version: 66.06
glider: 140
mission: 8
dive: 310
start: 1 2 110 17 8 42
data:
$ID,140
$MISSION,8
$DIVE,310
$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,-71482.219
$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,64
$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,3.29
$_SM_ANGLEo,-62.7
$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,-7.72,0.000,2,0.000,0.000,215,2258,718,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.2,-0.0,1,186,8.50,2.08,-138.85,0.000,4,0.220,0.053,2500,908,3483,0,0,0,0,0,0
$GC,210,-0.60,-116.7,3.0,-0.1,33,216,0.25,2.05,0.00,0.000,6,0.186,0.031,2569,2294,3483,0,0,0,0,0,0
$GC,545,-0.46,-116.7,30.3,-6.8,94,553,0.15,2.12,0.00,0.000,4,0.194,0.035,2609,906,3483,0,0,0,0,0,0
$GC,746,-0.39,-116.7,43.8,-7.7,130,753,0.00,2.08,0.00,0.000,6,0.000,0.028,2608,2301,3483,0,0,0,0,0,0
$GC,1087,-0.35,-116.7,66.7,-6.6,191,1094,0.15,2.10,0.00,0.000,4,0.187,0.041,2650,3704,3483,0,0,0,0,0,0
$GC,1105,-0.35,-116.7,67.8,-6.3,194,1111,0.00,2.03,0.00,0.000,6,0.000,0.023,2650,2278,3482,0,0,0,0,0,0
$GC,1451,-0.57,-116.7,89.5,-6.4,255,1457,0.20,2.03,0.00,0.000,4,0.100,0.032,2575,907,3482,0,0,0,0,0,0
$GC,1547,-0.53,-116.7,96.9,-7.7,272,1553,0.00,2.08,0.00,0.000,6,0.000,0.028,2574,2298,3482,0,0,0,0,0,0
$GC,1895,-0.58,-116.7,124.9,-7.7,326,1899,0.00,2.08,0.00,0.000,4,0.000,0.040,2574,3702,3482,0,0,0,0,0,0
$GC,1939,-0.58,-116.7,127.9,-6.5,328,1943,0.00,2.00,0.00,0.000,6,0.000,0.023,2574,2289,3482,0,0,0,0,0,0
$GC,2266,-0.63,-116.7,150.4,-6.9,344,2269,0.00,2.12,0.00,0.000,4,0.000,0.039,2574,3705,3482,0,0,0,0,0,0
$GC,2321,-0.63,-116.7,154.2,-6.3,346,2325,0.00,2.03,0.00,0.000,6,0.000,0.022,2574,2301,3482,0,0,0,0,0,0
$GC,2643,-0.69,-116.7,175.2,-6.4,362,2647,0.00,2.10,0.00,0.000,4,0.000,0.039,2574,3698,3482,0,0,0,0,0,0
$GC,2687,-0.69,-116.7,178.0,-6.0,364,2691,0.00,2.00,0.00,0.000,6,0.000,0.022,2574,2289,3482,0,0,0,0,0,0
$GC,3019,-0.74,-116.7,201.0,-7.3,380,3024,0.15,2.15,0.00,0.000,4,0.127,0.039,2523,3701,3482,0,0,0,0,0,0
$GC,3155,-0.48,-116.7,212.9,-9.9,386,3160,0.30,2.00,0.00,0.000,6,0.191,0.022,2605,2262,3481,0,0,0,0,0,0
$GC,3482,-0.58,-116.7,236.2,-7.4,402,3486,0.00,2.15,0.00,0.000,4,0.000,0.040,2604,3698,3482,0,0,0,0,0,0
$GC,3538,-0.69,-116.7,240.2,-6.6,404,3543,0.17,1.95,0.00,0.000,6,0.114,0.022,2544,2299,3482,0,0,0,0,0,0
$GC,3855,-0.69,-116.7,264.7,-7.6,419,3859,0.00,1.98,0.00,0.000,4,0.000,0.035,2544,941,3482,0,0,0,0,0,0
$GC,3905,-0.56,-116.7,268.7,-7.3,421,3909,0.08,2.03,0.00,0.000,6,0.185,0.028,2578,2308,3481,0,0,0,0,0,0
$GC,4233,-0.64,-116.7,290.5,-6.7,437,4236,0.00,2.05,0.00,0.000,4,0.000,0.040,2579,3701,3481,0,0,0,0,0,0
$GC,4311,-0.68,-116.7,295.7,-6.4,440,4317,0.10,1.95,0.00,0.000,6,0.142,0.022,2546,2302,3481,0,0,0,0,0,0
$GC,4623,-0.68,-116.7,317.0,-7.0,452,4626,0.00,2.00,0.00,0.000,4,0.000,0.035,2546,927,3481,0,0,0,0,0,0
$GC,4650,-0.61,-116.7,319.1,-7.4,452,4656,0.00,2.00,0.00,0.000,6,0.000,0.028,2545,2303,3481,0,0,0,0,0,0
$GC,4963,-0.61,-116.7,341.0,-7.1,463,4966,0.00,2.03,0.00,0.000,4,0.000,0.033,2546,933,3482,0,0,0,0,0,0
$GC,4972,-0.61,-116.7,341.9,-7.3,463,4977,0.00,2.03,0.00,0.000,6,0.000,0.028,2546,2302,3481,0,0,0,0,0,0
$GC,5302,-0.61,-116.7,364.2,-6.6,474,5306,0.00,2.05,0.00,0.000,4,0.000,0.040,2546,3695,3481,0,0,0,0,0,0
$GC,5324,-0.61,-116.7,365.6,-6.4,474,5328,0.00,2.00,0.00,0.000,6,0.000,0.022,2546,2307,3481,0,0,0,0,0,0
$GC,5641,-0.61,-116.7,387.0,-7.0,485,5645,0.00,2.08,0.00,0.000,4,0.000,0.039,2546,3697,3481,0,0,0,0,0,0
$GC,5669,-0.61,-116.7,389.1,-7.5,486,5673,0.00,1.98,0.00,0.000,6,0.000,0.023,2545,2297,3481,0,0,0,0,0,0
$GC,6009,-0.61,-116.7,412.8,-6.8,497,6013,0.00,2.10,0.00,0.000,4,0.000,0.039,2545,3697,3482,0,0,0,0,0,0
$GC,6036,-0.61,-116.7,414.7,-6.6,498,6040,0.00,1.98,0.00,0.000,6,0.000,0.023,2545,2301,3481,0,0,0,0,0,0
$GC,6376,-0.61,-116.7,440.4,-8.2,509,6380,0.00,2.10,0.00,0.000,4,0.000,0.040,2546,3697,3481,0,0,0,0,0,0
$GC,6438,-0.61,-116.7,445.6,-8.2,511,6442,0.00,1.98,0.00,0.000,6,0.000,0.023,2545,2301,3481,0,0,0,0,0,0
$GC,6778,-0.61,-116.7,470.5,-6.2,522,6782,0.00,2.10,0.00,0.000,4,0.000,0.040,2545,3695,3481,0,0,0,0,0,0
$GC,6828,-0.61,-116.7,473.2,-5.4,523,6832,0.00,1.98,0.00,0.000,6,0.000,0.023,2545,2295,3481,0,0,0,0,0,0
$GC,7146,-0.61,-116.7,492.6,-6.5,534,7150,0.00,2.12,0.00,0.000,4,0.000,0.040,2545,3702,3480,0,0,0,0,0,0
$GC,7179,-0.61,-116.7,494.8,-6.9,535,7183,0.00,2.00,0.00,0.000,6,0.000,0.023,2546,2299,3480,0,0,0,0,0,0
$GC,7517,-0.61,-116.7,518.5,-7.1,542,7520,0.00,2.12,0.00,0.000,4,0.000,0.041,2546,3698,3479,0,0,0,0,0,0
$GC,7571,-0.61,-116.7,522.4,-7.2,542,7576,0.00,2.03,0.00,0.000,6,0.000,0.023,2546,2295,3478,0,0,0,0,0,0
$GC,7886,-0.61,-116.7,544.1,-7.0,548,7890,0.00,2.12,0.00,0.000,4,0.000,0.041,2545,3702,3478,0,0,0,0,0,0
$GC,7924,-0.61,-116.7,546.9,-7.3,548,7929,0.00,2.05,0.00,0.000,6,0.000,0.024,2545,2294,3478,0,0,0,0,0,0
$GC,8250,-0.61,-116.7,570.8,-7.4,554,8254,0.00,2.12,0.00,0.000,4,0.000,0.041,2545,3697,3476,0,0,0,0,0,0
$GC,8260,-0.61,-116.7,571.5,-7.3,554,8265,0.00,2.03,0.00,0.000,6,0.000,0.024,2545,2303,3476,0,0,0,0,0,0
$GC,8615,-0.61,-116.7,596.1,-6.9,560,8619,0.00,2.12,0.00,0.000,4,0.000,0.041,2545,3698,3475,0,0,0,0,0,0
$GC,8686,-0.61,-116.7,601.1,-6.8,561,8690,0.00,2.05,0.00,0.000,6,0.000,0.024,2545,2293,3475,0,0,0,0,0,0
$GC,9052,-0.61,-116.7,626.8,-7.2,567,9056,0.00,2.12,0.00,0.000,4,0.000,0.041,2545,3694,3474,0,0,0,0,0,0
$GC,9113,-0.61,-116.7,631.3,-7.8,568,9117,0.00,2.03,0.00,0.000,6,0.000,0.025,2546,2292,3473,0,0,0,0,0,0
$GC,9484,-0.61,-116.7,658.8,-7.5,574,9488,0.00,2.12,0.00,0.000,4,0.000,0.041,2545,3694,3472,0,0,0,0,0,0
$GC,9550,-0.61,-116.7,663.8,-7.6,575,9554,0.00,2.03,0.00,0.000,6,0.000,0.025,2545,2305,3472,0,0,0,0,0,0
$GC,9916,-0.61,-116.7,691.1,-7.6,581,9920,0.00,2.12,0.00,0.000,4,0.000,0.042,2545,3701,3470,0,0,0,0,0,0
$GC,9993,-0.61,-116.7,697.0,-7.1,582,9997,0.00,2.05,0.00,0.000,6,0.000,0.025,2546,2301,3470,0,0,0,0,0,0
$GC,10348,-0.61,-116.7,723.5,-7.6,588,10352,0.00,2.08,0.00,0.000,4,0.000,0.038,2545,913,3469,0,0,0,0,0,0
$GC,10453,-0.58,-116.7,731.6,-7.3,589,10458,0.12,2.05,0.00,0.000,6,0.197,0.030,2577,2306,3469,0,0,0,0,0,0
$GC,10786,-0.68,-116.7,754.7,-7.0,595,10790,0.00,2.10,0.00,0.000,4,0.000,0.038,2577,908,3468,0,0,0,0,0,0
$GC,10911,-0.73,-116.7,763.5,-7.0,596,10917,0.15,2.05,0.00,0.000,6,0.123,0.029,2528,2305,3467,0,0,0,0,0,0
$GC,11219,-0.73,-116.7,787.1,-7.7,602,11223,0.00,2.08,0.00,0.000,4,0.000,0.042,2527,3695,3466,0,0,0,0,0,0
$GC,11291,-0.69,-116.7,792.6,-7.8,603,11295,0.00,2.03,0.00,0.000,6,0.000,0.025,2528,2291,3466,0,0,0,0,0,0
$GC,11650,-0.69,-116.7,820.0,-7.6,609,11654,0.00,2.15,0.00,0.000,4,0.000,0.041,2528,3704,3465,0,0,0,0,0,0
$GC,11712,-0.64,-116.7,824.6,-7.5,610,11717,0.12,2.03,0.00,0.000,6,0.191,0.025,2558,2289,3465,0,0,0,0,0,0
$GC,12079,-0.70,-116.7,850.0,-6.9,616,12082,0.00,2.03,0.00,0.000,4,0.000,0.035,2558,920,3464,0,0,0,0,0,0
$GC,12213,-0.70,-116.7,859.3,-7.0,618,12217,0.00,2.03,0.00,0.000,6,0.000,0.030,2558,2296,3464,0,0,0,0,0,0
$GC,12584,-0.77,-116.7,884.7,-7.0,624,12589,0.12,2.08,0.00,0.000,4,0.134,0.035,2517,922,3463,0,0,0,0,0,0
$GC,12691,-0.63,-116.7,892.9,-7.1,625,12696,0.17,2.03,0.00,0.000,6,0.197,0.029,2561,2301,3463,0,0,0,0,0,0
$GC,13012,-0.70,-116.7,915.0,-6.9,631,13016,0.00,2.10,0.00,0.000,4,0.000,0.042,2561,3707,3462,0,0,0,0,0,0
$GC,13152,-0.76,-116.7,924.6,-6.6,633,13157,0.12,2.03,0.00,0.000,6,0.140,0.026,2522,2294,3462,0,0,0,0,0,0
$GC,13512,-0.76,-116.7,951.2,-7.4,639,13516,0.00,2.15,0.00,0.000,4,0.000,0.042,2522,3702,3462,0,0,0,0,0,0
$GC,13544,-0.70,-116.7,953.7,-7.4,639,13549,0.00,2.05,0.00,0.000,6,0.000,0.025,2522,2309,3462,0,0,0,0,0,0
$GC,13881,-0.70,-116.7,978.1,-7.3,645,13885,0.00,2.12,0.00,0.000,4,0.000,0.042,2522,3703,3461,0,0,0,0,0,0
$GC,13926,-0.65,-116.7,981.2,-7.2,645,13931,0.12,2.05,0.00,0.000,6,0.192,0.025,2553,2283,3461,0,0,0,0,0,0
$STATE,14056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14056,begin apogee
$GC,14061,-0.24,0.0,990.2,6.9,648,14163,0.43,0.00,98.88,1.532,6,0.163,0.000,2680,2646,3006,0,0,0,0,0,0
$STATE,14164,end apogee,CONTROL_FINISHED_OK
$STATE,14164,begin climb
$GC,14166,0.80,116.7,993.4,0.0,649,14284,1.08,2.40,108.45,1.440,4,0.124,0.044,3006,4035,2529,0,0,0,0,0,0
$GC,14409,0.77,156.8,986.4,5.3,651,14452,0.00,2.15,36.92,1.408,6,0.000,0.025,3015,2642,2365,0,0,0,0,0,0
$GC,14787,0.84,157.2,961.1,6.9,658,14791,0.00,2.20,0.00,0.000,4,0.000,0.043,3016,4045,2356,0,0,0,0,0,0
$GC,14911,0.79,157.2,952.6,6.9,659,14916,0.00,2.05,0.00,0.000,6,0.000,0.026,3024,2650,2355,0,0,0,0,0,0
$GC,15220,0.84,157.2,930.8,7.2,665,15224,0.00,2.15,0.00,0.000,4,0.000,0.044,3024,4042,2353,0,0,0,0,0,0
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$STATE,27053,end climb,SURFACE_DEPTH_REACHED
$STATE,27053,begin surface coast
$FINISH,2.9,1.007425
$STATE,27112,end surface coast,CONTROL_FINISHED_OK
$STATE,27112,begin surface
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$TCM_TEMP,20.10
$XPDR_PINGS,0
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$10V_AH,9.7,34.680
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,235228
$DATA_FILE_SIZE,69456,1206
$CAP_FILE_SIZE,247605,0
$CFSIZE,260165632,228544512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.015,143.6,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7