version: 66.06
glider: 140
mission: 8
dive: 89
start: 10 26 109 9 16 31
data:
$ID,140
$MISSION,8
$DIVE,89
$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,-45938.363
$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,82
$R_STBD_OVSHOOT,46
$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
$GPS1,091008,6310.655,257.362,38,1.9,46,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.45
$_SM_ANGLEo,-62.2
$GPS2,091610,6310.626,257.335,10,2.3,29,-3.3
$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,115.3,49634,-13.7,-6.875
$D_GRID,918
$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,15,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-7.15,0.000,2,0.000,0.000,220,2284,2035,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.4,-0.0,1,119,8.98,2.08,-77.32,0.000,4,0.247,0.051,2501,912,3481,0,0,0,0,0,0
$GC,369,-0.63,-116.7,22.0,-11.0,62,376,0.17,2.10,0.00,0.000,6,0.176,0.030,2554,2303,3482,0,0,0,0,0,0
$GC,708,-0.60,-116.7,48.7,-7.7,123,713,0.00,2.08,0.00,0.000,4,0.000,0.036,2555,916,3483,0,0,0,0,0,0
$GC,764,-0.55,-116.7,53.3,-8.0,133,770,0.10,2.05,0.00,0.000,6,0.212,0.030,2580,2306,3483,0,0,0,0,0,0
$GC,1092,-0.59,-116.7,74.7,-6.0,162,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2307,3484,0,0,0,0,0,0
$GC,1402,-0.63,-116.7,96.0,-7.1,177,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2307,3483,0,0,0,0,0,0
$GC,1710,-0.66,-116.7,117.6,-6.8,192,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2307,3484,0,0,0,0,0,0
$GC,2021,-0.71,-116.7,138.4,-6.9,207,2026,0.12,2.08,0.00,0.000,4,0.134,0.036,2541,918,3484,0,0,0,0,0,0
$GC,2042,-0.71,-116.7,140.3,-7.9,208,2046,0.00,2.05,0.00,0.000,6,0.000,0.029,2541,2292,3484,0,0,0,0,0,0
$GC,2369,-0.67,-116.7,167.2,-8.4,224,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2293,3484,0,0,0,0,0,0
$GC,2680,-0.63,-116.7,193.8,-8.8,239,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2293,3484,0,0,0,0,0,0
$GC,2988,-0.59,-116.7,219.3,-8.0,254,2992,0.12,2.03,0.00,0.000,4,0.209,0.036,2571,926,3484,0,0,0,0,0,0
$GC,3014,-0.59,-116.7,221.4,-7.2,255,3018,0.00,2.05,0.00,0.000,6,0.000,0.029,2571,2302,3484,0,0,0,0,0,0
$GC,3336,-0.62,-116.7,241.6,-6.0,271,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2302,3484,0,0,0,0,0,0
$GC,3645,-0.65,-116.7,260.9,-6.3,286,3648,0.00,2.03,0.00,0.000,4,0.000,0.035,2571,931,3484,0,0,0,0,0,0
$GC,3677,-0.65,-116.7,263.2,-7.3,287,3682,0.00,2.03,0.00,0.000,6,0.000,0.029,2571,2297,3484,0,0,0,0,0,0
$GC,3999,-0.69,-116.7,282.4,-6.0,303,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2297,3484,0,0,0,0,0,0
$GC,4318,-0.73,-116.7,301.9,-6.1,318,4323,0.12,2.10,0.00,0.000,4,0.136,0.044,2529,3712,3484,0,0,0,0,0,0
$GC,4384,-0.69,-116.7,307.1,-8.2,320,4388,0.00,2.03,0.00,0.000,6,0.000,0.025,2529,2314,3484,0,0,0,0,0,0
$GC,4719,-0.64,-116.7,333.6,-7.9,331,4723,0.00,2.05,0.00,0.000,4,0.000,0.038,2529,906,3484,0,0,0,0,0,0
$GC,4747,-0.59,-116.7,336.1,-8.2,332,4752,0.15,2.05,0.00,0.000,6,0.195,0.030,2568,2314,3484,0,0,0,0,0,0
$GC,5083,-0.62,-116.7,357.3,-6.0,343,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2315,3483,0,0,0,0,0,0
$GC,5388,-0.67,-116.7,376.1,-6.1,353,5392,0.00,2.05,0.00,0.000,4,0.000,0.044,2569,3702,3483,0,0,0,0,0,0
$GC,5410,-0.71,-116.7,377.5,-6.1,353,5414,0.10,2.00,0.00,0.000,6,0.142,0.025,2537,2288,3483,0,0,0,0,0,0
$GC,5727,-0.71,-116.7,400.4,-7.2,364,5731,0.00,2.12,0.00,0.000,4,0.000,0.044,2537,3709,3482,0,0,0,0,0,0
$GC,5748,-0.71,-116.7,402.1,-8.0,364,5752,0.00,2.05,0.00,0.000,6,0.000,0.026,2536,2302,3482,0,0,0,0,0,0
$GC,6066,-0.71,-116.7,425.4,-7.5,375,6070,0.00,2.10,0.00,0.000,4,0.000,0.044,2536,3703,3481,0,0,0,0,0,0
$GC,6104,-0.71,-116.7,428.3,-7.4,376,6108,0.00,2.05,0.00,0.000,6,0.000,0.025,2537,2298,3481,0,0,0,0,0,0
$GC,6440,-0.71,-116.7,450.7,-6.6,387,6444,0.00,2.10,0.00,0.000,4,0.000,0.044,2536,3700,3481,0,0,0,0,0,0
$GC,6483,-0.71,-116.7,453.8,-7.3,388,6487,0.00,2.05,0.00,0.000,6,0.000,0.026,2537,2289,3481,0,0,0,0,0,0
$GC,6807,-0.71,-116.7,477.7,-7.7,399,6811,0.00,2.12,0.00,0.000,4,0.000,0.044,2536,3704,3481,0,0,0,0,0,0
$GC,6878,-0.71,-116.7,483.5,-8.1,401,6883,0.00,2.05,0.00,0.000,6,0.000,0.026,2537,2301,3480,0,0,0,0,0,0
$GC,7243,-0.71,-116.7,511.3,-7.5,411,7247,0.00,2.12,0.00,0.000,4,0.000,0.045,2536,3702,3479,0,0,0,0,0,0
$GC,7280,-0.71,-116.7,514.2,-7.6,411,7285,0.00,2.05,0.00,0.000,6,0.000,0.027,2536,2300,3479,0,0,0,0,0,0
$GC,7607,-0.71,-116.7,538.6,-7.5,417,7610,0.00,2.12,0.00,0.000,4,0.000,0.045,2536,3698,3477,0,0,0,0,0,0
$GC,7633,-0.71,-116.7,540.7,-8.5,417,7637,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2295,3477,0,0,0,0,0,0
$GC,7971,-0.71,-116.7,566.1,-7.5,423,7975,0.00,2.10,0.00,0.000,4,0.000,0.045,2536,3697,3476,0,0,0,0,0,0
$GC,8003,-0.71,-116.7,568.6,-7.5,423,8008,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2302,3476,0,0,0,0,0,0
$GC,8335,-0.71,-116.7,593.0,-7.3,429,8338,0.00,2.10,0.00,0.000,4,0.000,0.045,2537,3697,3475,0,0,0,0,0,0
$GC,8361,-0.71,-116.7,595.1,-7.9,429,8365,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2304,3474,0,0,0,0,0,0
$GC,8705,-0.71,-116.7,620.1,-7.4,435,8708,0.00,2.10,0.00,0.000,4,0.000,0.046,2537,3698,3473,0,0,0,0,0,0
$GC,8748,-0.71,-116.7,623.5,-7.7,435,8752,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2301,3473,0,0,0,0,0,0
$GC,9069,-0.71,-116.7,646.4,-7.2,441,9072,0.00,2.10,0.00,0.000,4,0.000,0.046,2536,3695,3471,0,0,0,0,0,0
$GC,9106,-0.71,-116.7,649.3,-7.1,441,9111,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2307,3471,0,0,0,0,0,0
$GC,9433,-0.71,-116.7,672.3,-7.0,447,9437,0.00,2.10,0.00,0.000,4,0.000,0.046,2536,3698,3470,0,0,0,0,0,0
$GC,9465,-0.71,-116.7,674.9,-7.5,447,9470,0.00,2.08,0.00,0.000,6,0.000,0.028,2536,2293,3470,0,0,0,0,0,0
$GC,9797,-0.71,-116.7,698.5,-7.2,453,9801,0.00,2.12,0.00,0.000,4,0.000,0.046,2536,3695,3470,0,0,0,0,0,0
$GC,9847,-0.71,-116.7,702.2,-7.0,453,9851,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2301,3470,0,0,0,0,0,0
$GC,10168,-0.71,-116.7,724.5,-7.0,459,10171,0.00,2.10,0.00,0.000,4,0.000,0.046,2536,3695,3468,0,0,0,0,0,0
$GC,10217,-0.71,-116.7,728.0,-7.1,459,10221,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2305,3468,0,0,0,0,0,0
$GC,10532,-0.71,-116.7,748.9,-6.6,465,10536,0.00,2.10,0.00,0.000,4,0.000,0.046,2536,3697,3467,0,0,0,0,0,0
$GC,10581,-0.71,-116.7,752.2,-6.5,465,10585,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2301,3468,0,0,0,0,0,0
$GC,10896,-0.71,-116.7,773.1,-6.6,471,10900,0.00,2.10,0.00,0.000,4,0.000,0.047,2536,3695,3467,0,0,0,0,0,0
$GC,10941,-0.71,-116.7,776.2,-6.8,471,10945,0.00,2.03,0.00,0.000,6,0.000,0.028,2536,2296,3467,0,0,0,0,0,0
$GC,11261,-0.71,-116.7,797.8,-6.7,477,11265,0.00,2.12,0.00,0.000,4,0.000,0.047,2536,3697,3466,0,0,0,0,0,0
$GC,11304,-0.71,-116.7,800.8,-7.5,477,11308,0.00,2.05,0.00,0.000,6,0.000,0.028,2537,2303,3466,0,0,0,0,0,0
$GC,11631,-0.71,-116.7,823.0,-6.9,483,11635,0.00,2.10,0.00,0.000,4,0.000,0.047,2536,3694,3465,0,0,0,0,0,0
$GC,11685,-0.71,-116.7,827.1,-7.1,483,11691,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2305,3465,0,0,0,0,0,0
$GC,11994,-0.71,-116.7,848.7,-7.0,489,11998,0.00,2.10,0.00,0.000,4,0.000,0.046,2537,3698,3464,0,0,0,0,0,0
$GC,12044,-0.71,-116.7,852.1,-6.8,489,12048,0.00,2.03,0.00,0.000,6,0.000,0.028,2536,2293,3465,0,0,0,0,0,0
$GC,12360,-0.71,-116.7,873.4,-6.7,495,12364,0.00,2.12,0.00,0.000,4,0.000,0.047,2536,3695,3463,0,0,0,0,0,0
$GC,12415,-0.71,-116.7,877.3,-6.5,495,12419,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2307,3463,0,0,0,0,0,0
$GC,12729,-0.71,-116.7,898.1,-6.6,501,12733,0.00,2.10,0.00,0.000,4,0.000,0.047,2536,3697,3463,0,0,0,0,0,0
$GC,12784,-0.71,-116.7,901.8,-6.5,501,12790,0.00,2.08,0.00,0.000,6,0.000,0.028,2536,2293,3463,0,0,0,0,0,0
$STATE,13092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13092,begin apogee
$GC,13097,-0.24,0.0,921.6,6.4,507,13196,0.50,0.00,95.62,1.515,6,0.173,0.000,2686,2652,3006,0,0,0,0,0,0
$STATE,13197,end apogee,CONTROL_FINISHED_OK
$STATE,13197,begin climb
$GC,13199,0.80,116.7,923.4,0.0,508,13306,1.05,0.00,103.40,1.419,6,0.120,0.000,3015,2651,2530,0,0,0,0,0,0
$GC,13564,0.62,116.7,901.5,8.1,514,13569,0.17,2.20,0.00,0.000,4,0.172,0.048,2966,4038,2519,0,0,0,0,0,0
$GC,13614,0.48,116.7,897.4,8.2,514,13619,0.20,2.10,0.00,0.000,6,0.189,0.028,2925,2647,2519,0,0,0,0,0,0
$GC,13923,0.52,143.7,879.3,5.8,519,13948,0.00,0.00,22.75,1.400,6,0.000,0.000,2924,2647,2420,0,0,0,0,0,0
$GC,14226,0.54,159.0,860.4,6.3,524,14242,0.00,0.00,14.40,1.368,6,0.000,0.000,2925,2647,2357,0,0,0,0,0,0
$GC,14530,0.59,167.4,840.6,6.5,529,14544,0.00,2.20,8.38,1.304,4,0.000,0.040,2934,1260,2322,0,0,0,0,0,0
$GC,14596,0.64,178.0,835.9,6.4,530,14612,0.12,2.15,10.98,1.302,6,0.124,0.036,2974,2654,2280,0,0,0,0,0,0
$GC,14964,0.60,178.0,805.9,8.2,536,14967,0.00,2.15,0.00,0.000,4,0.000,0.049,2973,4049,2274,0,0,0,0,0,0
$GC,15025,0.49,178.0,800.0,9.5,537,15030,0.22,2.08,0.00,0.000,6,0.181,0.029,2923,2649,2274,0,0,0,0,0,0
$GC,15392,0.57,194.1,776.8,6.2,543,15412,0.00,2.15,14.85,1.367,4,0.000,0.041,2932,1257,2214,0,0,0,0,0,0
$GC,15445,0.65,211.9,773.4,6.2,543,15470,0.12,2.15,17.60,1.324,6,0.121,0.036,2975,2654,2142,0,0,0,0,0,0
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$STATE,24721,end climb,SURFACE_DEPTH_REACHED
$STATE,24721,begin surface coast
$FINISH,2.7,1.027102
$STATE,24790,end surface coast,CONTROL_FINISHED_OK
$STATE,24790,begin surface
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$10V_AH,10.1,10.233
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$FG_AHR_10Vo,0.000
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$MEM,235272
$DATA_FILE_SIZE,54015,943
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$CFSIZE,260165632,247717888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057,179.3,1
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