version: 66.06
glider: 140
mission: 8
dive: 330
start: 1 8 110 8 54 39
data:
$ID,140
$MISSION,8
$DIVE,330
$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,-107626.73
$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,66
$R_STBD_OVSHOOT,47
$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,3.47
$_SM_ANGLEo,-62.8
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.80,-116.7,0.0,0.0,0,25,0.00,0.00,-7.97,0.000,2,0.000,0.000,217,2297,712,0,0,0,0,0,0
$GC,28,-0.80,-116.7,3.5,-0.0,1,189,8.65,2.15,-144.05,0.000,4,0.222,0.056,2500,3704,3482,0,0,0,0,0,0
$GC,267,-0.50,-116.7,9.8,-10.3,43,274,0.35,2.05,0.00,0.000,6,0.188,0.024,2596,2263,3483,0,0,0,0,0,0
$GC,603,-0.43,-116.7,33.0,-6.6,104,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2263,3483,0,0,0,0,0,0
$GC,942,-0.37,-116.7,56.2,-6.8,165,948,0.17,0.00,0.00,0.000,6,0.184,0.000,2646,2262,3483,0,0,0,0,0,0
$GC,1278,-0.56,-116.7,76.8,-6.4,226,1284,0.20,2.20,0.00,0.000,4,0.104,0.038,2572,3704,3483,0,0,0,0,0,0
$GC,1307,-0.66,-116.7,78.8,-7.1,231,1312,0.00,1.98,0.00,0.000,6,0.000,0.023,2572,2311,3483,0,0,0,0,0,0
$GC,1641,-0.70,-116.7,103.0,-7.1,292,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2310,3483,0,0,0,0,0,0
$GC,1991,-0.75,-116.7,125.5,-6.4,344,1996,0.15,2.08,0.00,0.000,4,0.125,0.035,2521,919,3483,0,0,0,0,0,0
$GC,2010,-0.75,-116.7,126.8,-6.8,345,2014,0.00,2.05,0.00,0.000,6,0.000,0.029,2521,2315,3482,0,0,0,0,0,0
$GC,2339,-0.50,-116.7,155.5,-9.1,361,2341,0.30,0.00,0.00,0.000,6,0.193,0.000,2601,2316,3482,0,0,0,0,0,0
$GC,2646,-0.45,-116.7,176.8,-6.9,376,2650,0.00,2.08,0.00,0.000,4,0.000,0.035,2601,922,3482,0,0,0,0,0,0
$GC,2657,-0.41,-116.7,177.6,-7.1,376,2661,0.10,2.03,0.00,0.000,6,0.203,0.028,2626,2308,3482,0,0,0,0,0,0
$GC,2974,-0.59,-116.7,199.7,-6.7,391,2979,0.15,2.08,0.00,0.000,4,0.117,0.034,2572,923,3483,0,0,0,0,0,0
$GC,3098,-0.48,-116.7,209.9,-8.5,396,3105,0.12,2.03,0.00,0.000,6,0.201,0.028,2601,2309,3482,0,0,0,0,0,0
$GC,3415,-0.61,-116.7,233.7,-7.5,412,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2309,3483,0,0,0,0,0,0
$GC,3723,-0.74,-116.7,255.6,-6.9,427,3727,0.22,2.08,0.00,0.000,4,0.102,0.032,2524,914,3482,0,0,0,0,0,0
$GC,3733,-0.82,-116.7,256.5,-7.1,427,3737,0.00,2.05,0.00,0.000,6,0.000,0.028,2524,2317,3483,0,0,0,0,0,0
$GC,4054,-0.78,-116.7,282.1,-8.2,443,4057,0.00,2.03,0.00,0.000,4,0.000,0.040,2524,3697,3482,0,0,0,0,0,0
$GC,4167,-0.63,-116.7,291.2,-7.8,448,4171,0.12,1.98,0.00,0.000,6,0.202,0.023,2554,2283,3482,0,0,0,0,0,0
$GC,4501,-0.51,-116.7,315.8,-7.3,461,4503,0.15,0.00,0.00,0.000,6,0.195,0.000,2594,2277,3482,0,0,0,0,0,0
$GC,4808,-0.63,-116.7,334.5,-6.1,471,4812,0.12,2.15,0.00,0.000,4,0.126,0.040,2552,3698,3482,0,0,0,0,0,0
$GC,4870,-0.63,-116.7,338.6,-6.6,473,4874,0.00,1.98,0.00,0.000,6,0.000,0.023,2552,2296,3482,0,0,0,0,0,0
$GC,5210,-0.66,-116.7,363.0,-7.4,484,5214,0.00,2.12,0.00,0.000,4,0.000,0.039,2552,3705,3482,0,0,0,0,0,0
$GC,5230,-0.66,-116.7,364.6,-7.2,484,5238,0.00,2.03,0.00,0.000,6,0.000,0.023,2552,2308,3482,0,0,0,0,0,0
$GC,5543,-0.66,-116.7,388.0,-7.8,495,5547,0.00,2.05,0.00,0.000,4,0.000,0.035,2552,913,3481,0,0,0,0,0,0
$GC,5639,-0.62,-116.7,395.6,-8.4,498,5643,0.00,2.05,0.00,0.000,6,0.000,0.029,2551,2310,3481,0,0,0,0,0,0
$GC,5973,-0.65,-116.7,422.0,-8.0,509,5977,0.00,2.05,0.00,0.000,4,0.000,0.041,2552,3698,3480,0,0,0,0,0,0
$GC,6035,-0.65,-116.7,426.7,-7.5,511,6038,0.00,2.00,0.00,0.000,6,0.000,0.024,2551,2296,3480,0,0,0,0,0,0
$GC,6375,-0.69,-116.7,451.8,-7.3,522,6379,0.00,2.12,0.00,0.000,4,0.000,0.040,2551,3698,3478,0,0,0,0,0,0
$GC,6425,-0.69,-116.7,455.4,-6.8,523,6429,0.00,2.03,0.00,0.000,6,0.000,0.024,2552,2306,3478,0,0,0,0,0,0
$GC,6743,-0.72,-116.7,478.7,-7.4,534,6747,0.00,2.12,0.00,0.000,4,0.000,0.041,2552,3707,3477,0,0,0,0,0,0
$GC,6771,-0.72,-116.7,480.9,-8.1,535,6775,0.00,2.03,0.00,0.000,6,0.000,0.025,2551,2297,3477,0,0,0,0,0,0
$GC,7108,-0.76,-116.7,506.4,-7.7,545,7112,0.00,2.12,0.00,0.000,4,0.000,0.041,2551,3698,3476,0,0,0,0,0,0
$GC,7135,-0.76,-116.7,508.8,-7.9,545,7139,0.00,2.03,0.00,0.000,6,0.000,0.025,2551,2293,3475,0,0,0,0,0,0
$GC,7472,-0.79,-116.7,534.9,-7.9,551,7477,0.12,2.15,0.00,0.000,4,0.137,0.041,2510,3698,3474,0,0,0,0,0,0
$GC,7521,-0.66,-116.7,539.2,-9.0,551,7526,0.08,2.05,0.00,0.000,6,0.160,0.025,2546,2296,3474,0,0,0,0,0,0
$GC,7837,-0.69,-116.7,563.7,-7.8,557,7841,0.00,2.15,0.00,0.000,4,0.000,0.042,2546,3705,3473,0,0,0,0,0,0
$GC,7874,-0.69,-116.7,566.8,-8.0,557,7879,0.00,2.05,0.00,0.000,6,0.000,0.025,2546,2310,3473,0,0,0,0,0,0
$GC,8201,-0.73,-116.7,592.1,-7.8,563,8205,0.00,2.12,0.00,0.000,4,0.000,0.041,2546,3704,3472,0,0,0,0,0,0
$GC,8233,-0.73,-116.7,594.6,-7.3,563,8238,0.00,2.08,0.00,0.000,6,0.000,0.025,2546,2299,3472,0,0,0,0,0,0
$GC,8566,-0.73,-116.7,620.1,-7.7,569,8569,0.00,2.08,0.00,0.000,4,0.000,0.039,2546,911,3470,0,0,0,0,0,0
$GC,8694,-0.69,-116.7,630.3,-8.5,570,8700,0.00,2.08,0.00,0.000,6,0.000,0.031,2547,2309,3470,0,0,0,0,0,0
$GC,9003,-0.69,-116.7,653.8,-7.7,576,9007,0.00,2.08,0.00,0.000,4,0.000,0.043,2546,3699,3469,0,0,0,0,0,0
$GC,9058,-0.69,-116.7,658.0,-7.6,576,9065,0.00,2.08,0.00,0.000,6,0.000,0.025,2546,2295,3469,0,0,0,0,0,0
$GC,9368,-0.72,-116.7,680.4,-7.3,582,9369,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2295,3468,0,0,0,0,0,0
$GC,9671,-0.76,-116.7,702.2,-7.2,587,9675,0.00,2.15,0.00,0.000,4,0.000,0.043,2547,3702,3467,0,0,0,0,0,0
$GC,9743,-0.76,-116.7,707.5,-7.8,588,9747,0.00,2.08,0.00,0.000,6,0.000,0.026,2546,2296,3467,0,0,0,0,0,0
$GC,10104,-0.80,-116.7,733.1,-7.2,594,10108,0.12,2.17,0.00,0.000,4,0.143,0.043,2506,3704,3466,0,0,0,0,0,0
$GC,10159,-0.68,-116.7,737.3,-7.5,594,10165,0.15,2.05,0.00,0.000,6,0.189,0.026,2543,2286,3466,0,0,0,0,0,0
$GC,10467,-0.68,-116.7,758.9,-7.0,600,10471,0.00,2.15,0.00,0.000,4,0.000,0.043,2543,3698,3465,0,0,0,0,0,0
$GC,10500,-0.68,-116.7,761.3,-6.7,600,10504,0.00,2.08,0.00,0.000,6,0.000,0.026,2544,2273,3465,0,0,0,0,0,0
$GC,10838,-0.72,-116.7,784.8,-7.1,606,10842,0.00,2.17,0.00,0.000,4,0.000,0.042,2544,3700,3464,0,0,0,0,0,0
$GC,10864,-0.72,-116.7,786.7,-6.8,606,10868,0.00,2.08,0.00,0.000,6,0.000,0.026,2544,2303,3464,0,0,0,0,0,0
$GC,11202,-0.75,-116.7,810.1,-7.0,612,11206,0.00,2.15,0.00,0.000,4,0.000,0.043,2544,3706,3464,0,0,0,0,0,0
$GC,11265,-0.75,-116.7,814.4,-6.7,613,11269,0.00,2.05,0.00,0.000,6,0.000,0.027,2544,2299,3463,0,0,0,0,0,0
$GC,11630,-0.79,-116.7,840.0,-7.0,619,11634,0.10,2.15,0.00,0.000,4,0.152,0.044,2514,3698,3463,0,0,0,0,0,0
$GC,11697,-0.71,-116.7,844.8,-6.7,620,11701,0.00,2.05,0.00,0.000,6,0.000,0.026,2514,2293,3463,0,0,0,0,0,0
$GC,12056,-0.68,-116.7,871.4,-7.4,626,12061,0.12,2.10,0.00,0.000,4,0.197,0.041,2545,907,3462,0,0,0,0,0,0
$GC,12083,-0.65,-116.7,873.4,-7.3,626,12087,0.00,2.08,0.00,0.000,6,0.000,0.032,2545,2299,3462,0,0,0,0,0,0
$GC,12420,-0.69,-116.7,896.7,-7.0,632,12424,0.00,2.12,0.00,0.000,4,0.000,0.044,2544,3709,3462,0,0,0,0,0,0
$GC,12509,-0.69,-116.7,903.0,-7.1,633,12513,0.00,2.08,0.00,0.000,6,0.000,0.026,2544,2309,3462,0,0,0,0,0,0
$GC,12853,-0.81,-116.7,915.5,-2.1,639,12855,0.12,0.00,0.00,0.000,6,0.135,0.000,2501,2306,3462,0,0,0,0,0,0
$STATE,13032,end dive,NO_VERTICAL_VELOCITY
$STATE,13032,begin apogee
$GC,13037,-0.24,0.0,915.5,0.0,642,13140,0.60,0.00,99.70,1.493,6,0.139,0.000,2688,2651,3006,0,0,0,0,0,0
$STATE,13141,end apogee,CONTROL_FINISHED_OK
$STATE,13141,begin climb
$GC,13143,0.80,116.7,915.5,0.0,643,13260,1.12,2.40,109.85,1.399,4,0.140,0.045,3014,4035,2529,0,0,0,0,0,0
$GC,13327,0.73,145.4,908.4,5.7,646,13361,0.00,2.20,27.38,1.347,6,0.000,0.025,3022,2650,2412,0,0,0,0,0,0
$GC,13712,0.75,166.1,885.2,6.0,653,13736,0.00,2.22,18.42,1.364,4,0.000,0.039,3033,1258,2328,0,0,0,0,0,0
$GC,13989,0.75,166.1,867.1,7.0,657,13994,0.00,2.12,0.00,0.000,6,0.000,0.032,3033,2648,2323,0,0,0,0,0,0
$GC,14343,0.76,174.4,843.8,6.5,663,14357,0.00,2.20,7.95,1.299,4,0.000,0.036,3042,1254,2294,0,0,0,0,0,0
$GC,14611,0.77,177.3,825.5,6.8,667,14616,0.12,2.12,0.00,0.000,6,0.171,0.033,3010,2651,2291,0,0,0,0,0,0
$GC,14976,0.84,177.3,801.0,6.9,673,14980,0.00,2.12,0.00,0.000,4,0.000,0.047,3010,4042,2290,0,0,0,0,0,0
$GC,15234,0.84,177.3,782.8,6.9,676,15241,0.00,2.10,0.00,0.000,6,0.000,0.027,3015,2641,2289,0,0,0,0,0,0
$GC,15544,0.89,190.2,763.1,6.4,682,15565,0.10,2.10,15.35,1.371,4,0.133,0.038,3060,1263,2229,0,0,0,0,0,0
$GC,15694,0.86,190.2,751.6,7.7,684,15698,0.00,2.12,0.00,0.000,6,0.000,0.035,3060,2654,2226,0,0,0,0,0,0
$GC,16043,0.86,190.2,726.7,7.1,690,16046,0.00,2.12,0.00,0.000,4,0.000,0.037,3070,1261,2225,0,0,0,0,0,0
$GC,16300,0.87,203.5,707.8,6.3,693,16319,0.00,2.15,13.00,1.328,6,0.000,0.035,3070,2653,2175,0,0,0,0,0,0
$GC,16675,0.87,203.5,679.9,7.5,700,16679,0.00,2.12,0.00,0.000,4,0.000,0.038,3077,1262,2172,0,0,0,0,0,0
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$STATE,25476,end climb,SURFACE_DEPTH_REACHED
$STATE,25476,begin surface coast
$FINISH,3.0,1.027472
$STATE,25518,end surface coast,CONTROL_FINISHED_OK
$STATE,25518,begin surface
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$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078330958
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,14.90
$XPDR_PINGS,0
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$10V_AH,9.6,37.717
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.600,215.575,310.575,308.825,0.000,164.820,141.053,0.000,0.000,0.000,903.220,2576.791,18968.211,863.791,4357.848,648.178,0.000,2519.672,0.000,3420.991,0.000,0.535,0.000
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$SENSOR_SECS,816.601,1061.104,696.577,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235276
$DATA_FILE_SIZE,66476,1185
$CAP_FILE_SIZE,233499,0
$CFSIZE,260165632,226353152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.005,154.0,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7