version: 66.06
glider: 140
mission: 8
dive: 140
start: 11 10 109 15 24 14
data:
$ID,140
$MISSION,8
$DIVE,140
$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,-46856.164
$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,67
$R_STBD_OVSHOOT,51
$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
$GPS1,151801,6441.423,-18.863,41,1.3,42,-5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.65
$_SM_ANGLEo,-61.4
$GPS2,152350,6441.431,-18.846,14,1.1,14,-5.4
$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,330.2,55679,-13.7,-6.875
$D_GRID,2692
$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,-7.32,0.000,2,0.000,0.000,218,2282,2024,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.6,-0.0,1,127,8.93,2.15,-81.32,0.000,4,0.239,0.050,2504,908,3483,0,0,0,0,0,0
$GC,377,-0.64,-116.7,32.0,-10.7,64,384,0.15,2.12,0.00,0.000,6,0.176,0.029,2550,2302,3485,0,0,0,0,0,0
$GC,716,-0.61,-116.7,60.5,-8.4,125,719,0.00,2.10,0.00,0.000,4,0.000,0.035,2551,902,3485,0,0,0,0,0,0
$GC,771,-0.56,-116.7,65.5,-8.8,127,778,0.12,2.08,0.00,0.000,6,0.201,0.028,2582,2309,3486,0,0,0,0,0,0
$GC,1088,-0.61,-116.7,86.9,-6.5,143,1092,0.00,2.08,0.00,0.000,4,0.000,0.042,2582,3698,3486,0,0,0,0,0,0
$GC,1154,-0.68,-116.7,91.7,-6.8,146,1159,0.12,2.03,0.00,0.000,6,0.137,0.024,2543,2268,3486,0,0,0,0,0,0
$GC,1473,-0.68,-116.7,118.7,-8.1,162,1477,0.00,1.98,0.00,0.000,4,0.000,0.035,2543,921,3486,0,0,0,0,0,0
$GC,1546,-0.64,-116.7,124.8,-8.4,165,1549,0.00,2.03,0.00,0.000,6,0.000,0.029,2542,2300,3486,0,0,0,0,0,0
$GC,1873,-0.64,-116.7,150.9,-8.3,181,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2300,3486,0,0,0,0,0,0
$GC,2182,-0.64,-116.7,175.9,-7.9,196,2185,0.00,2.10,0.00,0.000,4,0.000,0.042,2543,3698,3487,0,0,0,0,0,0
$GC,2255,-0.64,-116.7,181.5,-7.3,199,2258,0.00,1.98,0.00,0.000,6,0.000,0.024,2542,2304,3487,0,0,0,0,0,0
$GC,2580,-0.64,-116.7,204.6,-7.3,215,2584,0.00,2.03,0.00,0.000,4,0.000,0.035,2542,923,3488,0,0,0,0,0,0
$GC,2652,-0.60,-116.7,209.9,-7.4,218,2657,0.00,2.05,0.00,0.000,6,0.000,0.029,2542,2298,3488,0,0,0,0,0,0
$GC,2979,-0.60,-116.7,232.7,-7.2,234,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2298,3488,0,0,0,0,0,0
$GC,3288,-0.60,-116.7,256.5,-8.0,249,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2298,3487,0,0,0,0,0,0
$GC,3598,-0.60,-116.7,282.0,-8.3,264,3602,0.00,2.10,0.00,0.000,4,0.000,0.042,2542,3708,3486,0,0,0,0,0,0
$GC,3658,-0.60,-116.7,287.4,-8.5,266,3665,0.00,2.05,0.00,0.000,6,0.000,0.025,2542,2295,3486,0,0,0,0,0,0
$GC,3983,-0.60,-116.7,313.8,-8.1,280,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2295,3486,0,0,0,0,0,0
$GC,4289,-0.60,-116.7,338.6,-8.2,290,4293,0.00,2.12,0.00,0.000,4,0.000,0.043,2542,3698,3485,0,0,0,0,0,0
$GC,4345,-0.60,-116.7,343.3,-8.4,291,4349,0.00,2.00,0.00,0.000,6,0.000,0.025,2542,2303,3484,0,0,0,0,0,0
$GC,4662,-0.60,-116.7,368.9,-8.0,302,4664,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2300,3484,0,0,0,0,0,0
$GC,4969,-0.60,-116.7,392.7,-7.7,312,4973,0.00,2.12,0.00,0.000,4,0.000,0.044,2542,3698,3483,0,0,0,0,0,0
$GC,5024,-0.60,-116.7,396.9,-7.9,313,5030,0.00,2.05,0.00,0.000,6,0.000,0.026,2542,2294,3483,0,0,0,0,0,0
$GC,5337,-0.60,-116.7,421.0,-7.9,324,5338,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2293,3483,0,0,0,0,0,0
$GC,5643,-0.60,-116.7,445.0,-7.7,334,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2293,3482,0,0,0,0,0,0
$GC,5949,-0.60,-116.7,468.2,-7.5,344,5953,0.00,2.12,0.00,0.000,4,0.000,0.044,2542,3698,3481,0,0,0,0,0,0
$GC,6027,-0.60,-116.7,474.1,-7.7,346,6031,0.00,2.05,0.00,0.000,6,0.000,0.026,2542,2299,3481,0,0,0,0,0,0
$GC,6357,-0.60,-116.7,497.0,-6.9,357,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2298,3480,0,0,0,0,0,0
$GC,6660,-0.60,-116.7,518.1,-7.0,363,6663,0.00,2.10,0.00,0.000,4,0.000,0.044,2542,3697,3479,0,0,0,0,0,0
$GC,6731,-0.60,-116.7,523.3,-7.4,364,6736,0.00,2.05,0.00,0.000,6,0.000,0.026,2542,2297,3479,0,0,0,0,0,0
$GC,7091,-0.60,-116.7,549.1,-7.3,370,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2296,3478,0,0,0,0,0,0
$GC,7394,-0.60,-116.7,571.4,-7.4,375,7398,0.00,2.12,0.00,0.000,4,0.000,0.044,2542,3702,3478,0,0,0,0,0,0
$GC,7456,-0.60,-116.7,576.3,-8.0,376,7459,0.00,2.03,0.00,0.000,6,0.000,0.027,2542,2296,3477,0,0,0,0,0,0
$GC,7820,-0.60,-116.7,604.7,-7.8,382,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2295,3477,0,0,0,0,0,0
$GC,8123,-0.60,-116.7,629.4,-8.2,387,8127,0.00,2.12,0.00,0.000,4,0.000,0.044,2542,3698,3476,0,0,0,0,0,0
$GC,8189,-0.60,-116.7,635.1,-8.7,388,8194,0.00,2.05,0.00,0.000,6,0.000,0.027,2542,2302,3476,0,0,0,0,0,0
$GC,8555,-0.60,-116.7,664.9,-8.2,394,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2301,3476,0,0,0,0,0,0
$GC,8858,-0.60,-116.7,688.5,-7.8,399,8862,0.00,2.12,0.00,0.000,4,0.000,0.045,2542,3704,3475,0,0,0,0,0,0
$GC,8929,-0.60,-116.7,694.3,-8.1,400,8934,0.00,2.05,0.00,0.000,6,0.000,0.027,2542,2304,3475,0,0,0,0,0,0
$GC,9289,-0.60,-116.7,722.2,-7.8,406,9290,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2304,3475,0,0,0,0,0,0
$GC,9592,-0.60,-116.7,745.9,-7.8,411,9596,0.00,2.12,0.00,0.000,4,0.000,0.045,2542,3705,3474,0,0,0,0,0,0
$GC,9641,-0.60,-116.7,749.8,-8.2,411,9646,0.00,2.08,0.00,0.000,6,0.000,0.028,2542,2297,3474,0,0,0,0,0,0
$GC,9956,-0.60,-116.7,772.5,-7.2,417,9957,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2296,3474,0,0,0,0,0,0
$GC,10260,-0.60,-116.7,792.9,-6.7,422,10264,0.00,2.12,0.00,0.000,4,0.000,0.045,2542,3698,3474,0,0,0,0,0,0
$GC,10321,-0.60,-116.7,797.0,-7.0,423,10324,0.00,2.03,0.00,0.000,6,0.000,0.028,2542,2298,3473,0,0,0,0,0,0
$GC,10691,-0.60,-116.7,819.9,-6.1,429,10693,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2293,3473,0,0,0,0,0,0
$GC,10995,-0.60,-116.7,837.4,-5.8,434,10999,0.00,2.12,0.00,0.000,4,0.000,0.045,2542,3696,3473,0,0,0,0,0,0
$GC,11078,-0.63,-116.7,842.5,-5.9,435,11083,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2303,3472,0,0,0,0,0,0
$GC,11427,-0.63,-116.7,862.2,-5.7,441,11428,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2301,3472,0,0,0,0,0,0
$GC,11730,-0.63,-116.7,879.7,-5.8,446,11734,0.00,2.12,0.00,0.000,4,0.000,0.045,2542,3704,3472,0,0,0,0,0,0
$GC,11807,-0.63,-116.7,884.4,-6.1,447,11811,0.00,2.08,0.00,0.000,6,0.000,0.028,2542,2296,3472,0,0,0,0,0,0
$GC,12161,-0.63,-116.7,905.3,-5.9,453,12163,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2295,3471,0,0,0,0,0,0
$GC,12465,-0.63,-116.7,924.0,-6.2,458,12469,0.00,2.12,0.00,0.000,4,0.000,0.045,2542,3697,3471,0,0,0,0,0,0
$GC,12531,-0.67,-116.7,928.3,-6.4,459,12535,0.00,2.03,0.00,0.000,6,0.000,0.028,2542,2294,3471,0,0,0,0,0,0
$GC,12897,-0.67,-116.7,951.3,-6.3,465,12898,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2293,3471,0,0,0,0,0,0
$GC,13200,-0.67,-116.7,970.3,-6.2,470,13204,0.00,2.12,0.00,0.000,4,0.000,0.045,2542,3695,3471,0,0,0,0,0,0
$GC,13300,-0.70,-116.7,976.8,-7.0,471,13304,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2302,3470,0,0,0,0,0,0
$STATE,13569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13569,begin apogee
$GC,13575,-0.24,0.0,993.5,6.2,476,13677,0.47,0.00,99.10,1.561,6,0.168,0.000,2684,2644,3006,0,0,0,0,0,0
$STATE,13678,end apogee,CONTROL_FINISHED_OK
$STATE,13678,begin climb
$GC,13680,0.80,116.7,995.6,0.0,477,13796,1.08,2.47,105.88,1.463,4,0.117,0.047,3016,4039,2529,0,0,0,0,0,0
$GC,13841,0.54,116.7,990.6,8.7,480,13846,0.32,2.20,0.00,0.000,6,0.178,0.027,2946,2652,2524,0,0,0,0,0,0
$GC,14178,0.53,137.9,969.9,6.0,486,14202,0.00,2.33,18.67,1.420,4,0.000,0.048,2941,4042,2442,0,0,0,0,0,0
$GC,14214,0.51,150.0,967.6,6.4,486,14233,0.00,2.15,12.20,1.321,6,0.000,0.028,2950,2652,2394,0,0,0,0,0,0
$GC,14543,0.51,150.0,945.2,6.9,492,14547,0.00,2.20,0.00,0.000,4,0.000,0.047,2950,4044,2389,0,0,0,0,0,0
$GC,14552,0.51,150.0,944.4,6.9,492,14557,0.08,2.15,0.00,0.000,6,0.176,0.028,2935,2644,2389,0,0,0,0,0,0
$GC,14906,0.52,158.7,921.5,6.5,498,14917,0.00,0.00,8.50,1.365,6,0.000,0.000,2936,2644,2358,0,0,0,0,0,0
$GC,15209,0.53,168.0,901.7,6.5,503,15221,0.00,0.00,9.75,1.375,6,0.000,0.000,2935,2644,2321,0,0,0,0,0,0
$GC,15513,0.54,175.4,881.8,6.6,508,15523,0.00,0.00,8.27,1.342,6,0.000,0.000,2936,2644,2290,0,0,0,0,0,0
$GC,15816,0.54,178.9,861.5,6.7,513,15822,0.00,0.00,4.53,1.081,6,0.000,0.000,2936,2644,2276,0,0,0,0,0,0
$GC,16119,0.57,178.9,840.6,6.9,518,16120,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2644,2274,0,0,0,0,0,0
$GC,16421,0.57,178.9,818.5,7.3,523,16422,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2644,2274,0,0,0,0,0,0
$GC,16726,0.61,178.9,796.8,7.2,528,16727,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2644,2274,0,0,0,0,0,0
$GC,17028,0.65,183.0,776.3,6.7,533,17036,0.12,0.00,5.18,1.153,6,0.127,0.000,2978,2641,2259,0,0,0,0,0,0
$GC,17331,0.60,183.0,751.2,8.3,538,17332,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2641,2258,0,0,0,0,0,0
$GC,17634,0.55,183.0,725.9,8.4,543,17639,0.12,2.17,0.00,0.000,4,0.188,0.048,2940,4040,2258,0,0,0,0,0,0
$GC,17666,0.55,183.0,723.1,7.9,543,17671,0.00,2.10,0.00,0.000,6,0.000,0.028,2948,2640,2258,0,0,0,0,0,0
$GC,17998,0.55,183.0,698.4,7.4,549,18002,0.00,2.15,0.00,0.000,4,0.000,0.048,2948,4040,2257,0,0,0,0,0,0
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$STATE,27334,end climb,SURFACE_DEPTH_REACHED
$STATE,27334,begin surface coast
$FINISH,2.9,1.014405
$STATE,27401,end surface coast,CONTROL_FINISHED_OK
$STATE,27401,begin surface
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$HUMID,1078377410
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$TCM_TEMP,19.60
$XPDR_PINGS,0
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$10V_AH,10.1,15.258
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.725,143.850,302.650,50.325,0.000,30.672,39.282,159.335,0.000,0.000,14.053,2047.655,22473.180,513.508,2295.702,484.273,0.000,1646.409,0.000,2274.915,0.000,0.534,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241480
$DATA_FILE_SIZE,53814,978
$CAP_FILE_SIZE,181772,0
$CFSIZE,260165632,243785728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,302.9,1
$GPS,101109,230306,6444.506,-25.354,26,1.0,26,-5.4