version: 66.06
glider: 140
mission: 8
dive: 306
start: 1 1 110 15 43 8
data:
$ID,140
$MISSION,8
$DIVE,306
$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,602.45679
$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,-64253.676
$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,72
$R_STBD_OVSHOOT,54
$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
$GPS1,061850,6350.368,223.979,901,99.0,901,-3.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.09
$_SM_ANGLEo,-59.9
$GPS2,061850,6350.368,223.979,901,99.0,901,-3.7
$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,144.9,118241,-13.7,-6.875
$D_GRID,1488
$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,-7.57,0.000,2,0.000,0.000,221,2253,715,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.0,-0.0,1,184,8.88,2.05,-136.80,0.000,4,0.236,0.052,2504,915,3483,0,0,0,0,0,0
$GC,432,-0.42,-116.7,29.4,-13.7,74,439,0.38,2.08,0.00,0.000,6,0.193,0.030,2620,2308,3483,0,0,0,0,0,0
$GC,772,-0.42,-116.7,65.4,-12.2,135,778,0.00,2.08,0.00,0.000,4,0.000,0.034,2620,909,3484,0,0,0,0,0,0
$GC,831,-0.42,-116.7,70.0,-7.3,145,836,0.00,2.03,0.00,0.000,6,0.000,0.028,2620,2302,3484,0,0,0,0,0,0
$GC,1173,-0.56,-116.7,85.3,-4.3,206,1179,0.10,2.08,0.00,0.000,4,0.141,0.041,2585,3695,3483,0,0,0,0,0,0
$GC,1216,-0.61,-116.7,87.4,-4.9,213,1221,0.00,2.00,0.00,0.000,6,0.000,0.022,2585,2281,3483,0,0,0,0,0,0
$GC,1557,-0.65,-116.7,103.5,-4.7,274,1562,0.00,2.12,0.00,0.000,4,0.000,0.038,2585,3702,3483,0,0,0,0,0,0
$GC,1598,-0.65,-116.7,105.5,-5.0,281,1603,0.00,2.00,0.00,0.000,6,0.000,0.023,2585,2290,3483,0,0,0,0,0,0
$GC,1939,-0.65,-116.7,116.6,-3.6,342,1945,0.00,2.12,0.00,0.000,4,0.000,0.039,2585,3701,3483,0,0,0,0,0,0
$GC,2019,-0.60,-116.7,119.8,-4.1,356,2026,0.00,2.03,0.00,0.000,6,0.000,0.023,2585,2296,3483,0,0,0,0,0,0
$GC,2335,-0.50,-116.7,140.6,-6.6,372,2339,0.00,2.10,0.00,0.000,4,0.000,0.039,2585,3698,3483,0,0,0,0,0,0
$GC,2367,-0.39,-116.7,143.3,-8.6,373,2373,0.17,1.98,0.00,0.000,6,0.191,0.022,2630,2290,3483,0,0,0,0,0,0
$GC,2685,-0.57,-116.7,161.0,-6.2,389,2690,0.15,2.12,0.00,0.000,4,0.121,0.039,2578,3696,3483,0,0,0,0,0,0
$GC,2791,-0.57,-116.7,168.7,-7.4,394,2795,0.00,1.95,0.00,0.000,6,0.000,0.022,2577,2311,3483,0,0,0,0,0,0
$GC,3123,-0.63,-116.7,194.2,-7.8,410,3127,0.00,2.08,0.00,0.000,4,0.000,0.039,2578,3697,3483,0,0,0,0,0,0
$GC,3196,-0.67,-116.7,199.6,-7.2,413,3200,0.00,1.98,0.00,0.000,6,0.000,0.022,2578,2298,3483,0,0,0,0,0,0
$GC,3523,-0.73,-116.7,226.4,-8.7,429,3527,0.15,2.12,0.00,0.000,4,0.123,0.039,2526,3701,3483,0,0,0,0,0,0
$GC,3549,-0.65,-116.7,229.0,-9.3,430,3554,0.00,2.03,0.00,0.000,6,0.000,0.023,2527,2302,3483,0,0,0,0,0,0
$GC,3871,-0.42,-116.7,261.3,-9.4,446,3876,0.32,2.12,0.00,0.000,4,0.193,0.038,2622,3700,3483,0,0,0,0,0,0
$GC,3887,-0.26,-116.7,262.6,-8.4,447,3892,0.20,2.00,0.00,0.000,6,0.170,0.023,2679,2278,3483,0,0,0,0,0,0
$GC,4215,-0.55,-116.7,281.0,-5.5,463,4220,0.25,2.12,0.00,0.000,4,0.106,0.037,2582,3697,3483,0,0,0,0,0,0
$GC,4279,-0.63,-116.7,284.9,-6.0,466,4282,0.00,1.98,0.00,0.000,6,0.000,0.023,2582,2298,3482,0,0,0,0,0,0
$GC,4600,-0.72,-116.7,307.2,-7.4,480,4605,0.15,2.03,0.00,0.000,4,0.118,0.035,2530,924,3483,0,0,0,0,0,0
$GC,4750,-0.46,-116.7,321.9,-10.2,484,4755,0.28,2.05,0.00,0.000,6,0.178,0.028,2610,2303,3482,0,0,0,0,0,0
$GC,5068,-0.59,-116.7,343.3,-7.1,495,5072,0.12,2.10,0.00,0.000,4,0.125,0.040,2563,3706,3482,0,0,0,0,0,0
$GC,5096,-0.62,-116.7,345.4,-7.7,496,5100,0.00,2.00,0.00,0.000,6,0.000,0.023,2563,2299,3482,0,0,0,0,0,0
$GC,5437,-0.67,-116.7,373.2,-8.3,507,5441,0.00,2.12,0.00,0.000,4,0.000,0.039,2563,3702,3482,0,0,0,0,0,0
$GC,5486,-0.67,-116.7,377.3,-7.9,508,5491,0.00,2.03,0.00,0.000,6,0.000,0.022,2563,2297,3482,0,0,0,0,0,0
$GC,5810,-0.72,-116.7,401.5,-6.9,519,5814,0.00,2.12,0.00,0.000,4,0.000,0.039,2563,3706,3482,0,0,0,0,0,0
$GC,5859,-0.72,-116.7,404.8,-6.6,520,5863,0.00,2.03,0.00,0.000,6,0.000,0.022,2563,2298,3482,0,0,0,0,0,0
$GC,6178,-0.76,-116.7,425.5,-6.7,531,6183,0.12,2.12,0.00,0.000,4,0.133,0.040,2519,3698,3482,0,0,0,0,0,0
$GC,6324,-0.58,-116.7,437.6,-8.5,535,6329,0.20,1.98,0.00,0.000,6,0.187,0.022,2572,2279,3482,0,0,0,0,0,0
$GC,6647,-0.51,-116.7,461.2,-7.7,546,6651,0.00,2.15,0.00,0.000,4,0.000,0.040,2572,3706,3482,0,0,0,0,0,0
$GC,6696,-0.44,-116.7,464.9,-6.9,547,6701,0.10,2.00,0.00,0.000,6,0.166,0.022,2618,2310,3482,0,0,0,0,0,0
$GC,7015,-0.60,-116.7,484.0,-5.7,558,7020,0.15,2.12,0.00,0.000,4,0.116,0.041,2565,3705,3481,0,0,0,0,0,0
$GC,7165,-0.64,-116.7,493.0,-6.2,562,7169,0.00,1.98,0.00,0.000,6,0.000,0.023,2565,2305,3481,0,0,0,0,0,0
$GC,7488,-0.71,-116.7,512.5,-6.1,570,7492,0.00,2.12,0.00,0.000,4,0.000,0.040,2565,3706,3481,0,0,0,0,0,0
$GC,7583,-0.75,-116.7,518.5,-6.3,571,7587,0.12,2.00,0.00,0.000,6,0.127,0.023,2523,2289,3481,0,0,0,0,0,0
$GC,7913,-0.75,-116.7,543.0,-7.7,577,7916,0.00,2.00,0.00,0.000,4,0.000,0.037,2523,933,3479,0,0,0,0,0,0
$GC,7957,-0.63,-116.7,546.4,-7.8,577,7962,0.12,2.03,0.00,0.000,6,0.209,0.029,2554,2300,3479,0,0,0,0,0,0
$GC,8277,-0.67,-116.7,568.4,-6.9,583,8281,0.00,2.10,0.00,0.000,4,0.000,0.041,2554,3702,3478,0,0,0,0,0,0
$GC,8366,-0.67,-116.7,574.4,-6.5,584,8370,0.00,2.00,0.00,0.000,6,0.000,0.023,2554,2296,3478,0,0,0,0,0,0
$GC,8709,-0.73,-116.7,596.3,-6.4,590,8713,0.00,2.12,0.00,0.000,4,0.000,0.041,2554,3698,3477,0,0,0,0,0,0
$GC,8786,-0.76,-116.7,601.2,-6.7,591,8790,0.00,2.00,0.00,0.000,6,0.000,0.024,2554,2296,3477,0,0,0,0,0,0
$GC,9147,-0.82,-116.7,623.8,-6.4,597,9151,0.15,2.15,0.00,0.000,4,0.122,0.041,2503,3702,3476,0,0,0,0,0,0
$GC,9259,-0.70,-116.7,632.3,-7.6,598,9263,0.12,2.00,0.00,0.000,6,0.195,0.024,2533,2290,3475,0,0,0,0,0,0
$GC,9574,-0.70,-116.7,655.4,-7.4,604,9577,0.00,2.12,0.00,0.000,4,0.000,0.041,2533,3697,3475,0,0,0,0,0,0
$GC,9612,-0.66,-116.7,658.4,-7.2,604,9616,0.00,2.03,0.00,0.000,6,0.000,0.025,2534,2316,3474,0,0,0,0,0,0
$GC,9938,-0.66,-116.7,683.1,-7.6,610,9942,0.00,2.10,0.00,0.000,4,0.000,0.041,2534,3702,3473,0,0,0,0,0,0
$GC,9976,-0.62,-116.7,685.9,-7.6,610,9981,0.10,2.03,0.00,0.000,6,0.191,0.025,2558,2287,3473,0,0,0,0,0,0
$GC,10302,-0.69,-116.7,710.8,-7.8,616,10306,0.00,2.15,0.00,0.000,4,0.000,0.042,2558,3701,3472,0,0,0,0,0,0
$GC,10403,-0.73,-116.7,718.9,-7.5,617,10407,0.00,2.03,0.00,0.000,6,0.000,0.025,2558,2301,3471,0,0,0,0,0,0
$GC,10734,-0.79,-116.7,745.6,-8.1,623,10739,0.15,2.15,0.00,0.000,4,0.127,0.043,2509,3698,3470,0,0,0,0,0,0
$GC,10885,-0.70,-116.7,759.0,-9.0,625,10889,0.00,2.03,0.00,0.000,6,0.000,0.025,2508,2296,3469,0,0,0,0,0,0
$GC,11233,-0.65,-116.7,788.4,-8.4,631,11238,0.15,2.08,0.00,0.000,4,0.191,0.038,2547,909,3468,0,0,0,0,0,0
$GC,11254,-0.61,-116.7,790.2,-8.2,631,11258,0.00,2.08,0.00,0.000,6,0.000,0.031,2547,2287,3469,0,0,0,0,0,0
$GC,11598,-0.66,-116.7,814.9,-7.2,637,11601,0.00,2.12,0.00,0.000,4,0.000,0.043,2547,3705,3467,0,0,0,0,0,0
$GC,11715,-0.66,-116.7,822.9,-6.5,638,11719,0.00,2.08,0.00,0.000,6,0.000,0.025,2547,2297,3467,0,0,0,0,0,0
$GC,12036,-0.70,-116.7,844.5,-6.8,644,12040,0.00,2.15,0.00,0.000,4,0.000,0.043,2547,3710,3466,0,0,0,0,0,0
$GC,12130,-0.70,-116.7,850.9,-7.1,645,12135,0.00,2.08,0.00,0.000,6,0.000,0.025,2547,2306,3466,0,0,0,0,0,0
$GC,12469,-0.76,-116.7,873.0,-6.7,651,12473,0.00,2.12,0.00,0.000,4,0.000,0.043,2547,3701,3465,0,0,0,0,0,0
$GC,12575,-0.76,-116.7,879.8,-5.7,652,12579,0.00,2.05,0.00,0.000,6,0.000,0.026,2548,2287,3465,0,0,0,0,0,0
$GC,12895,-0.81,-116.7,901.0,-6.7,658,12899,0.12,2.17,0.00,0.000,4,0.142,0.043,2507,3701,3464,0,0,0,0,0,0
$GC,13013,-0.72,-116.7,909.7,-7.3,659,13017,0.00,2.05,0.00,0.000,6,0.000,0.025,2507,2289,3464,0,0,0,0,0,0
$GC,13322,-0.67,-116.7,934.0,-7.9,664,13327,0.15,2.08,0.00,0.000,4,0.187,0.039,2546,908,3463,0,0,0,0,0,0
$GC,13348,-0.67,-116.7,936.2,-8.3,664,13353,0.00,2.10,0.00,0.000,6,0.000,0.031,2546,2301,3463,0,0,0,0,0,0
$GC,13692,-0.72,-116.7,962.1,-7.6,670,13696,0.00,2.10,0.00,0.000,4,0.000,0.044,2545,3704,3463,0,0,0,0,0,0
$GC,13809,-0.72,-116.7,971.0,-7.3,671,13814,0.00,2.08,0.00,0.000,6,0.000,0.026,2546,2302,3462,0,0,0,0,0,0
$STATE,14062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14062,begin apogee
$GC,14068,-0.24,0.0,990.6,7.7,676,14170,0.45,0.00,98.95,1.542,6,0.160,0.000,2680,2657,3006,0,0,0,0,0,0
$STATE,14171,end apogee,CONTROL_FINISHED_OK
$STATE,14171,begin climb
$GC,14173,0.80,116.7,994.2,0.0,677,14290,1.08,2.38,107.93,1.446,4,0.121,0.037,3024,1267,2529,0,0,0,0,0,0
$GC,14334,0.86,166.4,993.7,4.9,679,14386,0.00,2.28,46.67,1.405,6,0.000,0.034,3020,2654,2327,0,0,0,0,0,0
$GC,14724,0.95,180.2,969.9,6.3,686,14743,0.15,2.28,11.77,1.364,4,0.112,0.047,3074,4052,2271,0,0,0,0,0,0
$GC,14996,0.84,180.2,948.1,8.0,690,15001,0.17,2.08,0.00,0.000,6,0.185,0.027,3038,2648,2267,0,0,0,0,0,0
$GC,15357,0.89,180.2,922.3,7.5,696,15360,0.00,2.08,0.00,0.000,4,0.000,0.038,3047,1261,2266,0,0,0,0,0,0
$GC,15411,0.89,180.2,917.8,7.7,696,15418,0.00,2.15,0.00,0.000,6,0.000,0.034,3047,2650,2265,0,0,0,0,0,0
$GC,15722,0.93,180.2,892.2,8.4,702,15723,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2650,2265,0,0,0,0,0,0
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$STATE,26872,end climb,SURFACE_DEPTH_REACHED
$STATE,26872,begin surface coast
$FINISH,2.9,1.007935
$STATE,26972,end surface coast,CONTROL_FINISHED_OK
$STATE,26973,begin surface
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$HUMID,1078289668
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$TCM_TEMP,20.10
$XPDR_PINGS,0
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$10V_AH,9.7,34.106
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.050,218.100,349.900,259.325,0.000,164.494,141.288,0.000,0.000,0.000,903.725,2626.715,20627.748,801.503,4106.841,640.215,0.000,2388.254,0.000,3178.125,0.000,0.536,0.000
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$MEM,235228
$DATA_FILE_SIZE,72668,1244
$CAP_FILE_SIZE,234932,0
$CFSIZE,260165632,228966400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.024,150.2,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7