version: 66.06
glider: 140
mission: 8
dive: 156
start: 11 15 109 7 56 24
data:
$ID,140
$MISSION,8
$DIVE,156
$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,602.45679
$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,-47121.285
$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,73
$R_STBD_OVSHOOT,44
$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
$GPS1,074937,6450.409,-28.523,38,1.1,39,-5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.12
$_SM_ANGLEo,-49.6
$GPS2,075602,6450.432,-28.584,15,1.2,15,-5.5
$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,138.4,298969,-13.7,-6.875
$D_GRID,2771
$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,-8.35,0.000,2,0.000,0.000,218,2283,721,0,0,0,0,0,0
$GC,28,-0.80,-116.7,3.1,-0.0,1,196,8.48,0.00,-151.20,0.000,6,0.211,0.000,2510,2284,3483,0,0,0,0,0,0
$GC,525,-0.68,-116.7,30.9,-10.7,91,530,0.12,0.00,0.00,0.000,6,0.219,0.000,2540,2283,3485,0,0,0,0,0,0
$GC,859,-0.64,-116.7,64.4,-7.7,152,866,0.00,2.20,0.00,0.000,4,0.000,0.043,2540,3704,3485,0,0,0,0,0,0
$GC,878,-0.59,-116.7,66.1,-7.8,155,884,0.10,2.05,0.00,0.000,6,0.201,0.025,2566,2285,3485,0,0,0,0,0,0
$GC,1216,-0.59,-116.7,86.3,-6.0,216,1224,0.00,2.20,0.00,0.000,4,0.000,0.041,2566,3705,3485,0,0,0,0,0,0
$GC,1230,-0.59,-116.7,87.0,-6.0,218,1235,0.00,2.03,0.00,0.000,6,0.000,0.025,2567,2298,3485,0,0,0,0,0,0
$GC,1566,-0.59,-116.7,109.6,-7.0,279,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2298,3484,0,0,0,0,0,0
$GC,1890,-0.63,-116.7,132.5,-7.7,316,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2297,3485,0,0,0,0,0,0
$GC,2200,-0.67,-116.7,156.3,-7.7,331,2204,0.00,2.12,0.00,0.000,4,0.000,0.041,2566,3709,3485,0,0,0,0,0,0
$GC,2242,-0.72,-116.7,159.4,-8.1,333,2246,0.00,2.03,0.00,0.000,6,0.000,0.025,2567,2292,3485,0,0,0,0,0,0
$GC,2570,-0.76,-116.7,181.8,-7.2,349,2574,0.15,2.15,0.00,0.000,4,0.125,0.042,2517,3706,3485,0,0,0,0,0,0
$GC,2579,-0.76,-116.7,182.6,-7.0,349,2585,0.00,2.05,0.00,0.000,6,0.000,0.025,2517,2301,3485,0,0,0,0,0,0
$GC,2896,-0.69,-116.7,209.5,-8.3,365,2900,0.00,2.08,0.00,0.000,4,0.000,0.037,2517,908,3485,0,0,0,0,0,0
$GC,2911,-0.62,-116.7,211.0,-8.6,365,2918,0.17,2.08,0.00,0.000,6,0.194,0.030,2563,2300,3485,0,0,0,0,0,0
$GC,3229,-0.65,-116.7,230.2,-5.7,381,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2300,3484,0,0,0,0,0,0
$GC,3537,-0.69,-116.7,248.8,-6.3,396,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2300,3484,0,0,0,0,0,0
$GC,3846,-0.72,-116.7,269.0,-6.6,411,3850,0.00,2.10,0.00,0.000,4,0.000,0.043,2563,3709,3484,0,0,0,0,0,0
$GC,3869,-0.76,-116.7,270.5,-6.6,412,3873,0.15,2.03,0.00,0.000,6,0.128,0.025,2515,2287,3483,0,0,0,0,0,0
$GC,4195,-0.70,-116.7,297.2,-8.3,428,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2286,3483,0,0,0,0,0,0
$GC,4512,-0.64,-116.7,324.3,-8.8,439,4516,0.15,2.05,0.00,0.000,4,0.188,0.037,2554,912,3482,0,0,0,0,0,0
$GC,4549,-0.64,-116.7,327.6,-8.0,440,4553,0.00,2.08,0.00,0.000,6,0.000,0.029,2554,2305,3482,0,0,0,0,0,0
$GC,4884,-0.64,-116.7,353.6,-7.9,451,4888,0.00,2.05,0.00,0.000,4,0.000,0.036,2554,923,3481,0,0,0,0,0,0
$GC,4899,-0.64,-116.7,355.0,-7.9,451,4903,0.00,2.05,0.00,0.000,6,0.000,0.030,2554,2297,3481,0,0,0,0,0,0
$GC,5217,-0.64,-116.7,379.4,-7.6,462,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2296,3480,0,0,0,0,0,0
$GC,5523,-0.64,-116.7,401.2,-7.0,472,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2297,3480,0,0,0,0,0,0
$GC,5829,-0.64,-116.7,422.8,-7.0,482,5833,0.00,2.08,0.00,0.000,4,0.000,0.043,2554,3698,3479,0,0,0,0,0,0
$GC,5851,-0.67,-116.7,424.5,-7.6,482,5857,0.00,1.98,0.00,0.000,6,0.000,0.025,2554,2301,3479,0,0,0,0,0,0
$GC,6164,-0.70,-116.7,445.2,-6.6,493,6168,0.00,2.12,0.00,0.000,4,0.000,0.044,2554,3699,3478,0,0,0,0,0,0
$GC,6186,-0.73,-116.7,446.7,-6.2,493,6192,0.00,2.00,0.00,0.000,6,0.000,0.026,2554,2293,3478,0,0,0,0,0,0
$GC,6498,-0.73,-116.7,467.4,-6.7,504,6502,0.00,2.12,0.00,0.000,4,0.000,0.044,2554,3704,3477,0,0,0,0,0,0
$GC,6520,-0.77,-116.7,468.9,-6.8,504,6527,0.12,2.00,0.00,0.000,6,0.137,0.026,2515,2300,3477,0,0,0,0,0,0
$GC,6832,-0.71,-116.7,494.1,-8.1,515,6836,0.00,2.12,0.00,0.000,4,0.000,0.044,2515,3698,3476,0,0,0,0,0,0
$GC,6843,-0.66,-116.7,495.0,-8.1,515,6847,0.08,2.05,0.00,0.000,6,0.160,0.027,2552,2297,3476,0,0,0,0,0,0
$GC,7163,-0.66,-116.7,516.8,-6.8,522,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2296,3476,0,0,0,0,0,0
$GC,7466,-0.66,-116.7,538.5,-7.2,527,7470,0.00,2.12,0.00,0.000,4,0.000,0.044,2552,3697,3475,0,0,0,0,0,0
$GC,7493,-0.69,-116.7,540.5,-7.6,527,7497,0.00,2.00,0.00,0.000,6,0.000,0.027,2552,2297,3475,0,0,0,0,0,0
$GC,7836,-0.69,-116.7,565.1,-7.2,533,7840,0.00,2.12,0.00,0.000,4,0.000,0.044,2552,3704,3474,0,0,0,0,0,0
$GC,7856,-0.69,-116.7,566.6,-7.3,533,7861,0.00,2.05,0.00,0.000,6,0.000,0.027,2552,2304,3474,0,0,0,0,0,0
$GC,8200,-0.72,-116.7,591.8,-7.5,539,8204,0.00,2.10,0.00,0.000,4,0.000,0.044,2552,3698,3474,0,0,0,0,0,0
$GC,8222,-0.76,-116.7,593.4,-7.6,539,8226,0.00,2.03,0.00,0.000,6,0.000,0.027,2552,2296,3474,0,0,0,0,0,0
$GC,8565,-0.79,-116.7,618.5,-7.2,545,8570,0.12,2.15,0.00,0.000,4,0.135,0.044,2513,3698,3472,0,0,0,0,0,0
$GC,8605,-0.74,-116.7,621.6,-8.8,545,8609,0.00,2.03,0.00,0.000,6,0.000,0.027,2513,2290,3473,0,0,0,0,0,0
$GC,8924,-0.69,-116.7,648.4,-8.3,551,8929,0.10,2.15,0.00,0.000,4,0.213,0.045,2536,3697,3472,0,0,0,0,0,0
$GC,8934,-0.65,-116.7,649.3,-8.1,551,8938,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2304,3472,0,0,0,0,0,0
$GC,9294,-0.65,-116.7,674.3,-7.0,557,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2303,3471,0,0,0,0,0,0
$GC,9597,-0.65,-116.7,695.1,-6.8,562,9601,0.00,2.12,0.00,0.000,4,0.000,0.044,2536,3705,3471,0,0,0,0,0,0
$GC,9612,-0.65,-116.7,696.3,-6.8,562,9616,0.00,2.08,0.00,0.000,6,0.000,0.028,2536,2300,3471,0,0,0,0,0,0
$GC,9961,-0.65,-116.7,720.1,-6.9,568,9965,0.00,2.12,0.00,0.000,4,0.000,0.045,2536,3697,3471,0,0,0,0,0,0
$GC,9971,-0.65,-116.7,721.0,-6.8,568,9975,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2302,3470,0,0,0,0,0,0
$GC,10331,-0.65,-116.7,744.4,-6.4,574,10335,0.00,2.12,0.00,0.000,4,0.000,0.044,2536,3705,3470,0,0,0,0,0,0
$GC,10347,-0.65,-116.7,745.5,-6.4,574,10351,0.00,2.03,0.00,0.000,6,0.000,0.028,2536,2297,3470,0,0,0,0,0,0
$GC,10696,-0.65,-116.7,767.8,-6.4,580,10699,0.00,2.12,0.00,0.000,4,0.000,0.044,2536,3700,3469,0,0,0,0,0,0
$GC,10706,-0.65,-116.7,768.6,-6.3,580,10710,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2309,3469,0,0,0,0,0,0
$GC,11060,-0.65,-116.7,790.9,-6.4,586,11064,0.00,2.10,0.00,0.000,4,0.000,0.045,2536,3697,3469,0,0,0,0,0,0
$GC,11070,-0.65,-116.7,791.6,-6.4,586,11075,0.00,2.08,0.00,0.000,6,0.000,0.028,2536,2293,3469,0,0,0,0,0,0
$GC,11430,-0.65,-116.7,814.1,-6.2,592,11434,0.00,2.12,0.00,0.000,4,0.000,0.045,2536,3697,3468,0,0,0,0,0,0
$GC,11452,-0.65,-116.7,815.6,-6.8,592,11456,0.00,2.03,0.00,0.000,6,0.000,0.028,2536,2291,3468,0,0,0,0,0,0
$GC,11795,-0.65,-116.7,837.2,-6.3,598,11799,0.00,2.12,0.00,0.000,4,0.000,0.045,2536,3697,3468,0,0,0,0,0,0
$GC,11810,-0.65,-116.7,838.2,-6.3,598,11815,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2301,3468,0,0,0,0,0,0
$GC,12159,-0.65,-116.7,860.6,-6.5,604,12163,0.00,2.15,0.00,0.000,4,0.000,0.045,2536,3702,3468,0,0,0,0,0,0
$GC,12169,-0.65,-116.7,861.3,-6.5,604,12174,0.00,2.08,0.00,0.000,6,0.000,0.028,2536,2302,3467,0,0,0,0,0,0
$GC,12524,-0.65,-116.7,885.2,-6.8,610,12528,0.00,2.12,0.00,0.000,4,0.000,0.045,2536,3704,3467,0,0,0,0,0,0
$GC,12534,-0.65,-116.7,885.9,-6.8,610,12538,0.00,2.05,0.00,0.000,6,0.000,0.028,2537,2287,3468,0,0,0,0,0,0
$GC,12894,-0.65,-116.7,910.0,-6.6,616,12898,0.00,2.15,0.00,0.000,4,0.000,0.044,2536,3704,3467,0,0,0,0,0,0
$GC,12904,-0.65,-116.7,910.8,-6.6,616,12908,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2288,3467,0,0,0,0,0,0
$GC,13258,-0.65,-116.7,934.6,-6.7,622,13262,0.00,2.15,0.00,0.000,4,0.000,0.045,2536,3703,3467,0,0,0,0,0,0
$GC,13269,-0.65,-116.7,935.4,-6.7,622,13273,0.00,2.08,0.00,0.000,6,0.000,0.028,2536,2296,3467,0,0,0,0,0,0
$GC,13623,-0.65,-116.7,959.1,-6.8,628,13627,0.00,2.12,0.00,0.000,4,0.000,0.045,2536,3697,3466,0,0,0,0,0,0
$GC,13638,-0.65,-116.7,960.1,-6.6,628,13642,0.00,2.03,0.00,0.000,6,0.000,0.028,2536,2298,3467,0,0,0,0,0,0
$GC,13992,-0.65,-116.7,983.3,-6.5,634,13996,0.00,2.12,0.00,0.000,4,0.000,0.045,2536,3700,3466,0,0,0,0,0,0
$GC,14008,-0.65,-116.7,984.4,-6.4,634,14012,0.00,2.08,0.00,0.000,6,0.000,0.028,2536,2300,3466,0,0,0,0,0,0
$STATE,14112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14112,begin apogee
$GC,14118,-0.24,0.0,991.3,6.4,636,14219,0.50,0.00,98.25,1.548,6,0.170,0.000,2687,2645,3006,0,0,0,0,0,0
$STATE,14219,end apogee,CONTROL_FINISHED_OK
$STATE,14220,begin climb
$GC,14221,0.80,116.7,993.2,0.0,637,14337,1.08,2.40,106.43,1.450,4,0.116,0.045,3018,4037,2529,0,0,0,0,0,0
$GC,14449,0.55,116.7,982.1,9.8,641,14454,0.32,2.17,0.00,0.000,6,0.182,0.027,2947,2645,2522,0,0,0,0,0,0
$GC,14793,0.53,133.3,960.4,6.2,647,14809,0.00,0.00,14.45,1.404,6,0.000,0.000,2947,2645,2462,0,0,0,0,0,0
$GC,15095,0.54,140.2,940.6,6.6,652,15109,0.00,2.30,7.28,1.303,4,0.000,0.047,2940,4049,2433,0,0,0,0,0,0
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$STATE,27613,end climb,SURFACE_DEPTH_REACHED
$STATE,27613,begin surface coast
$FINISH,2.8,1.015153
$STATE,27652,end surface coast,CONTROL_FINISHED_OK
$STATE,27652,begin surface
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$HUMID,1078276764
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$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,22.7,26.661
$10V_AH,10.1,16.875
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.250,185.450,321.425,291.600,0.000,24.482,33.995,196.298,0.000,0.000,15.097,2424.578,21850.717,846.109,2660.393,551.470,0.000,2181.876,0.000,2639.089,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241376
$DATA_FILE_SIZE,69599,1196
$CAP_FILE_SIZE,214629,0
$CFSIZE,260165632,242470912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,292.1,1
$GPS,151109,154336,6448.520,-25.524,34,1.8,34,-5.4