version: 66.06
glider: 140
mission: 8
dive: 90
start: 10 26 109 16 18 44
data:
$ID,140
$MISSION,8
$DIVE,90
$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,-2
$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,-45971.328
$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,75
$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
$GPS1,161157,6308.598,303.228,31,2.2,50,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.47
$_SM_ANGLEo,-62.0
$GPS2,161758,6308.589,303.218,12,2.1,31,-3.2
$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,113.0,43668,-13.7,-6.875
$D_GRID,880
$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,-6.90,0.000,2,0.000,0.000,219,2264,2026,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.5,-0.0,1,121,9.12,2.08,-77.28,0.000,4,0.252,0.056,2504,922,3482,0,0,0,0,0,0
$GC,372,-0.64,-116.7,27.2,-11.0,63,379,0.20,2.05,0.00,0.000,6,0.199,0.031,2556,2303,3483,0,0,0,0,0,0
$GC,712,-0.64,-116.7,54.6,-8.4,124,718,0.00,2.12,0.00,0.000,4,0.000,0.037,2556,915,3484,0,0,0,0,0,0
$GC,908,-0.60,-116.7,71.9,-9.3,141,914,0.00,2.08,0.00,0.000,6,0.000,0.030,2556,2295,3484,0,0,0,0,0,0
$GC,1225,-0.60,-116.7,97.3,-7.1,157,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2296,3484,0,0,0,0,0,0
$GC,1534,-0.60,-116.7,118.0,-6.3,172,1538,0.00,2.08,0.00,0.000,4,0.000,0.043,2556,3700,3484,0,0,0,0,0,0
$GC,1560,-0.60,-116.7,119.6,-6.0,173,1564,0.00,2.03,0.00,0.000,6,0.000,0.025,2556,2306,3484,0,0,0,0,0,0
$GC,1882,-0.60,-116.7,143.8,-7.8,189,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2306,3485,0,0,0,0,0,0
$GC,2191,-0.60,-116.7,165.0,-7.0,204,2195,0.00,2.10,0.00,0.000,4,0.000,0.043,2557,3702,3485,0,0,0,0,0,0
$GC,2208,-0.60,-116.7,166.3,-7.7,205,2212,0.00,2.03,0.00,0.000,6,0.000,0.025,2556,2292,3485,0,0,0,0,0,0
$GC,2536,-0.60,-116.7,189.9,-7.0,221,2540,0.00,2.12,0.00,0.000,4,0.000,0.042,2557,3708,3486,0,0,0,0,0,0
$GC,2562,-0.60,-116.7,192.0,-6.9,222,2566,0.00,2.05,0.00,0.000,6,0.000,0.025,2556,2304,3486,0,0,0,0,0,0
$GC,2883,-0.60,-116.7,215.2,-7.3,238,2884,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2304,3486,0,0,0,0,0,0
$GC,3192,-0.60,-116.7,239.6,-8.1,253,3196,0.00,2.10,0.00,0.000,4,0.000,0.042,2557,3709,3485,0,0,0,0,0,0
$GC,3225,-0.60,-116.7,242.4,-8.2,254,3231,0.00,2.05,0.00,0.000,6,0.000,0.025,2557,2301,3485,0,0,0,0,0,0
$GC,3541,-0.60,-116.7,264.9,-6.7,270,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2300,3485,0,0,0,0,0,0
$GC,3850,-0.60,-116.7,287.2,-7.4,285,3854,0.00,2.12,0.00,0.000,4,0.000,0.043,2556,3705,3485,0,0,0,0,0,0
$GC,3916,-0.60,-116.7,292.2,-7.3,288,3920,0.00,2.05,0.00,0.000,6,0.000,0.025,2556,2295,3485,0,0,0,0,0,0
$GC,4251,-0.60,-116.7,314.0,-6.5,301,4255,0.00,2.10,0.00,0.000,4,0.000,0.043,2557,3700,3485,0,0,0,0,0,0
$GC,4283,-0.60,-116.7,316.3,-7.0,302,4287,0.00,2.03,0.00,0.000,6,0.000,0.025,2556,2305,3485,0,0,0,0,0,0
$GC,4618,-0.60,-116.7,339.8,-7.1,313,4619,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2305,3485,0,0,0,0,0,0
$GC,4924,-0.60,-116.7,361.3,-6.8,323,4928,0.00,2.10,0.00,0.000,4,0.000,0.043,2557,3702,3484,0,0,0,0,0,0
$GC,4969,-0.63,-116.7,364.4,-6.7,324,4972,0.00,2.00,0.00,0.000,6,0.000,0.025,2557,2296,3485,0,0,0,0,0,0
$GC,5298,-0.63,-116.7,384.5,-6.2,335,5301,0.00,2.10,0.00,0.000,4,0.000,0.043,2557,3702,3484,0,0,0,0,0,0
$GC,5353,-0.67,-116.7,388.1,-6.4,336,5359,0.00,2.00,0.00,0.000,6,0.000,0.025,2556,2298,3484,0,0,0,0,0,0
$GC,5665,-0.67,-116.7,409.2,-7.0,347,5669,0.00,2.10,0.00,0.000,4,0.000,0.044,2556,3701,3483,0,0,0,0,0,0
$GC,5732,-0.70,-116.7,414.0,-7.3,349,5736,0.00,2.00,0.00,0.000,6,0.000,0.026,2557,2298,3483,0,0,0,0,0,0
$GC,6073,-0.70,-116.7,437.9,-6.9,360,6074,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2298,3482,0,0,0,0,0,0
$GC,6379,-0.70,-116.7,457.4,-6.3,370,6382,0.00,2.10,0.00,0.000,4,0.000,0.044,2557,3702,3482,0,0,0,0,0,0
$GC,6451,-0.74,-116.7,462.2,-6.9,372,6455,0.00,2.00,0.00,0.000,6,0.000,0.026,2557,2302,3482,0,0,0,0,0,0
$GC,6786,-0.78,-116.7,484.2,-6.4,383,6790,0.12,2.12,0.00,0.000,4,0.140,0.045,2516,3700,3481,0,0,0,0,0,0
$GC,6829,-0.73,-116.7,487.6,-7.9,384,6834,0.00,2.05,0.00,0.000,6,0.000,0.026,2516,2296,3481,0,0,0,0,0,0
$GC,7187,-0.67,-116.7,514.6,-7.5,393,7192,0.12,2.12,0.00,0.000,4,0.202,0.045,2546,3698,3480,0,0,0,0,0,0
$GC,7208,-0.67,-116.7,516.2,-7.7,393,7212,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2303,3479,0,0,0,0,0,0
$GC,7551,-0.67,-116.7,541.6,-7.5,399,7555,0.00,2.10,0.00,0.000,4,0.000,0.045,2546,3698,3478,0,0,0,0,0,0
$GC,7594,-0.67,-116.7,545.0,-7.7,399,7598,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2301,3477,0,0,0,0,0,0
$GC,7920,-0.67,-116.7,568.5,-7.2,405,7924,0.00,2.10,0.00,0.000,4,0.000,0.045,2546,3700,3477,0,0,0,0,0,0
$GC,7968,-0.67,-116.7,572.1,-7.5,405,7973,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2301,3476,0,0,0,0,0,0
$GC,8284,-0.67,-116.7,593.1,-6.7,411,8288,0.00,2.12,0.00,0.000,4,0.000,0.046,2546,3698,3475,0,0,0,0,0,0
$GC,8321,-0.67,-116.7,595.8,-7.1,411,8326,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2298,3475,0,0,0,0,0,0
$GC,8647,-0.67,-116.7,618.0,-6.8,417,8651,0.00,2.10,0.00,0.000,4,0.000,0.046,2546,3698,3474,0,0,0,0,0,0
$GC,8709,-0.67,-116.7,622.4,-7.1,418,8713,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2287,3474,0,0,0,0,0,0
$GC,9079,-0.67,-116.7,648.9,-7.2,424,9083,0.00,2.12,0.00,0.000,4,0.000,0.046,2546,3698,3473,0,0,0,0,0,0
$GC,9150,-0.67,-116.7,654.2,-7.1,425,9154,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2304,3472,0,0,0,0,0,0
$GC,9510,-0.67,-116.7,679.5,-7.0,431,9514,0.00,2.10,0.00,0.000,4,0.000,0.046,2546,3698,3471,0,0,0,0,0,0
$GC,9581,-0.70,-116.7,684.6,-6.9,432,9586,0.00,2.08,0.00,0.000,6,0.000,0.028,2546,2291,3471,0,0,0,0,0,0
$GC,9942,-0.70,-116.7,708.7,-6.7,438,9945,0.00,2.15,0.00,0.000,4,0.000,0.046,2546,3705,3470,0,0,0,0,0,0
$GC,10014,-0.73,-116.7,713.6,-7.0,439,10018,0.00,2.08,0.00,0.000,6,0.000,0.028,2546,2271,3470,0,0,0,0,0,0
$GC,10379,-0.73,-116.7,738.2,-6.8,445,10383,0.00,2.17,0.00,0.000,4,0.000,0.047,2546,3705,3469,0,0,0,0,0,0
$GC,10473,-0.77,-116.7,745.0,-7.0,446,10477,0.00,2.03,0.00,0.000,6,0.000,0.028,2546,2302,3468,0,0,0,0,0,0
$GC,10816,-0.77,-116.7,769.0,-7.0,452,10820,0.00,2.12,0.00,0.000,4,0.000,0.047,2546,3706,3468,0,0,0,0,0,0
$GC,10882,-0.81,-116.7,773.6,-7.3,453,10887,0.10,2.08,0.00,0.000,6,0.114,0.029,2507,2297,3468,0,0,0,0,0,0
$GC,11247,-0.74,-116.7,803.3,-8.2,459,11251,0.00,2.12,0.00,0.000,4,0.000,0.047,2506,3702,3467,0,0,0,0,0,0
$GC,11262,-0.68,-116.7,804.7,-8.2,459,11267,0.10,2.08,0.00,0.000,6,0.183,0.029,2537,2295,3467,0,0,0,0,0,0
$GC,11610,-0.68,-116.7,829.9,-7.2,465,11614,0.00,2.12,0.00,0.000,4,0.000,0.048,2537,3699,3466,0,0,0,0,0,0
$GC,11654,-0.68,-116.7,833.1,-6.9,465,11658,0.00,2.05,0.00,0.000,6,0.000,0.029,2537,2310,3466,0,0,0,0,0,0
$GC,11974,-0.68,-116.7,855.3,-7.0,471,11978,0.00,2.10,0.00,0.000,4,0.000,0.047,2537,3700,3466,0,0,0,0,0,0
$GC,12013,-0.68,-116.7,857.9,-6.4,471,12017,0.00,2.05,0.00,0.000,6,0.000,0.029,2537,2286,3465,0,0,0,0,0,0
$STATE,12342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12342,begin apogee
$GC,12348,-0.24,0.0,880.3,6.7,477,12446,0.47,0.00,95.70,1.487,6,0.174,0.000,2679,2646,3006,0,0,0,0,0,0
$STATE,12447,end apogee,CONTROL_FINISHED_OK
$STATE,12447,begin climb
$GC,12449,0.80,116.7,882.4,0.0,478,12556,1.10,0.00,103.25,1.394,6,0.121,0.000,3018,2646,2530,0,0,0,0,0,0
$GC,12828,0.62,116.7,859.9,8.0,485,12832,0.20,2.20,0.00,0.000,4,0.173,0.047,2966,4040,2519,0,0,0,0,0,0
$GC,12905,0.48,116.7,853.7,7.8,486,12910,0.20,2.10,0.00,0.000,6,0.185,0.028,2924,2645,2519,0,0,0,0,0,0
$GC,13259,0.52,146.6,833.4,5.7,492,13289,0.00,2.17,25.05,1.383,4,0.000,0.039,2933,1264,2408,0,0,0,0,0,0
$GC,13323,0.58,170.1,829.6,5.9,493,13351,0.00,2.17,21.83,1.335,6,0.000,0.036,2933,2646,2311,0,0,0,0,0,0
$GC,13685,0.62,172.7,805.3,6.8,499,13686,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2646,2304,0,0,0,0,0,0
$GC,13987,0.62,172.7,784.4,6.9,504,13988,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2646,2302,0,0,0,0,0,0
$GC,14290,0.65,172.7,762.9,7.1,509,14292,0.12,0.00,0.00,0.000,6,0.121,0.000,2976,2646,2302,0,0,0,0,0,0
$GC,14593,0.60,172.7,737.4,8.5,514,14594,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2646,2301,0,0,0,0,0,0
$GC,14896,0.55,172.7,712.2,8.3,519,14898,0.12,0.00,0.00,0.000,6,0.187,0.000,2946,2646,2300,0,0,0,0,0,0
$GC,15200,0.55,175.4,691.4,6.8,524,15205,0.00,0.00,3.75,0.915,6,0.000,0.000,2946,2646,2291,0,0,0,0,0,0
$GC,15502,0.55,175.4,670.4,6.9,529,15503,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2646,2290,0,0,0,0,0,0
$GC,15805,0.56,181.9,650.0,6.6,534,15815,0.00,0.00,7.72,1.265,6,0.000,0.000,2947,2646,2264,0,0,0,0,0,0
$GC,16108,0.56,181.9,628.8,7.0,539,16112,0.00,2.12,0.00,0.000,4,0.000,0.041,2950,1251,2262,0,0,0,0,0,0
$GC,16152,0.60,185.6,625.8,6.7,539,16161,0.00,2.12,4.80,1.055,6,0.000,0.037,2950,2653,2249,0,0,0,0,0,0
$GC,16466,0.60,185.6,603.7,7.1,544,16467,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2653,2248,0,0,0,0,0,0
$GC,16768,0.60,185.6,580.4,7.7,549,16769,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2653,2247,0,0,0,0,0,0
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$STATE,23970,end climb,SURFACE_DEPTH_REACHED
$STATE,23970,begin surface coast
$FINISH,2.7,1.025112
$STATE,24024,end surface coast,CONTROL_FINISHED_OK
$STATE,24024,begin surface
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$TCM_TEMP,14.80
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$10V_AH,10.2,10.331
$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,234236
$DATA_FILE_SIZE,50704,915
$CAP_FILE_SIZE,180819,0
$CFSIZE,260165632,247660544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032,196.2,1
$GPS,261009,230101,6307.123,308.565,40,1.6,40,-3.1