version: 66.06
glider: 140
mission: 8
dive: 59
start: 10 16 109 17 30 54
data:
$ID,140
$MISSION,8
$DIVE,59
$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,-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,-45414.535
$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,79
$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
$GPS1,172436,6427.477,7.261,37,1.5,38,-5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.86
$_SM_ANGLEo,-64.7
$GPS2,173032,6427.479,7.301,15,1.1,15,-5.1
$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,135.5,248170,-13.7,-6.875
$D_GRID,2586
$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,-116.7,0.0,0.0,0,24,0.00,0.00,-6.78,0.000,2,0.000,0.000,220,2259,2025,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.8,-0.0,1,118,9.15,2.08,-73.22,0.000,4,0.255,0.054,2504,921,3484,0,0,0,0,0,0
$GC,369,-0.64,-116.7,35.9,-11.4,62,376,0.15,2.10,0.00,0.000,6,0.186,0.031,2550,2304,3485,0,0,0,0,0,0
$GC,717,-0.60,-116.7,63.7,-8.4,119,721,0.00,2.08,0.00,0.000,4,0.000,0.038,2550,922,3486,0,0,0,0,0,0
$GC,958,-0.54,-116.7,85.6,-9.2,130,963,0.12,2.03,0.00,0.000,6,0.202,0.031,2582,2300,3486,0,0,0,0,0,0
$GC,1285,-0.59,-116.7,108.9,-6.8,146,1289,0.00,2.12,0.00,0.000,4,0.000,0.044,2582,3709,3487,0,0,0,0,0,0
$GC,1335,-0.65,-116.7,112.3,-6.7,148,1339,0.00,2.00,0.00,0.000,6,0.000,0.025,2582,2303,3487,0,0,0,0,0,0
$GC,1663,-0.71,-116.7,130.0,-4.7,164,1667,0.15,2.12,0.00,0.000,4,0.129,0.043,2533,3702,3487,0,0,0,0,0,0
$GC,1686,-0.71,-116.7,131.4,-6.1,165,1690,0.00,2.00,0.00,0.000,6,0.000,0.025,2533,2305,3487,0,0,0,0,0,0
$GC,2019,-0.66,-116.7,157.2,-8.5,181,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2302,3489,0,0,0,0,0,0
$GC,2327,-0.62,-116.7,184.3,-8.8,196,2332,0.12,2.05,0.00,0.000,4,0.203,0.038,2564,914,3489,0,0,0,0,0,0
$GC,2345,-0.62,-116.7,185.7,-8.7,197,2349,0.00,2.05,0.00,0.000,6,0.000,0.031,2565,2309,3489,0,0,0,0,0,0
$GC,2671,-0.62,-116.7,210.8,-7.9,213,2674,0.00,2.05,0.00,0.000,4,0.000,0.043,2565,3698,3489,0,0,0,0,0,0
$GC,2693,-0.65,-116.7,212.6,-7.9,214,2697,0.00,2.00,0.00,0.000,6,0.000,0.025,2565,2294,3489,0,0,0,0,0,0
$GC,3025,-0.68,-116.7,236.6,-7.2,230,3029,0.00,2.12,0.00,0.000,4,0.000,0.043,2565,3709,3488,0,0,0,0,0,0
$GC,3096,-0.72,-116.7,241.9,-7.2,233,3100,0.00,2.05,0.00,0.000,6,0.000,0.025,2564,2269,3489,0,0,0,0,0,0
$GC,3418,-0.76,-116.7,263.8,-6.5,249,3423,0.15,2.17,0.00,0.000,4,0.131,0.043,2516,3707,3488,0,0,0,0,0,0
$GC,3467,-0.69,-116.7,267.8,-8.2,251,3471,0.00,2.00,0.00,0.000,6,0.000,0.026,2515,2302,3488,0,0,0,0,0,0
$GC,3788,-0.62,-116.7,294.1,-8.1,267,3793,0.17,2.12,0.00,0.000,4,0.193,0.044,2562,3705,3487,0,0,0,0,0,0
$GC,3806,-0.62,-116.7,295.4,-8.3,268,3810,0.00,2.03,0.00,0.000,6,0.000,0.027,2562,2293,3487,0,0,0,0,0,0
$GC,4131,-0.65,-116.7,316.9,-6.9,280,4135,0.00,2.10,0.00,0.000,4,0.000,0.044,2562,3698,3487,0,0,0,0,0,0
$GC,4164,-0.70,-116.7,319.3,-7.2,281,4168,0.00,2.05,0.00,0.000,6,0.000,0.026,2562,2290,3486,0,0,0,0,0,0
$GC,4499,-0.73,-116.7,342.7,-6.9,292,4503,0.00,2.12,0.00,0.000,4,0.000,0.044,2562,3708,3486,0,0,0,0,0,0
$GC,4544,-0.78,-116.7,345.8,-6.5,293,4548,0.15,2.03,0.00,0.000,6,0.134,0.027,2515,2286,3485,0,0,0,0,0,0
$GC,4861,-0.71,-116.7,372.3,-8.4,304,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2284,3485,0,0,0,0,0,0
$GC,5167,-0.64,-116.7,396.9,-8.0,314,5172,0.15,2.03,0.00,0.000,4,0.194,0.041,2554,918,3484,0,0,0,0,0,0
$GC,5182,-0.60,-116.7,398.2,-7.8,314,5186,0.00,2.08,0.00,0.000,6,0.000,0.032,2554,2302,3485,0,0,0,0,0,0
$GC,5501,-0.60,-116.7,418.1,-6.2,325,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2302,3484,0,0,0,0,0,0
$GC,5807,-0.60,-116.7,437.3,-6.3,335,5808,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2302,3483,0,0,0,0,0,0
$GC,6113,-0.60,-116.7,457.2,-6.5,345,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2302,3482,0,0,0,0,0,0
$GC,6419,-0.60,-116.7,476.6,-6.2,355,6423,0.00,2.08,0.00,0.000,4,0.000,0.045,2554,3700,3482,0,0,0,0,0,0
$GC,6440,-0.60,-116.7,478.0,-6.3,355,6444,0.00,2.03,0.00,0.000,6,0.000,0.028,2554,2309,3481,0,0,0,0,0,0
$GC,6758,-0.60,-116.7,498.0,-6.6,366,6762,0.00,2.10,0.00,0.000,4,0.000,0.045,2554,3705,3480,0,0,0,0,0,0
$GC,6779,-0.60,-116.7,499.6,-6.6,366,6783,0.00,2.05,0.00,0.000,6,0.000,0.028,2554,2303,3480,0,0,0,0,0,0
$GC,7095,-0.60,-116.7,520.3,-6.6,372,7098,0.00,2.10,0.00,0.000,4,0.000,0.046,2554,3701,3479,0,0,0,0,0,0
$GC,7122,-0.63,-116.7,522.3,-7.1,372,7126,0.00,2.05,0.00,0.000,6,0.000,0.028,2554,2298,3479,0,0,0,0,0,0
$GC,7459,-0.63,-116.7,545.7,-7.0,378,7462,0.00,2.12,0.00,0.000,4,0.000,0.046,2554,3712,3479,0,0,0,0,0,0
$GC,7503,-0.67,-116.7,548.9,-7.3,378,7507,0.00,2.03,0.00,0.000,6,0.000,0.028,2554,2296,3479,0,0,0,0,0,0
$GC,7824,-0.67,-116.7,570.3,-6.7,384,7828,0.00,2.12,0.00,0.000,4,0.000,0.046,2554,3708,3478,0,0,0,0,0,0
$GC,7868,-0.71,-116.7,573.3,-6.7,384,7871,0.00,2.03,0.00,0.000,6,0.000,0.028,2554,2294,3478,0,0,0,0,0,0
$GC,8188,-0.71,-116.7,594.6,-6.7,390,8192,0.00,2.12,0.00,0.000,4,0.000,0.046,2554,3705,3477,0,0,0,0,0,0
$GC,8232,-0.75,-116.7,597.5,-6.6,390,8236,0.00,2.03,0.00,0.000,6,0.000,0.028,2554,2289,3477,0,0,0,0,0,0
$GC,8547,-0.75,-116.7,617.7,-6.4,396,8551,0.00,2.12,0.00,0.000,4,0.000,0.046,2554,3699,3476,0,0,0,0,0,0
$GC,8591,-0.78,-116.7,620.8,-6.8,396,8596,0.12,2.00,0.00,0.000,6,0.143,0.028,2516,2295,3476,0,0,0,0,0,0
$GC,8905,-0.73,-116.7,644.4,-7.5,402,8909,0.00,2.12,0.00,0.000,4,0.000,0.046,2515,3705,3476,0,0,0,0,0,0
$GC,8915,-0.67,-116.7,645.2,-7.3,402,8919,0.08,2.05,0.00,0.000,6,0.182,0.028,2539,2307,3475,0,0,0,0,0,0
$GC,9269,-0.67,-116.7,668.1,-6.4,408,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2306,3475,0,0,0,0,0,0
$GC,9571,-0.67,-116.7,687.9,-6.5,413,9575,0.00,2.10,0.00,0.000,4,0.000,0.047,2539,3702,3475,0,0,0,0,0,0
$GC,9587,-0.67,-116.7,688.9,-6.6,413,9591,0.00,2.05,0.00,0.000,6,0.000,0.028,2539,2300,3474,0,0,0,0,0,0
$GC,9936,-0.67,-116.7,711.6,-6.5,419,9940,0.00,2.15,0.00,0.000,4,0.000,0.048,2539,3701,3474,0,0,0,0,0,0
$GC,9973,-0.67,-116.7,714.2,-7.3,419,9977,0.00,2.05,0.00,0.000,6,0.000,0.028,2539,2301,3474,0,0,0,0,0,0
$GC,10305,-0.67,-116.7,736.4,-6.6,425,10309,0.00,2.10,0.00,0.000,4,0.000,0.047,2539,3699,3474,0,0,0,0,0,0
$GC,10321,-0.67,-116.7,737.5,-6.6,425,10325,0.00,2.03,0.00,0.000,6,0.000,0.029,2539,2288,3473,0,0,0,0,0,0
$GC,10670,-0.67,-116.7,760.9,-6.7,431,10674,0.00,2.12,0.00,0.000,4,0.000,0.047,2539,3700,3473,0,0,0,0,0,0
$GC,10690,-0.67,-116.7,762.5,-7.4,431,10695,0.00,2.05,0.00,0.000,6,0.000,0.028,2539,2302,3473,0,0,0,0,0,0
$GC,11034,-0.67,-116.7,786.3,-7.1,437,11038,0.00,2.10,0.00,0.000,4,0.000,0.047,2539,3700,3473,0,0,0,0,0,0
$GC,11066,-0.67,-116.7,788.8,-7.7,437,11070,0.00,2.05,0.00,0.000,6,0.000,0.028,2539,2300,3473,0,0,0,0,0,0
$GC,11403,-0.67,-116.7,812.0,-6.9,443,11407,0.00,2.12,0.00,0.000,4,0.000,0.047,2539,3709,3473,0,0,0,0,0,0
$GC,11430,-0.67,-116.7,814.1,-7.0,443,11434,0.00,2.08,0.00,0.000,6,0.000,0.029,2539,2294,3472,0,0,0,0,0,0
$GC,11768,-0.67,-116.7,836.8,-6.8,449,11772,0.00,2.12,0.00,0.000,4,0.000,0.047,2539,3705,3472,0,0,0,0,0,0
$GC,11795,-0.67,-116.7,838.6,-6.8,449,11799,0.00,2.03,0.00,0.000,6,0.000,0.029,2539,2297,3472,0,0,0,0,0,0
$GC,12132,-0.67,-116.7,860.9,-6.5,455,12136,0.00,2.12,0.00,0.000,4,0.000,0.047,2539,3705,3472,0,0,0,0,0,0
$GC,12164,-0.67,-116.7,863.3,-7.4,455,12169,0.00,2.05,0.00,0.000,6,0.000,0.029,2539,2304,3472,0,0,0,0,0,0
$GC,12496,-0.67,-116.7,886.3,-7.0,461,12500,0.00,2.12,0.00,0.000,4,0.000,0.047,2539,3711,3471,0,0,0,0,0,0
$GC,12517,-0.67,-116.7,887.8,-6.5,461,12521,0.00,2.08,0.00,0.000,6,0.000,0.029,2539,2295,3471,0,0,0,0,0,0
$GC,12865,-0.67,-116.7,911.8,-6.9,467,12869,0.00,2.12,0.00,0.000,4,0.000,0.047,2539,3706,3471,0,0,0,0,0,0
$GC,12898,-0.67,-116.7,914.2,-7.8,467,12902,0.00,2.05,0.00,0.000,6,0.000,0.029,2539,2304,3471,0,0,0,0,0,0
$GC,13229,-0.67,-116.7,937.8,-7.2,473,13233,0.00,2.10,0.00,0.000,4,0.000,0.047,2539,3699,3471,0,0,0,0,0,0
$GC,13267,-0.67,-116.7,940.5,-7.3,473,13272,0.00,2.05,0.00,0.000,6,0.000,0.029,2539,2299,3470,0,0,0,0,0,0
$GC,13593,-0.67,-116.7,963.7,-7.2,479,13597,0.00,2.12,0.00,0.000,4,0.000,0.047,2539,3706,3471,0,0,0,0,0,0
$GC,13626,-0.67,-116.7,966.1,-7.2,479,13630,0.00,2.08,0.00,0.000,6,0.000,0.029,2539,2294,3470,0,0,0,0,0,0
$GC,13958,-0.67,-116.7,989.8,-7.1,485,13962,0.00,2.15,0.00,0.000,4,0.000,0.047,2539,3710,3470,0,0,0,0,0,0
$STATE,13966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13966,begin apogee
$GC,13972,-0.24,0.0,990.6,7.2,485,14074,0.45,0.00,98.68,1.562,6,0.177,0.000,2678,2628,3006,0,0,0,0,0,0
$STATE,14075,end apogee,CONTROL_FINISHED_OK
$STATE,14075,begin climb
$GC,14077,0.80,116.7,992.9,0.0,486,14191,1.08,2.40,105.05,1.457,4,0.125,0.047,3005,4035,2529,0,0,0,0,0,0
$GC,14235,0.56,116.7,989.1,8.6,489,14240,0.28,2.17,0.00,0.000,6,0.198,0.028,2950,2663,2523,0,0,0,0,0,0
$GC,14572,0.54,141.5,969.1,5.9,495,14596,0.00,0.00,21.70,1.423,6,0.000,0.000,2951,2663,2429,0,0,0,0,0,0
$GC,14876,0.55,150.1,949.5,6.5,500,14886,0.00,0.00,8.38,1.335,6,0.000,0.000,2950,2663,2394,0,0,0,0,0,0
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$STATE,27413,end climb,SURFACE_DEPTH_REACHED
$STATE,27413,begin surface coast
$FINISH,3.0,1.015452
$STATE,27473,end surface coast,CONTROL_FINISHED_OK
$STATE,27473,begin surface
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$HUMID,1078399345
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$TCM_TEMP,19.70
$XPDR_PINGS,0
$24V_AH,23.0,11.676
$10V_AH,10.1,7.131
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.200,187.625,339.675,10.275,0.000,25.677,43.693,166.284,0.000,0.000,15.057,2055.520,22529.762,482.921,2288.713,491.170,0.000,1667.807,0.000,2260.077,0.000,0.533,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241596
$DATA_FILE_SIZE,53862,946
$CAP_FILE_SIZE,200352,0
$CFSIZE,260165632,250204160
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031,167.6,1
$GPS,171009,011031,6424.871,12.453,40,1.4,40,-5.0