version: 66.06
glider: 140
mission: 8
dive: 19
start: 10 4 109 20 29 26
data:
$ID,140
$MISSION,8
$DIVE,19
$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,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,-44661.559
$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
$PITCH_ADJ_DBAND,1
$ROLL_MIN,174
$ROLL_MAX,4054
$ROLL_DEG,40
$C_ROLL_DIVE,2275
$C_ROLL_CLIMB,2850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,39
$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,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
$GPS1,202250,6424.663,55.861,37,2.4,56,-4.6
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,3.28
$_SM_ANGLEo,-62.6
$GPS2,202902,6424.625,55.918,11,1.7,11,-4.6
$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,314.9,118497,-13.7,-6.875
$D_GRID,2543
$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,15,-0.80,-116.7,0.0,0.0,0,23,0.00,0.00,-6.88,0.000,2,0.000,0.000,213,2276,2012,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.3,-0.0,1,122,9.48,0.00,-80.30,0.000,6,0.264,0.000,2501,2276,3481,0,0,0,0,0,0
$GC,449,-0.80,-116.7,40.9,-10.8,78,457,0.00,2.20,0.00,0.000,4,0.000,0.046,2500,3687,3483,0,0,0,0,0,0
$GC,528,-0.80,-116.7,49.5,-11.2,92,535,0.00,2.12,0.00,0.000,6,0.000,0.027,2500,2267,3484,0,0,0,0,0,0
$GC,862,-0.80,-116.7,82.8,-9.9,122,866,0.00,2.08,0.00,0.000,4,0.000,0.042,2500,875,3484,0,0,0,0,0,0
$GC,978,-0.80,-116.7,95.5,-10.7,127,982,0.00,2.12,0.00,0.000,6,0.000,0.031,2500,2279,3485,0,0,0,0,0,0
$GC,1301,-0.80,-116.7,127.2,-9.8,143,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2279,3486,0,0,0,0,0,0
$GC,1608,-0.80,-116.7,156.7,-9.4,158,1612,0.00,2.10,0.00,0.000,4,0.000,0.039,2500,873,3485,0,0,0,0,0,0
$GC,1651,-0.80,-116.7,161.2,-10.2,160,1656,0.00,2.10,0.00,0.000,6,0.000,0.031,2500,2273,3485,0,0,0,0,0,0
$GC,1978,-0.80,-116.7,192.2,-9.2,176,1982,0.00,2.08,0.00,0.000,4,0.000,0.044,2500,3673,3486,0,0,0,0,0,0
$GC,2016,-0.80,-116.7,195.9,-9.5,178,2020,0.00,2.03,0.00,0.000,6,0.000,0.026,2500,2265,3486,0,0,0,0,0,0
$GC,2347,-0.80,-116.7,227.8,-9.6,194,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2262,3486,0,0,0,0,0,0
$GC,2658,-0.80,-116.7,256.1,-8.8,209,2661,0.00,2.03,0.00,0.000,4,0.000,0.041,2500,885,3486,0,0,0,0,0,0
$GC,2729,-0.80,-116.7,263.1,-9.4,212,2734,0.00,2.08,0.00,0.000,6,0.000,0.031,2500,2272,3485,0,0,0,0,0,0
$GC,3056,-0.80,-116.7,291.8,-8.9,228,3060,0.00,2.08,0.00,0.000,4,0.000,0.044,2500,3675,3485,0,0,0,0,0,0
$GC,3105,-0.80,-116.7,296.1,-8.4,230,3110,0.00,2.05,0.00,0.000,6,0.000,0.027,2500,2269,3485,0,0,0,0,0,0
$GC,3434,-0.80,-116.7,324.8,-8.9,242,3438,0.00,2.03,0.00,0.000,4,0.000,0.041,2500,892,3484,0,0,0,0,0,0
$GC,3489,-0.80,-116.7,330.2,-10.3,243,3493,0.00,2.08,0.00,0.000,6,0.000,0.033,2500,2276,3485,0,0,0,0,0,0
$GC,3807,-0.80,-116.7,359.4,-9.3,254,3811,0.00,2.08,0.00,0.000,4,0.000,0.046,2500,3675,3484,0,0,0,0,0,0
$GC,3863,-0.80,-116.7,364.6,-9.3,255,3867,0.00,2.00,0.00,0.000,6,0.000,0.028,2500,2277,3484,0,0,0,0,0,0
$GC,4180,-0.80,-116.7,393.7,-9.1,266,4184,0.00,2.05,0.00,0.000,4,0.000,0.043,2500,882,3483,0,0,0,0,0,0
$GC,4251,-0.80,-116.7,400.8,-9.9,268,4256,0.00,2.10,0.00,0.000,6,0.000,0.033,2500,2278,3483,0,0,0,0,0,0
$GC,4581,-0.80,-116.7,430.4,-8.8,279,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2278,3482,0,0,0,0,0,0
$GC,4887,-0.80,-116.7,458.4,-9.0,289,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2278,3481,0,0,0,0,0,0
$GC,5193,-0.80,-116.7,486.7,-9.3,299,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2278,3480,0,0,0,0,0,0
$GC,5528,-0.80,-116.7,517.8,-9.2,307,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2278,3479,0,0,0,0,0,0
$GC,5831,-0.80,-116.7,546.0,-9.3,312,5832,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2278,3478,0,0,0,0,0,0
$GC,6134,-0.80,-116.7,574.3,-9.3,317,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2278,3477,0,0,0,0,0,0
$GC,6437,-0.80,-116.7,602.4,-9.2,322,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2278,3476,0,0,0,0,0,0
$GC,6740,-0.80,-116.7,630.4,-9.2,327,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2278,3476,0,0,0,0,0,0
$GC,7043,-0.80,-116.7,658.2,-9.2,332,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2278,3475,0,0,0,0,0,0
$GC,7346,-0.80,-116.7,685.3,-8.9,337,7347,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2278,3474,0,0,0,0,0,0
$GC,7649,-0.80,-116.7,711.7,-8.7,342,7653,0.00,2.08,0.00,0.000,4,0.000,0.044,2500,884,3474,0,0,0,0,0,0
$GC,7698,-0.80,-116.7,716.3,-9.2,342,7703,0.00,2.08,0.00,0.000,6,0.000,0.035,2500,2268,3474,0,0,0,0,0,0
$GC,8013,-0.80,-116.7,742.4,-8.2,348,8017,0.00,2.10,0.00,0.000,4,0.000,0.048,2500,3686,3473,0,0,0,0,0,0
$GC,8062,-0.80,-116.7,746.6,-8.2,348,8067,0.00,2.08,0.00,0.000,6,0.000,0.030,2500,2277,3473,0,0,0,0,0,0
$GC,8377,-0.80,-116.7,772.2,-8.1,354,8381,0.00,2.08,0.00,0.000,4,0.000,0.045,2500,870,3473,0,0,0,0,0,0
$GC,8426,-0.80,-116.7,776.5,-8.4,354,8431,0.00,2.10,0.00,0.000,6,0.000,0.035,2500,2268,3473,0,0,0,0,0,0
$GC,8748,-0.80,-116.7,801.5,-7.8,360,8752,0.00,2.10,0.00,0.000,4,0.000,0.048,2500,3684,3472,0,0,0,0,0,0
$GC,8819,-0.80,-116.7,807.3,-8.3,361,8823,0.00,2.08,0.00,0.000,6,0.000,0.030,2500,2270,3471,0,0,0,0,0,0
$GC,9179,-0.80,-116.7,834.5,-7.5,367,9180,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2270,3471,0,0,0,0,0,0
$GC,9482,-0.80,-116.7,856.7,-7.3,372,9483,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2269,3471,0,0,0,0,0,0
$GC,9786,-0.80,-116.7,879.2,-7.4,377,9787,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2269,3470,0,0,0,0,0,0
$GC,10091,-0.80,-116.7,901.4,-7.4,382,10095,0.00,2.12,0.00,0.000,4,0.000,0.049,2500,3683,3470,0,0,0,0,0,0
$GC,10153,-0.80,-116.7,906.4,-7.9,383,10157,0.00,2.03,0.00,0.000,6,0.000,0.031,2500,2277,3470,0,0,0,0,0,0
$GC,10523,-0.80,-116.7,934.1,-7.4,389,10524,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2278,3469,0,0,0,0,0,0
$GC,10826,-0.80,-116.7,956.1,-7.3,394,10830,0.00,2.10,0.00,0.000,4,0.000,0.049,2500,3676,3469,0,0,0,0,0,0
$GC,10880,-0.80,-116.7,960.1,-8.2,394,10888,0.00,2.05,0.00,0.000,6,0.000,0.030,2500,2280,3469,0,0,0,0,0,0
$GC,11190,-0.80,-116.7,981.9,-7.1,400,11191,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2280,3469,0,0,0,0,0,0
$STATE,11309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11309,begin apogee
$GC,11315,-0.24,0.0,990.4,7.0,402,11418,0.60,0.00,99.93,1.650,6,0.185,0.000,2679,2848,3006,0,0,0,0,0,0
$STATE,11418,end apogee,CONTROL_FINISHED_OK
$STATE,11419,begin climb
$GC,11420,0.80,116.7,992.0,0.0,403,11537,1.12,2.05,107.28,1.579,4,0.130,0.052,3018,4040,2529,0,0,0,0,0,0
$GC,11586,0.80,116.7,984.6,10.1,406,11591,0.00,1.88,0.00,0.000,6,0.000,0.028,3027,2857,2524,0,0,0,0,0,0
$GC,11924,0.80,116.7,952.2,9.7,412,11928,0.00,1.90,0.00,0.000,4,0.000,0.052,3027,4049,2518,0,0,0,0,0,0
$GC,11939,0.80,116.7,950.7,9.5,412,11944,0.00,1.85,0.00,0.000,6,0.000,0.030,3035,2843,2517,0,0,0,0,0,0
$GC,12294,0.80,116.7,916.3,9.6,418,12297,0.00,1.88,0.00,0.000,4,0.000,0.052,3034,4042,2516,0,0,0,0,0,0
$GC,12354,0.80,116.7,909.9,10.5,418,12361,0.00,1.80,0.00,0.000,6,0.000,0.030,3042,2848,2515,0,0,0,0,0,0
$GC,12663,0.80,116.7,879.7,9.7,424,12667,0.00,1.85,0.00,0.000,4,0.000,0.052,3042,4043,2515,0,0,0,0,0,0
$GC,12695,0.80,116.7,876.4,10.4,424,12700,0.00,1.77,0.00,0.000,6,0.000,0.030,3051,2855,2515,0,0,0,0,0,0
$GC,13033,0.80,116.7,844.0,9.6,430,13034,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2854,2515,0,0,0,0,0,0
$GC,13336,0.80,116.7,815.1,9.5,435,13340,0.00,1.83,0.00,0.000,4,0.000,0.053,3048,4045,2514,0,0,0,0,0,0
$GC,13352,0.80,116.7,813.4,9.7,435,13357,0.10,1.77,0.00,0.000,6,0.221,0.030,3028,2851,2514,0,0,0,0,0,0
$GC,13706,0.80,116.7,782.3,8.7,441,13707,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2851,2514,0,0,0,0,0,0
$GC,14009,0.80,116.7,757.1,8.3,446,14010,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2851,2513,0,0,0,0,0,0
$GC,14312,0.80,116.7,731.9,8.4,451,14316,0.00,1.83,0.00,0.000,4,0.000,0.052,3019,4050,2513,0,0,0,0,0,0
$GC,14333,0.80,116.7,729.9,8.9,451,14338,0.00,1.77,0.00,0.000,6,0.000,0.031,3027,2845,2513,0,0,0,0,0,0
$GC,14681,0.80,116.7,700.6,8.5,457,14682,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2844,2513,0,0,0,0,0,0
$GC,14984,0.80,116.7,675.4,8.3,462,14988,0.00,1.85,0.00,0.000,4,0.000,0.053,3028,4054,2513,0,0,0,0,0,0
$GC,15016,0.80,116.7,672.3,8.6,462,15021,0.00,1.77,0.00,0.000,6,0.000,0.031,3031,2856,2512,0,0,0,0,0,0
$GC,15354,0.80,116.7,644.2,8.4,468,15355,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2856,2512,0,0,0,0,0,0
$GC,15657,0.80,116.7,619.4,8.2,473,15661,0.00,2.08,0.00,0.000,4,0.000,0.042,3031,1451,2512,0,0,0,0,0,0
$GC,15666,0.80,116.7,618.6,8.2,473,15671,0.00,2.12,0.00,0.000,6,0.000,0.041,3031,2840,2512,0,0,0,0,0,0
$GC,16021,0.80,116.7,590.5,7.9,479,16022,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2840,2512,0,0,0,0,0,0
$GC,16323,0.80,116.7,567.2,7.6,484,16325,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2840,2512,0,0,0,0,0,0
$GC,16627,0.80,116.7,544.5,7.5,489,16628,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2840,2512,0,0,0,0,0,0
$GC,16930,0.80,116.7,521.6,7.5,494,16934,0.00,2.08,0.00,0.000,4,0.000,0.041,3031,1449,2512,0,0,0,0,0,0
$GC,16945,0.80,116.7,520.4,7.7,494,16949,0.00,2.15,0.00,0.000,6,0.000,0.041,3031,2859,2512,0,0,0,0,0,0
$GC,17264,0.80,116.7,495.9,7.7,500,17265,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2859,2512,0,0,0,0,0,0
$GC,17570,0.80,116.7,470.9,8.3,510,17571,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2858,2512,0,0,0,0,0,0
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$STATE,23238,end climb,SURFACE_DEPTH_REACHED
$STATE,23239,begin surface coast
$FINISH,2.5,1.027225
$STATE,23272,end surface coast,CONTROL_FINISHED_OK
$STATE,23272,begin surface
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$HUMID,1078329668
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$TCM_TEMP,14.90
$XPDR_PINGS,0
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$10V_AH,10.1,3.178
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.650,137.825,232.775,100.275,0.000,27.684,37.405,197.133,2.000,0.000,11.348,1766.253,19026.131,490.541,1999.702,480.225,0.000,1493.502,0.000,1979.820,0.000,15.501,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241624
$DATA_FILE_SIZE,47454,855
$CAP_FILE_SIZE,157560,0
$CFSIZE,260165632,253411328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027, 99.6,1
$GPS,051009,030036,6426.214,51.988,39,1.7,44,-4.6