version: 66.06
glider: 140
mission: 8
dive: 87
start: 10 25 109 17 43 25
data:
$ID,140
$MISSION,8
$DIVE,87
$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,-45892.219
$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,96
$R_STBD_OVSHOOT,43
$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
$GPS1,173706,6314.860,246.684,38,1.8,44,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.42
$_SM_ANGLEo,-65.1
$GPS2,174302,6314.883,246.632,15,1.1,15,-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,119.1,61054,-13.7,-6.875
$D_GRID,1012
$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,-7.65,0.000,2,0.000,0.000,210,2268,2040,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.5,-0.0,1,120,9.02,2.03,-78.18,0.000,4,0.247,0.051,2502,932,3480,0,0,0,0,0,0
$GC,370,-0.63,-116.7,28.7,-10.9,62,378,0.17,2.08,0.00,0.000,6,0.176,0.030,2555,2310,3482,0,0,0,0,0,0
$GC,709,-0.60,-116.7,56.9,-8.4,123,714,0.00,2.05,0.00,0.000,4,0.000,0.035,2555,934,3483,0,0,0,0,0,0
$GC,779,-0.56,-116.7,63.7,-10.0,131,783,0.10,2.03,0.00,0.000,6,0.212,0.029,2580,2313,3483,0,0,0,0,0,0
$GC,1106,-0.56,-116.7,88.7,-7.1,147,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2313,3483,0,0,0,0,0,0
$GC,1415,-0.60,-116.7,110.0,-6.5,162,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2313,3484,0,0,0,0,0,0
$GC,1725,-0.64,-116.7,128.7,-5.9,177,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2313,3484,0,0,0,0,0,0
$GC,2033,-0.68,-116.7,147.3,-6.2,192,2035,0.12,0.00,0.00,0.000,6,0.134,0.000,2541,2313,3484,0,0,0,0,0,0
$GC,2344,-0.64,-116.7,171.3,-7.6,207,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2313,3484,0,0,0,0,0,0
$GC,2652,-0.60,-116.7,193.6,-7.2,222,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2313,3484,0,0,0,0,0,0
$GC,2961,-0.56,-116.7,217.0,-8.1,237,2963,0.15,0.00,0.00,0.000,6,0.193,0.000,2580,2313,3484,0,0,0,0,0,0
$GC,3271,-0.61,-116.7,237.3,-6.1,252,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2313,3484,0,0,0,0,0,0
$GC,3580,-0.67,-116.7,255.4,-5.8,267,3584,0.00,2.03,0.00,0.000,4,0.000,0.041,2580,3697,3484,0,0,0,0,0,0
$GC,3608,-0.73,-116.7,256.9,-5.4,268,3612,0.15,1.95,0.00,0.000,6,0.120,0.024,2530,2295,3484,0,0,0,0,0,0
$GC,3935,-0.68,-116.7,280.5,-7.3,284,3939,0.00,2.10,0.00,0.000,4,0.000,0.041,2530,3703,3484,0,0,0,0,0,0
$GC,3967,-0.63,-116.7,283.1,-7.6,285,3971,0.00,2.00,0.00,0.000,6,0.000,0.024,2530,2309,3484,0,0,0,0,0,0
$GC,4298,-0.58,-116.7,306.7,-7.1,300,4302,0.17,2.08,0.00,0.000,4,0.185,0.042,2578,3697,3484,0,0,0,0,0,0
$GC,4331,-0.65,-116.7,308.7,-6.2,301,4334,0.00,1.98,0.00,0.000,6,0.000,0.025,2577,2292,3484,0,0,0,0,0,0
$GC,4665,-0.71,-116.7,326.9,-5.6,312,4667,0.12,0.00,0.00,0.000,6,0.129,0.000,2537,2286,3484,0,0,0,0,0,0
$GC,4971,-0.71,-116.7,349.6,-7.6,322,4975,0.00,2.10,0.00,0.000,4,0.000,0.042,2537,3702,3484,0,0,0,0,0,0
$GC,4986,-0.71,-116.7,350.8,-7.6,322,4991,0.00,2.03,0.00,0.000,6,0.000,0.025,2537,2294,3484,0,0,0,0,0,0
$GC,5304,-0.71,-116.7,376.4,-8.1,333,5308,0.00,2.10,0.00,0.000,4,0.000,0.042,2537,3706,3484,0,0,0,0,0,0
$GC,5336,-0.71,-116.7,379.1,-8.6,334,5340,0.00,2.03,0.00,0.000,6,0.000,0.025,2537,2296,3483,0,0,0,0,0,0
$GC,5671,-0.71,-116.7,405.8,-8.0,345,5675,0.00,2.10,0.00,0.000,4,0.000,0.042,2537,3707,3483,0,0,0,0,0,0
$GC,5698,-0.71,-116.7,408.1,-8.1,346,5702,0.00,2.00,0.00,0.000,6,0.000,0.025,2537,2298,3483,0,0,0,0,0,0
$GC,6038,-0.71,-116.7,432.8,-7.0,357,6042,0.00,2.10,0.00,0.000,4,0.000,0.042,2537,3703,3482,0,0,0,0,0,0
$GC,6098,-0.71,-116.7,437.0,-7.0,358,6105,0.00,2.03,0.00,0.000,6,0.000,0.025,2537,2297,3481,0,0,0,0,0,0
$GC,6410,-0.71,-116.7,457.4,-6.5,369,6414,0.00,2.10,0.00,0.000,4,0.000,0.043,2537,3705,3481,0,0,0,0,0,0
$GC,6448,-0.71,-116.7,460.1,-7.0,370,6453,0.00,2.03,0.00,0.000,6,0.000,0.025,2537,2304,3481,0,0,0,0,0,0
$GC,6778,-0.71,-116.7,482.5,-6.9,381,6781,0.00,2.08,0.00,0.000,4,0.000,0.043,2537,3695,3481,0,0,0,0,0,0
$GC,6827,-0.71,-116.7,486.1,-7.3,382,6831,0.00,2.03,0.00,0.000,6,0.000,0.026,2537,2300,3480,0,0,0,0,0,0
$GC,7180,-0.71,-116.7,509.6,-6.6,392,7184,0.00,2.10,0.00,0.000,4,0.000,0.043,2537,3702,3479,0,0,0,0,0,0
$GC,7201,-0.71,-116.7,511.1,-7.0,392,7205,0.00,2.03,0.00,0.000,6,0.000,0.026,2537,2307,3479,0,0,0,0,0,0
$GC,7544,-0.71,-116.7,533.7,-6.6,398,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2306,3478,0,0,0,0,0,0
$GC,7847,-0.71,-116.7,554.2,-6.8,403,7851,0.00,2.08,0.00,0.000,4,0.000,0.044,2537,3695,3476,0,0,0,0,0,0
$GC,7874,-0.71,-116.7,556.1,-7.0,403,7878,0.00,2.03,0.00,0.000,6,0.000,0.027,2537,2304,3476,0,0,0,0,0,0
$GC,8212,-0.71,-116.7,578.9,-6.8,409,8216,0.00,2.10,0.00,0.000,4,0.000,0.044,2537,3704,3476,0,0,0,0,0,0
$GC,8227,-0.71,-116.7,580.2,-6.9,409,8232,0.00,2.05,0.00,0.000,6,0.000,0.028,2537,2302,3475,0,0,0,0,0,0
$GC,8577,-0.71,-116.7,603.0,-6.5,415,8578,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2300,3474,0,0,0,0,0,0
$GC,8879,-0.71,-116.7,622.0,-6.3,420,8883,0.00,2.12,0.00,0.000,4,0.000,0.045,2537,3698,3473,0,0,0,0,0,0
$GC,8917,-0.71,-116.7,624.7,-6.7,420,8922,0.00,2.05,0.00,0.000,6,0.000,0.028,2537,2297,3473,0,0,0,0,0,0
$GC,9244,-0.71,-116.7,646.7,-6.8,426,9248,0.00,2.10,0.00,0.000,4,0.000,0.044,2537,3695,3472,0,0,0,0,0,0
$GC,9271,-0.71,-116.7,648.8,-7.0,426,9275,0.00,2.05,0.00,0.000,6,0.000,0.028,2537,2295,3471,0,0,0,0,0,0
$GC,9608,-0.71,-116.7,671.9,-6.9,432,9612,0.00,2.10,0.00,0.000,4,0.000,0.045,2537,3694,3471,0,0,0,0,0,0
$GC,9634,-0.71,-116.7,673.8,-7.8,432,9639,0.00,2.05,0.00,0.000,6,0.000,0.028,2537,2289,3470,0,0,0,0,0,0
$GC,9972,-0.71,-116.7,696.5,-6.7,438,9976,0.00,2.12,0.00,0.000,4,0.000,0.045,2537,3704,3470,0,0,0,0,0,0
$GC,9998,-0.71,-116.7,698.4,-6.7,438,10002,0.00,2.05,0.00,0.000,6,0.000,0.028,2537,2301,3470,0,0,0,0,0,0
$GC,10336,-0.71,-116.7,721.4,-6.8,444,10340,0.00,2.12,0.00,0.000,4,0.000,0.046,2537,3698,3469,0,0,0,0,0,0
$GC,10363,-0.71,-116.7,723.4,-7.3,444,10367,0.00,2.05,0.00,0.000,6,0.000,0.028,2537,2264,3469,0,0,0,0,0,0
$GC,10700,-0.71,-116.7,746.5,-6.9,450,10704,0.00,2.15,0.00,0.000,4,0.000,0.044,2537,3697,3468,0,0,0,0,0,0
$GC,10755,-0.71,-116.7,750.5,-7.1,450,10762,0.00,2.05,0.00,0.000,6,0.000,0.028,2537,2292,3468,0,0,0,0,0,0
$GC,11064,-0.71,-116.7,771.7,-6.9,456,11068,0.00,2.12,0.00,0.000,4,0.000,0.045,2537,3697,3467,0,0,0,0,0,0
$GC,11097,-0.71,-116.7,774.1,-7.5,456,11101,0.00,2.05,0.00,0.000,6,0.000,0.028,2537,2296,3467,0,0,0,0,0,0
$GC,11434,-0.71,-116.7,797.2,-6.8,462,11438,0.00,2.10,0.00,0.000,4,0.000,0.045,2537,3694,3466,0,0,0,0,0,0
$GC,11472,-0.71,-116.7,799.9,-7.4,462,11477,0.00,2.05,0.00,0.000,6,0.000,0.028,2537,2295,3466,0,0,0,0,0,0
$GC,11799,-0.71,-116.7,821.7,-6.7,468,11803,0.00,2.10,0.00,0.000,4,0.000,0.045,2537,3693,3466,0,0,0,0,0,0
$GC,11842,-0.71,-116.7,824.8,-7.2,468,11847,0.00,2.03,0.00,0.000,6,0.000,0.028,2537,2307,3465,0,0,0,0,0,0
$GC,12163,-0.71,-116.7,845.9,-6.6,474,12167,0.00,2.10,0.00,0.000,4,0.000,0.045,2537,3701,3465,0,0,0,0,0,0
$GC,12202,-0.71,-116.7,848.5,-6.2,474,12206,0.00,2.05,0.00,0.000,6,0.000,0.028,2537,2302,3465,0,0,0,0,0,0
$GC,12527,-0.71,-116.7,870.2,-6.7,480,12531,0.00,2.12,0.00,0.000,4,0.000,0.046,2537,3697,3464,0,0,0,0,0,0
$GC,12565,-0.71,-116.7,872.8,-7.1,480,12569,0.00,2.05,0.00,0.000,6,0.000,0.028,2537,2298,3464,0,0,0,0,0,0
$GC,12892,-0.71,-116.7,894.2,-6.6,486,12895,0.00,2.10,0.00,0.000,4,0.000,0.046,2537,3694,3464,0,0,0,0,0,0
$GC,12935,-0.71,-116.7,897.2,-6.6,486,12939,0.00,2.05,0.00,0.000,6,0.000,0.028,2537,2296,3464,0,0,0,0,0,0
$GC,13256,-0.71,-116.7,918.1,-6.6,492,13260,0.00,2.10,0.00,0.000,4,0.000,0.046,2537,3693,3463,0,0,0,0,0,0
$GC,13311,-0.71,-116.7,921.9,-6.2,492,13316,0.00,2.05,0.00,0.000,6,0.000,0.028,2537,2296,3463,0,0,0,0,0,0
$GC,13620,-0.71,-116.7,941.5,-6.3,498,13624,0.00,2.10,0.00,0.000,4,0.000,0.046,2537,3693,3463,0,0,0,0,0,0
$GC,13658,-0.71,-116.7,944.1,-6.2,498,13662,0.00,2.03,0.00,0.000,6,0.000,0.029,2537,2290,3463,0,0,0,0,0,0
$GC,13989,-0.71,-116.7,965.4,-6.5,504,13993,0.00,2.12,0.00,0.000,4,0.000,0.046,2537,3699,3462,0,0,0,0,0,0
$GC,14051,-0.71,-116.7,969.6,-7.6,505,14055,0.00,2.03,0.00,0.000,6,0.000,0.029,2537,2298,3462,0,0,0,0,0,0
$STATE,14420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14420,begin apogee
$GC,14425,-0.24,0.0,993.8,6.6,511,14525,0.50,0.00,96.80,1.568,6,0.176,0.000,2686,2641,3006,0,0,0,0,0,0
$STATE,14526,end apogee,CONTROL_FINISHED_OK
$STATE,14526,begin climb
$GC,14528,0.80,116.7,995.8,0.0,512,14637,1.05,0.00,104.88,1.472,6,0.121,0.000,3014,2641,2530,0,0,0,0,0,0
$GC,14893,0.62,116.7,974.1,8.2,518,14898,0.17,2.22,0.00,0.000,4,0.174,0.048,2967,4042,2519,0,0,0,0,0,0
$GC,14989,0.48,116.7,966.3,8.1,519,14994,0.20,2.10,0.00,0.000,6,0.189,0.028,2925,2652,2518,0,0,0,0,0,0
$GC,15320,0.51,146.1,947.0,5.7,525,15347,0.00,0.00,25.08,1.449,6,0.000,0.000,2925,2652,2410,0,0,0,0,0,0
$GC,15623,0.52,153.9,927.5,6.6,530,15632,0.00,0.00,7.70,1.320,6,0.000,0.000,2925,2652,2378,0,0,0,0,0,0
$GC,15927,0.56,161.7,907.5,6.6,535,15937,0.00,0.00,8.60,1.346,6,0.000,0.000,2925,2652,2346,0,0,0,0,0,0
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$STATE,27992,end climb,SURFACE_DEPTH_REACHED
$STATE,27992,begin surface coast
$FINISH,2.6,1.012926
$STATE,28067,end surface coast,CONTROL_FINISHED_OK
$STATE,28067,begin surface
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$10V_AH,10.1,10.026
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.525,188.250,309.000,42.650,0.000,29.763,32.166,176.090,0.000,0.000,15.112,2146.762,22857.996,553.447,2412.092,507.180,0.000,1758.302,0.000,2388.457,0.000,0.535,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235304
$DATA_FILE_SIZE,57022,991
$CAP_FILE_SIZE,205252,0
$CFSIZE,260165632,247873536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.048,222.0,1
$GPS,261009,013336,6312.876,251.775,41,1.4,47,-3.3