version: 66.06
glider: 140
mission: 8
dive: 109
start: 10 31 109 17 16 20
data:
$ID,140
$MISSION,8
$DIVE,109
$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,-1
$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,-46333.121
$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,66
$R_STBD_OVSHOOT,49
$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
$GPS1,170506,6322.184,249.579,37,1.7,43,-3.4
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,3.46
$_SM_ANGLEo,-56.4
$GPS2,171532,6322.248,249.568,10,1.8,16,-3.4
$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,320.4,262612,-13.7,-6.875
$D_GRID,1098
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-6.72,0.000,2,0.000,0.000,219,2295,2030,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.8,-0.0,1,110,8.50,2.17,-69.28,0.000,4,0.223,0.051,2503,900,3482,0,0,0,0,0,0
$GC,358,-0.61,-116.7,32.9,-11.1,60,366,0.17,2.12,0.00,0.000,6,0.180,0.029,2556,2307,3484,0,0,0,0,0,0
$GC,704,-0.57,-116.7,66.4,-7.6,111,708,0.00,2.10,0.00,0.000,4,0.000,0.035,2556,901,3485,0,0,0,0,0,0
$GC,790,-0.53,-116.7,73.5,-9.0,115,795,0.12,2.08,0.00,0.000,6,0.197,0.028,2589,2315,3485,0,0,0,0,0,0
$GC,1119,-0.58,-116.7,92.2,-4.6,131,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2315,3485,0,0,0,0,0,0
$GC,1425,-0.63,-116.7,114.8,-8.0,146,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2315,3485,0,0,0,0,0,0
$GC,1736,-0.69,-116.7,134.4,-5.3,161,1738,0.15,0.00,0.00,0.000,6,0.126,0.000,2541,2315,3485,0,0,0,0,0,0
$GC,2044,-0.64,-116.7,153.8,-6.0,176,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2315,3485,0,0,0,0,0,0
$GC,2355,-0.60,-116.7,173.6,-6.9,191,2357,0.12,0.00,0.00,0.000,6,0.195,0.000,2571,2315,3485,0,0,0,0,0,0
$GC,2662,-0.60,-116.7,194.7,-6.8,206,2666,0.00,2.08,0.00,0.000,4,0.000,0.035,2571,907,3485,0,0,0,0,0,0
$GC,2717,-0.60,-116.7,199.1,-8.4,208,2724,0.00,2.05,0.00,0.000,6,0.000,0.028,2571,2297,3485,0,0,0,0,0,0
$GC,3032,-0.60,-116.7,220.2,-6.2,224,3036,0.00,2.05,0.00,0.000,4,0.000,0.041,2571,3699,3486,0,0,0,0,0,0
$GC,3095,-0.63,-116.7,223.9,-6.0,227,3099,0.00,2.00,0.00,0.000,6,0.000,0.024,2571,2278,3486,0,0,0,0,0,0
$GC,3428,-0.67,-116.7,243.2,-6.3,243,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2271,3486,0,0,0,0,0,0
$GC,3737,-0.70,-116.7,267.8,-8.6,258,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2271,3486,0,0,0,0,0,0
$GC,4046,-0.73,-116.7,294.6,-8.3,273,4050,0.12,2.15,0.00,0.000,4,0.133,0.041,2529,3706,3486,0,0,0,0,0,0
$GC,4134,-0.68,-116.7,302.9,-9.2,276,4140,0.00,1.98,0.00,0.000,6,0.000,0.024,2528,2290,3485,0,0,0,0,0,0
$GC,4447,-0.62,-116.7,328.5,-7.6,287,4449,0.12,0.00,0.00,0.000,6,0.189,0.000,2560,2287,3485,0,0,0,0,0,0
$GC,4753,-0.62,-116.7,348.2,-6.3,297,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2287,3485,0,0,0,0,0,0
$GC,5060,-0.62,-116.7,366.3,-6.0,307,5063,0.00,2.10,0.00,0.000,4,0.000,0.041,2560,3704,3485,0,0,0,0,0,0
$GC,5166,-0.66,-116.7,373.3,-6.5,310,5170,0.00,1.95,0.00,0.000,6,0.000,0.024,2560,2298,3485,0,0,0,0,0,0
$GC,5495,-0.66,-116.7,394.6,-6.4,321,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2292,3484,0,0,0,0,0,0
$GC,5801,-0.66,-116.7,415.4,-6.9,331,5805,0.00,2.10,0.00,0.000,4,0.000,0.041,2561,3708,3484,0,0,0,0,0,0
$GC,5890,-0.69,-116.7,421.8,-7.1,333,5896,0.00,2.00,0.00,0.000,6,0.000,0.024,2560,2301,3484,0,0,0,0,0,0
$GC,6202,-0.69,-116.7,442.4,-6.4,344,6204,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2301,3484,0,0,0,0,0,0
$GC,6509,-0.69,-116.7,461.2,-6.0,354,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2301,3483,0,0,0,0,0,0
$GC,6815,-0.73,-116.7,481.9,-6.8,364,6819,0.00,2.10,0.00,0.000,4,0.000,0.043,2560,3698,3483,0,0,0,0,0,0
$GC,6910,-0.77,-116.7,488.3,-6.5,366,6917,0.12,1.95,0.00,0.000,6,0.135,0.025,2519,2291,3482,0,0,0,0,0,0
$GC,7252,-0.71,-116.7,511.9,-6.6,375,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2291,3482,0,0,0,0,0,0
$GC,7554,-0.65,-116.7,535.0,-7.8,380,7556,0.12,0.00,0.00,0.000,6,0.195,0.000,2550,2289,3482,0,0,0,0,0,0
$GC,7857,-0.65,-116.7,558.7,-7.9,385,7861,0.00,2.10,0.00,0.000,4,0.000,0.043,2551,3703,3480,0,0,0,0,0,0
$GC,7911,-0.65,-116.7,563.1,-7.9,385,7918,0.00,2.00,0.00,0.000,6,0.000,0.025,2551,2309,3480,0,0,0,0,0,0
$GC,8222,-0.65,-116.7,584.0,-6.7,391,8225,0.00,2.08,0.00,0.000,4,0.000,0.042,2551,3702,3480,0,0,0,0,0,0
$GC,8284,-0.69,-116.7,588.2,-6.3,392,8287,0.00,1.98,0.00,0.000,6,0.000,0.025,2551,2300,3479,0,0,0,0,0,0
$GC,8655,-0.69,-116.7,610.7,-6.0,398,8658,0.00,2.10,0.00,0.000,4,0.000,0.044,2551,3702,3478,0,0,0,0,0,0
$GC,8699,-0.72,-116.7,613.2,-5.3,398,8702,0.00,1.98,0.00,0.000,6,0.000,0.026,2551,2301,3478,0,0,0,0,0,0
$GC,9025,-0.72,-116.7,632.2,-6.0,404,9026,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2300,3477,0,0,0,0,0,0
$GC,9327,-0.72,-116.7,653.3,-7.1,409,9331,0.00,2.12,0.00,0.000,4,0.000,0.044,2550,3708,3476,0,0,0,0,0,0
$GC,9422,-0.75,-116.7,660.2,-7.5,410,9426,0.00,2.03,0.00,0.000,6,0.000,0.026,2551,2309,3475,0,0,0,0,0,0
$GC,9765,-0.75,-116.7,682.1,-6.3,416,9769,0.00,2.08,0.00,0.000,4,0.000,0.044,2551,3700,3475,0,0,0,0,0,0
$GC,9814,-0.79,-116.7,685.2,-6.0,416,9819,0.12,2.00,0.00,0.000,6,0.136,0.027,2511,2288,3474,0,0,0,0,0,0
$GC,10129,-0.73,-116.7,708.9,-7.6,422,10130,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2286,3473,0,0,0,0,0,0
$GC,10433,-0.67,-116.7,732.9,-7.9,427,10434,0.12,0.00,0.00,0.000,6,0.198,0.000,2541,2284,3471,0,0,0,0,0,0
$GC,10735,-0.67,-116.7,753.5,-6.7,432,10739,0.00,2.12,0.00,0.000,4,0.000,0.044,2542,3705,3471,0,0,0,0,0,0
$GC,10783,-0.67,-116.7,757.0,-7.1,432,10788,0.00,2.03,0.00,0.000,6,0.000,0.027,2542,2307,3471,0,0,0,0,0,0
$GC,11099,-0.67,-116.7,777.7,-6.6,438,11100,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2306,3470,0,0,0,0,0,0
$GC,11402,-0.67,-116.7,797.4,-6.5,443,11406,0.00,2.10,0.00,0.000,4,0.000,0.044,2542,3706,3469,0,0,0,0,0,0
$GC,11491,-0.67,-116.7,803.6,-6.5,444,11495,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2302,3469,0,0,0,0,0,0
$GC,11834,-0.67,-116.7,826.7,-6.8,450,11835,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2300,3468,0,0,0,0,0,0
$GC,12138,-0.67,-116.7,847.1,-6.7,455,12141,0.00,2.12,0.00,0.000,4,0.000,0.046,2542,3698,3467,0,0,0,0,0,0
$GC,12209,-0.67,-116.7,852.1,-7.0,456,12214,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2296,3467,0,0,0,0,0,0
$GC,12570,-0.67,-116.7,875.8,-6.7,462,12574,0.00,2.12,0.00,0.000,4,0.000,0.045,2542,3705,3466,0,0,0,0,0,0
$GC,12630,-0.67,-116.7,880.2,-6.9,462,12637,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2301,3466,0,0,0,0,0,0
$GC,12940,-0.67,-116.7,901.2,-6.9,468,12941,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2301,3465,0,0,0,0,0,0
$GC,13243,-0.67,-116.7,921.9,-6.9,473,13247,0.00,2.12,0.00,0.000,4,0.000,0.045,2542,3705,3465,0,0,0,0,0,0
$GC,13326,-0.67,-116.7,927.8,-6.5,474,13330,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2307,3464,0,0,0,0,0,0
$GC,13680,-0.67,-116.7,951.8,-6.7,480,13681,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2306,3464,0,0,0,0,0,0
$GC,13983,-0.67,-116.7,972.0,-6.7,485,13987,0.00,2.10,0.00,0.000,4,0.000,0.045,2542,3695,3463,0,0,0,0,0,0
$GC,14061,-0.67,-116.7,977.4,-6.7,486,14065,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2295,3463,0,0,0,0,0,0
$STATE,14297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14297,begin apogee
$GC,14303,-0.24,0.0,993.0,6.6,490,14402,0.47,0.00,96.72,1.559,6,0.170,0.000,2686,2642,3006,0,0,0,0,0,0
$STATE,14403,end apogee,CONTROL_FINISHED_OK
$STATE,14403,begin climb
$GC,14405,0.80,116.7,995.3,0.0,491,14520,1.05,2.42,104.05,1.462,4,0.118,0.047,3013,4037,2528,0,0,0,0,0,0
$GC,14559,0.54,116.7,991.3,8.3,494,14564,0.32,2.20,0.00,0.000,6,0.185,0.027,2944,2648,2524,0,0,0,0,0,0
$GC,14907,0.54,141.7,970.8,5.9,500,14931,0.00,0.00,21.42,1.431,6,0.000,0.000,2944,2647,2428,0,0,0,0,0,0
$GC,15275,0.54,144.0,946.5,6.8,506,15279,0.00,2.20,0.00,0.000,4,0.000,0.047,2940,4044,2422,0,0,0,0,0,0
$GC,15285,0.55,144.3,945.6,6.9,506,15289,0.00,2.12,0.00,0.000,6,0.000,0.028,2949,2650,2422,0,0,0,0,0,0
$GC,15645,0.55,144.3,920.5,7.0,512,15649,0.00,2.15,0.00,0.000,4,0.000,0.047,2949,4040,2421,0,0,0,0,0,0
$GC,15666,0.48,144.3,918.8,8.2,512,15670,0.12,2.08,0.00,0.000,6,0.198,0.028,2927,2632,2420,0,0,0,0,0,0
$GC,16008,0.50,154.4,896.5,6.5,518,16021,0.00,0.00,11.35,1.431,6,0.000,0.000,2927,2631,2376,0,0,0,0,0,0
$GC,16312,0.50,158.3,876.2,6.7,523,16318,0.00,0.00,4.88,1.141,6,0.000,0.000,2927,2631,2360,0,0,0,0,0,0
$GC,16614,0.52,172.4,856.6,6.3,528,16630,0.00,0.00,14.00,1.408,6,0.000,0.000,2927,2631,2303,0,0,0,0,0,0
$GC,16918,0.56,175.8,836.4,6.7,533,16924,0.00,0.00,4.32,1.053,6,0.000,0.000,2927,2632,2289,0,0,0,0,0,0
$GC,17221,0.61,175.8,815.4,6.9,538,17222,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2631,2287,0,0,0,0,0,0
$GC,17525,0.68,201.6,797.4,5.8,543,17552,0.17,0.00,24.67,1.400,6,0.112,0.000,2987,2629,2183,0,0,0,0,0,0
$GC,17827,0.63,201.6,772.8,8.3,548,17831,0.00,2.20,0.00,0.000,4,0.000,0.047,2986,4046,2177,0,0,0,0,0,0
$GC,17842,0.55,201.6,771.5,8.1,548,17847,0.12,2.10,0.00,0.000,6,0.164,0.029,2946,2653,2177,0,0,0,0,0,0
$GC,18190,0.55,201.6,747.2,7.1,554,18191,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2653,2176,0,0,0,0,0,0
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$STATE,27490,end climb,SURFACE_DEPTH_REACHED
$STATE,27491,begin surface coast
$FINISH,2.5,1.006188
$STATE,27539,end surface coast,CONTROL_FINISHED_OK
$STATE,27539,begin surface
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$10V_AH,10.1,12.047
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.550,134.550,382.400,0.000,0.000,58.072,68.513,308.869,0.000,0.000,17.124,2024.425,22764.791,505.937,2262.193,704.285,0.000,1635.483,0.000,2232.778,0.000,0.535,0.000
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$MEM,235340
$DATA_FILE_SIZE,53932,958
$CAP_FILE_SIZE,188862,0
$CFSIZE,260165632,246300672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134,254.5,1
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