version: 66.06
glider: 140
mission: 8
dive: 6
start: 10 1 109 4 20 58
data:
$ID,140
$MISSION,8
$DIVE,6
$D_SURF,3
$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,300
$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,-44417.969
$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,2750
$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
$PITCH_ADJ_DBAND,1
$ROLL_MIN,174
$ROLL_MAX,4054
$ROLL_DEG,40
$C_ROLL_DIVE,2275
$C_ROLL_CLIMB,2750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,71
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,550
$VBD_MAX,3938
$C_VBD,3046
$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,91.800003
$AH0_10V,100
$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,800
$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
$GPS1,041638,6408.338,133.130,10,2.0,10,-4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-48.8
$GPS2,042038,6408.344,133.176,13,1.3,14,-4.2
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,OFFSHORE
$TGT_LATLONG,6506.000,-100.000
$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,316.0,160211,-13.7,-6.875
$D_GRID,2261
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.80,-116.7,0.0,0.0,0,56,0.00,0.00,-39.17,0.000,2,0.000,0.000,216,2249,1450,0,0,0,0,0,0
$GC,59,-0.80,-116.7,3.0,-0.7,7,182,9.10,0.00,-106.00,0.000,6,0.256,0.000,2483,2250,3522,0,0,0,0,0,0
$GC,514,-0.80,-116.7,44.7,-11.9,89,519,0.00,2.17,0.00,0.000,4,0.000,0.048,2483,3679,3522,0,0,0,0,0,0
$GC,574,-0.80,-116.7,52.3,-12.2,100,581,0.00,2.08,0.00,0.000,6,0.000,0.027,2483,2281,3522,0,0,0,0,0,0
$GC,911,-0.80,-116.7,88.8,-9.7,125,915,0.00,2.08,0.00,0.000,4,0.000,0.041,2483,886,3522,0,0,0,0,0,0
$GC,1095,-0.80,-116.7,108.9,-10.7,133,1099,0.00,2.10,0.00,0.000,6,0.000,0.032,2483,2279,3522,0,0,0,0,0,0
$GC,1417,-0.80,-116.7,139.3,-9.0,149,1421,0.00,2.10,0.00,0.000,4,0.000,0.040,2483,873,3522,0,0,0,0,0,0
$GC,1471,-0.80,-116.7,144.7,-9.7,151,1478,0.00,2.10,0.00,0.000,6,0.000,0.032,2483,2270,3522,0,0,0,0,0,0
$GC,1788,-0.80,-116.7,175.0,-9.5,167,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2270,3522,0,0,0,0,0,0
$GC,2096,-0.80,-116.7,208.3,-11.1,182,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2270,3522,0,0,0,0,0,0
$GC,2405,-0.80,-116.7,242.2,-10.8,197,2409,0.00,2.08,0.00,0.000,4,0.000,0.041,2483,879,3520,0,0,0,0,0,0
$GC,2494,-0.80,-116.7,252.3,-11.2,201,2498,0.00,2.10,0.00,0.000,6,0.000,0.032,2483,2278,3520,0,0,0,0,0,0
$GC,2821,-0.80,-116.7,287.4,-11.0,217,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2278,3519,0,0,0,0,0,0
$GC,3128,-0.80,-116.7,320.3,-10.5,229,3132,0.00,2.10,0.00,0.000,4,0.000,0.048,2483,3684,3518,0,0,0,0,0,0
$GC,3183,-0.80,-116.7,326.3,-10.9,230,3187,0.00,2.05,0.00,0.000,6,0.000,0.028,2483,2263,3517,0,0,0,0,0,0
$GC,3495,-0.80,-116.7,358.3,-10.2,240,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2263,3516,0,0,0,0,0,0
$GC,3801,-0.80,-116.7,390.1,-10.4,250,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2262,3515,0,0,0,0,0,0
$GC,4108,-0.80,-116.7,422.3,-10.6,260,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2262,3514,0,0,0,0,0,0
$GC,4413,-0.80,-116.7,454.6,-10.7,270,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2262,3512,0,0,0,0,0,0
$GC,4720,-0.80,-116.7,486.8,-10.6,280,4724,0.00,2.15,0.00,0.000,4,0.000,0.048,2483,3683,3511,0,0,0,0,0,0
$GC,4769,-0.80,-116.7,492.0,-10.2,281,4773,0.00,2.08,0.00,0.000,6,0.000,0.030,2483,2272,3511,0,0,0,0,0,0
$GC,5120,-0.80,-116.7,527.9,-10.2,289,5124,0.00,2.05,0.00,0.000,4,0.000,0.045,2483,887,3509,0,0,0,0,0,0
$GC,5169,-0.80,-116.7,533.3,-10.7,289,5174,0.00,2.08,0.00,0.000,6,0.000,0.035,2483,2269,3509,0,0,0,0,0,0
$GC,5490,-0.80,-116.7,565.7,-10.2,295,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2269,3508,0,0,0,0,0,0
$GC,5794,-0.80,-116.7,595.8,-9.9,300,5797,0.00,2.10,0.00,0.000,4,0.000,0.048,2483,3675,3507,0,0,0,0,0,0
$GC,5843,-0.80,-116.7,600.8,-9.5,300,5847,0.00,2.05,0.00,0.000,6,0.000,0.030,2483,2276,3506,0,0,0,0,0,0
$GC,6163,-0.80,-116.7,632.0,-9.8,306,6167,0.00,2.08,0.00,0.000,4,0.000,0.045,2483,888,3506,0,0,0,0,0,0
$GC,6207,-0.80,-116.7,636.5,-10.3,306,6211,0.00,2.08,0.00,0.000,6,0.000,0.035,2483,2271,3506,0,0,0,0,0,0
$GC,6533,-0.80,-116.7,667.7,-9.5,312,6537,0.00,2.10,0.00,0.000,4,0.000,0.050,2483,3684,3505,0,0,0,0,0,0
$GC,6595,-0.80,-116.7,673.6,-9.5,313,6598,0.00,2.03,0.00,0.000,6,0.000,0.031,2484,2275,3505,0,0,0,0,0,0
$GC,6965,-0.80,-116.7,707.7,-9.2,319,6966,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2274,3504,0,0,0,0,0,0
$GC,7268,-0.80,-116.7,735.1,-9.0,324,7269,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2273,3503,0,0,0,0,0,0
$GC,7571,-0.80,-116.7,762.1,-8.8,329,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2273,3502,0,0,0,0,0,0
$GC,7874,-0.80,-116.7,787.5,-8.3,334,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2273,3502,0,0,0,0,0,0
$GC,8177,-0.80,-116.7,812.8,-8.5,339,8178,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2273,3501,0,0,0,0,0,0
$GC,8481,-0.80,-116.7,839.0,-8.6,344,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2273,3501,0,0,0,0,0,0
$GC,8783,-0.80,-116.7,865.1,-8.7,349,8785,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2273,3500,0,0,0,0,0,0
$GC,9087,-0.80,-116.7,892.4,-9.1,354,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2273,3500,0,0,0,0,0,0
$GC,9390,-0.80,-116.7,919.9,-9.1,359,9394,0.00,2.12,0.00,0.000,4,0.000,0.051,2483,3684,3500,0,0,0,0,0,0
$GC,9433,-0.80,-116.7,924.1,-9.3,359,9438,0.00,2.08,0.00,0.000,6,0.000,0.031,2483,2273,3499,0,0,0,0,0,0
$GC,9755,-0.80,-116.7,953.7,-9.3,365,9756,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2273,3499,0,0,0,0,0,0
$GC,10057,-0.80,-116.7,982.2,-9.4,370,10058,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2272,3499,0,0,0,0,0,0
$STATE,10177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10177,begin apogee
$GC,10182,-0.24,0.0,993.8,9.5,372,10283,0.62,0.00,97.93,1.648,6,0.197,0.000,2664,2746,3046,0,0,0,0,0,0
$STATE,10284,end apogee,CONTROL_FINISHED_OK
$STATE,10284,begin climb
$GC,10286,0.80,116.7,996.7,0.0,373,10404,1.15,2.22,108.53,1.582,4,0.144,0.054,3000,4040,2569,0,0,0,0,0,0
$GC,10493,0.80,116.7,992.6,7.4,377,10498,0.00,2.03,0.00,0.000,6,0.000,0.029,3009,2749,2562,0,0,0,0,0,0
$GC,10859,0.80,122.7,968.4,6.6,383,10868,0.00,2.08,4.55,1.078,4,0.000,0.053,3005,4047,2545,0,0,0,0,0,0
$GC,10912,0.80,122.7,964.2,7.6,383,10917,0.00,1.98,0.00,0.000,6,0.000,0.031,3014,2755,2545,0,0,0,0,0,0
$GC,11227,0.80,122.7,942.3,6.9,389,11231,0.00,2.00,0.00,0.000,4,0.000,0.052,3005,4040,2544,0,0,0,0,0,0
$GC,11277,0.80,122.7,938.5,7.5,389,11281,0.00,1.95,0.00,0.000,6,0.000,0.031,3014,2752,2543,0,0,0,0,0,0
$GC,11597,0.80,122.7,916.5,6.9,395,11600,0.00,2.00,0.00,0.000,4,0.000,0.053,3014,4043,2543,0,0,0,0,0,0
$GC,11629,0.80,122.7,913.9,7.9,395,11634,0.00,1.95,0.00,0.000,6,0.000,0.031,3023,2746,2543,0,0,0,0,0,0
$GC,11966,0.80,122.7,888.5,7.6,401,11970,0.00,2.03,0.00,0.000,4,0.000,0.053,3019,4048,2542,0,0,0,0,0,0
$GC,12009,0.80,122.7,884.8,8.9,401,12013,0.00,1.95,0.00,0.000,6,0.000,0.031,3028,2746,2542,0,0,0,0,0,0
$GC,12335,0.80,122.7,859.6,7.8,407,12339,0.00,2.00,0.00,0.000,4,0.000,0.053,3028,4047,2542,0,0,0,0,0,0
$GC,12402,0.80,122.7,853.8,8.7,408,12406,0.00,1.92,0.00,0.000,6,0.000,0.031,3037,2758,2542,0,0,0,0,0,0
$GC,12772,0.80,122.7,824.6,7.8,414,12776,0.00,1.98,0.00,0.000,4,0.000,0.053,3033,4050,2541,0,0,0,0,0,0
$GC,12793,0.80,122.7,822.6,9.0,414,12799,0.10,1.92,0.00,0.000,6,0.233,0.031,3015,2751,2541,0,0,0,0,0,0
$GC,13142,0.80,122.7,797.3,7.3,420,13143,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2750,2541,0,0,0,0,0,0
$GC,13444,0.80,122.7,775.5,7.2,425,13446,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2750,2541,0,0,0,0,0,0
$GC,13748,0.80,122.7,753.2,7.4,430,13751,0.00,2.00,0.00,0.000,4,0.000,0.054,3005,4049,2540,0,0,0,0,0,0
$GC,13768,0.80,122.7,751.5,7.3,430,13773,0.00,1.92,0.00,0.000,6,0.000,0.031,3013,2749,2540,0,0,0,0,0,0
$GC,14118,0.80,122.7,725.2,7.6,436,14121,0.00,1.98,0.00,0.000,4,0.000,0.053,3005,4045,2540,0,0,0,0,0,0
$GC,14206,0.80,122.7,717.4,9.0,437,14211,0.00,1.92,0.00,0.000,6,0.000,0.031,3013,2738,2540,0,0,0,0,0,0
$GC,14555,0.80,122.7,689.9,8.0,443,14559,0.00,1.98,0.00,0.000,4,0.000,0.053,3005,4042,2540,0,0,0,0,0,0
$GC,14638,0.80,122.7,682.6,8.9,444,14642,0.00,1.90,0.00,0.000,6,0.000,0.031,3013,2747,2540,0,0,0,0,0,0
$GC,14992,0.80,122.7,654.2,8.0,450,14996,0.00,1.98,0.00,0.000,4,0.000,0.053,3005,4046,2540,0,0,0,0,0,0
$GC,15001,0.80,122.7,653.4,7.8,450,15006,0.00,1.90,0.00,0.000,6,0.000,0.031,3013,2757,2540,0,0,0,0,0,0
$GC,15362,0.80,122.7,625.9,7.5,456,15365,0.00,1.95,0.00,0.000,4,0.000,0.053,3005,4045,2540,0,0,0,0,0,0
$GC,15422,0.80,122.7,620.9,7.6,456,15428,0.00,1.92,0.00,0.000,6,0.000,0.031,3013,2738,2539,0,0,0,0,0,0
$GC,15731,0.80,122.7,599.0,7.0,462,15735,0.00,1.98,0.00,0.000,4,0.000,0.053,3004,4043,2539,0,0,0,0,0,0
$GC,15763,0.80,122.7,596.6,7.5,462,15768,0.00,1.90,0.00,0.000,6,0.000,0.031,3012,2748,2539,0,0,0,0,0,0
$GC,16102,0.81,132.1,574.4,6.5,468,16116,0.00,2.05,8.70,1.263,4,0.000,0.054,3005,4042,2507,0,0,0,0,0,0
$GC,16138,0.83,146.3,571.8,6.3,468,16158,0.00,1.92,14.27,1.332,6,0.000,0.031,3005,2751,2448,0,0,0,0,0,0
$GC,16467,0.83,146.3,548.2,7.3,474,16471,0.00,2.00,0.00,0.000,4,0.000,0.053,3005,4045,2445,0,0,0,0,0,0
$GC,16499,0.83,146.3,545.4,8.9,474,16504,0.00,1.95,0.00,0.000,6,0.000,0.031,3010,2740,2445,0,0,0,0,0,0
$GC,16837,0.83,146.3,520.9,7.3,480,16841,0.00,2.00,0.00,0.000,4,0.000,0.053,3006,4043,2445,0,0,0,0,0,0
$GC,16870,0.83,146.3,518.1,7.5,480,16874,0.00,1.92,0.00,0.000,6,0.000,0.031,3013,2752,2444,0,0,0,0,0,0
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$STATE,23590,end climb,SURFACE_DEPTH_REACHED
$STATE,23590,begin surface coast
$FINISH,2.7,1.014278
$STATE,23624,end surface coast,CONTROL_FINISHED_OK
$STATE,23624,begin surface
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$TT8_MAMPS,0.026845
$HUMID,1078392893
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$TCM_TEMP,19.90
$XPDR_PINGS,0
$24V_AH,23.0,3.613
$10V_AH,10.1,1.962
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.725,158.425,297.200,69.675,0.000,0.000,0.000,0.000,2.000,0.000,13.988,1807.669,19042.318,552.589,2196.450,183.347,0.000,1678.322,0.000,2162.229,0.000,15.500,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241608
$DATA_FILE_SIZE,50709,864
$CAP_FILE_SIZE,187543,0
$CFSIZE,260165632,254316544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084, 49.2,1
$GPS,011009,105724,6410.664,130.340,37,1.9,37,-4.2