version: 66.07
glider: 500
mission: 4
dive: 119
start: 7 12 110 8 29 38
data:
$ID,500
$MISSION,4
$DIVE,119
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1025
$D_NO_BLEED,200
$D_BOOST,4
$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,388
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51642
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,8
$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,1
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-111553.98
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,2031
$C_ROLL_CLIMB,2031
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2822
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-65.916748
$PRESSURE_SLOPE,0.00011603366
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$GPS1,120710,081754,2032.653,-15953.871,40,0.9,40,9.6
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-71.0
$GPS2,120710,082843,2032.854,-15953.944,10,1.0,10,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT06a
$TGT_LATLONG,2020.000,-15945.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.112,-0.192
$KALMAN_X,-25205.8,-366.4,-305.6,37689.1,-2032.4
$KALMAN_Y,25683.4,228.5,61.8,-16956.4,3602.8
$MHEAD_RNG_PITCHd_Wd,140.2,28424,-17.0,-8.505
$D_GRID,990
$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,-0.71,-116.8,0.0,0.0,0,69,0.00,0.00,-50.55,0.000,2,0.000,0.000,124,2050,2675,0,0,0,0,0,0
$GC,71,-0.71,-116.8,3.3,-5.7,10,103,10.27,2.40,-14.23,0.000,4,0.236,0.056,2648,460,3301,0,0,0,0,0,0
$GC,227,-0.71,-116.8,32.9,-20.8,37,231,0.00,2.30,0.00,0.000,6,0.000,0.036,2638,2035,3303,0,0,0,0,0,0
$GC,487,-0.71,-116.8,69.2,-11.4,61,491,0.00,2.33,0.00,0.000,4,0.000,0.043,2638,459,3305,0,0,0,0,0,0
$GC,541,-0.71,-116.8,76.9,-14.2,65,548,0.08,2.28,0.00,0.000,6,0.127,0.032,2654,2029,3305,0,0,0,0,0,0
$GC,802,-0.71,-116.8,103.8,-9.2,90,806,0.00,2.30,0.00,0.000,4,0.000,0.042,2644,3610,3307,0,0,0,0,0,0
$GC,875,-0.71,-116.8,110.5,-9.2,96,879,0.00,2.22,0.00,0.000,6,0.000,0.028,2644,2035,3307,0,0,0,0,0,0
$GC,1135,-0.71,-116.8,134.7,-10.6,120,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2035,3308,0,0,0,0,0,0
$GC,1390,-0.71,-116.8,162.4,-11.6,144,1394,0.00,2.28,0.00,0.000,4,0.000,0.042,2644,454,3308,0,0,0,0,0,0
$GC,1406,-0.71,-116.8,164.3,-11.4,145,1410,0.00,2.22,0.00,0.000,6,0.000,0.032,2633,2037,3308,0,0,0,0,0,0
$GC,1666,-0.71,-116.8,194.8,-10.7,169,1670,0.00,2.28,0.00,0.000,4,0.000,0.042,2621,3611,3308,0,0,0,0,0,0
$GC,1704,-0.71,-116.8,199.0,-10.8,172,1709,0.12,2.25,0.00,0.000,6,0.133,0.029,2660,2031,3308,0,0,0,0,0,0
$GC,1968,-0.71,-116.8,222.1,-8.3,185,1972,0.00,2.30,0.00,0.000,4,0.000,0.042,2660,448,3308,0,0,0,0,0,0
$GC,2034,-0.71,-116.8,228.3,-8.9,188,2039,0.00,2.28,0.00,0.000,6,0.000,0.031,2650,2034,3308,0,0,0,0,0,0
$GC,2361,-0.71,-116.8,256.4,-9.0,204,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2033,3308,0,0,0,0,0,0
$GC,2670,-0.71,-116.8,284.5,-8.9,219,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2034,3306,0,0,0,0,0,0
$GC,2977,-0.71,-116.8,312.4,-8.9,231,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2034,3306,0,0,0,0,0,0
$GC,3303,-0.71,-116.8,341.1,-8.7,239,3307,0.00,2.33,0.00,0.000,4,0.000,0.044,2638,3612,3304,0,0,0,0,0,0
$GC,3351,-0.71,-116.8,345.4,-8.0,240,3356,0.00,2.30,0.00,0.000,6,0.000,0.028,2638,2022,3303,0,0,0,0,0,0
$GC,3670,-0.71,-116.8,369.2,-7.2,248,3674,0.00,2.33,0.00,0.000,4,0.000,0.044,2638,448,3302,0,0,0,0,0,0
$GC,3698,-0.71,-116.8,371.4,-8.2,248,3703,0.12,2.28,0.00,0.000,6,0.144,0.032,2664,2048,3302,0,0,0,0,0,0
$GC,4029,-0.71,-116.8,395.4,-7.7,256,4033,0.00,2.30,0.00,0.000,4,0.000,0.044,2654,3603,3300,0,0,0,0,0,0
$GC,4060,-0.71,-116.8,398.3,-9.1,256,4065,0.00,2.28,0.00,0.000,6,0.000,0.030,2654,2036,3300,0,0,0,0,0,0
$GC,4398,-0.71,-116.8,427.7,-8.5,265,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2036,3298,0,0,0,0,0,0
$GC,4723,-0.71,-116.8,453.7,-7.6,273,4727,0.00,2.30,0.00,0.000,4,0.000,0.044,2654,450,3297,0,0,0,0,0,0
$GC,4811,-0.71,-116.8,461.0,-8.1,275,4816,0.00,2.22,0.00,0.000,6,0.000,0.033,2643,2032,3296,0,0,0,0,0,0
$GC,5130,-0.71,-116.8,484.8,-7.3,283,5134,0.00,2.33,0.00,0.000,4,0.000,0.044,2643,452,3294,0,0,0,0,0,0
$GC,5184,-0.71,-116.8,489.2,-8.0,284,5189,0.00,2.22,0.00,0.000,6,0.000,0.033,2632,2031,3294,0,0,0,0,0,0
$GC,5497,-0.71,-116.8,515.0,-8.5,292,5501,0.00,2.35,0.00,0.000,4,0.000,0.044,2620,3614,3293,0,0,0,0,0,0
$GC,5535,-0.71,-116.8,518.5,-9.8,293,5540,0.12,2.28,0.00,0.000,6,0.133,0.031,2660,2020,3292,0,0,0,0,0,0
$GC,5859,-0.71,-116.8,543.0,-7.3,301,5860,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2020,3291,0,0,0,0,0,0
$GC,6184,-0.71,-116.8,563.5,-6.1,309,6188,0.00,2.28,0.00,0.000,4,0.000,0.044,2660,457,3289,0,0,0,0,0,0
$GC,6261,-0.71,-116.8,568.6,-6.4,310,6267,0.00,2.28,0.00,0.000,6,0.000,0.033,2650,2024,3288,0,0,0,0,0,0
$GC,6592,-0.71,-116.8,588.4,-6.1,319,6596,0.00,2.33,0.00,0.000,4,0.000,0.044,2650,452,3288,0,0,0,0,0,0
$GC,6635,-0.71,-116.8,591.5,-7.0,320,6639,0.00,2.25,0.00,0.000,6,0.000,0.033,2638,2044,3287,0,0,0,0,0,0
$GC,6960,-0.71,-116.8,613.2,-6.8,328,6961,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2044,3286,0,0,0,0,0,0
$GC,7284,-0.71,-116.8,634.9,-6.7,336,7288,0.00,2.35,0.00,0.000,4,0.000,0.045,2639,450,3285,0,0,0,0,0,0
$GC,7311,-0.71,-116.8,636.9,-7.1,336,7316,0.08,2.28,0.00,0.000,6,0.120,0.033,2656,2021,3285,0,0,0,0,0,0
$GC,7654,-0.71,-116.8,657.3,-6.0,345,7658,0.00,2.33,0.00,0.000,4,0.000,0.046,2657,454,3285,0,0,0,0,0,0
$GC,7692,-0.71,-116.8,660.1,-7.1,346,7697,0.00,2.25,0.00,0.000,6,0.000,0.034,2647,2040,3284,0,0,0,0,0,0
$GC,8016,-0.71,-116.8,680.7,-6.3,354,8018,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2040,3284,0,0,0,0,0,0
$GC,8341,-0.71,-116.8,700.5,-6.0,362,8342,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2040,3283,0,0,0,0,0,0
$GC,8666,-0.71,-116.8,719.7,-5.8,370,8670,0.00,2.35,0.00,0.000,4,0.000,0.046,2647,457,3282,0,0,0,0,0,0
$GC,8720,-0.71,-116.8,723.4,-7.5,371,8724,0.00,2.25,0.00,0.000,6,0.000,0.034,2636,2039,3282,0,0,0,0,0,0
$GC,9033,-0.71,-116.8,743.6,-6.5,379,9034,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2039,3282,0,0,0,0,0,0
$GC,9358,-0.71,-116.8,762.7,-5.8,387,9362,0.00,2.35,0.00,0.000,4,0.000,0.046,2636,455,3282,0,0,0,0,0,0
$GC,9419,-0.71,-116.8,766.8,-7.0,388,9424,0.08,2.30,0.00,0.000,6,0.117,0.034,2654,2033,3282,0,0,0,0,0,0
$GC,9732,-0.71,-116.8,782.2,-4.8,396,9733,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2033,3281,0,0,0,0,0,0
$GC,10057,-0.71,-116.8,798.8,-5.3,404,10058,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2033,3281,0,0,0,0,0,0
$GC,10381,-0.71,-116.8,816.6,-5.5,412,10382,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2033,3281,0,0,0,0,0,0
$GC,10707,-0.71,-116.8,834.1,-5.4,420,10711,0.00,2.35,0.00,0.000,4,0.000,0.048,2655,459,3281,0,0,0,0,0,0
$GC,10739,-0.71,-116.8,836.2,-5.6,420,10745,0.00,2.30,0.00,0.000,6,0.000,0.035,2645,2035,3281,0,0,0,0,0,0
$GC,11070,-0.71,-116.8,854.4,-5.4,429,11071,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2035,3280,0,0,0,0,0,0
$GC,11395,-0.71,-116.8,871.0,-5.0,437,11396,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2035,3280,0,0,0,0,0,0
$GC,11720,-0.71,-116.8,887.6,-5.1,445,11721,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2035,3280,0,0,0,0,0,0
$GC,12045,-0.71,-116.8,904.7,-5.3,453,12046,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2035,3280,0,0,0,0,0,0
$GC,12370,-0.71,-116.8,921.1,-4.9,461,12374,0.00,2.35,0.00,0.000,4,0.000,0.048,2645,450,3280,0,0,0,0,0,0
$GC,12409,-0.71,-116.8,923.3,-5.4,462,12413,0.00,2.30,0.00,0.000,6,0.000,0.035,2634,2045,3280,0,0,0,0,0,0
$GC,12732,-0.71,-116.8,940.0,-5.0,470,12734,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2045,3279,0,0,0,0,0,0
$GC,13057,-0.71,-116.8,957.0,-5.4,478,13061,0.00,2.38,0.00,0.000,4,0.000,0.047,2634,458,3279,0,0,0,0,0,0
$GC,13085,-0.71,-116.8,958.8,-7.2,478,13090,0.12,2.28,0.00,0.000,6,0.143,0.035,2660,2025,3279,0,0,0,0,0,0
$GC,13416,-0.71,-116.8,975.0,-4.9,486,13417,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2025,3279,0,0,0,0,0,0
$STATE,13535,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13536,begin apogee
$GC,13540,-0.23,0.0,981.4,5.3,489,13641,0.45,0.00,98.45,1.309,6,0.109,0.000,2813,2025,2822,0,0,0,0,0,0
$STATE,13642,end apogee,CONTROL_FINISHED_OK
$STATE,13642,begin climb
$GC,13643,0.71,116.8,983.3,0.0,491,13767,0.85,2.65,111.30,1.273,4,0.067,0.046,3123,3597,2342,0,0,0,0,0,0
$GC,13816,0.71,116.8,969.8,14.3,495,13822,0.00,2.47,0.00,0.000,6,0.000,0.035,3134,2044,2335,0,0,0,0,0,0
$GC,14142,0.71,116.8,928.4,12.6,503,14146,0.00,2.45,0.00,0.000,4,0.000,0.049,3147,440,2326,0,0,0,0,0,0
$GC,14206,0.71,116.8,919.5,12.3,504,14211,0.00,2.40,0.00,0.000,6,0.000,0.035,3147,2030,2326,0,0,0,0,0,0
$GC,14549,0.71,116.8,875.3,12.8,513,14550,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2031,2323,0,0,0,0,0,0
$GC,14874,0.71,116.8,833.7,13.0,521,14875,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2031,2322,0,0,0,0,0,0
$GC,15199,0.71,116.8,789.6,13.9,529,15200,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2031,2321,0,0,0,0,0,0
$GC,15524,0.71,116.8,744.1,14.1,537,15528,0.00,2.38,0.00,0.000,4,0.000,0.046,3147,3615,2321,0,0,0,0,0,0
$GC,15551,0.71,116.8,739.9,14.5,537,15556,0.10,2.38,0.00,0.000,6,0.145,0.035,3125,2027,2320,0,0,0,0,0,0
$GC,15888,0.71,116.8,696.3,13.1,546,15892,0.00,2.35,0.00,0.000,4,0.000,0.048,3136,450,2319,0,0,0,0,0,0
$GC,15953,0.71,116.8,687.2,14.2,547,15958,0.00,2.33,0.00,0.000,6,0.000,0.035,3136,2026,2319,0,0,0,0,0,0
$GC,16296,0.71,116.8,643.2,12.7,556,16300,0.00,2.38,0.00,0.000,4,0.000,0.045,3136,3616,2318,0,0,0,0,0,0
$GC,16322,0.71,116.8,639.7,12.7,556,16326,0.00,2.38,0.00,0.000,6,0.000,0.035,3148,2025,2317,0,0,0,0,0,0
$GC,16658,0.71,116.8,599.0,11.8,565,16662,0.00,2.38,0.00,0.000,4,0.000,0.048,3160,448,2318,0,0,0,0,0,0
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$STATE,22722,end climb,SURFACE_DEPTH_REACHED
$STATE,22722,begin surface coast
$FINISH,0.7,1.014285
$STATE,22757,end surface coast,CONTROL_FINISHED_OK
$STATE,22757,begin surface
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$TT8_MAMPS,0.028379
$HUMID,1078474184
$INTERNAL_PRESSURE,9.35461
$TCM_TEMP,23.80
$XPDR_PINGS,0
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$10V_AH,9.9,17.572
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.650,176.675,294.675,80.275,0.000,30.946,25.501,463.044,0.000,0.000,12.198,1906.617,18329.225,528.288,2501.327,229.381,33.363,1639.310,0.000,1968.606,0.000,0.539,0.000
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$SENSOR_SECS,627.128,0.000,0.000,0.000,0.000,0.000,0.000,690.247,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333668
$DATA_FILE_SIZE,33431,913
$CAP_FILE_SIZE,240200,0
$CFSIZE,260165632,248328192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120710,145137,2031.855,-15953.501,25,1.1,25,9.6