version: 66.06
glider: 140
mission: 8
dive: 31
start: 10 8 109 10 41 13
data:
$ID,140
$MISSION,8
$DIVE,31
$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,-44877.648
$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,80
$R_STBD_OVSHOOT,41
$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
$GPS1,103436,6443.307,0.751,43,1.3,56,-5.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.58
$_SM_ANGLEo,-62.1
$GPS2,104052,6443.281,0.785,14,5.3,33,-5.2
$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,316.8,63379,-13.7,-6.875
$D_GRID,2721
$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,-6.90,0.000,2,0.000,0.000,219,2261,2016,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.6,-0.0,1,130,9.43,2.30,-82.62,0.000,4,0.267,0.061,2500,3701,3482,0,0,0,0,0,0
$GC,280,-0.65,-116.7,13.5,-11.5,46,287,0.15,2.08,0.00,0.000,6,0.193,0.026,2545,2295,3484,0,0,0,0,0,0
$GC,618,-0.58,-116.7,43.8,-8.4,107,624,0.12,2.05,0.00,0.000,4,0.214,0.038,2576,928,3484,0,0,0,0,0,0
$GC,675,-0.58,-116.7,48.4,-7.8,117,681,0.00,2.05,0.00,0.000,6,0.000,0.032,2576,2304,3484,0,0,0,0,0,0
$GC,1007,-0.62,-116.7,70.3,-5.8,155,1011,0.00,2.10,0.00,0.000,4,0.000,0.044,2577,3707,3485,0,0,0,0,0,0
$GC,1079,-0.68,-116.7,74.8,-6.3,158,1083,0.00,2.03,0.00,0.000,6,0.000,0.026,2577,2303,3485,0,0,0,0,0,0
$GC,1400,-0.72,-116.7,94.8,-5.9,174,1405,0.15,2.15,0.00,0.000,4,0.133,0.044,2529,3712,3486,0,0,0,0,0,0
$GC,1449,-0.67,-116.7,98.6,-7.8,176,1453,0.00,2.05,0.00,0.000,6,0.000,0.026,2528,2290,3486,0,0,0,0,0,0
$GC,1770,-0.61,-116.7,124.5,-8.2,192,1774,0.15,2.05,0.00,0.000,4,0.202,0.039,2567,912,3486,0,0,0,0,0,0
$GC,1892,-0.61,-116.7,134.0,-7.5,197,1897,0.00,2.05,0.00,0.000,6,0.000,0.031,2567,2307,3486,0,0,0,0,0,0
$GC,2208,-0.64,-116.7,155.8,-7.0,213,2212,0.00,2.08,0.00,0.000,4,0.000,0.044,2567,3708,3487,0,0,0,0,0,0
$GC,2280,-0.69,-116.7,161.1,-7.0,216,2284,0.00,2.05,0.00,0.000,6,0.000,0.026,2567,2275,3487,0,0,0,0,0,0
$GC,2601,-0.73,-116.7,183.5,-6.9,232,2605,0.12,2.17,0.00,0.000,4,0.138,0.044,2528,3709,3487,0,0,0,0,0,0
$GC,2666,-0.68,-116.7,189.1,-8.5,235,2670,0.00,2.03,0.00,0.000,6,0.000,0.026,2528,2293,3487,0,0,0,0,0,0
$GC,2993,-0.63,-116.7,216.3,-8.0,251,2995,0.12,0.00,0.00,0.000,6,0.209,0.000,2557,2289,3486,0,0,0,0,0,0
$GC,3302,-0.63,-116.7,238.2,-7.1,266,3306,0.00,2.12,0.00,0.000,4,0.000,0.045,2557,3706,3486,0,0,0,0,0,0
$GC,3368,-0.66,-116.7,243.0,-7.4,269,3372,0.00,2.05,0.00,0.000,6,0.000,0.027,2558,2305,3486,0,0,0,0,0,0
$GC,3696,-0.66,-116.7,266.0,-7.1,285,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2303,3486,0,0,0,0,0,0
$GC,4004,-0.66,-116.7,287.1,-6.5,300,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2303,3485,0,0,0,0,0,0
$GC,4333,-0.66,-116.7,307.5,-6.1,314,4337,0.00,2.10,0.00,0.000,4,0.000,0.045,2558,3702,3485,0,0,0,0,0,0
$GC,4411,-0.70,-116.7,312.6,-6.7,316,4415,0.00,2.03,0.00,0.000,6,0.000,0.028,2558,2289,3484,0,0,0,0,0,0
$GC,4729,-0.70,-116.7,333.4,-6.8,327,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2288,3484,0,0,0,0,0,0
$GC,5034,-0.70,-116.7,354.6,-7.0,337,5038,0.00,2.12,0.00,0.000,4,0.000,0.046,2558,3702,3483,0,0,0,0,0,0
$GC,5101,-0.74,-116.7,359.3,-6.8,339,5105,0.00,2.03,0.00,0.000,6,0.000,0.028,2558,2290,3483,0,0,0,0,0,0
$GC,5430,-0.74,-116.7,381.3,-6.7,350,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2289,3482,0,0,0,0,0,0
$GC,5736,-0.77,-116.7,401.5,-6.4,360,5741,0.12,2.15,0.00,0.000,4,0.146,0.047,2518,3704,3481,0,0,0,0,0,0
$GC,5819,-0.72,-116.7,408.3,-8.8,362,5823,0.00,2.03,0.00,0.000,6,0.000,0.028,2518,2293,3481,0,0,0,0,0,0
$GC,6142,-0.66,-116.7,433.9,-7.9,373,6147,0.12,2.05,0.00,0.000,4,0.212,0.041,2549,909,3480,0,0,0,0,0,0
$GC,6185,-0.66,-116.7,437.4,-8.5,374,6190,0.00,2.08,0.00,0.000,6,0.000,0.034,2549,2292,3480,0,0,0,0,0,0
$GC,6509,-0.66,-116.7,460.3,-7.1,385,6513,0.00,2.10,0.00,0.000,4,0.000,0.047,2549,3710,3479,0,0,0,0,0,0
$GC,6571,-0.66,-116.7,464.7,-7.2,387,6574,0.00,2.05,0.00,0.000,6,0.000,0.029,2549,2288,3479,0,0,0,0,0,0
$GC,6911,-0.66,-116.7,488.0,-6.7,398,6912,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2286,3479,0,0,0,0,0,0
$GC,7247,-0.66,-116.7,509.5,-6.2,407,7251,0.00,2.12,0.00,0.000,4,0.000,0.047,2549,3702,3478,0,0,0,0,0,0
$GC,7324,-0.66,-116.7,514.4,-6.0,408,7328,0.00,2.05,0.00,0.000,6,0.000,0.028,2549,2300,3477,0,0,0,0,0,0
$GC,7679,-0.66,-116.7,536.3,-6.2,414,7682,0.00,2.12,0.00,0.000,4,0.000,0.048,2549,3711,3477,0,0,0,0,0,0
$GC,7722,-0.66,-116.7,539.2,-6.5,414,7726,0.00,2.08,0.00,0.000,6,0.000,0.029,2549,2297,3477,0,0,0,0,0,0
$GC,8043,-0.66,-116.7,559.3,-6.3,420,8047,0.00,2.12,0.00,0.000,4,0.000,0.048,2549,3709,3476,0,0,0,0,0,0
$GC,8092,-0.70,-116.7,562.6,-7.1,420,8096,0.00,2.03,0.00,0.000,6,0.000,0.029,2549,2302,3476,0,0,0,0,0,0
$GC,8407,-0.70,-116.7,582.9,-6.5,426,8408,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2300,3476,0,0,0,0,0,0
$GC,8710,-0.70,-116.7,603.2,-6.7,431,8714,0.00,2.12,0.00,0.000,4,0.000,0.048,2549,3712,3475,0,0,0,0,0,0
$GC,8799,-0.70,-116.7,609.5,-6.5,432,8803,0.00,2.08,0.00,0.000,6,0.000,0.030,2549,2301,3475,0,0,0,0,0,0
$GC,9142,-0.70,-116.7,633.7,-7.1,438,9143,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2300,3475,0,0,0,0,0,0
$GC,9445,-0.70,-116.7,655.0,-7.0,443,9449,0.00,2.15,0.00,0.000,4,0.000,0.048,2549,3711,3474,0,0,0,0,0,0
$GC,9551,-0.73,-116.7,662.5,-7.2,444,9555,0.00,2.03,0.00,0.000,6,0.000,0.029,2549,2298,3474,0,0,0,0,0,0
$GC,9877,-0.73,-116.7,684.9,-6.9,450,9881,0.00,2.12,0.00,0.000,4,0.000,0.048,2549,3704,3474,0,0,0,0,0,0
$GC,9932,-0.77,-116.7,688.7,-6.6,450,9936,0.00,2.05,0.00,0.000,6,0.000,0.030,2548,2309,3473,0,0,0,0,0,0
$GC,10246,-0.77,-116.7,709.1,-6.5,456,10247,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2307,3473,0,0,0,0,0,0
$GC,10549,-0.77,-116.7,728.1,-6.3,461,10553,0.00,2.10,0.00,0.000,4,0.000,0.048,2549,3702,3473,0,0,0,0,0,0
$GC,10643,-0.80,-116.7,734.2,-6.9,462,10648,0.08,2.08,0.00,0.000,6,0.122,0.029,2503,2289,3472,0,0,0,0,0,0
$GC,10986,-0.73,-116.7,761.2,-7.9,468,10987,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2288,3472,0,0,0,0,0,0
$GC,11289,-0.65,-116.7,786.1,-8.3,473,11291,0.17,0.00,0.00,0.000,6,0.201,0.000,2548,2286,3472,0,0,0,0,0,0
$GC,11592,-0.65,-116.7,807.3,-7.0,478,11596,0.00,2.12,0.00,0.000,4,0.000,0.048,2548,3702,3471,0,0,0,0,0,0
$GC,11658,-0.69,-116.7,812.2,-7.1,479,11662,0.00,2.05,0.00,0.000,6,0.000,0.029,2549,2274,3471,0,0,0,0,0,0
$GC,12023,-0.69,-116.7,838.2,-7.2,485,12027,0.00,2.15,0.00,0.000,4,0.000,0.048,2549,3700,3471,0,0,0,0,0,0
$GC,12100,-0.74,-116.7,843.8,-7.1,486,12104,0.00,2.05,0.00,0.000,6,0.000,0.029,2548,2276,3471,0,0,0,0,0,0
$GC,12460,-0.77,-116.7,869.1,-7.0,492,12464,0.00,2.15,0.00,0.000,4,0.000,0.048,2548,3704,3471,0,0,0,0,0,0
$GC,12548,-0.81,-116.7,875.5,-6.9,493,12553,0.08,2.08,0.00,0.000,6,0.118,0.030,2502,2293,3471,0,0,0,0,0,0
$GC,12891,-0.74,-116.7,905.1,-8.8,499,12893,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2292,3470,0,0,0,0,0,0
$GC,13194,-0.67,-116.7,931.4,-8.6,504,13196,0.15,0.00,0.00,0.000,6,0.201,0.000,2540,2290,3470,0,0,0,0,0,0
$GC,13497,-0.67,-116.7,953.5,-7.3,509,13500,0.00,2.12,0.00,0.000,4,0.000,0.049,2540,3702,3470,0,0,0,0,0,0
$GC,13574,-0.70,-116.7,959.4,-7.5,510,13578,0.00,2.05,0.00,0.000,6,0.000,0.030,2541,2278,3470,0,0,0,0,0,0
$GC,13928,-0.70,-116.7,985.2,-7.3,516,13932,0.00,2.15,0.00,0.000,4,0.000,0.048,2541,3702,3470,0,0,0,0,0,0
$GC,13988,-0.70,-116.7,989.8,-7.5,516,13994,0.00,2.05,0.00,0.000,6,0.000,0.030,2540,2303,3469,0,0,0,0,0,0
$STATE,14053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14053,begin apogee
$GC,14058,-0.24,0.0,994.6,7.4,518,14160,0.47,0.00,98.97,1.562,6,0.183,0.000,2683,2648,3005,0,0,0,0,0,0
$STATE,14161,end apogee,CONTROL_FINISHED_OK
$STATE,14161,begin climb
$GC,14163,0.80,116.7,997.1,0.0,519,14278,1.08,2.40,105.12,1.463,4,0.130,0.049,3013,4038,2528,0,0,0,0,0,0
$GC,14362,0.54,116.7,990.2,8.9,522,14367,0.32,2.15,0.00,0.000,6,0.203,0.028,2946,2652,2522,0,0,0,0,0,0
$GC,14722,0.55,155.3,970.7,5.3,528,14761,0.00,2.35,33.75,1.456,4,0.000,0.051,2940,4042,2372,0,0,0,0,0,0
$GC,14767,0.61,202.6,968.2,5.0,528,14817,0.00,2.17,44.40,1.415,6,0.000,0.031,2949,2653,2179,0,0,0,0,0,0
$GC,15149,0.61,202.6,941.9,7.0,535,15150,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2653,2168,0,0,0,0,0,0
$GC,15452,0.61,202.6,921.1,6.9,540,15453,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2653,2166,0,0,0,0,0,0
$GC,15755,0.62,210.8,901.1,6.5,545,15767,0.00,2.28,6.53,1.280,4,0.000,0.051,2949,4049,2145,0,0,0,0,0,0
$GC,15777,0.62,212.5,899.4,6.8,545,15781,0.00,2.15,0.00,0.000,6,0.000,0.031,2958,2643,2144,0,0,0,0,0,0
$GC,16121,0.63,216.4,876.1,6.7,551,16132,0.00,2.28,6.55,1.276,4,0.000,0.051,2958,4041,2123,0,0,0,0,0,0
$GC,16148,0.63,221.2,874.0,6.7,551,16159,0.00,2.12,6.10,1.144,6,0.000,0.030,2967,2651,2104,0,0,0,0,0,0
$GC,16479,0.63,221.2,849.3,7.5,557,16480,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2651,2101,0,0,0,0,0,0
$GC,16782,0.63,221.2,825.7,7.8,562,16786,0.00,2.17,0.00,0.000,4,0.000,0.051,2967,4047,2100,0,0,0,0,0,0
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$STATE,27321,end climb,SURFACE_DEPTH_REACHED
$STATE,27321,begin surface coast
$FINISH,3.2,1.027096
$STATE,27352,end surface coast,CONTROL_FINISHED_OK
$STATE,27352,begin surface
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$TT8_MAMPS,0.026845
$HUMID,1078356764
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,14.40
$XPDR_PINGS,1
$24V_AH,23.1,7.372
$10V_AH,10.1,4.385
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.850,177.750,352.900,0.000,0.000,25.181,35.234,180.362,0.250,0.000,33.901,2103.230,22238.609,491.311,2478.640,483.482,0.000,1741.685,0.000,2426.351,0.000,0.533,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241596
$DATA_FILE_SIZE,56940,991
$CAP_FILE_SIZE,199217,0
$CFSIZE,260165632,252403712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,233.5,1
$GPS,081009,181957,6445.085,-6.026,40,99.0,59,-5.2