version: 66.06
glider: 140
mission: 8
dive: 92
start: 10 27 109 5 34 25
data:
$ID,140
$MISSION,8
$DIVE,92
$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,-46000.668
$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,68
$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
$GPS1,052837,6306.383,313.884,36,0.9,36,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.52
$_SM_ANGLEo,-64.4
$GPS2,053402,6306.368,313.833,12,1.3,12,-3.1
$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,111.5,33890,-13.7,-6.875
$D_GRID,853
$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,-7.72,0.000,2,0.000,0.000,212,2277,2044,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.4,-0.0,1,122,9.15,2.12,-75.43,0.000,4,0.252,0.054,2504,909,3483,0,0,0,0,0,0
$GC,334,-0.65,-116.7,26.8,-13.4,56,341,0.15,2.10,0.00,0.000,6,0.183,0.029,2549,2299,3484,0,0,0,0,0,0
$GC,676,-0.61,-116.7,60.1,-9.5,117,680,0.00,2.08,0.00,0.000,4,0.000,0.035,2550,908,3484,0,0,0,0,0,0
$GC,708,-0.56,-116.7,63.5,-9.4,118,715,0.08,2.08,0.00,0.000,6,0.177,0.028,2574,2298,3485,0,0,0,0,0,0
$GC,1024,-0.60,-116.7,89.7,-7.6,134,1028,0.00,2.08,0.00,0.000,4,0.000,0.035,2575,904,3485,0,0,0,0,0,0
$GC,1087,-0.60,-116.7,95.1,-9.1,137,1091,0.00,2.05,0.00,0.000,6,0.000,0.028,2575,2302,3485,0,0,0,0,0,0
$GC,1415,-0.63,-116.7,119.1,-6.9,153,1419,0.00,2.05,0.00,0.000,4,0.000,0.041,2575,3697,3486,0,0,0,0,0,0
$GC,1458,-0.68,-116.7,122.3,-7.0,155,1462,0.00,2.00,0.00,0.000,6,0.000,0.024,2575,2279,3485,0,0,0,0,0,0
$GC,1787,-0.72,-116.7,144.2,-6.4,171,1791,0.12,2.15,0.00,0.000,4,0.134,0.041,2535,3705,3486,0,0,0,0,0,0
$GC,1827,-0.67,-116.7,147.4,-8.1,173,1831,0.00,2.00,0.00,0.000,6,0.000,0.025,2535,2303,3486,0,0,0,0,0,0
$GC,2160,-0.63,-116.7,175.0,-8.5,189,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2302,3486,0,0,0,0,0,0
$GC,2467,-0.58,-116.7,201.4,-8.6,204,2469,0.15,0.00,0.00,0.000,6,0.189,0.000,2574,2299,3487,0,0,0,0,0,0
$GC,2778,-0.62,-116.7,221.4,-6.4,219,2782,0.00,2.08,0.00,0.000,4,0.000,0.041,2574,3698,3487,0,0,0,0,0,0
$GC,2795,-0.67,-116.7,222.6,-6.3,220,2799,0.00,1.98,0.00,0.000,6,0.000,0.025,2574,2299,3487,0,0,0,0,0,0
$GC,3128,-0.72,-116.7,242.8,-5.8,236,3132,0.12,2.10,0.00,0.000,4,0.134,0.041,2533,3698,3487,0,0,0,0,0,0
$GC,3178,-0.68,-116.7,246.6,-7.5,238,3181,0.00,1.98,0.00,0.000,6,0.000,0.024,2533,2299,3486,0,0,0,0,0,0
$GC,3505,-0.64,-116.7,272.1,-8.1,254,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2296,3486,0,0,0,0,0,0
$GC,3814,-0.61,-116.7,296.0,-7.9,269,3816,0.12,0.00,0.00,0.000,6,0.196,0.000,2565,2293,3487,0,0,0,0,0,0
$GC,4120,-0.61,-116.7,316.7,-6.8,280,4124,0.00,2.10,0.00,0.000,4,0.000,0.042,2565,3703,3486,0,0,0,0,0,0
$GC,4158,-0.66,-116.7,319.5,-6.9,281,4162,0.00,2.03,0.00,0.000,6,0.000,0.025,2565,2297,3486,0,0,0,0,0,0
$GC,4488,-0.69,-116.7,340.9,-6.4,292,4489,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2296,3486,0,0,0,0,0,0
$GC,4795,-0.72,-116.7,361.0,-6.6,302,4799,0.00,2.08,0.00,0.000,4,0.000,0.042,2565,3697,3485,0,0,0,0,0,0
$GC,4878,-0.77,-116.7,366.9,-7.2,304,4883,0.15,1.98,0.00,0.000,6,0.127,0.025,2516,2289,3485,0,0,0,0,0,0
$GC,5201,-0.72,-116.7,394.8,-8.8,315,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2288,3484,0,0,0,0,0,0
$GC,5507,-0.65,-116.7,420.9,-8.6,325,5512,0.12,2.00,0.00,0.000,4,0.194,0.038,2547,929,3483,0,0,0,0,0,0
$GC,5528,-0.62,-116.7,422.8,-8.7,325,5532,0.00,2.00,0.00,0.000,6,0.000,0.030,2547,2305,3483,0,0,0,0,0,0
$GC,5846,-0.62,-116.7,448.4,-7.9,336,5850,0.00,2.05,0.00,0.000,4,0.000,0.043,2547,3701,3482,0,0,0,0,0,0
$GC,5867,-0.62,-116.7,450.3,-8.3,336,5871,0.00,2.00,0.00,0.000,6,0.000,0.025,2548,2310,3483,0,0,0,0,0,0
$GC,6185,-0.62,-116.7,472.2,-6.7,347,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2309,3482,0,0,0,0,0,0
$GC,6491,-0.62,-116.7,492.2,-6.5,357,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2309,3481,0,0,0,0,0,0
$GC,6795,-0.62,-116.7,513.9,-7.3,364,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2309,3480,0,0,0,0,0,0
$GC,7098,-0.62,-116.7,537.9,-7.9,369,7102,0.00,2.08,0.00,0.000,4,0.000,0.044,2547,3698,3479,0,0,0,0,0,0
$GC,7114,-0.62,-116.7,539.3,-8.2,369,7118,0.00,2.03,0.00,0.000,6,0.000,0.027,2547,2308,3479,0,0,0,0,0,0
$GC,7462,-0.62,-116.7,567.0,-7.8,375,7466,0.00,2.10,0.00,0.000,4,0.000,0.044,2547,3706,3477,0,0,0,0,0,0
$GC,7489,-0.62,-116.7,569.2,-8.1,375,7493,0.00,2.05,0.00,0.000,6,0.000,0.028,2547,2302,3477,0,0,0,0,0,0
$GC,7827,-0.62,-116.7,596.2,-8.2,381,7830,0.00,2.12,0.00,0.000,4,0.000,0.045,2547,3699,3476,0,0,0,0,0,0
$GC,7859,-0.62,-116.7,599.2,-9.0,381,7863,0.00,2.05,0.00,0.000,6,0.000,0.027,2547,2295,3476,0,0,0,0,0,0
$GC,8191,-0.62,-116.7,626.4,-8.2,387,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2295,3475,0,0,0,0,0,0
$GC,8494,-0.62,-116.7,649.3,-7.5,392,8498,0.00,2.10,0.00,0.000,4,0.000,0.044,2547,3697,3474,0,0,0,0,0,0
$GC,8509,-0.62,-116.7,650.5,-7.4,392,8513,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2298,3474,0,0,0,0,0,0
$GC,8858,-0.62,-116.7,675.1,-6.9,398,8859,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2297,3473,0,0,0,0,0,0
$GC,9161,-0.62,-116.7,694.8,-6.5,403,9165,0.00,2.10,0.00,0.000,4,0.000,0.044,2547,3697,3471,0,0,0,0,0,0
$GC,9187,-0.62,-116.7,696.7,-7.2,403,9192,0.00,2.05,0.00,0.000,6,0.000,0.028,2547,2302,3471,0,0,0,0,0,0
$GC,9525,-0.62,-116.7,718.7,-6.7,409,9529,0.00,2.12,0.00,0.000,4,0.000,0.046,2547,3697,3471,0,0,0,0,0,0
$GC,9546,-0.62,-116.7,720.2,-6.7,409,9550,0.00,2.05,0.00,0.000,6,0.000,0.028,2547,2297,3471,0,0,0,0,0,0
$GC,9889,-0.62,-116.7,743.7,-6.9,415,9893,0.00,2.10,0.00,0.000,4,0.000,0.045,2547,3697,3470,0,0,0,0,0,0
$GC,9921,-0.62,-116.7,746.1,-7.7,415,9925,0.00,2.05,0.00,0.000,6,0.000,0.028,2547,2302,3470,0,0,0,0,0,0
$GC,10252,-0.62,-116.7,769.2,-6.9,421,10256,0.00,2.12,0.00,0.000,4,0.000,0.046,2547,3697,3469,0,0,0,0,0,0
$GC,10268,-0.62,-116.7,770.3,-6.6,421,10272,0.00,2.05,0.00,0.000,6,0.000,0.028,2547,2302,3469,0,0,0,0,0,0
$GC,10617,-0.62,-116.7,793.0,-6.4,427,10621,0.00,2.12,0.00,0.000,4,0.000,0.045,2547,3704,3469,0,0,0,0,0,0
$GC,10643,-0.62,-116.7,794.8,-6.9,427,10647,0.00,2.08,0.00,0.000,6,0.000,0.028,2546,2295,3468,0,0,0,0,0,0
$GC,10987,-0.62,-116.7,815.9,-6.2,433,10991,0.00,2.12,0.00,0.000,4,0.000,0.046,2547,3703,3468,0,0,0,0,0,0
$GC,11020,-0.65,-116.7,818.2,-6.5,433,11023,0.00,2.03,0.00,0.000,6,0.000,0.028,2547,2299,3468,0,0,0,0,0,0
$GC,11351,-0.65,-116.7,838.1,-6.1,439,11355,0.00,2.10,0.00,0.000,4,0.000,0.046,2547,3697,3468,0,0,0,0,0,0
$GC,11384,-0.69,-116.7,840.2,-6.3,439,11388,0.00,2.03,0.00,0.000,6,0.000,0.028,2547,2296,3467,0,0,0,0,0,0
$STATE,11592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11592,begin apogee
$GC,11598,-0.24,0.0,853.2,6.1,443,11696,0.45,0.00,95.68,1.471,6,0.173,0.000,2682,2642,3006,0,0,0,0,0,0
$STATE,11697,end apogee,CONTROL_FINISHED_OK
$STATE,11697,begin climb
$GC,11699,0.80,116.7,855.0,0.0,444,11811,1.10,2.40,102.03,1.377,4,0.123,0.048,3019,4039,2529,0,0,0,0,0,0
$GC,11861,0.55,116.7,848.8,9.6,447,11866,0.32,2.17,0.00,0.000,6,0.190,0.028,2948,2653,2523,0,0,0,0,0,0
$GC,12210,0.53,134.0,826.9,6.2,453,12226,0.00,0.00,14.68,1.328,6,0.000,0.000,2949,2653,2459,0,0,0,0,0,0
$GC,12513,0.55,142.6,807.4,6.5,458,12527,0.00,2.25,8.77,1.279,4,0.000,0.048,2940,4035,2423,0,0,0,0,0,0
$GC,12572,0.48,142.6,803.0,7.1,458,12578,0.00,2.12,0.00,0.000,6,0.000,0.028,2949,2652,2422,0,0,0,0,0,0
$GC,12881,0.49,146.8,782.3,6.7,464,12888,0.00,0.00,4.95,1.095,6,0.000,0.000,2949,2652,2407,0,0,0,0,0,0
$GC,13184,0.50,157.2,762.6,6.5,469,13197,0.00,0.00,10.57,1.315,6,0.000,0.000,2949,2652,2365,0,0,0,0,0,0
$GC,13488,0.51,167.3,742.9,6.5,474,13503,0.00,2.20,10.50,1.305,4,0.000,0.046,2949,4042,2322,0,0,0,0,0,0
$GC,13553,0.45,167.3,737.9,8.0,475,13558,0.17,2.08,0.00,0.000,6,0.190,0.028,2913,2648,2321,0,0,0,0,0,0
$GC,13914,0.56,196.0,717.5,5.7,481,13945,0.00,2.15,26.15,1.341,4,0.000,0.037,2922,1264,2206,0,0,0,0,0,0
$GC,13979,0.68,224.4,713.6,5.7,482,14013,0.20,2.15,26.55,1.298,6,0.103,0.035,2991,2648,2090,0,0,0,0,0,0
$GC,14340,0.64,224.4,680.5,9.4,488,14344,0.00,2.15,0.00,0.000,4,0.000,0.048,2991,4043,2082,0,0,0,0,0,0
$GC,14428,0.55,224.4,670.0,11.8,489,14433,0.22,2.08,0.00,0.000,6,0.185,0.028,2943,2650,2082,0,0,0,0,0,0
$GC,14765,0.61,224.4,641.5,8.2,495,14766,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2650,2079,0,0,0,0,0,0
$GC,15068,0.66,224.4,618.6,7.5,500,15073,0.12,2.10,0.00,0.000,4,0.126,0.039,2993,1248,2078,0,0,0,0,0,0
$GC,15106,0.66,224.4,615.2,9.0,500,15110,0.00,2.15,0.00,0.000,6,0.000,0.035,2992,2645,2078,0,0,0,0,0,0
$GC,15433,0.63,224.4,586.0,9.0,506,15437,0.00,2.12,0.00,0.000,4,0.000,0.048,2993,4049,2077,0,0,0,0,0,0
$GC,15488,0.54,224.4,579.8,11.0,506,15494,0.22,2.08,0.00,0.000,6,0.184,0.029,2941,2631,2077,0,0,0,0,0,0
$GC,15797,0.61,224.4,556.0,7.6,512,15801,0.00,2.05,0.00,0.000,4,0.000,0.040,2949,1259,2077,0,0,0,0,0,0
$GC,15836,0.68,224.4,553.0,7.8,512,15841,0.08,2.12,0.00,0.000,6,0.097,0.035,2985,2653,2077,0,0,0,0,0,0
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$STATE,21911,end climb,SURFACE_DEPTH_REACHED
$STATE,21911,begin surface coast
$FINISH,2.8,1.011436
$STATE,21956,end surface coast,CONTROL_FINISHED_OK
$STATE,21956,begin surface
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$TCM_TEMP,14.60
$XPDR_PINGS,0
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$10V_AH,10.1,10.513
$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,233916
$DATA_FILE_SIZE,47651,845
$CAP_FILE_SIZE,178175,0
$CFSIZE,260165632,247517184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092,328.6,1
$GPS,271009,114225,6306.363,318.277,40,1.1,40,-3.1