version: 66.06
glider: 140
mission: 8
dive: 175
start: 11 21 109 9 15 37
data:
$ID,140
$MISSION,8
$DIVE,175
$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,-47471.406
$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,88
$R_STBD_OVSHOOT,42
$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
$GPS1,090746,6350.126,127.857,49,2.5,69,-4.2
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,3.37
$_SM_ANGLEo,-53.8
$GPS2,091516,6350.164,128.118,13,2.1,32,-4.2
$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,131.4,151891,-13.7,-6.875
$D_GRID,1842
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.80,-116.7,0.0,0.0,0,25,0.00,0.00,-6.78,0.000,2,0.000,0.000,212,2261,2018,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.4,-0.0,1,124,8.70,2.22,-82.18,0.000,4,0.225,0.053,2501,3701,3481,0,0,0,0,0,0
$GC,346,-0.67,-116.7,27.9,-12.3,58,354,0.12,2.05,0.00,0.000,6,0.171,0.024,2540,2292,3483,0,0,0,0,0,0
$GC,685,-0.63,-116.7,50.7,-6.6,119,691,0.00,2.15,0.00,0.000,4,0.000,0.040,2540,3706,3483,0,0,0,0,0,0
$GC,713,-0.60,-116.7,52.6,-6.5,124,720,0.08,2.05,0.00,0.000,6,0.179,0.024,2564,2308,3483,0,0,0,0,0,0
$GC,1054,-0.60,-116.7,76.2,-7.0,185,1060,0.00,2.12,0.00,0.000,4,0.000,0.040,2565,3710,3484,0,0,0,0,0,0
$GC,1079,-0.60,-116.7,78.2,-8.6,189,1085,0.00,2.03,0.00,0.000,6,0.000,0.025,2566,2307,3483,0,0,0,0,0,0
$GC,1420,-0.60,-116.7,105.8,-6.9,250,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2306,3484,0,0,0,0,0,0
$GC,1752,-0.60,-116.7,128.9,-7.1,293,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2306,3484,0,0,0,0,0,0
$GC,2061,-0.60,-116.7,149.8,-6.7,308,2064,0.00,2.12,0.00,0.000,4,0.000,0.041,2565,3716,3485,0,0,0,0,0,0
$GC,2079,-0.60,-116.7,151.0,-6.4,309,2082,0.00,2.03,0.00,0.000,6,0.000,0.025,2565,2301,3484,0,0,0,0,0,0
$GC,2412,-0.60,-116.7,170.8,-5.8,325,2416,0.00,2.12,0.00,0.000,4,0.000,0.040,2565,3710,3485,0,0,0,0,0,0
$GC,2455,-0.64,-116.7,173.4,-5.5,327,2459,0.00,2.03,0.00,0.000,6,0.000,0.024,2565,2285,3484,0,0,0,0,0,0
$GC,2784,-0.64,-116.7,193.6,-6.7,343,2788,0.00,2.12,0.00,0.000,4,0.000,0.040,2565,3708,3484,0,0,0,0,0,0
$GC,2824,-0.68,-116.7,196.5,-6.9,345,2828,0.00,2.03,0.00,0.000,6,0.000,0.024,2565,2286,3485,0,0,0,0,0,0
$GC,3156,-0.68,-116.7,217.9,-6.2,361,3160,0.00,2.12,0.00,0.000,4,0.000,0.040,2565,3706,3485,0,0,0,0,0,0
$GC,3200,-0.72,-116.7,220.7,-6.3,363,3203,0.00,2.00,0.00,0.000,6,0.000,0.024,2564,2295,3485,0,0,0,0,0,0
$GC,3526,-0.72,-116.7,240.9,-6.4,379,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2293,3485,0,0,0,0,0,0
$GC,3836,-0.75,-116.7,260.0,-6.1,394,3840,0.12,2.15,0.00,0.000,4,0.135,0.041,2525,3712,3485,0,0,0,0,0,0
$GC,3907,-0.71,-116.7,265.6,-7.8,397,3912,0.00,2.05,0.00,0.000,6,0.000,0.023,2525,2296,3485,0,0,0,0,0,0
$GC,4229,-0.66,-116.7,291.0,-7.8,413,4232,0.00,2.12,0.00,0.000,4,0.000,0.040,2525,3713,3485,0,0,0,0,0,0
$GC,4296,-0.62,-116.7,296.2,-7.3,416,4301,0.15,2.00,0.00,0.000,6,0.192,0.024,2564,2289,3485,0,0,0,0,0,0
$GC,4619,-0.62,-116.7,316.3,-6.4,428,4623,0.00,2.12,0.00,0.000,4,0.000,0.041,2564,3706,3485,0,0,0,0,0,0
$GC,4636,-0.66,-116.7,317.3,-6.4,428,4639,0.00,1.98,0.00,0.000,6,0.000,0.025,2564,2311,3485,0,0,0,0,0,0
$GC,4960,-0.71,-116.7,338.5,-6.6,439,4964,0.00,2.10,0.00,0.000,4,0.000,0.041,2564,3709,3485,0,0,0,0,0,0
$GC,5055,-0.77,-116.7,344.5,-6.4,441,5061,0.15,2.00,0.00,0.000,6,0.127,0.024,2515,2290,3485,0,0,0,0,0,0
$GC,5367,-0.71,-116.7,369.0,-7.9,452,5371,0.00,2.12,0.00,0.000,4,0.000,0.041,2515,3706,3484,0,0,0,0,0,0
$GC,5377,-0.65,-116.7,369.8,-7.8,452,5382,0.15,1.98,0.00,0.000,6,0.184,0.025,2554,2306,3484,0,0,0,0,0,0
$GC,5706,-0.65,-116.7,391.8,-6.9,463,5710,0.00,2.10,0.00,0.000,4,0.000,0.041,2554,3705,3484,0,0,0,0,0,0
$GC,5763,-0.69,-116.7,395.8,-7.4,464,5767,0.00,2.00,0.00,0.000,6,0.000,0.025,2554,2302,3484,0,0,0,0,0,0
$GC,6081,-0.69,-116.7,416.9,-6.2,475,6085,0.00,2.12,0.00,0.000,4,0.000,0.041,2554,3711,3483,0,0,0,0,0,0
$GC,6182,-0.73,-116.7,423.5,-6.7,478,6186,0.00,2.03,0.00,0.000,6,0.000,0.025,2554,2290,3483,0,0,0,0,0,0
$GC,6517,-0.77,-116.7,447.6,-7.4,489,6521,0.12,2.15,0.00,0.000,4,0.134,0.042,2514,3705,3482,0,0,0,0,0,0
$GC,6582,-0.73,-116.7,453.4,-8.9,491,6587,0.00,2.05,0.00,0.000,6,0.000,0.025,2514,2296,3482,0,0,0,0,0,0
$GC,6917,-0.67,-116.7,480.5,-7.8,502,6919,0.12,0.00,0.00,0.000,6,0.198,0.000,2544,2294,3481,0,0,0,0,0,0
$GC,7224,-0.67,-116.7,500.6,-6.8,512,7228,0.00,2.12,0.00,0.000,4,0.000,0.043,2544,3709,3480,0,0,0,0,0,0
$GC,7302,-0.71,-116.7,506.0,-6.9,513,7306,0.00,2.03,0.00,0.000,6,0.000,0.025,2545,2294,3480,0,0,0,0,0,0
$GC,7657,-0.71,-116.7,528.7,-6.4,519,7660,0.00,2.15,0.00,0.000,4,0.000,0.043,2545,3708,3478,0,0,0,0,0,0
$GC,7724,-0.74,-116.7,533.4,-6.8,520,7728,0.00,2.03,0.00,0.000,6,0.000,0.026,2545,2295,3478,0,0,0,0,0,0
$GC,8089,-0.74,-116.7,558.4,-7.0,526,8093,0.00,2.12,0.00,0.000,4,0.000,0.043,2545,3704,3477,0,0,0,0,0,0
$GC,8156,-0.77,-116.7,563.2,-7.0,527,8160,0.00,2.03,0.00,0.000,6,0.000,0.026,2545,2297,3477,0,0,0,0,0,0
$GC,8521,-0.77,-116.7,587.6,-6.5,533,8525,0.00,2.15,0.00,0.000,4,0.000,0.043,2545,3712,3476,0,0,0,0,0,0
$GC,8584,-0.81,-116.7,591.8,-6.7,534,8589,0.12,2.05,0.00,0.000,6,0.144,0.026,2504,2286,3475,0,0,0,0,0,0
$GC,8948,-0.74,-116.7,622.1,-8.4,540,8952,0.00,2.15,0.00,0.000,4,0.000,0.043,2503,3713,3474,0,0,0,0,0,0
$GC,8959,-0.67,-116.7,623.1,-8.2,540,8963,0.10,2.08,0.00,0.000,6,0.174,0.027,2549,2299,3474,0,0,0,0,0,0
$GC,9312,-0.67,-116.7,646.7,-6.6,546,9316,0.00,2.12,0.00,0.000,4,0.000,0.044,2548,3702,3474,0,0,0,0,0,0
$GC,9381,-0.72,-116.7,651.0,-6.4,547,9385,0.00,2.03,0.00,0.000,6,0.000,0.027,2549,2296,3473,0,0,0,0,0,0
$GC,9747,-0.75,-116.7,674.8,-6.6,553,9750,0.00,2.15,0.00,0.000,4,0.000,0.044,2549,3712,3472,0,0,0,0,0,0
$GC,9813,-0.81,-116.7,679.6,-7.2,554,9818,0.10,2.08,0.00,0.000,6,0.107,0.027,2510,2301,3472,0,0,0,0,0,0
$GC,10178,-0.76,-116.7,709.4,-8.3,560,10182,0.00,2.12,0.00,0.000,4,0.000,0.044,2509,3703,3471,0,0,0,0,0,0
$GC,10188,-0.71,-116.7,710.3,-8.4,560,10192,0.00,2.05,0.00,0.000,6,0.000,0.027,2509,2311,3471,0,0,0,0,0,0
$GC,10543,-0.66,-116.7,739.6,-8.4,566,10547,0.15,2.15,0.00,0.000,4,0.193,0.045,2548,3703,3470,0,0,0,0,0,0
$GC,10553,-0.62,-116.7,740.4,-8.4,566,10556,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2288,3470,0,0,0,0,0,0
$GC,10913,-0.65,-116.7,764.5,-6.6,572,10916,0.00,2.15,0.00,0.000,4,0.000,0.044,2548,3704,3469,0,0,0,0,0,0
$GC,11001,-0.70,-116.7,770.6,-6.9,573,11006,0.00,2.05,0.00,0.000,6,0.000,0.027,2548,2282,3469,0,0,0,0,0,0
$GC,11346,-0.74,-116.7,791.9,-6.2,579,11350,0.00,2.17,0.00,0.000,4,0.000,0.044,2548,3713,3468,0,0,0,0,0,0
$GC,11418,-0.79,-116.7,796.7,-6.9,580,11422,0.05,2.08,0.00,0.000,6,0.088,0.027,2511,2301,3468,0,0,0,0,0,0
$GC,11777,-0.75,-116.7,823.2,-7.4,586,11781,0.00,2.15,0.00,0.000,4,0.000,0.045,2510,3702,3468,0,0,0,0,0,0
$GC,11799,-0.71,-116.7,825.0,-7.6,586,11803,0.00,2.08,0.00,0.000,6,0.000,0.028,2511,2302,3468,0,0,0,0,0,0
$GC,12142,-0.66,-116.7,850.6,-7.5,592,12146,0.15,2.15,0.00,0.000,4,0.193,0.045,2549,3702,3467,0,0,0,0,0,0
$GC,12162,-0.66,-116.7,852.2,-7.1,592,12167,0.00,2.08,0.00,0.000,6,0.000,0.028,2550,2302,3467,0,0,0,0,0,0
$GC,12511,-0.71,-116.7,873.7,-6.1,598,12515,0.00,2.12,0.00,0.000,4,0.000,0.045,2549,3702,3467,0,0,0,0,0,0
$GC,12590,-0.76,-116.7,878.7,-6.5,599,12594,0.00,2.05,0.00,0.000,6,0.000,0.027,2549,2287,3467,0,0,0,0,0,0
$GC,12938,-0.81,-116.7,899.8,-6.1,605,12943,0.15,2.17,0.00,0.000,4,0.127,0.045,2500,3705,3466,0,0,0,0,0,0
$GC,13032,-0.76,-116.7,907.2,-7.3,606,13036,0.00,2.05,0.00,0.000,6,0.000,0.028,2500,2289,3466,0,0,0,0,0,0
$GC,13369,-0.70,-116.7,933.8,-7.9,612,13374,0.12,2.17,0.00,0.000,4,0.204,0.046,2531,3705,3466,0,0,0,0,0,0
$GC,13390,-0.70,-116.7,935.4,-7.4,612,13394,0.00,2.08,0.00,0.000,6,0.000,0.028,2532,2306,3466,0,0,0,0,0,0
$GC,13734,-0.70,-116.7,957.9,-6.6,618,13737,0.00,2.15,0.00,0.000,4,0.000,0.045,2532,3706,3465,0,0,0,0,0,0
$GC,13789,-0.70,-116.7,961.8,-6.6,618,13793,0.00,2.08,0.00,0.000,6,0.000,0.028,2532,2302,3465,0,0,0,0,0,0
$GC,14104,-0.70,-116.7,982.7,-6.7,624,14107,0.00,2.15,0.00,0.000,4,0.000,0.045,2532,3712,3465,0,0,0,0,0,0
$GC,14170,-0.70,-116.7,987.3,-7.1,625,14174,0.00,2.10,0.00,0.000,6,0.000,0.028,2532,2291,3464,0,0,0,0,0,0
$STATE,14212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14212,begin apogee
$GC,14217,-0.24,0.0,990.3,6.8,625,14319,0.47,0.00,98.40,1.542,6,0.170,0.000,2677,2651,3006,0,0,0,0,0,0
$STATE,14320,end apogee,CONTROL_FINISHED_OK
$STATE,14320,begin climb
$GC,14322,0.80,116.7,992.9,0.0,627,14438,1.08,2.42,106.40,1.453,4,0.117,0.047,3014,4034,2529,0,0,0,0,0,0
$GC,14517,0.55,116.7,984.3,8.6,630,14521,0.30,2.17,0.00,0.000,6,0.179,0.027,2950,2652,2522,0,0,0,0,0,0
$GC,14882,0.55,146.2,963.0,5.7,636,14910,0.00,0.00,26.05,1.425,6,0.000,0.000,2951,2652,2409,0,0,0,0,0,0
$GC,15184,0.56,158.0,943.9,6.4,641,15198,0.00,0.00,11.23,1.368,6,0.000,0.000,2950,2652,2361,0,0,0,0,0,0
$GC,15488,0.57,165.5,924.0,6.6,646,15497,0.00,0.00,8.02,1.319,6,0.000,0.000,2951,2651,2331,0,0,0,0,0,0
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$STATE,27118,end climb,SURFACE_DEPTH_REACHED
$STATE,27118,begin surface coast
$FINISH,2.7,1.019579
$STATE,27158,end surface coast,CONTROL_FINISHED_OK
$STATE,27158,begin surface
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$TCM_TEMP,20.10
$XPDR_PINGS,1
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$10V_AH,10.0,19.095
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.075,202.500,350.850,3.025,0.000,31.533,32.288,238.899,0.250,0.000,33.540,2478.401,21088.432,523.035,2928.985,598.451,0.000,1950.011,0.000,2878.045,0.000,0.536,0.000
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$MEM,235124
$DATA_FILE_SIZE,66472,1166
$CAP_FILE_SIZE,225871,0
$CFSIZE,260165632,240705536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,168.2,1
$GPS,211109,164954,6347.354,133.568,24,1.1,42,-4.1