version: 66.06
glider: 140
mission: 8
dive: 217
start: 12 4 109 11 26 43
data:
$ID,140
$MISSION,8
$DIVE,217
$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,-48235.371
$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,63
$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
$GPS1,111936,6330.134,228.901,36,1.5,37,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.52
$_SM_ANGLEo,-65.8
$GPS2,112620,6330.147,228.942,14,1.7,14,-3.6
$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,321.1,240951,-13.7,-6.875
$D_GRID,1230
$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,-7.32,0.000,2,0.000,0.000,211,2294,2039,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.4,-0.0,1,119,9.10,2.25,-77.45,0.000,4,0.239,0.055,2504,3698,3482,0,0,0,0,0,0
$GC,367,-0.69,-116.7,25.0,-11.1,62,375,0.10,2.10,0.00,0.000,6,0.174,0.024,2536,2275,3483,0,0,0,0,0,0
$GC,707,-0.66,-116.7,58.1,-8.3,123,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2274,3484,0,0,0,0,0,0
$GC,1049,-0.61,-116.7,86.5,-7.9,184,1055,0.10,0.00,0.00,0.000,6,0.211,0.000,2562,2271,3484,0,0,0,0,0,0
$GC,1392,-0.61,-116.7,112.2,-5.7,245,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2271,3484,0,0,0,0,0,0
$GC,1724,-0.61,-116.7,134.4,-6.4,277,1728,0.00,2.17,0.00,0.000,4,0.000,0.041,2562,3709,3484,0,0,0,0,0,0
$GC,1795,-0.61,-116.7,140.1,-7.0,280,1800,0.00,2.05,0.00,0.000,6,0.000,0.023,2562,2310,3484,0,0,0,0,0,0
$GC,2117,-0.61,-116.7,162.6,-6.8,296,2121,0.00,2.05,0.00,0.000,4,0.000,0.035,2562,913,3484,0,0,0,0,0,0
$GC,2182,-0.61,-116.7,167.7,-7.7,299,2186,0.00,2.08,0.00,0.000,6,0.000,0.028,2562,2303,3484,0,0,0,0,0,0
$GC,2511,-0.61,-116.7,190.0,-6.8,315,2515,0.00,2.05,0.00,0.000,4,0.000,0.041,2562,3698,3484,0,0,0,0,0,0
$GC,2577,-0.65,-116.7,195.5,-7.9,318,2581,0.00,2.03,0.00,0.000,6,0.000,0.022,2562,2289,3484,0,0,0,0,0,0
$GC,2903,-0.65,-116.7,220.2,-7.7,334,2907,0.00,2.00,0.00,0.000,4,0.000,0.035,2562,922,3484,0,0,0,0,0,0
$GC,2953,-0.65,-116.7,224.5,-8.7,336,2957,0.00,2.05,0.00,0.000,6,0.000,0.028,2562,2295,3484,0,0,0,0,0,0
$GC,3280,-0.65,-116.7,246.6,-6.1,352,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2296,3484,0,0,0,0,0,0
$GC,3590,-0.65,-116.7,265.2,-6.0,367,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2295,3484,0,0,0,0,0,0
$GC,3898,-0.65,-116.7,283.6,-6.0,382,3902,0.00,2.08,0.00,0.000,4,0.000,0.040,2562,3698,3484,0,0,0,0,0,0
$GC,3965,-0.70,-116.7,287.9,-6.6,385,3969,0.00,1.98,0.00,0.000,6,0.000,0.022,2562,2296,3484,0,0,0,0,0,0
$GC,4291,-0.70,-116.7,308.3,-6.5,399,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2297,3484,0,0,0,0,0,0
$GC,4597,-0.73,-116.7,328.0,-6.4,409,4601,0.12,2.15,0.00,0.000,4,0.134,0.041,2521,3705,3484,0,0,0,0,0,0
$GC,4680,-0.69,-116.7,334.4,-7.6,411,4684,0.00,2.00,0.00,0.000,6,0.000,0.023,2520,2294,3484,0,0,0,0,0,0
$GC,4998,-0.64,-116.7,359.9,-8.2,422,5002,0.12,2.03,0.00,0.000,4,0.191,0.035,2553,922,3484,0,0,0,0,0,0
$GC,5068,-0.64,-116.7,365.8,-8.0,424,5073,0.00,2.05,0.00,0.000,6,0.000,0.028,2553,2297,3484,0,0,0,0,0,0
$GC,5399,-0.64,-116.7,389.9,-7.2,435,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2297,3484,0,0,0,0,0,0
$GC,5704,-0.64,-116.7,412.2,-7.2,445,5708,0.00,2.08,0.00,0.000,4,0.000,0.041,2553,3702,3484,0,0,0,0,0,0
$GC,5753,-0.68,-116.7,415.8,-7.3,446,5757,0.00,2.03,0.00,0.000,6,0.000,0.022,2553,2297,3484,0,0,0,0,0,0
$GC,6077,-0.68,-116.7,437.2,-6.4,457,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2297,3484,0,0,0,0,0,0
$GC,6384,-0.71,-116.7,457.0,-6.5,467,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2297,3484,0,0,0,0,0,0
$GC,6689,-0.74,-116.7,475.7,-5.9,477,6693,0.00,2.10,0.00,0.000,4,0.000,0.040,2553,3697,3483,0,0,0,0,0,0
$GC,6779,-0.79,-116.7,480.9,-5.9,479,6785,0.12,1.98,0.00,0.000,6,0.132,0.023,2514,2289,3483,0,0,0,0,0,0
$GC,7121,-0.75,-116.7,506.0,-7.8,490,7124,0.00,2.00,0.00,0.000,4,0.000,0.035,2514,928,3483,0,0,0,0,0,0
$GC,7194,-0.67,-116.7,512.1,-8.5,491,7198,0.12,2.00,0.00,0.000,6,0.201,0.028,2544,2304,3483,0,0,0,0,0,0
$GC,7552,-0.67,-116.7,535.1,-6.3,497,7556,0.00,2.05,0.00,0.000,4,0.000,0.041,2544,3694,3482,0,0,0,0,0,0
$GC,7688,-0.71,-116.7,544.7,-7.3,499,7691,0.00,1.98,0.00,0.000,6,0.000,0.024,2545,2299,3482,0,0,0,0,0,0
$GC,8052,-0.71,-116.7,570.6,-7.1,505,8053,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2297,3481,0,0,0,0,0,0
$GC,8355,-0.71,-116.7,591.9,-6.9,510,8359,0.00,2.12,0.00,0.000,4,0.000,0.041,2544,3700,3481,0,0,0,0,0,0
$GC,8439,-0.75,-116.7,597.5,-6.7,511,8443,0.00,2.00,0.00,0.000,6,0.000,0.025,2544,2297,3481,0,0,0,0,0,0
$GC,8787,-0.75,-116.7,618.3,-6.0,517,8788,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2297,3480,0,0,0,0,0,0
$GC,9090,-0.75,-116.7,636.2,-5.9,522,9094,0.00,2.12,0.00,0.000,4,0.000,0.042,2545,3692,3479,0,0,0,0,0,0
$GC,9191,-0.79,-116.7,642.4,-6.4,523,9195,0.12,2.00,0.00,0.000,6,0.137,0.025,2504,2287,3478,0,0,0,0,0,0
$GC,9516,-0.74,-116.7,667.2,-7.8,529,9519,0.00,2.03,0.00,0.000,4,0.000,0.038,2503,919,3476,0,0,0,0,0,0
$GC,9577,-0.67,-116.7,672.3,-8.3,529,9583,0.17,2.03,0.00,0.000,6,0.185,0.030,2549,2295,3477,0,0,0,0,0,0
$GC,9887,-0.71,-116.7,690.4,-5.8,535,9891,0.00,2.10,0.00,0.000,4,0.000,0.044,2550,3698,3476,0,0,0,0,0,0
$GC,9998,-0.77,-116.7,697.4,-6.1,536,10002,0.00,2.03,0.00,0.000,6,0.000,0.025,2550,2295,3475,0,0,0,0,0,0
$GC,10324,-0.81,-116.7,717.7,-6.4,542,10329,0.15,2.15,0.00,0.000,4,0.127,0.043,2501,3697,3474,0,0,0,0,0,0
$GC,10386,-0.76,-116.7,722.6,-8.5,543,10390,0.00,2.00,0.00,0.000,6,0.000,0.025,2500,2306,3474,0,0,0,0,0,0
$GC,10756,-0.70,-116.7,752.7,-8.2,549,10761,0.15,2.10,0.00,0.000,4,0.190,0.038,2540,906,3473,0,0,0,0,0,0
$GC,10799,-0.70,-116.7,756.1,-7.7,549,10804,0.00,2.10,0.00,0.000,6,0.000,0.031,2540,2300,3473,0,0,0,0,0,0
$GC,11121,-0.70,-116.7,777.5,-6.7,555,11125,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3707,3471,0,0,0,0,0,0
$GC,11193,-0.74,-116.7,782.5,-7.1,556,11197,0.00,2.08,0.00,0.000,6,0.000,0.026,2540,2295,3471,0,0,0,0,0,0
$GC,11553,-0.74,-116.7,806.7,-6.8,562,11557,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3701,3470,0,0,0,0,0,0
$GC,11621,-0.79,-116.7,811.4,-7.2,563,11625,0.00,2.03,0.00,0.000,6,0.000,0.026,2540,2304,3470,0,0,0,0,0,0
$GC,11992,-0.79,-116.7,836.8,-6.8,569,11995,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3706,3469,0,0,0,0,0,0
$GC,12065,-0.83,-116.7,841.6,-6.2,570,12069,0.12,2.05,0.00,0.000,6,0.139,0.027,2502,2289,3469,0,0,0,0,0,0
$GC,12418,-0.77,-116.7,868.5,-7.6,576,12419,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2288,3468,0,0,0,0,0,0
$GC,12721,-0.72,-116.7,890.1,-7.1,581,12723,0.10,0.00,0.00,0.000,6,0.203,0.000,2525,2285,3467,0,0,0,0,0,0
$GC,13024,-0.72,-116.7,909.2,-6.3,586,13028,0.00,2.17,0.00,0.000,4,0.000,0.044,2525,3705,3466,0,0,0,0,0,0
$GC,13102,-0.72,-116.7,914.2,-6.6,587,13106,0.00,2.08,0.00,0.000,6,0.000,0.027,2525,2301,3466,0,0,0,0,0,0
$GC,13456,-0.72,-116.7,937.0,-6.5,593,13460,0.00,2.15,0.00,0.000,4,0.000,0.044,2525,3707,3465,0,0,0,0,0,0
$GC,13506,-0.72,-116.7,940.5,-6.7,593,13510,0.00,2.10,0.00,0.000,6,0.000,0.027,2526,2277,3465,0,0,0,0,0,0
$GC,13827,-0.72,-116.7,962.0,-6.8,599,13831,0.00,2.17,0.00,0.000,4,0.000,0.044,2526,3700,3464,0,0,0,0,0,0
$GC,13881,-0.72,-116.7,966.1,-7.5,599,13887,0.00,2.08,0.00,0.000,6,0.000,0.027,2525,2306,3464,0,0,0,0,0,0
$GC,14191,-0.72,-116.7,988.2,-7.2,605,14192,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2306,3464,0,0,0,0,0,0
$STATE,14249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14249,begin apogee
$GC,14254,-0.24,0.0,992.4,7.2,606,14356,0.52,0.00,98.62,1.545,6,0.166,0.000,2681,2662,3006,0,0,0,0,0,0
$STATE,14356,end apogee,CONTROL_FINISHED_OK
$STATE,14357,begin climb
$GC,14358,0.80,116.7,994.5,0.0,607,14474,1.08,2.38,106.32,1.448,4,0.110,0.045,3016,4042,2528,0,0,0,0,0,0
$GC,14496,0.55,116.7,992.1,7.1,610,14501,0.32,2.25,0.00,0.000,6,0.173,0.026,2947,2641,2525,0,0,0,0,0,0
$GC,14857,0.54,138.2,970.6,6.0,616,14881,0.00,2.33,18.77,1.415,4,0.000,0.048,2940,4042,2442,0,0,0,0,0,0
$GC,14898,0.53,164.2,967.7,5.8,616,14928,0.00,2.12,24.62,1.386,6,0.000,0.027,2948,2647,2336,0,0,0,0,0,0
$GC,15290,0.53,164.2,938.7,7.7,623,15291,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2647,2327,0,0,0,0,0,0
$GC,15591,0.53,164.2,914.8,7.9,628,15595,0.00,2.17,0.00,0.000,4,0.000,0.047,2949,4039,2326,0,0,0,0,0,0
$GC,15612,0.49,164.2,912.9,7.6,628,15617,0.12,2.08,0.00,0.000,6,0.196,0.027,2926,2630,2326,0,0,0,0,0,0
$GC,15955,0.54,164.2,887.5,7.4,634,15959,0.00,2.20,0.00,0.000,4,0.000,0.047,2926,4050,2325,0,0,0,0,0,0
$GC,15992,0.54,164.2,884.3,8.3,634,15997,0.00,2.10,0.00,0.000,6,0.000,0.028,2935,2652,2325,0,0,0,0,0,0
$GC,16318,0.54,164.2,860.4,7.2,640,16322,0.00,2.15,0.00,0.000,4,0.000,0.048,2934,4040,2324,0,0,0,0,0,0
$GC,16357,0.54,164.2,857.3,8.0,640,16361,0.00,2.08,0.00,0.000,6,0.000,0.027,2943,2650,2324,0,0,0,0,0,0
$GC,16682,0.54,164.2,834.2,7.0,646,16686,0.00,2.15,0.00,0.000,4,0.000,0.047,2943,4039,2324,0,0,0,0,0,0
$GC,16726,0.50,164.2,830.9,7.6,646,16730,0.00,2.08,0.00,0.000,6,0.000,0.028,2951,2634,2323,0,0,0,0,0,0
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$STATE,27403,end climb,SURFACE_DEPTH_REACHED
$STATE,27403,begin surface coast
$FINISH,2.8,1.017641
$STATE,27463,end surface coast,CONTROL_FINISHED_OK
$STATE,27463,begin surface
$SM_CCo,27479,52.60,0.754,0,0,1883,275.23
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$HUMID,1078349023
$INTERNAL_PRESSURE,8.32063
$TCM_TEMP,20.30
$XPDR_PINGS,1
$24V_AH,22.6,36.159
$10V_AH,9.9,23.777
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.075,215.175,288.400,52.600,0.000,29.329,32.076,210.157,0.250,0.000,14.554,2529.472,21216.373,521.876,3078.430,581.170,0.000,2028.413,0.000,3043.537,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235080
$DATA_FILE_SIZE,66531,1186
$CAP_FILE_SIZE,229072,0
$CFSIZE,260165632,237023232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103,317.3,1
$GPS,041209,190655,6333.482,221.418,42,0.9,43,-3.6