version: 66.06
glider: 140
mission: 8
dive: 26
start: 10 6 109 20 36 58
data:
$ID,140
$MISSION,8
$DIVE,26
$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,-44781.242
$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,76
$R_STBD_OVSHOOT,37
$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
$GPS1,203031,6436.211,33.489,39,1.9,40,-4.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.33
$_SM_ANGLEo,-53.5
$GPS2,203636,6436.184,33.414,12,1.6,28,-4.8
$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,312.0,91405,-13.7,-6.875
$D_GRID,2616
$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,-8.32,0.000,2,0.000,0.000,222,2261,1848,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.2,-0.0,1,132,9.10,2.25,-88.35,0.000,4,0.253,0.057,2500,3705,3481,0,0,0,0,0,0
$GC,359,-0.65,-116.7,29.9,-9.6,60,367,0.15,2.08,0.00,0.000,6,0.189,0.026,2545,2302,3483,0,0,0,0,0,0
$GC,698,-0.59,-116.7,57.6,-8.4,121,704,0.00,2.17,0.00,0.000,4,0.000,0.046,2544,3708,3484,0,0,0,0,0,0
$GC,736,-0.54,-116.7,60.8,-8.2,127,742,0.10,2.08,0.00,0.000,6,0.182,0.027,2590,2303,3484,0,0,0,0,0,0
$GC,1053,-0.62,-116.7,78.7,-5.0,143,1057,0.00,2.08,0.00,0.000,4,0.000,0.040,2589,908,3485,0,0,0,0,0,0
$GC,1102,-0.68,-116.7,81.5,-5.3,145,1107,0.15,2.10,0.00,0.000,6,0.128,0.031,2541,2325,3486,0,0,0,0,0,0
$GC,1417,-0.68,-116.7,103.5,-7.3,160,1421,0.00,2.05,0.00,0.000,4,0.000,0.044,2541,3702,3486,0,0,0,0,0,0
$GC,1488,-0.68,-116.7,108.9,-7.7,163,1492,0.00,2.05,0.00,0.000,6,0.000,0.025,2541,2303,3486,0,0,0,0,0,0
$GC,1811,-0.64,-116.7,134.6,-8.1,179,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2303,3486,0,0,0,0,0,0
$GC,2118,-0.64,-116.7,160.0,-8.1,194,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2300,3487,0,0,0,0,0,0
$GC,2430,-0.64,-116.7,184.8,-8.1,209,2433,0.00,2.08,0.00,0.000,4,0.000,0.041,2541,915,3486,0,0,0,0,0,0
$GC,2490,-0.60,-116.7,190.1,-8.6,211,2496,0.00,2.08,0.00,0.000,6,0.000,0.032,2541,2297,3486,0,0,0,0,0,0
$GC,2805,-0.60,-116.7,214.5,-7.7,227,2809,0.00,2.10,0.00,0.000,4,0.000,0.045,2541,3708,3486,0,0,0,0,0,0
$GC,2876,-0.60,-116.7,220.1,-7.7,230,2880,0.00,2.05,0.00,0.000,6,0.000,0.027,2541,2306,3485,0,0,0,0,0,0
$GC,3197,-0.60,-116.7,245.4,-7.8,246,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2306,3485,0,0,0,0,0,0
$GC,3507,-0.60,-116.7,269.3,-7.6,261,3511,0.00,2.08,0.00,0.000,4,0.000,0.041,2541,906,3485,0,0,0,0,0,0
$GC,3567,-0.57,-116.7,274.3,-7.9,263,3574,0.08,2.10,0.00,0.000,6,0.196,0.033,2578,2304,3485,0,0,0,0,0,0
$GC,3884,-0.63,-116.7,293.6,-6.0,279,3888,0.00,2.08,0.00,0.000,4,0.000,0.047,2578,3702,3484,0,0,0,0,0,0
$GC,3962,-0.71,-116.7,298.8,-6.5,282,3969,0.12,2.03,0.00,0.000,6,0.140,0.028,2537,2283,3484,0,0,0,0,0,0
$GC,4294,-0.71,-116.7,322.8,-7.3,294,4296,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2282,3482,0,0,0,0,0,0
$GC,4601,-0.71,-116.7,344.4,-7.1,304,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2282,3482,0,0,0,0,0,0
$GC,4907,-0.71,-116.7,366.2,-7.2,314,4911,0.00,2.15,0.00,0.000,4,0.000,0.047,2536,3711,3481,0,0,0,0,0,0
$GC,4955,-0.71,-116.7,369.8,-7.0,315,4960,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2312,3481,0,0,0,0,0,0
$GC,5273,-0.71,-116.7,392.0,-7.0,326,5277,0.00,2.08,0.00,0.000,4,0.000,0.043,2536,903,3480,0,0,0,0,0,0
$GC,5329,-0.67,-116.7,396.2,-7.8,327,5335,0.00,2.10,0.00,0.000,6,0.000,0.034,2536,2298,3480,0,0,0,0,0,0
$GC,5641,-0.67,-116.7,418.5,-7.2,338,5644,0.00,2.10,0.00,0.000,4,0.000,0.048,2536,3711,3479,0,0,0,0,0,0
$GC,5695,-0.67,-116.7,422.7,-7.6,339,5701,0.00,2.08,0.00,0.000,6,0.000,0.028,2536,2300,3479,0,0,0,0,0,0
$GC,6008,-0.67,-116.7,445.1,-7.2,350,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2300,3479,0,0,0,0,0,0
$GC,6314,-0.67,-116.7,467.9,-7.6,360,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2301,3478,0,0,0,0,0,0
$GC,6620,-0.67,-116.7,491.4,-7.6,370,6621,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2300,3477,0,0,0,0,0,0
$GC,6925,-0.67,-116.7,514.7,-7.7,377,6929,0.00,2.12,0.00,0.000,4,0.000,0.048,2536,3710,3476,0,0,0,0,0,0
$GC,6986,-0.67,-116.7,519.7,-8.2,378,6990,0.00,2.05,0.00,0.000,6,0.000,0.030,2536,2290,3476,0,0,0,0,0,0
$GC,7350,-0.67,-116.7,547.8,-7.7,384,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2289,3476,0,0,0,0,0,0
$GC,7654,-0.67,-116.7,570.5,-7.5,389,7658,0.00,2.12,0.00,0.000,4,0.000,0.048,2536,3701,3475,0,0,0,0,0,0
$GC,7708,-0.67,-116.7,574.8,-7.8,389,7714,0.00,2.05,0.00,0.000,6,0.000,0.029,2536,2304,3475,0,0,0,0,0,0
$GC,8017,-0.67,-116.7,597.8,-7.5,395,8018,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2304,3474,0,0,0,0,0,0
$GC,8320,-0.67,-116.7,621.3,-7.8,400,8324,0.00,2.10,0.00,0.000,4,0.000,0.048,2536,3702,3474,0,0,0,0,0,0
$GC,8364,-0.67,-116.7,624.9,-8.2,400,8368,0.00,2.08,0.00,0.000,6,0.000,0.029,2536,2291,3474,0,0,0,0,0,0
$GC,8684,-0.67,-116.7,649.4,-7.6,406,8686,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2291,3473,0,0,0,0,0,0
$GC,8988,-0.67,-116.7,672.1,-7.5,411,8992,0.00,2.12,0.00,0.000,4,0.000,0.048,2536,3701,3473,0,0,0,0,0,0
$GC,9053,-0.67,-116.7,677.2,-8.3,412,9058,0.00,2.05,0.00,0.000,6,0.000,0.029,2536,2305,3473,0,0,0,0,0,0
$GC,9419,-0.67,-116.7,704.9,-7.6,418,9420,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2304,3473,0,0,0,0,0,0
$GC,9722,-0.67,-116.7,728.3,-7.7,423,9726,0.00,2.10,0.00,0.000,4,0.000,0.048,2536,3701,3472,0,0,0,0,0,0
$GC,9783,-0.67,-116.7,733.0,-7.8,424,9787,0.00,2.03,0.00,0.000,6,0.000,0.029,2536,2296,3472,0,0,0,0,0,0
$GC,10147,-0.67,-116.7,760.0,-7.3,430,10148,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2295,3472,0,0,0,0,0,0
$GC,10450,-0.67,-116.7,782.2,-7.3,435,10454,0.00,2.12,0.00,0.000,4,0.000,0.048,2536,3704,3471,0,0,0,0,0,0
$GC,10527,-0.67,-116.7,788.1,-7.5,436,10532,0.00,2.05,0.00,0.000,6,0.000,0.030,2536,2305,3471,0,0,0,0,0,0
$GC,10881,-0.67,-116.7,813.2,-7.1,442,10882,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2305,3471,0,0,0,0,0,0
$GC,11185,-0.67,-116.7,833.9,-6.8,447,11188,0.00,2.10,0.00,0.000,4,0.000,0.048,2536,3701,3470,0,0,0,0,0,0
$GC,11262,-0.67,-116.7,839.3,-6.8,448,11267,0.00,2.08,0.00,0.000,6,0.000,0.030,2536,2293,3470,0,0,0,0,0,0
$GC,11616,-0.67,-116.7,863.1,-6.7,454,11618,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2293,3470,0,0,0,0,0,0
$GC,11920,-0.67,-116.7,883.3,-6.7,459,11924,0.00,2.12,0.00,0.000,4,0.000,0.048,2536,3701,3470,0,0,0,0,0,0
$GC,11985,-0.67,-116.7,887.8,-7.1,460,11990,0.00,2.05,0.00,0.000,6,0.000,0.030,2536,2309,3470,0,0,0,0,0,0
$GC,12351,-0.67,-116.7,910.3,-6.1,466,12353,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2309,3470,0,0,0,0,0,0
$GC,12655,-0.67,-116.7,928.7,-6.0,471,12659,0.00,2.10,0.00,0.000,4,0.000,0.048,2537,3702,3469,0,0,0,0,0,0
$GC,12726,-0.67,-116.7,933.2,-5.5,472,12731,0.00,2.05,0.00,0.000,6,0.000,0.030,2536,2303,3469,0,0,0,0,0,0
$GC,13086,-0.67,-116.7,954.9,-6.1,478,13088,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2303,3469,0,0,0,0,0,0
$GC,13390,-0.67,-116.7,973.0,-5.9,483,13394,0.00,2.12,0.00,0.000,4,0.000,0.049,2536,3709,3469,0,0,0,0,0,0
$GC,13462,-0.67,-116.7,977.3,-6.3,484,13466,0.00,2.08,0.00,0.000,6,0.000,0.030,2536,2296,3469,0,0,0,0,0,0
$STATE,13698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13698,begin apogee
$GC,13703,-0.24,0.0,991.4,6.0,488,13805,0.50,0.00,99.15,1.587,6,0.189,0.000,2682,2656,3006,0,0,0,0,0,0
$STATE,13806,end apogee,CONTROL_FINISHED_OK
$STATE,13806,begin climb
$GC,13808,0.80,116.7,992.9,0.0,489,13922,1.10,2.33,105.43,1.467,4,0.126,0.050,3018,4036,2528,0,0,0,0,0,0
$GC,13967,0.52,116.7,986.6,9.2,492,13972,0.38,2.17,0.00,0.000,6,0.212,0.029,2939,2653,2523,0,0,0,0,0,0
$GC,14303,0.53,123.8,963.9,6.6,498,14314,0.00,2.25,5.65,1.191,4,0.000,0.050,2938,4049,2500,0,0,0,0,0,0
$GC,14336,0.46,131.4,961.6,6.6,498,14351,0.12,2.12,8.70,1.295,6,0.217,0.030,2919,2647,2470,0,0,0,0,0,0
$GC,14666,0.48,146.5,940.9,6.3,504,14683,0.00,0.00,14.90,1.410,6,0.000,0.000,2919,2647,2408,0,0,0,0,0,0
$GC,14970,0.52,154.9,921.2,6.5,509,14981,0.00,0.00,8.75,1.350,6,0.000,0.000,2919,2647,2374,0,0,0,0,0,0
$GC,15273,0.57,162.0,901.2,6.6,514,15282,0.00,0.00,7.80,1.328,6,0.000,0.000,2920,2647,2345,0,0,0,0,0,0
$GC,15576,0.62,171.0,881.4,6.5,519,15590,0.15,2.15,9.57,1.362,4,0.127,0.041,2977,1259,2308,0,0,0,0,0,0
$GC,15595,0.62,171.0,879.8,6.9,519,15600,0.00,2.15,0.00,0.000,6,0.000,0.038,2977,2645,2307,0,0,0,0,0,0
$GC,15945,0.56,171.0,850.7,8.4,525,15946,0.12,0.00,0.00,0.000,6,0.206,0.000,2949,2647,2304,0,0,0,0,0,0
$GC,16247,0.56,171.0,828.8,7.2,530,16251,0.00,2.15,0.00,0.000,4,0.000,0.051,2949,4053,2304,0,0,0,0,0,0
$GC,16262,0.56,171.0,827.5,7.3,530,16266,0.00,2.12,0.00,0.000,6,0.000,0.030,2954,2644,2304,0,0,0,0,0,0
$GC,16611,0.56,171.0,801.7,7.4,536,16612,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2645,2304,0,0,0,0,0,0
$GC,16914,0.56,171.0,780.3,7.0,541,16915,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2644,2303,0,0,0,0,0,0
$GC,17217,0.56,173.3,759.8,6.8,546,17221,0.00,2.15,0.00,0.000,4,0.000,0.051,2953,4046,2302,0,0,0,0,0,0
$GC,17243,0.50,173.3,757.7,7.5,546,17248,0.05,2.08,0.00,0.000,6,0.182,0.031,2934,2654,2302,0,0,0,0,0,0
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$STATE,26844,end climb,SURFACE_DEPTH_REACHED
$STATE,26844,begin surface coast
$FINISH,2.7,1.017077
$STATE,26879,end surface coast,CONTROL_FINISHED_OK
$STATE,26879,begin surface
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$HUMID,1078425152
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,19.50
$XPDR_PINGS,0
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$10V_AH,10.0,3.871
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.400,174.100,326.625,28.275,0.000,25.583,41.626,169.044,0.000,0.000,28.809,2039.736,21906.471,536.967,2322.652,481.656,0.000,1704.271,0.000,2282.557,0.000,0.534,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241612
$DATA_FILE_SIZE,53856,952
$CAP_FILE_SIZE,193898,0
$CFSIZE,260165632,252821504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.021,161.8,1
$GPS,071009,040700,6437.704,27.599,40,1.2,41,-4.9