version: 66.06
glider: 140
mission: 8
dive: 81
start: 10 23 109 19 5 24
data:
$ID,140
$MISSION,8
$DIVE,81
$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,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,-45785.707
$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,89
$R_STBD_OVSHOOT,42
$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
$GPS1,185906,6335.626,219.280,23,1.6,24,-3.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.47
$_SM_ANGLEo,-67.2
$GPS2,190501,6335.617,219.278,11,1.6,11,-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,133.4,101451,-13.7,-6.875
$D_GRID,1325
$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,13,begin dive
$GC,15,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-6.60,0.000,2,0.000,0.000,211,2272,2024,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.4,-0.0,1,121,9.25,2.25,-76.57,0.000,4,0.255,0.056,2502,3706,3482,0,0,0,0,0,0
$GC,142,-0.97,-116.7,3.7,-2.5,21,150,0.15,2.03,0.00,0.000,6,0.139,0.024,2459,2302,3482,0,0,0,0,0,0
$GC,482,-0.74,-116.7,43.8,-12.4,82,488,0.25,0.00,0.00,0.000,6,0.201,0.000,2528,2299,3483,0,0,0,0,0,0
$GC,809,-0.66,-116.7,76.9,-10.2,119,812,0.00,2.03,0.00,0.000,4,0.000,0.035,2528,933,3484,0,0,0,0,0,0
$GC,836,-0.56,-116.7,79.9,-10.6,120,840,0.12,2.08,0.00,0.000,6,0.157,0.029,2581,2315,3483,0,0,0,0,0,0
$GC,1164,-0.61,-116.7,103.2,-6.6,136,1168,0.00,2.05,0.00,0.000,4,0.000,0.035,2581,929,3484,0,0,0,0,0,0
$GC,1182,-0.64,-116.7,104.3,-6.3,137,1186,0.00,2.03,0.00,0.000,6,0.000,0.029,2582,2311,3483,0,0,0,0,0,0
$GC,1510,-0.69,-116.7,124.3,-5.9,153,1512,0.12,0.00,0.00,0.000,6,0.133,0.000,2541,2311,3483,0,0,0,0,0,0
$GC,1817,-0.65,-116.7,147.6,-7.8,168,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2311,3484,0,0,0,0,0,0
$GC,2128,-0.61,-116.7,170.7,-7.4,183,2132,0.00,2.05,0.00,0.000,4,0.000,0.035,2541,922,3484,0,0,0,0,0,0
$GC,2145,-0.57,-116.7,172.2,-7.7,184,2149,0.15,2.03,0.00,0.000,6,0.200,0.029,2580,2312,3484,0,0,0,0,0,0
$GC,2472,-0.61,-116.7,192.6,-6.3,200,2475,0.00,2.03,0.00,0.000,4,0.000,0.041,2580,3696,3484,0,0,0,0,0,0
$GC,2482,-0.66,-116.7,193.4,-6.1,200,2486,0.00,1.98,0.00,0.000,6,0.000,0.024,2580,2298,3483,0,0,0,0,0,0
$GC,2804,-0.71,-116.7,213.5,-6.5,216,2808,0.15,2.10,0.00,0.000,4,0.121,0.041,2529,3698,3484,0,0,0,0,0,0
$GC,2843,-0.66,-116.7,216.8,-8.6,218,2847,0.00,1.98,0.00,0.000,6,0.000,0.024,2529,2296,3484,0,0,0,0,0,0
$GC,3175,-0.60,-116.7,246.2,-9.1,234,3179,0.15,2.12,0.00,0.000,4,0.188,0.042,2569,3703,3484,0,0,0,0,0,0
$GC,3201,-0.60,-116.7,248.5,-8.0,235,3206,0.00,2.03,0.00,0.000,6,0.000,0.024,2569,2298,3484,0,0,0,0,0,0
$GC,3528,-0.63,-116.7,272.9,-7.4,251,3532,0.00,2.10,0.00,0.000,4,0.000,0.041,2569,3706,3484,0,0,0,0,0,0
$GC,3572,-0.67,-116.7,276.3,-7.5,253,3576,0.00,2.03,0.00,0.000,6,0.000,0.024,2569,2296,3484,0,0,0,0,0,0
$GC,3899,-0.71,-116.7,299.9,-7.1,269,3903,0.00,2.10,0.00,0.000,4,0.000,0.041,2569,3705,3484,0,0,0,0,0,0
$GC,3942,-0.75,-116.7,303.1,-7.3,271,3947,0.15,1.98,0.00,0.000,6,0.124,0.024,2519,2291,3484,0,0,0,0,0,0
$GC,4266,-0.68,-116.7,331.4,-8.7,282,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2289,3483,0,0,0,0,0,0
$GC,4571,-0.61,-116.7,358.7,-8.8,292,4576,0.17,2.12,0.00,0.000,4,0.187,0.041,2566,3700,3483,0,0,0,0,0,0
$GC,4586,-0.61,-116.7,360.0,-8.5,292,4591,0.00,2.00,0.00,0.000,6,0.000,0.025,2566,2311,3483,0,0,0,0,0,0
$GC,4905,-0.65,-116.7,380.5,-6.1,303,4909,0.00,2.08,0.00,0.000,4,0.000,0.041,2566,3703,3483,0,0,0,0,0,0
$GC,4933,-0.70,-116.7,382.1,-6.3,304,4937,0.00,2.00,0.00,0.000,6,0.000,0.025,2566,2293,3483,0,0,0,0,0,0
$GC,5274,-0.74,-116.7,402.7,-6.2,315,5278,0.12,2.12,0.00,0.000,4,0.130,0.042,2525,3704,3483,0,0,0,0,0,0
$GC,5307,-0.70,-116.7,405.3,-8.1,316,5310,0.00,2.00,0.00,0.000,6,0.000,0.025,2525,2292,3483,0,0,0,0,0,0
$GC,5647,-0.65,-116.7,434.2,-8.4,327,5651,0.10,2.03,0.00,0.000,4,0.212,0.037,2549,910,3482,0,0,0,0,0,0
$GC,5684,-0.65,-116.7,437.6,-8.2,328,5689,0.00,2.05,0.00,0.000,6,0.000,0.029,2549,2295,3482,0,0,0,0,0,0
$GC,6013,-0.65,-116.7,462.5,-7.5,339,6017,0.00,2.05,0.00,0.000,4,0.000,0.042,2549,3698,3482,0,0,0,0,0,0
$GC,6023,-0.65,-116.7,463.2,-7.4,339,6028,0.00,2.03,0.00,0.000,6,0.000,0.025,2549,2291,3482,0,0,0,0,0,0
$GC,6347,-0.65,-116.7,484.5,-6.3,350,6351,0.00,2.10,0.00,0.000,4,0.000,0.042,2550,3698,3482,0,0,0,0,0,0
$GC,6415,-0.65,-116.7,488.7,-6.2,352,6419,0.00,1.98,0.00,0.000,6,0.000,0.025,2549,2298,3482,0,0,0,0,0,0
$GC,6754,-0.65,-116.7,508.6,-5.9,361,6758,0.00,2.10,0.00,0.000,4,0.000,0.042,2550,3704,3481,0,0,0,0,0,0
$GC,6809,-0.65,-116.7,512.0,-6.0,361,6816,0.00,2.03,0.00,0.000,6,0.000,0.025,2549,2300,3481,0,0,0,0,0,0
$GC,7118,-0.65,-116.7,530.9,-6.2,367,7122,0.00,2.10,0.00,0.000,4,0.000,0.043,2549,3703,3480,0,0,0,0,0,0
$GC,7145,-0.65,-116.7,532.8,-7.2,367,7149,0.00,2.03,0.00,0.000,6,0.000,0.025,2549,2307,3480,0,0,0,0,0,0
$GC,7483,-0.65,-116.7,555.6,-6.8,373,7487,0.00,2.08,0.00,0.000,4,0.000,0.043,2549,3698,3479,0,0,0,0,0,0
$GC,7498,-0.65,-116.7,556.9,-7.0,373,7502,0.00,2.03,0.00,0.000,6,0.000,0.026,2549,2301,3479,0,0,0,0,0,0
$GC,7847,-0.65,-116.7,581.4,-7.1,379,7851,0.00,2.10,0.00,0.000,4,0.000,0.044,2549,3702,3477,0,0,0,0,0,0
$GC,7913,-0.68,-116.7,586.3,-7.1,380,7917,0.00,2.03,0.00,0.000,6,0.000,0.026,2550,2304,3477,0,0,0,0,0,0
$GC,8279,-0.68,-116.7,612.0,-7.1,386,8283,0.00,2.10,0.00,0.000,4,0.000,0.044,2549,3705,3476,0,0,0,0,0,0
$GC,8328,-0.71,-116.7,615.7,-7.2,386,8332,0.00,2.05,0.00,0.000,6,0.000,0.026,2549,2298,3475,0,0,0,0,0,0
$GC,8643,-0.71,-116.7,637.0,-6.7,392,8647,0.00,2.10,0.00,0.000,4,0.000,0.044,2549,3702,3475,0,0,0,0,0,0
$GC,8704,-0.75,-116.7,641.2,-7.4,392,8709,0.00,2.00,0.00,0.000,6,0.000,0.027,2549,2300,3474,0,0,0,0,0,0
$GC,9013,-0.75,-116.7,661.2,-6.5,398,9017,0.00,2.10,0.00,0.000,4,0.000,0.044,2550,3698,3473,0,0,0,0,0,0
$GC,9051,-0.75,-116.7,663.9,-7.1,398,9056,0.00,2.03,0.00,0.000,6,0.000,0.027,2549,2303,3473,0,0,0,0,0,0
$GC,9378,-0.75,-116.7,685.6,-6.7,404,9382,0.00,2.10,0.00,0.000,4,0.000,0.044,2549,3700,3472,0,0,0,0,0,0
$GC,9428,-0.78,-116.7,689.1,-6.6,404,9432,0.12,2.00,0.00,0.000,6,0.139,0.027,2510,2296,3472,0,0,0,0,0,0
$GC,9737,-0.71,-116.7,714.7,-8.4,409,9740,0.00,2.10,0.00,0.000,4,0.000,0.044,2509,3697,3470,0,0,0,0,0,0
$GC,9753,-0.66,-116.7,716.1,-8.3,409,9757,0.15,2.00,0.00,0.000,6,0.201,0.028,2548,2293,3470,0,0,0,0,0,0
$GC,10106,-0.66,-116.7,741.0,-7.0,415,10110,0.00,2.12,0.00,0.000,4,0.000,0.045,2548,3705,3470,0,0,0,0,0,0
$GC,10155,-0.69,-116.7,744.6,-7.7,415,10159,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2307,3470,0,0,0,0,0,0
$GC,10470,-0.69,-116.7,766.2,-6.9,421,10474,0.00,2.10,0.00,0.000,4,0.000,0.045,2548,3701,3469,0,0,0,0,0,0
$GC,10519,-0.72,-116.7,769.8,-7.4,421,10523,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2300,3469,0,0,0,0,0,0
$GC,10834,-0.72,-116.7,791.6,-7.0,427,10838,0.00,2.10,0.00,0.000,4,0.000,0.045,2548,3697,3468,0,0,0,0,0,0
$GC,10889,-0.76,-116.7,795.6,-7.3,427,10895,0.00,2.00,0.00,0.000,6,0.000,0.028,2548,2297,3468,0,0,0,0,0,0
$GC,11198,-0.76,-116.7,817.2,-7.0,433,11202,0.00,2.12,0.00,0.000,4,0.000,0.045,2548,3705,3467,0,0,0,0,0,0
$GC,11253,-0.80,-116.7,821.1,-7.3,433,11258,0.10,2.05,0.00,0.000,6,0.111,0.028,2509,2306,3466,0,0,0,0,0,0
$GC,11567,-0.74,-116.7,846.1,-8.0,439,11571,0.00,2.10,0.00,0.000,4,0.000,0.045,2508,3700,3466,0,0,0,0,0,0
$GC,11583,-0.69,-116.7,847.4,-8.0,439,11588,0.08,2.05,0.00,0.000,6,0.187,0.028,2543,2303,3466,0,0,0,0,0,0
$GC,11931,-0.69,-116.7,871.1,-6.8,445,11935,0.00,2.12,0.00,0.000,4,0.000,0.046,2543,3695,3465,0,0,0,0,0,0
$GC,11986,-0.69,-116.7,874.9,-6.3,445,11992,0.00,2.03,0.00,0.000,6,0.000,0.028,2544,2287,3465,0,0,0,0,0,0
$GC,12295,-0.69,-116.7,895.6,-6.7,451,12299,0.00,2.12,0.00,0.000,4,0.000,0.045,2543,3697,3464,0,0,0,0,0,0
$GC,12350,-0.72,-116.7,899.4,-6.8,451,12356,0.00,2.03,0.00,0.000,6,0.000,0.028,2543,2286,3464,0,0,0,0,0,0
$GC,12659,-0.72,-116.7,919.9,-6.6,457,12663,0.00,2.15,0.00,0.000,4,0.000,0.045,2543,3704,3464,0,0,0,0,0,0
$GC,12727,-0.75,-116.7,924.6,-7.8,458,12731,0.00,2.03,0.00,0.000,6,0.000,0.028,2543,2298,3464,0,0,0,0,0,0
$GC,13098,-0.75,-116.7,948.7,-6.5,464,13102,0.00,2.12,0.00,0.000,4,0.000,0.046,2543,3701,3463,0,0,0,0,0,0
$GC,13165,-0.78,-116.7,953.1,-6.2,465,13169,0.00,2.05,0.00,0.000,6,0.000,0.028,2543,2299,3463,0,0,0,0,0,0
$GC,13529,-0.78,-116.7,976.3,-6.3,471,13533,0.00,2.12,0.00,0.000,4,0.000,0.046,2543,3705,3463,0,0,0,0,0,0
$GC,13585,-0.82,-116.7,979.9,-6.2,471,13591,0.12,2.03,0.00,0.000,6,0.142,0.028,2503,2297,3463,0,0,0,0,0,0
$STATE,13770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13771,begin apogee
$GC,13776,-0.24,0.0,994.3,7.7,475,13876,0.60,0.00,96.75,1.566,6,0.176,0.000,2681,2642,3005,0,0,0,0,0,0
$STATE,13876,end apogee,CONTROL_FINISHED_OK
$STATE,13876,begin climb
$GC,13879,0.80,116.7,996.5,0.0,476,13991,1.10,2.35,103.90,1.463,4,0.121,0.046,3019,4037,2529,0,0,0,0,0,0
$GC,14035,0.54,116.7,990.7,8.6,479,14040,0.35,2.17,0.00,0.000,6,0.189,0.028,2942,2653,2523,0,0,0,0,0,0
$GC,14384,0.57,138.5,969.4,6.0,485,14404,0.00,0.00,18.62,1.417,6,0.000,0.000,2942,2653,2441,0,0,0,0,0,0
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$STATE,27457,end climb,SURFACE_DEPTH_REACHED
$STATE,27457,begin surface coast
$FINISH,2.7,1.026422
$STATE,27485,end surface coast,CONTROL_FINISHED_OK
$STATE,27485,begin surface
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$TCM_TEMP,20.20
$XPDR_PINGS,16
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$10V_AH,10.1,9.396
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235304
$DATA_FILE_SIZE,53789,962
$CAP_FILE_SIZE,208157,0
$CFSIZE,260165632,248377344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056,186.0,1
$GPS,241009,024606,6332.518,224.129,39,1.8,45,-3.6