version: 66.06
glider: 140
mission: 8
dive: 37
start: 10 10 109 8 49 37
data:
$ID,140
$MISSION,8
$DIVE,37
$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,-44981.809
$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,81
$R_STBD_OVSHOOT,44
$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
$GPS1,084237,6455.046,-36.620,29,1.3,30,-5.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,3.57
$_SM_ANGLEo,-60.7
$GPS2,084916,6455.043,-36.636,10,2.6,29,-5.6
$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,323.7,27270,-13.7,-6.875
$D_GRID,2829
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-5.85,0.000,2,0.000,0.000,222,2262,2002,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.6,-0.0,1,118,9.05,2.22,-76.15,0.000,4,0.253,0.054,2504,3703,3482,0,0,0,0,0,0
$GC,368,-0.66,-116.7,30.0,-9.6,62,375,0.12,2.08,0.00,0.000,6,0.188,0.025,2542,2291,3484,0,0,0,0,0,0
$GC,713,-0.59,-116.7,62.2,-8.4,121,718,0.12,2.17,0.00,0.000,4,0.207,0.044,2574,3706,3484,0,0,0,0,0,0
$GC,848,-0.63,-116.7,71.6,-7.0,127,852,0.00,2.00,0.00,0.000,6,0.000,0.025,2574,2306,3485,0,0,0,0,0,0
$GC,1170,-0.66,-116.7,90.7,-5.8,143,1174,0.00,2.05,0.00,0.000,4,0.000,0.039,2574,919,3486,0,0,0,0,0,0
$GC,1242,-0.66,-116.7,95.4,-6.4,146,1246,0.00,2.08,0.00,0.000,6,0.000,0.030,2574,2302,3486,0,0,0,0,0,0
$GC,1563,-0.69,-116.7,113.5,-5.8,162,1567,0.00,2.08,0.00,0.000,4,0.000,0.043,2574,3704,3486,0,0,0,0,0,0
$GC,1619,-0.74,-116.7,116.9,-5.9,164,1626,0.12,2.05,0.00,0.000,6,0.100,0.025,2526,2291,3486,0,0,0,0,0,0
$GC,1935,-0.68,-116.7,142.8,-8.6,180,1938,0.00,2.00,0.00,0.000,4,0.000,0.038,2526,926,3486,0,0,0,0,0,0
$GC,2003,-0.59,-116.7,149.0,-9.3,183,2008,0.17,2.03,0.00,0.000,6,0.205,0.031,2570,2307,3486,0,0,0,0,0,0
$GC,2332,-0.63,-116.7,170.8,-6.4,199,2336,0.00,2.05,0.00,0.000,4,0.000,0.043,2570,3698,3487,0,0,0,0,0,0
$GC,2507,-0.68,-116.7,182.7,-6.6,207,2510,0.00,2.00,0.00,0.000,6,0.000,0.025,2570,2293,3487,0,0,0,0,0,0
$GC,2839,-0.72,-116.7,203.9,-6.1,223,2844,0.12,2.03,0.00,0.000,4,0.139,0.038,2530,915,3487,0,0,0,0,0,0
$GC,2938,-0.66,-116.7,212.3,-8.9,227,2946,0.00,2.05,0.00,0.000,6,0.000,0.031,2530,2292,3487,0,0,0,0,0,0
$GC,3254,-0.62,-116.7,237.9,-8.1,243,3259,0.12,2.10,0.00,0.000,4,0.214,0.044,2560,3702,3487,0,0,0,0,0,0
$GC,3303,-0.65,-116.7,241.5,-7.0,245,3307,0.00,2.03,0.00,0.000,6,0.000,0.025,2560,2278,3487,0,0,0,0,0,0
$GC,3624,-0.65,-116.7,263.1,-6.8,261,3625,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2277,3486,0,0,0,0,0,0
$GC,3934,-0.65,-116.7,285.3,-7.2,276,3937,0.00,2.12,0.00,0.000,4,0.000,0.044,2560,3700,3486,0,0,0,0,0,0
$GC,3997,-0.68,-116.7,290.1,-7.7,279,4001,0.00,2.00,0.00,0.000,6,0.000,0.027,2560,2299,3485,0,0,0,0,0,0
$GC,4327,-0.68,-116.7,315.1,-7.5,292,4331,0.00,2.12,0.00,0.000,4,0.000,0.045,2560,3706,3485,0,0,0,0,0,0
$GC,4404,-0.72,-116.7,321.2,-8.0,294,4408,0.00,2.05,0.00,0.000,6,0.000,0.027,2560,2270,3484,0,0,0,0,0,0
$GC,4734,-0.75,-116.7,346.7,-7.7,305,4738,0.12,2.17,0.00,0.000,4,0.143,0.045,2521,3704,3484,0,0,0,0,0,0
$GC,4822,-0.70,-116.7,354.7,-9.3,307,4826,0.00,2.00,0.00,0.000,6,0.000,0.027,2521,2302,3483,0,0,0,0,0,0
$GC,5140,-0.64,-116.7,381.5,-8.3,318,5142,0.12,0.00,0.00,0.000,6,0.206,0.000,2552,2298,3483,0,0,0,0,0,0
$GC,5447,-0.64,-116.7,402.1,-6.5,328,5450,0.00,2.10,0.00,0.000,4,0.000,0.045,2552,3700,3482,0,0,0,0,0,0
$GC,5524,-0.64,-116.7,407.4,-6.8,330,5529,0.00,2.05,0.00,0.000,6,0.000,0.027,2552,2297,3482,0,0,0,0,0,0
$GC,5848,-0.64,-116.7,428.6,-6.4,341,5852,0.00,2.10,0.00,0.000,4,0.000,0.046,2552,3698,3482,0,0,0,0,0,0
$GC,5933,-0.67,-116.7,434.0,-6.2,343,5937,0.00,2.00,0.00,0.000,6,0.000,0.028,2552,2303,3481,0,0,0,0,0,0
$GC,6250,-0.67,-116.7,452.6,-5.8,354,6254,0.00,2.12,0.00,0.000,4,0.000,0.047,2552,3705,3480,0,0,0,0,0,0
$GC,6328,-0.67,-116.7,457.2,-5.8,356,6332,0.00,2.05,0.00,0.000,6,0.000,0.028,2552,2301,3480,0,0,0,0,0,0
$GC,6652,-0.67,-116.7,475.5,-5.6,367,6653,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2298,3479,0,0,0,0,0,0
$GC,6958,-0.67,-116.7,492.6,-5.7,377,6962,0.00,2.10,0.00,0.000,4,0.000,0.047,2552,3699,3479,0,0,0,0,0,0
$GC,7064,-0.71,-116.7,499.0,-5.9,380,7068,0.00,2.05,0.00,0.000,6,0.000,0.028,2553,2275,3478,0,0,0,0,0,0
$GC,7394,-0.71,-116.7,517.8,-5.7,386,7398,0.00,2.15,0.00,0.000,4,0.000,0.046,2552,3702,3478,0,0,0,0,0,0
$GC,7478,-0.74,-116.7,523.0,-6.4,387,7482,0.00,2.00,0.00,0.000,6,0.000,0.028,2552,2302,3477,0,0,0,0,0,0
$GC,7832,-0.74,-116.7,544.5,-6.2,393,7836,0.00,2.10,0.00,0.000,4,0.000,0.047,2552,3698,3477,0,0,0,0,0,0
$GC,7893,-0.74,-116.7,548.5,-6.0,394,7897,0.00,2.03,0.00,0.000,6,0.000,0.028,2552,2294,3476,0,0,0,0,0,0
$GC,8265,-0.74,-116.7,572.0,-6.4,400,8268,0.00,2.12,0.00,0.000,4,0.000,0.047,2552,3704,3476,0,0,0,0,0,0
$GC,8337,-0.78,-116.7,577.0,-6.8,401,8341,0.12,2.03,0.00,0.000,6,0.144,0.028,2515,2291,3475,0,0,0,0,0,0
$GC,8696,-0.72,-116.7,605.9,-8.2,407,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2289,3475,0,0,0,0,0,0
$GC,8999,-0.67,-116.7,630.0,-7.9,412,9004,0.12,2.15,0.00,0.000,4,0.206,0.048,2545,3703,3474,0,0,0,0,0,0
$GC,9065,-0.67,-116.7,634.8,-6.7,413,9069,0.00,2.05,0.00,0.000,6,0.000,0.028,2545,2309,3474,0,0,0,0,0,0
$GC,9431,-0.67,-116.7,658.2,-6.3,419,9435,0.00,2.10,0.00,0.000,4,0.000,0.048,2545,3700,3473,0,0,0,0,0,0
$GC,9496,-0.67,-116.7,662.5,-6.1,420,9501,0.00,2.05,0.00,0.000,6,0.000,0.029,2545,2298,3473,0,0,0,0,0,0
$GC,9862,-0.67,-116.7,685.0,-6.2,426,9866,0.00,2.10,0.00,0.000,4,0.000,0.047,2545,3698,3473,0,0,0,0,0,0
$GC,9939,-0.67,-116.7,690.0,-6.5,427,9943,0.00,2.05,0.00,0.000,6,0.000,0.029,2545,2296,3473,0,0,0,0,0,0
$GC,10299,-0.67,-116.7,712.3,-6.3,433,10303,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3705,3472,0,0,0,0,0,0
$GC,10371,-0.67,-116.7,717.2,-6.3,434,10374,0.00,2.03,0.00,0.000,6,0.000,0.029,2545,2299,3472,0,0,0,0,0,0
$GC,10730,-0.67,-116.7,742.0,-7.0,440,10734,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3706,3472,0,0,0,0,0,0
$GC,10808,-0.70,-116.7,747.8,-7.3,441,10812,0.00,2.05,0.00,0.000,6,0.000,0.029,2545,2307,3471,0,0,0,0,0,0
$GC,11162,-0.70,-116.7,774.7,-7.7,447,11166,0.00,2.10,0.00,0.000,4,0.000,0.048,2545,3701,3471,0,0,0,0,0,0
$GC,11244,-0.70,-116.7,781.4,-8.1,448,11249,0.00,2.05,0.00,0.000,6,0.000,0.029,2545,2299,3471,0,0,0,0,0,0
$GC,11593,-0.70,-116.7,808.0,-7.7,454,11597,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3702,3470,0,0,0,0,0,0
$GC,11659,-0.70,-116.7,813.3,-7.6,455,11663,0.00,2.03,0.00,0.000,6,0.000,0.029,2545,2295,3470,0,0,0,0,0,0
$GC,12030,-0.70,-116.7,842.6,-7.9,461,12033,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3703,3470,0,0,0,0,0,0
$GC,12107,-0.73,-116.7,848.7,-7.6,462,12111,0.00,2.03,0.00,0.000,6,0.000,0.029,2545,2294,3470,0,0,0,0,0,0
$GC,12461,-0.73,-116.7,875.7,-7.6,468,12465,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3703,3470,0,0,0,0,0,0
$GC,12545,-0.77,-116.7,882.1,-7.9,469,12549,0.00,2.08,0.00,0.000,6,0.000,0.029,2545,2295,3470,0,0,0,0,0,0
$GC,12893,-0.77,-116.7,908.3,-7.5,475,12897,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3705,3470,0,0,0,0,0,0
$GC,12955,-0.80,-116.7,913.1,-7.6,476,12960,0.12,2.03,0.00,0.000,6,0.151,0.030,2505,2295,3470,0,0,0,0,0,0
$GC,13321,-0.74,-116.7,946.0,-9.1,482,13322,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2293,3469,0,0,0,0,0,0
$GC,13622,-0.67,-116.7,973.4,-9.0,487,13627,0.15,2.15,0.00,0.000,4,0.207,0.049,2542,3705,3469,0,0,0,0,0,0
$GC,13688,-0.67,-116.7,978.7,-7.4,488,13692,0.00,2.05,0.00,0.000,6,0.000,0.029,2542,2309,3469,0,0,0,0,0,0
$STATE,13870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13870,begin apogee
$GC,13875,-0.24,0.0,992.4,7.5,491,13977,0.47,0.00,98.70,1.554,6,0.176,0.000,2687,2654,3006,0,0,0,0,0,0
$STATE,13977,end apogee,CONTROL_FINISHED_OK
$STATE,13978,begin climb
$GC,13979,0.80,116.7,995.1,0.0,492,14093,1.08,2.33,104.70,1.460,4,0.127,0.050,3014,4037,2529,0,0,0,0,0,0
$GC,14137,0.54,116.7,992.1,7.5,495,14142,0.32,2.17,0.00,0.000,6,0.199,0.028,2945,2652,2523,0,0,0,0,0,0
$GC,14486,0.54,153.0,973.0,5.4,501,14520,0.00,0.00,31.95,1.442,6,0.000,0.000,2945,2652,2382,0,0,0,0,0,0
$GC,14788,0.57,175.2,955.1,6.0,506,14811,0.00,0.00,20.70,1.422,6,0.000,0.000,2945,2652,2290,0,0,0,0,0,0
$GC,15092,0.59,189.4,936.2,6.3,511,15111,0.00,2.25,13.35,1.397,4,0.000,0.041,2954,1252,2234,0,0,0,0,0,0
$GC,15122,0.63,220.8,934.1,5.6,511,15158,0.00,2.20,30.62,1.397,6,0.000,0.036,2953,2653,2105,0,0,0,0,0,0
$GC,15517,0.63,220.8,905.1,7.4,518,15521,0.00,2.17,0.00,0.000,4,0.000,0.040,2961,1254,2095,0,0,0,0,0,0
$GC,15554,0.63,220.8,902.2,7.2,518,15559,0.00,2.20,0.00,0.000,6,0.000,0.037,2962,2654,2095,0,0,0,0,0,0
$GC,15880,0.63,220.8,876.5,8.0,524,15884,0.00,2.15,0.00,0.000,4,0.000,0.040,2972,1255,2093,0,0,0,0,0,0
$GC,15907,0.63,220.8,874.1,8.7,524,15911,0.00,2.17,0.00,0.000,6,0.000,0.036,2967,2654,2093,0,0,0,0,0,0
$GC,16244,0.63,220.8,847.1,8.0,530,16248,0.00,2.12,0.00,0.000,4,0.000,0.040,2975,1259,2092,0,0,0,0,0,0
$GC,16277,0.63,220.8,844.5,8.1,530,16281,0.00,2.15,0.00,0.000,6,0.000,0.037,2975,2650,2092,0,0,0,0,0,0
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$STATE,26367,end climb,SURFACE_DEPTH_REACHED
$STATE,26367,begin surface coast
$FINISH,2.9,1.014159
$STATE,26451,end surface coast,CONTROL_FINISHED_OK
$STATE,26451,begin surface
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$IRIDIUM_FIX,6426.39,-30.38,040199,010138
$TT8_MAMPS,0.026845
$HUMID,1078321926
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$TCM_TEMP,13.70
$XPDR_PINGS,0
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$10V_AH,10.1,5.021
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.200,240.575,437.000,0.000,0.000,30.338,38.114,196.913,0.000,0.000,30.178,2150.350,20870.391,574.111,2789.422,534.990,0.000,2007.898,0.000,2733.113,0.000,0.534,0.000
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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,53902,959
$CAP_FILE_SIZE,220023,0
$CFSIZE,260165632,251883520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056,346.5,1
$GPS,101009,161301,6458.492,-41.089,40,1.6,41,-5.6