version: 66.06
glider: 140
mission: 8
dive: 288
start: 12 27 109 2 26 43
data:
$ID,140
$MISSION,8
$DIVE,288
$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,-49628.809
$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,86
$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
$GPS1,021500,6410.082,54.840,39,2.0,44,-4.6
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.48
$_SM_ANGLEo,-52.9
$GPS2,022622,6410.049,55.001,15,2.1,34,-4.5
$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,135.3,196723,-13.7,-6.875
$D_GRID,2308
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.80,-116.7,0.0,0.0,0,25,0.00,0.00,-6.82,0.000,2,0.000,0.000,217,2264,2017,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.6,-0.0,1,121,8.73,2.05,-77.28,0.000,4,0.222,0.050,2500,933,3481,0,0,0,0,0,0
$GC,340,-0.69,-116.7,34.2,-13.5,56,346,0.10,2.10,0.00,0.000,6,0.174,0.028,2531,2309,3483,0,0,0,0,0,0
$GC,679,-0.66,-116.7,64.0,-6.2,117,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2309,3484,0,0,0,0,0,0
$GC,1020,-0.66,-116.7,84.6,-7.8,178,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2309,3483,0,0,0,0,0,0
$GC,1361,-0.66,-116.7,110.6,-7.6,239,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2309,3485,0,0,0,0,0,0
$GC,1703,-0.66,-116.7,137.5,-7.5,270,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2309,3485,0,0,0,0,0,0
$GC,2011,-0.66,-116.7,161.6,-7.1,285,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2309,3485,0,0,0,0,0,0
$GC,2319,-0.66,-116.7,186.1,-7.9,300,2323,0.00,2.10,0.00,0.000,4,0.000,0.041,2532,3705,3485,0,0,0,0,0,0
$GC,2342,-0.66,-116.7,187.9,-7.9,301,2346,0.00,2.00,0.00,0.000,6,0.000,0.024,2532,2313,3485,0,0,0,0,0,0
$GC,2673,-0.66,-116.7,215.8,-8.4,317,2677,0.00,2.12,0.00,0.000,4,0.000,0.040,2532,3708,3486,0,0,0,0,0,0
$GC,2705,-0.66,-116.7,218.6,-8.4,318,2712,0.00,2.08,0.00,0.000,6,0.000,0.024,2532,2295,3486,0,0,0,0,0,0
$GC,3021,-0.66,-116.7,241.4,-7.2,334,3025,0.00,2.12,0.00,0.000,4,0.000,0.041,2532,3698,3486,0,0,0,0,0,0
$GC,3058,-0.66,-116.7,244.5,-8.0,335,3066,0.00,2.05,0.00,0.000,6,0.000,0.024,2532,2300,3486,0,0,0,0,0,0
$GC,3374,-0.66,-116.7,270.4,-8.1,351,3378,0.00,2.12,0.00,0.000,4,0.000,0.041,2532,3698,3486,0,0,0,0,0,0
$GC,3395,-0.66,-116.7,272.1,-7.9,352,3399,0.00,2.03,0.00,0.000,6,0.000,0.025,2533,2293,3485,0,0,0,0,0,0
$GC,3722,-0.66,-116.7,298.9,-8.2,368,3726,0.00,2.12,0.00,0.000,4,0.000,0.041,2532,3698,3485,0,0,0,0,0,0
$GC,3738,-0.66,-116.7,300.4,-8.1,369,3742,0.00,2.03,0.00,0.000,6,0.000,0.025,2532,2289,3485,0,0,0,0,0,0
$GC,4050,-0.66,-116.7,322.9,-6.7,379,4054,0.00,2.15,0.00,0.000,4,0.000,0.041,2532,3706,3485,0,0,0,0,0,0
$GC,4066,-0.66,-116.7,324.1,-6.5,379,4070,0.00,2.08,0.00,0.000,6,0.000,0.025,2532,2296,3485,0,0,0,0,0,0
$GC,4390,-0.66,-116.7,344.6,-6.4,390,4394,0.00,2.15,0.00,0.000,4,0.000,0.041,2532,3708,3484,0,0,0,0,0,0
$GC,4406,-0.66,-116.7,345.7,-6.6,390,4410,0.00,2.05,0.00,0.000,6,0.000,0.025,2532,2292,3484,0,0,0,0,0,0
$GC,4729,-0.66,-116.7,367.6,-7.1,401,4733,0.00,2.15,0.00,0.000,4,0.000,0.041,2532,3702,3484,0,0,0,0,0,0
$GC,4744,-0.66,-116.7,368.8,-7.0,401,4748,0.00,2.05,0.00,0.000,6,0.000,0.025,2532,2305,3483,0,0,0,0,0,0
$GC,5069,-0.66,-116.7,392.5,-7.3,412,5072,0.00,2.12,0.00,0.000,4,0.000,0.041,2532,3705,3483,0,0,0,0,0,0
$GC,5112,-0.66,-116.7,396.0,-7.6,413,5116,0.00,2.08,0.00,0.000,6,0.000,0.025,2532,2298,3482,0,0,0,0,0,0
$GC,5442,-0.66,-116.7,419.5,-7.1,424,5446,0.00,2.12,0.00,0.000,4,0.000,0.041,2532,3698,3482,0,0,0,0,0,0
$GC,5509,-0.66,-116.7,424.2,-6.9,426,5512,0.00,2.03,0.00,0.000,6,0.000,0.025,2532,2295,3481,0,0,0,0,0,0
$GC,5843,-0.66,-116.7,446.6,-6.7,437,5847,0.00,2.15,0.00,0.000,4,0.000,0.041,2533,3706,3481,0,0,0,0,0,0
$GC,5927,-0.66,-116.7,452.6,-6.9,439,5931,0.00,2.05,0.00,0.000,6,0.000,0.025,2532,2291,3480,0,0,0,0,0,0
$GC,6239,-0.66,-116.7,474.1,-6.8,449,6243,0.00,2.15,0.00,0.000,4,0.000,0.042,2532,3702,3480,0,0,0,0,0,0
$GC,6294,-0.66,-116.7,478.3,-7.5,450,6300,0.00,2.08,0.00,0.000,6,0.000,0.025,2532,2294,3479,0,0,0,0,0,0
$GC,6607,-0.66,-116.7,501.4,-7.6,461,6611,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3697,3479,0,0,0,0,0,0
$GC,6639,-0.66,-116.7,504.0,-8.4,461,6644,0.00,2.03,0.00,0.000,6,0.000,0.025,2532,2301,3478,0,0,0,0,0,0
$GC,6976,-0.66,-116.7,527.6,-7.0,467,6980,0.00,2.12,0.00,0.000,4,0.000,0.043,2532,3697,3478,0,0,0,0,0,0
$GC,7009,-0.66,-116.7,530.0,-7.3,467,7013,0.00,2.08,0.00,0.000,6,0.000,0.026,2532,2295,3478,0,0,0,0,0,0
$GC,7341,-0.66,-116.7,552.9,-6.9,473,7345,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3702,3477,0,0,0,0,0,0
$GC,7378,-0.66,-116.7,555.6,-7.3,473,7383,0.00,2.08,0.00,0.000,6,0.000,0.026,2532,2305,3477,0,0,0,0,0,0
$GC,7704,-0.66,-116.7,578.0,-6.9,479,7708,0.00,2.12,0.00,0.000,4,0.000,0.043,2532,3697,3476,0,0,0,0,0,0
$GC,7771,-0.69,-116.7,582.8,-7.0,480,7775,0.00,2.05,0.00,0.000,6,0.000,0.026,2532,2292,3476,0,0,0,0,0,0
$GC,8136,-0.69,-116.7,607.9,-6.9,486,8140,0.00,2.17,0.00,0.000,4,0.000,0.043,2532,3702,3475,0,0,0,0,0,0
$GC,8198,-0.72,-116.7,612.2,-6.9,486,8204,0.00,2.05,0.00,0.000,6,0.000,0.026,2532,2295,3475,0,0,0,0,0,0
$GC,8507,-0.72,-116.7,633.6,-7.0,492,8511,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3702,3474,0,0,0,0,0,0
$GC,8552,-0.75,-116.7,636.7,-6.6,492,8555,0.00,2.05,0.00,0.000,6,0.000,0.026,2532,2294,3474,0,0,0,0,0,0
$GC,8872,-0.75,-116.7,658.3,-6.8,498,8876,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3700,3473,0,0,0,0,0,0
$GC,8916,-0.79,-116.7,661.5,-7.0,498,8920,0.00,2.05,0.00,0.000,6,0.000,0.027,2532,2294,3473,0,0,0,0,0,0
$GC,9231,-0.79,-116.7,682.5,-6.7,504,9234,0.00,2.15,0.00,0.000,4,0.000,0.044,2532,3697,3473,0,0,0,0,0,0
$GC,9286,-0.82,-116.7,686.4,-7.3,504,9290,0.00,2.08,0.00,0.000,6,0.000,0.027,2532,2304,3473,0,0,0,0,0,0
$GC,9600,-0.82,-116.7,706.6,-6.4,510,9604,0.00,2.12,0.00,0.000,4,0.000,0.043,2532,3697,3472,0,0,0,0,0,0
$GC,9663,-0.86,-116.7,710.7,-6.7,511,9667,0.15,2.05,0.00,0.000,6,0.134,0.027,2486,2289,3472,0,0,0,0,0,0
$GC,10033,-0.79,-116.7,739.6,-7.9,517,10037,0.00,2.15,0.00,0.000,4,0.000,0.043,2485,3704,3472,0,0,0,0,0,0
$GC,10044,-0.72,-116.7,740.5,-7.8,517,10048,0.17,2.05,0.00,0.000,6,0.183,0.027,2530,2288,3471,0,0,0,0,0,0
$GC,10397,-0.72,-116.7,761.6,-5.9,523,10401,0.00,2.15,0.00,0.000,4,0.000,0.044,2531,3698,3471,0,0,0,0,0,0
$GC,10436,-0.75,-116.7,763.9,-6.3,523,10440,0.00,2.03,0.00,0.000,6,0.000,0.026,2531,2309,3471,0,0,0,0,0,0
$GC,10768,-0.75,-116.7,782.2,-5.5,529,10772,0.00,2.12,0.00,0.000,4,0.000,0.044,2531,3698,3470,0,0,0,0,0,0
$GC,10830,-0.79,-116.7,785.9,-5.9,530,10834,0.00,2.05,0.00,0.000,6,0.000,0.027,2531,2295,3470,0,0,0,0,0,0
$GC,11202,-0.79,-116.7,807.3,-5.7,536,11205,0.00,2.15,0.00,0.000,4,0.000,0.044,2531,3700,3470,0,0,0,0,0,0
$GC,11257,-0.83,-116.7,810.7,-5.6,536,11263,0.00,2.05,0.00,0.000,6,0.000,0.027,2531,2295,3470,0,0,0,0,0,0
$GC,11566,-0.83,-116.7,828.7,-5.8,542,11570,0.00,2.15,0.00,0.000,4,0.000,0.044,2531,3698,3469,0,0,0,0,0,0
$GC,11622,-0.86,-116.7,832.2,-6.3,542,11628,0.15,2.05,0.00,0.000,6,0.132,0.027,2483,2288,3469,0,0,0,0,0,0
$GC,11932,-0.80,-116.7,856.1,-7.9,548,11936,0.00,2.15,0.00,0.000,4,0.000,0.044,2483,3695,3469,0,0,0,0,0,0
$GC,11942,-0.73,-116.7,857.1,-7.9,548,11947,0.17,2.05,0.00,0.000,6,0.179,0.027,2528,2288,3469,0,0,0,0,0,0
$GC,12296,-0.73,-116.7,880.0,-6.4,554,12300,0.00,2.15,0.00,0.000,4,0.000,0.044,2528,3695,3469,0,0,0,0,0,0
$GC,12329,-0.76,-116.7,882.3,-6.6,554,12333,0.00,2.05,0.00,0.000,6,0.000,0.027,2528,2294,3469,0,0,0,0,0,0
$GC,12655,-0.76,-116.7,903.6,-6.6,560,12659,0.00,2.15,0.00,0.000,4,0.000,0.044,2529,3697,3469,0,0,0,0,0,0
$GC,12717,-0.80,-116.7,907.9,-7.2,561,12721,0.00,2.05,0.00,0.000,6,0.000,0.027,2529,2295,3469,0,0,0,0,0,0
$GC,13082,-0.80,-116.7,932.1,-6.6,567,13086,0.00,2.15,0.00,0.000,4,0.000,0.044,2529,3696,3468,0,0,0,0,0,0
$GC,13143,-0.84,-116.7,936.3,-6.5,567,13150,0.12,2.05,0.00,0.000,6,0.143,0.027,2489,2289,3468,0,0,0,0,0,0
$GC,13452,-0.79,-116.7,960.6,-8.0,573,13456,0.00,2.17,0.00,0.000,4,0.000,0.044,2489,3700,3468,0,0,0,0,0,0
$GC,13468,-0.73,-116.7,961.9,-7.8,573,13472,0.15,2.05,0.00,0.000,6,0.181,0.027,2526,2296,3467,0,0,0,0,0,0
$GC,13810,-0.73,-116.7,984.8,-6.6,579,13814,0.00,2.15,0.00,0.000,4,0.000,0.045,2527,3695,3468,0,0,0,0,0,0
$GC,13854,-0.77,-116.7,987.8,-6.6,579,13858,0.00,2.05,0.00,0.000,6,0.000,0.027,2527,2301,3468,0,0,0,0,0,0
$STATE,13924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13924,begin apogee
$GC,13930,-0.24,0.0,992.4,6.4,581,14034,0.52,0.00,101.32,1.552,6,0.169,0.000,2681,2640,3006,0,0,0,0,0,0
$STATE,14035,end apogee,CONTROL_FINISHED_OK
$STATE,14035,begin climb
$GC,14037,0.80,116.7,994.3,0.0,582,14156,1.10,2.42,109.57,1.457,4,0.113,0.044,3016,4038,2529,0,0,0,0,0,0
$GC,14240,0.57,116.7,986.9,8.4,586,14245,0.30,2.20,0.00,0.000,6,0.171,0.026,2952,2650,2522,0,0,0,0,0,0
$GC,14600,0.61,149.1,966.2,5.6,592,14630,0.00,0.00,28.83,1.438,6,0.000,0.000,2952,2649,2398,0,0,0,0,0,0
$GC,14902,0.64,168.4,947.9,6.1,597,14922,0.00,0.00,18.42,1.417,6,0.000,0.000,2952,2649,2319,0,0,0,0,0,0
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$STATE,26583,end climb,SURFACE_DEPTH_REACHED
$STATE,26583,begin surface coast
$FINISH,2.9,1.027445
$STATE,26634,end surface coast,CONTROL_FINISHED_OK
$STATE,26634,begin surface
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$TCM_TEMP,19.70
$XPDR_PINGS,0
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$10V_AH,9.7,31.746
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,241296
$DATA_FILE_SIZE,63247,1106
$CAP_FILE_SIZE,219911,0
$CFSIZE,260165632,230805504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.179, 73.1,1
$GPS,271209,095254,6408.471,105.585,54,0.9,55,-4.4