version: 66.06
glider: 140
mission: 8
dive: 247
start: 12 14 109 1 34 32
data:
$ID,140
$MISSION,8
$DIVE,247
$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,-48871.434
$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,84
$R_STBD_OVSHOOT,48
$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
$GPS1,012736,6438.795,30.909,32,2.0,33,-4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.81
$_SM_ANGLEo,-60.3
$GPS2,013409,6438.825,31.037,14,1.5,15,-4.9
$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,310.2,87017,-13.7,-6.875
$D_GRID,2625
$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,-8.12,0.000,2,0.000,0.000,207,2264,2044,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.8,-0.0,1,121,9.00,2.28,-76.60,0.000,4,0.232,0.054,2502,3706,3482,0,0,0,0,0,0
$GC,237,-0.69,-116.7,15.3,-9.6,38,245,0.10,2.08,0.00,0.000,6,0.176,0.024,2535,2299,3483,0,0,0,0,0,0
$GC,573,-0.65,-116.7,43.2,-8.1,99,579,0.00,2.05,0.00,0.000,4,0.000,0.036,2535,928,3484,0,0,0,0,0,0
$GC,623,-0.60,-116.7,47.4,-8.4,108,630,0.08,2.08,0.00,0.000,6,0.173,0.028,2560,2304,3485,0,0,0,0,0,0
$GC,963,-0.60,-116.7,71.8,-7.4,169,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2304,3485,0,0,0,0,0,0
$GC,1298,-0.60,-116.7,95.7,-7.3,230,1304,0.00,2.08,0.00,0.000,4,0.000,0.041,2560,3699,3486,0,0,0,0,0,0
$GC,1354,-0.63,-116.7,100.0,-7.7,240,1361,0.00,2.03,0.00,0.000,6,0.000,0.024,2560,2307,3485,0,0,0,0,0,0
$GC,1704,-0.63,-116.7,125.4,-6.4,292,1708,0.00,2.05,0.00,0.000,4,0.000,0.036,2560,922,3486,0,0,0,0,0,0
$GC,1747,-0.63,-116.7,128.4,-6.7,294,1751,0.00,2.08,0.00,0.000,6,0.000,0.028,2560,2299,3486,0,0,0,0,0,0
$GC,2073,-0.63,-116.7,149.7,-7.3,310,2077,0.00,2.08,0.00,0.000,4,0.000,0.035,2560,925,3486,0,0,0,0,0,0
$GC,2161,-0.63,-116.7,156.7,-8.1,314,2165,0.00,2.08,0.00,0.000,6,0.000,0.028,2560,2305,3486,0,0,0,0,0,0
$GC,2488,-0.67,-116.7,178.8,-6.9,330,2492,0.00,2.08,0.00,0.000,4,0.000,0.041,2560,3698,3486,0,0,0,0,0,0
$GC,2571,-0.73,-116.7,184.8,-7.5,334,2575,0.00,2.00,0.00,0.000,6,0.000,0.023,2560,2297,3486,0,0,0,0,0,0
$GC,2903,-0.77,-116.7,206.4,-6.5,350,2905,0.15,0.00,0.00,0.000,6,0.132,0.000,2513,2286,3486,0,0,0,0,0,0
$GC,3213,-0.71,-116.7,233.6,-9.0,365,3217,0.00,2.15,0.00,0.000,4,0.000,0.041,2512,3706,3486,0,0,0,0,0,0
$GC,3275,-0.66,-116.7,239.1,-8.3,368,3280,0.15,2.03,0.00,0.000,6,0.187,0.024,2551,2281,3486,0,0,0,0,0,0
$GC,3604,-0.66,-116.7,261.5,-6.8,384,3607,0.00,2.00,0.00,0.000,4,0.000,0.036,2552,927,3485,0,0,0,0,0,0
$GC,3681,-0.66,-116.7,267.5,-7.4,387,3685,0.00,2.05,0.00,0.000,6,0.000,0.028,2551,2296,3486,0,0,0,0,0,0
$GC,4002,-0.66,-116.7,291.4,-7.3,403,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2296,3486,0,0,0,0,0,0
$GC,4310,-0.66,-116.7,313.4,-7.0,415,4311,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2296,3485,0,0,0,0,0,0
$GC,4617,-0.69,-116.7,334.6,-6.8,425,4621,0.00,2.12,0.00,0.000,4,0.000,0.042,2551,3706,3484,0,0,0,0,0,0
$GC,4666,-0.74,-116.7,338.0,-6.7,426,4670,0.00,2.03,0.00,0.000,6,0.000,0.025,2551,2299,3484,0,0,0,0,0,0
$GC,4985,-0.77,-116.7,358.9,-6.6,437,4990,0.12,2.17,0.00,0.000,4,0.136,0.042,2512,3705,3484,0,0,0,0,0,0
$GC,5052,-0.73,-116.7,364.4,-8.4,439,5056,0.00,2.03,0.00,0.000,6,0.000,0.025,2512,2297,3483,0,0,0,0,0,0
$GC,5387,-0.69,-116.7,391.1,-8.2,450,5389,0.12,0.00,0.00,0.000,6,0.196,0.000,2542,2293,3482,0,0,0,0,0,0
$GC,5692,-0.69,-116.7,413.5,-7.4,460,5696,0.00,2.15,0.00,0.000,4,0.000,0.042,2542,3697,3482,0,0,0,0,0,0
$GC,5749,-0.72,-116.7,417.7,-7.5,461,5753,0.00,2.00,0.00,0.000,6,0.000,0.025,2543,2304,3481,0,0,0,0,0,0
$GC,6066,-0.72,-116.7,439.1,-6.6,472,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2296,3481,0,0,0,0,0,0
$GC,6372,-0.72,-116.7,458.9,-6.3,482,6376,0.00,2.12,0.00,0.000,4,0.000,0.042,2543,3698,3480,0,0,0,0,0,0
$GC,6439,-0.76,-116.7,463.3,-6.3,484,6443,0.00,2.00,0.00,0.000,6,0.000,0.025,2543,2301,3480,0,0,0,0,0,0
$GC,6774,-0.76,-116.7,484.5,-6.4,495,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2294,3479,0,0,0,0,0,0
$GC,7079,-0.76,-116.7,504.1,-6.4,504,7083,0.00,2.12,0.00,0.000,4,0.000,0.042,2543,3698,3479,0,0,0,0,0,0
$GC,7173,-0.79,-116.7,510.3,-7.1,505,7178,0.12,2.00,0.00,0.000,6,0.145,0.025,2503,2293,3478,0,0,0,0,0,0
$GC,7504,-0.73,-116.7,537.0,-8.1,511,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2292,3478,0,0,0,0,0,0
$GC,7807,-0.68,-116.7,561.9,-8.2,516,7812,0.15,2.05,0.00,0.000,4,0.183,0.038,2542,927,3477,0,0,0,0,0,0
$GC,7851,-0.68,-116.7,565.1,-7.1,516,7855,0.00,2.05,0.00,0.000,6,0.000,0.031,2542,2295,3477,0,0,0,0,0,0
$GC,8171,-0.68,-116.7,586.1,-6.6,522,8175,0.00,2.10,0.00,0.000,4,0.000,0.043,2542,3701,3477,0,0,0,0,0,0
$GC,8255,-0.72,-116.7,591.7,-6.8,523,8259,0.00,2.05,0.00,0.000,6,0.000,0.025,2542,2296,3476,0,0,0,0,0,0
$GC,8604,-0.72,-116.7,613.9,-6.3,529,8607,0.00,2.12,0.00,0.000,4,0.000,0.043,2542,3697,3476,0,0,0,0,0,0
$GC,8670,-0.77,-116.7,618.5,-6.9,530,8674,0.00,2.00,0.00,0.000,6,0.000,0.026,2542,2302,3475,0,0,0,0,0,0
$GC,9036,-0.77,-116.7,640.8,-6.1,536,9040,0.00,2.12,0.00,0.000,4,0.000,0.043,2542,3697,3475,0,0,0,0,0,0
$GC,9091,-0.81,-116.7,644.4,-6.4,536,9096,0.12,2.05,0.00,0.000,6,0.143,0.026,2502,2298,3475,0,0,0,0,0,0
$GC,9405,-0.76,-116.7,668.2,-7.7,542,9409,0.00,2.05,0.00,0.000,4,0.000,0.039,2502,920,3474,0,0,0,0,0,0
$GC,9461,-0.68,-116.7,672.8,-8.8,542,9467,0.15,2.05,0.00,0.000,6,0.193,0.032,2540,2297,3474,0,0,0,0,0,0
$GC,9770,-0.68,-116.7,693.0,-6.5,548,9774,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3706,3474,0,0,0,0,0,0
$GC,9864,-0.73,-116.7,699.6,-6.9,549,9869,0.00,2.08,0.00,0.000,6,0.000,0.026,2541,2296,3473,0,0,0,0,0,0
$GC,10202,-0.76,-116.7,722.8,-6.9,555,10206,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3700,3473,0,0,0,0,0,0
$GC,10257,-0.80,-116.7,726.7,-7.1,555,10261,0.00,2.05,0.00,0.000,6,0.000,0.026,2541,2307,3473,0,0,0,0,0,0
$GC,10573,-0.83,-116.7,747.6,-6.6,561,10578,0.15,2.15,0.00,0.000,4,0.133,0.044,2490,3701,3472,0,0,0,0,0,0
$GC,10628,-0.76,-116.7,752.2,-8.7,561,10634,0.00,2.08,0.00,0.000,6,0.000,0.026,2490,2299,3472,0,0,0,0,0,0
$GC,10937,-0.69,-116.7,776.8,-8.0,567,10942,0.17,2.10,0.00,0.000,4,0.185,0.040,2537,909,3472,0,0,0,0,0,0
$GC,10987,-0.69,-116.7,780.3,-6.4,567,10990,0.00,2.08,0.00,0.000,6,0.000,0.031,2537,2309,3472,0,0,0,0,0,0
$GC,11302,-0.69,-116.7,799.0,-5.9,573,11306,0.00,2.10,0.00,0.000,4,0.000,0.044,2537,3708,3472,0,0,0,0,0,0
$GC,11374,-0.73,-116.7,803.3,-5.5,574,11378,0.00,2.05,0.00,0.000,6,0.000,0.027,2538,2292,3472,0,0,0,0,0,0
$GC,11740,-0.73,-116.7,824.9,-6.0,580,11744,0.00,2.15,0.00,0.000,4,0.000,0.043,2537,3698,3471,0,0,0,0,0,0
$GC,11795,-0.77,-116.7,828.4,-6.0,580,11802,0.00,2.03,0.00,0.000,6,0.000,0.027,2537,2296,3471,0,0,0,0,0,0
$GC,12104,-0.77,-116.7,847.7,-6.2,586,12108,0.00,2.15,0.00,0.000,4,0.000,0.044,2538,3701,3471,0,0,0,0,0,0
$GC,12149,-0.81,-116.7,850.6,-5.8,586,12154,0.12,2.03,0.00,0.000,6,0.140,0.027,2500,2301,3471,0,0,0,0,0,0
$GC,12463,-0.77,-116.7,875.2,-8.0,592,12464,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2299,3471,0,0,0,0,0,0
$GC,12767,-0.72,-116.7,898.9,-7.9,597,12769,0.12,0.00,0.00,0.000,6,0.193,0.000,2529,2297,3470,0,0,0,0,0,0
$GC,13069,-0.72,-116.7,919.7,-6.9,602,13073,0.00,2.15,0.00,0.000,4,0.000,0.044,2530,3702,3470,0,0,0,0,0,0
$GC,13141,-0.75,-116.7,924.7,-6.6,603,13145,0.00,2.05,0.00,0.000,6,0.000,0.026,2530,2290,3470,0,0,0,0,0,0
$GC,13495,-0.75,-116.7,948.9,-6.8,609,13499,0.00,2.15,0.00,0.000,4,0.000,0.044,2530,3698,3470,0,0,0,0,0,0
$GC,13556,-0.79,-116.7,953.3,-7.5,610,13560,0.00,2.03,0.00,0.000,6,0.000,0.027,2530,2304,3469,0,0,0,0,0,0
$GC,13927,-0.79,-116.7,979.1,-7.0,616,13931,0.00,2.15,0.00,0.000,4,0.000,0.044,2530,3700,3469,0,0,0,0,0,0
$GC,13993,-0.83,-116.7,983.9,-7.2,617,13997,0.00,2.08,0.00,0.000,6,0.000,0.027,2530,2298,3469,0,0,0,0,0,0
$STATE,14114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14114,begin apogee
$GC,14119,-0.24,0.0,992.3,6.9,619,14223,0.52,0.00,100.95,1.552,6,0.165,0.000,2686,2658,3006,0,0,0,0,0,0
$STATE,14224,end apogee,CONTROL_FINISHED_OK
$STATE,14224,begin climb
$GC,14226,0.80,116.7,994.5,0.0,620,14344,1.08,2.40,108.60,1.454,4,0.112,0.044,3016,4043,2529,0,0,0,0,0,0
$GC,14428,0.56,116.7,988.3,7.9,624,14433,0.30,2.20,0.00,0.000,6,0.173,0.026,2952,2648,2522,0,0,0,0,0,0
$GC,14788,0.57,151.2,968.1,5.5,630,14824,0.00,2.28,30.70,1.441,4,0.000,0.044,2951,4039,2388,0,0,0,0,0,0
$GC,14836,0.55,169.4,965.0,6.1,630,14860,0.00,2.15,18.02,1.358,6,0.000,0.027,2958,2648,2314,0,0,0,0,0,0
$GC,15216,0.55,169.4,938.1,7.1,637,15220,0.00,2.20,0.00,0.000,4,0.000,0.045,2958,4046,2306,0,0,0,0,0,0
$GC,15231,0.55,169.4,936.9,7.1,637,15235,0.00,2.12,0.00,0.000,6,0.000,0.027,2967,2650,2306,0,0,0,0,0,0
$GC,15580,0.55,169.4,911.7,7.2,643,15584,0.00,2.20,0.00,0.000,4,0.000,0.045,2967,4051,2305,0,0,0,0,0,0
$GC,15607,0.49,169.4,909.5,7.5,643,15611,0.20,2.12,0.00,0.000,6,0.181,0.028,2924,2622,2305,0,0,0,0,0,0
$GC,15950,0.58,194.9,889.4,5.9,649,15975,0.00,0.00,22.60,1.441,6,0.000,0.000,2923,2622,2211,0,0,0,0,0,0
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$STATE,27150,end climb,SURFACE_DEPTH_REACHED
$STATE,27150,begin surface coast
$FINISH,3.2,1.027383
$STATE,27189,end surface coast,CONTROL_FINISHED_OK
$STATE,27190,begin surface
$SM_CCo,27206,36.28,0.818,0,0,1883,275.23
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$TT8_MAMPS,0.026845
$HUMID,1078408377
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,22.2,40.851
$10V_AH,9.8,27.147
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.375,211.525,314.425,36.275,0.000,29.559,40.631,189.350,0.000,0.000,15.210,2511.792,21109.727,539.340,2889.813,575.656,0.000,1960.392,0.000,2864.341,0.000,0.533,0.000
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$SENSOR_SECS,831.858,1076.138,663.977,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241316
$DATA_FILE_SIZE,69754,1202
$CAP_FILE_SIZE,224432,0
$CFSIZE,260165632,234401792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040, 83.1,1
$GPS,141209,090937,6440.671,25.780,24,1.4,25,-4.9