version: 66.06
glider: 140
mission: 8
dive: 77
start: 10 22 109 11 57 42
data:
$ID,140
$MISSION,8
$DIVE,77
$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,-45729.387
$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,90
$R_STBD_OVSHOOT,47
$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
$GPS1,115137,6345.916,207.589,28,1.1,29,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.55
$_SM_ANGLEo,-66.8
$GPS2,115719,6345.927,207.562,14,1.4,14,-3.8
$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,137.5,121519,-13.7,-6.875
$D_GRID,1491
$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,-7.72,0.000,2,0.000,0.000,212,2269,2047,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.5,-0.0,1,119,9.30,2.25,-74.50,0.000,4,0.259,0.054,2501,3705,3482,0,0,0,0,0,0
$GC,368,-0.66,-116.7,31.1,-11.9,62,376,0.12,2.05,0.00,0.000,6,0.179,0.024,2541,2293,3483,0,0,0,0,0,0
$GC,715,-0.61,-116.7,63.8,-9.0,119,718,0.00,2.00,0.00,0.000,4,0.000,0.035,2541,937,3484,0,0,0,0,0,0
$GC,972,-0.54,-116.7,87.1,-8.9,130,977,0.12,2.05,0.00,0.000,6,0.167,0.028,2581,2313,3484,0,0,0,0,0,0
$GC,1294,-0.58,-116.7,108.7,-6.3,146,1298,0.00,2.05,0.00,0.000,4,0.000,0.035,2581,930,3484,0,0,0,0,0,0
$GC,1388,-0.62,-116.7,115.2,-7.0,150,1392,0.00,2.03,0.00,0.000,6,0.000,0.028,2580,2293,3484,0,0,0,0,0,0
$GC,1709,-0.66,-116.7,136.2,-6.9,166,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2293,3484,0,0,0,0,0,0
$GC,2020,-0.70,-116.7,156.9,-6.7,181,2024,0.12,2.08,0.00,0.000,4,0.129,0.041,2540,3697,3484,0,0,0,0,0,0
$GC,2052,-0.67,-116.7,159.6,-8.4,182,2060,0.00,2.00,0.00,0.000,6,0.000,0.024,2540,2304,3484,0,0,0,0,0,0
$GC,2367,-0.62,-116.7,185.3,-7.7,198,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2304,3485,0,0,0,0,0,0
$GC,2677,-0.59,-116.7,208.8,-7.8,213,2681,0.12,2.03,0.00,0.000,4,0.202,0.036,2570,923,3485,0,0,0,0,0,0
$GC,2693,-0.59,-116.7,210.0,-7.6,214,2697,0.00,2.00,0.00,0.000,6,0.000,0.029,2571,2299,3485,0,0,0,0,0,0
$GC,3025,-0.62,-116.7,232.0,-6.5,230,3029,0.00,2.03,0.00,0.000,4,0.000,0.035,2571,926,3485,0,0,0,0,0,0
$GC,3035,-0.62,-116.7,232.6,-6.4,230,3040,0.00,2.05,0.00,0.000,6,0.000,0.028,2571,2306,3485,0,0,0,0,0,0
$GC,3357,-0.65,-116.7,252.6,-6.4,246,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2307,3485,0,0,0,0,0,0
$GC,3665,-0.65,-116.7,273.6,-7.0,261,3669,0.00,2.05,0.00,0.000,4,0.000,0.041,2571,3706,3485,0,0,0,0,0,0
$GC,3676,-0.68,-116.7,274.4,-7.1,261,3682,0.00,1.98,0.00,0.000,6,0.000,0.025,2570,2298,3485,0,0,0,0,0,0
$GC,3992,-0.71,-116.7,296.5,-7.2,277,3996,0.12,2.10,0.00,0.000,4,0.133,0.041,2529,3698,3485,0,0,0,0,0,0
$GC,4001,-0.71,-116.7,297.3,-6.9,277,4007,0.00,2.00,0.00,0.000,6,0.000,0.024,2529,2305,3485,0,0,0,0,0,0
$GC,4324,-0.66,-116.7,324.8,-8.4,289,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2305,3485,0,0,0,0,0,0
$GC,4631,-0.61,-116.7,349.5,-8.0,299,4636,0.15,2.10,0.00,0.000,4,0.190,0.042,2568,3705,3485,0,0,0,0,0,0
$GC,4640,-0.57,-116.7,350.3,-7.9,299,4644,0.00,2.03,0.00,0.000,6,0.000,0.025,2568,2298,3485,0,0,0,0,0,0
$GC,4965,-0.61,-116.7,370.9,-6.0,310,4969,0.00,2.08,0.00,0.000,4,0.000,0.041,2568,3698,3485,0,0,0,0,0,0
$GC,4986,-0.65,-116.7,372.2,-5.6,310,4993,0.00,1.98,0.00,0.000,6,0.000,0.025,2568,2291,3485,0,0,0,0,0,0
$GC,5299,-0.69,-116.7,389.6,-5.7,321,5303,0.00,2.10,0.00,0.000,4,0.000,0.041,2568,3701,3485,0,0,0,0,0,0
$GC,5326,-0.74,-116.7,391.3,-6.0,321,5333,0.12,1.98,0.00,0.000,6,0.133,0.025,2528,2286,3485,0,0,0,0,0,0
$GC,5638,-0.70,-116.7,415.2,-7.9,332,5642,0.00,2.10,0.00,0.000,4,0.000,0.041,2527,3698,3485,0,0,0,0,0,0
$GC,5654,-0.65,-116.7,416.5,-8.0,332,5658,0.00,2.00,0.00,0.000,6,0.000,0.025,2527,2300,3484,0,0,0,0,0,0
$GC,5978,-0.61,-116.7,441.6,-7.6,343,5983,0.12,2.12,0.00,0.000,4,0.193,0.043,2559,3708,3484,0,0,0,0,0,0
$GC,6028,-0.66,-116.7,444.8,-6.1,344,6032,0.00,2.03,0.00,0.000,6,0.000,0.025,2560,2297,3484,0,0,0,0,0,0
$GC,6352,-0.69,-116.7,464.0,-6.2,355,6356,0.00,2.10,0.00,0.000,4,0.000,0.042,2560,3704,3483,0,0,0,0,0,0
$GC,6368,-0.72,-116.7,465.2,-6.2,355,6372,0.00,1.98,0.00,0.000,6,0.000,0.025,2560,2302,3483,0,0,0,0,0,0
$GC,6686,-0.76,-116.7,484.2,-6.2,366,6691,0.12,2.10,0.00,0.000,4,0.137,0.043,2518,3699,3482,0,0,0,0,0,0
$GC,6707,-0.76,-116.7,485.8,-7.0,366,6714,0.00,2.00,0.00,0.000,6,0.000,0.025,2518,2306,3482,0,0,0,0,0,0
$GC,7019,-0.71,-116.7,510.8,-8.1,375,7023,0.00,2.08,0.00,0.000,4,0.000,0.043,2518,3698,3481,0,0,0,0,0,0
$GC,7034,-0.65,-116.7,512.2,-8.0,375,7039,0.10,2.03,0.00,0.000,6,0.180,0.025,2562,2293,3482,0,0,0,0,0,0
$GC,7383,-0.69,-116.7,535.0,-6.5,381,7387,0.00,2.10,0.00,0.000,4,0.000,0.043,2562,3698,3481,0,0,0,0,0,0
$GC,7455,-0.75,-116.7,539.9,-7.0,382,7459,0.08,2.03,0.00,0.000,6,0.107,0.025,2516,2292,3481,0,0,0,0,0,0
$GC,7815,-0.70,-116.7,569.8,-8.4,388,7819,0.00,2.10,0.00,0.000,4,0.000,0.044,2516,3697,3480,0,0,0,0,0,0
$GC,7831,-0.65,-116.7,571.2,-8.4,388,7835,0.10,2.03,0.00,0.000,6,0.176,0.026,2546,2302,3480,0,0,0,0,0,0
$GC,8179,-0.65,-116.7,595.0,-6.8,394,8183,0.00,2.12,0.00,0.000,4,0.000,0.044,2546,3704,3478,0,0,0,0,0,0
$GC,8223,-0.65,-116.7,598.1,-6.8,394,8227,0.00,2.03,0.00,0.000,6,0.000,0.026,2547,2287,3478,0,0,0,0,0,0
$GC,8549,-0.65,-116.7,620.3,-6.8,400,8552,0.00,2.12,0.00,0.000,4,0.000,0.044,2547,3705,3477,0,0,0,0,0,0
$GC,8564,-0.65,-116.7,621.3,-6.9,400,8568,0.00,2.05,0.00,0.000,6,0.000,0.026,2547,2295,3477,0,0,0,0,0,0
$GC,8913,-0.65,-116.7,644.5,-6.6,406,8917,0.00,2.10,0.00,0.000,4,0.000,0.044,2547,3695,3476,0,0,0,0,0,0
$GC,8940,-0.65,-116.7,646.3,-6.5,406,8944,0.00,2.00,0.00,0.000,6,0.000,0.027,2547,2294,3476,0,0,0,0,0,0
$GC,9277,-0.65,-116.7,666.2,-5.9,412,9281,0.00,2.10,0.00,0.000,4,0.000,0.044,2547,3695,3475,0,0,0,0,0,0
$GC,9309,-0.65,-116.7,668.2,-6.3,412,9313,0.00,2.03,0.00,0.000,6,0.000,0.027,2547,2306,3474,0,0,0,0,0,0
$GC,9641,-0.65,-116.7,689.1,-6.5,418,9645,0.00,2.10,0.00,0.000,4,0.000,0.044,2547,3702,3473,0,0,0,0,0,0
$GC,9678,-0.65,-116.7,691.9,-6.9,418,9683,0.00,2.05,0.00,0.000,6,0.000,0.027,2547,2295,3473,0,0,0,0,0,0
$GC,10011,-0.65,-116.7,714.2,-6.8,424,10015,0.00,2.10,0.00,0.000,4,0.000,0.044,2547,3695,3472,0,0,0,0,0,0
$GC,10038,-0.65,-116.7,716.0,-6.7,424,10042,0.00,2.00,0.00,0.000,6,0.000,0.028,2547,2299,3472,0,0,0,0,0,0
$GC,10375,-0.65,-116.7,739.4,-7.1,430,10379,0.00,2.10,0.00,0.000,4,0.000,0.045,2547,3697,3471,0,0,0,0,0,0
$GC,10396,-0.65,-116.7,740.9,-7.0,430,10400,0.00,2.05,0.00,0.000,6,0.000,0.028,2547,2296,3471,0,0,0,0,0,0
$GC,10739,-0.65,-116.7,766.2,-7.6,436,10743,0.00,2.12,0.00,0.000,4,0.000,0.045,2547,3705,3470,0,0,0,0,0,0
$GC,10806,-0.68,-116.7,771.9,-9.6,437,10809,0.00,2.03,0.00,0.000,6,0.000,0.028,2547,2297,3470,0,0,0,0,0,0
$GC,11177,-0.68,-116.7,799.1,-7.0,443,11181,0.00,2.10,0.00,0.000,4,0.000,0.045,2546,3696,3469,0,0,0,0,0,0
$GC,11238,-0.72,-116.7,803.4,-7.1,444,11243,0.00,2.03,0.00,0.000,6,0.000,0.028,2547,2286,3469,0,0,0,0,0,0
$GC,11609,-0.72,-116.7,828.3,-6.6,450,11613,0.00,2.12,0.00,0.000,4,0.000,0.045,2547,3699,3468,0,0,0,0,0,0
$GC,11675,-0.75,-116.7,832.8,-6.7,451,11679,0.00,2.03,0.00,0.000,6,0.000,0.028,2547,2294,3468,0,0,0,0,0,0
$GC,12040,-0.75,-116.7,856.5,-6.4,457,12044,0.00,2.12,0.00,0.000,4,0.000,0.045,2547,3702,3467,0,0,0,0,0,0
$GC,12107,-0.79,-116.7,860.9,-6.6,458,12112,0.12,2.03,0.00,0.000,6,0.145,0.028,2507,2293,3467,0,0,0,0,0,0
$GC,12466,-0.73,-116.7,889.4,-8.0,464,12470,0.00,2.12,0.00,0.000,4,0.000,0.046,2507,3698,3466,0,0,0,0,0,0
$GC,12476,-0.67,-116.7,890.3,-7.9,464,12481,0.08,2.05,0.00,0.000,6,0.171,0.028,2543,2300,3466,0,0,0,0,0,0
$GC,12836,-0.67,-116.7,913.7,-6.5,470,12840,0.00,2.10,0.00,0.000,4,0.000,0.045,2543,3697,3465,0,0,0,0,0,0
$GC,12868,-0.67,-116.7,915.9,-6.4,470,12872,0.00,2.05,0.00,0.000,6,0.000,0.028,2543,2299,3465,0,0,0,0,0,0
$GC,13200,-0.67,-116.7,936.3,-6.2,476,13204,0.00,2.10,0.00,0.000,4,0.000,0.045,2543,3697,3465,0,0,0,0,0,0
$GC,13238,-0.67,-116.7,938.7,-6.3,476,13242,0.00,2.05,0.00,0.000,6,0.000,0.028,2543,2298,3465,0,0,0,0,0,0
$GC,13564,-0.67,-116.7,958.9,-6.2,482,13568,0.00,2.10,0.00,0.000,4,0.000,0.046,2544,3695,3464,0,0,0,0,0,0
$GC,13608,-0.70,-116.7,961.8,-6.3,482,13612,0.00,2.03,0.00,0.000,6,0.000,0.028,2543,2291,3464,0,0,0,0,0,0
$GC,13928,-0.70,-116.7,982.3,-6.3,488,13932,0.00,2.12,0.00,0.000,4,0.000,0.046,2543,3695,3464,0,0,0,0,0,0
$GC,13984,-0.74,-116.7,985.9,-6.6,488,13988,0.00,2.05,0.00,0.000,6,0.000,0.028,2543,2267,3463,0,0,0,0,0,0
$STATE,14053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14053,begin apogee
$GC,14059,-0.24,0.0,990.5,6.4,490,14159,0.47,0.00,97.03,1.568,6,0.173,0.000,2688,2645,3006,0,0,0,0,0,0
$STATE,14159,end apogee,CONTROL_FINISHED_OK
$STATE,14160,begin climb
$GC,14161,0.80,116.7,992.5,0.0,491,14276,1.05,2.40,103.75,1.458,4,0.120,0.047,3006,4038,2529,0,0,0,0,0,0
$GC,14343,0.56,116.7,985.4,8.9,494,14348,0.25,2.15,0.00,0.000,6,0.192,0.028,2954,2655,2522,0,0,0,0,0,0
$GC,14663,0.53,128.5,964.8,6.4,500,14675,0.00,0.00,9.93,1.355,6,0.000,0.000,2954,2654,2482,0,0,0,0,0,0
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$STATE,26894,end climb,SURFACE_DEPTH_REACHED
$STATE,26894,begin surface coast
$FINISH,2.7,1.027101
$STATE,26928,end surface coast,CONTROL_FINISHED_OK
$STATE,26928,begin surface
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$HUMID,1078327087
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$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,23.2,14.366
$10V_AH,10.1,8.975
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.950,196.200,299.075,44.925,0.000,30.334,33.524,157.616,0.000,0.000,14.952,2105.775,21774.332,523.545,2445.088,477.047,0.000,1760.787,0.000,2413.922,0.000,0.535,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235312
$DATA_FILE_SIZE,53855,943
$CAP_FILE_SIZE,211695,0
$CFSIZE,260165632,248717312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123,251.2,1
$GPS,221009,192836,6343.159,208.430,25,1.7,26,-3.8