116.7,630.2,-6.4,514,8734,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2297,3475,0,0,0,0,0,0
$GC,9035,-0.75,-116.7,648.8,-6.1,519,9039,0.00,2.15,0.00,0.000,4,0.000,0.043,2541,3700,3475,0,0,0,0,0,0
$GC,9102,-0.80,-116.7,653.1,-6.3,520,9106,0.10,2.03,0.00,0.000,6,0.152,0.026,2512,2294,3474,0,0,0,0,0,0
$GC,9461,-0.77,-116.7,679.9,-7.6,526,9462,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2293,3474,0,0,0,0,0,0
$GC,9763,-0.73,-116.7,701.8,-7.2,531,9767,0.00,2.15,0.00,0.000,4,0.000,0.043,2512,3700,3473,0,0,0,0,0,0
$GC,9807,-0.73,-116.7,705.2,-7.7,531,9811,0.00,2.05,0.00,0.000,6,0.000,0.026,2512,2310,3473,0,0,0,0,0,0
$GC,10128,-0.70,-116.7,727.4,-6.9,537,10129,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2309,3472,0,0,0,0,0,0
$GC,10432,-0.66,-116.7,748.9,-7.1,542,10433,0.15,0.00,0.00,0.000,6,0.191,0.000,2550,2307,3472,0,0,0,0,0,0
$GC,10735,-0.71,-116.7,766.5,-5.8,547,10739,0.00,2.12,0.00,0.000,4,0.000,0.044,2551,3699,3472,0,0,0,0,0,0
$GC,10808,-0.78,-116.7,770.9,-6.2,548,10812,0.12,2.03,0.00,0.000,6,0.135,0.027,2512,2293,3472,0,0,0,0,0,0
$GC,11161,-0.78,-116.7,795.4,-7.0,554,11162,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2292,3471,0,0,0,0,0,0
$GC,11464,-0.78,-116.7,817.1,-7.2,559,11465,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2291,3471,0,0,0,0,0,0
$GC,11767,-0.78,-116.7,838.2,-6.9,564,11771,0.00,2.15,0.00,0.000,4,0.000,0.044,2512,3698,3470,0,0,0,0,0,0
$GC,11821,-0.78,-116.7,842.2,-7.3,564,11827,0.00,2.08,0.00,0.000,6,0.000,0.027,2512,2297,3470,0,0,0,0,0,0
$GC,12131,-0.78,-116.7,863.6,-7.0,570,12132,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2297,3470,0,0,0,0,0,0
$GC,12434,-0.78,-116.7,884.4,-6.9,575,12438,0.00,2.15,0.00,0.000,4,0.000,0.044,2512,3700,3469,0,0,0,0,0,0
$GC,12496,-0.78,-116.7,888.8,-6.8,576,12500,0.00,2.05,0.00,0.000,6,0.000,0.027,2512,2291,3469,0,0,0,0,0,0
$GC,12861,-0.78,-116.7,913.9,-7.0,582,12862,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2289,3469,0,0,0,0,0,0
$GC,13163,-0.78,-116.7,935.3,-7.1,587,13167,0.00,2.17,0.00,0.000,4,0.000,0.044,2512,3708,3469,0,0,0,0,0,0
$GC,13229,-0.78,-116.7,939.9,-6.8,588,13233,0.00,2.10,0.00,0.000,6,0.000,0.027,2512,2296,3469,0,0,0,0,0,0
$GC,13595,-0.78,-116.7,965.1,-6.9,594,13596,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2294,3468,0,0,0,0,0,0
$GC,13897,-0.78,-116.7,986.5,-7.0,599,13901,0.00,2.15,0.00,0.000,4,0.000,0.044,2512,3699,3468,0,0,0,0,0,0
$STATE,13949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13950,begin apogee
$GC,13956,-0.24,0.0,990.5,6.9,599,14059,0.55,0.00,100.62,1.549,6,0.166,0.000,2677,2618,3006,0,0,0,0,0,0
$STATE,14060,end apogee,CONTROL_FINISHED_OK
$STATE,14060,begin climb
$GC,14063,0.80,116.7,992.7,0.0,601,14180,1.08,2.47,108.20,1.450,4,0.114,0.045,3007,4034,2529,0,0,0,0,0,0
$GC,14253,0.58,116.7,985.5,8.7,603,14258,0.25,2.17,0.00,0.000,6,0.176,0.026,2955,2654,2523,0,0,0,0,0,0
$GC,14613,0.57,142.3,964.0,5.9,609,14638,0.00,0.00,22.67,1.429,6,0.000,0.000,2955,2654,2426,0,0,0,0,0,0
$GC,14916,0.60,162.8,945.7,6.1,614,14940,0.00,2.30,19.38,1.420,4,0.000,0.048,2953,4040,2342,0,0,0,0,0,0
$GC,14951,0.62,178.9,943.4,6.2,614,14972,0.00,2.12,16.25,1.338,6,0.000,0.028,2961,2650,2276,0,0,0,0,0,0
$GC,15275,0.62,179.1,921.0,6.9,619,15276,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2650,2269,0,0,0,0,0,0
$GC,15578,0.62,182.0,900.5,6.8,624,15579,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2650,2267,0,0,0,0,0,0
$GC,15882,0.63,184.9,880.1,6.8,629,15892,0.00,2.17,5.50,1.194,4,0.000,0.044,2962,4037,2251,0,0,0,0,0,0
$GC,15914,0.58,189.1,877.6,6.7,629,15924,0.00,2.08,5.60,1.179,6,0.000,0.028,2971,2638,2235,0,0,0,0,0,0
$GC,16239,0.58,189.1,853.6,7.4,635,16243,0.00,2.17,0.00,0.000,4,0.000,0.046,2967,4038,2233,0,0,0,0,0,0
$GC,16266,0.53,189.1,851.5,8.4,635,16271,0.15,2.08,0.00,0.000,6,0.190,0.028,2938,2642,2233,0,0,0,0,0,0
$GC,16597,0.60,204.6,830.6,6.3,641,16615,0.00,0.00,15.93,1.401,6,0.000,0.000,2938,2642,2171,0,0,0,0,0,0
$GC,16901,0.68,216.4,811.3,6.4,646,16916,0.15,0.00,12.15,1.357,6,0.113,0.000,2989,2640,2123,0,0,0,0,0,0
$GC,17203,0.68,216.4,786.3,8.3,651,17207,0.00,2.17,0.00,0.000,4,0.000,0.045,2989,4037,2119,0,0,0,0,0,0
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$STATE,26993,end climb,SURFACE_DEPTH_REACHED
$STATE,26993,begin surface coast
$FINISH,3.1,1.013571
$STATE,27044,end surface coast,CONTROL_FINISHED_OK
$STATE,27044,begin surface
$SM_CCo,27060,32.12,0.795,0,0,1884,275.23
$SM_GC,4.20,0.00,0.00,32.12,0.000,0.000,0.795,215,2282,1884,-7.97,-0.51,275.23
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$TT8_MAMPS,0.027612
$HUMID,1078382571
$INTERNAL_PRESSURE,8.26204
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,22.3,40.237
$10V_AH,9.8,26.685
$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,241360
$DATA_FILE_SIZE,66399,1152
$CAP_FILE_SIZE,204100,0
$CFSIZE,260165632,234778624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042,139.9,1
$GPS,131209,020706,6433.333,42.347,25,1.4,26,-4.7