version: 66.06
glider: 140
mission: 8
dive: 263
start: 12 19 109 3 5 42
data:
$ID,140
$MISSION,8
$DIVE,263
$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,-49169.375
$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,87
$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
$GPS1,025537,6502.243,-47.506,39,1.6,40,-5.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.62
$_SM_ANGLEo,-58.7
$GPS2,030519,6502.188,-47.407,10,1.9,15,-5.7
$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,311.4,12094,-13.7,-6.875
$D_GRID,2907
$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,-7.53,0.000,2,0.000,0.000,217,2280,2028,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.7,-0.0,1,124,8.82,0.00,-82.40,0.000,6,0.224,0.000,2505,2281,3481,0,0,0,0,0,0
$GC,452,-0.71,-116.7,37.3,-10.2,78,460,0.10,2.25,0.00,0.000,4,0.211,0.041,2529,3705,3483,0,0,0,0,0,0
$GC,517,-0.68,-116.7,40.4,-3.9,89,523,0.00,2.03,0.00,0.000,6,0.000,0.024,2529,2309,3484,0,0,0,0,0,0
$GC,853,-0.63,-116.7,59.0,-6.5,150,861,0.10,2.12,0.00,0.000,4,0.196,0.036,2554,926,3484,0,0,0,0,0,0
$GC,941,-0.63,-116.7,65.3,-7.9,165,947,0.00,2.05,0.00,0.000,6,0.000,0.029,2555,2308,3485,0,0,0,0,0,0
$GC,1281,-0.63,-116.7,89.7,-6.9,226,1288,0.00,2.10,0.00,0.000,4,0.000,0.041,2555,3705,3484,0,0,0,0,0,0
$GC,1350,-0.63,-116.7,94.6,-7.2,238,1356,0.00,2.03,0.00,0.000,6,0.000,0.024,2555,2297,3484,0,0,0,0,0,0
$GC,1690,-0.63,-116.7,117.7,-6.8,299,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2296,3485,0,0,0,0,0,0
$GC,2024,-0.63,-116.7,138.4,-6.4,321,2028,0.00,2.05,0.00,0.000,4,0.000,0.035,2554,920,3485,0,0,0,0,0,0
$GC,2077,-0.63,-116.7,142.5,-7.4,323,2084,0.00,2.08,0.00,0.000,6,0.000,0.028,2555,2299,3485,0,0,0,0,0,0
$GC,2396,-0.66,-116.7,165.1,-7.1,339,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2299,3486,0,0,0,0,0,0
$GC,2703,-0.66,-116.7,185.5,-6.7,354,2707,0.00,2.10,0.00,0.000,4,0.000,0.041,2555,3699,3486,0,0,0,0,0,0
$GC,2780,-0.71,-116.7,190.6,-6.1,357,2786,0.00,2.00,0.00,0.000,6,0.000,0.024,2555,2292,3486,0,0,0,0,0,0
$GC,3096,-0.75,-116.7,209.3,-5.9,373,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2292,3485,0,0,0,0,0,0
$GC,3405,-0.79,-116.7,229.1,-6.9,388,3407,0.15,0.00,0.00,0.000,6,0.130,0.000,2504,2289,3486,0,0,0,0,0,0
$GC,3715,-0.73,-116.7,256.0,-8.9,403,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2289,3486,0,0,0,0,0,0
$GC,4023,-0.66,-116.7,285.4,-9.6,418,4025,0.17,0.00,0.00,0.000,6,0.185,0.000,2551,2288,3486,0,0,0,0,0,0
$GC,4352,-0.66,-116.7,309.3,-7.2,432,4355,0.00,2.15,0.00,0.000,4,0.000,0.041,2551,3698,3485,0,0,0,0,0,0
$GC,4446,-0.72,-116.7,316.2,-7.1,434,4453,0.00,2.00,0.00,0.000,6,0.000,0.024,2551,2306,3485,0,0,0,0,0,0
$GC,4759,-0.76,-116.7,336.6,-6.4,445,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2304,3485,0,0,0,0,0,0
$GC,5066,-0.80,-116.7,355.8,-6.3,455,5071,0.15,2.15,0.00,0.000,4,0.131,0.042,2502,3701,3484,0,0,0,0,0,0
$GC,5126,-0.74,-116.7,361.0,-8.9,456,5132,0.00,2.05,0.00,0.000,6,0.000,0.025,2502,2304,3483,0,0,0,0,0,0
$GC,5439,-0.68,-116.7,387.7,-8.5,467,5444,0.15,2.08,0.00,0.000,4,0.184,0.038,2541,921,3483,0,0,0,0,0,0
$GC,5500,-0.68,-116.7,392.4,-7.5,469,5504,0.00,2.05,0.00,0.000,6,0.000,0.030,2541,2305,3483,0,0,0,0,0,0
$GC,5840,-0.68,-116.7,415.2,-6.6,480,5844,0.00,2.08,0.00,0.000,4,0.000,0.042,2541,3698,3482,0,0,0,0,0,0
$GC,5924,-0.72,-116.7,420.9,-6.8,482,5928,0.00,2.03,0.00,0.000,6,0.000,0.025,2541,2294,3482,0,0,0,0,0,0
$GC,6242,-0.72,-116.7,442.1,-6.8,493,6246,0.00,2.15,0.00,0.000,4,0.000,0.041,2541,3701,3481,0,0,0,0,0,0
$GC,6296,-0.76,-116.7,446.0,-6.9,494,6303,0.00,2.05,0.00,0.000,6,0.000,0.025,2541,2296,3481,0,0,0,0,0,0
$GC,6609,-0.76,-116.7,467.0,-6.7,505,6610,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2297,3480,0,0,0,0,0,0
$GC,6915,-0.76,-116.7,488.2,-6.9,515,6919,0.00,2.12,0.00,0.000,4,0.000,0.042,2541,3696,3479,0,0,0,0,0,0
$GC,7016,-0.80,-116.7,495.3,-7.0,518,7019,0.00,2.00,0.00,0.000,6,0.000,0.025,2541,2304,3479,0,0,0,0,0,0
$GC,7353,-0.80,-116.7,518.6,-6.9,525,7357,0.00,2.15,0.00,0.000,4,0.000,0.042,2541,3705,3479,0,0,0,0,0,0
$GC,7421,-0.84,-116.7,523.4,-7.1,526,7425,0.15,2.03,0.00,0.000,6,0.131,0.025,2491,2297,3479,0,0,0,0,0,0
$GC,7786,-0.76,-116.7,555.6,-8.9,532,7790,0.00,2.05,0.00,0.000,4,0.000,0.038,2491,920,3478,0,0,0,0,0,0
$GC,7848,-0.67,-116.7,561.4,-9.5,533,7852,0.20,2.05,0.00,0.000,6,0.185,0.031,2543,2301,3478,0,0,0,0,0,0
$GC,8219,-0.67,-116.7,585.3,-6.2,539,8223,0.00,2.10,0.00,0.000,4,0.000,0.043,2543,3698,3477,0,0,0,0,0,0
$GC,8308,-0.72,-116.7,591.1,-6.7,540,8312,0.00,2.03,0.00,0.000,6,0.000,0.026,2543,2298,3477,0,0,0,0,0,0
$GC,8651,-0.75,-116.7,612.5,-6.2,546,8655,0.00,2.15,0.00,0.000,4,0.000,0.042,2544,3698,3476,0,0,0,0,0,0
$GC,8724,-0.81,-116.7,617.2,-7.0,547,8728,0.12,2.05,0.00,0.000,6,0.142,0.026,2503,2279,3476,0,0,0,0,0,0
$GC,9077,-0.76,-116.7,643.7,-7.5,553,9081,0.00,2.05,0.00,0.000,4,0.000,0.040,2503,916,3475,0,0,0,0,0,0
$GC,9121,-0.69,-116.7,647.1,-7.8,553,9125,0.15,2.05,0.00,0.000,6,0.187,0.031,2541,2299,3475,0,0,0,0,0,0
$GC,9442,-0.72,-116.7,666.0,-5.8,559,9445,0.00,2.10,0.00,0.000,4,0.000,0.043,2541,3698,3475,0,0,0,0,0,0
$GC,9531,-0.77,-116.7,671.7,-6.2,560,9535,0.00,2.03,0.00,0.000,6,0.000,0.025,2541,2293,3475,0,0,0,0,0,0
$GC,9869,-0.81,-116.7,692.0,-6.0,566,9871,0.12,0.00,0.00,0.000,6,0.141,0.000,2502,2290,3474,0,0,0,0,0,0
$GC,10172,-0.76,-116.7,714.7,-7.6,571,10176,0.00,2.15,0.00,0.000,4,0.000,0.043,2501,3698,3474,0,0,0,0,0,0
$GC,10234,-0.72,-116.7,719.6,-8.1,572,10238,0.12,2.05,0.00,0.000,6,0.187,0.026,2532,2289,3474,0,0,0,0,0,0
$GC,10604,-0.72,-116.7,744.7,-6.8,578,10605,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2288,3473,0,0,0,0,0,0
$GC,10907,-0.72,-116.7,765.6,-6.9,583,10911,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3698,3473,0,0,0,0,0,0
$GC,10957,-0.72,-116.7,769.2,-7.3,583,10961,0.00,2.05,0.00,0.000,6,0.000,0.026,2532,2285,3473,0,0,0,0,0,0
$GC,11272,-0.72,-116.7,790.8,-6.8,589,11276,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3698,3472,0,0,0,0,0,0
$GC,11321,-0.75,-116.7,794.4,-7.1,589,11325,0.00,2.08,0.00,0.000,6,0.000,0.026,2532,2270,3472,0,0,0,0,0,0
$GC,11637,-0.75,-116.7,816.0,-6.9,595,11641,0.00,2.20,0.00,0.000,4,0.000,0.043,2533,3706,3472,0,0,0,0,0,0
$GC,11709,-0.79,-116.7,821.2,-6.8,596,11713,0.00,2.05,0.00,0.000,6,0.000,0.027,2532,2298,3472,0,0,0,0,0,0
$GC,12068,-0.79,-116.7,845.1,-6.6,602,12072,0.00,2.15,0.00,0.000,4,0.000,0.044,2533,3700,3472,0,0,0,0,0,0
$GC,12124,-0.83,-116.7,849.0,-6.9,602,12128,0.00,2.05,0.00,0.000,6,0.000,0.027,2533,2294,3472,0,0,0,0,0,0
$GC,12438,-0.83,-116.7,869.9,-6.8,608,12442,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3698,3472,0,0,0,0,0,0
$GC,12487,-0.86,-116.7,873.5,-7.0,608,12492,0.15,2.05,0.00,0.000,6,0.131,0.026,2486,2287,3472,0,0,0,0,0,0
$GC,12796,-0.79,-116.7,899.9,-8.7,613,12797,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2286,3471,0,0,0,0,0,0
$GC,13099,-0.72,-116.7,926.1,-8.7,618,13101,0.17,0.00,0.00,0.000,6,0.184,0.000,2531,2284,3471,0,0,0,0,0,0
$GC,13403,-0.72,-116.7,947.2,-6.8,623,13407,0.00,2.17,0.00,0.000,4,0.000,0.044,2531,3698,3471,0,0,0,0,0,0
$GC,13472,-0.76,-116.7,951.9,-6.3,624,13475,0.00,2.03,0.00,0.000,6,0.000,0.026,2531,2307,3470,0,0,0,0,0,0
$GC,13842,-0.76,-116.7,976.7,-6.6,630,13846,0.00,2.15,0.00,0.000,4,0.000,0.044,2532,3702,3471,0,0,0,0,0,0
$GC,13892,-0.80,-116.7,980.2,-7.5,630,13896,0.00,2.05,0.00,0.000,6,0.000,0.027,2532,2297,3470,0,0,0,0,0,0
$STATE,14078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14078,begin apogee
$GC,14083,-0.24,0.0,992.5,6.6,633,14188,0.50,0.00,101.70,1.549,6,0.167,0.000,2679,2654,3006,0,0,0,0,0,0
$STATE,14188,end apogee,CONTROL_FINISHED_OK
$STATE,14188,begin climb
$GC,14190,0.80,116.7,994.6,0.0,634,14311,1.10,2.40,109.18,1.454,4,0.113,0.043,3016,4039,2528,0,0,0,0,0,0
$GC,14349,0.56,116.7,991.1,8.1,637,14355,0.30,2.22,0.00,0.000,6,0.173,0.025,2953,2650,2523,0,0,0,0,0,0
$GC,14687,0.59,141.5,971.2,5.9,643,14716,0.00,2.33,21.90,1.425,4,0.000,0.046,2952,4038,2428,0,0,0,0,0,0
$GC,14727,0.59,175.0,968.7,5.5,643,14766,0.00,2.15,32.10,1.401,6,0.000,0.027,2960,2640,2291,0,0,0,0,0,0
$GC,15118,0.59,175.0,939.7,7.5,650,15119,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2640,2283,0,0,0,0,0,0
$GC,15418,0.59,175.0,917.1,7.4,655,15420,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2640,2282,0,0,0,0,0,0
$GC,15721,0.59,175.0,894.2,7.5,660,15722,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2640,2281,0,0,0,0,0,0
$GC,16024,0.59,175.0,870.6,7.8,665,16028,0.00,2.17,0.00,0.000,4,0.000,0.045,2960,4041,2280,0,0,0,0,0,0
$GC,16045,0.55,175.0,868.9,8.9,665,16049,0.00,2.05,0.00,0.000,6,0.000,0.028,2969,2646,2280,0,0,0,0,0,0
$GC,16388,0.55,175.0,842.1,7.7,671,16392,0.00,2.20,0.00,0.000,4,0.000,0.045,2967,4049,2279,0,0,0,0,0,0
$GC,16404,0.52,175.0,840.8,7.8,671,16409,0.17,2.10,0.00,0.000,6,0.185,0.028,2931,2628,2280,0,0,0,0,0,0
$GC,16758,0.60,191.2,818.3,6.2,677,16774,0.00,0.00,13.93,1.424,6,0.000,0.000,2931,2627,2226,0,0,0,0,0,0
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$STATE,27183,end climb,SURFACE_DEPTH_REACHED
$STATE,27184,begin surface coast
$FINISH,3.1,1.027445
$STATE,27226,end surface coast,CONTROL_FINISHED_OK
$STATE,27226,begin surface
$SM_CCo,27242,31.83,0.774,1,0,1883,275.23
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$HUMID,1078398055
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$TCM_TEMP,14.00
$XPDR_PINGS,0
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$10V_AH,9.8,28.921
$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,241364
$DATA_FILE_SIZE,69511,1195
$CAP_FILE_SIZE,217797,0
$CFSIZE,260165632,233029632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.011,325.5,1
$GPS,191209,104136,6504.103,-54.005,37,1.4,38,-5.8