version: 66.06
glider: 140
mission: 8
dive: 5
start: 9 30 109 21 2 48
data:
$ID,140
$MISSION,8
$DIVE,5
$D_SURF,2
$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,-44356.148
$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,2750
$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
$PITCH_ADJ_DBAND,1
$ROLL_MIN,174
$ROLL_MAX,4054
$ROLL_DEG,40
$C_ROLL_DIVE,2275
$C_ROLL_CLIMB,2750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,550
$VBD_MAX,3938
$C_VBD,3046
$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,91.800003
$AH0_10V,100
$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,800
$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
$GPS1,204243,6405.622,136.245,10,1.9,15,-4.2
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-49.8
$GPS2,210228,6405.833,136.432,13,99.0,32,-4.2
$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,316.6,165214,-13.7,-6.875
$D_GRID,2189
$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,15,-0.80,-116.7,0.0,0.0,0,56,0.00,0.00,-39.60,0.000,2,0.000,0.000,220,2291,1459,0,0,0,0,0,0
$GC,59,-0.80,-116.7,3.1,-0.7,7,183,9.00,2.20,-105.05,0.000,4,0.252,0.068,2487,3679,3522,0,0,0,0,0,0
$GC,274,-0.80,-116.7,11.8,-10.8,45,279,0.00,2.08,0.00,0.000,6,0.000,0.026,2487,2262,3522,0,0,0,0,0,0
$GC,608,-0.80,-116.7,54.3,-13.4,106,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2259,3523,0,0,0,0,0,0
$GC,942,-0.80,-116.7,95.0,-11.3,128,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2259,3523,0,0,0,0,0,0
$GC,1252,-0.80,-116.7,127.1,-10.5,143,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2259,3523,0,0,0,0,0,0
$GC,1560,-0.80,-116.7,158.4,-9.4,158,1564,0.00,2.03,0.00,0.000,4,0.000,0.041,2487,887,3523,0,0,0,0,0,0
$GC,1732,-0.80,-116.7,174.9,-9.5,165,1739,0.00,2.10,0.00,0.000,6,0.000,0.032,2487,2282,3522,0,0,0,0,0,0
$GC,2048,-0.80,-116.7,203.4,-8.9,181,2052,0.00,2.10,0.00,0.000,4,0.000,0.041,2487,872,3522,0,0,0,0,0,0
$GC,2131,-0.80,-116.7,211.2,-8.9,185,2135,0.00,2.08,0.00,0.000,6,0.000,0.032,2488,2285,3522,0,0,0,0,0,0
$GC,2457,-0.80,-116.7,239.4,-8.8,201,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2285,3521,0,0,0,0,0,0
$GC,2767,-0.80,-116.7,267.3,-8.9,216,2771,0.00,2.10,0.00,0.000,4,0.000,0.041,2488,875,3521,0,0,0,0,0,0
$GC,2832,-0.80,-116.7,273.6,-9.2,219,2837,0.00,2.10,0.00,0.000,6,0.000,0.032,2487,2276,3521,0,0,0,0,0,0
$GC,3169,-0.80,-116.7,304.1,-9.6,235,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2276,3519,0,0,0,0,0,0
$GC,3475,-0.80,-116.7,334.8,-10.3,245,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2276,3518,0,0,0,0,0,0
$GC,3781,-0.80,-116.7,363.2,-9.0,255,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2276,3517,0,0,0,0,0,0
$GC,4088,-0.80,-116.7,389.8,-8.6,265,4092,0.00,2.08,0.00,0.000,4,0.000,0.042,2488,880,3515,0,0,0,0,0,0
$GC,4155,-0.80,-116.7,396.1,-10.0,267,4159,0.00,2.05,0.00,0.000,6,0.000,0.034,2487,2275,3516,0,0,0,0,0,0
$GC,4489,-0.80,-116.7,426.1,-9.3,278,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2275,3514,0,0,0,0,0,0
$GC,4796,-0.80,-116.7,456.2,-9.9,288,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2275,3513,0,0,0,0,0,0
$GC,5101,-0.80,-116.7,486.4,-9.9,298,5102,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2275,3512,0,0,0,0,0,0
$GC,5436,-0.80,-116.7,519.8,-10.0,306,5440,0.00,2.10,0.00,0.000,4,0.000,0.044,2487,882,3509,0,0,0,0,0,0
$GC,5519,-0.80,-116.7,528.8,-10.3,307,5524,0.00,2.10,0.00,0.000,6,0.000,0.035,2487,2278,3510,0,0,0,0,0,0
$GC,5868,-0.80,-116.7,564.6,-10.3,313,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2278,3508,0,0,0,0,0,0
$GC,6171,-0.80,-116.7,595.6,-10.2,318,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2278,3508,0,0,0,0,0,0
$GC,6474,-0.80,-116.7,627.2,-10.5,323,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2278,3507,0,0,0,0,0,0
$GC,6778,-0.80,-116.7,658.5,-10.3,328,6781,0.00,2.08,0.00,0.000,4,0.000,0.044,2488,886,3506,0,0,0,0,0,0
$GC,6839,-0.80,-116.7,665.0,-10.3,329,6843,0.00,2.05,0.00,0.000,6,0.000,0.035,2488,2276,3506,0,0,0,0,0,0
$GC,7204,-0.80,-116.7,701.1,-9.9,335,7205,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2276,3505,0,0,0,0,0,0
$GC,7507,-0.80,-116.7,730.5,-9.8,340,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2276,3505,0,0,0,0,0,0
$GC,7810,-0.80,-116.7,760.3,-9.9,345,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2276,3504,0,0,0,0,0,0
$GC,8113,-0.80,-116.7,789.5,-9.6,350,8114,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2276,3503,0,0,0,0,0,0
$GC,8416,-0.80,-116.7,818.8,-9.7,355,8420,0.00,2.08,0.00,0.000,4,0.000,0.045,2488,887,3502,0,0,0,0,0,0
$GC,8465,-0.80,-116.7,823.8,-9.7,355,8469,0.00,2.08,0.00,0.000,6,0.000,0.035,2488,2268,3502,0,0,0,0,0,0
$GC,8780,-0.80,-116.7,853.7,-9.4,361,8784,0.00,2.10,0.00,0.000,4,0.000,0.050,2488,3680,3501,0,0,0,0,0,0
$GC,8829,-0.80,-116.7,858.7,-10.2,361,8834,0.00,2.05,0.00,0.000,6,0.000,0.030,2488,2280,3501,0,0,0,0,0,0
$GC,9145,-0.80,-116.7,887.5,-9.1,367,9148,0.00,2.08,0.00,0.000,4,0.000,0.046,2488,876,3500,0,0,0,0,0,0
$GC,9199,-0.80,-116.7,893.2,-10.0,367,9206,0.00,2.10,0.00,0.000,6,0.000,0.035,2488,2272,3500,0,0,0,0,0,0
$GC,9509,-0.80,-116.7,921.9,-9.3,373,9512,0.00,2.10,0.00,0.000,4,0.000,0.050,2488,3683,3500,0,0,0,0,0,0
$GC,9552,-0.80,-116.7,926.0,-9.0,373,9556,0.00,2.08,0.00,0.000,6,0.000,0.031,2487,2274,3500,0,0,0,0,0,0
$GC,9875,-0.80,-116.7,954.2,-8.8,379,9879,0.00,2.08,0.00,0.000,4,0.000,0.046,2488,872,3500,0,0,0,0,0,0
$GC,9930,-0.80,-116.7,959.7,-10.1,379,9937,0.00,2.10,0.00,0.000,6,0.000,0.035,2488,2269,3500,0,0,0,0,0,0
$GC,10239,-0.80,-116.7,986.3,-8.6,385,10241,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2269,3499,0,0,0,0,0,0
$STATE,10298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10298,begin apogee
$GC,10304,-0.24,0.0,991.6,8.7,386,10405,0.60,0.00,98.00,1.638,6,0.187,0.000,2665,2756,3046,0,0,0,0,0,0
$STATE,10406,end apogee,CONTROL_FINISHED_OK
$STATE,10406,begin climb
$GC,10408,0.80,116.7,994.2,0.0,387,10524,1.12,2.15,107.85,1.539,4,0.140,0.051,2992,4039,2569,0,0,0,0,0,0
$GC,10591,0.80,116.7,990.8,7.7,390,10595,0.00,2.03,0.00,0.000,6,0.000,0.029,3000,2752,2562,0,0,0,0,0,0
$GC,10912,0.80,116.7,968.2,7.1,396,10916,0.00,2.05,0.00,0.000,4,0.000,0.052,2992,4045,2557,0,0,0,0,0,0
$GC,10961,0.80,116.7,964.4,8.2,396,10965,0.00,1.98,0.00,0.000,6,0.000,0.031,3000,2753,2556,0,0,0,0,0,0
$GC,11281,0.80,116.7,941.9,7.0,402,11285,0.00,2.03,0.00,0.000,4,0.000,0.052,2992,4050,2555,0,0,0,0,0,0
$GC,11307,0.80,116.7,939.8,7.6,402,11311,0.00,1.98,0.00,0.000,6,0.000,0.031,3000,2743,2555,0,0,0,0,0,0
$GC,11651,0.80,117.7,916.3,6.8,408,11655,0.00,2.03,0.00,0.000,4,0.000,0.052,2992,4047,2555,0,0,0,0,0,0
$GC,11689,0.80,117.7,913.3,7.6,408,11693,0.00,1.95,0.00,0.000,6,0.000,0.031,3001,2748,2555,0,0,0,0,0,0
$GC,12021,0.80,117.7,889.7,7.1,414,12024,0.00,2.00,0.00,0.000,4,0.000,0.053,2992,4043,2554,0,0,0,0,0,0
$GC,12081,0.80,117.7,884.9,7.8,414,12087,0.00,1.92,0.00,0.000,6,0.000,0.031,3000,2758,2554,0,0,0,0,0,0
$GC,12391,0.80,117.7,863.7,6.9,420,12395,0.00,2.00,0.00,0.000,4,0.000,0.053,2992,4053,2553,0,0,0,0,0,0
$GC,12439,0.80,117.7,859.9,7.1,420,12444,0.00,1.95,0.00,0.000,6,0.000,0.031,3000,2741,2553,0,0,0,0,0,0
$GC,12760,0.80,123.9,838.6,6.6,426,12769,0.00,2.03,4.53,1.101,4,0.000,0.053,2993,4042,2541,0,0,0,0,0,0
$GC,12814,0.80,123.9,834.7,7.2,426,12819,0.00,1.92,0.00,0.000,6,0.000,0.031,3001,2751,2541,0,0,0,0,0,0
$GC,13130,0.81,131.3,813.8,6.6,432,13144,0.00,2.08,8.43,1.367,4,0.000,0.054,2992,4045,2510,0,0,0,0,0,0
$GC,13156,0.81,131.3,811.9,7.4,432,13160,0.00,1.95,0.00,0.000,6,0.000,0.031,3001,2750,2510,0,0,0,0,0,0
$GC,13499,0.82,134.0,788.6,6.8,438,13508,0.00,2.05,4.15,1.029,4,0.000,0.053,2993,4038,2499,0,0,0,0,0,0
$GC,13541,0.82,134.0,785.6,7.7,438,13546,0.00,1.92,0.00,0.000,6,0.000,0.031,3000,2752,2499,0,0,0,0,0,0
$GC,13868,0.82,134.0,762.4,7.1,444,13869,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2751,2499,0,0,0,0,0,0
$GC,14170,0.82,134.0,740.7,7.2,449,14174,0.00,1.98,0.00,0.000,4,0.000,0.053,2992,4042,2498,0,0,0,0,0,0
$GC,14191,0.82,134.0,739.0,7.6,449,14196,0.00,1.92,0.00,0.000,6,0.000,0.031,3001,2745,2498,0,0,0,0,0,0
$GC,14540,0.82,137.1,715.1,6.8,455,14549,0.00,2.05,4.32,1.039,4,0.000,0.054,2992,4042,2487,0,0,0,0,0,0
$GC,14572,0.84,152.6,712.6,6.3,455,14592,0.00,1.92,15.45,1.428,6,0.000,0.031,3000,2749,2424,0,0,0,0,0,0
$GC,14907,0.84,152.6,687.7,7.5,461,14911,0.00,2.00,0.00,0.000,4,0.000,0.053,2993,4042,2421,0,0,0,0,0,0
$GC,14934,0.84,152.6,685.5,7.7,461,14938,0.00,1.95,0.00,0.000,6,0.000,0.031,3001,2743,2421,0,0,0,0,0,0
$GC,15277,0.84,152.6,659.6,7.5,467,15280,0.00,2.00,0.00,0.000,4,0.000,0.053,2993,4042,2420,0,0,0,0,0,0
$GC,15303,0.84,152.6,657.4,7.8,467,15308,0.00,1.92,0.00,0.000,6,0.000,0.031,3001,2754,2420,0,0,0,0,0,0
$GC,15646,0.84,152.6,629.5,8.1,473,15650,0.00,2.00,0.00,0.000,4,0.000,0.053,2993,4050,2419,0,0,0,0,0,0
$GC,15684,0.84,152.6,626.2,8.2,473,15689,0.00,1.95,0.00,0.000,6,0.000,0.031,3001,2742,2419,0,0,0,0,0,0
$GC,16016,0.84,152.6,599.3,8.1,479,16020,0.00,2.00,0.00,0.000,4,0.000,0.053,2993,4049,2419,0,0,0,0,0,0
$GC,16037,0.84,152.6,597.5,7.5,479,16041,0.00,1.92,0.00,0.000,6,0.000,0.031,3001,2754,2419,0,0,0,0,0,0
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$GC,16413,0.84,152.6,567.8,9.1,485,16417,0.00,1.92,0.00,0.000,6,0.000,0.031,3000,2746,2419,0,0,0,0,0,0
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$FREEZE,2.57,10.081,-0.892,0,1,0
$STATE,23585,end climb,NO_VERTICAL_VELOCITY
$STATE,23585,begin surface
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$SM_GC,3.20,8.52,0.00,0.00,0.104,0.000,0.000,217,2252,544,-7.90,-0.65,613.74
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$TT8_MAMPS,0.026845
$HUMID,1078379990
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,14.20
$XPDR_PINGS,1
$24V_AH,23.1,3.418
$10V_AH,10.1,1.855
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.375,171.125,274.075,345.075,0.000,0.000,0.000,0.000,2.250,0.000,33.630,1804.735,19282.855,819.330,2157.396,191.264,0.000,1931.445,0.000,2105.458,0.000,15.500,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241616
$DATA_FILE_SIZE,50717,857
$CAP_FILE_SIZE,193851,0
$CFSIZE,260165632,254382080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075, 34.2,1
$GPS,011009,034656,6408.282,132.748,26,3.7,46,-4.2