version: 66.06
glider: 140
mission: 8
dive: 246
start: 12 13 109 17 46 47
data:
$ID,140
$MISSION,8
$DIVE,246
$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,-3
$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,-48855.602
$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,72
$R_STBD_OVSHOOT,43
$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
$GPS1,173936,6436.384,35.157,25,1.1,26,-4.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,3.79
$_SM_ANGLEo,-64.1
$GPS2,174625,6436.391,35.351,13,1.7,30,-4.8
$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,311.2,92385,-13.7,-6.875
$D_GRID,2620
$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,-8.25,0.000,2,0.000,0.000,217,2283,2052,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.9,-0.0,1,121,9.02,2.15,-77.97,0.000,4,0.235,0.051,2500,918,3482,0,0,0,0,0,0
$GC,191,-0.65,-116.7,6.3,-7.5,29,197,0.20,2.08,0.00,0.000,6,0.189,0.028,2553,2310,3483,0,0,0,0,0,0
$GC,526,-0.65,-116.7,30.9,-7.4,90,532,0.00,2.12,0.00,0.000,4,0.000,0.041,2553,3691,3484,0,0,0,0,0,0
$GC,612,-0.65,-116.7,37.2,-7.4,105,617,0.00,2.03,0.00,0.000,6,0.000,0.023,2554,2288,3484,0,0,0,0,0,0
$GC,944,-0.65,-116.7,62.2,-7.2,166,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2286,3485,0,0,0,0,0,0
$GC,1279,-0.65,-116.7,86.8,-7.3,227,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2286,3485,0,0,0,0,0,0
$GC,1614,-0.65,-116.7,110.8,-7.2,288,1621,0.00,2.17,0.00,0.000,4,0.000,0.040,2554,3693,3485,0,0,0,0,0,0
$GC,1668,-0.65,-116.7,114.7,-7.3,297,1674,0.00,2.00,0.00,0.000,6,0.000,0.023,2554,2292,3485,0,0,0,0,0,0
$GC,1995,-0.65,-116.7,137.0,-7.0,323,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2291,3486,0,0,0,0,0,0
$GC,2302,-0.65,-116.7,160.3,-7.4,338,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2292,3486,0,0,0,0,0,0
$GC,2614,-0.65,-116.7,183.1,-7.3,353,2618,0.00,2.12,0.00,0.000,4,0.000,0.040,2554,3697,3485,0,0,0,0,0,0
$GC,2676,-0.69,-116.7,187.6,-6.7,356,2680,0.00,2.00,0.00,0.000,6,0.000,0.023,2554,2298,3485,0,0,0,0,0,0
$GC,3008,-0.69,-116.7,210.3,-6.9,372,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2292,3486,0,0,0,0,0,0
$GC,3317,-0.69,-116.7,233.2,-7.5,387,3320,0.00,2.03,0.00,0.000,4,0.000,0.035,2554,920,3486,0,0,0,0,0,0
$GC,3362,-0.69,-116.7,236.8,-8.0,389,3366,0.00,2.03,0.00,0.000,6,0.000,0.028,2554,2301,3486,0,0,0,0,0,0
$GC,3689,-0.69,-116.7,260.0,-7.0,405,3692,0.00,2.08,0.00,0.000,4,0.000,0.041,2554,3698,3486,0,0,0,0,0,0
$GC,3738,-0.75,-116.7,263.6,-7.1,407,3742,0.00,2.03,0.00,0.000,6,0.000,0.023,2554,2296,3486,0,0,0,0,0,0
$GC,4060,-0.79,-116.7,286.0,-6.7,423,4062,0.12,0.00,0.00,0.000,6,0.135,0.000,2515,2294,3486,0,0,0,0,0,0
$GC,4367,-0.74,-116.7,311.1,-8.0,436,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2294,3486,0,0,0,0,0,0
$GC,4673,-0.69,-116.7,336.3,-8.4,446,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2295,3486,0,0,0,0,0,0
$GC,4980,-0.64,-116.7,361.7,-8.0,456,4985,0.15,2.17,0.00,0.000,4,0.188,0.041,2553,3702,3485,0,0,0,0,0,0
$GC,5046,-0.70,-116.7,366.4,-7.0,458,5050,0.00,2.05,0.00,0.000,6,0.000,0.024,2554,2297,3485,0,0,0,0,0,0
$GC,5382,-0.75,-116.7,387.0,-6.2,469,5383,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2297,3484,0,0,0,0,0,0
$GC,5688,-0.79,-116.7,405.9,-6.3,479,5693,0.12,2.15,0.00,0.000,4,0.136,0.042,2514,3697,3483,0,0,0,0,0,0
$GC,5750,-0.76,-116.7,410.6,-7.9,481,5754,0.00,2.00,0.00,0.000,6,0.000,0.025,2514,2301,3483,0,0,0,0,0,0
$GC,6090,-0.71,-116.7,436.3,-7.6,492,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2301,3482,0,0,0,0,0,0
$GC,6396,-0.67,-116.7,459.4,-7.5,502,6398,0.12,0.00,0.00,0.000,6,0.195,0.000,2545,2298,3482,0,0,0,0,0,0
$GC,6702,-0.67,-116.7,478.5,-6.2,512,6706,0.00,2.12,0.00,0.000,4,0.000,0.042,2545,3696,3481,0,0,0,0,0,0
$GC,6753,-0.72,-116.7,481.7,-6.2,513,6757,0.00,2.00,0.00,0.000,6,0.000,0.025,2545,2302,3480,0,0,0,0,0,0
$GC,7076,-0.72,-116.7,502.1,-6.5,524,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2300,3479,0,0,0,0,0,0
$GC,7379,-0.72,-116.7,522.5,-6.8,529,7383,0.00,2.12,0.00,0.000,4,0.000,0.043,2545,3695,3479,0,0,0,0,0,0
$GC,7457,-0.76,-116.7,528.3,-7.3,530,7461,0.00,2.00,0.00,0.000,6,0.000,0.025,2545,2302,3478,0,0,0,0,0,0
$GC,7811,-0.76,-116.7,553.2,-7.1,536,7815,0.00,2.12,0.00,0.000,4,0.000,0.043,2545,3694,3478,0,0,0,0,0,0
$GC,7873,-0.80,-116.7,557.6,-7.4,537,7878,0.12,2.03,0.00,0.000,6,0.144,0.025,2505,2287,3477,0,0,0,0,0,0
$GC,8238,-0.75,-116.7,588.3,-8.4,543,8242,0.00,2.05,0.00,0.000,4,0.000,0.038,2505,912,3476,0,0,0,0,0,0
$GC,8288,-0.68,-116.7,592.8,-9.4,543,8292,0.08,2.08,0.00,0.000,6,0.153,0.031,2541,2290,3476,0,0,0,0,0,0
$GC,8604,-0.68,-116.7,614.2,-6.7,549,8608,0.00,2.12,0.00,0.000,4,0.000,0.042,2541,3703,3475,0,0,0,0,0,0
$GC,8693,-0.72,-116.7,620.4,-7.4,550,8697,0.00,2.05,0.00,0.000,6,0.000,0.025,2541,2309,3475,0,0,0,0,0,0
$GC,9041,-0.72,-116.7,642.3,-6.3,556,9045,0.00,2.12,0.00,0.000,4,0.000,0.042,2542,3709,3474,0,0,0,0,0,0
$GC,9092,-0.77,-116.7,645.5,-6.3,556,9096,0.00,2.05,0.00,0.000,6,0.000,0.027,2542,2293,3474,0,0,0,0,0,0
$GC,9401,-0.77,-116.7,665.2,-6.4,561,9405,0.00,2.15,0.00,0.000,4,0.000,0.043,2541,3702,3473,0,0,0,0,0,0
$GC,9445,-0.81,-116.7,668.2,-6.4,561,9450,0.12,2.03,0.00,0.000,6,0.143,0.026,2502,2296,3473,0,0,0,0,0,0
$GC,9759,-0.76,-116.7,693.1,-8.0,567,9760,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2294,3473,0,0,0,0,0,0
$GC,10062,-0.70,-116.7,717.9,-8.2,572,10067,0.12,2.08,0.00,0.000,4,0.190,0.040,2534,919,3472,0,0,0,0,0,0
$GC,10124,-0.70,-116.7,722.7,-7.9,573,10128,0.00,2.05,0.00,0.000,6,0.000,0.031,2534,2302,3473,0,0,0,0,0,0
$GC,10489,-0.70,-116.7,748.7,-7.1,579,10493,0.00,2.10,0.00,0.000,4,0.000,0.043,2534,3702,3472,0,0,0,0,0,0
$GC,10556,-0.73,-116.7,753.6,-7.1,580,10560,0.00,2.03,0.00,0.000,6,0.000,0.026,2534,2304,3471,0,0,0,0,0,0
$GC,10926,-0.73,-116.7,779.5,-7.0,586,10930,0.00,2.15,0.00,0.000,4,0.000,0.044,2534,3699,3471,0,0,0,0,0,0
$GC,11032,-0.76,-116.7,787.0,-6.5,587,11036,0.00,2.05,0.00,0.000,6,0.000,0.026,2533,2289,3471,0,0,0,0,0,0
$GC,11359,-0.76,-116.7,809.0,-6.7,593,11363,0.00,2.17,0.00,0.000,4,0.000,0.043,2533,3708,3470,0,0,0,0,0,0
$GC,11431,-0.79,-116.7,814.1,-6.5,594,11435,0.00,2.05,0.00,0.000,6,0.000,0.027,2534,2294,3470,0,0,0,0,0,0
$GC,11791,-0.79,-116.7,837.7,-6.5,600,11795,0.00,2.15,0.00,0.000,4,0.000,0.044,2534,3700,3470,0,0,0,0,0,0
$GC,11857,-0.82,-116.7,842.1,-6.4,601,11862,0.12,2.03,0.00,0.000,6,0.143,0.026,2493,2295,3470,0,0,0,0,0,0
$GC,12216,-0.76,-116.7,870.2,-7.9,607,12220,0.00,2.08,0.00,0.000,4,0.000,0.038,2494,912,3469,0,0,0,0,0,0
$GC,12271,-0.68,-116.7,875.0,-8.5,607,12276,0.20,2.08,0.00,0.000,6,0.186,0.031,2545,2303,3469,0,0,0,0,0,0
$GC,12586,-0.72,-116.7,894.2,-6.1,613,12590,0.00,2.10,0.00,0.000,4,0.000,0.044,2545,3702,3469,0,0,0,0,0,0
$GC,12687,-0.78,-116.7,900.2,-5.6,614,12691,0.00,2.03,0.00,0.000,6,0.000,0.026,2546,2307,3469,0,0,0,0,0,0
$GC,13019,-0.83,-116.7,919.0,-5.6,620,13024,0.15,2.17,0.00,0.000,4,0.135,0.044,2497,3704,3468,0,0,0,0,0,0
$GC,13104,-0.79,-116.7,925.1,-7.9,621,13108,0.00,2.05,0.00,0.000,6,0.000,0.027,2497,2292,3468,0,0,0,0,0,0
$GC,13446,-0.73,-116.7,949.5,-7.1,627,13448,0.12,0.00,0.00,0.000,6,0.198,0.000,2527,2289,3468,0,0,0,0,0,0
$GC,13749,-0.73,-116.7,968.1,-6.1,632,13753,0.00,2.15,0.00,0.000,4,0.000,0.044,2527,3698,3468,0,0,0,0,0,0
$GC,13844,-0.73,-116.7,973.9,-6.3,633,13848,0.00,2.03,0.00,0.000,6,0.000,0.026,2528,2298,3467,0,0,0,0,0,0
$STATE,14118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14118,begin apogee
$GC,14124,-0.24,0.0,990.6,6.0,638,14227,0.52,0.00,100.62,1.549,6,0.170,0.000,2682,2653,3005,0,0,0,0,0,0
$STATE,14228,end apogee,CONTROL_FINISHED_OK
$STATE,14228,begin climb
$GC,14230,0.80,116.7,992.3,0.0,639,14348,1.10,2.40,108.25,1.450,4,0.115,0.045,3017,4037,2530,0,0,0,0,0,0
$GC,14392,0.55,116.7,987.0,8.7,642,14397,0.32,2.20,0.00,0.000,6,0.173,0.025,2947,2650,2524,0,0,0,0,0,0
$GC,14729,0.57,130.1,965.3,6.3,648,14743,0.00,0.00,11.95,1.389,6,0.000,0.000,2947,2650,2475,0,0,0,0,0,0
$GC,15032,0.58,137.3,945.4,6.6,653,15042,0.00,0.00,8.02,1.327,6,0.000,0.000,2948,2650,2446,0,0,0,0,0,0
$GC,15335,0.58,137.3,924.4,6.9,658,15336,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2650,2443,0,0,0,0,0,0
$GC,15638,0.59,142.4,904.4,6.7,663,15646,0.00,0.00,5.97,1.242,6,0.000,0.000,2948,2650,2425,0,0,0,0,0,0
$GC,15941,0.59,149.2,884.3,6.6,668,15955,0.00,2.17,7.70,1.328,4,0.000,0.037,2956,1263,2397,0,0,0,0,0,0
$GC,15961,0.61,159.1,883.0,6.5,668,15977,0.00,2.12,10.65,1.282,6,0.000,0.034,2953,2646,2357,0,0,0,0,0,0
$GC,16303,0.61,159.1,859.2,6.9,674,16304,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2646,2353,0,0,0,0,0,0
$GC,16606,0.61,159.5,838.5,6.9,679,16610,0.00,2.10,0.00,0.000,4,0.000,0.035,2961,1262,2352,0,0,0,0,0,0
$GC,16621,0.61,160.5,837.3,6.8,679,16625,0.00,2.15,0.00,0.000,6,0.000,0.034,2961,2651,2352,0,0,0,0,0,0
$GC,16970,0.62,169.6,814.3,6.5,685,16983,0.00,0.00,10.45,1.378,6,0.000,0.000,2962,2651,2314,0,0,0,0,0,0
$GC,17273,0.64,185.0,795.1,6.3,690,17290,0.00,0.00,15.40,1.369,6,0.000,0.000,2962,2651,2250,0,0,0,0,0,0
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$STATE,27495,end climb,SURFACE_DEPTH_REACHED
$STATE,27495,begin surface coast
$FINISH,3.2,1.015429
$STATE,27533,end surface coast,CONTROL_FINISHED_OK
$STATE,27533,begin surface
$SM_CCo,27550,29.55,0.807,0,0,1883,275.23
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$TT8_MAMPS,0.027612
$HUMID,1078404506
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,22.3,40.699
$10V_AH,9.8,27.030
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241356
$DATA_FILE_SIZE,66484,1196
$CAP_FILE_SIZE,210277,0
$CFSIZE,260165632,234508288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050, 55.1,1
$GPS,141209,012736,6438.795,30.909,32,2.0,33,-4.9