version: 66.06
glider: 140
mission: 8
dive: 194
start: 11 27 109 10 46 25
data:
$ID,140
$MISSION,8
$DIVE,194
$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,-47810.562
$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,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
$GPS1,103855,6320.349,247.672,58,1.6,59,-3.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.27
$_SM_ANGLEo,-61.8
$GPS2,104604,6320.317,247.413,12,2.2,31,-3.4
$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,127.3,65494,-13.7,-6.875
$D_GRID,1057
$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,-7.32,0.000,2,0.000,0.000,219,2286,2031,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.2,-0.0,1,125,8.98,2.10,-82.18,0.000,4,0.237,0.047,2506,909,3481,0,0,0,0,0,0
$GC,375,-0.65,-116.7,22.7,-9.8,63,381,0.17,2.08,0.00,0.000,6,0.196,0.028,2552,2311,3482,0,0,0,0,0,0
$GC,709,-0.65,-116.7,50.1,-10.5,124,717,0.00,2.15,0.00,0.000,4,0.000,0.035,2553,908,3483,0,0,0,0,0,0
$GC,778,-0.62,-116.7,56.9,-9.5,136,785,0.00,2.08,0.00,0.000,6,0.000,0.028,2552,2294,3483,0,0,0,0,0,0
$GC,1118,-0.62,-116.7,85.4,-6.9,197,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2294,3483,0,0,0,0,0,0
$GC,1453,-0.62,-116.7,110.5,-8.0,258,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2294,3484,0,0,0,0,0,0
$GC,1787,-0.62,-116.7,136.8,-8.0,291,1790,0.00,2.08,0.00,0.000,4,0.000,0.035,2552,900,3484,0,0,0,0,0,0
$GC,1808,-0.62,-116.7,138.8,-8.1,292,1812,0.00,2.05,0.00,0.000,6,0.000,0.028,2552,2302,3483,0,0,0,0,0,0
$GC,2135,-0.62,-116.7,162.3,-6.8,308,2138,0.00,2.08,0.00,0.000,4,0.000,0.035,2552,908,3484,0,0,0,0,0,0
$GC,2173,-0.62,-116.7,165.2,-7.5,310,2177,0.00,2.03,0.00,0.000,6,0.000,0.028,2552,2301,3484,0,0,0,0,0,0
$GC,2499,-0.62,-116.7,187.4,-7.3,326,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2301,3483,0,0,0,0,0,0
$GC,2809,-0.62,-116.7,208.7,-6.7,341,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2301,3483,0,0,0,0,0,0
$GC,3118,-0.62,-116.7,232.8,-8.0,356,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2301,3483,0,0,0,0,0,0
$GC,3427,-0.62,-116.7,255.0,-6.6,371,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2301,3483,0,0,0,0,0,0
$GC,3736,-0.62,-116.7,277.7,-8.2,386,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2301,3484,0,0,0,0,0,0
$GC,4046,-0.62,-116.7,301.6,-7.8,401,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2301,3483,0,0,0,0,0,0
$GC,4352,-0.62,-116.7,325.2,-7.7,411,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2302,3484,0,0,0,0,0,0
$GC,4658,-0.62,-116.7,348.1,-7.7,421,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2301,3484,0,0,0,0,0,0
$GC,4964,-0.62,-116.7,370.4,-7.0,431,4967,0.00,2.05,0.00,0.000,4,0.000,0.035,2552,914,3484,0,0,0,0,0,0
$GC,4981,-0.62,-116.7,371.5,-6.4,431,4985,0.00,2.03,0.00,0.000,6,0.000,0.028,2552,2308,3483,0,0,0,0,0,0
$GC,5298,-0.62,-116.7,394.3,-7.3,442,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2308,3484,0,0,0,0,0,0
$GC,5605,-0.62,-116.7,423.0,-10.5,452,5608,0.00,2.05,0.00,0.000,4,0.000,0.041,2553,3697,3483,0,0,0,0,0,0
$GC,5626,-0.62,-116.7,425.3,-10.4,452,5630,0.00,2.03,0.00,0.000,6,0.000,0.023,2553,2289,3483,0,0,0,0,0,0
$GC,5944,-0.62,-116.7,458.3,-9.6,463,5948,0.00,2.12,0.00,0.000,4,0.000,0.040,2553,3708,3483,0,0,0,0,0,0
$GC,5959,-0.65,-116.7,459.6,-8.7,463,5963,0.00,2.03,0.00,0.000,6,0.000,0.024,2552,2301,3483,0,0,0,0,0,0
$GC,6277,-0.65,-116.7,482.9,-7.2,474,6281,0.00,2.12,0.00,0.000,4,0.000,0.041,2553,3702,3483,0,0,0,0,0,0
$GC,6293,-0.65,-116.7,484.0,-7.1,474,6297,0.00,2.03,0.00,0.000,6,0.000,0.024,2552,2304,3482,0,0,0,0,0,0
$GC,6640,-0.65,-116.7,511.5,-7.9,484,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2304,3482,0,0,0,0,0,0
$GC,6944,-0.68,-116.7,537.8,-8.8,489,6948,0.00,2.10,0.00,0.000,4,0.000,0.041,2552,3703,3482,0,0,0,0,0,0
$GC,7011,-0.73,-116.7,543.9,-9.2,490,7015,0.00,2.05,0.00,0.000,6,0.000,0.024,2553,2290,3482,0,0,0,0,0,0
$GC,7376,-0.77,-116.7,573.1,-7.7,496,7378,0.12,0.00,0.00,0.000,6,0.130,0.000,2512,2288,3482,0,0,0,0,0,0
$GC,7680,-0.72,-116.7,595.6,-7.4,501,7684,0.00,2.03,0.00,0.000,4,0.000,0.036,2512,911,3481,0,0,0,0,0,0
$GC,7724,-0.66,-116.7,599.3,-8.4,501,7729,0.08,2.05,0.00,0.000,6,0.148,0.029,2548,2293,3480,0,0,0,0,0,0
$GC,8050,-0.66,-116.7,619.8,-6.2,507,8054,0.00,2.08,0.00,0.000,4,0.000,0.042,2548,3697,3479,0,0,0,0,0,0
$GC,8066,-0.66,-116.7,620.8,-6.1,507,8070,0.00,1.98,0.00,0.000,6,0.000,0.025,2548,2307,3479,0,0,0,0,0,0
$GC,8415,-0.69,-116.7,641.3,-5.9,513,8418,0.00,2.10,0.00,0.000,4,0.000,0.043,2548,3697,3478,0,0,0,0,0,0
$GC,8481,-0.73,-116.7,645.4,-6.1,514,8485,0.00,2.00,0.00,0.000,6,0.000,0.025,2548,2296,3477,0,0,0,0,0,0
$GC,8847,-0.76,-116.7,666.8,-5.9,520,8851,0.00,2.12,0.00,0.000,4,0.000,0.043,2548,3699,3475,0,0,0,0,0,0
$GC,8909,-0.81,-116.7,670.5,-5.6,520,8916,0.15,2.00,0.00,0.000,6,0.127,0.025,2501,2293,3475,0,0,0,0,0,0
$GC,9218,-0.74,-116.7,692.8,-7.3,526,9219,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2293,3474,0,0,0,0,0,0
$GC,9520,-0.68,-116.7,715.5,-7.5,531,9522,0.15,0.00,0.00,0.000,6,0.191,0.000,2540,2290,3473,0,0,0,0,0,0
$GC,9823,-0.68,-116.7,735.2,-6.5,536,9827,0.00,2.12,0.00,0.000,4,0.000,0.044,2539,3695,3471,0,0,0,0,0,0
$GC,9839,-0.68,-116.7,736.4,-6.5,536,9843,0.00,2.00,0.00,0.000,6,0.000,0.027,2540,2306,3471,0,0,0,0,0,0
$GC,10188,-0.68,-116.7,759.0,-6.5,542,10192,0.00,2.10,0.00,0.000,4,0.000,0.044,2540,3694,3470,0,0,0,0,0,0
$GC,10220,-0.68,-116.7,761.3,-7.1,542,10225,0.00,2.05,0.00,0.000,6,0.000,0.027,2540,2302,3470,0,0,0,0,0,0
$GC,10553,-0.68,-116.7,782.9,-6.6,548,10557,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3698,3469,0,0,0,0,0,0
$GC,10603,-0.71,-116.7,786.2,-6.7,548,10607,0.00,2.05,0.00,0.000,6,0.000,0.027,2540,2288,3469,0,0,0,0,0,0
$GC,10923,-0.71,-116.7,806.8,-6.4,554,10927,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3702,3467,0,0,0,0,0,0
$GC,10974,-0.75,-116.7,810.0,-6.7,554,10977,0.00,2.05,0.00,0.000,6,0.000,0.027,2540,2291,3467,0,0,0,0,0,0
$GC,11282,-0.75,-116.7,829.4,-6.2,559,11286,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3692,3466,0,0,0,0,0,0
$GC,11338,-0.79,-116.7,833.0,-5.8,559,11343,0.00,2.03,0.00,0.000,6,0.000,0.027,2541,2294,3466,0,0,0,0,0,0
$GC,11648,-0.79,-116.7,853.2,-6.5,565,11652,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3698,3466,0,0,0,0,0,0
$GC,11697,-0.82,-116.7,856.6,-7.1,565,11702,0.10,2.08,0.00,0.000,6,0.105,0.027,2502,2292,3466,0,0,0,0,0,0
$GC,12017,-0.77,-116.7,881.3,-7.8,571,12018,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2292,3464,0,0,0,0,0,0
$GC,12321,-0.71,-116.7,905.7,-8.0,576,12322,0.12,0.00,0.00,0.000,6,0.193,0.000,2532,2288,3464,0,0,0,0,0,0
$GC,12624,-0.71,-116.7,926.9,-6.9,581,12628,0.00,2.15,0.00,0.000,4,0.000,0.045,2532,3698,3463,0,0,0,0,0,0
$GC,12661,-0.71,-116.7,929.6,-7.0,581,12666,0.00,2.08,0.00,0.000,6,0.000,0.027,2533,2298,3463,0,0,0,0,0,0
$GC,12988,-0.71,-116.7,951.7,-6.8,587,12992,0.00,2.12,0.00,0.000,4,0.000,0.045,2533,3695,3463,0,0,0,0,0,0
$GC,13032,-0.71,-116.7,954.5,-6.3,587,13035,0.00,2.03,0.00,0.000,6,0.000,0.028,2533,2301,3463,0,0,0,0,0,0
$GC,13352,-0.71,-116.7,974.8,-6.3,593,13356,0.00,2.12,0.00,0.000,4,0.000,0.045,2533,3694,3462,0,0,0,0,0,0
$GC,13396,-0.71,-116.7,977.6,-5.7,593,13400,0.00,2.08,0.00,0.000,6,0.000,0.028,2533,2294,3462,0,0,0,0,0,0
$STATE,13654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13654,begin apogee
$GC,13659,-0.24,0.0,993.3,6.0,598,13760,0.50,0.00,97.30,1.540,6,0.165,0.000,2681,2653,3006,0,0,0,0,0,0
$STATE,13761,end apogee,CONTROL_FINISHED_OK
$STATE,13761,begin climb
$GC,13762,0.80,116.7,994.9,0.0,599,13878,1.08,2.42,105.57,1.450,4,0.114,0.048,3015,4034,2529,0,0,0,0,0,0
$GC,13945,0.55,116.7,986.5,9.5,602,13950,0.32,2.17,0.00,0.000,6,0.176,0.026,2944,2650,2523,0,0,0,0,0,0
$GC,14264,0.56,126.9,965.5,6.5,608,14275,0.00,0.00,8.77,1.335,6,0.000,0.000,2944,2650,2488,0,0,0,0,0,0
$GC,14569,0.57,136.7,945.7,6.5,613,14581,0.00,0.00,10.23,1.364,6,0.000,0.000,2944,2650,2448,0,0,0,0,0,0
$GC,14871,0.59,146.3,926.2,6.5,618,14883,0.00,0.00,10.05,1.364,6,0.000,0.000,2944,2650,2409,0,0,0,0,0,0
$GC,15174,0.59,151.7,905.9,6.7,623,15182,0.00,0.00,6.22,1.248,6,0.000,0.000,2944,2650,2386,0,0,0,0,0,0
$GC,15477,0.60,154.5,885.5,6.8,628,15483,0.00,0.00,3.97,0.988,6,0.000,0.000,2944,2650,2376,0,0,0,0,0,0
$GC,15780,0.61,163.6,865.7,6.5,633,15792,0.00,0.00,10.10,1.368,6,0.000,0.000,2944,2650,2338,0,0,0,0,0,0
$GC,16083,0.62,171.9,845.8,6.5,638,16094,0.00,0.00,8.60,1.328,6,0.000,0.000,2945,2650,2305,0,0,0,0,0,0
$GC,16387,0.63,181.6,826.2,6.5,643,16399,0.00,0.00,10.20,1.345,6,0.000,0.000,2944,2650,2265,0,0,0,0,0,0
$GC,16689,0.63,181.6,805.0,7.1,648,16690,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2650,2262,0,0,0,0,0,0
$GC,16993,0.63,181.6,783.1,7.2,653,16994,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2650,2261,0,0,0,0,0,0
$GC,17295,0.63,181.6,761.7,7.0,658,17299,0.00,2.10,0.00,0.000,4,0.000,0.039,2951,1256,2261,0,0,0,0,0,0
$GC,17340,0.67,186.5,758.5,6.7,658,17350,0.00,2.12,5.55,1.173,6,0.000,0.035,2951,2657,2245,0,0,0,0,0,0
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$STATE,26714,end climb,SURFACE_DEPTH_REACHED
$STATE,26714,begin surface coast
$FINISH,2.4,1.014717
$STATE,26756,end surface coast,CONTROL_FINISHED_OK
$STATE,26756,begin surface
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$TT8_MAMPS,0.027612
$HUMID,1078358055
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$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,22.7,32.683
$10V_AH,10.0,21.254
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.475,155.700,374.475,0.000,0.000,28.722,31.926,216.410,0.000,0.000,32.722,2261.197,21438.678,539.075,2454.723,555.556,0.000,1742.759,0.000,2418.045,0.000,0.537,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235164
$DATA_FILE_SIZE,63096,1115
$CAP_FILE_SIZE,196084,0
$CFSIZE,260165632,239050752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.231,262.3,1
$GPS,271109,181507,6318.042,245.810,54,1.5,55,-3.4