version: 66.06
glider: 140
mission: 8
dive: 24
start: 10 6 109 5 29 55
data:
$ID,140
$MISSION,8
$DIVE,24
$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,-44735.645
$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,67
$R_STBD_OVSHOOT,39
$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
$GPS1,052336,6433.164,42.282,34,1.0,34,-4.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,3.45
$_SM_ANGLEo,-63.6
$GPS2,052932,6433.147,42.327,13,1.1,13,-4.7
$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,312.0,100341,-13.7,-6.875
$D_GRID,2607
$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,-8.35,0.000,2,0.000,0.000,219,2342,2044,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.3,-0.0,1,125,9.48,2.12,-81.45,0.000,4,0.267,0.067,2505,3705,3481,0,0,0,0,0,0
$GC,374,-0.68,-116.7,28.4,-9.4,63,380,0.15,2.05,0.00,0.000,6,0.207,0.025,2542,2288,3483,0,0,0,0,0,0
$GC,708,-0.63,-116.7,58.7,-9.6,124,715,0.00,2.20,0.00,0.000,4,0.000,0.045,2543,3702,3483,0,0,0,0,0,0
$GC,827,-0.63,-116.7,68.9,-8.1,132,831,0.00,2.00,0.00,0.000,6,0.000,0.025,2543,2304,3483,0,0,0,0,0,0
$GC,1148,-0.63,-116.7,95.4,-7.9,148,1152,0.00,2.05,0.00,0.000,4,0.000,0.039,2543,921,3485,0,0,0,0,0,0
$GC,1210,-0.58,-116.7,100.5,-8.4,151,1215,0.12,2.05,0.00,0.000,6,0.213,0.031,2574,2309,3485,0,0,0,0,0,0
$GC,1539,-0.63,-116.7,122.6,-6.9,167,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2310,3485,0,0,0,0,0,0
$GC,1845,-0.67,-116.7,144.2,-7.0,182,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2310,3486,0,0,0,0,0,0
$GC,2157,-0.72,-116.7,165.2,-6.3,197,2162,0.12,2.10,0.00,0.000,4,0.145,0.045,2536,3710,3486,0,0,0,0,0,0
$GC,2242,-0.72,-116.7,171.9,-8.7,201,2246,0.00,2.03,0.00,0.000,6,0.000,0.027,2536,2302,3486,0,0,0,0,0,0
$GC,2576,-0.69,-116.7,198.7,-8.1,217,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2298,3486,0,0,0,0,0,0
$GC,2884,-0.65,-116.7,222.9,-7.5,232,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2299,3485,0,0,0,0,0,0
$GC,3193,-0.62,-116.7,245.0,-7.0,247,3197,0.00,2.10,0.00,0.000,4,0.000,0.046,2536,3700,3485,0,0,0,0,0,0
$GC,3242,-0.62,-116.7,248.6,-6.6,249,3246,0.00,2.05,0.00,0.000,6,0.000,0.027,2535,2300,3484,0,0,0,0,0,0
$GC,3564,-0.59,-116.7,270.3,-6.6,265,3566,0.15,0.00,0.00,0.000,6,0.201,0.000,2574,2296,3484,0,0,0,0,0,0
$GC,3873,-0.65,-116.7,286.1,-5.2,280,3877,0.00,2.10,0.00,0.000,4,0.000,0.047,2574,3700,3483,0,0,0,0,0,0
$GC,3957,-0.72,-116.7,290.9,-6.0,284,3962,0.12,2.03,0.00,0.000,6,0.144,0.028,2534,2281,3483,0,0,0,0,0,0
$GC,4281,-0.72,-116.7,313.9,-7.2,297,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2280,3483,0,0,0,0,0,0
$GC,4587,-0.72,-116.7,337.0,-7.7,307,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2279,3482,0,0,0,0,0,0
$GC,4894,-0.72,-116.7,360.8,-7.7,317,4898,0.00,2.12,0.00,0.000,4,0.000,0.047,2533,3699,3481,0,0,0,0,0,0
$GC,4955,-0.72,-116.7,365.8,-7.7,319,4959,0.00,2.00,0.00,0.000,6,0.000,0.028,2533,2307,3481,0,0,0,0,0,0
$GC,5295,-0.72,-116.7,393.3,-8.3,330,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2307,3480,0,0,0,0,0,0
$GC,5601,-0.72,-116.7,418.7,-8.1,340,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2307,3479,0,0,0,0,0,0
$GC,5907,-0.72,-116.7,443.1,-7.8,350,5911,0.00,2.10,0.00,0.000,4,0.000,0.048,2533,3702,3479,0,0,0,0,0,0
$GC,5968,-0.72,-116.7,448.0,-7.8,352,5972,0.00,2.03,0.00,0.000,6,0.000,0.028,2533,2290,3479,0,0,0,0,0,0
$GC,6308,-0.72,-116.7,474.2,-7.7,363,6309,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2290,3478,0,0,0,0,0,0
$GC,6614,-0.72,-116.7,497.1,-7.5,373,6618,0.00,2.12,0.00,0.000,4,0.000,0.048,2533,3702,3477,0,0,0,0,0,0
$GC,6676,-0.72,-116.7,501.8,-7.5,375,6680,0.00,2.03,0.00,0.000,6,0.000,0.029,2533,2291,3477,0,0,0,0,0,0
$GC,7046,-0.72,-116.7,529.2,-7.4,381,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2291,3476,0,0,0,0,0,0
$GC,7349,-0.72,-116.7,551.6,-7.4,386,7353,0.00,2.12,0.00,0.000,4,0.000,0.048,2533,3704,3475,0,0,0,0,0,0
$GC,7414,-0.72,-116.7,556.7,-7.5,387,7419,0.00,2.05,0.00,0.000,6,0.000,0.029,2533,2306,3475,0,0,0,0,0,0
$GC,7780,-0.72,-116.7,583.6,-7.4,393,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2306,3475,0,0,0,0,0,0
$GC,8082,-0.72,-116.7,606.1,-7.4,398,8086,0.00,2.10,0.00,0.000,4,0.000,0.048,2533,3703,3474,0,0,0,0,0,0
$GC,8148,-0.72,-116.7,611.2,-7.5,399,8153,0.00,2.05,0.00,0.000,6,0.000,0.029,2533,2301,3473,0,0,0,0,0,0
$GC,8514,-0.72,-116.7,637.6,-7.2,405,8515,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2301,3473,0,0,0,0,0,0
$GC,8817,-0.72,-116.7,659.1,-7.1,410,8821,0.00,2.10,0.00,0.000,4,0.000,0.048,2533,3698,3473,0,0,0,0,0,0
$GC,8905,-0.72,-116.7,665.6,-7.5,411,8909,0.00,2.05,0.00,0.000,6,0.000,0.029,2533,2300,3473,0,0,0,0,0,0
$GC,9249,-0.72,-116.7,690.8,-7.4,417,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2301,3473,0,0,0,0,0,0
$GC,9551,-0.72,-116.7,713.6,-7.5,422,9555,0.00,2.10,0.00,0.000,4,0.000,0.048,2533,3698,3472,0,0,0,0,0,0
$GC,9640,-0.72,-116.7,720.5,-7.6,423,9644,0.00,2.05,0.00,0.000,6,0.000,0.029,2533,2299,3472,0,0,0,0,0,0
$GC,9983,-0.72,-116.7,746.0,-7.4,429,9987,0.00,2.10,0.00,0.000,4,0.000,0.048,2533,3698,3471,0,0,0,0,0,0
$GC,10032,-0.72,-116.7,749.9,-7.9,429,10036,0.00,2.05,0.00,0.000,6,0.000,0.030,2533,2303,3471,0,0,0,0,0,0
$GC,10347,-0.72,-116.7,772.7,-7.3,435,10348,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2303,3471,0,0,0,0,0,0
$GC,10650,-0.72,-116.7,794.4,-7.2,440,10653,0.00,2.10,0.00,0.000,4,0.000,0.048,2533,3701,3471,0,0,0,0,0,0
$GC,10712,-0.72,-116.7,798.9,-7.4,441,10715,0.00,2.03,0.00,0.000,6,0.000,0.030,2533,2294,3470,0,0,0,0,0,0
$GC,11082,-0.72,-116.7,825.5,-7.2,447,11086,0.00,2.12,0.00,0.000,4,0.000,0.048,2533,3706,3470,0,0,0,0,0,0
$GC,11136,-0.72,-116.7,829.6,-7.4,447,11142,0.00,2.08,0.00,0.000,6,0.000,0.030,2533,2293,3470,0,0,0,0,0,0
$GC,11446,-0.72,-116.7,851.9,-7.2,453,11447,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2293,3470,0,0,0,0,0,0
$GC,11748,-0.72,-116.7,873.5,-7.1,458,11752,0.00,2.12,0.00,0.000,4,0.000,0.048,2533,3702,3470,0,0,0,0,0,0
$GC,11831,-0.72,-116.7,879.8,-7.1,459,11836,0.00,2.05,0.00,0.000,6,0.000,0.030,2533,2305,3470,0,0,0,0,0,0
$GC,12180,-0.72,-116.7,904.0,-7.0,465,12181,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2304,3470,0,0,0,0,0,0
$GC,12483,-0.72,-116.7,924.8,-6.9,470,12487,0.00,2.10,0.00,0.000,4,0.000,0.048,2533,3701,3469,0,0,0,0,0,0
$GC,12566,-0.72,-116.7,930.6,-7.3,471,12570,0.00,2.05,0.00,0.000,6,0.000,0.029,2533,2302,3469,0,0,0,0,0,0
$GC,12915,-0.72,-116.7,954.0,-6.7,477,12919,0.00,2.12,0.00,0.000,4,0.000,0.049,2533,3708,3469,0,0,0,0,0,0
$GC,12970,-0.72,-116.7,957.8,-7.2,477,12975,0.00,2.08,0.00,0.000,6,0.000,0.030,2533,2294,3469,0,0,0,0,0,0
$GC,13285,-0.72,-116.7,978.1,-6.4,483,13286,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2294,3469,0,0,0,0,0,0
$STATE,13526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13526,begin apogee
$GC,13531,-0.24,0.0,993.8,6.5,487,13633,0.50,0.00,99.60,1.618,6,0.188,0.000,2680,2654,3006,0,0,0,0,0,0
$STATE,13634,end apogee,CONTROL_FINISHED_OK
$STATE,13634,begin climb
$GC,13636,0.80,116.7,995.7,0.0,488,13751,1.10,2.35,105.85,1.488,4,0.133,0.050,3014,4045,2528,0,0,0,0,0,0
$GC,13757,0.63,133.2,993.6,6.2,490,13779,0.22,2.22,16.10,1.354,6,0.219,0.030,2976,2653,2463,0,0,0,0,0,0
$GC,14124,0.55,133.2,965.7,7.7,496,14126,0.12,0.00,0.00,0.000,6,0.219,0.000,2947,2653,2452,0,0,0,0,0,0
$GC,14426,0.53,141.8,945.6,6.5,501,14435,0.00,0.00,7.05,1.308,6,0.000,0.000,2948,2653,2428,0,0,0,0,0,0
$GC,14790,0.54,154.9,922.1,6.4,507,14809,0.00,2.28,13.25,1.425,4,0.000,0.052,2947,4040,2373,0,0,0,0,0,0
$GC,14826,0.51,172.3,919.7,6.2,507,14852,0.00,2.10,17.50,1.453,6,0.000,0.030,2954,2651,2302,0,0,0,0,0,0
$GC,15155,0.51,172.3,895.9,7.2,513,15156,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2651,2296,0,0,0,0,0,0
$GC,15457,0.51,172.3,873.4,7.4,518,15458,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2651,2295,0,0,0,0,0,0
$GC,15760,0.51,172.3,850.9,7.4,523,15764,0.00,2.17,0.00,0.000,4,0.000,0.051,2953,4046,2294,0,0,0,0,0,0
$GC,15776,0.47,172.3,849.6,7.6,523,15781,0.10,2.12,0.00,0.000,6,0.200,0.031,2920,2645,2294,0,0,0,0,0,0
$GC,16125,0.54,186.7,827.5,6.3,529,16140,0.00,0.00,12.95,1.412,6,0.000,0.000,2920,2644,2244,0,0,0,0,0,0
$GC,16428,0.62,198.7,808.1,6.4,534,16443,0.15,0.00,12.27,1.371,6,0.132,0.000,2967,2642,2195,0,0,0,0,0,0
$GC,16730,0.62,198.7,783.2,8.3,539,16731,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2641,2192,0,0,0,0,0,0
$GC,17033,0.62,198.7,758.6,8.1,544,17037,0.00,2.17,0.00,0.000,4,0.000,0.051,2967,4047,2190,0,0,0,0,0,0
$GC,17065,0.54,198.7,755.6,9.4,544,17070,0.15,2.08,0.00,0.000,6,0.219,0.031,2940,2647,2191,0,0,0,0,0,0
$GC,17396,0.57,198.7,731.5,7.2,550,17400,0.00,2.15,0.00,0.000,4,0.000,0.051,2939,4039,2190,0,0,0,0,0,0
$GC,17412,0.57,198.7,730.3,7.1,550,17416,0.00,2.08,0.00,0.000,6,0.000,0.031,2946,2653,2190,0,0,0,0,0,0
$GC,17760,0.57,198.7,704.8,7.2,556,17762,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2653,2190,0,0,0,0,0,0
$GC,18064,0.57,198.7,683.0,7.2,561,18068,0.00,2.12,0.00,0.000,4,0.000,0.051,2946,4039,2189,0,0,0,0,0,0
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$STATE,27125,end climb,SURFACE_DEPTH_REACHED
$STATE,27126,begin surface coast
$FINISH,2.8,1.016265
$STATE,27163,end surface coast,CONTROL_FINISHED_OK
$STATE,27163,begin surface
$SM_CCo,27180,11.62,0.796,0,0,1884,275.23
$SM_GC,4.44,0.00,0.00,11.62,0.000,0.000,0.796,220,2287,1884,-7.96,-0.37,275.23
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$TT8_MAMPS,0.027612
$HUMID,1078401926
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,19.60
$XPDR_PINGS,1
$24V_AH,23.1,6.304
$10V_AH,10.1,3.674
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.500,164.825,346.300,11.625,0.000,22.495,43.952,176.041,0.250,0.000,13.776,2067.969,22130.674,508.444,2360.137,479.538,0.000,1695.134,0.000,2332.551,0.000,0.534,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241624
$DATA_FILE_SIZE,56959,976
$CAP_FILE_SIZE,192361,0
$CFSIZE,260165632,252977152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057,104.5,1
$GPS,061009,130428,6434.798,38.450,40,1.7,45,-4.8