version: 66.06
glider: 140
mission: 8
dive: 69
start: 10 19 109 22 25 54
data:
$ID,140
$MISSION,8
$DIVE,69
$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,-45591.656
$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,45
$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
$GPS1,221936,6406.354,114.700,37,1.1,43,-4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.57
$_SM_ANGLEo,-67.0
$GPS2,222531,6406.369,114.722,11,1.2,16,-4.4
$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,137.0,179814,-13.7,-6.875
$D_GRID,2321
$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,-7.72,0.000,2,0.000,0.000,214,2285,2038,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.5,-0.0,1,122,9.02,2.20,-79.20,0.000,4,0.247,0.058,2500,3704,3482,0,0,0,0,0,0
$GC,135,-0.89,-116.7,3.8,-2.2,20,142,0.00,2.10,0.00,0.000,6,0.000,0.024,2500,2286,3483,0,0,0,0,0,0
$GC,477,-0.75,-116.7,41.1,-11.3,81,483,0.00,2.17,0.00,0.000,4,0.000,0.042,2500,3712,3484,0,0,0,0,0,0
$GC,732,-0.61,-116.7,71.4,-10.3,115,737,0.15,2.08,0.00,0.000,6,0.179,0.025,2560,2285,3484,0,0,0,0,0,0
$GC,1054,-0.61,-116.7,96.5,-7.0,131,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2283,3485,0,0,0,0,0,0
$GC,1362,-0.61,-116.7,121.1,-7.8,146,1366,0.00,2.15,0.00,0.000,4,0.000,0.042,2559,3709,3486,0,0,0,0,0,0
$GC,1373,-0.61,-116.7,122.0,-7.6,146,1380,0.00,2.05,0.00,0.000,6,0.000,0.025,2560,2312,3485,0,0,0,0,0,0
$GC,1688,-0.61,-116.7,143.7,-7.1,162,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2311,3485,0,0,0,0,0,0
$GC,1999,-0.61,-116.7,165.8,-7.2,177,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2311,3486,0,0,0,0,0,0
$GC,2306,-0.61,-116.7,187.8,-7.0,192,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2312,3486,0,0,0,0,0,0
$GC,2616,-0.61,-116.7,208.0,-6.2,207,2620,0.00,2.08,0.00,0.000,4,0.000,0.042,2560,3704,3486,0,0,0,0,0,0
$GC,2633,-0.61,-116.7,209.0,-6.2,208,2637,0.00,2.00,0.00,0.000,6,0.000,0.025,2559,2300,3487,0,0,0,0,0,0
$GC,2965,-0.61,-116.7,229.1,-6.2,224,2969,0.00,2.12,0.00,0.000,4,0.000,0.043,2559,3712,3487,0,0,0,0,0,0
$GC,2997,-0.64,-116.7,231.3,-6.9,225,3004,0.00,2.05,0.00,0.000,6,0.000,0.025,2560,2302,3487,0,0,0,0,0,0
$GC,3313,-0.64,-116.7,251.5,-6.5,241,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2301,3487,0,0,0,0,0,0
$GC,3622,-0.64,-116.7,271.4,-6.4,256,3626,0.00,2.12,0.00,0.000,4,0.000,0.043,2560,3712,3487,0,0,0,0,0,0
$GC,3668,-0.67,-116.7,274.3,-6.8,258,3672,0.00,2.03,0.00,0.000,6,0.000,0.025,2560,2289,3487,0,0,0,0,0,0
$GC,4000,-0.67,-116.7,295.6,-6.4,274,4003,0.00,2.12,0.00,0.000,4,0.000,0.043,2560,3706,3486,0,0,0,0,0,0
$GC,4033,-0.71,-116.7,297.8,-6.7,275,4038,0.00,2.00,0.00,0.000,6,0.000,0.026,2560,2300,3486,0,0,0,0,0,0
$GC,4355,-0.71,-116.7,318.3,-6.4,287,4359,0.00,2.12,0.00,0.000,4,0.000,0.044,2560,3702,3485,0,0,0,0,0,0
$GC,4394,-0.74,-116.7,320.8,-6.8,288,4398,0.10,2.00,0.00,0.000,6,0.158,0.026,2530,2295,3484,0,0,0,0,0,0
$GC,4722,-0.70,-116.7,344.7,-7.3,299,4726,0.00,2.12,0.00,0.000,4,0.000,0.044,2529,3710,3484,0,0,0,0,0,0
$GC,4744,-0.66,-116.7,346.4,-7.4,299,4748,0.00,2.05,0.00,0.000,6,0.000,0.026,2529,2305,3484,0,0,0,0,0,0
$GC,5062,-0.62,-116.7,369.4,-7.1,310,5064,0.12,0.00,0.00,0.000,6,0.199,0.000,2560,2302,3483,0,0,0,0,0,0
$GC,5368,-0.62,-116.7,388.5,-6.1,320,5372,0.00,2.10,0.00,0.000,4,0.000,0.044,2560,3704,3483,0,0,0,0,0,0
$GC,5390,-0.66,-116.7,389.9,-6.2,320,5394,0.00,2.03,0.00,0.000,6,0.000,0.027,2560,2288,3482,0,0,0,0,0,0
$GC,5708,-0.69,-116.7,408.0,-5.4,331,5712,0.00,2.12,0.00,0.000,4,0.000,0.044,2560,3702,3482,0,0,0,0,0,0
$GC,5769,-0.73,-116.7,411.6,-5.9,332,5775,0.00,2.00,0.00,0.000,6,0.000,0.027,2560,2298,3481,0,0,0,0,0,0
$GC,6081,-0.76,-116.7,430.4,-6.3,343,6086,0.12,2.12,0.00,0.000,4,0.142,0.045,2519,3702,3480,0,0,0,0,0,0
$GC,6109,-0.72,-116.7,432.5,-8.0,344,6113,0.00,2.00,0.00,0.000,6,0.000,0.027,2519,2306,3480,0,0,0,0,0,0
$GC,6449,-0.67,-116.7,459.0,-7.7,355,6453,0.00,2.10,0.00,0.000,4,0.000,0.044,2519,3704,3480,0,0,0,0,0,0
$GC,6470,-0.62,-116.7,460.8,-8.3,355,6476,0.10,2.05,0.00,0.000,6,0.183,0.028,2564,2296,3480,0,0,0,0,0,0
$GC,6783,-0.65,-116.7,480.8,-6.3,366,6787,0.00,2.12,0.00,0.000,4,0.000,0.045,2564,3705,3479,0,0,0,0,0,0
$GC,6821,-0.71,-116.7,483.5,-6.8,367,6825,0.00,2.03,0.00,0.000,6,0.000,0.028,2564,2291,3479,0,0,0,0,0,0
$GC,7155,-0.75,-116.7,505.0,-6.5,377,7160,0.12,2.15,0.00,0.000,4,0.138,0.046,2524,3706,3477,0,0,0,0,0,0
$GC,7238,-0.75,-116.7,511.7,-7.7,378,7242,0.00,2.05,0.00,0.000,6,0.000,0.028,2524,2303,3477,0,0,0,0,0,0
$GC,7587,-0.71,-116.7,538.7,-7.7,384,7591,0.00,2.12,0.00,0.000,4,0.000,0.045,2524,3706,3476,0,0,0,0,0,0
$GC,7603,-0.67,-116.7,540.0,-8.0,384,7607,0.00,2.03,0.00,0.000,6,0.000,0.028,2525,2296,3476,0,0,0,0,0,0
$GC,7957,-0.64,-116.7,567.8,-7.8,390,7962,0.12,2.15,0.00,0.000,4,0.209,0.046,2555,3710,3476,0,0,0,0,0,0
$GC,7972,-0.64,-116.7,569.0,-7.8,390,7976,0.00,2.08,0.00,0.000,6,0.000,0.028,2555,2297,3476,0,0,0,0,0,0
$GC,8322,-0.67,-116.7,592.0,-6.6,396,8326,0.00,2.12,0.00,0.000,4,0.000,0.045,2555,3708,3475,0,0,0,0,0,0
$GC,8360,-0.71,-116.7,594.8,-6.9,396,8364,0.00,2.08,0.00,0.000,6,0.000,0.028,2555,2297,3475,0,0,0,0,0,0
$GC,8687,-0.74,-116.7,616.8,-6.8,402,8691,0.00,2.12,0.00,0.000,4,0.000,0.046,2555,3708,3474,0,0,0,0,0,0
$GC,8719,-0.78,-116.7,619.2,-7.1,402,8724,0.10,2.08,0.00,0.000,6,0.111,0.028,2516,2296,3475,0,0,0,0,0,0
$GC,9050,-0.72,-116.7,647.8,-8.8,408,9054,0.00,2.12,0.00,0.000,4,0.000,0.046,2516,3702,3474,0,0,0,0,0,0
$GC,9066,-0.67,-116.7,649.3,-9.0,408,9071,0.05,2.05,0.00,0.000,6,0.184,0.028,2543,2306,3473,0,0,0,0,0,0
$GC,9420,-0.67,-116.7,677.1,-7.8,414,9424,0.00,2.10,0.00,0.000,4,0.000,0.046,2543,3701,3473,0,0,0,0,0,0
$GC,9452,-0.67,-116.7,679.6,-7.2,414,9456,0.00,2.05,0.00,0.000,6,0.000,0.028,2544,2306,3473,0,0,0,0,0,0
$GC,9783,-0.67,-116.7,702.7,-6.9,420,9787,0.00,2.10,0.00,0.000,4,0.000,0.046,2543,3701,3472,0,0,0,0,0,0
$GC,9833,-0.67,-116.7,706.2,-7.1,420,9837,0.00,2.08,0.00,0.000,6,0.000,0.028,2544,2289,3472,0,0,0,0,0,0
$GC,10148,-0.67,-116.7,727.7,-6.9,426,10152,0.00,2.12,0.00,0.000,4,0.000,0.046,2543,3701,3471,0,0,0,0,0,0
$GC,10196,-0.67,-116.7,731.3,-7.1,426,10201,0.00,2.05,0.00,0.000,6,0.000,0.028,2543,2302,3471,0,0,0,0,0,0
$GC,10512,-0.67,-116.7,752.5,-6.7,432,10516,0.00,2.15,0.00,0.000,4,0.000,0.047,2543,3701,3471,0,0,0,0,0,0
$GC,10566,-0.67,-116.7,756.2,-6.5,432,10571,0.00,2.08,0.00,0.000,6,0.000,0.028,2544,2291,3471,0,0,0,0,0,0
$GC,10882,-0.67,-116.7,776.5,-6.5,438,10886,0.00,2.12,0.00,0.000,4,0.000,0.046,2544,3702,3470,0,0,0,0,0,0
$GC,10925,-0.67,-116.7,779.3,-6.4,438,10929,0.00,2.03,0.00,0.000,6,0.000,0.028,2543,2298,3470,0,0,0,0,0,0
$GC,11246,-0.67,-116.7,799.9,-6.5,444,11250,0.00,2.12,0.00,0.000,4,0.000,0.046,2544,3706,3470,0,0,0,0,0,0
$GC,11296,-0.70,-116.7,803.2,-6.6,444,11299,0.00,2.03,0.00,0.000,6,0.000,0.028,2544,2299,3470,0,0,0,0,0,0
$GC,11611,-0.70,-116.7,824.0,-6.7,450,11615,0.00,2.12,0.00,0.000,4,0.000,0.047,2544,3708,3469,0,0,0,0,0,0
$GC,11655,-0.70,-116.7,827.2,-6.7,450,11659,0.00,2.03,0.00,0.000,6,0.000,0.028,2544,2299,3469,0,0,0,0,0,0
$GC,11975,-0.70,-116.7,848.4,-6.6,456,11979,0.00,2.12,0.00,0.000,4,0.000,0.046,2544,3705,3469,0,0,0,0,0,0
$GC,12007,-0.70,-116.7,850.7,-6.9,456,12011,0.00,2.08,0.00,0.000,6,0.000,0.028,2544,2296,3469,0,0,0,0,0,0
$GC,12345,-0.70,-116.7,873.4,-6.7,462,12349,0.00,2.12,0.00,0.000,4,0.000,0.047,2543,3702,3469,0,0,0,0,0,0
$GC,12382,-0.70,-116.7,876.1,-7.0,462,12387,0.00,2.08,0.00,0.000,6,0.000,0.028,2544,2292,3469,0,0,0,0,0,0
$GC,12709,-0.70,-116.7,896.8,-6.3,468,12713,0.00,2.12,0.00,0.000,4,0.000,0.047,2544,3699,3469,0,0,0,0,0,0
$GC,12764,-0.74,-116.7,900.5,-7.3,468,12769,0.00,2.05,0.00,0.000,6,0.000,0.028,2544,2300,3468,0,0,0,0,0,0
$GC,13074,-0.74,-116.7,920.0,-6.3,474,13077,0.00,2.12,0.00,0.000,4,0.000,0.047,2543,3706,3468,0,0,0,0,0,0
$GC,13140,-0.77,-116.7,924.5,-6.3,475,13144,0.00,2.05,0.00,0.000,6,0.000,0.029,2544,2288,3468,0,0,0,0,0,0
$GC,13500,-0.77,-116.7,946.8,-6.2,481,13504,0.00,2.15,0.00,0.000,4,0.000,0.047,2544,3706,3468,0,0,0,0,0,0
$GC,13544,-0.81,-116.7,949.6,-5.9,481,13548,0.12,2.05,0.00,0.000,6,0.147,0.029,2503,2285,3467,0,0,0,0,0,0
$GC,13863,-0.75,-116.7,974.1,-7.8,487,13867,0.00,2.15,0.00,0.000,4,0.000,0.047,2503,3709,3467,0,0,0,0,0,0
$GC,13874,-0.69,-116.7,975.0,-7.8,487,13878,0.08,2.08,0.00,0.000,6,0.185,0.029,2540,2300,3467,0,0,0,0,0,0
$STATE,14104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14104,begin apogee
$GC,14109,-0.24,0.0,990.5,6.6,491,14211,0.47,0.00,98.65,1.572,6,0.174,0.000,2684,2661,3006,0,0,0,0,0,0
$STATE,14211,end apogee,CONTROL_FINISHED_OK
$STATE,14212,begin climb
$GC,14213,0.80,116.7,992.6,0.0,492,14327,1.08,2.38,104.88,1.463,4,0.122,0.049,3015,4031,2529,0,0,0,0,0,0
$GC,14366,0.54,116.7,988.2,7.7,495,14372,0.32,2.17,0.00,0.000,6,0.189,0.028,2946,2653,2524,0,0,0,0,0,0
$GC,14715,0.53,135.9,966.8,6.1,501,14733,0.00,0.00,16.67,1.411,6,0.000,0.000,2946,2653,2452,0,0,0,0,0,0
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$STATE,27623,end climb,SURFACE_DEPTH_REACHED
$STATE,27623,begin surface coast
$FINISH,2.7,1.009800
$STATE,27670,end surface coast,CONTROL_FINISHED_OK
$STATE,27670,begin surface
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$XPDR_PINGS,0
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$10V_AH,10.1,8.146
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,241564
$DATA_FILE_SIZE,53969,958
$CAP_FILE_SIZE,204356,0
$CFSIZE,260165632,249389056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,152.4,1
$GPS,201009,060906,6403.519,119.731,40,1.3,41,-4.3