version: 66.06
glider: 140
mission: 8
dive: 86
start: 10 25 109 10 10 13
data:
$ID,140
$MISSION,8
$DIVE,86
$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,-45876.48
$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,83
$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
$GPS1,100406,6316.846,241.314,34,1.0,35,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.44
$_SM_ANGLEo,-64.7
$GPS2,100950,6316.851,241.258,12,1.8,12,-3.4
$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,120.2,66717,-13.7,-6.875
$D_GRID,1034
$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,-7.60,0.000,2,0.000,0.000,215,2285,2039,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.5,-0.0,1,118,9.10,2.12,-76.40,0.000,4,0.249,0.051,2502,919,3482,0,0,0,0,0,0
$GC,242,-0.62,-116.7,17.1,-11.6,39,248,0.22,2.08,0.00,0.000,6,0.188,0.028,2564,2310,3484,0,0,0,0,0,0
$GC,577,-0.62,-116.7,47.1,-7.8,100,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2310,3485,0,0,0,0,0,0
$GC,903,-0.62,-116.7,73.4,-7.9,137,907,0.00,2.08,0.00,0.000,4,0.000,0.035,2565,921,3485,0,0,0,0,0,0
$GC,943,-0.62,-116.7,76.8,-9.1,139,947,0.00,2.03,0.00,0.000,6,0.000,0.028,2564,2301,3485,0,0,0,0,0,0
$GC,1276,-0.62,-116.7,103.5,-7.8,155,1279,0.00,2.05,0.00,0.000,4,0.000,0.035,2564,920,3485,0,0,0,0,0,0
$GC,1308,-0.62,-116.7,106.4,-8.1,156,1315,0.00,2.05,0.00,0.000,6,0.000,0.028,2564,2297,3485,0,0,0,0,0,0
$GC,1623,-0.62,-116.7,131.4,-7.6,172,1627,0.00,2.03,0.00,0.000,4,0.000,0.035,2564,929,3485,0,0,0,0,0,0
$GC,1647,-0.62,-116.7,133.1,-7.8,173,1651,0.00,2.03,0.00,0.000,6,0.000,0.028,2564,2310,3485,0,0,0,0,0,0
$GC,1974,-0.62,-116.7,156.9,-7.7,189,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2310,3486,0,0,0,0,0,0
$GC,2282,-0.62,-116.7,181.1,-7.9,204,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2310,3487,0,0,0,0,0,0
$GC,2591,-0.62,-116.7,203.8,-7.2,219,2595,0.00,2.05,0.00,0.000,4,0.000,0.041,2564,3704,3487,0,0,0,0,0,0
$GC,2608,-0.62,-116.7,205.1,-6.9,220,2611,0.00,2.00,0.00,0.000,6,0.000,0.024,2564,2295,3487,0,0,0,0,0,0
$GC,2939,-0.62,-116.7,225.8,-6.0,236,2943,0.00,2.10,0.00,0.000,4,0.000,0.041,2564,3698,3487,0,0,0,0,0,0
$GC,2961,-0.62,-116.7,227.2,-6.1,237,2965,0.00,2.03,0.00,0.000,6,0.000,0.024,2564,2289,3487,0,0,0,0,0,0
$GC,3287,-0.62,-116.7,247.0,-6.6,253,3291,0.00,2.10,0.00,0.000,4,0.000,0.041,2564,3697,3487,0,0,0,0,0,0
$GC,3320,-0.65,-116.7,249.4,-7.3,254,3326,0.00,2.03,0.00,0.000,6,0.000,0.024,2564,2289,3487,0,0,0,0,0,0
$GC,3636,-0.65,-116.7,270.9,-6.6,270,3640,0.00,2.10,0.00,0.000,4,0.000,0.041,2564,3697,3487,0,0,0,0,0,0
$GC,3646,-0.65,-116.7,271.6,-6.7,270,3651,0.00,2.00,0.00,0.000,6,0.000,0.024,2564,2304,3487,0,0,0,0,0,0
$GC,3969,-0.68,-116.7,291.3,-6.3,286,3973,0.00,2.08,0.00,0.000,4,0.000,0.041,2564,3698,3487,0,0,0,0,0,0
$GC,4002,-0.72,-116.7,293.5,-6.2,287,4008,0.00,1.98,0.00,0.000,6,0.000,0.025,2564,2293,3487,0,0,0,0,0,0
$GC,4325,-0.72,-116.7,315.0,-6.8,300,4329,0.00,2.10,0.00,0.000,4,0.000,0.041,2564,3697,3486,0,0,0,0,0,0
$GC,4369,-0.76,-116.7,318.0,-6.8,301,4374,0.15,1.98,0.00,0.000,6,0.128,0.025,2516,2289,3486,0,0,0,0,0,0
$GC,4692,-0.69,-116.7,345.5,-8.6,312,4695,0.00,2.10,0.00,0.000,4,0.000,0.041,2515,3697,3486,0,0,0,0,0,0
$GC,4720,-0.62,-116.7,348.0,-8.9,313,4724,0.17,1.98,0.00,0.000,6,0.186,0.025,2562,2292,3486,0,0,0,0,0,0
$GC,5053,-0.62,-116.7,371.7,-7.3,324,5057,0.00,2.10,0.00,0.000,4,0.000,0.042,2562,3701,3485,0,0,0,0,0,0
$GC,5091,-0.66,-116.7,374.7,-7.5,325,5095,0.00,2.00,0.00,0.000,6,0.000,0.025,2562,2307,3485,0,0,0,0,0,0
$GC,5420,-0.70,-116.7,398.3,-7.1,336,5424,0.00,2.10,0.00,0.000,4,0.000,0.042,2562,3704,3484,0,0,0,0,0,0
$GC,5470,-0.74,-116.7,402.0,-7.5,337,5475,0.08,2.03,0.00,0.000,6,0.112,0.025,2531,2295,3484,0,0,0,0,0,0
$GC,5793,-0.74,-116.7,427.7,-8.1,348,5797,0.00,2.10,0.00,0.000,4,0.000,0.043,2531,3700,3483,0,0,0,0,0,0
$GC,5842,-0.74,-116.7,431.7,-8.1,349,5846,0.00,2.03,0.00,0.000,6,0.000,0.025,2530,2297,3483,0,0,0,0,0,0
$GC,6160,-0.74,-116.7,456.8,-8.0,360,6163,0.00,2.10,0.00,0.000,4,0.000,0.043,2531,3701,3482,0,0,0,0,0,0
$GC,6170,-0.74,-116.7,457.6,-7.9,360,6174,0.00,2.03,0.00,0.000,6,0.000,0.026,2530,2307,3483,0,0,0,0,0,0
$GC,6494,-0.71,-116.7,482.6,-7.7,371,6497,0.00,2.08,0.00,0.000,4,0.000,0.043,2530,3695,3482,0,0,0,0,0,0
$GC,6571,-0.71,-116.7,488.8,-7.8,373,6575,0.00,2.03,0.00,0.000,6,0.000,0.025,2530,2295,3481,0,0,0,0,0,0
$GC,6924,-0.71,-116.7,515.4,-7.5,382,6927,0.00,2.10,0.00,0.000,4,0.000,0.044,2530,3695,3481,0,0,0,0,0,0
$GC,6956,-0.71,-116.7,518.0,-8.3,382,6960,0.00,2.03,0.00,0.000,6,0.000,0.026,2530,2301,3480,0,0,0,0,0,0
$GC,7288,-0.71,-116.7,543.2,-7.6,388,7291,0.00,2.12,0.00,0.000,4,0.000,0.044,2530,3698,3479,0,0,0,0,0,0
$GC,7314,-0.71,-116.7,545.3,-7.9,388,7319,0.00,2.03,0.00,0.000,6,0.000,0.026,2530,2303,3479,0,0,0,0,0,0
$GC,7652,-0.71,-116.7,570.0,-7.2,394,7656,0.00,2.10,0.00,0.000,4,0.000,0.044,2530,3701,3477,0,0,0,0,0,0
$GC,7690,-0.71,-116.7,572.9,-7.0,394,7695,0.00,2.05,0.00,0.000,6,0.000,0.027,2530,2295,3477,0,0,0,0,0,0
$GC,8017,-0.71,-116.7,595.0,-6.7,400,8021,0.00,2.10,0.00,0.000,4,0.000,0.044,2530,3694,3476,0,0,0,0,0,0
$GC,8060,-0.71,-116.7,598.1,-7.1,400,8064,0.00,2.03,0.00,0.000,6,0.000,0.027,2530,2306,3476,0,0,0,0,0,0
$GC,8382,-0.71,-116.7,619.2,-6.6,406,8385,0.00,2.10,0.00,0.000,4,0.000,0.044,2530,3702,3475,0,0,0,0,0,0
$GC,8426,-0.71,-116.7,622.2,-6.5,406,8430,0.00,2.00,0.00,0.000,6,0.000,0.027,2530,2298,3475,0,0,0,0,0,0
$GC,8746,-0.71,-116.7,642.9,-6.5,412,8750,0.00,2.12,0.00,0.000,4,0.000,0.044,2530,3704,3474,0,0,0,0,0,0
$GC,8784,-0.71,-116.7,645.4,-7.0,412,8789,0.00,2.05,0.00,0.000,6,0.000,0.027,2530,2306,3474,0,0,0,0,0,0
$GC,9117,-0.71,-116.7,666.8,-6.5,418,9120,0.00,2.10,0.00,0.000,4,0.000,0.044,2530,3701,3473,0,0,0,0,0,0
$GC,9160,-0.71,-116.7,669.8,-7.3,418,9164,0.00,2.05,0.00,0.000,6,0.000,0.027,2530,2300,3472,0,0,0,0,0,0
$GC,9481,-0.71,-116.7,691.7,-7.0,424,9484,0.00,2.10,0.00,0.000,4,0.000,0.045,2530,3695,3472,0,0,0,0,0,0
$GC,9518,-0.71,-116.7,694.5,-7.4,424,9523,0.00,2.05,0.00,0.000,6,0.000,0.028,2530,2297,3471,0,0,0,0,0,0
$GC,9845,-0.71,-116.7,717.6,-7.1,430,9849,0.00,2.10,0.00,0.000,4,0.000,0.045,2530,3691,3471,0,0,0,0,0,0
$GC,9889,-0.71,-116.7,720.9,-7.4,430,9892,0.00,2.00,0.00,0.000,6,0.000,0.028,2530,2296,3470,0,0,0,0,0,0
$GC,10209,-0.71,-116.7,744.0,-7.3,436,10213,0.00,2.12,0.00,0.000,4,0.000,0.045,2530,3700,3470,0,0,0,0,0,0
$GC,10263,-0.71,-116.7,748.3,-8.7,436,10268,0.00,2.05,0.00,0.000,6,0.000,0.028,2530,2302,3470,0,0,0,0,0,0
$GC,10579,-0.71,-116.7,771.6,-7.4,442,10583,0.00,2.12,0.00,0.000,4,0.000,0.046,2530,3697,3469,0,0,0,0,0,0
$GC,10633,-0.71,-116.7,775.8,-7.7,442,10640,0.00,2.05,0.00,0.000,6,0.000,0.028,2530,2298,3469,0,0,0,0,0,0
$GC,10943,-0.71,-116.7,798.5,-7.4,448,10946,0.00,2.10,0.00,0.000,4,0.000,0.045,2530,3694,3469,0,0,0,0,0,0
$GC,10992,-0.71,-116.7,802.3,-7.9,448,10996,0.00,2.05,0.00,0.000,6,0.000,0.028,2530,2300,3468,0,0,0,0,0,0
$GC,11307,-0.71,-116.7,825.4,-7.4,454,11311,0.00,2.12,0.00,0.000,4,0.000,0.046,2530,3702,3468,0,0,0,0,0,0
$GC,11356,-0.71,-116.7,829.2,-8.0,454,11360,0.00,2.05,0.00,0.000,6,0.000,0.028,2530,2304,3468,0,0,0,0,0,0
$GC,11676,-0.71,-116.7,852.4,-7.2,460,11680,0.00,2.10,0.00,0.000,4,0.000,0.046,2530,3697,3468,0,0,0,0,0,0
$GC,11725,-0.71,-116.7,856.1,-7.8,460,11730,0.00,2.05,0.00,0.000,6,0.000,0.028,2530,2300,3467,0,0,0,0,0,0
$GC,12041,-0.71,-116.7,878.1,-7.0,466,12045,0.00,2.10,0.00,0.000,4,0.000,0.046,2530,3692,3467,0,0,0,0,0,0
$GC,12106,-0.71,-116.7,883.0,-7.0,467,12111,0.00,2.05,0.00,0.000,6,0.000,0.028,2530,2300,3467,0,0,0,0,0,0
$GC,12472,-0.71,-116.7,907.8,-6.8,473,12476,0.00,2.10,0.00,0.000,4,0.000,0.046,2530,3692,3466,0,0,0,0,0,0
$GC,12534,-0.71,-116.7,912.1,-7.0,474,12538,0.00,2.03,0.00,0.000,6,0.000,0.028,2530,2292,3466,0,0,0,0,0,0
$GC,12905,-0.71,-116.7,937.9,-7.0,480,12909,0.00,2.12,0.00,0.000,4,0.000,0.046,2530,3700,3466,0,0,0,0,0,0
$GC,12976,-0.71,-116.7,943.2,-7.5,481,12980,0.00,2.08,0.00,0.000,6,0.000,0.028,2530,2289,3465,0,0,0,0,0,0
$GC,13342,-0.71,-116.7,968.5,-7.0,487,13345,0.00,2.12,0.00,0.000,4,0.000,0.045,2530,3701,3465,0,0,0,0,0,0
$GC,13408,-0.71,-116.7,973.3,-6.8,488,13412,0.00,2.05,0.00,0.000,6,0.000,0.028,2530,2300,3465,0,0,0,0,0,0
$STATE,13711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13711,begin apogee
$GC,13716,-0.24,0.0,994.0,6.8,493,13816,0.50,0.00,97.12,1.568,6,0.173,0.000,2679,2642,3006,0,0,0,0,0,0
$STATE,13817,end apogee,CONTROL_FINISHED_OK
$STATE,13817,begin climb
$GC,13819,0.80,116.7,996.1,0.0,494,13928,1.08,0.00,104.72,1.463,6,0.120,0.000,3015,2642,2530,0,0,0,0,0,0
$GC,14184,0.62,116.7,974.1,8.2,500,14189,0.17,2.22,0.00,0.000,4,0.174,0.048,2967,4042,2519,0,0,0,0,0,0
$GC,14297,0.47,116.7,965.1,7.2,501,14301,0.20,2.10,0.00,0.000,6,0.189,0.028,2925,2651,2518,0,0,0,0,0,0
$GC,14610,0.51,149.8,947.3,5.6,507,14640,0.00,0.00,28.30,1.452,6,0.000,0.000,2925,2651,2394,0,0,0,0,0,0
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$STATE,26623,end climb,SURFACE_DEPTH_REACHED
$STATE,26623,begin surface coast
$FINISH,2.6,1.013933
$STATE,26686,end surface coast,CONTROL_FINISHED_OK
$STATE,26686,begin surface
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$TCM_TEMP,15.60
$XPDR_PINGS,0
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$10V_AH,10.1,9.921
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.450,208.925,316.550,29.775,0.000,26.366,31.934,165.800,0.000,0.000,12.461,2098.605,21485.275,535.662,2454.061,496.058,0.000,1781.712,0.000,2426.530,0.000,0.535,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235276
$DATA_FILE_SIZE,53853,951
$CAP_FILE_SIZE,205600,0
$CFSIZE,260165632,247955456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032,216.0,1
$GPS,251009,173706,6314.860,246.684,38,1.8,44,-3.4