version: 66.06
glider: 140
mission: 8
dive: 186
start: 11 24 109 22 16 12
data:
$ID,140
$MISSION,8
$DIVE,186
$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,-47664.094
$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,77
$R_STBD_OVSHOOT,40
$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
$GPS1,220901,6329.510,237.753,39,1.1,40,-3.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,3.13
$_SM_ANGLEo,-62.6
$GPS2,221549,6329.581,237.742,11,1.0,16,-3.5
$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,134.2,82381,-13.7,-6.875
$D_GRID,1219
$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,-7.62,0.000,2,0.000,0.000,213,2271,2036,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.1,-0.0,1,127,8.80,2.12,-81.43,0.000,4,0.228,0.051,2506,918,3482,0,0,0,0,0,0
$GC,153,-1.11,-116.7,2.5,0.0,23,160,0.30,2.08,0.00,0.000,6,0.089,0.031,2400,2313,3483,0,0,0,0,0,0
$GC,492,-0.79,-116.7,47.8,-15.4,84,499,0.38,0.00,0.00,0.000,6,0.197,0.000,2504,2315,3483,0,0,0,0,0,0
$GC,833,-0.67,-116.7,82.8,-10.2,145,839,0.15,2.12,0.00,0.000,4,0.199,0.037,2543,915,3483,0,0,0,0,0,0
$GC,891,-0.62,-116.7,88.3,-9.2,155,898,0.00,2.05,0.00,0.000,6,0.000,0.028,2543,2307,3483,0,0,0,0,0,0
$GC,1234,-0.59,-116.7,117.1,-8.4,216,1241,0.12,2.12,0.00,0.000,4,0.201,0.035,2576,922,3483,0,0,0,0,0,0
$GC,1285,-0.59,-116.7,121.3,-7.5,223,1290,0.00,2.08,0.00,0.000,6,0.000,0.028,2576,2306,3483,0,0,0,0,0,0
$GC,1614,-0.63,-116.7,143.8,-6.6,239,1618,0.00,2.08,0.00,0.000,4,0.000,0.035,2576,912,3483,0,0,0,0,0,0
$GC,1632,-0.66,-116.7,145.1,-6.7,240,1636,0.00,2.05,0.00,0.000,6,0.000,0.028,2576,2312,3483,0,0,0,0,0,0
$GC,1960,-0.70,-116.7,166.3,-6.0,256,1962,0.12,0.00,0.00,0.000,6,0.131,0.000,2536,2313,3483,0,0,0,0,0,0
$GC,2270,-0.67,-116.7,189.5,-7.6,271,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2313,3483,0,0,0,0,0,0
$GC,2579,-0.63,-116.7,213.3,-7.9,286,2583,0.00,2.08,0.00,0.000,4,0.000,0.034,2536,912,3483,0,0,0,0,0,0
$GC,2596,-0.57,-116.7,214.8,-8.4,287,2600,0.15,2.03,0.00,0.000,6,0.193,0.028,2574,2304,3483,0,0,0,0,0,0
$GC,2923,-0.62,-116.7,235.2,-6.0,303,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2304,3484,0,0,0,0,0,0
$GC,3231,-0.66,-116.7,254.0,-6.2,318,3235,0.00,2.05,0.00,0.000,4,0.000,0.041,2574,3699,3483,0,0,0,0,0,0
$GC,3241,-0.70,-116.7,254.6,-6.4,318,3248,0.12,2.00,0.00,0.000,6,0.131,0.024,2534,2288,3483,0,0,0,0,0,0
$GC,3557,-0.66,-116.7,280.6,-8.6,334,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2287,3484,0,0,0,0,0,0
$GC,3865,-0.62,-116.7,305.7,-8.0,348,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2286,3483,0,0,0,0,0,0
$GC,4172,-0.59,-116.7,329.1,-7.8,358,4176,0.15,2.12,0.00,0.000,4,0.183,0.041,2573,3697,3484,0,0,0,0,0,0
$GC,4181,-0.59,-116.7,329.9,-7.9,358,4185,0.00,2.00,0.00,0.000,6,0.000,0.024,2573,2311,3484,0,0,0,0,0,0
$GC,4505,-0.64,-116.7,350.1,-6.1,369,4509,0.00,2.08,0.00,0.000,4,0.000,0.040,2573,3698,3483,0,0,0,0,0,0
$GC,4527,-0.71,-116.7,351.5,-6.3,369,4533,0.12,2.00,0.00,0.000,6,0.130,0.024,2532,2284,3483,0,0,0,0,0,0
$GC,4840,-0.67,-116.7,375.3,-7.8,380,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2284,3483,0,0,0,0,0,0
$GC,5145,-0.64,-116.7,397.9,-7.3,390,5149,0.00,2.12,0.00,0.000,4,0.000,0.040,2531,3697,3483,0,0,0,0,0,0
$GC,5189,-0.64,-116.7,401.3,-7.4,391,5193,0.00,2.03,0.00,0.000,6,0.000,0.023,2532,2302,3483,0,0,0,0,0,0
$GC,5513,-0.61,-116.7,427.2,-8.0,402,5515,0.12,0.00,0.00,0.000,6,0.195,0.000,2564,2297,3483,0,0,0,0,0,0
$GC,5820,-0.65,-116.7,447.7,-6.6,412,5824,0.00,2.10,0.00,0.000,4,0.000,0.041,2564,3698,3483,0,0,0,0,0,0
$GC,5842,-0.69,-116.7,449.1,-6.0,412,5847,0.00,2.00,0.00,0.000,6,0.000,0.023,2564,2290,3483,0,0,0,0,0,0
$GC,6154,-0.73,-116.7,465.9,-5.1,423,6159,0.10,2.12,0.00,0.000,4,0.142,0.041,2529,3696,3483,0,0,0,0,0,0
$GC,6198,-0.73,-116.7,468.7,-6.6,424,6202,0.00,2.00,0.00,0.000,6,0.000,0.024,2530,2288,3483,0,0,0,0,0,0
$GC,6521,-0.73,-116.7,493.4,-8.3,435,6525,0.00,2.12,0.00,0.000,4,0.000,0.041,2529,3706,3483,0,0,0,0,0,0
$GC,6554,-0.73,-116.7,496.1,-8.9,436,6558,0.00,2.00,0.00,0.000,6,0.000,0.024,2530,2301,3483,0,0,0,0,0,0
$GC,6922,-0.73,-116.7,522.8,-7.0,443,6926,0.00,2.10,0.00,0.000,4,0.000,0.041,2529,3698,3482,0,0,0,0,0,0
$GC,6993,-0.73,-116.7,527.8,-6.8,444,6997,0.00,2.03,0.00,0.000,6,0.000,0.023,2530,2298,3483,0,0,0,0,0,0
$GC,7358,-0.73,-116.7,554.1,-7.3,450,7362,0.00,2.10,0.00,0.000,4,0.000,0.041,2529,3697,3481,0,0,0,0,0,0
$GC,7374,-0.73,-116.7,555.3,-7.3,450,7378,0.00,2.03,0.00,0.000,6,0.000,0.024,2529,2306,3482,0,0,0,0,0,0
$GC,7723,-0.73,-116.7,578.0,-6.5,456,7727,0.00,2.10,0.00,0.000,4,0.000,0.041,2529,3702,3481,0,0,0,0,0,0
$GC,7755,-0.73,-116.7,580.5,-7.3,456,7760,0.00,2.05,0.00,0.000,6,0.000,0.024,2529,2296,3481,0,0,0,0,0,0
$GC,8088,-0.73,-116.7,604.3,-7.4,462,8091,0.00,2.10,0.00,0.000,4,0.000,0.042,2529,3694,3480,0,0,0,0,0,0
$GC,8103,-0.73,-116.7,605.6,-7.6,462,8107,0.00,2.05,0.00,0.000,6,0.000,0.025,2529,2297,3480,0,0,0,0,0,0
$GC,8452,-0.73,-116.7,629.8,-6.8,468,8456,0.00,2.12,0.00,0.000,4,0.000,0.043,2529,3701,3478,0,0,0,0,0,0
$GC,8468,-0.73,-116.7,630.9,-6.6,468,8472,0.00,2.05,0.00,0.000,6,0.000,0.025,2529,2304,3478,0,0,0,0,0,0
$GC,8823,-0.73,-116.7,653.7,-6.4,474,8827,0.00,2.10,0.00,0.000,4,0.000,0.043,2530,3695,3477,0,0,0,0,0,0
$GC,8843,-0.73,-116.7,655.2,-7.1,474,8848,0.00,2.05,0.00,0.000,6,0.000,0.025,2529,2300,3477,0,0,0,0,0,0
$GC,9187,-0.73,-116.7,679.2,-7.0,480,9191,0.00,2.15,0.00,0.000,4,0.000,0.044,2529,3704,3476,0,0,0,0,0,0
$GC,9197,-0.73,-116.7,679.9,-7.1,480,9201,0.00,2.08,0.00,0.000,6,0.000,0.026,2529,2297,3475,0,0,0,0,0,0
$GC,9551,-0.73,-116.7,706.4,-7.6,486,9555,0.00,2.12,0.00,0.000,4,0.000,0.044,2529,3700,3474,0,0,0,0,0,0
$GC,9583,-0.73,-116.7,708.9,-7.4,486,9587,0.00,2.08,0.00,0.000,6,0.000,0.026,2530,2295,3474,0,0,0,0,0,0
$GC,9921,-0.73,-116.7,733.1,-7.2,492,9925,0.00,2.12,0.00,0.000,4,0.000,0.044,2529,3697,3472,0,0,0,0,0,0
$GC,9959,-0.73,-116.7,735.7,-7.2,492,9964,0.00,2.05,0.00,0.000,6,0.000,0.026,2529,2304,3472,0,0,0,0,0,0
$GC,10285,-0.73,-116.7,758.2,-6.9,498,10289,0.00,2.10,0.00,0.000,4,0.000,0.044,2529,3694,3471,0,0,0,0,0,0
$GC,10301,-0.73,-116.7,759.4,-6.8,498,10305,0.00,2.05,0.00,0.000,6,0.000,0.027,2529,2303,3471,0,0,0,0,0,0
$GC,10650,-0.73,-116.7,782.2,-6.5,504,10654,0.00,2.12,0.00,0.000,4,0.000,0.044,2529,3703,3469,0,0,0,0,0,0
$GC,10676,-0.73,-116.7,784.2,-7.1,504,10681,0.00,2.08,0.00,0.000,6,0.000,0.027,2529,2302,3469,0,0,0,0,0,0
$GC,11014,-0.73,-116.7,806.8,-6.8,510,11018,0.00,2.12,0.00,0.000,4,0.000,0.044,2529,3701,3469,0,0,0,0,0,0
$GC,11030,-0.73,-116.7,807.8,-6.9,510,11034,0.00,2.08,0.00,0.000,6,0.000,0.027,2529,2301,3469,0,0,0,0,0,0
$GC,11379,-0.73,-116.7,831.8,-6.9,516,11383,0.00,2.12,0.00,0.000,4,0.000,0.044,2529,3700,3467,0,0,0,0,0,0
$GC,11406,-0.73,-116.7,833.6,-7.3,516,11410,0.00,2.05,0.00,0.000,6,0.000,0.027,2529,2290,3467,0,0,0,0,0,0
$GC,11743,-0.73,-116.7,856.5,-6.8,522,11747,0.00,2.12,0.00,0.000,4,0.000,0.044,2529,3693,3466,0,0,0,0,0,0
$GC,11786,-0.73,-116.7,859.6,-7.1,522,11790,0.00,2.05,0.00,0.000,6,0.000,0.027,2529,2305,3466,0,0,0,0,0,0
$GC,12108,-0.73,-116.7,881.2,-6.8,528,12112,0.00,2.12,0.00,0.000,4,0.000,0.044,2529,3693,3466,0,0,0,0,0,0
$GC,12129,-0.73,-116.7,883.0,-7.5,528,12133,0.00,2.08,0.00,0.000,6,0.000,0.027,2529,2292,3465,0,0,0,0,0,0
$GC,12477,-0.73,-116.7,907.0,-6.9,534,12481,0.00,2.12,0.00,0.000,4,0.000,0.045,2530,3693,3464,0,0,0,0,0,0
$GC,12515,-0.73,-116.7,909.6,-7.2,534,12519,0.00,2.08,0.00,0.000,6,0.000,0.027,2529,2293,3464,0,0,0,0,0,0
$GC,12842,-0.73,-116.7,931.9,-6.9,540,12846,0.00,2.12,0.00,0.000,4,0.000,0.045,2529,3692,3464,0,0,0,0,0,0
$GC,12874,-0.73,-116.7,934.2,-7.2,540,12878,0.00,2.05,0.00,0.000,6,0.000,0.027,2529,2305,3463,0,0,0,0,0,0
$GC,13206,-0.73,-116.7,956.3,-6.7,546,13210,0.00,2.12,0.00,0.000,4,0.000,0.045,2529,3698,3463,0,0,0,0,0,0
$GC,13233,-0.73,-116.7,958.3,-6.7,546,13237,0.00,2.05,0.00,0.000,6,0.000,0.028,2529,2289,3462,0,0,0,0,0,0
$GC,13570,-0.73,-116.7,980.5,-6.6,552,13574,0.00,2.12,0.00,0.000,4,0.000,0.044,2529,3693,3462,0,0,0,0,0,0
$GC,13620,-0.73,-116.7,984.0,-6.3,552,13624,0.00,2.08,0.00,0.000,6,0.000,0.027,2529,2292,3462,0,0,0,0,0,0
$STATE,13751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13751,begin apogee
$GC,13756,-0.24,0.0,992.5,6.5,555,13857,0.52,0.00,97.65,1.543,6,0.169,0.000,2684,2650,3006,0,0,0,0,0,0
$STATE,13858,end apogee,CONTROL_FINISHED_OK
$STATE,13858,begin climb
$GC,13860,0.80,116.7,994.3,0.0,556,13974,1.08,2.40,105.40,1.451,4,0.110,0.048,3019,4042,2529,0,0,0,0,0,0
$GC,14065,0.54,116.7,984.6,9.1,560,14070,0.35,2.17,0.00,0.000,6,0.180,0.027,2941,2649,2522,0,0,0,0,0,0
$GC,14430,0.56,129.9,961.3,6.3,566,14443,0.00,0.00,11.25,1.375,6,0.000,0.000,2941,2649,2476,0,0,0,0,0,0
$GC,14733,0.56,135.3,941.4,6.7,571,14741,0.00,0.00,6.05,1.229,6,0.000,0.000,2941,2649,2454,0,0,0,0,0,0
$GC,15036,0.57,145.5,921.8,6.5,576,15049,0.00,0.00,10.88,1.375,6,0.000,0.000,2941,2649,2412,0,0,0,0,0,0
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$STATE,26810,end climb,SURFACE_DEPTH_REACHED
$STATE,26811,begin surface coast
$FINISH,2.2,1.012914
$STATE,26846,end surface coast,CONTROL_FINISHED_OK
$STATE,26846,begin surface
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$TCM_TEMP,20.40
$XPDR_PINGS,0
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$10V_AH,10.1,20.360
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,235124
$DATA_FILE_SIZE,60302,1092
$CAP_FILE_SIZE,214061,0
$CFSIZE,260165632,239726592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120,310.0,1
$GPS,251109,054601,6328.530,239.816,41,1.5,42,-3.5