version: 66.06
glider: 140
mission: 8
dive: 269
start: 12 21 109 0 30 38
data:
$ID,140
$MISSION,8
$DIVE,269
$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,-49289.258
$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,69
$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
$GPS1,002407,6458.784,-40.832,28,0.9,29,-5.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.65
$_SM_ANGLEo,-56.1
$GPS2,003014,6458.756,-40.865,16,1.3,16,-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,139.2,317050,-13.7,-6.875
$D_GRID,2849
$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,-7.22,0.000,2,0.000,0.000,210,2285,2029,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.8,-0.0,1,124,8.77,2.15,-80.28,0.000,4,0.221,0.048,2506,905,3483,0,0,0,0,0,0
$GC,263,-0.68,-116.7,19.6,-8.3,43,269,0.15,2.10,0.00,0.000,6,0.203,0.028,2542,2313,3484,0,0,0,0,0,0
$GC,598,-0.68,-116.7,51.7,-7.9,104,604,0.00,2.17,0.00,0.000,4,0.000,0.036,2543,908,3484,0,0,0,0,0,0
$GC,618,-0.68,-116.7,53.0,-7.4,107,624,0.00,2.08,0.00,0.000,6,0.000,0.028,2543,2305,3485,0,0,0,0,0,0
$GC,958,-0.68,-116.7,75.0,-5.0,168,964,0.00,2.15,0.00,0.000,4,0.000,0.035,2543,913,3485,0,0,0,0,0,0
$GC,971,-0.68,-116.7,75.8,-5.2,170,977,0.00,2.05,0.00,0.000,6,0.000,0.028,2543,2301,3485,0,0,0,0,0,0
$GC,1313,-0.68,-116.7,96.4,-7.2,231,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2301,3486,0,0,0,0,0,0
$GC,1663,-0.68,-116.7,128.6,-10.1,283,1667,0.00,2.10,0.00,0.000,4,0.000,0.034,2543,904,3486,0,0,0,0,0,0
$GC,1684,-0.68,-116.7,130.8,-9.7,284,1688,0.00,2.10,0.00,0.000,6,0.000,0.028,2543,2301,3486,0,0,0,0,0,0
$GC,2010,-0.68,-116.7,154.3,-7.0,300,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2300,3486,0,0,0,0,0,0
$GC,2322,-0.68,-116.7,175.6,-6.7,315,2326,0.00,2.08,0.00,0.000,4,0.000,0.034,2543,911,3486,0,0,0,0,0,0
$GC,2367,-0.68,-116.7,179.0,-7.0,317,2371,0.00,2.05,0.00,0.000,6,0.000,0.028,2543,2303,3486,0,0,0,0,0,0
$GC,2687,-0.68,-116.7,203.1,-8.4,333,2691,0.00,2.10,0.00,0.000,4,0.000,0.034,2543,904,3487,0,0,0,0,0,0
$GC,2703,-0.68,-116.7,204.6,-8.3,334,2707,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2303,3487,0,0,0,0,0,0
$GC,3029,-0.68,-116.7,230.2,-7.5,350,3033,0.00,2.08,0.00,0.000,4,0.000,0.035,2542,911,3487,0,0,0,0,0,0
$GC,3051,-0.68,-116.7,232.0,-8.0,351,3055,0.00,2.05,0.00,0.000,6,0.000,0.028,2543,2311,3487,0,0,0,0,0,0
$GC,3378,-0.68,-116.7,257.9,-7.8,367,3382,0.00,2.10,0.00,0.000,4,0.000,0.034,2543,902,3487,0,0,0,0,0,0
$GC,3394,-0.68,-116.7,259.1,-7.6,368,3398,0.00,2.05,0.00,0.000,6,0.000,0.028,2543,2301,3487,0,0,0,0,0,0
$GC,3719,-0.68,-116.7,283.5,-7.6,384,3723,0.00,2.08,0.00,0.000,4,0.000,0.035,2543,912,3487,0,0,0,0,0,0
$GC,3736,-0.68,-116.7,284.8,-7.6,385,3739,0.00,2.05,0.00,0.000,6,0.000,0.028,2543,2307,3486,0,0,0,0,0,0
$GC,4051,-0.68,-116.7,307.2,-7.0,399,4055,0.00,2.08,0.00,0.000,4,0.000,0.041,2543,3708,3486,0,0,0,0,0,0
$GC,4066,-0.68,-116.7,308.3,-6.7,399,4070,0.00,2.05,0.00,0.000,6,0.000,0.024,2543,2293,3486,0,0,0,0,0,0
$GC,4385,-0.68,-116.7,328.7,-6.3,410,4389,0.00,2.12,0.00,0.000,4,0.000,0.041,2543,3698,3486,0,0,0,0,0,0
$GC,4435,-0.71,-116.7,331.9,-6.6,411,4438,0.00,2.00,0.00,0.000,6,0.000,0.024,2543,2290,3486,0,0,0,0,0,0
$GC,4752,-0.71,-116.7,353.7,-7.1,422,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2287,3486,0,0,0,0,0,0
$GC,5059,-0.71,-116.7,374.9,-6.7,432,5063,0.00,2.15,0.00,0.000,4,0.000,0.041,2543,3704,3485,0,0,0,0,0,0
$GC,5114,-0.75,-116.7,378.8,-6.9,433,5120,0.00,2.00,0.00,0.000,6,0.000,0.024,2543,2299,3485,0,0,0,0,0,0
$GC,5426,-0.75,-116.7,399.4,-6.6,444,5430,0.00,2.12,0.00,0.000,4,0.000,0.041,2543,3697,3484,0,0,0,0,0,0
$GC,5489,-0.79,-116.7,403.7,-6.9,446,5493,0.00,2.00,0.00,0.000,6,0.000,0.025,2543,2301,3484,0,0,0,0,0,0
$GC,5828,-0.79,-116.7,426.4,-6.8,457,5832,0.00,2.12,0.00,0.000,4,0.000,0.041,2543,3697,3483,0,0,0,0,0,0
$GC,5891,-0.83,-116.7,430.7,-7.3,459,5896,0.15,2.00,0.00,0.000,6,0.130,0.025,2493,2297,3483,0,0,0,0,0,0
$GC,6225,-0.76,-116.7,460.2,-8.9,470,6229,0.00,2.15,0.00,0.000,4,0.000,0.041,2492,3705,3482,0,0,0,0,0,0
$GC,6235,-0.68,-116.7,461.3,-9.0,470,6240,0.12,2.05,0.00,0.000,6,0.165,0.025,2543,2307,3482,0,0,0,0,0,0
$GC,6559,-0.68,-116.7,485.1,-7.3,481,6562,0.00,2.12,0.00,0.000,4,0.000,0.041,2543,3705,3481,0,0,0,0,0,0
$GC,6591,-0.72,-116.7,487.7,-7.8,482,6595,0.00,2.05,0.00,0.000,6,0.000,0.025,2543,2301,3481,0,0,0,0,0,0
$GC,6955,-0.76,-116.7,514.2,-7.2,491,6959,0.00,2.12,0.00,0.000,4,0.000,0.042,2544,3696,3480,0,0,0,0,0,0
$GC,7033,-0.80,-116.7,520.0,-7.7,492,7038,0.12,2.00,0.00,0.000,6,0.141,0.025,2503,2296,3480,0,0,0,0,0,0
$GC,7381,-0.75,-116.7,550.0,-8.7,498,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2295,3479,0,0,0,0,0,0
$GC,7684,-0.70,-116.7,576.2,-8.7,503,7686,0.12,0.00,0.00,0.000,6,0.191,0.000,2535,2292,3478,0,0,0,0,0,0
$GC,7987,-0.70,-116.7,598.6,-7.4,508,7991,0.00,2.15,0.00,0.000,4,0.000,0.042,2535,3702,3478,0,0,0,0,0,0
$GC,8007,-0.70,-116.7,600.2,-7.1,508,8012,0.00,2.05,0.00,0.000,6,0.000,0.025,2535,2311,3478,0,0,0,0,0,0
$GC,8351,-0.70,-116.7,624.3,-7.0,514,8355,0.00,2.12,0.00,0.000,4,0.000,0.042,2534,3702,3477,0,0,0,0,0,0
$GC,8389,-0.73,-116.7,627.1,-7.8,514,8393,0.00,2.05,0.00,0.000,6,0.000,0.025,2534,2288,3477,0,0,0,0,0,0
$GC,8715,-0.73,-116.7,649.3,-6.8,520,8719,0.00,2.15,0.00,0.000,4,0.000,0.042,2535,3697,3476,0,0,0,0,0,0
$GC,8764,-0.76,-116.7,652.8,-7.3,520,8768,0.00,2.05,0.00,0.000,6,0.000,0.025,2535,2301,3476,0,0,0,0,0,0
$GC,9079,-0.76,-116.7,674.3,-6.9,526,9083,0.00,2.15,0.00,0.000,4,0.000,0.043,2535,3702,3476,0,0,0,0,0,0
$GC,9117,-0.80,-116.7,677.1,-7.0,526,9121,0.00,2.08,0.00,0.000,6,0.000,0.025,2535,2296,3475,0,0,0,0,0,0
$GC,9448,-0.80,-116.7,698.5,-6.5,532,9452,0.00,2.15,0.00,0.000,4,0.000,0.042,2535,3704,3475,0,0,0,0,0,0
$GC,9487,-0.80,-116.7,701.2,-6.4,532,9491,0.00,2.05,0.00,0.000,6,0.000,0.026,2535,2292,3475,0,0,0,0,0,0
$GC,9813,-0.80,-116.7,721.9,-6.3,538,9817,0.00,2.15,0.00,0.000,4,0.000,0.042,2535,3697,3475,0,0,0,0,0,0
$GC,9851,-0.83,-116.7,724.4,-6.7,538,9856,0.12,2.05,0.00,0.000,6,0.138,0.026,2496,2288,3474,0,0,0,0,0,0
$GC,10171,-0.77,-116.7,748.7,-7.7,544,10175,0.00,2.15,0.00,0.000,4,0.000,0.042,2495,3694,3473,0,0,0,0,0,0
$GC,10187,-0.71,-116.7,750.1,-7.6,544,10192,0.08,2.08,0.00,0.000,6,0.153,0.027,2530,2296,3473,0,0,0,0,0,0
$GC,10535,-0.71,-116.7,772.2,-6.4,550,10539,0.00,2.15,0.00,0.000,4,0.000,0.043,2531,3695,3473,0,0,0,0,0,0
$GC,10574,-0.71,-116.7,774.7,-6.1,550,10578,0.00,2.03,0.00,0.000,6,0.000,0.027,2531,2302,3473,0,0,0,0,0,0
$GC,10905,-0.71,-116.7,794.5,-6.0,556,10909,0.00,2.15,0.00,0.000,4,0.000,0.044,2531,3695,3473,0,0,0,0,0,0
$GC,10961,-0.75,-116.7,797.9,-6.7,556,10967,0.00,2.05,0.00,0.000,6,0.000,0.026,2531,2286,3473,0,0,0,0,0,0
$GC,11270,-0.75,-116.7,816.3,-6.0,562,11274,0.00,2.15,0.00,0.000,4,0.000,0.043,2531,3695,3472,0,0,0,0,0,0
$GC,11319,-0.78,-116.7,819.3,-6.2,562,11323,0.00,2.03,0.00,0.000,6,0.000,0.027,2531,2302,3472,0,0,0,0,0,0
$GC,11634,-0.78,-116.7,838.8,-6.3,568,11638,0.00,2.17,0.00,0.000,4,0.000,0.044,2531,3697,3472,0,0,0,0,0,0
$GC,11673,-0.81,-116.7,841.4,-6.7,568,11677,0.00,2.05,0.00,0.000,6,0.000,0.026,2531,2292,3472,0,0,0,0,0,0
$GC,12004,-0.81,-116.7,862.2,-6.2,574,12008,0.00,2.15,0.00,0.000,4,0.000,0.043,2531,3695,3472,0,0,0,0,0,0
$GC,12060,-0.85,-116.7,865.8,-6.5,574,12068,0.12,2.05,0.00,0.000,6,0.142,0.027,2491,2285,3471,0,0,0,0,0,0
$GC,12369,-0.79,-116.7,890.2,-8.0,580,12373,0.00,2.17,0.00,0.000,4,0.000,0.043,2490,3704,3471,0,0,0,0,0,0
$GC,12379,-0.73,-116.7,891.1,-7.9,580,12384,0.15,2.08,0.00,0.000,6,0.182,0.027,2528,2281,3471,0,0,0,0,0,0
$GC,12733,-0.73,-116.7,913.9,-6.4,586,12737,0.00,2.17,0.00,0.000,4,0.000,0.043,2528,3701,3470,0,0,0,0,0,0
$GC,12772,-0.76,-116.7,916.5,-6.6,586,12776,0.00,2.05,0.00,0.000,6,0.000,0.027,2529,2293,3471,0,0,0,0,0,0
$GC,13104,-0.76,-116.7,937.0,-6.2,592,13107,0.00,2.15,0.00,0.000,4,0.000,0.043,2529,3694,3470,0,0,0,0,0,0
$GC,13154,-0.79,-116.7,940.3,-6.4,592,13158,0.00,2.05,0.00,0.000,6,0.000,0.027,2528,2289,3470,0,0,0,0,0,0
$GC,13463,-0.79,-116.7,959.5,-6.3,597,13467,0.00,2.15,0.00,0.000,4,0.000,0.043,2529,3695,3470,0,0,0,0,0,0
$GC,13513,-0.83,-116.7,962.8,-6.5,597,13517,0.00,2.05,0.00,0.000,6,0.000,0.026,2528,2290,3470,0,0,0,0,0,0
$GC,13822,-0.83,-116.7,981.9,-6.2,602,13826,0.00,2.15,0.00,0.000,4,0.000,0.043,2529,3696,3470,0,0,0,0,0,0
$GC,13865,-0.87,-116.7,984.7,-7.1,602,13870,0.12,2.08,0.00,0.000,6,0.142,0.027,2489,2270,3469,0,0,0,0,0,0
$STATE,13940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13940,begin apogee
$GC,13946,-0.24,0.0,990.4,7.6,604,14051,0.68,0.00,101.75,1.552,6,0.170,0.000,2684,2641,3006,0,0,0,0,0,0
$STATE,14052,end apogee,CONTROL_FINISHED_OK
$STATE,14052,begin climb
$GC,14054,0.80,116.7,992.3,0.0,605,14174,1.08,2.50,108.95,1.454,4,0.110,0.045,3015,4045,2529,0,0,0,0,0,0
$GC,14258,0.57,116.7,983.4,8.6,609,14263,0.28,2.20,0.00,0.000,6,0.172,0.026,2957,2649,2522,0,0,0,0,0,0
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$STATE,26512,end climb,SURFACE_DEPTH_REACHED
$STATE,26512,begin surface coast
$FINISH,2.9,1.012182
$STATE,26552,end surface coast,CONTROL_FINISHED_OK
$STATE,26552,begin surface
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$TCM_TEMP,19.60
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$10V_AH,9.8,29.581
$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,241376
$DATA_FILE_SIZE,63374,1090
$CAP_FILE_SIZE,227812,0
$CFSIZE,260165632,232501248
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016,225.9,1
$GPS,211209,075537,6456.289,-36.228,36,1.0,37,-5.6