version: 66.06
glider: 140
mission: 8
dive: 78
start: 10 22 109 19 38 1
data:
$ID,140
$MISSION,8
$DIVE,78
$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,-45745.02
$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,66
$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
$GPS1,192836,6343.159,208.430,25,1.7,26,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.41
$_SM_ANGLEo,-66.6
$GPS2,193738,6343.164,208.363,15,1.6,15,-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,135.9,117542,-13.7,-6.875
$D_GRID,1457
$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,-7.75,0.000,2,0.000,0.000,215,2305,2050,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.5,-0.0,1,117,9.27,2.15,-74.10,0.000,4,0.258,0.054,2503,3705,3482,0,0,0,0,0,0
$GC,202,-0.64,-116.7,11.0,-9.4,32,210,0.15,2.08,0.00,0.000,6,0.186,0.024,2550,2284,3484,0,0,0,0,0,0
$GC,542,-0.60,-116.7,40.4,-8.3,93,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2283,3484,0,0,0,0,0,0
$GC,884,-0.55,-116.7,69.2,-8.6,141,889,0.12,2.03,0.00,0.000,4,0.199,0.035,2582,922,3484,0,0,0,0,0,0
$GC,902,-0.55,-116.7,70.6,-8.6,142,906,0.00,2.05,0.00,0.000,6,0.000,0.029,2582,2317,3484,0,0,0,0,0,0
$GC,1228,-0.59,-116.7,93.7,-6.9,158,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2317,3485,0,0,0,0,0,0
$GC,1539,-0.64,-116.7,113.8,-6.3,173,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2317,3485,0,0,0,0,0,0
$GC,1848,-0.68,-116.7,134.1,-6.6,188,1850,0.12,0.00,0.00,0.000,6,0.139,0.000,2542,2317,3484,0,0,0,0,0,0
$GC,2157,-0.64,-116.7,158.6,-8.1,203,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2317,3485,0,0,0,0,0,0
$GC,2465,-0.60,-116.7,184.0,-8.0,218,2469,0.00,2.05,0.00,0.000,4,0.000,0.034,2542,924,3485,0,0,0,0,0,0
$GC,2487,-0.56,-116.7,185.8,-8.3,219,2492,0.15,2.00,0.00,0.000,6,0.196,0.028,2580,2304,3484,0,0,0,0,0,0
$GC,2815,-0.60,-116.7,205.9,-6.0,235,2819,0.00,2.05,0.00,0.000,4,0.000,0.041,2580,3704,3484,0,0,0,0,0,0
$GC,2826,-0.65,-116.7,206.6,-5.8,235,2832,0.00,1.98,0.00,0.000,6,0.000,0.025,2581,2296,3484,0,0,0,0,0,0
$GC,3141,-0.70,-116.7,224.6,-5.7,251,3146,0.12,2.10,0.00,0.000,4,0.126,0.041,2539,3698,3484,0,0,0,0,0,0
$GC,3156,-0.70,-116.7,225.7,-5.9,251,3163,0.00,2.00,0.00,0.000,6,0.000,0.024,2540,2298,3484,0,0,0,0,0,0
$GC,3472,-0.66,-116.7,248.8,-7.4,267,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2298,3484,0,0,0,0,0,0
$GC,3781,-0.63,-116.7,272.7,-8.0,282,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2298,3484,0,0,0,0,0,0
$GC,4091,-0.59,-116.7,298.2,-8.2,297,4095,0.12,2.10,0.00,0.000,4,0.203,0.042,2570,3697,3484,0,0,0,0,0,0
$GC,4100,-0.59,-116.7,299.2,-8.3,297,4106,0.00,2.00,0.00,0.000,6,0.000,0.025,2570,2307,3484,0,0,0,0,0,0
$GC,4434,-0.63,-116.7,321.5,-6.6,309,4437,0.00,2.08,0.00,0.000,4,0.000,0.041,2570,3700,3484,0,0,0,0,0,0
$GC,4466,-0.68,-116.7,323.8,-7.1,310,4471,0.00,2.03,0.00,0.000,6,0.000,0.024,2570,2288,3484,0,0,0,0,0,0
$GC,4802,-0.72,-116.7,345.2,-6.5,321,4806,0.12,2.12,0.00,0.000,4,0.133,0.041,2529,3705,3484,0,0,0,0,0,0
$GC,4829,-0.68,-116.7,347.3,-7.6,322,4833,0.00,1.98,0.00,0.000,6,0.000,0.025,2529,2297,3484,0,0,0,0,0,0
$GC,5169,-0.63,-116.7,372.8,-7.3,333,5174,0.12,2.10,0.00,0.000,4,0.193,0.042,2560,3695,3484,0,0,0,0,0,0
$GC,5190,-0.63,-116.7,374.3,-6.7,333,5196,0.00,2.00,0.00,0.000,6,0.000,0.025,2560,2302,3483,0,0,0,0,0,0
$GC,5503,-0.63,-116.7,394.6,-6.7,344,5507,0.00,2.10,0.00,0.000,4,0.000,0.042,2560,3694,3483,0,0,0,0,0,0
$GC,5518,-0.63,-116.7,395.8,-6.7,344,5522,0.00,1.98,0.00,0.000,6,0.000,0.025,2560,2295,3483,0,0,0,0,0,0
$GC,5842,-0.63,-116.7,417.0,-6.4,355,5846,0.00,2.08,0.00,0.000,4,0.000,0.041,2560,3694,3483,0,0,0,0,0,0
$GC,5875,-0.63,-116.7,419.0,-6.4,356,5879,0.00,1.98,0.00,0.000,6,0.000,0.025,2560,2292,3483,0,0,0,0,0,0
$GC,6215,-0.63,-116.7,441.5,-6.8,367,6219,0.00,2.10,0.00,0.000,4,0.000,0.041,2561,3701,3483,0,0,0,0,0,0
$GC,6271,-0.67,-116.7,445.6,-7.5,368,6276,0.00,2.00,0.00,0.000,6,0.000,0.025,2560,2299,3483,0,0,0,0,0,0
$GC,6584,-0.71,-116.7,467.7,-6.7,379,6588,0.00,2.08,0.00,0.000,4,0.000,0.042,2560,3694,3483,0,0,0,0,0,0
$GC,6622,-0.75,-116.7,470.4,-6.8,380,6627,0.12,1.98,0.00,0.000,6,0.137,0.025,2519,2285,3483,0,0,0,0,0,0
$GC,6957,-0.69,-116.7,497.0,-8.3,391,6961,0.00,2.10,0.00,0.000,4,0.000,0.042,2519,3697,3482,0,0,0,0,0,0
$GC,6967,-0.64,-116.7,497.9,-8.4,391,6972,0.15,1.98,0.00,0.000,6,0.189,0.025,2557,2287,3482,0,0,0,0,0,0
$GC,7318,-0.64,-116.7,522.1,-6.7,398,7322,0.00,2.10,0.00,0.000,4,0.000,0.042,2557,3697,3481,0,0,0,0,0,0
$GC,7328,-0.64,-116.7,522.7,-6.6,398,7332,0.00,1.98,0.00,0.000,6,0.000,0.025,2557,2300,3481,0,0,0,0,0,0
$GC,7683,-0.67,-116.7,544.1,-6.1,404,7687,0.00,2.08,0.00,0.000,4,0.000,0.043,2557,3694,3481,0,0,0,0,0,0
$GC,7755,-0.72,-116.7,548.6,-5.9,405,7758,0.00,1.98,0.00,0.000,6,0.000,0.025,2557,2293,3480,0,0,0,0,0,0
$GC,8115,-0.75,-116.7,569.6,-5.8,411,8120,0.12,2.12,0.00,0.000,4,0.138,0.044,2516,3702,3479,0,0,0,0,0,0
$GC,8181,-0.70,-116.7,574.5,-7.5,412,8185,0.00,2.03,0.00,0.000,6,0.000,0.025,2516,2303,3478,0,0,0,0,0,0
$GC,8546,-0.65,-116.7,602.2,-7.8,418,8548,0.15,0.00,0.00,0.000,6,0.190,0.000,2555,2299,3477,0,0,0,0,0,0
$GC,8850,-0.68,-116.7,623.0,-6.8,423,8854,0.00,2.08,0.00,0.000,4,0.000,0.044,2555,3693,3477,0,0,0,0,0,0
$GC,8899,-0.72,-116.7,626.4,-6.6,423,8903,0.00,1.98,0.00,0.000,6,0.000,0.026,2555,2298,3476,0,0,0,0,0,0
$GC,9214,-0.76,-116.7,646.4,-6.4,429,9219,0.10,2.12,0.00,0.000,4,0.147,0.044,2523,3701,3476,0,0,0,0,0,0
$GC,9246,-0.72,-116.7,648.8,-7.3,429,9250,0.00,2.00,0.00,0.000,6,0.000,0.026,2523,2293,3475,0,0,0,0,0,0
$GC,9584,-0.69,-116.7,673.4,-7.3,435,9588,0.00,2.10,0.00,0.000,4,0.000,0.044,2523,3694,3474,0,0,0,0,0,0
$GC,9594,-0.65,-116.7,674.1,-7.2,435,9599,0.12,1.98,0.00,0.000,6,0.196,0.027,2554,2298,3474,0,0,0,0,0,0
$GC,9948,-0.65,-116.7,694.8,-5.8,441,9952,0.00,2.10,0.00,0.000,4,0.000,0.044,2554,3697,3473,0,0,0,0,0,0
$GC,10004,-0.70,-116.7,698.3,-6.2,441,10009,0.00,2.00,0.00,0.000,6,0.000,0.027,2555,2294,3473,0,0,0,0,0,0
$GC,10313,-0.73,-116.7,718.2,-6.5,447,10317,0.00,2.10,0.00,0.000,4,0.000,0.044,2555,3693,3472,0,0,0,0,0,0
$GC,10363,-0.78,-116.7,721.5,-6.8,447,10367,0.12,2.00,0.00,0.000,6,0.141,0.028,2515,2291,3471,0,0,0,0,0,0
$GC,10678,-0.73,-116.7,746.0,-7.8,453,10682,0.00,2.10,0.00,0.000,4,0.000,0.045,2515,3691,3470,0,0,0,0,0,0
$GC,10699,-0.68,-116.7,747.7,-7.5,453,10703,0.00,2.00,0.00,0.000,6,0.000,0.028,2515,2300,3470,0,0,0,0,0,0
$GC,11048,-0.63,-116.7,773.4,-7.3,459,11052,0.15,2.12,0.00,0.000,4,0.193,0.046,2554,3698,3469,0,0,0,0,0,0
$GC,11063,-0.63,-116.7,774.6,-7.3,459,11067,0.00,2.05,0.00,0.000,6,0.000,0.028,2555,2301,3469,0,0,0,0,0,0
$GC,11412,-0.67,-116.7,796.0,-6.2,465,11416,0.00,2.12,0.00,0.000,4,0.000,0.046,2554,3697,3469,0,0,0,0,0,0
$GC,11479,-0.73,-116.7,800.5,-6.7,466,11483,0.00,2.03,0.00,0.000,6,0.000,0.028,2554,2287,3468,0,0,0,0,0,0
$GC,11845,-0.77,-116.7,825.8,-7.0,472,11850,0.12,2.12,0.00,0.000,4,0.138,0.045,2514,3691,3468,0,0,0,0,0,0
$GC,11916,-0.73,-116.7,832.1,-8.6,473,11921,0.00,2.05,0.00,0.000,6,0.000,0.028,2514,2294,3467,0,0,0,0,0,0
$GC,12276,-0.68,-116.7,861.8,-8.2,479,12281,0.12,2.15,0.00,0.000,4,0.201,0.046,2545,3698,3467,0,0,0,0,0,0
$GC,12297,-0.68,-116.7,863.5,-7.5,479,12301,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2306,3467,0,0,0,0,0,0
$GC,12646,-0.68,-116.7,887.5,-6.9,485,12649,0.00,2.10,0.00,0.000,4,0.000,0.045,2545,3698,3466,0,0,0,0,0,0
$GC,12712,-0.72,-116.7,892.1,-7.2,486,12716,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2299,3466,0,0,0,0,0,0
$GC,13078,-0.72,-116.7,915.9,-6.6,492,13082,0.00,2.10,0.00,0.000,4,0.000,0.046,2546,3690,3465,0,0,0,0,0,0
$GC,13127,-0.75,-116.7,919.3,-6.0,492,13131,0.00,2.00,0.00,0.000,6,0.000,0.028,2546,2298,3465,0,0,0,0,0,0
$GC,13442,-0.75,-116.7,938.5,-6.1,498,13446,0.00,2.10,0.00,0.000,4,0.000,0.046,2546,3691,3464,0,0,0,0,0,0
$GC,13497,-0.79,-116.7,942.1,-6.3,498,13503,0.10,2.00,0.00,0.000,6,0.160,0.028,2515,2296,3464,0,0,0,0,0,0
$GC,13807,-0.75,-116.7,964.1,-7.2,504,13811,0.00,2.10,0.00,0.000,4,0.000,0.046,2515,3690,3464,0,0,0,0,0,0
$GC,13822,-0.71,-116.7,965.5,-7.3,504,13827,0.00,2.05,0.00,0.000,6,0.000,0.028,2515,2297,3464,0,0,0,0,0,0
$STATE,14175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14175,begin apogee
$GC,14180,-0.24,0.0,990.5,7.0,510,14280,0.55,0.00,96.75,1.559,6,0.173,0.000,2680,2641,3006,0,0,0,0,0,0
$STATE,14281,end apogee,CONTROL_FINISHED_OK
$STATE,14281,begin climb
$GC,14283,0.80,116.7,992.4,0.0,511,14391,1.08,0.00,104.78,1.456,6,0.120,0.000,3014,2641,2530,0,0,0,0,0,0
$GC,14660,0.63,116.7,966.9,8.6,518,14665,0.17,2.22,0.00,0.000,4,0.176,0.048,2966,4049,2519,0,0,0,0,0,0
$GC,14749,0.49,116.7,959.3,8.1,519,14753,0.20,2.10,0.00,0.000,6,0.188,0.028,2925,2651,2519,0,0,0,0,0,0
$GC,15091,0.52,145.6,939.5,5.7,525,15117,0.00,0.00,24.48,1.433,6,0.000,0.000,2925,2650,2412,0,0,0,0,0,0
$GC,15394,0.55,166.8,921.5,6.0,530,15415,0.00,0.00,19.80,1.412,6,0.000,0.000,2925,2651,2325,0,0,0,0,0,0
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$STATE,27267,end climb,SURFACE_DEPTH_REACHED
$STATE,27267,begin surface coast
$FINISH,2.6,1.026411
$STATE,27295,end surface coast,CONTROL_FINISHED_OK
$STATE,27295,begin surface
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$TT8_MAMPS,0.026845
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$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,20.20
$XPDR_PINGS,0
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$10V_AH,10.1,9.081
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.450,212.025,346.525,0.000,0.000,60.777,69.769,226.910,0.000,0.000,15.008,2146.208,22082.240,533.735,2520.039,624.016,0.000,1809.456,0.000,2485.712,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235296
$DATA_FILE_SIZE,53824,964
$CAP_FILE_SIZE,220269,0
$CFSIZE,260165632,248623104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,265.2,1
$GPS,231009,031525,6340.769,211.033,36,1.5,37,-3.8