version: 66.06
glider: 140
mission: 8
dive: 143
start: 11 11 109 13 56 49
data:
$ID,140
$MISSION,8
$DIVE,143
$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,-46903.023
$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,77
$R_STBD_OVSHOOT,42
$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
$GPS1,135037,6450.639,-41.065,33,1.2,34,-5.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.67
$_SM_ANGLEo,-66.1
$GPS2,135625,6450.655,-41.072,15,1.2,15,-5.6
$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,338.2,32023,-13.7,-6.875
$D_GRID,2797
$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,-7.93,0.000,2,0.000,0.000,215,2253,2038,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.7,-0.0,1,126,9.32,2.08,-80.85,0.000,4,0.254,0.051,2505,915,3483,0,0,0,0,0,0
$GC,365,-0.66,-116.7,27.6,-10.6,61,371,0.17,2.10,0.00,0.000,6,0.198,0.029,2551,2317,3484,0,0,0,0,0,0
$GC,699,-0.62,-116.7,55.6,-8.1,122,706,0.00,2.12,0.00,0.000,4,0.000,0.035,2551,927,3484,0,0,0,0,0,0
$GC,752,-0.57,-116.7,59.9,-8.7,131,757,0.00,2.05,0.00,0.000,6,0.000,0.029,2551,2307,3485,0,0,0,0,0,0
$GC,1068,-0.54,-116.7,84.4,-7.7,147,1070,0.12,0.00,0.00,0.000,6,0.204,0.000,2583,2308,3485,0,0,0,0,0,0
$GC,1377,-0.60,-116.7,100.8,-4.2,162,1381,0.00,2.10,0.00,0.000,4,0.000,0.042,2583,3701,3486,0,0,0,0,0,0
$GC,1432,-0.67,-116.7,103.3,-4.5,164,1436,0.12,2.00,0.00,0.000,6,0.133,0.024,2543,2288,3485,0,0,0,0,0,0
$GC,1748,-0.67,-116.7,123.1,-7.2,179,1751,0.00,2.00,0.00,0.000,4,0.000,0.035,2543,924,3486,0,0,0,0,0,0
$GC,1830,-0.63,-116.7,130.1,-8.5,182,1838,0.00,2.05,0.00,0.000,6,0.000,0.029,2542,2294,3486,0,0,0,0,0,0
$GC,2146,-0.63,-116.7,156.9,-8.7,198,2149,0.00,2.10,0.00,0.000,4,0.000,0.042,2542,3707,3487,0,0,0,0,0,0
$GC,2235,-0.63,-116.7,164.5,-8.6,202,2238,0.00,2.00,0.00,0.000,6,0.000,0.025,2543,2304,3487,0,0,0,0,0,0
$GC,2566,-0.63,-116.7,190.5,-7.5,218,2570,0.00,2.03,0.00,0.000,4,0.000,0.037,2543,918,3488,0,0,0,0,0,0
$GC,2621,-0.60,-116.7,194.8,-7.6,220,2625,0.00,2.08,0.00,0.000,6,0.000,0.030,2543,2305,3488,0,0,0,0,0,0
$GC,2942,-0.60,-116.7,216.3,-6.5,236,2946,0.00,2.08,0.00,0.000,4,0.000,0.043,2543,3705,3487,0,0,0,0,0,0
$GC,3007,-0.60,-116.7,221.0,-7.3,239,3012,0.00,2.05,0.00,0.000,6,0.000,0.025,2543,2304,3487,0,0,0,0,0,0
$GC,3336,-0.60,-116.7,244.5,-7.4,255,3338,0.10,0.00,0.00,0.000,6,0.205,0.000,2566,2300,3487,0,0,0,0,0,0
$GC,3644,-0.64,-116.7,267.4,-7.7,270,3648,0.00,2.15,0.00,0.000,4,0.000,0.049,2566,3706,3485,0,0,0,0,0,0
$GC,3734,-0.70,-116.7,274.3,-7.3,274,3737,0.00,2.03,0.00,0.000,6,0.000,0.025,2567,2300,3485,0,0,0,0,0,0
$GC,4066,-0.75,-116.7,297.5,-6.6,290,4070,0.12,2.15,0.00,0.000,4,0.133,0.044,2527,3708,3485,0,0,0,0,0,0
$GC,4126,-0.71,-116.7,302.3,-8.1,292,4133,0.00,2.08,0.00,0.000,6,0.000,0.026,2527,2300,3484,0,0,0,0,0,0
$GC,4439,-0.67,-116.7,326.9,-8.0,303,4443,0.00,2.10,0.00,0.000,4,0.000,0.041,2527,896,3484,0,0,0,0,0,0
$GC,4505,-0.61,-116.7,332.9,-8.9,305,4510,0.10,2.10,0.00,0.000,6,0.180,0.031,2557,2297,3484,0,0,0,0,0,0
$GC,4839,-0.61,-116.7,357.2,-7.3,316,4843,0.00,2.10,0.00,0.000,4,0.000,0.043,2557,3708,3483,0,0,0,0,0,0
$GC,4962,-0.65,-116.7,366.6,-8.1,319,4968,0.00,2.08,0.00,0.000,6,0.000,0.025,2557,2286,3483,0,0,0,0,0,0
$GC,5274,-0.68,-116.7,389.9,-7.5,330,5278,0.00,2.12,0.00,0.000,4,0.000,0.043,2557,3701,3483,0,0,0,0,0,0
$GC,5346,-0.73,-116.7,395.3,-7.1,332,5350,0.00,2.05,0.00,0.000,6,0.000,0.025,2557,2293,3482,0,0,0,0,0,0
$GC,5681,-0.76,-116.7,419.5,-7.2,343,5686,0.12,2.15,0.00,0.000,4,0.143,0.044,2517,3705,3482,0,0,0,0,0,0
$GC,5758,-0.72,-116.7,426.2,-9.0,345,5762,0.00,2.03,0.00,0.000,6,0.000,0.026,2517,2291,3482,0,0,0,0,0,0
$GC,6087,-0.66,-116.7,455.8,-8.9,356,6089,0.12,0.00,0.00,0.000,6,0.198,0.000,2548,2288,3481,0,0,0,0,0,0
$GC,6394,-0.66,-116.7,478.3,-7.1,366,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2287,3481,0,0,0,0,0,0
$GC,6700,-0.66,-116.7,498.6,-6.4,376,6704,0.00,2.12,0.00,0.000,4,0.000,0.044,2548,3699,3480,0,0,0,0,0,0
$GC,6794,-0.66,-116.7,504.4,-5.9,378,6798,0.00,2.05,0.00,0.000,6,0.000,0.026,2548,2289,3480,0,0,0,0,0,0
$GC,7132,-0.66,-116.7,523.2,-5.5,384,7133,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2288,3480,0,0,0,0,0,0
$GC,7435,-0.66,-116.7,541.5,-6.1,389,7439,0.00,2.12,0.00,0.000,4,0.000,0.044,2549,3697,3479,0,0,0,0,0,0
$GC,7530,-0.69,-116.7,547.6,-6.7,390,7534,0.00,2.00,0.00,0.000,6,0.000,0.027,2548,2295,3479,0,0,0,0,0,0
$GC,7873,-0.69,-116.7,571.6,-7.2,396,7877,0.00,2.12,0.00,0.000,4,0.000,0.044,2549,3702,3478,0,0,0,0,0,0
$GC,7950,-0.72,-116.7,578.0,-9.0,397,7954,0.00,2.05,0.00,0.000,6,0.000,0.026,2549,2297,3477,0,0,0,0,0,0
$GC,8304,-0.72,-116.7,606.3,-8.0,403,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2296,3477,0,0,0,0,0,0
$GC,8607,-0.72,-116.7,630.2,-7.9,408,8611,0.00,2.12,0.00,0.000,4,0.000,0.044,2549,3705,3477,0,0,0,0,0,0
$GC,8702,-0.76,-116.7,637.7,-8.1,409,8706,0.00,2.05,0.00,0.000,6,0.000,0.027,2549,2303,3476,0,0,0,0,0,0
$GC,9039,-0.76,-116.7,662.1,-7.2,415,9040,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2302,3476,0,0,0,0,0,0
$GC,9343,-0.76,-116.7,681.4,-6.3,420,9346,0.00,2.10,0.00,0.000,4,0.000,0.044,2549,3697,3475,0,0,0,0,0,0
$GC,9466,-0.80,-116.7,688.7,-5.9,421,9473,0.12,2.03,0.00,0.000,6,0.138,0.027,2508,2284,3475,0,0,0,0,0,0
$GC,9776,-0.73,-116.7,710.5,-7.1,427,9779,0.00,2.03,0.00,0.000,4,0.000,0.039,2508,917,3475,0,0,0,0,0,0
$GC,9853,-0.66,-116.7,716.6,-8.2,428,9858,0.10,2.08,0.00,0.000,6,0.183,0.031,2550,2297,3474,0,0,0,0,0,0
$GC,10213,-0.66,-116.7,738.4,-6.1,434,10216,0.00,2.10,0.00,0.000,4,0.000,0.044,2550,3709,3474,0,0,0,0,0,0
$GC,10308,-0.70,-116.7,744.5,-6.1,435,10311,0.00,2.03,0.00,0.000,6,0.000,0.028,2551,2306,3474,0,0,0,0,0,0
$GC,10646,-0.74,-116.7,766.9,-6.8,441,10649,0.00,2.15,0.00,0.000,4,0.000,0.046,2551,3704,3473,0,0,0,0,0,0
$GC,10712,-0.78,-116.7,772.1,-8.1,442,10717,0.12,2.03,0.00,0.000,6,0.139,0.027,2511,2292,3473,0,0,0,0,0,0
$GC,11077,-0.73,-116.7,805.6,-9.4,448,11079,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2289,3473,0,0,0,0,0,0
$GC,11381,-0.67,-116.7,833.6,-9.1,453,11386,0.12,2.15,0.00,0.000,4,0.202,0.046,2541,3698,3473,0,0,0,0,0,0
$GC,11430,-0.67,-116.7,837.8,-8.2,453,11434,0.00,2.05,0.00,0.000,6,0.000,0.028,2541,2302,3472,0,0,0,0,0,0
$GC,11745,-0.67,-116.7,860.7,-7.2,459,11746,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2300,3472,0,0,0,0,0,0
$GC,12048,-0.67,-116.7,880.3,-6.4,464,12052,0.00,2.15,0.00,0.000,4,0.000,0.046,2541,3702,3472,0,0,0,0,0,0
$GC,12166,-0.71,-116.7,887.3,-5.3,465,12170,0.00,2.03,0.00,0.000,6,0.000,0.027,2541,2302,3471,0,0,0,0,0,0
$GC,12480,-0.71,-116.7,903.6,-5.1,471,12484,0.00,2.12,0.00,0.000,4,0.000,0.045,2541,3698,3471,0,0,0,0,0,0
$GC,12552,-0.74,-116.7,907.2,-4.6,472,12556,0.00,2.03,0.00,0.000,6,0.000,0.028,2541,2295,3471,0,0,0,0,0,0
$GC,12905,-0.74,-116.7,923.5,-4.7,478,12909,0.00,2.12,0.00,0.000,4,0.000,0.045,2541,3698,3471,0,0,0,0,0,0
$GC,12966,-0.78,-116.7,926.6,-5.3,478,12971,0.00,2.03,0.00,0.000,6,0.000,0.028,2541,2293,3471,0,0,0,0,0,0
$GC,13275,-0.78,-116.7,942.1,-5.0,484,13279,0.00,2.12,0.00,0.000,4,0.000,0.045,2541,3698,3471,0,0,0,0,0,0
$GC,13352,-0.82,-116.7,946.3,-5.7,485,13357,0.12,2.03,0.00,0.000,6,0.146,0.028,2502,2290,3470,0,0,0,0,0,0
$GC,13700,-0.76,-116.7,970.0,-6.9,491,13702,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2288,3470,0,0,0,0,0,0
$STATE,14001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14001,begin apogee
$GC,14006,-0.24,0.0,991.6,7.1,496,14108,0.62,0.00,98.72,1.560,6,0.176,0.000,2687,2652,3006,0,0,0,0,0,0
$STATE,14109,end apogee,CONTROL_FINISHED_OK
$STATE,14109,begin climb
$GC,14111,0.80,116.7,993.3,0.0,497,14226,1.08,2.38,105.93,1.458,4,0.119,0.045,3017,4033,2529,0,0,0,0,0,0
$GC,14237,0.59,116.7,989.6,7.8,499,14243,0.28,2.22,0.00,0.000,6,0.182,0.028,2962,2657,2525,0,0,0,0,0,0
$GC,14547,0.52,116.7,968.1,7.0,505,14548,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2656,2519,0,0,0,0,0,0
$GC,14849,0.46,123.5,948.1,6.6,510,14860,0.17,2.20,5.38,1.175,4,0.192,0.045,2913,4045,2502,0,0,0,0,0,0
$GC,14871,0.51,160.7,946.9,5.4,510,14911,0.00,2.12,34.72,1.429,6,0.000,0.028,2921,2653,2349,0,0,0,0,0,0
$GC,15278,0.61,201.4,924.8,5.3,517,15317,0.12,0.00,36.72,1.433,6,0.120,0.000,2965,2652,2185,0,0,0,0,0,0
$GC,15580,0.61,205.1,904.8,6.7,522,15584,0.00,2.20,0.00,0.000,4,0.000,0.047,2965,4049,2177,0,0,0,0,0,0
$GC,15601,0.56,205.1,903.2,6.9,522,15605,0.00,2.15,0.00,0.000,6,0.000,0.028,2975,2628,2177,0,0,0,0,0,0
$GC,15944,0.53,205.1,879.1,7.0,528,15949,0.15,2.22,0.00,0.000,4,0.195,0.048,2927,4038,2175,0,0,0,0,0,0
$GC,16001,0.56,223.3,875.3,6.1,528,16026,0.00,2.08,19.95,1.415,6,0.000,0.028,2936,2641,2094,0,0,0,0,0,0
$GC,16382,0.63,236.2,851.4,6.4,535,16401,0.00,2.30,12.27,1.377,4,0.000,0.048,2936,4042,2043,0,0,0,0,0,0
$GC,16418,0.67,239.3,848.8,6.7,535,16428,0.10,2.10,4.50,0.959,6,0.125,0.028,2977,2647,2030,0,0,0,0,0,0
$GC,16749,0.67,239.3,821.9,8.2,541,16753,0.00,2.17,0.00,0.000,4,0.000,0.047,2977,4044,2026,0,0,0,0,0,0
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$STATE,25898,end climb,SURFACE_DEPTH_REACHED
$STATE,25898,begin surface coast
$FINISH,2.9,1.013491
$STATE,25936,end surface coast,CONTROL_FINISHED_OK
$STATE,25936,begin surface
$SM_CCo,26013,0.00,0.000,0,0,1834,287.49
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$HUMID,1078378700
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,19.60
$XPDR_PINGS,2
$24V_AH,22.7,24.460
$10V_AH,10.0,15.558
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.050,194.375,363.200,0.000,0.000,30.114,35.340,163.449,0.500,0.000,15.014,2033.020,20872.377,530.960,2434.695,485.117,0.000,1773.969,0.000,2398.419,0.000,0.533,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241464
$DATA_FILE_SIZE,50874,906
$CAP_FILE_SIZE,203432,0
$CFSIZE,260165632,243531776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.164,323.9,1
$GPS,111109,211137,6455.343,-47.868,40,1.3,41,-5.7