version: 66.06
glider: 140
mission: 8
dive: 110
start: 11 1 109 1 4 11
data:
$ID,140
$MISSION,8
$DIVE,110
$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,-46350.777
$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,79
$R_STBD_OVSHOOT,50
$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
$GPS1,005736,6324.000,240.343,25,1.5,26,-3.4
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,3.34
$_SM_ANGLEo,-53.0
$GPS2,010349,6324.034,240.325,16,1.5,17,-3.4
$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,321.1,255296,-13.7,-6.875
$D_GRID,1144
$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,-7.50,0.000,2,0.000,0.000,221,2274,1848,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.5,-0.0,1,131,8.95,2.08,-85.65,0.000,4,0.243,0.051,2504,917,3483,0,0,0,0,0,0
$GC,381,-0.61,-116.7,34.2,-11.7,64,388,0.17,2.10,0.00,0.000,6,0.170,0.029,2558,2308,3484,0,0,0,0,0,0
$GC,724,-0.61,-116.7,61.7,-7.1,123,728,0.00,2.08,0.00,0.000,4,0.000,0.035,2558,912,3484,0,0,0,0,0,0
$GC,893,-0.57,-116.7,74.3,-5.3,130,899,0.00,2.08,0.00,0.000,6,0.000,0.029,2558,2304,3484,0,0,0,0,0,0
$GC,1208,-0.57,-116.7,95.3,-7.0,146,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2304,3484,0,0,0,0,0,0
$GC,1518,-0.57,-116.7,118.9,-7.8,161,1522,0.00,2.08,0.00,0.000,4,0.000,0.041,2558,3708,3484,0,0,0,0,0,0
$GC,1567,-0.57,-116.7,122.9,-7.4,163,1571,0.00,2.03,0.00,0.000,6,0.000,0.024,2558,2302,3484,0,0,0,0,0,0
$GC,1889,-0.57,-116.7,148.0,-8.0,179,1893,0.00,2.05,0.00,0.000,4,0.000,0.035,2558,915,3485,0,0,0,0,0,0
$GC,1957,-0.57,-116.7,154.1,-9.5,182,1961,0.00,2.03,0.00,0.000,6,0.000,0.028,2558,2302,3485,0,0,0,0,0,0
$GC,2283,-0.57,-116.7,182.4,-8.5,198,2287,0.00,2.05,0.00,0.000,4,0.000,0.041,2558,3698,3485,0,0,0,0,0,0
$GC,2377,-0.57,-116.7,190.6,-8.5,202,2381,0.00,2.03,0.00,0.000,6,0.000,0.023,2558,2286,3485,0,0,0,0,0,0
$GC,2704,-0.57,-116.7,214.6,-7.6,218,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2286,3485,0,0,0,0,0,0
$GC,3013,-0.57,-116.7,237.2,-7.1,233,3017,0.00,2.10,0.00,0.000,4,0.000,0.041,2558,3699,3485,0,0,0,0,0,0
$GC,3062,-0.57,-116.7,240.7,-7.0,235,3066,0.00,2.00,0.00,0.000,6,0.000,0.023,2558,2301,3485,0,0,0,0,0,0
$GC,3383,-0.57,-116.7,260.7,-6.1,251,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2298,3485,0,0,0,0,0,0
$GC,3693,-0.57,-116.7,280.1,-6.6,266,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2298,3485,0,0,0,0,0,0
$GC,4012,-0.57,-116.7,303.9,-8.2,281,4016,0.00,2.08,0.00,0.000,4,0.000,0.041,2558,3698,3485,0,0,0,0,0,0
$GC,4061,-0.57,-116.7,308.1,-8.4,282,4065,0.00,2.00,0.00,0.000,6,0.000,0.023,2558,2299,3485,0,0,0,0,0,0
$GC,4379,-0.57,-116.7,332.1,-7.2,293,4382,0.00,2.00,0.00,0.000,4,0.000,0.035,2558,922,3485,0,0,0,0,0,0
$GC,4439,-0.57,-116.7,336.7,-7.6,294,4445,0.00,2.05,0.00,0.000,6,0.000,0.028,2558,2307,3485,0,0,0,0,0,0
$GC,4752,-0.57,-116.7,356.9,-6.5,305,4756,0.00,2.03,0.00,0.000,4,0.000,0.041,2558,3698,3485,0,0,0,0,0,0
$GC,4801,-0.57,-116.7,360.3,-6.4,306,4805,0.00,2.00,0.00,0.000,6,0.000,0.024,2558,2297,3485,0,0,0,0,0,0
$GC,5124,-0.57,-116.7,384.0,-7.6,317,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2296,3484,0,0,0,0,0,0
$GC,5431,-0.57,-116.7,401.7,-5.5,327,5435,0.00,2.10,0.00,0.000,4,0.000,0.041,2558,3705,3484,0,0,0,0,0,0
$GC,5515,-0.61,-116.7,406.5,-5.5,329,5518,0.00,1.98,0.00,0.000,6,0.000,0.024,2558,2298,3484,0,0,0,0,0,0
$GC,5832,-0.61,-116.7,425.3,-6.1,340,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2295,3483,0,0,0,0,0,0
$GC,6139,-0.61,-116.7,444.7,-6.2,350,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2295,3484,0,0,0,0,0,0
$GC,6445,-0.61,-116.7,464.0,-6.5,360,6449,0.00,2.10,0.00,0.000,4,0.000,0.041,2558,3698,3483,0,0,0,0,0,0
$GC,6546,-0.64,-116.7,471.1,-7.3,363,6550,0.00,1.98,0.00,0.000,6,0.000,0.025,2558,2293,3482,0,0,0,0,0,0
$GC,6887,-0.64,-116.7,493.5,-6.6,374,6891,0.00,2.10,0.00,0.000,4,0.000,0.041,2558,3699,3482,0,0,0,0,0,0
$GC,6964,-0.68,-116.7,499.0,-7.0,376,6968,0.00,2.00,0.00,0.000,6,0.000,0.025,2558,2304,3482,0,0,0,0,0,0
$GC,7285,-0.68,-116.7,521.0,-6.9,382,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2303,3481,0,0,0,0,0,0
$GC,7589,-0.71,-116.7,541.6,-6.8,387,7592,0.00,2.08,0.00,0.000,4,0.000,0.042,2558,3697,3480,0,0,0,0,0,0
$GC,7655,-0.75,-116.7,546.0,-6.4,388,7660,0.12,1.98,0.00,0.000,6,0.139,0.025,2517,2293,3479,0,0,0,0,0,0
$GC,8021,-0.70,-116.7,573.7,-7.6,394,8025,0.00,2.00,0.00,0.000,4,0.000,0.038,2518,918,3478,0,0,0,0,0,0
$GC,8083,-0.62,-116.7,578.7,-8.1,394,8089,0.17,2.03,0.00,0.000,6,0.191,0.031,2564,2309,3479,0,0,0,0,0,0
$GC,8392,-0.67,-116.7,596.4,-5.6,400,8396,0.00,2.05,0.00,0.000,4,0.000,0.043,2564,3703,3478,0,0,0,0,0,0
$GC,8470,-0.73,-116.7,601.1,-6.1,401,8473,0.00,1.98,0.00,0.000,6,0.000,0.025,2564,2302,3477,0,0,0,0,0,0
$GC,8824,-0.77,-116.7,621.7,-5.8,407,8826,0.15,0.00,0.00,0.000,6,0.125,0.000,2515,2295,3476,0,0,0,0,0,0
$GC,9127,-0.71,-116.7,644.7,-7.7,412,9128,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2295,3475,0,0,0,0,0,0
$GC,9430,-0.66,-116.7,668.1,-7.7,417,9432,0.12,0.00,0.00,0.000,6,0.194,0.000,2546,2293,3474,0,0,0,0,0,0
$GC,9733,-0.66,-116.7,688.4,-6.7,422,9737,0.00,2.10,0.00,0.000,4,0.000,0.044,2545,3698,3473,0,0,0,0,0,0
$GC,9795,-0.66,-116.7,692.6,-6.5,423,9799,0.00,2.00,0.00,0.000,6,0.000,0.027,2546,2291,3473,0,0,0,0,0,0
$GC,10166,-0.66,-116.7,716.7,-6.5,429,10167,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2289,3471,0,0,0,0,0,0
$GC,10469,-0.66,-116.7,736.0,-6.3,434,10473,0.00,2.12,0.00,0.000,4,0.000,0.044,2546,3704,3471,0,0,0,0,0,0
$GC,10525,-0.66,-116.7,739.9,-6.7,434,10529,0.00,2.05,0.00,0.000,6,0.000,0.027,2546,2297,3470,0,0,0,0,0,0
$GC,10839,-0.66,-116.7,759.7,-6.3,440,10840,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2296,3470,0,0,0,0,0,0
$GC,11142,-0.66,-116.7,778.5,-6.1,445,11146,0.00,2.10,0.00,0.000,4,0.000,0.044,2546,3698,3469,0,0,0,0,0,0
$GC,11196,-0.66,-116.7,781.9,-6.4,445,11203,0.00,2.05,0.00,0.000,6,0.000,0.027,2546,2294,3469,0,0,0,0,0,0
$GC,11506,-0.66,-116.7,798.7,-5.4,451,11507,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2293,3468,0,0,0,0,0,0
$GC,11809,-0.66,-116.7,813.8,-5.0,456,11813,0.00,2.10,0.00,0.000,4,0.000,0.044,2546,3694,3467,0,0,0,0,0,0
$GC,11871,-0.66,-116.7,817.2,-5.2,457,11874,0.00,2.00,0.00,0.000,6,0.000,0.028,2546,2300,3467,0,0,0,0,0,0
$GC,12242,-0.66,-116.7,837.3,-5.5,463,12245,0.00,2.12,0.00,0.000,4,0.000,0.045,2546,3702,3466,0,0,0,0,0,0
$GC,12291,-0.66,-116.7,840.2,-6.6,463,12295,0.00,2.05,0.00,0.000,6,0.000,0.027,2546,2303,3466,0,0,0,0,0,0
$GC,12612,-0.66,-116.7,858.5,-5.8,469,12613,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2303,3465,0,0,0,0,0,0
$GC,12915,-0.66,-116.7,878.2,-6.6,474,12919,0.00,2.10,0.00,0.000,4,0.000,0.045,2546,3694,3465,0,0,0,0,0,0
$GC,12993,-0.69,-116.7,883.8,-6.7,475,12997,0.00,2.00,0.00,0.000,6,0.000,0.028,2546,2296,3464,0,0,0,0,0,0
$GC,13353,-0.69,-116.7,908.6,-7.0,481,13356,0.00,2.10,0.00,0.000,4,0.000,0.045,2546,3694,3464,0,0,0,0,0,0
$GC,13408,-0.73,-116.7,912.7,-7.3,481,13415,0.00,2.00,0.00,0.000,6,0.000,0.028,2546,2298,3464,0,0,0,0,0,0
$GC,13717,-0.73,-116.7,934.9,-7.2,487,13718,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2297,3464,0,0,0,0,0,0
$GC,14020,-0.73,-116.7,957.1,-7.3,492,14024,0.00,2.10,0.00,0.000,4,0.000,0.045,2546,3694,3463,0,0,0,0,0,0
$GC,14098,-0.76,-116.7,962.7,-7.2,493,14102,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2296,3463,0,0,0,0,0,0
$GC,14452,-0.76,-116.7,986.5,-6.6,499,14455,0.00,2.10,0.00,0.000,4,0.000,0.045,2546,3694,3463,0,0,0,0,0,0
$STATE,14505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14505,begin apogee
$GC,14511,-0.24,0.0,990.0,5.6,499,14611,0.43,0.00,96.47,1.557,6,0.167,0.000,2678,2635,3006,0,0,0,0,0,0
$STATE,14611,end apogee,CONTROL_FINISHED_OK
$STATE,14611,begin climb
$GC,14613,0.80,116.7,992.7,0.0,501,14726,1.08,2.40,103.90,1.458,4,0.121,0.047,3015,4030,2529,0,0,0,0,0,0
$GC,14782,0.55,116.7,986.5,9.0,503,14787,0.32,2.17,0.00,0.000,6,0.184,0.028,2944,2672,2523,0,0,0,0,0,0
$GC,15102,0.54,135.4,966.6,6.1,509,15121,0.00,0.00,16.05,1.412,6,0.000,0.000,2945,2672,2453,0,0,0,0,0,0
$GC,15471,0.55,146.1,943.1,6.4,515,15486,0.00,2.15,10.27,1.379,4,0.000,0.046,2940,4031,2410,0,0,0,0,0,0
$GC,15508,0.50,146.1,940.6,6.9,515,15512,0.00,2.10,0.00,0.000,6,0.000,0.028,2949,2640,2409,0,0,0,0,0,0
$GC,15834,0.50,149.6,918.6,6.7,521,15843,0.00,2.22,4.22,1.036,4,0.000,0.048,2949,4028,2396,0,0,0,0,0,0
$GC,15849,0.47,149.7,917.5,6.9,521,15854,0.15,2.05,0.00,0.000,6,0.194,0.029,2920,2645,2396,0,0,0,0,0,0
$GC,16197,0.54,178.6,897.3,5.7,527,16227,0.00,0.00,27.35,1.440,6,0.000,0.000,2921,2645,2277,0,0,0,0,0,0
$GC,16501,0.62,196.3,878.8,6.2,532,16520,0.15,0.00,16.45,1.401,6,0.117,0.000,2971,2643,2205,0,0,0,0,0,0
$GC,16803,0.62,196.3,853.7,8.4,537,16804,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2643,2200,0,0,0,0,0,0
$GC,17107,0.62,196.3,827.1,8.7,542,17110,0.00,2.15,0.00,0.000,4,0.000,0.047,2967,4039,2199,0,0,0,0,0,0
$GC,17139,0.55,196.3,823.9,9.1,542,17144,0.12,2.10,0.00,0.000,6,0.202,0.028,2947,2619,2199,0,0,0,0,0,0
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$STATE,26449,end climb,SURFACE_DEPTH_REACHED
$STATE,26449,begin surface coast
$FINISH,2.7,1.012937
$STATE,26490,end surface coast,CONTROL_FINISHED_OK
$STATE,26490,begin surface
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$IRIDIUM_FIX,6258.74,247.91,250199,171707
$TT8_MAMPS,0.027612
$HUMID,1078346442
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,14.80
$XPDR_PINGS,0
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$10V_AH,10.1,12.146
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.600,165.750,335.875,9.475,0.000,36.076,33.910,180.920,0.000,0.000,17.030,1981.903,21598.344,493.715,2297.500,513.226,0.000,1668.785,0.000,2269.431,0.000,0.535,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235288
$DATA_FILE_SIZE,50698,915
$CAP_FILE_SIZE,189177,0
$CFSIZE,260165632,246226944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.179,217.5,1
$GPS,011109,082724,6324.174,231.837,38,1.2,39,-3.5