version: 66.06
glider: 140
mission: 8
dive: 150
start: 11 13 109 16 53 38
data:
$ID,140
$MISSION,8
$DIVE,150
$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,-3
$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,-47011.969
$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,76
$R_STBD_OVSHOOT,44
$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
$GPS1,164737,6500.931,-39.523,34,1.2,35,-5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.64
$_SM_ANGLEo,-61.1
$GPS2,165314,6500.939,-39.495,12,0.9,12,-5.6
$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,139.9,319030,-13.7,-6.875
$D_GRID,2872
$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,-116.7,0.0,0.0,0,23,0.00,0.00,-7.38,0.000,2,0.000,0.000,211,2254,2023,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.6,-0.0,1,127,8.90,2.08,-83.72,0.000,4,0.236,0.052,2500,920,3483,0,0,0,0,0,0
$GC,152,-0.65,-116.7,5.2,-5.4,23,160,0.20,2.10,0.00,0.000,6,0.186,0.031,2554,2313,3484,0,0,0,0,0,0
$GC,491,-0.65,-116.7,33.3,-9.1,84,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2313,3485,0,0,0,0,0,0
$GC,829,-0.65,-116.7,56.4,-6.9,145,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2313,3486,0,0,0,0,0,0
$GC,1148,-0.65,-116.7,80.5,-7.9,167,1152,0.00,2.10,0.00,0.000,4,0.000,0.037,2554,918,3486,0,0,0,0,0,0
$GC,1214,-0.65,-116.7,86.8,-10.3,170,1218,0.00,2.08,0.00,0.000,6,0.000,0.029,2554,2301,3486,0,0,0,0,0,0
$GC,1540,-0.65,-116.7,115.1,-8.1,186,1544,0.00,2.08,0.00,0.000,4,0.000,0.036,2554,911,3486,0,0,0,0,0,0
$GC,1578,-0.65,-116.7,118.0,-7.3,187,1585,0.00,2.08,0.00,0.000,6,0.000,0.029,2554,2295,3486,0,0,0,0,0,0
$GC,1896,-0.65,-116.7,135.9,-5.3,203,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2295,3486,0,0,0,0,0,0
$GC,2203,-0.65,-116.7,155.4,-7.0,218,2207,0.00,2.10,0.00,0.000,4,0.000,0.042,2554,3712,3487,0,0,0,0,0,0
$GC,2229,-0.65,-116.7,157.3,-7.6,219,2233,0.00,2.05,0.00,0.000,6,0.000,0.025,2554,2311,3488,0,0,0,0,0,0
$GC,2552,-0.65,-116.7,181.2,-7.5,235,2556,0.00,2.10,0.00,0.000,4,0.000,0.041,2554,3706,3488,0,0,0,0,0,0
$GC,2624,-0.68,-116.7,186.8,-7.8,238,2628,0.00,2.08,0.00,0.000,6,0.000,0.025,2554,2289,3488,0,0,0,0,0,0
$GC,2946,-0.68,-116.7,210.9,-7.7,254,2950,0.00,2.12,0.00,0.000,4,0.000,0.041,2554,3704,3488,0,0,0,0,0,0
$GC,2973,-0.68,-116.7,213.1,-7.2,255,2977,0.00,2.05,0.00,0.000,6,0.000,0.025,2554,2306,3488,0,0,0,0,0,0
$GC,3294,-0.68,-116.7,235.5,-7.0,271,3298,0.00,2.12,0.00,0.000,4,0.000,0.042,2554,3705,3487,0,0,0,0,0,0
$GC,3317,-0.68,-116.7,236.9,-6.8,272,3320,0.00,2.03,0.00,0.000,6,0.000,0.025,2554,2300,3488,0,0,0,0,0,0
$GC,3643,-0.68,-116.7,260.1,-7.2,288,3647,0.00,2.12,0.00,0.000,4,0.000,0.044,2555,3700,3487,0,0,0,0,0,0
$GC,3669,-0.68,-116.7,262.2,-7.2,289,3674,0.00,2.05,0.00,0.000,6,0.000,0.025,2554,2304,3487,0,0,0,0,0,0
$GC,3991,-0.68,-116.7,285.0,-6.9,305,3995,0.00,2.10,0.00,0.000,4,0.000,0.043,2554,3701,3487,0,0,0,0,0,0
$GC,4000,-0.68,-116.7,285.8,-7.1,305,4007,0.00,2.05,0.00,0.000,6,0.000,0.025,2554,2307,3487,0,0,0,0,0,0
$GC,4336,-0.68,-116.7,309.9,-7.4,320,4340,0.00,2.10,0.00,0.000,4,0.000,0.043,2554,3702,3485,0,0,0,0,0,0
$GC,4346,-0.68,-116.7,310.7,-7.4,320,4350,0.00,2.03,0.00,0.000,6,0.000,0.026,2554,2300,3485,0,0,0,0,0,0
$GC,4669,-0.68,-116.7,333.7,-6.9,331,4673,0.00,2.15,0.00,0.000,4,0.000,0.044,2554,3707,3485,0,0,0,0,0,0
$GC,4690,-0.72,-116.7,335.2,-6.4,331,4697,0.00,2.05,0.00,0.000,6,0.000,0.026,2554,2289,3485,0,0,0,0,0,0
$GC,5003,-0.72,-116.7,355.3,-6.3,342,5007,0.00,2.12,0.00,0.000,4,0.000,0.043,2554,3701,3484,0,0,0,0,0,0
$GC,5036,-0.75,-116.7,357.5,-6.5,343,5040,0.00,2.03,0.00,0.000,6,0.000,0.026,2554,2297,3484,0,0,0,0,0,0
$GC,5370,-0.75,-116.7,377.0,-5.7,354,5374,0.00,2.12,0.00,0.000,4,0.000,0.043,2554,3704,3484,0,0,0,0,0,0
$GC,5404,-0.79,-116.7,378.9,-6.1,355,5408,0.15,2.05,0.00,0.000,6,0.130,0.026,2504,2286,3483,0,0,0,0,0,0
$GC,5737,-0.71,-116.7,403.6,-7.6,366,5739,0.12,0.00,0.00,0.000,6,0.196,0.000,2535,2284,3483,0,0,0,0,0,0
$GC,6044,-0.71,-116.7,424.3,-6.9,376,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2284,3482,0,0,0,0,0,0
$GC,6350,-0.71,-116.7,446.2,-7.3,386,6354,0.00,2.15,0.00,0.000,4,0.000,0.044,2535,3700,3482,0,0,0,0,0,0
$GC,6383,-0.71,-116.7,448.5,-7.0,387,6387,0.00,2.03,0.00,0.000,6,0.000,0.026,2535,2297,3482,0,0,0,0,0,0
$GC,6723,-0.71,-116.7,472.4,-7.1,398,6726,0.00,2.12,0.00,0.000,4,0.000,0.044,2535,3700,3482,0,0,0,0,0,0
$GC,6740,-0.71,-116.7,473.6,-6.9,398,6743,0.00,2.03,0.00,0.000,6,0.000,0.026,2535,2298,3482,0,0,0,0,0,0
$GC,7052,-0.71,-116.7,494.3,-6.5,408,7056,0.00,2.12,0.00,0.000,4,0.000,0.044,2535,3704,3481,0,0,0,0,0,0
$GC,7090,-0.71,-116.7,496.8,-6.6,409,7094,0.00,2.05,0.00,0.000,6,0.000,0.026,2535,2304,3481,0,0,0,0,0,0
$GC,7417,-0.71,-116.7,517.8,-6.5,416,7421,0.00,2.10,0.00,0.000,4,0.000,0.044,2535,3700,3481,0,0,0,0,0,0
$GC,7438,-0.71,-116.7,519.5,-7.4,416,7443,0.00,2.05,0.00,0.000,6,0.000,0.026,2535,2302,3481,0,0,0,0,0,0
$GC,7781,-0.71,-116.7,545.2,-7.5,422,7785,0.00,2.10,0.00,0.000,4,0.000,0.044,2535,3698,3480,0,0,0,0,0,0
$GC,7852,-0.71,-116.7,550.8,-7.6,423,7857,0.00,2.08,0.00,0.000,6,0.000,0.026,2535,2290,3480,0,0,0,0,0,0
$GC,8218,-0.71,-116.7,574.8,-6.5,429,8219,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2289,3480,0,0,0,0,0,0
$GC,8521,-0.71,-116.7,595.1,-6.7,434,8525,0.00,2.12,0.00,0.000,4,0.000,0.044,2535,3698,3480,0,0,0,0,0,0
$GC,8542,-0.71,-116.7,596.7,-7.2,434,8547,0.00,2.08,0.00,0.000,6,0.000,0.027,2535,2295,3480,0,0,0,0,0,0
$GC,8891,-0.71,-116.7,623.4,-7.8,440,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2295,3479,0,0,0,0,0,0
$GC,9194,-0.71,-116.7,646.9,-7.7,445,9198,0.00,2.12,0.00,0.000,4,0.000,0.044,2535,3698,3479,0,0,0,0,0,0
$GC,9214,-0.71,-116.7,648.5,-8.4,445,9219,0.00,2.08,0.00,0.000,6,0.000,0.027,2535,2296,3478,0,0,0,0,0,0
$GC,9563,-0.71,-116.7,673.3,-7.0,451,9567,0.00,2.12,0.00,0.000,4,0.000,0.044,2535,3698,3478,0,0,0,0,0,0
$GC,9631,-0.71,-116.7,678.2,-7.7,452,9634,0.00,2.03,0.00,0.000,6,0.000,0.027,2535,2297,3477,0,0,0,0,0,0
$GC,9996,-0.71,-116.7,704.7,-7.3,458,9999,0.00,2.12,0.00,0.000,4,0.000,0.044,2534,3698,3477,0,0,0,0,0,0
$GC,10045,-0.71,-116.7,708.5,-7.9,458,10049,0.00,2.05,0.00,0.000,6,0.000,0.027,2535,2303,3477,0,0,0,0,0,0
$GC,10360,-0.71,-116.7,731.2,-7.2,464,10364,0.00,2.12,0.00,0.000,4,0.000,0.044,2535,3705,3477,0,0,0,0,0,0
$GC,10381,-0.71,-116.7,732.9,-7.6,464,10386,0.00,2.08,0.00,0.000,6,0.000,0.028,2535,2298,3477,0,0,0,0,0,0
$GC,10725,-0.71,-116.7,757.1,-7.0,470,10728,0.00,2.15,0.00,0.000,4,0.000,0.045,2535,3707,3476,0,0,0,0,0,0
$GC,10745,-0.71,-116.7,758.6,-7.4,470,10750,0.00,2.08,0.00,0.000,6,0.000,0.028,2535,2307,3476,0,0,0,0,0,0
$GC,11095,-0.71,-116.7,783.0,-7.0,476,11099,0.00,2.12,0.00,0.000,4,0.000,0.045,2535,3708,3476,0,0,0,0,0,0
$GC,11122,-0.71,-116.7,784.9,-7.1,476,11126,0.00,2.08,0.00,0.000,6,0.000,0.028,2535,2302,3476,0,0,0,0,0,0
$GC,11459,-0.71,-116.7,807.3,-6.5,482,11463,0.00,2.12,0.00,0.000,4,0.000,0.045,2535,3701,3475,0,0,0,0,0,0
$GC,11474,-0.71,-116.7,808.4,-6.5,482,11479,0.00,2.08,0.00,0.000,6,0.000,0.028,2535,2300,3475,0,0,0,0,0,0
$GC,11823,-0.71,-116.7,832.3,-7.0,488,11827,0.00,2.15,0.00,0.000,4,0.000,0.046,2535,3699,3475,0,0,0,0,0,0
$GC,11833,-0.71,-116.7,833.0,-6.9,488,11838,0.00,2.08,0.00,0.000,6,0.000,0.028,2535,2303,3474,0,0,0,0,0,0
$GC,12187,-0.71,-116.7,857.6,-7.2,494,12191,0.00,2.12,0.00,0.000,4,0.000,0.045,2535,3697,3474,0,0,0,0,0,0
$GC,12231,-0.71,-116.7,860.9,-6.6,494,12235,0.00,2.05,0.00,0.000,6,0.000,0.028,2535,2286,3474,0,0,0,0,0,0
$GC,12557,-0.71,-116.7,884.6,-7.2,500,12561,0.00,2.15,0.00,0.000,4,0.000,0.045,2535,3702,3473,0,0,0,0,0,0
$GC,12595,-0.71,-116.7,887.5,-7.7,500,12600,0.00,2.08,0.00,0.000,6,0.000,0.028,2535,2303,3473,0,0,0,0,0,0
$GC,12922,-0.71,-116.7,909.1,-6.6,506,12926,0.00,2.12,0.00,0.000,4,0.000,0.045,2535,3702,3473,0,0,0,0,0,0
$GC,12945,-0.71,-116.7,910.5,-5.9,506,12949,0.00,2.05,0.00,0.000,6,0.000,0.028,2535,2295,3473,0,0,0,0,0,0
$GC,13282,-0.71,-116.7,930.9,-5.9,512,13286,0.00,2.15,0.00,0.000,4,0.000,0.046,2535,3707,3473,0,0,0,0,0,0
$GC,13343,-0.71,-116.7,934.2,-5.6,513,13347,0.00,2.05,0.00,0.000,6,0.000,0.028,2535,2297,3473,0,0,0,0,0,0
$GC,13708,-0.71,-116.7,952.9,-5.1,519,13712,0.00,2.15,0.00,0.000,4,0.000,0.046,2535,3705,3472,0,0,0,0,0,0
$GC,13786,-0.71,-116.7,957.0,-5.2,520,13790,0.00,2.10,0.00,0.000,6,0.000,0.028,2535,2295,3472,0,0,0,0,0,0
$GC,14146,-0.71,-116.7,974.5,-4.9,526,14150,0.00,2.15,0.00,0.000,4,0.000,0.046,2535,3707,3472,0,0,0,0,0,0
$GC,14201,-0.71,-116.7,977.3,-5.3,526,14207,0.00,2.10,0.00,0.000,6,0.000,0.028,2535,2291,3472,0,0,0,0,0,0
$STATE,14509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14509,begin apogee
$GC,14515,-0.24,0.0,991.3,4.5,532,14617,0.50,0.00,99.43,1.556,6,0.173,0.000,2683,2650,3006,0,0,0,0,0,0
$STATE,14618,end apogee,CONTROL_FINISHED_OK
$STATE,14618,begin climb
$GC,14620,0.80,116.7,992.1,0.0,533,14730,1.05,0.00,105.78,1.448,6,0.121,0.000,3011,2650,2530,0,0,0,0,0,0
$GC,14986,0.63,116.7,964.3,9.7,539,14990,0.17,2.25,0.00,0.000,4,0.168,0.048,2966,4049,2521,0,0,0,0,0,0
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$STATE,26953,end climb,SURFACE_DEPTH_REACHED
$STATE,26954,begin surface coast
$FINISH,2.9,1.027324
$STATE,26999,end surface coast,CONTROL_FINISHED_OK
$STATE,26999,begin surface
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$HUMID,1078404506
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$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,22.7,25.496
$10V_AH,10.1,16.267
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.450,245.050,330.925,16.325,0.000,30.464,36.696,152.752,0.000,0.000,12.632,2174.604,21476.926,540.960,2660.079,512.012,0.000,1910.749,0.000,2624.350,0.000,0.534,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241464
$DATA_FILE_SIZE,54031,958
$CAP_FILE_SIZE,220045,0
$CFSIZE,260165632,242941952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033, 56.5,1
$GPS,141109,002540,6458.825,-33.728,37,2.0,53,-5.6