version: 66.06
glider: 140
mission: 8
dive: 108
start: 10 31 109 9 38 37
data:
$ID,140
$MISSION,8
$DIVE,108
$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,-2
$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,-46315.371
$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,65
$R_STBD_OVSHOOT,50
$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
$GPS1,092737,6318.599,257.915,33,1.2,34,-3.3
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,3.41
$_SM_ANGLEo,-52.6
$GPS2,093813,6318.708,257.810,12,1.2,12,-3.3
$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,320.3,271788,-13.7,-6.875
$D_GRID,1066
$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,-7.40,0.000,2,0.000,0.000,212,2296,2046,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.4,-0.0,1,118,8.73,2.15,-73.38,0.000,4,0.232,0.051,2504,905,3482,0,0,0,0,0,0
$GC,368,-0.64,-116.7,33.4,-9.6,62,376,0.15,2.10,0.00,0.000,6,0.178,0.029,2550,2295,3484,0,0,0,0,0,0
$GC,707,-0.61,-116.7,62.2,-9.3,120,710,0.00,2.08,0.00,0.000,4,0.000,0.035,2550,907,3484,0,0,0,0,0,0
$GC,847,-0.56,-116.7,75.4,-8.1,126,851,0.12,2.05,0.00,0.000,6,0.196,0.028,2582,2309,3484,0,0,0,0,0,0
$GC,1165,-0.60,-116.7,95.5,-5.9,141,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2310,3484,0,0,0,0,0,0
$GC,1472,-0.64,-116.7,112.7,-5.7,156,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2310,3484,0,0,0,0,0,0
$GC,1782,-0.68,-116.7,136.6,-8.8,171,1784,0.12,0.00,0.00,0.000,6,0.140,0.000,2543,2310,3484,0,0,0,0,0,0
$GC,2090,-0.64,-116.7,164.2,-8.4,186,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2310,3485,0,0,0,0,0,0
$GC,2401,-0.61,-116.7,189.3,-7.7,201,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2310,3485,0,0,0,0,0,0
$GC,2709,-0.57,-116.7,212.5,-7.7,216,2711,0.12,0.00,0.00,0.000,6,0.193,0.000,2574,2310,3485,0,0,0,0,0,0
$GC,3018,-0.60,-116.7,232.8,-6.6,231,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2310,3485,0,0,0,0,0,0
$GC,3327,-0.63,-116.7,252.6,-6.6,246,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2310,3485,0,0,0,0,0,0
$GC,3637,-0.67,-116.7,272.5,-6.4,261,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2310,3485,0,0,0,0,0,0
$GC,3947,-0.70,-116.7,293.5,-6.7,276,3948,0.12,0.00,0.00,0.000,6,0.137,0.000,2533,2310,3485,0,0,0,0,0,0
$GC,4264,-0.66,-116.7,315.3,-6.2,288,4267,0.00,2.03,0.00,0.000,4,0.000,0.041,2532,3695,3485,0,0,0,0,0,0
$GC,4332,-0.62,-116.7,319.7,-6.2,290,4337,0.12,2.00,0.00,0.000,6,0.192,0.024,2564,2262,3485,0,0,0,0,0,0
$GC,4666,-0.62,-116.7,335.4,-5.0,301,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2261,3485,0,0,0,0,0,0
$GC,4972,-0.62,-116.7,356.8,-7.5,311,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2262,3485,0,0,0,0,0,0
$GC,5278,-0.62,-116.7,377.1,-6.9,321,5282,0.00,2.15,0.00,0.000,4,0.000,0.041,2564,3706,3485,0,0,0,0,0,0
$GC,5327,-0.66,-116.7,380.8,-7.6,322,5331,0.00,2.00,0.00,0.000,6,0.000,0.024,2564,2308,3485,0,0,0,0,0,0
$GC,5645,-0.70,-116.7,403.2,-6.5,333,5647,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2307,3484,0,0,0,0,0,0
$GC,5951,-0.74,-116.7,418.3,-4.6,343,5956,0.12,2.10,0.00,0.000,4,0.130,0.041,2522,3705,3484,0,0,0,0,0,0
$GC,6048,-0.69,-116.7,424.6,-6.7,346,6052,0.00,1.98,0.00,0.000,6,0.000,0.025,2523,2300,3484,0,0,0,0,0,0
$GC,6388,-0.64,-116.7,455.0,-10.1,357,6390,0.12,0.00,0.00,0.000,6,0.195,0.000,2554,2295,3483,0,0,0,0,0,0
$GC,6694,-0.64,-116.7,478.6,-6.3,367,6695,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2295,3482,0,0,0,0,0,0
$GC,7001,-0.64,-116.7,495.1,-5.7,377,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2295,3482,0,0,0,0,0,0
$GC,7335,-0.64,-116.7,518.9,-7.4,384,7339,0.00,2.10,0.00,0.000,4,0.000,0.043,2554,3703,3481,0,0,0,0,0,0
$GC,7378,-0.67,-116.7,522.2,-7.4,384,7382,0.00,2.03,0.00,0.000,6,0.000,0.025,2555,2298,3481,0,0,0,0,0,0
$GC,7699,-0.67,-116.7,542.2,-6.0,390,7703,0.00,2.10,0.00,0.000,4,0.000,0.043,2554,3704,3480,0,0,0,0,0,0
$GC,7760,-0.70,-116.7,545.7,-5.8,391,7764,0.00,2.00,0.00,0.000,6,0.000,0.026,2555,2296,3480,0,0,0,0,0,0
$GC,8131,-0.70,-116.7,568.2,-6.1,397,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2292,3479,0,0,0,0,0,0
$GC,8434,-0.70,-116.7,589.3,-7.2,402,8438,0.00,2.10,0.00,0.000,4,0.000,0.043,2555,3699,3478,0,0,0,0,0,0
$GC,8500,-0.74,-116.7,594.4,-8.1,403,8504,0.00,2.03,0.00,0.000,6,0.000,0.026,2554,2297,3478,0,0,0,0,0,0
$GC,8865,-0.74,-116.7,621.6,-7.3,409,8869,0.00,2.10,0.00,0.000,4,0.000,0.044,2555,3702,3476,0,0,0,0,0,0
$GC,8920,-0.78,-116.7,625.5,-7.4,409,8927,0.12,2.00,0.00,0.000,6,0.137,0.026,2515,2286,3476,0,0,0,0,0,0
$GC,9229,-0.73,-116.7,650.9,-8.3,415,9230,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2286,3475,0,0,0,0,0,0
$GC,9533,-0.67,-116.7,675.6,-8.1,420,9535,0.12,0.00,0.00,0.000,6,0.195,0.000,2545,2284,3474,0,0,0,0,0,0
$GC,9836,-0.67,-116.7,696.5,-6.8,425,9840,0.00,2.12,0.00,0.000,4,0.000,0.044,2546,3702,3473,0,0,0,0,0,0
$GC,9897,-0.67,-116.7,700.6,-6.4,426,9901,0.00,2.00,0.00,0.000,6,0.000,0.027,2546,2300,3473,0,0,0,0,0,0
$GC,10268,-0.67,-116.7,724.5,-6.5,432,10270,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2299,3472,0,0,0,0,0,0
$GC,10571,-0.67,-116.7,744.6,-6.7,437,10575,0.00,2.10,0.00,0.000,4,0.000,0.045,2546,3697,3471,0,0,0,0,0,0
$GC,10654,-0.67,-116.7,750.5,-6.9,438,10659,0.00,2.03,0.00,0.000,6,0.000,0.027,2546,2303,3471,0,0,0,0,0,0
$GC,11003,-0.67,-116.7,775.3,-7.2,444,11005,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2302,3470,0,0,0,0,0,0
$GC,11306,-0.67,-116.7,797.3,-7.3,449,11310,0.00,2.10,0.00,0.000,4,0.000,0.045,2546,3701,3469,0,0,0,0,0,0
$GC,11394,-0.70,-116.7,803.9,-7.2,450,11398,0.00,2.05,0.00,0.000,6,0.000,0.027,2546,2291,3468,0,0,0,0,0,0
$GC,11738,-0.70,-116.7,826.7,-6.6,456,11742,0.00,2.12,0.00,0.000,4,0.000,0.045,2546,3704,3467,0,0,0,0,0,0
$GC,11794,-0.73,-116.7,830.5,-6.5,456,11799,0.00,2.03,0.00,0.000,6,0.000,0.028,2546,2291,3467,0,0,0,0,0,0
$GC,12103,-0.73,-116.7,850.5,-6.5,462,12107,0.00,2.12,0.00,0.000,4,0.000,0.045,2546,3704,3466,0,0,0,0,0,0
$GC,12175,-0.73,-116.7,855.6,-5.9,463,12179,0.00,2.03,0.00,0.000,6,0.000,0.028,2546,2291,3466,0,0,0,0,0,0
$GC,12534,-0.73,-116.7,877.8,-6.1,469,12538,0.00,2.12,0.00,0.000,4,0.000,0.045,2546,3704,3465,0,0,0,0,0,0
$GC,12596,-0.77,-116.7,881.7,-6.2,469,12601,0.00,2.03,0.00,0.000,6,0.000,0.028,2546,2296,3465,0,0,0,0,0,0
$GC,12905,-0.77,-116.7,900.9,-6.2,475,12909,0.00,2.10,0.00,0.000,4,0.000,0.045,2546,3692,3465,0,0,0,0,0,0
$GC,12955,-0.81,-116.7,904.0,-6.1,475,12959,0.12,2.00,0.00,0.000,6,0.146,0.028,2505,2294,3464,0,0,0,0,0,0
$GC,13265,-0.75,-116.7,927.2,-7.6,480,13266,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2293,3464,0,0,0,0,0,0
$GC,13567,-0.69,-116.7,950.6,-7.7,485,13571,0.12,2.05,0.00,0.000,4,0.202,0.041,2538,916,3464,0,0,0,0,0,0
$GC,13615,-0.69,-116.7,954.0,-7.4,485,13620,0.00,2.08,0.00,0.000,6,0.000,0.033,2538,2298,3463,0,0,0,0,0,0
$GC,13931,-0.69,-116.7,974.0,-6.3,491,13935,0.00,2.08,0.00,0.000,4,0.000,0.045,2538,3701,3463,0,0,0,0,0,0
$GC,14008,-0.69,-116.7,978.9,-6.5,492,14013,0.00,2.05,0.00,0.000,6,0.000,0.028,2538,2291,3463,0,0,0,0,0,0
$STATE,14240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14240,begin apogee
$GC,14245,-0.24,0.0,993.4,6.2,496,14344,0.47,0.00,96.47,1.556,6,0.173,0.000,2681,2655,3006,0,0,0,0,0,0
$STATE,14345,end apogee,CONTROL_FINISHED_OK
$STATE,14345,begin climb
$GC,14347,0.80,116.7,995.3,0.0,497,14462,1.08,2.40,104.25,1.461,4,0.122,0.047,3006,4035,2528,0,0,0,0,0,0
$GC,14501,0.56,116.7,990.2,8.6,500,14506,0.28,2.17,0.00,0.000,6,0.183,0.027,2949,2655,2524,0,0,0,0,0,0
$GC,14849,0.52,119.0,966.7,6.8,506,14850,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2655,2518,0,0,0,0,0,0
$GC,15152,0.47,120.7,946.1,6.8,511,15157,0.12,2.17,0.00,0.000,4,0.200,0.048,2913,4041,2516,0,0,0,0,0,0
$GC,15173,0.43,120.7,944.7,7.0,511,15177,0.00,2.08,0.00,0.000,6,0.000,0.028,2922,2641,2516,0,0,0,0,0,0
$GC,15516,0.46,144.2,924.2,5.9,517,15545,0.00,2.28,23.05,1.457,4,0.000,0.048,2922,4035,2416,0,0,0,0,0,0
$GC,15551,0.50,170.4,922.0,5.8,517,15581,0.00,2.10,24.55,1.387,6,0.000,0.028,2931,2648,2310,0,0,0,0,0,0
$GC,15948,0.50,170.4,894.2,7.0,524,15949,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2648,2301,0,0,0,0,0,0
$GC,16250,0.54,179.3,874.3,6.5,529,16260,0.00,0.00,7.80,1.342,6,0.000,0.000,2931,2648,2274,0,0,0,0,0,0
$GC,16554,0.60,200.7,856.0,6.0,534,16576,0.00,0.00,20.33,1.412,6,0.000,0.000,2931,2648,2188,0,0,0,0,0,0
$GC,16857,0.66,207.5,836.2,6.6,539,16871,0.15,2.28,7.30,1.293,4,0.109,0.047,2980,4046,2160,0,0,0,0,0,0
$GC,16876,0.66,207.5,834.5,7.0,539,16880,0.00,2.12,0.00,0.000,6,0.000,0.029,2988,2657,2159,0,0,0,0,0,0
$GC,17225,0.61,207.5,803.4,8.9,545,17229,0.00,2.15,0.00,0.000,4,0.000,0.047,2988,4042,2157,0,0,0,0,0,0
$GC,17274,0.50,207.5,798.3,10.9,545,17279,0.17,2.10,0.00,0.000,6,0.166,0.028,2932,2648,2156,0,0,0,0,0,0
$GC,17589,0.57,217.3,777.4,6.5,551,17604,0.00,2.20,10.35,1.353,4,0.000,0.046,2927,4050,2118,0,0,0,0,0,0
$GC,17620,0.63,233.0,775.1,6.2,551,17641,0.00,2.10,15.18,1.297,6,0.000,0.029,2935,2642,2055,0,0,0,0,0,0
$GC,17945,0.70,233.0,751.3,7.4,556,17947,0.17,0.00,0.00,0.000,6,0.102,0.000,2999,2640,2050,0,0,0,0,0,0
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$STATE,26593,end climb,SURFACE_DEPTH_REACHED
$STATE,26593,begin surface coast
$FINISH,2.7,1.027023
$STATE,26660,end surface coast,CONTROL_FINISHED_OK
$STATE,26660,begin surface
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$TCM_TEMP,15.80
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$10V_AH,10.1,11.944
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,233920
$DATA_FILE_SIZE,53899,933
$CAP_FILE_SIZE,186339,0
$CFSIZE,260165632,246382592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131,309.8,1
$GPS,311009,170506,6322.184,249.579,37,1.7,43,-3.4