version: 66.06
glider: 140
mission: 8
dive: 184
start: 11 24 109 6 41 49
data:
$ID,140
$MISSION,8
$DIVE,184
$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,-47631.879
$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,74
$R_STBD_OVSHOOT,52
$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
$GPS1,063442,6331.060,229.364,30,1.7,36,-3.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,3.19
$_SM_ANGLEo,-66.1
$GPS2,064126,6331.153,229.375,12,2.0,12,-3.6
$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,132.7,89646,-13.7,-6.875
$D_GRID,1252
$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,-7.50,0.000,2,0.000,0.000,217,2292,2034,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.2,-0.0,1,129,9.00,2.15,-82.32,0.000,4,0.238,0.049,2501,920,3483,0,0,0,0,0,0
$GC,376,-0.66,-116.7,27.1,-11.4,64,383,0.12,2.08,0.00,0.000,6,0.170,0.028,2540,2300,3483,0,0,0,0,0,0
$GC,713,-0.62,-116.7,54.0,-7.0,125,719,0.00,2.10,0.00,0.000,4,0.000,0.036,2541,912,3484,0,0,0,0,0,0
$GC,859,-0.57,-116.7,65.9,-7.8,151,865,0.15,2.05,0.00,0.000,6,0.192,0.029,2580,2298,3484,0,0,0,0,0,0
$GC,1202,-0.61,-116.7,87.4,-6.3,212,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2298,3484,0,0,0,0,0,0
$GC,1547,-0.65,-116.7,107.9,-6.0,273,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2298,3485,0,0,0,0,0,0
$GC,1892,-0.69,-116.7,129.1,-6.3,316,1896,0.12,2.12,0.00,0.000,4,0.132,0.042,2541,3706,3484,0,0,0,0,0,0
$GC,1930,-0.69,-116.7,132.0,-8.0,318,1934,0.00,2.03,0.00,0.000,6,0.000,0.024,2541,2297,3484,0,0,0,0,0,0
$GC,2256,-0.66,-116.7,157.7,-7.9,334,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2297,3484,0,0,0,0,0,0
$GC,2567,-0.63,-116.7,182.3,-8.0,349,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2297,3484,0,0,0,0,0,0
$GC,2875,-0.59,-116.7,207.3,-7.9,364,2877,0.12,0.00,0.00,0.000,6,0.199,0.000,2571,2292,3485,0,0,0,0,0,0
$GC,3186,-0.62,-116.7,228.3,-6.7,379,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2292,3485,0,0,0,0,0,0
$GC,3493,-0.66,-116.7,248.6,-6.3,394,3497,0.00,2.10,0.00,0.000,4,0.000,0.041,2571,3697,3485,0,0,0,0,0,0
$GC,3504,-0.70,-116.7,249.4,-6.3,394,3508,0.00,2.00,0.00,0.000,6,0.000,0.024,2571,2298,3485,0,0,0,0,0,0
$GC,3825,-0.74,-116.7,268.7,-6.0,410,3830,0.15,2.12,0.00,0.000,4,0.126,0.041,2521,3702,3485,0,0,0,0,0,0
$GC,3846,-0.74,-116.7,270.3,-6.9,411,3850,0.00,2.03,0.00,0.000,6,0.000,0.024,2521,2306,3485,0,0,0,0,0,0
$GC,4174,-0.68,-116.7,296.0,-7.9,427,4178,0.00,2.10,0.00,0.000,4,0.000,0.041,2521,3704,3485,0,0,0,0,0,0
$GC,4183,-0.62,-116.7,297.0,-8.0,427,4190,0.08,2.05,0.00,0.000,6,0.153,0.024,2557,2289,3485,0,0,0,0,0,0
$GC,4507,-0.62,-116.7,318.7,-6.8,439,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2288,3485,0,0,0,0,0,0
$GC,4812,-0.62,-116.7,340.4,-7.1,449,4816,0.00,2.12,0.00,0.000,4,0.000,0.041,2558,3703,3485,0,0,0,0,0,0
$GC,4851,-0.66,-116.7,343.2,-6.6,450,4855,0.00,2.00,0.00,0.000,6,0.000,0.024,2558,2301,3485,0,0,0,0,0,0
$GC,5180,-0.66,-116.7,366.6,-7.0,461,5184,0.00,2.10,0.00,0.000,4,0.000,0.042,2558,3695,3485,0,0,0,0,0,0
$GC,5190,-0.66,-116.7,367.4,-6.9,461,5194,0.00,2.03,0.00,0.000,6,0.000,0.024,2558,2302,3485,0,0,0,0,0,0
$GC,5513,-0.66,-116.7,389.8,-7.1,472,5517,0.00,2.10,0.00,0.000,4,0.000,0.041,2558,3702,3485,0,0,0,0,0,0
$GC,5557,-0.70,-116.7,392.8,-7.0,473,5561,0.00,2.00,0.00,0.000,6,0.000,0.024,2558,2295,3484,0,0,0,0,0,0
$GC,5880,-0.70,-116.7,414.4,-6.5,484,5884,0.00,2.12,0.00,0.000,4,0.000,0.041,2558,3706,3485,0,0,0,0,0,0
$GC,5929,-0.74,-116.7,417.5,-6.2,485,5933,0.00,2.05,0.00,0.000,6,0.000,0.024,2558,2296,3484,0,0,0,0,0,0
$GC,6253,-0.78,-116.7,436.8,-6.1,496,6255,0.12,0.00,0.00,0.000,6,0.135,0.000,2517,2293,3484,0,0,0,0,0,0
$GC,6559,-0.73,-116.7,460.6,-7.9,506,6563,0.00,2.10,0.00,0.000,4,0.000,0.041,2516,3697,3484,0,0,0,0,0,0
$GC,6569,-0.68,-116.7,461.6,-8.1,506,6573,0.00,2.03,0.00,0.000,6,0.000,0.024,2516,2302,3484,0,0,0,0,0,0
$GC,6893,-0.63,-116.7,488.2,-8.1,517,6897,0.15,2.12,0.00,0.000,4,0.184,0.043,2555,3701,3484,0,0,0,0,0,0
$GC,6913,-0.63,-116.7,489.9,-7.6,517,6920,0.00,2.05,0.00,0.000,6,0.000,0.024,2556,2295,3483,0,0,0,0,0,0
$GC,7255,-0.66,-116.7,511.8,-6.4,526,7259,0.00,2.10,0.00,0.000,4,0.000,0.042,2556,3697,3483,0,0,0,0,0,0
$GC,7266,-0.70,-116.7,512.6,-6.4,526,7270,0.00,2.00,0.00,0.000,6,0.000,0.025,2556,2293,3483,0,0,0,0,0,0
$GC,7615,-0.74,-116.7,534.9,-6.4,532,7619,0.00,2.12,0.00,0.000,4,0.000,0.042,2556,3704,3482,0,0,0,0,0,0
$GC,7648,-0.80,-116.7,537.2,-6.3,532,7653,0.15,2.03,0.00,0.000,6,0.124,0.025,2505,2285,3482,0,0,0,0,0,0
$GC,7973,-0.73,-116.7,563.8,-8.4,538,7977,0.00,2.12,0.00,0.000,4,0.000,0.042,2505,3697,3481,0,0,0,0,0,0
$GC,7989,-0.67,-116.7,565.3,-8.6,538,7994,0.12,2.03,0.00,0.000,6,0.166,0.025,2543,2302,3481,0,0,0,0,0,0
$GC,8337,-0.67,-116.7,590.1,-7.0,544,8341,0.00,2.10,0.00,0.000,4,0.000,0.043,2543,3697,3480,0,0,0,0,0,0
$GC,8357,-0.67,-116.7,591.7,-7.4,544,8362,0.00,2.05,0.00,0.000,6,0.000,0.025,2543,2302,3480,0,0,0,0,0,0
$GC,8701,-0.67,-116.7,615.1,-6.8,550,8705,0.00,2.12,0.00,0.000,4,0.000,0.044,2543,3702,3479,0,0,0,0,0,0
$GC,8716,-0.67,-116.7,616.2,-6.7,550,8720,0.00,2.03,0.00,0.000,6,0.000,0.026,2543,2296,3479,0,0,0,0,0,0
$GC,9070,-0.67,-116.7,640.1,-6.8,556,9074,0.00,2.12,0.00,0.000,4,0.000,0.044,2543,3698,3476,0,0,0,0,0,0
$GC,9102,-0.67,-116.7,642.7,-7.3,556,9107,0.00,2.08,0.00,0.000,6,0.000,0.026,2543,2293,3477,0,0,0,0,0,0
$GC,9435,-0.67,-116.7,665.3,-6.8,562,9439,0.00,2.12,0.00,0.000,4,0.000,0.044,2543,3696,3475,0,0,0,0,0,0
$GC,9450,-0.67,-116.7,666.4,-6.7,562,9455,0.00,2.08,0.00,0.000,6,0.000,0.027,2543,2296,3476,0,0,0,0,0,0
$GC,9799,-0.67,-116.7,690.2,-6.9,568,9803,0.00,2.12,0.00,0.000,4,0.000,0.044,2543,3697,3475,0,0,0,0,0,0
$GC,9814,-0.67,-116.7,691.3,-6.9,568,9818,0.00,2.05,0.00,0.000,6,0.000,0.027,2543,2306,3475,0,0,0,0,0,0
$GC,10163,-0.67,-116.7,715.4,-6.9,574,10167,0.00,2.12,0.00,0.000,4,0.000,0.044,2543,3704,3473,0,0,0,0,0,0
$GC,10178,-0.67,-116.7,716.6,-7.0,574,10183,0.00,2.08,0.00,0.000,6,0.000,0.027,2543,2301,3473,0,0,0,0,0,0
$GC,10532,-0.67,-116.7,741.7,-7.2,580,10536,0.00,2.15,0.00,0.000,4,0.000,0.045,2543,3700,3472,0,0,0,0,0,0
$GC,10554,-0.67,-116.7,743.4,-7.2,580,10558,0.00,2.08,0.00,0.000,6,0.000,0.027,2543,2302,3472,0,0,0,0,0,0
$GC,10896,-0.67,-116.7,767.8,-7.0,586,10900,0.00,2.10,0.00,0.000,4,0.000,0.044,2543,3695,3471,0,0,0,0,0,0
$GC,10924,-0.70,-116.7,769.7,-6.7,586,10928,0.00,2.05,0.00,0.000,6,0.000,0.027,2543,2286,3470,0,0,0,0,0,0
$GC,11255,-0.70,-116.7,792.4,-6.8,592,11259,0.00,2.15,0.00,0.000,4,0.000,0.044,2543,3697,3469,0,0,0,0,0,0
$GC,11271,-0.73,-116.7,793.6,-6.7,592,11274,0.00,2.03,0.00,0.000,6,0.000,0.027,2543,2299,3469,0,0,0,0,0,0
$GC,11624,-0.73,-116.7,816.8,-6.5,598,11628,0.00,2.12,0.00,0.000,4,0.000,0.044,2543,3694,3468,0,0,0,0,0,0
$GC,11657,-0.77,-116.7,819.0,-6.9,598,11661,0.00,2.05,0.00,0.000,6,0.000,0.028,2543,2288,3468,0,0,0,0,0,0
$GC,11989,-0.77,-116.7,841.2,-6.8,604,11993,0.00,2.15,0.00,0.000,4,0.000,0.044,2543,3699,3468,0,0,0,0,0,0
$GC,12016,-0.81,-116.7,843.1,-7.2,604,12020,0.12,2.05,0.00,0.000,6,0.138,0.028,2502,2285,3467,0,0,0,0,0,0
$GC,12347,-0.75,-116.7,870.4,-8.3,610,12348,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2283,3467,0,0,0,0,0,0
$GC,12650,-0.70,-116.7,894.9,-8.1,615,12652,0.12,0.00,0.00,0.000,6,0.188,0.000,2534,2281,3466,0,0,0,0,0,0
$GC,12952,-0.70,-116.7,916.0,-6.9,620,12953,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2281,3465,0,0,0,0,0,0
$GC,13256,-0.70,-116.7,937.1,-7.0,625,13260,0.00,2.17,0.00,0.000,4,0.000,0.046,2534,3702,3465,0,0,0,0,0,0
$GC,13271,-0.70,-116.7,938.3,-6.9,625,13276,0.00,2.08,0.00,0.000,6,0.000,0.028,2534,2309,3464,0,0,0,0,0,0
$GC,13626,-0.70,-116.7,962.7,-6.8,631,13630,0.00,2.12,0.00,0.000,4,0.000,0.045,2534,3702,3464,0,0,0,0,0,0
$GC,13642,-0.70,-116.7,964.0,-6.8,631,13646,0.00,2.05,0.00,0.000,6,0.000,0.028,2534,2290,3464,0,0,0,0,0,0
$GC,13991,-0.70,-116.7,987.8,-6.8,637,13992,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2290,3464,0,0,0,0,0,0
$STATE,14049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14049,begin apogee
$GC,14054,-0.24,0.0,991.9,6.8,638,14155,0.50,0.00,98.15,1.543,6,0.163,0.000,2684,2648,3006,0,0,0,0,0,0
$STATE,14156,end apogee,CONTROL_FINISHED_OK
$STATE,14156,begin climb
$GC,14158,0.80,116.7,994.0,0.0,639,14273,1.08,2.40,105.90,1.453,4,0.110,0.047,3020,4043,2529,0,0,0,0,0,0
$GC,14369,0.54,116.7,984.5,9.7,643,14374,0.35,2.17,0.00,0.000,6,0.180,0.027,2942,2648,2522,0,0,0,0,0,0
$GC,14722,0.58,147.4,964.1,5.6,649,14751,0.00,0.00,26.92,1.431,6,0.000,0.000,2941,2648,2404,0,0,0,0,0,0
$GC,15025,0.59,158.4,945.0,6.4,654,15037,0.00,0.00,10.18,1.356,6,0.000,0.000,2942,2648,2360,0,0,0,0,0,0
$GC,15329,0.59,159.1,924.4,6.8,659,15330,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2648,2357,0,0,0,0,0,0
$GC,15631,0.60,161.4,903.8,6.8,664,15633,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2648,2356,0,0,0,0,0,0
$GC,15935,0.60,163.4,883.2,6.8,669,15945,0.00,2.17,5.82,1.231,4,0.000,0.048,2941,4040,2338,0,0,0,0,0,0
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$STATE,27253,end climb,SURFACE_DEPTH_REACHED
$STATE,27253,begin surface coast
$FINISH,2.4,1.007527
$STATE,27301,end surface coast,CONTROL_FINISHED_OK
$STATE,27301,begin surface
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$HUMID,1078334829
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$TCM_TEMP,20.50
$XPDR_PINGS,1
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$10V_AH,10.0,20.137
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.500,202.000,308.150,42.050,0.000,31.325,32.995,214.335,0.250,0.000,12.081,2474.870,21379.520,544.860,2772.646,583.814,0.000,1910.445,0.000,2750.950,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235180
$DATA_FILE_SIZE,69588,1204
$CAP_FILE_SIZE,218821,0
$CFSIZE,260165632,239894528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,344.1,1
$GPS,241109,141907,6330.514,233.859,40,1.1,41,-3.5