version: 66.06
glider: 140
mission: 8
dive: 207
start: 12 1 109 7 34 13
data:
$ID,140
$MISSION,8
$DIVE,207
$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,-2
$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,-48012.062
$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,82
$R_STBD_OVSHOOT,41
$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
$GPS1,072407,6305.362,351.064,29,1.6,29,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.26
$_SM_ANGLEo,-62.9
$GPS2,073349,6305.454,351.019,17,1.8,17,-2.8
$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,317.3,318332,-13.7,-6.875
$D_GRID,971
$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,15,-0.80,-116.7,0.0,0.0,0,23,0.00,0.00,-7.03,0.000,2,0.000,0.000,218,2278,2029,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.2,-0.0,1,119,8.85,2.08,-78.03,0.000,4,0.229,0.049,2504,915,3480,0,0,0,0,0,0
$GC,364,-0.66,-116.7,26.6,-10.1,61,371,0.17,2.10,0.00,0.000,6,0.195,0.028,2550,2320,3482,0,0,0,0,0,0
$GC,699,-0.66,-116.7,55.4,-8.8,122,706,0.00,2.10,0.00,0.000,4,0.000,0.041,2550,3695,3482,0,0,0,0,0,0
$GC,744,-0.66,-116.7,59.3,-8.2,130,752,0.00,2.03,0.00,0.000,6,0.000,0.023,2551,2307,3482,0,0,0,0,0,0
$GC,1086,-0.66,-116.7,85.8,-7.6,191,1092,0.00,2.05,0.00,0.000,4,0.000,0.035,2551,911,3482,0,0,0,0,0,0
$GC,1153,-0.66,-116.7,91.1,-7.9,203,1158,0.00,2.05,0.00,0.000,6,0.000,0.028,2550,2307,3482,0,0,0,0,0,0
$GC,1495,-0.66,-116.7,121.7,-7.5,262,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2307,3483,0,0,0,0,0,0
$GC,1806,-0.66,-116.7,143.6,-7.4,277,1810,0.00,2.05,0.00,0.000,4,0.000,0.040,2550,3701,3482,0,0,0,0,0,0
$GC,1851,-0.66,-116.7,147.2,-8.0,279,1854,0.00,2.00,0.00,0.000,6,0.000,0.022,2551,2296,3482,0,0,0,0,0,0
$GC,2178,-0.66,-116.7,170.3,-7.1,295,2182,0.00,2.03,0.00,0.000,4,0.000,0.034,2550,909,3483,0,0,0,0,0,0
$GC,2246,-0.66,-116.7,175.7,-7.9,298,2250,0.00,2.05,0.00,0.000,6,0.000,0.028,2550,2313,3483,0,0,0,0,0,0
$GC,2571,-0.66,-116.7,198.5,-7.4,314,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2313,3483,0,0,0,0,0,0
$GC,2881,-0.66,-116.7,223.1,-8.5,329,2882,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2313,3482,0,0,0,0,0,0
$GC,3190,-0.66,-116.7,247.5,-7.9,344,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2313,3483,0,0,0,0,0,0
$GC,3500,-0.66,-116.7,273.2,-8.0,359,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2313,3483,0,0,0,0,0,0
$GC,3809,-0.66,-116.7,297.0,-7.8,374,3810,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2313,3483,0,0,0,0,0,0
$GC,4126,-0.66,-116.7,322.1,-7.9,385,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2313,3483,0,0,0,0,0,0
$GC,4432,-0.66,-116.7,344.8,-7.2,395,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2313,3483,0,0,0,0,0,0
$GC,4738,-0.66,-116.7,366.6,-7.3,405,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2313,3483,0,0,0,0,0,0
$GC,5045,-0.66,-116.7,388.3,-7.2,415,5049,0.00,2.05,0.00,0.000,4,0.000,0.040,2550,3709,3482,0,0,0,0,0,0
$GC,5093,-0.66,-116.7,391.9,-7.2,416,5098,0.00,2.05,0.00,0.000,6,0.000,0.022,2550,2290,3483,0,0,0,0,0,0
$GC,5413,-0.66,-116.7,413.6,-6.7,427,5416,0.00,2.00,0.00,0.000,4,0.000,0.035,2550,913,3483,0,0,0,0,0,0
$GC,5484,-0.66,-116.7,419.3,-7.8,429,5488,0.00,2.05,0.00,0.000,6,0.000,0.028,2550,2297,3482,0,0,0,0,0,0
$GC,5820,-0.66,-116.7,443.5,-7.2,440,5824,0.00,2.05,0.00,0.000,4,0.000,0.040,2551,3698,3483,0,0,0,0,0,0
$GC,5897,-0.66,-116.7,449.3,-7.5,442,5901,0.00,2.03,0.00,0.000,6,0.000,0.022,2550,2288,3482,0,0,0,0,0,0
$GC,6221,-0.66,-116.7,471.0,-6.5,453,6222,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2288,3482,0,0,0,0,0,0
$GC,6527,-0.66,-116.7,493.6,-7.3,463,6531,0.00,2.12,0.00,0.000,4,0.000,0.040,2551,3702,3482,0,0,0,0,0,0
$GC,6634,-0.70,-116.7,500.7,-6.6,466,6637,0.00,1.98,0.00,0.000,6,0.000,0.023,2551,2302,3482,0,0,0,0,0,0
$GC,6959,-0.70,-116.7,521.3,-6.4,472,6963,0.00,2.03,0.00,0.000,4,0.000,0.035,2550,913,3481,0,0,0,0,0,0
$GC,7020,-0.70,-116.7,525.7,-7.8,472,7026,0.00,2.05,0.00,0.000,6,0.000,0.028,2550,2295,3481,0,0,0,0,0,0
$GC,7330,-0.70,-116.7,546.7,-6.7,478,7334,0.00,2.10,0.00,0.000,4,0.000,0.041,2550,3712,3481,0,0,0,0,0,0
$GC,7392,-0.74,-116.7,550.6,-6.5,478,7399,0.00,2.00,0.00,0.000,6,0.000,0.024,2550,2297,3481,0,0,0,0,0,0
$GC,7701,-0.78,-116.7,570.9,-6.6,484,7706,0.12,2.03,0.00,0.000,4,0.129,0.036,2509,923,3481,0,0,0,0,0,0
$GC,7751,-0.71,-116.7,575.2,-9.7,484,7755,0.00,2.03,0.00,0.000,6,0.000,0.028,2509,2310,3481,0,0,0,0,0,0
$GC,8065,-0.65,-116.7,600.6,-7.9,490,8070,0.15,2.08,0.00,0.000,4,0.197,0.042,2548,3698,3480,0,0,0,0,0,0
$GC,8128,-0.70,-116.7,604.4,-6.0,491,8132,0.00,1.98,0.00,0.000,6,0.000,0.024,2548,2302,3479,0,0,0,0,0,0
$GC,8499,-0.74,-116.7,627.9,-6.5,497,8500,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2301,3478,0,0,0,0,0,0
$GC,8802,-0.77,-116.7,648.5,-6.8,502,8806,0.00,2.12,0.00,0.000,4,0.000,0.042,2548,3705,3477,0,0,0,0,0,0
$GC,8887,-0.82,-116.7,654.3,-7.2,503,8891,0.15,2.00,0.00,0.000,6,0.122,0.025,2499,2295,3476,0,0,0,0,0,0
$GC,9229,-0.75,-116.7,682.6,-8.3,509,9230,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2293,3475,0,0,0,0,0,0
$GC,9532,-0.69,-116.7,707.4,-8.1,514,9534,0.15,0.00,0.00,0.000,6,0.189,0.000,2538,2291,3474,0,0,0,0,0,0
$GC,9836,-0.69,-116.7,727.8,-6.6,519,9840,0.00,2.15,0.00,0.000,4,0.000,0.044,2538,3705,3472,0,0,0,0,0,0
$GC,9897,-0.72,-116.7,731.9,-6.4,519,9902,0.00,2.00,0.00,0.000,6,0.000,0.026,2539,2312,3471,0,0,0,0,0,0
$GC,10206,-0.72,-116.7,751.3,-6.3,525,10207,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2312,3470,0,0,0,0,0,0
$GC,10509,-0.72,-116.7,770.8,-6.4,530,10513,0.00,2.12,0.00,0.000,4,0.000,0.044,2539,3706,3469,0,0,0,0,0,0
$GC,10586,-0.75,-116.7,776.2,-7.2,531,10590,0.00,2.08,0.00,0.000,6,0.000,0.026,2539,2299,3469,0,0,0,0,0,0
$GC,10946,-0.75,-116.7,800.3,-6.8,537,10950,0.00,2.12,0.00,0.000,4,0.000,0.044,2539,3697,3467,0,0,0,0,0,0
$GC,10996,-0.79,-116.7,803.7,-6.6,537,11000,0.00,2.03,0.00,0.000,6,0.000,0.026,2539,2297,3467,0,0,0,0,0,0
$GC,11304,-0.79,-116.7,824.8,-6.8,542,11306,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2297,3466,0,0,0,0,0,0
$GC,11608,-0.79,-116.7,844.8,-6.6,547,11612,0.00,2.15,0.00,0.000,4,0.000,0.044,2539,3705,3465,0,0,0,0,0,0
$GC,11702,-0.82,-116.7,851.3,-7.3,548,11707,0.12,2.05,0.00,0.000,6,0.134,0.027,2501,2284,3464,0,0,0,0,0,0
$GC,12033,-0.77,-116.7,877.8,-8.2,554,12034,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2282,3464,0,0,0,0,0,0
$GC,12337,-0.71,-116.7,902.4,-8.0,559,12339,0.12,0.00,0.00,0.000,6,0.199,0.000,2531,2281,3463,0,0,0,0,0,0
$GC,12639,-0.71,-116.7,923.0,-6.8,564,12643,0.00,2.15,0.00,0.000,4,0.000,0.044,2531,3697,3462,0,0,0,0,0,0
$GC,12711,-0.71,-116.7,928.1,-6.8,565,12716,0.00,2.05,0.00,0.000,6,0.000,0.027,2531,2310,3462,0,0,0,0,0,0
$GC,13078,-0.71,-116.7,951.0,-6.3,571,13079,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2310,3462,0,0,0,0,0,0
$GC,13380,-0.71,-116.7,970.5,-6.5,576,13384,0.00,2.12,0.00,0.000,4,0.000,0.044,2531,3700,3461,0,0,0,0,0,0
$STATE,13387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13388,begin apogee
$GC,13394,-0.24,0.0,971.2,6.5,576,13494,0.47,0.00,96.62,1.525,6,0.160,0.000,2678,2625,3006,0,0,0,0,0,0
$STATE,13495,end apogee,CONTROL_FINISHED_OK
$STATE,13495,begin climb
$GC,13497,0.80,116.7,972.9,0.0,577,13613,1.05,2.50,105.15,1.434,4,0.113,0.047,3012,4029,2528,0,0,0,0,0,0
$GC,13624,0.59,116.7,970.9,7.3,579,13629,0.25,2.20,0.00,0.000,6,0.179,0.027,2963,2662,2526,0,0,0,0,0,0
$GC,13984,0.54,127.8,947.8,6.4,585,13996,0.00,0.00,9.68,1.341,6,0.000,0.000,2963,2662,2484,0,0,0,0,0,0
$GC,14286,0.49,129.9,927.2,6.8,590,14288,0.15,0.00,0.00,0.000,6,0.198,0.000,2925,2661,2481,0,0,0,0,0,0
$GC,14590,0.53,159.1,909.7,5.7,595,14620,0.00,0.00,28.30,1.430,6,0.000,0.000,2925,2661,2357,0,0,0,0,0,0
$GC,14893,0.59,176.7,891.0,6.2,600,14911,0.00,0.00,16.42,1.394,6,0.000,0.000,2925,2661,2285,0,0,0,0,0,0
$GC,15196,0.66,188.9,871.8,6.4,605,15211,0.15,0.00,12.23,1.368,6,0.111,0.000,2976,2660,2235,0,0,0,0,0,0
$GC,15499,0.62,188.9,846.5,8.4,610,15500,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2661,2230,0,0,0,0,0,0
$GC,15802,0.58,188.9,821.1,8.4,615,15803,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2660,2229,0,0,0,0,0,0
$GC,16105,0.54,188.9,795.2,8.5,620,16109,0.12,2.15,0.00,0.000,4,0.183,0.048,2940,4035,2228,0,0,0,0,0,0
$GC,16131,0.54,188.9,792.9,9.2,620,16135,0.00,2.10,0.00,0.000,6,0.000,0.028,2948,2647,2228,0,0,0,0,0,0
$GC,16474,0.54,188.9,766.8,7.6,626,16478,0.00,2.15,0.00,0.000,4,0.000,0.048,2948,4035,2228,0,0,0,0,0,0
$GC,16494,0.54,188.9,765.0,7.8,626,16499,0.00,2.08,0.00,0.000,6,0.000,0.029,2951,2656,2228,0,0,0,0,0,0
$GC,16838,0.54,188.9,738.0,7.8,632,16842,0.00,2.15,0.00,0.000,4,0.000,0.048,2951,4040,2227,0,0,0,0,0,0
$GC,16853,0.54,188.9,736.6,8.0,632,16858,0.00,2.10,0.00,0.000,6,0.000,0.029,2951,2650,2227,0,0,0,0,0,0
$GC,17202,0.54,188.9,710.4,7.5,638,17205,0.00,2.15,0.00,0.000,4,0.000,0.048,2951,4040,2227,0,0,0,0,0,0
$GC,17217,0.54,188.9,709.1,7.6,638,17221,0.00,2.10,0.00,0.000,6,0.000,0.029,2951,2641,2227,0,0,0,0,0,0
$GC,17566,0.54,188.9,683.2,7.4,644,17570,0.00,2.15,0.00,0.000,4,0.000,0.048,2951,4035,2227,0,0,0,0,0,0
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$STATE,26051,end climb,SURFACE_DEPTH_REACHED
$STATE,26051,begin surface coast
$FINISH,2.6,1.027219
$STATE,26093,end surface coast,CONTROL_FINISHED_OK
$STATE,26093,begin surface
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$TT8_MAMPS,0.027612
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$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,22.7,34.591
$10V_AH,10.0,22.660
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.375,150.375,329.275,13.425,0.000,51.649,70.002,256.050,0.000,0.000,17.079,2246.653,20825.586,485.361,2484.720,658.388,0.000,1706.528,0.000,2454.431,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,233752
$DATA_FILE_SIZE,63250,1103
$CAP_FILE_SIZE,192592,0
$CFSIZE,260165632,237932544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,317.7,1
$GPS,011209,145059,6308.247,344.544,41,1.5,45,-2.8