version: 66.06
glider: 140
mission: 8
dive: 106
start: 10 30 109 18 39 12
data:
$ID,140
$MISSION,8
$DIVE,106
$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,-2
$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,-46286.02
$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,46
$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
$GPS1,183001,6310.689,314.250,39,1.5,39,-3.1
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,3.54
$_SM_ANGLEo,-57.7
$GPS2,183849,6310.756,314.145,11,2.0,11,-3.1
$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,320.2,291248,-13.7,-6.875
$D_GRID,919
$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,-7.28,0.000,2,0.000,0.000,216,2269,2040,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.6,-0.0,1,114,8.93,2.12,-69.30,0.000,4,0.242,0.053,2500,913,3484,0,0,0,0,0,0
$GC,363,-0.61,-116.7,27.8,-9.2,61,370,0.22,2.08,0.00,0.000,6,0.190,0.029,2563,2308,3484,0,0,0,0,0,0
$GC,698,-0.61,-116.7,53.9,-6.6,122,705,0.00,2.10,0.00,0.000,4,0.000,0.035,2563,929,3485,0,0,0,0,0,0
$GC,825,-0.57,-116.7,63.9,-8.2,139,831,0.00,2.05,0.00,0.000,6,0.000,0.028,2563,2301,3485,0,0,0,0,0,0
$GC,1143,-0.57,-116.7,86.8,-8.1,155,1147,0.00,2.08,0.00,0.000,4,0.000,0.041,2563,3704,3485,0,0,0,0,0,0
$GC,1192,-0.57,-116.7,91.0,-8.3,157,1196,0.00,2.03,0.00,0.000,6,0.000,0.023,2563,2302,3485,0,0,0,0,0,0
$GC,1515,-0.57,-116.7,111.5,-6.4,173,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2302,3485,0,0,0,0,0,0
$GC,1822,-0.57,-116.7,131.9,-6.9,188,1826,0.00,2.10,0.00,0.000,4,0.000,0.041,2563,3706,3486,0,0,0,0,0,0
$GC,1886,-0.57,-116.7,136.2,-6.7,191,1890,0.00,2.00,0.00,0.000,6,0.000,0.024,2563,2297,3486,0,0,0,0,0,0
$GC,2220,-0.57,-116.7,156.8,-5.9,207,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2292,3486,0,0,0,0,0,0
$GC,2527,-0.57,-116.7,176.4,-6.8,222,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2291,3486,0,0,0,0,0,0
$GC,2837,-0.57,-116.7,195.5,-5.9,237,2841,0.00,2.10,0.00,0.000,4,0.000,0.041,2563,3702,3486,0,0,0,0,0,0
$GC,2899,-0.57,-116.7,199.4,-6.3,240,2903,0.00,2.00,0.00,0.000,6,0.000,0.024,2563,2287,3487,0,0,0,0,0,0
$GC,3231,-0.57,-116.7,221.4,-7.1,256,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2282,3486,0,0,0,0,0,0
$GC,3541,-0.57,-116.7,242.9,-6.6,271,3545,0.00,2.10,0.00,0.000,4,0.000,0.041,2563,3697,3487,0,0,0,0,0,0
$GC,3609,-0.61,-116.7,247.4,-6.5,274,3612,0.00,1.98,0.00,0.000,6,0.000,0.024,2563,2294,3486,0,0,0,0,0,0
$GC,3940,-0.61,-116.7,267.6,-5.4,290,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2290,3486,0,0,0,0,0,0
$GC,4250,-0.61,-116.7,288.1,-7.1,305,4253,0.00,2.10,0.00,0.000,4,0.000,0.041,2563,3702,3486,0,0,0,0,0,0
$GC,4322,-0.64,-116.7,293.4,-7.5,308,4326,0.00,2.00,0.00,0.000,6,0.000,0.024,2563,2297,3486,0,0,0,0,0,0
$GC,4661,-0.64,-116.7,319.2,-7.2,321,4664,0.00,2.00,0.00,0.000,4,0.000,0.035,2563,915,3486,0,0,0,0,0,0
$GC,4743,-0.64,-116.7,325.3,-7.0,323,4748,0.00,2.05,0.00,0.000,6,0.000,0.028,2563,2304,3486,0,0,0,0,0,0
$GC,5067,-0.64,-116.7,343.0,-5.1,334,5071,0.00,2.05,0.00,0.000,4,0.000,0.041,2563,3706,3486,0,0,0,0,0,0
$GC,5186,-0.69,-116.7,349.5,-5.7,337,5190,0.00,1.98,0.00,0.000,6,0.000,0.025,2563,2295,3485,0,0,0,0,0,0
$GC,5503,-0.72,-116.7,368.0,-6.0,348,5507,0.00,2.10,0.00,0.000,4,0.000,0.041,2563,3708,3485,0,0,0,0,0,0
$GC,5566,-0.76,-116.7,371.9,-6.3,350,5570,0.15,1.98,0.00,0.000,6,0.127,0.025,2515,2297,3484,0,0,0,0,0,0
$GC,5900,-0.70,-116.7,398.8,-8.5,361,5901,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2296,3484,0,0,0,0,0,0
$GC,6206,-0.63,-116.7,424.8,-8.1,371,6208,0.17,0.00,0.00,0.000,6,0.185,0.000,2562,2293,3483,0,0,0,0,0,0
$GC,6512,-0.66,-116.7,442.6,-5.4,381,6516,0.00,2.10,0.00,0.000,4,0.000,0.042,2562,3705,3482,0,0,0,0,0,0
$GC,6624,-0.71,-116.7,448.4,-5.5,384,6628,0.00,1.98,0.00,0.000,6,0.000,0.025,2562,2300,3482,0,0,0,0,0,0
$GC,6949,-0.75,-116.7,466.7,-6.1,395,6953,0.12,2.10,0.00,0.000,4,0.137,0.044,2522,3698,3482,0,0,0,0,0,0
$GC,7010,-0.70,-116.7,471.7,-8.8,397,7014,0.00,1.98,0.00,0.000,6,0.000,0.025,2521,2303,3481,0,0,0,0,0,0
$GC,7350,-0.65,-116.7,501.8,-9.2,408,7355,0.12,2.05,0.00,0.000,4,0.196,0.038,2553,911,3480,0,0,0,0,0,0
$GC,7399,-0.65,-116.7,506.1,-9.1,408,7403,0.00,2.05,0.00,0.000,6,0.000,0.031,2553,2290,3480,0,0,0,0,0,0
$GC,7714,-0.65,-116.7,529.5,-7.4,414,7718,0.00,2.08,0.00,0.000,4,0.000,0.043,2553,3700,3478,0,0,0,0,0,0
$GC,7809,-0.68,-116.7,535.9,-6.3,415,7812,0.00,1.98,0.00,0.000,6,0.000,0.026,2553,2296,3478,0,0,0,0,0,0
$GC,8151,-0.68,-116.7,557.4,-6.4,421,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2293,3477,0,0,0,0,0,0
$GC,8454,-0.68,-116.7,579.3,-7.3,426,8458,0.00,2.10,0.00,0.000,4,0.000,0.044,2553,3698,3476,0,0,0,0,0,0
$GC,8532,-0.71,-116.7,585.3,-7.7,427,8536,0.00,1.98,0.00,0.000,6,0.000,0.026,2553,2304,3475,0,0,0,0,0,0
$GC,8891,-0.71,-116.7,609.9,-6.8,433,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2302,3474,0,0,0,0,0,0
$GC,9194,-0.71,-116.7,630.6,-6.8,438,9198,0.00,2.10,0.00,0.000,4,0.000,0.044,2553,3702,3473,0,0,0,0,0,0
$GC,9284,-0.75,-116.7,637.0,-6.8,439,9288,0.00,2.00,0.00,0.000,6,0.000,0.027,2553,2297,3473,0,0,0,0,0,0
$GC,9632,-0.75,-116.7,660.3,-6.7,445,9633,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2293,3472,0,0,0,0,0,0
$GC,9935,-0.78,-116.7,680.1,-6.5,450,9940,0.12,2.12,0.00,0.000,4,0.136,0.045,2514,3698,3471,0,0,0,0,0,0
$GC,10024,-0.73,-116.7,687.1,-7.6,451,10028,0.00,2.00,0.00,0.000,6,0.000,0.027,2514,2295,3471,0,0,0,0,0,0
$GC,10373,-0.68,-116.7,715.1,-8.1,457,10375,0.12,0.00,0.00,0.000,6,0.204,0.000,2544,2292,3470,0,0,0,0,0,0
$GC,10676,-0.68,-116.7,736.9,-7.2,462,10680,0.00,2.12,0.00,0.000,4,0.000,0.045,2544,3706,3469,0,0,0,0,0,0
$GC,10725,-0.68,-116.7,740.6,-7.3,462,10729,0.00,2.05,0.00,0.000,6,0.000,0.027,2545,2305,3469,0,0,0,0,0,0
$GC,11040,-0.68,-116.7,763.7,-7.4,468,11041,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2303,3469,0,0,0,0,0,0
$GC,11343,-0.68,-116.7,786.0,-7.3,473,11347,0.00,2.10,0.00,0.000,4,0.000,0.045,2545,3698,3468,0,0,0,0,0,0
$GC,11426,-0.68,-116.7,792.1,-7.5,474,11430,0.00,2.05,0.00,0.000,6,0.000,0.028,2545,2295,3467,0,0,0,0,0,0
$GC,11774,-0.68,-116.7,816.2,-6.9,480,11778,0.00,2.12,0.00,0.000,4,0.000,0.045,2545,3702,3467,0,0,0,0,0,0
$GC,11842,-0.68,-116.7,820.7,-7.2,481,11846,0.00,2.03,0.00,0.000,6,0.000,0.028,2545,2291,3466,0,0,0,0,0,0
$GC,12213,-0.68,-116.7,845.2,-6.6,487,12217,0.00,2.12,0.00,0.000,4,0.000,0.045,2544,3701,3466,0,0,0,0,0,0
$GC,12274,-0.68,-116.7,849.4,-7.2,488,12278,0.00,2.03,0.00,0.000,6,0.000,0.028,2545,2288,3466,0,0,0,0,0,0
$GC,12644,-0.68,-116.7,874.0,-6.6,494,12648,0.00,2.12,0.00,0.000,4,0.000,0.045,2545,3704,3465,0,0,0,0,0,0
$GC,12721,-0.71,-116.7,879.1,-6.4,495,12725,0.00,2.05,0.00,0.000,6,0.000,0.028,2545,2300,3465,0,0,0,0,0,0
$GC,13076,-0.71,-116.7,900.9,-6.1,501,13079,0.00,2.12,0.00,0.000,4,0.000,0.046,2545,3698,3465,0,0,0,0,0,0
$GC,13131,-0.74,-116.7,904.5,-6.8,501,13137,0.00,2.00,0.00,0.000,6,0.000,0.028,2544,2297,3464,0,0,0,0,0,0
$STATE,13377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13377,begin apogee
$GC,13382,-0.24,0.0,919.9,6.3,506,13481,0.45,0.00,96.05,1.512,6,0.175,0.000,2679,2644,3006,0,0,0,0,0,0
$STATE,13482,end apogee,CONTROL_FINISHED_OK
$STATE,13482,begin climb
$GC,13484,0.80,116.7,921.8,0.0,507,13596,1.10,2.35,103.15,1.414,4,0.121,0.046,3017,4037,2528,0,0,0,0,0,0
$GC,13624,0.53,116.7,917.5,8.5,510,13629,0.35,2.17,0.00,0.000,6,0.186,0.028,2942,2656,2524,0,0,0,0,0,0
$GC,13983,0.54,129.2,894.5,6.4,516,13995,0.00,0.00,10.35,1.335,6,0.000,0.000,2942,2657,2479,0,0,0,0,0,0
$GC,14286,0.55,140.2,875.1,6.4,521,14299,0.00,0.00,11.12,1.347,6,0.000,0.000,2942,2656,2434,0,0,0,0,0,0
$GC,14590,0.56,143.5,854.8,6.7,526,14596,0.00,0.00,4.32,1.032,6,0.000,0.000,2942,2656,2420,0,0,0,0,0,0
$GC,14893,0.57,151.8,834.7,6.5,531,14904,0.00,0.00,8.82,1.332,6,0.000,0.000,2942,2657,2387,0,0,0,0,0,0
$GC,15196,0.58,161.4,815.2,6.5,536,15207,0.00,0.00,9.95,1.340,6,0.000,0.000,2942,2657,2348,0,0,0,0,0,0
$GC,15499,0.59,165.5,794.8,6.7,541,15506,0.00,0.00,5.12,1.140,6,0.000,0.000,2942,2657,2330,0,0,0,0,0,0
$GC,15802,0.60,178.9,775.4,6.3,546,15817,0.00,0.00,13.48,1.355,6,0.000,0.000,2942,2657,2276,0,0,0,0,0,0
$GC,16106,0.61,182.5,755.3,6.7,551,16112,0.00,0.00,4.50,1.052,6,0.000,0.000,2942,2656,2261,0,0,0,0,0,0
$GC,16408,0.61,182.5,734.2,7.0,556,16409,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2657,2259,0,0,0,0,0,0
$GC,16711,0.61,182.5,713.0,7.0,561,16715,0.00,2.08,0.00,0.000,4,0.000,0.038,2951,1262,2258,0,0,0,0,0,0
$GC,16720,0.61,182.5,712.1,7.1,561,16725,0.00,2.12,0.00,0.000,6,0.000,0.035,2950,2644,2258,0,0,0,0,0,0
$GC,17075,0.61,182.5,686.1,7.3,567,17076,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2644,2258,0,0,0,0,0,0
$GC,17378,0.61,182.5,664.8,7.0,572,17379,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2644,2258,0,0,0,0,0,0
$GC,17681,0.62,192.9,645.1,6.5,577,17695,0.00,0.00,10.45,1.312,6,0.000,0.000,2951,2644,2218,0,0,0,0,0,0
$GC,18051,0.63,203.3,621.0,6.5,583,18066,0.00,2.12,10.62,1.269,4,0.000,0.036,2959,1257,2176,0,0,0,0,0,0
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$STATE,25476,end climb,SURFACE_DEPTH_REACHED
$STATE,25476,begin surface coast
$FINISH,2.7,1.022873
$STATE,25601,end surface coast,CONTROL_FINISHED_OK
$STATE,25601,begin surface
$SM_CCo,25617,28.83,0.777,0,0,1883,275.23
$SM_GC,3.73,0.00,0.00,28.83,0.000,0.000,0.777,213,2303,1883,-7.98,0.08,275.23
$IRIDIUM_FIX,6244.56,320.31,240199,181838
$TT8_MAMPS,0.027612
$HUMID,1078334829
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,20.20
$XPDR_PINGS,0
$24V_AH,23.1,18.852
$10V_AH,10.1,11.741
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.500,158.175,322.250,28.825,0.000,56.835,82.765,214.040,0.000,0.000,11.930,2038.179,20689.441,503.686,2330.784,609.178,0.000,1651.031,0.000,2310.534,0.000,0.535,0.000
$DEVICE_MAMPS,241.605,52.923,1511.757,776.971,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,233916
$DATA_FILE_SIZE,53830,956
$CAP_FILE_SIZE,187956,0
$CFSIZE,260165632,246538240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.193,302.3,1
$GPS,311009,014800,6314.288,304.609,39,1.2,45,-3.2