version: 66.06
glider: 140
mission: 8
dive: 222
start: 12 6 109 2 0 55
data:
$ID,140
$MISSION,8
$DIVE,222
$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,-48346.715
$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,80
$R_STBD_OVSHOOT,45
$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
$GPS1,015354,6341.012,204.104,41,1.0,42,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.27
$_SM_ANGLEo,-61.5
$GPS2,020034,6341.021,204.106,12,2.3,31,-3.8
$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,321.4,213020,-13.7,-6.875
$D_GRID,1460
$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,-116.7,0.0,0.0,0,25,0.00,0.00,-7.60,0.000,2,0.000,0.000,216,2283,2043,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.4,-0.0,1,122,9.02,2.05,-78.60,0.000,4,0.236,0.047,2506,922,3481,0,0,0,0,0,0
$GC,131,-0.98,-116.7,3.3,-1.4,19,139,0.17,2.08,0.00,0.000,6,0.134,0.028,2451,2313,3481,0,0,0,0,0,0
$GC,471,-0.77,-116.7,41.7,-11.7,80,478,0.22,2.12,0.00,0.000,4,0.184,0.038,2511,3691,3483,0,0,0,0,0,0
$GC,728,-0.69,-116.7,72.4,-12.2,126,734,0.10,2.00,0.00,0.000,6,0.212,0.023,2536,2280,3482,0,0,0,0,0,0
$GC,1071,-0.65,-116.7,99.4,-7.0,187,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2279,3483,0,0,0,0,0,0
$GC,1419,-0.61,-116.7,125.4,-8.2,241,1421,0.10,0.00,0.00,0.000,6,0.209,0.000,2562,2277,3483,0,0,0,0,0,0
$GC,1727,-0.61,-116.7,146.7,-6.6,256,1731,0.00,2.12,0.00,0.000,4,0.000,0.040,2561,3694,3483,0,0,0,0,0,0
$GC,1784,-0.65,-116.7,150.4,-6.6,258,1790,0.00,2.00,0.00,0.000,6,0.000,0.023,2562,2312,3483,0,0,0,0,0,0
$GC,2098,-0.65,-116.7,172.2,-7.4,274,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2312,3483,0,0,0,0,0,0
$GC,2409,-0.65,-116.7,197.4,-8.9,289,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2312,3484,0,0,0,0,0,0
$GC,2718,-0.65,-116.7,222.0,-7.8,304,2721,0.00,2.08,0.00,0.000,4,0.000,0.040,2562,3694,3483,0,0,0,0,0,0
$GC,2781,-0.70,-116.7,226.8,-7.4,307,2785,0.00,2.00,0.00,0.000,6,0.000,0.023,2562,2292,3483,0,0,0,0,0,0
$GC,3113,-0.70,-116.7,252.1,-7.4,323,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2289,3483,0,0,0,0,0,0
$GC,3424,-0.73,-116.7,273.3,-6.6,338,3428,0.00,2.12,0.00,0.000,4,0.000,0.040,2562,3704,3483,0,0,0,0,0,0
$GC,3473,-0.77,-116.7,276.7,-6.5,340,3478,0.15,2.00,0.00,0.000,6,0.126,0.023,2514,2287,3483,0,0,0,0,0,0
$GC,3799,-0.70,-116.7,304.1,-8.6,355,3802,0.00,2.00,0.00,0.000,4,0.000,0.036,2515,921,3483,0,0,0,0,0,0
$GC,3893,-0.61,-116.7,313.0,-9.5,357,3900,0.12,2.05,0.00,0.000,6,0.171,0.028,2565,2302,3483,0,0,0,0,0,0
$GC,4207,-0.65,-116.7,334.1,-6.7,368,4211,0.00,2.05,0.00,0.000,4,0.000,0.040,2565,3697,3483,0,0,0,0,0,0
$GC,4261,-0.71,-116.7,337.9,-7.2,369,4267,0.00,2.00,0.00,0.000,6,0.000,0.022,2565,2301,3483,0,0,0,0,0,0
$GC,4575,-0.75,-116.7,357.7,-6.5,380,4577,0.12,0.00,0.00,0.000,6,0.128,0.000,2525,2298,3483,0,0,0,0,0,0
$GC,4880,-0.70,-116.7,381.4,-7.7,390,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2298,3483,0,0,0,0,0,0
$GC,5187,-0.67,-116.7,405.2,-7.4,400,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2298,3483,0,0,0,0,0,0
$GC,5493,-0.63,-116.7,428.1,-7.4,410,5497,0.12,2.12,0.00,0.000,4,0.196,0.041,2556,3699,3483,0,0,0,0,0,0
$GC,5576,-0.68,-116.7,433.6,-6.2,412,5580,0.00,1.98,0.00,0.000,6,0.000,0.023,2556,2304,3483,0,0,0,0,0,0
$GC,5900,-0.72,-116.7,454.3,-6.4,423,5901,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2302,3483,0,0,0,0,0,0
$GC,6206,-0.76,-116.7,474.6,-6.6,433,6208,0.12,0.00,0.00,0.000,6,0.135,0.000,2515,2298,3482,0,0,0,0,0,0
$GC,6512,-0.73,-116.7,499.6,-8.3,443,6516,0.00,2.10,0.00,0.000,4,0.000,0.041,2514,3695,3482,0,0,0,0,0,0
$GC,6595,-0.69,-116.7,506.3,-8.3,445,6599,0.00,2.03,0.00,0.000,6,0.000,0.023,2514,2297,3483,0,0,0,0,0,0
$GC,6944,-0.65,-116.7,532.4,-7.4,451,6949,0.15,2.05,0.00,0.000,4,0.183,0.036,2555,915,3482,0,0,0,0,0,0
$GC,7010,-0.65,-116.7,537.1,-6.6,452,7014,0.00,2.05,0.00,0.000,6,0.000,0.028,2555,2295,3482,0,0,0,0,0,0
$GC,7376,-0.70,-116.7,559.3,-6.0,458,7380,0.00,2.10,0.00,0.000,4,0.000,0.042,2555,3706,3481,0,0,0,0,0,0
$GC,7482,-0.76,-116.7,565.7,-5.7,459,7487,0.12,2.00,0.00,0.000,6,0.130,0.025,2514,2293,3481,0,0,0,0,0,0
$GC,7802,-0.73,-116.7,589.2,-7.6,465,7806,0.00,2.03,0.00,0.000,4,0.000,0.038,2514,928,3479,0,0,0,0,0,0
$GC,7857,-0.68,-116.7,593.8,-8.1,465,7862,0.08,2.05,0.00,0.000,6,0.178,0.030,2538,2302,3479,0,0,0,0,0,0
$GC,8171,-0.68,-116.7,615.1,-6.7,471,8175,0.00,2.08,0.00,0.000,4,0.000,0.042,2538,3700,3477,0,0,0,0,0,0
$GC,8239,-0.68,-116.7,619.7,-7.2,472,8243,0.00,1.98,0.00,0.000,6,0.000,0.025,2538,2313,3477,0,0,0,0,0,0
$GC,8604,-0.68,-116.7,644.3,-6.8,478,8605,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2310,3475,0,0,0,0,0,0
$GC,8907,-0.68,-116.7,664.7,-6.8,483,8911,0.00,2.12,0.00,0.000,4,0.000,0.042,2539,3709,3474,0,0,0,0,0,0
$GC,8962,-0.71,-116.7,668.7,-7.3,483,8969,0.00,2.03,0.00,0.000,6,0.000,0.025,2539,2297,3474,0,0,0,0,0,0
$GC,9271,-0.71,-116.7,689.4,-6.7,489,9272,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2297,3473,0,0,0,0,0,0
$GC,9574,-0.71,-116.7,709.4,-6.6,494,9578,0.00,2.15,0.00,0.000,4,0.000,0.043,2539,3705,3472,0,0,0,0,0,0
$GC,9657,-0.74,-116.7,715.1,-7.0,495,9661,0.00,2.05,0.00,0.000,6,0.000,0.025,2539,2293,3472,0,0,0,0,0,0
$GC,10005,-0.74,-116.7,737.7,-6.5,501,10007,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2293,3470,0,0,0,0,0,0
$GC,10308,-0.74,-116.7,757.7,-6.6,506,10312,0.00,2.15,0.00,0.000,4,0.000,0.043,2539,3701,3470,0,0,0,0,0,0
$GC,10403,-0.77,-116.7,764.1,-7.0,507,10407,0.00,2.03,0.00,0.000,6,0.000,0.025,2539,2298,3469,0,0,0,0,0,0
$GC,10740,-0.77,-116.7,786.3,-6.6,513,10741,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2298,3468,0,0,0,0,0,0
$GC,11043,-0.77,-116.7,806.5,-6.6,518,11047,0.00,2.15,0.00,0.000,4,0.000,0.044,2539,3705,3467,0,0,0,0,0,0
$GC,11128,-0.81,-116.7,812.2,-6.4,519,11132,0.12,2.05,0.00,0.000,6,0.135,0.026,2501,2289,3467,0,0,0,0,0,0
$GC,11470,-0.76,-116.7,838.7,-7.8,525,11473,0.00,2.05,0.00,0.000,4,0.000,0.040,2501,910,3466,0,0,0,0,0,0
$GC,11536,-0.68,-116.7,844.3,-8.3,526,11541,0.15,2.08,0.00,0.000,6,0.198,0.031,2539,2310,3466,0,0,0,0,0,0
$GC,11896,-0.68,-116.7,867.1,-6.2,532,11900,0.00,2.08,0.00,0.000,4,0.000,0.044,2539,3698,3465,0,0,0,0,0,0
$GC,11974,-0.72,-116.7,872.3,-6.4,533,11978,0.00,2.03,0.00,0.000,6,0.000,0.026,2539,2302,3465,0,0,0,0,0,0
$GC,12328,-0.75,-116.7,894.3,-6.3,539,12329,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2298,3464,0,0,0,0,0,0
$GC,12632,-0.78,-116.7,914.0,-6.5,544,12636,0.00,2.15,0.00,0.000,4,0.000,0.044,2539,3702,3463,0,0,0,0,0,0
$GC,12715,-0.83,-116.7,919.6,-7.0,545,12720,0.12,2.05,0.00,0.000,6,0.138,0.026,2501,2286,3463,0,0,0,0,0,0
$GC,13057,-0.78,-116.7,945.6,-7.7,551,13058,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2285,3462,0,0,0,0,0,0
$GC,13361,-0.73,-116.7,969.0,-7.7,556,13362,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2285,3462,0,0,0,0,0,0
$STATE,13661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13661,begin apogee
$GC,13666,-0.24,0.0,991.2,7.3,561,13767,0.62,0.00,97.60,1.539,6,0.168,0.000,2683,2646,3007,0,0,0,0,0,0
$STATE,13768,end apogee,CONTROL_FINISHED_OK
$STATE,13768,begin climb
$GC,13770,0.80,116.7,992.8,0.0,562,13886,1.05,2.40,106.28,1.444,4,0.108,0.047,3015,4037,2529,0,0,0,0,0,0
$GC,13930,0.55,116.7,987.0,8.7,565,13935,0.30,2.20,0.00,0.000,6,0.166,0.025,2949,2648,2524,0,0,0,0,0,0
$GC,14272,0.56,123.2,964.1,6.6,571,14283,0.00,2.25,5.53,1.171,4,0.000,0.045,2948,4051,2503,0,0,0,0,0,0
$GC,14300,0.50,130.7,962.3,6.6,571,14314,0.00,2.12,8.80,1.287,6,0.000,0.027,2956,2644,2473,0,0,0,0,0,0
$GC,14635,0.46,130.7,938.3,7.1,577,14640,0.15,2.22,0.00,0.000,4,0.185,0.047,2913,4052,2469,0,0,0,0,0,0
$GC,14650,0.46,131.7,937.3,6.8,577,14654,0.00,2.10,0.00,0.000,6,0.000,0.028,2922,2649,2469,0,0,0,0,0,0
$GC,14999,0.48,152.1,916.2,6.1,583,15020,0.00,0.00,19.92,1.434,6,0.000,0.000,2921,2647,2385,0,0,0,0,0,0
$GC,15303,0.53,155.9,896.0,6.7,588,15309,0.00,0.00,4.35,1.047,6,0.000,0.000,2921,2648,2370,0,0,0,0,0,0
$GC,15605,0.58,155.9,875.2,6.9,593,15607,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2648,2369,0,0,0,0,0,0
$GC,15908,0.63,157.2,854.5,6.8,598,15910,0.15,0.00,0.00,0.000,6,0.105,0.000,2978,2642,2368,0,0,0,0,0,0
$GC,16211,0.58,157.2,829.9,8.2,603,16212,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2642,2368,0,0,0,0,0,0
$GC,16515,0.52,157.2,805.2,8.1,608,16520,0.17,2.20,0.00,0.000,4,0.176,0.048,2932,4049,2367,0,0,0,0,0,0
$GC,16564,0.52,157.2,801.2,8.8,608,16568,0.00,2.10,0.00,0.000,6,0.000,0.028,2938,2626,2367,0,0,0,0,0,0
$GC,16879,0.53,166.1,780.5,6.5,614,16891,0.00,0.00,10.38,1.374,6,0.000,0.000,2938,2625,2328,0,0,0,0,0,0
$GC,17182,0.54,170.8,760.3,6.7,619,17189,0.00,0.00,5.68,1.179,6,0.000,0.000,2938,2625,2309,0,0,0,0,0,0
$GC,17486,0.57,173.3,739.8,6.8,624,17490,0.00,2.22,0.00,0.000,4,0.000,0.047,2938,4049,2307,0,0,0,0,0,0
$GC,17507,0.57,173.3,737.9,7.2,624,17518,0.00,2.12,3.80,0.921,6,0.000,0.028,2947,2645,2299,0,0,0,0,0,0
$GC,17849,0.57,173.3,713.9,7.0,630,17850,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2645,2298,0,0,0,0,0,0
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$STATE,27091,end climb,SURFACE_DEPTH_REACHED
$STATE,27091,begin surface coast
$FINISH,2.7,1.027280
$STATE,27137,end surface coast,CONTROL_FINISHED_OK
$STATE,27137,begin surface
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$TCM_TEMP,15.00
$XPDR_PINGS,0
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$10V_AH,10.1,24.342
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.825,143.475,371.950,0.000,0.000,24.060,30.100,196.296,0.000,0.000,32.526,2295.133,21718.209,512.661,2539.810,534.856,0.000,1756.159,0.000,2504.261,0.000,0.535,0.000
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$SENSOR_SECS,771.955,1026.767,589.593,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235140
$DATA_FILE_SIZE,63208,1121
$CAP_FILE_SIZE,201171,0
$CFSIZE,260165632,236597248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130,152.6,1
$GPS,061209,093537,6341.541,201.372,33,1.2,34,-3.8