version: 66.06
glider: 140
mission: 8
dive: 9
start: 10 2 109 0 29 37
data:
$ID,140
$MISSION,8
$DIVE,9
$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,-44481.883
$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,2760
$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,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,38
$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,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
$GPS1,002337,6413.672,124.187,25,1.7,25,-4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.49
$_SM_ANGLEo,-63.7
$GPS2,002914,6413.654,124.266,14,1.9,14,-4.3
$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,315.1,148502,-13.7,-6.875
$D_GRID,2375
$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,-116.7,0.0,0.0,0,24,0.00,0.00,-7.25,0.000,2,0.000,0.000,222,2262,2066,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.4,-0.0,1,117,9.65,0.00,-76.32,0.000,6,0.272,0.000,2495,2262,3482,0,0,0,0,0,0
$GC,450,-0.80,-116.7,36.3,-9.6,77,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2262,3484,0,0,0,0,0,0
$GC,794,-0.80,-116.7,68.8,-7.8,126,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2262,3486,0,0,0,0,0,0
$GC,1105,-0.80,-116.7,96.9,-9.6,141,1109,0.00,2.05,0.00,0.000,4,0.000,0.043,2496,891,3487,0,0,0,0,0,0
$GC,1166,-0.80,-116.7,103.1,-10.2,144,1170,0.00,2.08,0.00,0.000,6,0.000,0.034,2496,2281,3487,0,0,0,0,0,0
$GC,1492,-0.80,-116.7,134.3,-9.1,160,1496,0.00,2.10,0.00,0.000,4,0.000,0.048,2495,3678,3487,0,0,0,0,0,0
$GC,1560,-0.80,-116.7,140.5,-9.2,163,1564,0.00,2.03,0.00,0.000,6,0.000,0.027,2496,2276,3487,0,0,0,0,0,0
$GC,1892,-0.80,-116.7,172.1,-9.6,179,1896,0.00,2.05,0.00,0.000,4,0.000,0.042,2495,890,3487,0,0,0,0,0,0
$GC,1958,-0.80,-116.7,178.8,-10.1,182,1962,0.00,2.10,0.00,0.000,6,0.000,0.034,2496,2281,3487,0,0,0,0,0,0
$GC,2285,-0.80,-116.7,210.5,-9.6,198,2288,0.00,2.08,0.00,0.000,4,0.000,0.048,2496,3675,3487,0,0,0,0,0,0
$GC,2352,-0.80,-116.7,216.9,-9.4,201,2355,0.00,2.03,0.00,0.000,6,0.000,0.028,2495,2266,3487,0,0,0,0,0,0
$GC,2677,-0.80,-116.7,248.2,-9.8,217,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2265,3487,0,0,0,0,0,0
$GC,2987,-0.80,-116.7,277.3,-9.1,232,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2265,3486,0,0,0,0,0,0
$GC,3316,-0.80,-116.7,305.4,-8.2,247,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2265,3485,0,0,0,0,0,0
$GC,3622,-0.80,-116.7,329.0,-7.6,257,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2265,3485,0,0,0,0,0,0
$GC,3929,-0.80,-116.7,351.9,-7.4,267,3933,0.00,2.12,0.00,0.000,4,0.000,0.048,2495,3676,3484,0,0,0,0,0,0
$GC,3978,-0.80,-116.7,355.7,-7.8,268,3982,0.00,2.05,0.00,0.000,6,0.000,0.029,2496,2279,3484,0,0,0,0,0,0
$GC,4296,-0.80,-116.7,379.0,-7.5,279,4300,0.00,2.05,0.00,0.000,4,0.000,0.045,2495,885,3483,0,0,0,0,0,0
$GC,4339,-0.80,-116.7,382.5,-8.1,280,4344,0.00,2.08,0.00,0.000,6,0.000,0.035,2495,2269,3482,0,0,0,0,0,0
$GC,4668,-0.80,-116.7,408.7,-8.3,291,4672,0.00,2.10,0.00,0.000,4,0.000,0.048,2495,3684,3482,0,0,0,0,0,0
$GC,4712,-0.80,-116.7,412.5,-8.2,292,4716,0.00,2.08,0.00,0.000,6,0.000,0.029,2495,2274,3482,0,0,0,0,0,0
$GC,5035,-0.80,-116.7,439.7,-8.4,303,5039,0.00,2.05,0.00,0.000,4,0.000,0.044,2496,885,3481,0,0,0,0,0,0
$GC,5102,-0.80,-116.7,445.7,-8.7,305,5106,0.00,2.05,0.00,0.000,6,0.000,0.035,2495,2275,3481,0,0,0,0,0,0
$GC,5437,-0.80,-116.7,474.9,-8.9,316,5441,0.00,2.08,0.00,0.000,4,0.000,0.048,2495,3673,3479,0,0,0,0,0,0
$GC,5486,-0.80,-116.7,479.7,-9.4,317,5491,0.00,2.05,0.00,0.000,6,0.000,0.029,2496,2276,3479,0,0,0,0,0,0
$GC,5839,-0.80,-116.7,511.6,-9.1,327,5843,0.00,2.05,0.00,0.000,4,0.000,0.045,2496,885,3478,0,0,0,0,0,0
$GC,5887,-0.80,-116.7,516.4,-9.6,327,5892,0.00,2.08,0.00,0.000,6,0.000,0.035,2495,2268,3478,0,0,0,0,0,0
$GC,6202,-0.80,-116.7,544.8,-9.0,333,6206,0.00,2.10,0.00,0.000,4,0.000,0.048,2496,3682,3478,0,0,0,0,0,0
$GC,6251,-0.80,-116.7,549.6,-8.9,333,6256,0.00,2.05,0.00,0.000,6,0.000,0.029,2495,2281,3478,0,0,0,0,0,0
$GC,6572,-0.80,-116.7,579.0,-9.2,339,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2281,3477,0,0,0,0,0,0
$GC,6876,-0.80,-116.7,606.9,-9.3,344,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2280,3477,0,0,0,0,0,0
$GC,7178,-0.80,-116.7,635.4,-9.5,349,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2280,3476,0,0,0,0,0,0
$GC,7481,-0.80,-116.7,663.9,-9.3,354,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2280,3475,0,0,0,0,0,0
$GC,7785,-0.80,-116.7,691.8,-9.1,359,7786,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2280,3475,0,0,0,0,0,0
$GC,8088,-0.80,-116.7,720.2,-9.4,364,8089,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2280,3474,0,0,0,0,0,0
$GC,8391,-0.80,-116.7,748.8,-9.5,369,8392,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2280,3474,0,0,0,0,0,0
$GC,8694,-0.80,-116.7,777.3,-9.3,374,8698,0.00,2.10,0.00,0.000,4,0.000,0.049,2495,3680,3473,0,0,0,0,0,0
$GC,8748,-0.80,-116.7,782.6,-9.9,374,8755,0.00,2.05,0.00,0.000,6,0.000,0.031,2496,2281,3473,0,0,0,0,0,0
$GC,9058,-0.80,-116.7,810.8,-9.1,380,9059,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2281,3473,0,0,0,0,0,0
$GC,9361,-0.80,-116.7,837.1,-8.6,385,9362,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2280,3472,0,0,0,0,0,0
$GC,9664,-0.80,-116.7,862.5,-8.4,390,9668,0.00,2.10,0.00,0.000,4,0.000,0.049,2495,3679,3472,0,0,0,0,0,0
$GC,9718,-0.80,-116.7,867.3,-8.8,390,9724,0.00,2.05,0.00,0.000,6,0.000,0.030,2495,2281,3472,0,0,0,0,0,0
$GC,10028,-0.80,-116.7,893.4,-8.4,396,10029,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2281,3472,0,0,0,0,0,0
$GC,10330,-0.80,-116.7,919.5,-8.6,401,10332,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2280,3471,0,0,0,0,0,0
$GC,10634,-0.80,-116.7,945.4,-8.5,406,10638,0.00,2.10,0.00,0.000,4,0.000,0.049,2496,3680,3471,0,0,0,0,0,0
$GC,10677,-0.80,-116.7,949.4,-8.6,406,10682,0.00,2.08,0.00,0.000,6,0.000,0.031,2495,2268,3470,0,0,0,0,0,0
$GC,10999,-0.80,-116.7,976.6,-8.5,412,11000,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2269,3470,0,0,0,0,0,0
$STATE,11178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11178,begin apogee
$GC,11184,-0.24,0.0,991.9,8.4,415,11287,0.62,0.00,100.62,1.649,6,0.198,0.000,2677,2808,3007,0,0,0,0,0,0
$STATE,11288,end apogee,CONTROL_FINISHED_OK
$STATE,11288,begin climb
$GC,11290,0.80,116.7,994.2,0.0,416,11407,1.12,2.08,108.50,1.586,4,0.135,0.051,3012,4039,2528,0,0,0,0,0,0
$GC,11440,0.80,116.7,990.9,8.0,419,11444,0.00,1.98,0.00,0.000,6,0.000,0.029,3022,2800,2524,0,0,0,0,0,0
$GC,11789,0.80,116.7,962.3,8.2,425,11792,0.00,1.98,0.00,0.000,4,0.000,0.052,3019,4046,2517,0,0,0,0,0,0
$GC,11826,0.80,116.7,958.8,9.1,425,11831,0.00,1.90,0.00,0.000,6,0.000,0.030,3028,2801,2516,0,0,0,0,0,0
$GC,12158,0.80,116.7,931.7,8.2,431,12162,0.00,1.95,0.00,0.000,4,0.000,0.053,3028,4043,2515,0,0,0,0,0,0
$GC,12202,0.80,116.7,927.6,9.0,431,12206,0.00,1.88,0.00,0.000,6,0.000,0.030,3037,2798,2515,0,0,0,0,0,0
$GC,12528,0.80,116.7,900.2,8.4,437,12532,0.00,1.95,0.00,0.000,4,0.000,0.053,3033,4049,2514,0,0,0,0,0,0
$GC,12555,0.80,116.7,897.5,9.3,437,12559,0.00,1.88,0.00,0.000,6,0.000,0.031,3041,2798,2514,0,0,0,0,0,0
$GC,12898,0.80,116.7,868.0,8.6,443,12901,0.00,1.98,0.00,0.000,4,0.000,0.052,3033,4044,2514,0,0,0,0,0,0
$GC,12935,0.80,116.7,864.3,9.0,443,12940,0.00,1.85,0.00,0.000,6,0.000,0.031,3042,2801,2514,0,0,0,0,0,0
$GC,13267,0.80,116.7,836.3,8.4,449,13271,0.00,1.92,0.00,0.000,4,0.000,0.052,3034,4049,2514,0,0,0,0,0,0
$GC,13294,0.80,116.7,833.8,8.5,449,13298,0.00,1.88,0.00,0.000,6,0.000,0.031,3042,2792,2513,0,0,0,0,0,0
$GC,13637,0.80,116.7,805.8,8.1,455,13640,0.00,1.92,0.00,0.000,4,0.000,0.052,3034,4046,2513,0,0,0,0,0,0
$GC,13658,0.80,116.7,803.8,8.7,455,13663,0.00,1.85,0.00,0.000,6,0.000,0.031,3042,2801,2513,0,0,0,0,0,0
$GC,14007,0.80,116.7,775.0,8.2,461,14010,0.00,1.90,0.00,0.000,4,0.000,0.052,3034,4042,2513,0,0,0,0,0,0
$GC,14078,0.80,116.7,768.6,9.3,462,14083,0.00,1.85,0.00,0.000,6,0.000,0.030,3042,2793,2513,0,0,0,0,0,0
$GC,14444,0.80,116.7,739.1,8.0,468,14448,0.00,1.95,0.00,0.000,4,0.000,0.053,3034,4036,2512,0,0,0,0,0,0
$GC,14476,0.80,116.7,736.0,8.8,468,14481,0.00,1.83,0.00,0.000,6,0.000,0.031,3042,2799,2512,0,0,0,0,0,0
$GC,14814,0.80,116.7,707.7,8.5,474,14817,0.00,1.90,0.00,0.000,4,0.000,0.054,3042,4045,2512,0,0,0,0,0,0
$GC,14840,0.80,116.7,705.0,10.1,474,14846,0.10,1.85,0.00,0.000,6,0.237,0.031,3024,2790,2512,0,0,0,0,0,0
$GC,15184,0.80,116.7,676.6,8.2,480,15188,0.00,1.90,0.00,0.000,4,0.000,0.054,3020,4041,2512,0,0,0,0,0,0
$GC,15216,0.80,116.7,673.6,8.8,480,15221,0.00,1.83,0.00,0.000,6,0.000,0.031,3028,2800,2512,0,0,0,0,0,0
$GC,15554,0.80,116.7,645.6,8.3,486,15555,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2799,2511,0,0,0,0,0,0
$GC,15857,0.80,116.7,620.7,8.3,491,15861,0.00,1.90,0.00,0.000,4,0.000,0.054,3028,4043,2511,0,0,0,0,0,0
$GC,15884,0.80,116.7,618.2,8.9,491,15888,0.00,1.83,0.00,0.000,6,0.000,0.032,3031,2811,2511,0,0,0,0,0,0
$GC,16227,0.80,116.7,589.5,8.4,497,16230,0.00,1.88,0.00,0.000,4,0.000,0.054,3031,4042,2511,0,0,0,0,0,0
$GC,16265,0.80,116.7,586.0,8.7,497,16269,0.00,1.83,0.00,0.000,6,0.000,0.031,3037,2791,2511,0,0,0,0,0,0
$GC,16596,0.80,116.7,557.1,8.7,503,16597,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2791,2511,0,0,0,0,0,0
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$STATE,23955,end climb,SURFACE_DEPTH_REACHED
$STATE,23955,begin surface coast
$FINISH,2.7,1.026641
$STATE,23990,end surface coast,CONTROL_FINISHED_OK
$STATE,23990,begin surface
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$SM_GC,3.64,0.00,0.00,107.80,0.000,0.000,0.910,218,2280,1883,-7.95,0.14,275.23
$IRIDIUM_FIX,6346.88,128.89,261298,171710
$TT8_MAMPS,0.027612
$HUMID,1078333539
$INTERNAL_PRESSURE,8.26204
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,23.0,4.050
$10V_AH,10.1,2.243
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.700,165.750,227.200,107.800,0.000,27.056,37.960,158.907,2.000,0.000,14.169,1917.117,19307.344,501.005,2268.614,456.841,0.000,1631.053,0.000,2239.625,0.000,15.503,0.000
$DEVICE_MAMPS,271.518,54.457,1649.050,910.429,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
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$SENSOR_SECS,627.973,929.297,556.094,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241608
$DATA_FILE_SIZE,50611,908
$CAP_FILE_SIZE,172564,0
$CFSIZE,260165632,254099456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104,136.4,1
$GPS,021009,071237,6414.219,121.707,28,1.9,28,-4.3