version: 66.06
glider: 140
mission: 8
dive: 161
start: 11 16 109 22 50 0
data:
$ID,140
$MISSION,8
$DIVE,161
$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,-47219.727
$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,47
$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
$GPS1,224306,6439.556,-8.784,36,1.3,43,-5.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.22
$_SM_ANGLEo,-53.9
$GPS2,224938,6439.588,-8.780,15,1.9,15,-5.2
$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,137.4,273128,-13.7,-6.875
$D_GRID,2656
$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,-116.7,0.0,0.0,0,25,0.00,0.00,-7.68,0.000,2,0.000,0.000,212,2281,709,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.2,-0.0,1,198,8.70,2.25,-152.35,0.000,4,0.219,0.056,2506,3693,3482,0,0,0,0,0,0
$GC,386,-0.68,-116.7,14.6,-11.4,65,393,0.15,2.05,0.00,0.000,6,0.189,0.024,2544,2277,3483,0,0,0,0,0,0
$GC,722,-0.63,-116.7,41.0,-7.7,126,729,0.00,2.22,0.00,0.000,4,0.000,0.042,2544,3698,3483,0,0,0,0,0,0
$GC,786,-0.63,-116.7,46.5,-8.3,137,791,0.00,2.00,0.00,0.000,6,0.000,0.025,2544,2306,3483,0,0,0,0,0,0
$GC,1125,-0.60,-116.7,72.7,-7.3,198,1131,0.00,2.12,0.00,0.000,4,0.000,0.041,2545,3701,3483,0,0,0,0,0,0
$GC,1155,-0.57,-116.7,75.0,-7.9,203,1161,0.12,2.03,0.00,0.000,6,0.194,0.024,2577,2290,3483,0,0,0,0,0,0
$GC,1498,-0.61,-116.7,96.3,-6.0,264,1504,0.00,2.17,0.00,0.000,4,0.000,0.041,2576,3698,3484,0,0,0,0,0,0
$GC,1522,-0.65,-116.7,97.9,-6.1,268,1529,0.00,2.05,0.00,0.000,6,0.000,0.024,2577,2297,3484,0,0,0,0,0,0
$GC,1867,-0.70,-116.7,118.4,-6.0,329,1873,0.12,0.00,0.00,0.000,6,0.133,0.000,2538,2295,3484,0,0,0,0,0,0
$GC,2199,-0.70,-116.7,142.9,-7.5,348,2203,0.00,2.12,0.00,0.000,4,0.000,0.041,2537,3702,3484,0,0,0,0,0,0
$GC,2262,-0.70,-116.7,147.8,-8.5,351,2265,0.00,2.00,0.00,0.000,6,0.000,0.024,2538,2304,3484,0,0,0,0,0,0
$GC,2595,-0.70,-116.7,174.4,-7.8,367,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2296,3484,0,0,0,0,0,0
$GC,2902,-0.70,-116.7,198.0,-7.5,382,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2297,3485,0,0,0,0,0,0
$GC,3212,-0.70,-116.7,220.8,-7.1,397,3216,0.00,2.12,0.00,0.000,4,0.000,0.042,2538,3704,3484,0,0,0,0,0,0
$GC,3244,-0.70,-116.7,223.0,-6.8,398,3251,0.00,2.05,0.00,0.000,6,0.000,0.024,2538,2297,3484,0,0,0,0,0,0
$GC,3560,-0.70,-116.7,243.9,-6.4,414,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2296,3484,0,0,0,0,0,0
$GC,3869,-0.70,-116.7,264.0,-6.7,429,3873,0.00,2.12,0.00,0.000,4,0.000,0.042,2538,3703,3483,0,0,0,0,0,0
$GC,3898,-0.70,-116.7,265.9,-6.6,430,3902,0.00,2.03,0.00,0.000,6,0.000,0.025,2538,2290,3483,0,0,0,0,0,0
$GC,4214,-0.70,-116.7,287.7,-7.2,445,4218,0.00,2.12,0.00,0.000,4,0.000,0.042,2538,3701,3482,0,0,0,0,0,0
$GC,4263,-0.70,-116.7,291.4,-7.0,447,4267,0.00,2.05,0.00,0.000,6,0.000,0.025,2537,2293,3482,0,0,0,0,0,0
$GC,4582,-0.70,-116.7,314.2,-7.2,460,4586,0.00,2.12,0.00,0.000,4,0.000,0.042,2537,3704,3481,0,0,0,0,0,0
$GC,4615,-0.70,-116.7,316.8,-7.7,461,4618,0.00,2.00,0.00,0.000,6,0.000,0.025,2537,2306,3481,0,0,0,0,0,0
$GC,4955,-0.70,-116.7,342.0,-7.5,472,4958,0.00,2.12,0.00,0.000,4,0.000,0.043,2538,3708,3481,0,0,0,0,0,0
$GC,5039,-0.70,-116.7,348.3,-7.4,474,5043,0.00,2.03,0.00,0.000,6,0.000,0.025,2538,2296,3481,0,0,0,0,0,0
$GC,5350,-0.70,-116.7,371.1,-7.3,484,5354,0.00,2.12,0.00,0.000,4,0.000,0.043,2538,3701,3480,0,0,0,0,0,0
$GC,5383,-0.70,-116.7,373.7,-7.7,485,5387,0.00,2.05,0.00,0.000,6,0.000,0.025,2538,2300,3479,0,0,0,0,0,0
$GC,5718,-0.70,-116.7,399.0,-7.5,496,5721,0.00,2.12,0.00,0.000,4,0.000,0.043,2539,3702,3479,0,0,0,0,0,0
$GC,5785,-0.70,-116.7,404.5,-8.2,498,5789,0.00,2.03,0.00,0.000,6,0.000,0.025,2538,2292,3478,0,0,0,0,0,0
$GC,6119,-0.70,-116.7,431.6,-8.2,509,6123,0.00,2.12,0.00,0.000,4,0.000,0.043,2538,3700,3477,0,0,0,0,0,0
$GC,6168,-0.70,-116.7,435.8,-8.3,510,6173,0.00,2.05,0.00,0.000,6,0.000,0.025,2538,2301,3477,0,0,0,0,0,0
$GC,6492,-0.70,-116.7,461.2,-7.6,521,6496,0.00,2.15,0.00,0.000,4,0.000,0.044,2538,3704,3476,0,0,0,0,0,0
$GC,6546,-0.70,-116.7,465.5,-7.9,522,6554,0.00,2.05,0.00,0.000,6,0.000,0.026,2538,2302,3476,0,0,0,0,0,0
$GC,6859,-0.70,-116.7,487.0,-6.8,533,6863,0.00,2.12,0.00,0.000,4,0.000,0.044,2538,3706,3475,0,0,0,0,0,0
$GC,6880,-0.70,-116.7,488.5,-7.1,533,6885,0.00,2.08,0.00,0.000,6,0.000,0.027,2538,2301,3476,0,0,0,0,0,0
$GC,7197,-0.70,-116.7,510.0,-6.8,542,7201,0.00,2.15,0.00,0.000,4,0.000,0.044,2538,3701,3475,0,0,0,0,0,0
$GC,7230,-0.70,-116.7,512.3,-7.1,542,7234,0.00,2.08,0.00,0.000,6,0.000,0.026,2538,2290,3475,0,0,0,0,0,0
$GC,7562,-0.70,-116.7,535.5,-7.0,548,7566,0.00,2.15,0.00,0.000,4,0.000,0.044,2538,3709,3474,0,0,0,0,0,0
$GC,7605,-0.70,-116.7,538.6,-7.0,548,7609,0.00,2.08,0.00,0.000,6,0.000,0.026,2538,2295,3473,0,0,0,0,0,0
$GC,7926,-0.70,-116.7,560.4,-6.8,554,7930,0.00,2.12,0.00,0.000,4,0.000,0.044,2538,3699,3473,0,0,0,0,0,0
$GC,7975,-0.70,-116.7,563.8,-6.9,554,7979,0.00,2.08,0.00,0.000,6,0.000,0.026,2538,2291,3472,0,0,0,0,0,0
$GC,8290,-0.70,-116.7,584.5,-6.6,560,8294,0.00,2.12,0.00,0.000,4,0.000,0.044,2538,3698,3472,0,0,0,0,0,0
$GC,8338,-0.70,-116.7,587.8,-6.9,560,8343,0.00,2.05,0.00,0.000,6,0.000,0.027,2538,2302,3472,0,0,0,0,0,0
$GC,8659,-0.70,-116.7,608.7,-6.5,566,8663,0.00,2.12,0.00,0.000,4,0.000,0.044,2538,3704,3471,0,0,0,0,0,0
$GC,8703,-0.70,-116.7,611.6,-7.0,566,8707,0.00,2.08,0.00,0.000,6,0.000,0.027,2538,2295,3471,0,0,0,0,0,0
$GC,9024,-0.70,-116.7,633.1,-6.8,572,9028,0.00,2.12,0.00,0.000,4,0.000,0.044,2538,3698,3470,0,0,0,0,0,0
$GC,9078,-0.70,-116.7,637.0,-7.2,572,9085,0.00,2.05,0.00,0.000,6,0.000,0.027,2538,2301,3470,0,0,0,0,0,0
$GC,9388,-0.70,-116.7,658.2,-6.9,578,9392,0.00,2.12,0.00,0.000,4,0.000,0.044,2538,3701,3470,0,0,0,0,0,0
$GC,9437,-0.70,-116.7,661.8,-7.8,578,9441,0.00,2.08,0.00,0.000,6,0.000,0.027,2538,2292,3470,0,0,0,0,0,0
$GC,9752,-0.70,-116.7,683.8,-7.1,584,9755,0.00,2.15,0.00,0.000,4,0.000,0.044,2538,3703,3470,0,0,0,0,0,0
$GC,9807,-0.70,-116.7,688.0,-7.7,584,9811,0.00,2.08,0.00,0.000,6,0.000,0.027,2538,2297,3470,0,0,0,0,0,0
$GC,10121,-0.70,-116.7,710.1,-7.1,590,10125,0.00,2.12,0.00,0.000,4,0.000,0.044,2538,3698,3469,0,0,0,0,0,0
$GC,10158,-0.70,-116.7,713.0,-7.6,590,10163,0.00,2.08,0.00,0.000,6,0.000,0.027,2538,2292,3469,0,0,0,0,0,0
$GC,10485,-0.70,-116.7,736.1,-7.1,596,10489,0.00,2.12,0.00,0.000,4,0.000,0.044,2538,3701,3469,0,0,0,0,0,0
$GC,10534,-0.70,-116.7,739.7,-6.6,596,10538,0.00,2.03,0.00,0.000,6,0.000,0.027,2538,2296,3468,0,0,0,0,0,0
$GC,10849,-0.70,-116.7,760.9,-6.7,602,10853,0.00,2.12,0.00,0.000,4,0.000,0.044,2537,3698,3468,0,0,0,0,0,0
$GC,10915,-0.70,-116.7,765.4,-7.2,603,10919,0.00,2.05,0.00,0.000,6,0.000,0.027,2538,2301,3468,0,0,0,0,0,0
$GC,11280,-0.70,-116.7,789.6,-6.6,609,11284,0.00,2.12,0.00,0.000,4,0.000,0.044,2538,3698,3468,0,0,0,0,0,0
$GC,11357,-0.70,-116.7,794.8,-7.1,610,11362,0.00,2.05,0.00,0.000,6,0.000,0.027,2538,2301,3467,0,0,0,0,0,0
$GC,11718,-0.70,-116.7,818.3,-6.6,616,11722,0.00,2.15,0.00,0.000,4,0.000,0.045,2538,3698,3467,0,0,0,0,0,0
$GC,11801,-0.70,-116.7,823.9,-6.5,617,11805,0.00,2.05,0.00,0.000,6,0.000,0.027,2538,2305,3467,0,0,0,0,0,0
$GC,12150,-0.70,-116.7,846.5,-6.5,623,12154,0.00,2.12,0.00,0.000,4,0.000,0.044,2538,3702,3466,0,0,0,0,0,0
$GC,12217,-0.70,-116.7,851.2,-6.7,624,12221,0.00,2.08,0.00,0.000,6,0.000,0.027,2538,2295,3466,0,0,0,0,0,0
$GC,12582,-0.70,-116.7,875.1,-6.6,630,12586,0.00,2.15,0.00,0.000,4,0.000,0.045,2538,3706,3466,0,0,0,0,0,0
$GC,12671,-0.70,-116.7,881.4,-7.1,631,12675,0.00,2.08,0.00,0.000,6,0.000,0.028,2538,2298,3466,0,0,0,0,0,0
$GC,13014,-0.70,-116.7,904.4,-6.8,637,13018,0.00,2.12,0.00,0.000,4,0.000,0.045,2538,3698,3466,0,0,0,0,0,0
$GC,13086,-0.70,-116.7,909.4,-6.5,638,13090,0.00,2.03,0.00,0.000,6,0.000,0.028,2538,2296,3465,0,0,0,0,0,0
$GC,13451,-0.70,-116.7,934.2,-6.8,644,13455,0.00,2.12,0.00,0.000,4,0.000,0.044,2538,3698,3465,0,0,0,0,0,0
$GC,13523,-0.73,-116.7,939.2,-6.8,645,13527,0.00,2.03,0.00,0.000,6,0.000,0.027,2538,2301,3465,0,0,0,0,0,0
$GC,13883,-0.73,-116.7,962.6,-6.5,651,13887,0.00,2.15,0.00,0.000,4,0.000,0.044,2538,3706,3465,0,0,0,0,0,0
$GC,13971,-0.73,-116.7,968.6,-6.5,652,13975,0.00,2.05,0.00,0.000,6,0.000,0.028,2538,2288,3465,0,0,0,0,0,0
$STATE,14312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14312,begin apogee
$GC,14318,-0.24,0.0,991.1,6.6,658,14419,0.50,0.00,98.28,1.550,6,0.172,0.000,2686,2649,3006,0,0,0,0,0,0
$STATE,14420,end apogee,CONTROL_FINISHED_OK
$STATE,14420,begin climb
$GC,14422,0.80,116.7,993.3,0.0,659,14533,1.05,0.00,107.35,1.456,6,0.120,0.000,3013,2649,2530,0,0,0,0,0,0
$GC,14787,0.63,116.7,973.3,7.8,665,14792,0.15,2.22,0.00,0.000,4,0.172,0.047,2966,4044,2519,0,0,0,0,0,0
$GC,14859,0.50,116.7,967.6,7.6,666,14864,0.17,2.15,0.00,0.000,6,0.183,0.028,2932,2632,2518,0,0,0,0,0,0
$GC,15219,0.53,147.8,947.1,5.6,672,15248,0.00,0.00,26.75,1.443,6,0.000,0.000,2932,2632,2403,0,0,0,0,0,0
$GC,15522,0.56,165.2,928.6,6.2,677,15540,0.00,0.00,16.25,1.409,6,0.000,0.000,2932,2632,2332,0,0,0,0,0,0
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$STATE,27179,end climb,SURFACE_DEPTH_REACHED
$STATE,27179,begin surface coast
$FINISH,2.9,1.027249
$STATE,27199,end surface coast,CONTROL_FINISHED_OK
$STATE,27199,begin surface
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$HUMID,1078396764
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$TCM_TEMP,14.10
$XPDR_PINGS,0
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$10V_AH,10.0,17.483
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.425,227.725,319.600,33.800,0.000,30.994,35.255,194.870,0.000,0.000,15.477,2516.985,20928.723,617.797,3003.816,565.587,0.000,2103.718,0.000,2973.227,0.000,0.533,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241400
$DATA_FILE_SIZE,69630,1203
$CAP_FILE_SIZE,226747,0
$CFSIZE,260165632,241987584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043,177.9,1
$GPS,171109,062531,6436.529,-4.151,41,1.3,42,-5.2