version: 66.06
glider: 140
mission: 8
dive: 298
start: 12 30 109 6 19 38
data:
$ID,140
$MISSION,8
$DIVE,298
$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,-49797.078
$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,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
$GPS1,061228,6350.434,223.966,38,2.4,57,-3.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,3.56
$_SM_ANGLEo,-60.7
$GPS2,061850,6350.368,223.979,12,1.4,12,-3.7
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,INSHORE
$TGT_LATLONG,6300.600,352.100
$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,144.9,118241,-13.7,-6.875
$D_GRID,1488
$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,-116.7,0.0,0.0,0,24,0.00,0.00,-6.72,0.000,2,0.000,0.000,218,2295,2029,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.6,-0.0,1,123,8.93,2.12,-78.45,0.000,4,0.230,0.048,2498,921,3481,0,0,0,0,0,0
$GC,187,-1.02,-116.7,2.7,-0.1,29,194,0.20,2.05,0.00,0.000,6,0.117,0.029,2434,2297,3482,0,0,0,0,0,0
$GC,526,-0.58,-116.7,42.9,-12.5,90,533,0.47,2.17,0.00,0.000,4,0.196,0.039,2566,3707,3483,0,0,0,0,0,0
$GC,784,-0.43,-116.7,68.9,-9.7,136,792,0.17,2.05,0.00,0.000,6,0.181,0.023,2619,2286,3483,0,0,0,0,0,0
$GC,1129,-0.43,-116.7,89.3,-5.6,197,1135,0.00,2.15,0.00,0.000,4,0.000,0.039,2620,3706,3483,0,0,0,0,0,0
$GC,1198,-0.43,-116.7,93.4,-5.9,209,1204,0.00,2.00,0.00,0.000,6,0.000,0.023,2620,2311,3483,0,0,0,0,0,0
$GC,1539,-0.43,-116.7,114.0,-7.6,270,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2311,3483,0,0,0,0,0,0
$GC,1875,-0.55,-116.7,134.9,-7.1,300,1879,0.00,2.05,0.00,0.000,4,0.000,0.035,2621,913,3483,0,0,0,0,0,0
$GC,1886,-0.70,-116.7,136.0,-7.5,300,1892,0.20,2.08,0.00,0.000,6,0.086,0.028,2532,2314,3483,0,0,0,0,0,0
$GC,2202,-0.47,-116.7,164.5,-10.2,316,2204,0.28,0.00,0.00,0.000,6,0.195,0.000,2605,2314,3483,0,0,0,0,0,0
$GC,2512,-0.44,-116.7,190.7,-8.7,331,2516,0.00,2.08,0.00,0.000,4,0.000,0.034,2605,913,3483,0,0,0,0,0,0
$GC,2529,-0.41,-116.7,192.3,-8.4,332,2533,0.00,2.03,0.00,0.000,6,0.000,0.028,2605,2301,3483,0,0,0,0,0,0
$GC,2857,-0.38,-116.7,214.7,-6.2,348,2862,0.12,2.08,0.00,0.000,4,0.209,0.035,2638,915,3483,0,0,0,0,0,0
$GC,2867,-0.38,-116.7,215.7,-6.6,348,2873,0.00,2.05,0.00,0.000,6,0.000,0.028,2638,2295,3483,0,0,0,0,0,0
$GC,3183,-0.60,-116.7,236.1,-6.7,364,3188,0.20,2.08,0.00,0.000,4,0.105,0.038,2562,3703,3483,0,0,0,0,0,0
$GC,3246,-0.60,-116.7,241.0,-8.0,367,3250,0.00,2.00,0.00,0.000,6,0.000,0.022,2562,2292,3483,0,0,0,0,0,0
$GC,3578,-0.64,-116.7,266.8,-7.6,383,3582,0.00,2.12,0.00,0.000,4,0.000,0.040,2562,3702,3484,0,0,0,0,0,0
$GC,3627,-0.64,-116.7,270.7,-7.8,385,3632,0.00,2.03,0.00,0.000,6,0.000,0.022,2562,2299,3483,0,0,0,0,0,0
$GC,3949,-0.68,-116.7,294.5,-7.6,401,3953,0.00,2.10,0.00,0.000,4,0.000,0.040,2562,3698,3483,0,0,0,0,0,0
$GC,3988,-0.68,-116.7,297.5,-7.6,403,3992,0.00,2.00,0.00,0.000,6,0.000,0.023,2562,2291,3483,0,0,0,0,0,0
$GC,4307,-0.72,-116.7,321.9,-7.8,414,4311,0.00,2.12,0.00,0.000,4,0.000,0.040,2563,3699,3483,0,0,0,0,0,0
$GC,4351,-0.72,-116.7,325.5,-8.1,415,4355,0.00,2.03,0.00,0.000,6,0.000,0.022,2562,2295,3483,0,0,0,0,0,0
$GC,4682,-0.77,-116.7,353.9,-8.8,426,4686,0.15,2.15,0.00,0.000,4,0.128,0.041,2511,3708,3483,0,0,0,0,0,0
$GC,4725,-0.61,-116.7,358.3,-9.8,427,4730,0.12,2.03,0.00,0.000,6,0.187,0.023,2560,2293,3483,0,0,0,0,0,0
$GC,5050,-0.50,-116.7,386.6,-8.6,438,5054,0.15,2.15,0.00,0.000,4,0.202,0.041,2599,3697,3483,0,0,0,0,0,0
$GC,5059,-0.40,-116.7,387.5,-8.4,438,5064,0.08,2.00,0.00,0.000,6,0.156,0.024,2624,2312,3484,0,0,0,0,0,0
$GC,5388,-0.60,-116.7,409.5,-6.5,449,5393,0.15,2.12,0.00,0.000,4,0.117,0.041,2569,3699,3484,0,0,0,0,0,0
$GC,5410,-0.71,-116.7,411.0,-6.7,449,5415,0.10,2.00,0.00,0.000,6,0.138,0.023,2537,2294,3484,0,0,0,0,0,0
$GC,5722,-0.71,-116.7,432.2,-6.8,459,5725,0.00,2.03,0.00,0.000,4,0.000,0.036,2536,916,3483,0,0,0,0,0,0
$GC,5749,-0.64,-116.7,434.2,-6.7,459,5755,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2307,3483,0,0,0,0,0,0
$GC,6063,-0.64,-116.7,455.2,-6.9,470,6066,0.00,2.08,0.00,0.000,4,0.000,0.035,2536,912,3483,0,0,0,0,0,0
$GC,6072,-0.64,-116.7,456.1,-7.0,470,6077,0.00,2.08,0.00,0.000,6,0.000,0.028,2536,2305,3483,0,0,0,0,0,0
$GC,6396,-0.64,-116.7,480.6,-8.1,481,6400,0.00,2.05,0.00,0.000,4,0.000,0.034,2536,920,3483,0,0,0,0,0,0
$GC,6405,-0.64,-116.7,481.5,-8.2,481,6410,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2302,3483,0,0,0,0,0,0
$GC,6758,-0.64,-116.7,510.0,-7.9,491,6762,0.00,2.08,0.00,0.000,4,0.000,0.041,2536,3709,3483,0,0,0,0,0,0
$GC,6784,-0.64,-116.7,512.1,-8.3,491,6788,0.00,2.03,0.00,0.000,6,0.000,0.023,2536,2304,3483,0,0,0,0,0,0
$GC,7122,-0.64,-116.7,536.4,-7.1,497,7123,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2304,3483,0,0,0,0,0,0
$GC,7425,-0.64,-116.7,557.0,-6.8,502,7429,0.00,2.12,0.00,0.000,4,0.000,0.041,2536,3709,3482,0,0,0,0,0,0
$GC,7464,-0.59,-116.7,559.7,-6.5,502,7469,0.12,2.00,0.00,0.000,6,0.191,0.023,2567,2294,3482,0,0,0,0,0,0
$GC,7790,-0.68,-116.7,580.6,-6.5,508,7794,0.00,2.12,0.00,0.000,4,0.000,0.041,2567,3698,3482,0,0,0,0,0,0
$GC,7914,-0.75,-116.7,588.7,-6.3,509,7921,0.12,1.98,0.00,0.000,6,0.128,0.024,2527,2297,3482,0,0,0,0,0,0
$GC,8222,-0.75,-116.7,612.6,-7.8,515,8225,0.00,2.03,0.00,0.000,4,0.000,0.037,2528,926,3481,0,0,0,0,0,0
$GC,8244,-0.70,-116.7,614.4,-8.6,515,8248,0.00,2.03,0.00,0.000,6,0.000,0.030,2527,2299,3481,0,0,0,0,0,0
$GC,8591,-0.70,-116.7,641.4,-7.7,521,8595,0.00,2.08,0.00,0.000,4,0.000,0.037,2527,927,3480,0,0,0,0,0,0
$GC,8601,-0.70,-116.7,642.2,-7.7,521,8605,0.00,2.05,0.00,0.000,6,0.000,0.029,2527,2295,3479,0,0,0,0,0,0
$GC,8961,-0.70,-116.7,668.8,-7.5,527,8962,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2295,3479,0,0,0,0,0,0
$GC,9264,-0.70,-116.7,692.3,-7.8,532,9268,0.00,2.10,0.00,0.000,4,0.000,0.042,2527,3704,3477,0,0,0,0,0,0
$GC,9285,-0.66,-116.7,694.0,-8.2,532,9289,0.00,2.03,0.00,0.000,6,0.000,0.024,2527,2315,3477,0,0,0,0,0,0
$GC,9629,-0.66,-116.7,720.7,-7.9,538,9630,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2315,3476,0,0,0,0,0,0
$GC,9932,-0.66,-116.7,744.3,-7.7,543,9936,0.00,2.12,0.00,0.000,4,0.000,0.042,2527,3698,3475,0,0,0,0,0,0
$GC,9947,-0.66,-116.7,745.5,-8.0,543,9952,0.00,2.05,0.00,0.000,6,0.000,0.025,2527,2310,3475,0,0,0,0,0,0
$GC,10296,-0.66,-116.7,772.4,-7.7,549,10300,0.00,2.12,0.00,0.000,4,0.000,0.042,2527,3698,3474,0,0,0,0,0,0
$GC,10323,-0.62,-116.7,774.8,-8.0,549,10328,0.12,2.03,0.00,0.000,6,0.192,0.025,2557,2289,3474,0,0,0,0,0,0
$GC,10654,-0.69,-116.7,798.8,-7.3,555,10658,0.00,2.15,0.00,0.000,4,0.000,0.043,2557,3697,3472,0,0,0,0,0,0
$GC,10772,-0.74,-116.7,806.7,-6.3,556,10776,0.00,2.03,0.00,0.000,6,0.000,0.025,2557,2294,3472,0,0,0,0,0,0
$GC,11082,-0.82,-116.7,827.4,-6.8,561,11086,0.17,2.17,0.00,0.000,4,0.118,0.044,2498,3700,3471,0,0,0,0,0,0
$GC,11206,-0.67,-116.7,837.3,-9.0,562,11211,0.17,2.03,0.00,0.000,6,0.194,0.025,2543,2286,3470,0,0,0,0,0,0
$GC,11515,-0.57,-116.7,859.0,-6.9,567,11519,0.12,2.17,0.00,0.000,4,0.216,0.044,2574,3697,3470,0,0,0,0,0,0
$GC,11564,-0.57,-116.7,862.1,-6.3,567,11568,0.00,2.05,0.00,0.000,6,0.000,0.025,2574,2310,3469,0,0,0,0,0,0
$GC,11879,-0.68,-116.7,881.4,-6.2,573,11883,0.00,2.12,0.00,0.000,4,0.000,0.043,2574,3700,3469,0,0,0,0,0,0
$GC,12010,-0.78,-116.7,889.4,-6.3,575,12015,0.17,2.03,0.00,0.000,6,0.120,0.026,2516,2289,3469,0,0,0,0,0,0
$GC,12375,-0.78,-116.7,916.2,-7.5,581,12378,0.00,2.03,0.00,0.000,4,0.000,0.038,2516,925,3467,0,0,0,0,0,0
$GC,12402,-0.69,-116.7,918.3,-7.6,581,12406,0.00,2.05,0.00,0.000,6,0.000,0.031,2516,2309,3467,0,0,0,0,0,0
$GC,12745,-0.52,-116.7,945.7,-8.1,587,12749,0.25,2.12,0.00,0.000,4,0.198,0.042,2588,3706,3466,0,0,0,0,0,0
$GC,12789,-0.52,-116.7,948.7,-6.4,587,12793,0.00,2.03,0.00,0.000,6,0.000,0.026,2588,2309,3466,0,0,0,0,0,0
$GC,13115,-0.67,-116.7,970.1,-6.7,593,13120,0.12,2.15,0.00,0.000,4,0.129,0.044,2545,3709,3465,0,0,0,0,0,0
$GC,13259,-0.67,-116.7,980.5,-7.8,595,13263,0.00,2.10,0.00,0.000,6,0.000,0.026,2545,2293,3465,0,0,0,0,0,0
$STATE,13430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13430,begin apogee
$GC,13436,-0.24,0.0,993.2,7.5,598,13539,0.47,0.00,99.85,1.544,6,0.163,0.000,2685,2650,3006,0,0,0,0,0,0
$STATE,13539,end apogee,CONTROL_FINISHED_OK
$STATE,13539,begin climb
$GC,13541,0.80,116.7,996.6,0.0,599,13656,1.08,2.40,108.05,1.452,4,0.120,0.046,3014,4041,2530,0,0,0,0,0,0
$GC,13707,0.73,154.6,995.4,5.4,602,13748,0.00,2.22,36.10,1.404,6,0.000,0.025,3024,2644,2375,0,0,0,0,0,0
$GC,14102,0.79,174.2,971.8,6.1,609,14127,0.00,2.22,17.45,1.402,4,0.000,0.038,3034,1258,2293,0,0,0,0,0,0
$GC,14212,0.81,185.3,965.0,6.4,610,14228,0.00,2.15,11.15,1.328,6,0.000,0.034,3034,2647,2250,0,0,0,0,0,0
$GC,14531,0.87,185.3,943.0,7.0,615,14535,0.00,2.15,0.00,0.000,4,0.000,0.046,3034,4049,2245,0,0,0,0,0,0
$GC,14575,0.80,185.3,939.7,7.3,615,14579,0.00,2.08,0.00,0.000,6,0.000,0.027,3044,2649,2245,0,0,0,0,0,0
$GC,14895,0.80,185.3,917.2,7.2,621,14899,0.00,2.10,0.00,0.000,4,0.000,0.039,3051,1256,2244,0,0,0,0,0,0
$GC,14972,0.80,185.3,911.4,7.9,622,14976,0.00,2.10,0.00,0.000,6,0.000,0.034,3052,2652,2243,0,0,0,0,0,0
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$STATE,26931,end climb,SURFACE_DEPTH_REACHED
$STATE,26931,begin surface coast
$FINISH,2.8,1.027276
$STATE,26993,end surface coast,CONTROL_FINISHED_OK
$STATE,26993,begin surface
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$TCM_TEMP,20.20
$XPDR_PINGS,0
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$10V_AH,9.7,32.868
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.650,234.925,377.125,0.000,0.000,31.010,41.467,183.050,0.000,0.000,13.630,2542.400,20721.154,546.638,3041.156,613.049,0.000,2065.877,0.000,3007.546,0.000,0.535,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235252
$DATA_FILE_SIZE,66497,1164
$CAP_FILE_SIZE,236814,0
$CFSIZE,260165632,229900288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,82.308,150.9,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7