version: 66.06
glider: 140
mission: 8
dive: 30
start: 10 8 109 2 55 18
data:
$ID,140
$MISSION,8
$DIVE,30
$D_SURF,3
$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,-44843.125
$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,55
$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
$GPS1,024906,6442.113,7.744,30,1.4,31,-5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.46
$_SM_ANGLEo,-54.5
$GPS2,025455,6442.086,7.701,13,1.9,13,-5.1
$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,315.1,68908,-13.7,-6.875
$D_GRID,2681
$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,-7.70,0.000,2,0.000,0.000,214,2294,2036,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.5,-0.0,1,126,9.45,2.22,-81.43,0.000,4,0.267,0.063,2505,3696,3483,0,0,0,0,0,0
$GC,310,-0.65,-116.7,22.0,-9.8,52,316,0.15,2.10,0.00,0.000,6,0.194,0.027,2550,2281,3485,0,0,0,0,0,0
$GC,648,-0.59,-116.7,50.7,-8.6,113,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2279,3485,0,0,0,0,0,0
$GC,981,-0.59,-116.7,79.3,-7.6,143,985,0.00,2.03,0.00,0.000,4,0.000,0.040,2550,919,3486,0,0,0,0,0,0
$GC,1059,-0.56,-116.7,85.7,-7.8,146,1064,0.08,2.10,0.00,0.000,6,0.194,0.031,2575,2303,3487,0,0,0,0,0,0
$GC,1380,-0.60,-116.7,107.6,-6.9,162,1384,0.00,2.10,0.00,0.000,4,0.000,0.044,2575,3713,3488,0,0,0,0,0,0
$GC,1430,-0.66,-116.7,111.3,-6.7,164,1434,0.00,2.03,0.00,0.000,6,0.000,0.026,2575,2299,3488,0,0,0,0,0,0
$GC,1751,-0.71,-116.7,133.0,-6.6,180,1753,0.12,0.00,0.00,0.000,6,0.140,0.000,2537,2296,3488,0,0,0,0,0,0
$GC,2061,-0.71,-116.7,158.7,-8.7,195,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2296,3488,0,0,0,0,0,0
$GC,2370,-0.71,-116.7,183.5,-7.4,210,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2296,3489,0,0,0,0,0,0
$GC,2679,-0.68,-116.7,204.5,-6.9,225,2683,0.00,2.12,0.00,0.000,4,0.000,0.045,2536,3713,3488,0,0,0,0,0,0
$GC,2779,-0.68,-116.7,211.7,-6.8,229,2786,0.00,2.08,0.00,0.000,6,0.000,0.027,2536,2296,3488,0,0,0,0,0,0
$GC,3094,-0.68,-116.7,234.2,-7.1,245,3098,0.00,2.05,0.00,0.000,4,0.000,0.041,2537,901,3487,0,0,0,0,0,0
$GC,3156,-0.63,-116.7,239.0,-7.9,248,3160,0.00,2.08,0.00,0.000,6,0.000,0.033,2537,2308,3487,0,0,0,0,0,0
$GC,3484,-0.60,-116.7,263.0,-7.3,264,3489,0.12,2.10,0.00,0.000,4,0.221,0.047,2566,3712,3486,0,0,0,0,0,0
$GC,3539,-0.66,-116.7,266.7,-6.0,266,3545,0.00,2.03,0.00,0.000,6,0.000,0.028,2567,2297,3486,0,0,0,0,0,0
$GC,3855,-0.70,-116.7,285.1,-5.8,282,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2297,3486,0,0,0,0,0,0
$GC,4184,-0.75,-116.7,304.6,-6.0,297,4189,0.15,2.15,0.00,0.000,4,0.131,0.047,2518,3713,3485,0,0,0,0,0,0
$GC,4272,-0.70,-116.7,311.9,-8.5,299,4278,0.00,2.08,0.00,0.000,6,0.000,0.028,2518,2296,3485,0,0,0,0,0,0
$GC,4585,-0.63,-116.7,336.8,-7.9,310,4587,0.15,0.00,0.00,0.000,6,0.212,0.000,2555,2292,3485,0,0,0,0,0,0
$GC,4891,-0.63,-116.7,356.8,-6.7,320,4895,0.00,2.12,0.00,0.000,4,0.000,0.048,2555,3706,3484,0,0,0,0,0,0
$GC,4957,-0.67,-116.7,361.5,-7.3,322,4962,0.00,2.05,0.00,0.000,6,0.000,0.028,2555,2305,3484,0,0,0,0,0,0
$GC,5292,-0.67,-116.7,384.9,-7.0,333,5296,0.00,2.10,0.00,0.000,4,0.000,0.047,2555,3702,3483,0,0,0,0,0,0
$GC,5341,-0.71,-116.7,388.5,-7.7,334,5345,0.00,2.05,0.00,0.000,6,0.000,0.028,2555,2306,3483,0,0,0,0,0,0
$GC,5659,-0.71,-116.7,411.3,-7.1,345,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2306,3482,0,0,0,0,0,0
$GC,5965,-0.71,-116.7,433.0,-7.0,355,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2306,3482,0,0,0,0,0,0
$GC,6271,-0.71,-116.7,454.4,-7.0,365,6275,0.00,2.10,0.00,0.000,4,0.000,0.048,2555,3701,3481,0,0,0,0,0,0
$GC,6355,-0.76,-116.7,460.4,-7.2,367,6359,0.12,2.03,0.00,0.000,6,0.147,0.028,2517,2288,3481,0,0,0,0,0,0
$GC,6678,-0.69,-116.7,487.1,-8.3,378,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2288,3480,0,0,0,0,0,0
$GC,7013,-0.63,-116.7,515.9,-8.7,386,7015,0.15,0.00,0.00,0.000,6,0.202,0.000,2555,2285,3479,0,0,0,0,0,0
$GC,7315,-0.63,-116.7,537.7,-7.1,391,7319,0.00,2.12,0.00,0.000,4,0.000,0.048,2554,3700,3479,0,0,0,0,0,0
$GC,7387,-0.68,-116.7,543.1,-7.1,392,7391,0.00,2.05,0.00,0.000,6,0.000,0.029,2555,2302,3479,0,0,0,0,0,0
$GC,7748,-0.71,-116.7,568.4,-7.0,398,7752,0.00,2.12,0.00,0.000,4,0.000,0.048,2555,3710,3478,0,0,0,0,0,0
$GC,7803,-0.76,-116.7,572.5,-7.2,398,7810,0.12,2.05,0.00,0.000,6,0.145,0.029,2516,2285,3478,0,0,0,0,0,0
$GC,8112,-0.71,-116.7,597.8,-8.3,404,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2285,3478,0,0,0,0,0,0
$GC,8415,-0.66,-116.7,622.5,-8.2,409,8417,0.12,0.00,0.00,0.000,6,0.206,0.000,2546,2284,3477,0,0,0,0,0,0
$GC,8719,-0.66,-116.7,642.8,-6.6,414,8720,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2284,3477,0,0,0,0,0,0
$GC,9021,-0.66,-116.7,662.8,-6.6,419,9025,0.00,2.15,0.00,0.000,4,0.000,0.049,2546,3706,3476,0,0,0,0,0,0
$GC,9110,-0.69,-116.7,668.8,-6.9,420,9114,0.00,2.05,0.00,0.000,6,0.000,0.029,2546,2311,3476,0,0,0,0,0,0
$GC,9459,-0.69,-116.7,691.9,-6.6,426,9463,0.00,2.10,0.00,0.000,4,0.000,0.048,2546,3703,3475,0,0,0,0,0,0
$GC,9515,-0.73,-116.7,695.8,-6.3,426,9520,0.00,2.03,0.00,0.000,6,0.000,0.030,2546,2297,3475,0,0,0,0,0,0
$GC,9824,-0.73,-116.7,715.7,-6.4,432,9825,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2298,3475,0,0,0,0,0,0
$GC,10127,-0.73,-116.7,734.6,-6.2,437,10131,0.00,2.12,0.00,0.000,4,0.000,0.048,2546,3705,3474,0,0,0,0,0,0
$GC,10211,-0.77,-116.7,739.9,-6.7,438,10215,0.00,2.03,0.00,0.000,6,0.000,0.030,2546,2302,3474,0,0,0,0,0,0
$GC,10560,-0.77,-116.7,762.0,-6.4,444,10561,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2302,3474,0,0,0,0,0,0
$GC,10863,-0.77,-116.7,781.1,-6.3,449,10866,0.00,2.10,0.00,0.000,4,0.000,0.048,2546,3700,3473,0,0,0,0,0,0
$GC,10975,-0.80,-116.7,788.3,-6.5,450,10980,0.12,2.03,0.00,0.000,6,0.149,0.029,2506,2290,3473,0,0,0,0,0,0
$GC,11289,-0.74,-116.7,811.9,-7.6,456,11291,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2288,3473,0,0,0,0,0,0
$GC,11592,-0.67,-116.7,834.7,-7.5,461,11594,0.15,0.00,0.00,0.000,6,0.209,0.000,2543,2287,3473,0,0,0,0,0,0
$GC,11896,-0.67,-116.7,853.3,-6.0,466,11900,0.00,2.12,0.00,0.000,4,0.000,0.049,2543,3700,3473,0,0,0,0,0,0
$GC,11958,-0.71,-116.7,857.0,-5.7,466,11963,0.00,2.03,0.00,0.000,6,0.000,0.030,2543,2297,3473,0,0,0,0,0,0
$GC,12267,-0.71,-116.7,875.2,-5.9,472,12268,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2297,3473,0,0,0,0,0,0
$GC,12570,-0.71,-116.7,893.5,-6.0,477,12574,0.00,2.12,0.00,0.000,4,0.000,0.048,2543,3705,3472,0,0,0,0,0,0
$GC,12682,-0.75,-116.7,900.6,-6.3,478,12685,0.00,2.05,0.00,0.000,6,0.000,0.030,2543,2298,3472,0,0,0,0,0,0
$GC,13007,-0.75,-116.7,920.4,-6.1,484,13011,0.00,2.12,0.00,0.000,4,0.000,0.049,2543,3705,3472,0,0,0,0,0,0
$GC,13069,-0.79,-116.7,924.4,-6.4,485,13073,0.00,2.03,0.00,0.000,6,0.000,0.031,2543,2302,3472,0,0,0,0,0,0
$GC,13439,-0.79,-116.7,947.6,-6.3,491,13443,0.00,2.12,0.00,0.000,4,0.000,0.049,2543,3709,3471,0,0,0,0,0,0
$GC,13501,-0.83,-116.7,951.5,-6.5,492,13505,0.15,2.05,0.00,0.000,6,0.135,0.031,2494,2288,3471,0,0,0,0,0,0
$GC,13867,-0.75,-116.7,979.7,-7.8,498,13869,0.12,0.00,0.00,0.000,6,0.214,0.000,2524,2285,3471,0,0,0,0,0,0
$STATE,14045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14045,begin apogee
$GC,14050,-0.24,0.0,992.5,7.2,501,14152,0.52,0.00,99.10,1.562,6,0.184,0.000,2681,2647,3006,0,0,0,0,0,0
$STATE,14153,end apogee,CONTROL_FINISHED_OK
$STATE,14153,begin climb
$GC,14155,0.80,116.7,994.6,0.0,502,14269,1.10,2.35,105.25,1.463,4,0.128,0.050,3014,4040,2528,0,0,0,0,0,0
$GC,14319,0.54,116.7,988.6,9.2,505,14324,0.35,2.17,0.00,0.000,6,0.202,0.028,2941,2655,2523,0,0,0,0,0,0
$GC,14656,0.52,133.5,967.4,6.2,511,14676,0.00,2.28,14.43,1.400,4,0.000,0.052,2940,4043,2460,0,0,0,0,0,0
$GC,14699,0.45,133.7,964.4,6.9,511,14704,0.15,2.15,0.00,0.000,6,0.205,0.030,2914,2648,2458,0,0,0,0,0,0
$GC,15019,0.52,158.6,945.4,5.9,517,15044,0.00,0.00,23.40,1.434,6,0.000,0.000,2915,2647,2359,0,0,0,0,0,0
$GC,15323,0.59,166.0,925.7,6.6,522,15333,0.12,0.00,7.40,1.305,6,0.133,0.000,2953,2645,2330,0,0,0,0,0,0
$GC,15624,0.59,166.0,901.7,8.0,527,15628,0.00,2.20,0.00,0.000,4,0.000,0.051,2953,4047,2327,0,0,0,0,0,0
$GC,15646,0.53,166.0,899.9,8.8,527,15650,0.00,2.10,0.00,0.000,6,0.000,0.031,2962,2653,2326,0,0,0,0,0,0
$GC,15989,0.49,166.0,871.5,8.3,533,15993,0.15,2.20,0.00,0.000,4,0.209,0.051,2925,4051,2326,0,0,0,0,0,0
$GC,16020,0.49,166.0,868.8,7.6,533,16025,0.00,2.12,0.00,0.000,6,0.000,0.031,2933,2650,2325,0,0,0,0,0,0
$GC,16358,0.49,166.0,844.6,7.1,539,16359,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2649,2325,0,0,0,0,0,0
$GC,16661,0.49,166.0,823.7,6.9,544,16662,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2649,2324,0,0,0,0,0,0
$GC,16964,0.50,171.0,803.4,6.7,549,16971,0.00,0.00,5.25,1.169,6,0.000,0.000,2933,2649,2309,0,0,0,0,0,0
$GC,17268,0.50,178.3,783.4,6.6,554,17278,0.00,0.00,8.12,1.320,6,0.000,0.000,2933,2649,2279,0,0,0,0,0,0
$GC,17571,0.54,180.7,762.8,6.8,559,17572,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2649,2277,0,0,0,0,0,0
$GC,17874,0.57,180.7,741.7,6.9,564,17875,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2649,2276,0,0,0,0,0,0
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$STATE,27382,end climb,SURFACE_DEPTH_REACHED
$STATE,27382,begin surface coast
$FINISH,2.8,1.026909
$STATE,27418,end surface coast,CONTROL_FINISHED_OK
$STATE,27418,begin surface
$SM_CCo,27434,31.52,0.821,0,0,1884,275.23
$SM_GC,3.68,0.00,0.00,31.52,0.000,0.000,0.821,220,2261,1884,-7.96,-1.10,275.23
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$TT8_MAMPS,0.027612
$HUMID,1078412248
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,23.1,7.221
$10V_AH,10.1,4.280
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.375,161.275,327.000,31.525,0.000,30.626,38.201,163.264,0.000,0.000,13.975,2082.918,22434.352,525.945,2286.276,478.944,0.000,1678.554,0.000,2265.608,0.000,0.533,0.000
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$SENSOR_SECS,668.100,985.837,533.891,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241624
$DATA_FILE_SIZE,53961,963
$CAP_FILE_SIZE,200251,0
$CFSIZE,260165632,252485632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063,212.2,1
$GPS,081009,103436,6443.307,0.751,43,1.3,56,-5.2