version: 66.06
glider: 140
mission: 8
dive: 60
start: 10 17 109 1 16 19
data:
$ID,140
$MISSION,8
$DIVE,60
$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,-45427.027
$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,75
$R_STBD_OVSHOOT,45
$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
$GPS1,011031,6424.871,12.453,40,1.4,40,-5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.81
$_SM_ANGLEo,-64.2
$GPS2,011556,6424.876,12.451,11,1.6,11,-5.0
$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,135.2,241751,-13.7,-6.875
$D_GRID,2556
$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,-7.72,0.000,2,0.000,0.000,213,2268,2046,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.8,-0.0,1,120,9.05,2.25,-76.62,0.000,4,0.251,0.054,2503,3712,3482,0,0,0,0,0,0
$GC,370,-0.68,-116.7,26.1,-10.4,62,378,0.12,2.08,0.00,0.000,6,0.186,0.025,2541,2295,3484,0,0,0,0,0,0
$GC,711,-0.62,-116.7,57.4,-9.0,123,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2292,3485,0,0,0,0,0,0
$GC,1028,-0.57,-116.7,87.2,-8.9,142,1030,0.12,0.00,0.00,0.000,6,0.210,0.000,2573,2291,3485,0,0,0,0,0,0
$GC,1339,-0.57,-116.7,109.6,-6.4,157,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2291,3486,0,0,0,0,0,0
$GC,1648,-0.60,-116.7,129.0,-6.4,172,1652,0.00,2.12,0.00,0.000,4,0.000,0.043,2573,3702,3486,0,0,0,0,0,0
$GC,1664,-0.64,-116.7,130.1,-6.0,172,1671,0.00,2.03,0.00,0.000,6,0.000,0.025,2573,2307,3486,0,0,0,0,0,0
$GC,1980,-0.68,-116.7,148.5,-5.6,188,1984,0.00,2.10,0.00,0.000,4,0.000,0.043,2573,3706,3486,0,0,0,0,0,0
$GC,2001,-0.73,-116.7,149.8,-5.5,189,2006,0.12,2.00,0.00,0.000,6,0.143,0.025,2535,2296,3486,0,0,0,0,0,0
$GC,2330,-0.69,-116.7,173.2,-7.4,205,2334,0.00,2.10,0.00,0.000,4,0.000,0.043,2534,3703,3487,0,0,0,0,0,0
$GC,2378,-0.69,-116.7,177.2,-7.4,207,2382,0.00,2.03,0.00,0.000,6,0.000,0.025,2534,2300,3487,0,0,0,0,0,0
$GC,2699,-0.65,-116.7,202.0,-7.6,223,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2299,3488,0,0,0,0,0,0
$GC,3009,-0.62,-116.7,226.1,-7.7,238,3011,0.10,0.00,0.00,0.000,6,0.212,0.000,2557,2296,3487,0,0,0,0,0,0
$GC,3318,-0.62,-116.7,249.2,-7.7,253,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2296,3487,0,0,0,0,0,0
$GC,3628,-0.62,-116.7,273.1,-7.7,268,3631,0.00,2.12,0.00,0.000,4,0.000,0.044,2557,3712,3487,0,0,0,0,0,0
$GC,3650,-0.62,-116.7,274.8,-7.6,269,3654,0.00,2.03,0.00,0.000,6,0.000,0.027,2557,2293,3486,0,0,0,0,0,0
$GC,3976,-0.62,-116.7,298.0,-7.0,285,3979,0.00,2.12,0.00,0.000,4,0.000,0.044,2557,3709,3486,0,0,0,0,0,0
$GC,4002,-0.62,-116.7,300.0,-7.3,286,4006,0.00,2.05,0.00,0.000,6,0.000,0.026,2557,2300,3486,0,0,0,0,0,0
$GC,4321,-0.62,-116.7,321.7,-6.8,297,4324,0.00,2.10,0.00,0.000,4,0.000,0.044,2557,3702,3485,0,0,0,0,0,0
$GC,4359,-0.66,-116.7,324.5,-6.9,298,4363,0.00,2.05,0.00,0.000,6,0.000,0.026,2557,2294,3485,0,0,0,0,0,0
$GC,4688,-0.66,-116.7,345.7,-6.2,309,4692,0.00,2.12,0.00,0.000,4,0.000,0.044,2557,3709,3484,0,0,0,0,0,0
$GC,4738,-0.69,-116.7,348.8,-6.4,310,4741,0.00,2.03,0.00,0.000,6,0.000,0.027,2557,2292,3483,0,0,0,0,0,0
$GC,5055,-0.69,-116.7,369.3,-6.6,321,5059,0.00,2.12,0.00,0.000,4,0.000,0.044,2557,3706,3483,0,0,0,0,0,0
$GC,5104,-0.73,-116.7,372.9,-7.4,322,5108,0.00,2.05,0.00,0.000,6,0.000,0.027,2557,2303,3483,0,0,0,0,0,0
$GC,5422,-0.73,-116.7,395.9,-7.4,333,5425,0.00,2.10,0.00,0.000,4,0.000,0.045,2557,3702,3482,0,0,0,0,0,0
$GC,5443,-0.76,-116.7,397.9,-8.7,333,5449,0.05,2.05,0.00,0.000,6,0.096,0.028,2520,2293,3482,0,0,0,0,0,0
$GC,5756,-0.71,-116.7,425.1,-8.6,344,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2292,3481,0,0,0,0,0,0
$GC,6062,-0.66,-116.7,451.2,-8.5,354,6063,0.12,0.00,0.00,0.000,6,0.203,0.000,2551,2289,3480,0,0,0,0,0,0
$GC,6368,-0.66,-116.7,473.3,-7.1,364,6372,0.00,2.15,0.00,0.000,4,0.000,0.046,2551,3709,3480,0,0,0,0,0,0
$GC,6401,-0.66,-116.7,475.8,-7.4,365,6405,0.00,2.03,0.00,0.000,6,0.000,0.028,2552,2300,3479,0,0,0,0,0,0
$GC,6735,-0.66,-116.7,498.8,-6.8,376,6739,0.00,2.12,0.00,0.000,4,0.000,0.046,2551,3711,3479,0,0,0,0,0,0
$GC,6773,-0.66,-116.7,501.5,-7.2,377,6778,0.00,2.05,0.00,0.000,6,0.000,0.028,2551,2308,3478,0,0,0,0,0,0
$GC,7100,-0.66,-116.7,524.1,-7.0,383,7103,0.00,2.10,0.00,0.000,4,0.000,0.046,2551,3702,3478,0,0,0,0,0,0
$GC,7149,-0.69,-116.7,527.7,-7.0,383,7153,0.00,2.05,0.00,0.000,6,0.000,0.028,2551,2299,3478,0,0,0,0,0,0
$GC,7464,-0.69,-116.7,548.9,-6.8,389,7468,0.00,2.12,0.00,0.000,4,0.000,0.046,2551,3707,3477,0,0,0,0,0,0
$GC,7507,-0.69,-116.7,552.0,-7.0,389,7511,0.00,2.05,0.00,0.000,6,0.000,0.028,2551,2309,3477,0,0,0,0,0,0
$GC,7834,-0.69,-116.7,574.3,-6.9,395,7837,0.00,2.10,0.00,0.000,4,0.000,0.046,2551,3703,3476,0,0,0,0,0,0
$GC,7854,-0.69,-116.7,575.9,-7.1,395,7859,0.00,2.08,0.00,0.000,6,0.000,0.028,2551,2292,3476,0,0,0,0,0,0
$GC,8197,-0.69,-116.7,599.8,-6.9,401,8201,0.00,2.12,0.00,0.000,4,0.000,0.046,2551,3701,3476,0,0,0,0,0,0
$GC,8247,-0.73,-116.7,603.4,-7.8,401,8251,0.00,2.03,0.00,0.000,6,0.000,0.028,2551,2291,3475,0,0,0,0,0,0
$GC,8562,-0.73,-116.7,624.5,-6.7,407,8566,0.00,2.12,0.00,0.000,4,0.000,0.046,2551,3700,3475,0,0,0,0,0,0
$GC,8617,-0.77,-116.7,628.3,-7.4,407,8621,0.00,2.05,0.00,0.000,6,0.000,0.028,2551,2299,3475,0,0,0,0,0,0
$GC,8932,-0.77,-116.7,649.3,-6.7,413,8936,0.00,2.12,0.00,0.000,4,0.000,0.046,2551,3706,3474,0,0,0,0,0,0
$GC,8981,-0.80,-116.7,652.8,-7.3,413,8985,0.10,2.05,0.00,0.000,6,0.110,0.028,2499,2303,3474,0,0,0,0,0,0
$GC,9296,-0.72,-116.7,680.1,-8.8,419,9298,0.12,0.00,0.00,0.000,6,0.212,0.000,2528,2299,3474,0,0,0,0,0,0
$GC,9599,-0.72,-116.7,703.4,-7.7,424,9603,0.00,2.12,0.00,0.000,4,0.000,0.047,2528,3701,3473,0,0,0,0,0,0
$GC,9620,-0.72,-116.7,705.2,-7.9,424,9625,0.00,2.05,0.00,0.000,6,0.000,0.028,2529,2306,3473,0,0,0,0,0,0
$GC,9969,-0.72,-116.7,732.1,-7.7,430,9973,0.00,2.10,0.00,0.000,4,0.000,0.047,2529,3700,3472,0,0,0,0,0,0
$GC,10006,-0.72,-116.7,735.1,-8.3,430,10011,0.00,2.05,0.00,0.000,6,0.000,0.028,2529,2298,3473,0,0,0,0,0,0
$GC,10333,-0.72,-116.7,759.7,-7.5,436,10337,0.00,2.12,0.00,0.000,4,0.000,0.047,2529,3706,3472,0,0,0,0,0,0
$GC,10364,-0.72,-116.7,762.3,-7.8,436,10369,0.00,2.08,0.00,0.000,6,0.000,0.029,2529,2299,3472,0,0,0,0,0,0
$GC,10697,-0.72,-116.7,786.0,-7.1,442,10700,0.00,2.12,0.00,0.000,4,0.000,0.046,2529,3711,3472,0,0,0,0,0,0
$GC,10746,-0.72,-116.7,789.7,-7.7,442,10750,0.00,2.08,0.00,0.000,6,0.000,0.029,2529,2298,3471,0,0,0,0,0,0
$GC,11061,-0.72,-116.7,813.0,-7.4,448,11065,0.00,2.12,0.00,0.000,4,0.000,0.047,2529,3700,3471,0,0,0,0,0,0
$GC,11104,-0.72,-116.7,816.4,-8.0,448,11108,0.00,2.05,0.00,0.000,6,0.000,0.028,2529,2302,3471,0,0,0,0,0,0
$GC,11430,-0.72,-116.7,840.4,-7.3,454,11434,0.00,2.12,0.00,0.000,4,0.000,0.047,2529,3708,3471,0,0,0,0,0,0
$GC,11467,-0.72,-116.7,843.2,-8.2,454,11472,0.00,2.08,0.00,0.000,6,0.000,0.029,2529,2295,3470,0,0,0,0,0,0
$GC,11794,-0.72,-116.7,865.9,-6.9,460,11798,0.00,2.12,0.00,0.000,4,0.000,0.047,2529,3704,3470,0,0,0,0,0,0
$GC,11838,-0.72,-116.7,869.1,-6.7,460,11841,0.00,2.03,0.00,0.000,6,0.000,0.029,2529,2297,3470,0,0,0,0,0,0
$GC,12157,-0.72,-116.7,891.1,-7.0,466,12161,0.00,2.10,0.00,0.000,4,0.000,0.047,2529,3700,3470,0,0,0,0,0,0
$GC,12206,-0.72,-116.7,894.8,-7.7,466,12211,0.00,2.05,0.00,0.000,6,0.000,0.028,2529,2304,3470,0,0,0,0,0,0
$GC,12528,-0.72,-116.7,915.8,-6.5,472,12532,0.00,2.10,0.00,0.000,4,0.000,0.047,2529,3700,3470,0,0,0,0,0,0
$GC,12578,-0.72,-116.7,919.2,-6.5,472,12582,0.00,2.05,0.00,0.000,6,0.000,0.028,2529,2302,3470,0,0,0,0,0,0
$GC,12893,-0.72,-116.7,938.6,-6.1,478,12896,0.00,2.12,0.00,0.000,4,0.000,0.047,2529,3708,3470,0,0,0,0,0,0
$GC,12937,-0.72,-116.7,941.5,-6.4,478,12940,0.00,2.03,0.00,0.000,6,0.000,0.029,2529,2300,3469,0,0,0,0,0,0
$GC,13257,-0.72,-116.7,961.6,-6.3,484,13261,0.00,2.12,0.00,0.000,4,0.000,0.047,2529,3709,3470,0,0,0,0,0,0
$GC,13297,-0.72,-116.7,964.1,-6.8,484,13301,0.00,2.05,0.00,0.000,6,0.000,0.030,2529,2291,3469,0,0,0,0,0,0
$GC,13617,-0.72,-116.7,983.9,-6.2,490,13620,0.00,2.15,0.00,0.000,4,0.000,0.047,2529,3711,3469,0,0,0,0,0,0
$GC,13660,-0.72,-116.7,986.8,-6.0,490,13665,0.00,2.08,0.00,0.000,6,0.000,0.029,2529,2303,3469,0,0,0,0,0,0
$STATE,13742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13743,begin apogee
$GC,13748,-0.24,0.0,991.9,6.2,492,13850,0.50,0.00,99.03,1.562,6,0.176,0.000,2679,2646,3006,0,0,0,0,0,0
$STATE,13851,end apogee,CONTROL_FINISHED_OK
$STATE,13851,begin climb
$GC,13853,0.80,116.7,993.7,0.0,493,13967,1.10,2.38,105.18,1.458,4,0.124,0.048,3015,4046,2529,0,0,0,0,0,0
$GC,14022,0.54,116.7,985.9,8.8,496,14027,0.25,2.25,0.00,0.000,6,0.188,0.028,2946,2651,2523,0,0,0,0,0,0
$GC,14354,0.52,133.4,964.8,6.2,502,14370,0.00,0.00,14.30,1.402,6,0.000,0.000,2947,2650,2462,0,0,0,0,0,0
$GC,14657,0.50,142.3,945.1,6.5,507,14668,0.00,0.00,9.38,1.360,6,0.000,0.000,2947,2651,2425,0,0,0,0,0,0
$GC,14960,0.50,142.5,924.3,6.9,512,14961,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2651,2422,0,0,0,0,0,0
$GC,15263,0.50,144.0,903.5,6.8,517,15264,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2651,2421,0,0,0,0,0,0
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$STATE,26813,end climb,SURFACE_DEPTH_REACHED
$STATE,26813,begin surface coast
$FINISH,3.1,1.015062
$STATE,26847,end surface coast,CONTROL_FINISHED_OK
$STATE,26847,begin surface
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$HUMID,1078377410
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$TCM_TEMP,19.70
$XPDR_PINGS,0
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$10V_AH,10.1,7.231
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.700,198.325,346.275,4.850,0.000,24.090,30.399,156.063,0.000,0.000,11.869,2048.226,21832.953,521.686,2319.394,468.576,0.000,1715.937,0.000,2294.595,0.000,0.534,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241580
$DATA_FILE_SIZE,53818,936
$CAP_FILE_SIZE,200884,0
$CFSIZE,260165632,250118144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,191.7,1
$GPS,171009,084530,6421.636,16.979,38,1.2,44,-4.9