version: 66.06
glider: 140
mission: 8
dive: 129
start: 11 7 109 3 25 32
data:
$ID,140
$MISSION,8
$DIVE,129
$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,-46662.656
$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,78
$R_STBD_OVSHOOT,48
$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
$GPS1,031930,6416.304,44.841,37,1.0,38,-4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.49
$_SM_ANGLEo,-61.4
$GPS2,032508,6416.341,44.793,14,1.0,14,-4.7
$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,323.1,123026,-13.7,-6.875
$D_GRID,2433
$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,-116.7,0.0,0.0,0,23,0.00,0.00,-7.05,0.000,2,0.000,0.000,220,2260,2026,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.6,-0.0,1,118,9.10,2.25,-75.62,0.000,4,0.249,0.054,2500,3702,3481,0,0,0,0,0,0
$GC,370,-0.68,-116.7,32.7,-9.6,62,378,0.12,2.08,0.00,0.000,6,0.170,0.024,2539,2288,3483,0,0,0,0,0,0
$GC,720,-0.61,-116.7,62.1,-10.1,122,724,0.00,2.15,0.00,0.000,4,0.000,0.041,2539,3700,3484,0,0,0,0,0,0
$GC,798,-0.57,-116.7,69.2,-8.7,125,803,0.15,2.00,0.00,0.000,6,0.188,0.024,2580,2288,3484,0,0,0,0,0,0
$GC,1114,-0.61,-116.7,88.9,-5.9,140,1118,0.00,2.00,0.00,0.000,4,0.000,0.035,2580,933,3484,0,0,0,0,0,0
$GC,1204,-0.64,-116.7,95.0,-6.9,144,1208,0.00,2.03,0.00,0.000,6,0.000,0.028,2580,2313,3485,0,0,0,0,0,0
$GC,1531,-0.69,-116.7,116.4,-6.8,160,1535,0.12,2.08,0.00,0.000,4,0.132,0.041,2540,3702,3485,0,0,0,0,0,0
$GC,1619,-0.69,-116.7,123.7,-8.2,164,1623,0.00,1.98,0.00,0.000,6,0.000,0.023,2541,2307,3485,0,0,0,0,0,0
$GC,1951,-0.69,-116.7,149.6,-7.7,180,1955,0.00,2.12,0.00,0.000,4,0.000,0.041,2540,3698,3486,0,0,0,0,0,0
$GC,1999,-0.69,-116.7,153.4,-7.7,182,2004,0.00,2.03,0.00,0.000,6,0.000,0.023,2541,2293,3486,0,0,0,0,0,0
$GC,2327,-0.69,-116.7,177.2,-7.3,198,2331,0.00,2.00,0.00,0.000,4,0.000,0.035,2540,927,3486,0,0,0,0,0,0
$GC,2417,-0.65,-116.7,184.5,-8.4,202,2421,0.00,2.00,0.00,0.000,6,0.000,0.028,2540,2302,3486,0,0,0,0,0,0
$GC,2750,-0.65,-116.7,210.6,-7.9,218,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2302,3486,0,0,0,0,0,0
$GC,3058,-0.65,-116.7,235.7,-8.5,233,3061,0.00,2.03,0.00,0.000,4,0.000,0.035,2540,933,3486,0,0,0,0,0,0
$GC,3147,-0.61,-116.7,243.7,-8.8,237,3151,0.00,2.00,0.00,0.000,6,0.000,0.028,2540,2305,3486,0,0,0,0,0,0
$GC,3479,-0.61,-116.7,270.5,-7.9,253,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2305,3486,0,0,0,0,0,0
$GC,3788,-0.61,-116.7,293.9,-7.6,268,3792,0.00,2.03,0.00,0.000,4,0.000,0.035,2540,934,3486,0,0,0,0,0,0
$GC,3872,-0.58,-116.7,300.6,-7.7,271,3878,0.12,1.98,0.00,0.000,6,0.208,0.028,2570,2300,3486,0,0,0,0,0,0
$GC,4185,-0.63,-116.7,319.8,-5.9,282,4188,0.00,2.08,0.00,0.000,4,0.000,0.043,2571,3695,3485,0,0,0,0,0,0
$GC,4309,-0.70,-116.7,327.7,-6.3,285,4315,0.00,1.98,0.00,0.000,6,0.000,0.025,2571,2292,3484,0,0,0,0,0,0
$GC,4621,-0.75,-116.7,348.1,-6.6,296,4623,0.15,0.00,0.00,0.000,6,0.124,0.000,2521,2291,3484,0,0,0,0,0,0
$GC,4927,-0.71,-116.7,373.9,-8.7,306,4931,0.00,2.10,0.00,0.000,4,0.000,0.042,2520,3695,3483,0,0,0,0,0,0
$GC,4994,-0.67,-116.7,380.0,-9.1,308,4998,0.00,2.00,0.00,0.000,6,0.000,0.025,2521,2313,3482,0,0,0,0,0,0
$GC,5329,-0.62,-116.7,409.6,-8.7,319,5331,0.15,0.00,0.00,0.000,6,0.188,0.000,2559,2309,3482,0,0,0,0,0,0
$GC,5635,-0.65,-116.7,431.2,-6.9,329,5639,0.00,2.10,0.00,0.000,4,0.000,0.043,2559,3703,3481,0,0,0,0,0,0
$GC,5713,-0.71,-116.7,436.5,-6.6,331,5716,0.00,2.00,0.00,0.000,6,0.000,0.026,2560,2303,3481,0,0,0,0,0,0
$GC,6037,-0.75,-116.7,457.2,-6.2,342,6038,0.12,0.00,0.00,0.000,6,0.140,0.000,2519,2297,3480,0,0,0,0,0,0
$GC,6342,-0.70,-116.7,482.2,-8.3,352,6346,0.00,2.10,0.00,0.000,4,0.000,0.044,2518,3695,3479,0,0,0,0,0,0
$GC,6385,-0.66,-116.7,486.0,-8.6,353,6390,0.08,2.03,0.00,0.000,6,0.177,0.026,2554,2302,3479,0,0,0,0,0,0
$GC,6713,-0.66,-116.7,508.9,-7.0,362,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2300,3478,0,0,0,0,0,0
$GC,7016,-0.66,-116.7,530.5,-7.1,367,7020,0.00,2.12,0.00,0.000,4,0.000,0.044,2554,3697,3477,0,0,0,0,0,0
$GC,7065,-0.70,-116.7,534.2,-7.4,367,7069,0.00,2.03,0.00,0.000,6,0.000,0.026,2555,2304,3477,0,0,0,0,0,0
$GC,7380,-0.73,-116.7,556.2,-7.0,373,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2303,3476,0,0,0,0,0,0
$GC,7684,-0.76,-116.7,577.0,-6.9,378,7689,0.12,2.12,0.00,0.000,4,0.138,0.044,2514,3702,3475,0,0,0,0,0,0
$GC,7778,-0.71,-116.7,585.1,-8.6,379,7782,0.00,2.05,0.00,0.000,6,0.000,0.027,2514,2296,3475,0,0,0,0,0,0
$GC,8115,-0.66,-116.7,613.1,-8.4,385,8117,0.12,0.00,0.00,0.000,6,0.199,0.000,2545,2293,3474,0,0,0,0,0,0
$GC,8419,-0.66,-116.7,634.1,-6.8,390,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2293,3474,0,0,0,0,0,0
$GC,8721,-0.66,-116.7,654.8,-6.8,395,8725,0.00,2.12,0.00,0.000,4,0.000,0.044,2546,3699,3473,0,0,0,0,0,0
$GC,8799,-0.66,-116.7,660.4,-6.9,396,8803,0.00,2.05,0.00,0.000,6,0.000,0.027,2546,2296,3473,0,0,0,0,0,0
$GC,9159,-0.66,-116.7,685.2,-6.9,402,9160,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2295,3472,0,0,0,0,0,0
$GC,9462,-0.66,-116.7,705.5,-6.7,407,9466,0.00,2.12,0.00,0.000,4,0.000,0.044,2546,3701,3471,0,0,0,0,0,0
$GC,9567,-0.69,-116.7,712.5,-7.0,408,9571,0.00,2.05,0.00,0.000,6,0.000,0.027,2546,2300,3471,0,0,0,0,0,0
$GC,9899,-0.69,-116.7,734.7,-6.7,414,9901,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2299,3471,0,0,0,0,0,0
$GC,10202,-0.69,-116.7,755.2,-6.8,419,10206,0.00,2.10,0.00,0.000,4,0.000,0.044,2546,3694,3470,0,0,0,0,0,0
$GC,10290,-0.72,-116.7,761.5,-7.7,420,10294,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2299,3470,0,0,0,0,0,0
$GC,10634,-0.72,-116.7,784.1,-6.6,426,10635,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2297,3469,0,0,0,0,0,0
$GC,10936,-0.72,-116.7,803.9,-6.5,431,10940,0.00,2.10,0.00,0.000,4,0.000,0.045,2546,3694,3469,0,0,0,0,0,0
$GC,11026,-0.76,-116.7,809.9,-6.6,432,11030,0.00,2.03,0.00,0.000,6,0.000,0.028,2546,2291,3469,0,0,0,0,0,0
$GC,11363,-0.76,-116.7,831.8,-6.5,438,11367,0.00,2.12,0.00,0.000,4,0.000,0.044,2546,3698,3468,0,0,0,0,0,0
$GC,11440,-0.80,-116.7,837.1,-6.6,439,11445,0.12,2.03,0.00,0.000,6,0.146,0.028,2505,2289,3468,0,0,0,0,0,0
$GC,11788,-0.75,-116.7,865.7,-8.4,445,11790,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2288,3468,0,0,0,0,0,0
$GC,12092,-0.69,-116.7,891.4,-8.5,450,12094,0.12,0.00,0.00,0.000,6,0.202,0.000,2537,2287,3468,0,0,0,0,0,0
$GC,12394,-0.69,-116.7,913.1,-7.1,455,12395,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2286,3468,0,0,0,0,0,0
$GC,12698,-0.69,-116.7,934.0,-6.8,460,12702,0.00,2.12,0.00,0.000,4,0.000,0.045,2537,3696,3468,0,0,0,0,0,0
$GC,12775,-0.69,-116.7,939.3,-6.0,461,12780,0.00,2.05,0.00,0.000,6,0.000,0.028,2537,2300,3467,0,0,0,0,0,0
$GC,13130,-0.69,-116.7,962.6,-6.6,467,13131,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2298,3467,0,0,0,0,0,0
$GC,13433,-0.69,-116.7,982.3,-6.4,472,13437,0.00,2.12,0.00,0.000,4,0.000,0.045,2537,3702,3467,0,0,0,0,0,0
$GC,13504,-0.69,-116.7,987.0,-6.6,473,13508,0.00,2.05,0.00,0.000,6,0.000,0.027,2537,2306,3467,0,0,0,0,0,0
$STATE,13552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13552,begin apogee
$GC,13558,-0.24,0.0,990.3,6.0,473,13658,0.45,0.00,97.93,1.549,6,0.172,0.000,2677,2652,3006,0,0,0,0,0,0
$STATE,13659,end apogee,CONTROL_FINISHED_OK
$STATE,13659,begin climb
$GC,13661,0.80,116.7,992.7,0.0,475,13777,1.08,2.45,105.18,1.456,4,0.122,0.046,3006,4040,2529,0,0,0,0,0,0
$GC,13840,0.57,116.7,985.6,8.4,477,13845,0.25,2.20,0.00,0.000,6,0.179,0.027,2954,2650,2523,0,0,0,0,0,0
$GC,14150,0.54,132.6,965.8,6.2,482,14169,0.00,2.30,13.80,1.399,4,0.000,0.048,2953,4035,2465,0,0,0,0,0,0
$GC,14180,0.51,164.5,963.6,5.6,482,14216,0.00,2.15,30.05,1.396,6,0.000,0.028,2962,2640,2335,0,0,0,0,0,0
$GC,14575,0.51,164.5,932.9,7.9,489,14579,0.00,2.22,0.00,0.000,4,0.000,0.047,2962,4045,2326,0,0,0,0,0,0
$GC,14601,0.44,164.5,930.6,9.0,489,14606,0.22,2.12,0.00,0.000,6,0.179,0.028,2913,2632,2326,0,0,0,0,0,0
$GC,14939,0.53,185.5,909.9,6.0,495,14959,0.00,0.00,18.62,1.426,6,0.000,0.000,2912,2632,2249,0,0,0,0,0,0
$GC,15242,0.64,205.7,891.3,6.1,500,15267,0.17,2.15,19.45,1.407,4,0.107,0.038,2983,1258,2166,0,0,0,0,0,0
$GC,15272,0.60,205.7,888.9,8.0,500,15276,0.00,2.17,0.00,0.000,6,0.000,0.034,2980,2653,2165,0,0,0,0,0,0
$GC,15604,0.60,205.7,860.4,8.6,506,15608,0.00,2.15,0.00,0.000,4,0.000,0.047,2980,4048,2161,0,0,0,0,0,0
$GC,15619,0.55,205.7,858.9,8.7,506,15624,0.17,2.12,0.00,0.000,6,0.180,0.028,2944,2622,2161,0,0,0,0,0,0
$GC,15973,0.59,205.7,832.9,7.3,512,15977,0.00,2.22,0.00,0.000,4,0.000,0.047,2941,4053,2160,0,0,0,0,0,0
$GC,15994,0.59,205.7,831.2,7.8,512,15999,0.00,2.12,0.00,0.000,6,0.000,0.028,2950,2646,2159,0,0,0,0,0,0
$GC,16338,0.59,205.7,805.0,7.7,518,16342,0.00,2.17,0.00,0.000,4,0.000,0.047,2950,4051,2158,0,0,0,0,0,0
$GC,16360,0.59,205.7,803.3,7.5,518,16364,0.00,2.08,0.00,0.000,6,0.000,0.028,2956,2645,2158,0,0,0,0,0,0
$GC,16696,0.59,205.7,777.5,7.7,524,16700,0.00,2.17,0.00,0.000,4,0.000,0.047,2953,4053,2158,0,0,0,0,0,0
$GC,16722,0.59,205.7,775.4,8.0,524,16726,0.00,2.10,0.00,0.000,6,0.000,0.028,2961,2652,2158,0,0,0,0,0,0
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$STATE,25775,end climb,SURFACE_DEPTH_REACHED
$STATE,25775,begin surface coast
$FINISH,2.9,1.015432
$STATE,25821,end surface coast,CONTROL_FINISHED_OK
$STATE,25821,begin surface
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$HUMID,1078364506
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,14.80
$XPDR_PINGS,0
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$10V_AH,10.1,14.115
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.175,190.175,347.450,0.000,0.000,24.471,34.783,157.568,0.000,0.000,14.269,2005.211,20886.402,491.352,2373.112,472.144,0.000,1708.980,0.000,2338.451,0.000,0.534,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241464
$DATA_FILE_SIZE,50712,897
$CAP_FILE_SIZE,198711,0
$CFSIZE,260165632,244666368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.048,217.3,1
$GPS,071109,103825,6418.083,38.860,41,1.8,42,-4.7