version: 66.06
glider: 140
mission: 8
dive: 210
start: 12 2 109 6 14 13
data:
$ID,140
$MISSION,8
$DIVE,210
$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,-48094.855
$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,68
$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,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
$GPS1,060606,6312.791,331.699,40,1.5,47,-3.0
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,3.36
$_SM_ANGLEo,-55.2
$GPS2,061352,6312.876,331.724,12,2.8,31,-3.0
$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,317.7,297968,-13.7,-6.875
$D_GRID,969
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.80,-116.7,0.0,0.0,0,25,0.00,0.00,-6.80,0.000,2,0.000,0.000,219,2283,2028,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.5,-0.0,1,119,9.10,2.10,-76.50,0.000,4,0.240,0.046,2502,905,3481,0,0,0,0,0,0
$GC,371,-0.66,-116.7,28.0,-9.4,62,378,0.15,2.12,0.00,0.000,6,0.170,0.030,2548,2308,3482,0,0,0,0,0,0
$GC,710,-0.66,-116.7,56.1,-7.3,123,715,0.00,2.10,0.00,0.000,4,0.000,0.035,2548,907,3482,0,0,0,0,0,0
$GC,945,-0.66,-116.7,74.9,-8.6,165,951,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2302,3482,0,0,0,0,0,0
$GC,1287,-0.66,-116.7,96.7,-7.5,226,1293,0.00,2.08,0.00,0.000,4,0.000,0.041,2549,3698,3483,0,0,0,0,0,0
$GC,1328,-0.66,-116.7,100.4,-9.4,233,1334,0.00,2.00,0.00,0.000,6,0.000,0.023,2548,2286,3483,0,0,0,0,0,0
$GC,1675,-0.66,-116.7,125.9,-6.7,284,1678,0.00,2.00,0.00,0.000,4,0.000,0.035,2548,921,3482,0,0,0,0,0,0
$GC,1730,-0.63,-116.7,130.0,-7.0,286,1734,0.00,2.03,0.00,0.000,6,0.000,0.028,2548,2309,3482,0,0,0,0,0,0
$GC,2051,-0.63,-116.7,151.8,-7.0,302,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2309,3483,0,0,0,0,0,0
$GC,2361,-0.63,-116.7,175.2,-7.5,317,2365,0.00,2.05,0.00,0.000,4,0.000,0.040,2548,3698,3483,0,0,0,0,0,0
$GC,2415,-0.63,-116.7,179.5,-7.5,319,2422,0.00,2.03,0.00,0.000,6,0.000,0.022,2548,2299,3483,0,0,0,0,0,0
$GC,2731,-0.63,-116.7,202.9,-6.9,335,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2299,3483,0,0,0,0,0,0
$GC,3041,-0.63,-116.7,225.4,-7.5,350,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2299,3483,0,0,0,0,0,0
$GC,3350,-0.63,-116.7,248.5,-7.5,365,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2297,3483,0,0,0,0,0,0
$GC,3659,-0.63,-116.7,272.8,-7.7,380,3663,0.00,2.12,0.00,0.000,4,0.000,0.041,2549,3708,3483,0,0,0,0,0,0
$GC,3725,-0.63,-116.7,277.8,-7.6,383,3729,0.00,2.03,0.00,0.000,6,0.000,0.023,2548,2306,3483,0,0,0,0,0,0
$GC,4061,-0.63,-116.7,304.2,-8.3,399,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2306,3483,0,0,0,0,0,0
$GC,4367,-0.63,-116.7,329.5,-8.3,409,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2306,3483,0,0,0,0,0,0
$GC,4674,-0.63,-116.7,351.5,-6.5,419,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2304,3483,0,0,0,0,0,0
$GC,4980,-0.63,-116.7,373.2,-7.1,429,4984,0.00,2.12,0.00,0.000,4,0.000,0.040,2548,3705,3483,0,0,0,0,0,0
$GC,5040,-0.63,-116.7,378.0,-7.9,430,5046,0.00,2.03,0.00,0.000,6,0.000,0.023,2548,2301,3483,0,0,0,0,0,0
$GC,5353,-0.63,-116.7,399.4,-6.7,441,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2301,3483,0,0,0,0,0,0
$GC,5659,-0.63,-116.7,417.6,-5.7,451,5663,0.00,2.10,0.00,0.000,4,0.000,0.040,2548,3701,3483,0,0,0,0,0,0
$GC,5720,-0.63,-116.7,420.9,-5.3,453,5724,0.00,1.98,0.00,0.000,6,0.000,0.023,2548,2298,3482,0,0,0,0,0,0
$GC,6061,-0.63,-116.7,442.5,-6.6,464,6064,0.00,2.10,0.00,0.000,4,0.000,0.041,2548,3698,3482,0,0,0,0,0,0
$GC,6104,-0.63,-116.7,445.6,-6.6,465,6108,0.00,2.00,0.00,0.000,6,0.000,0.023,2548,2302,3482,0,0,0,0,0,0
$GC,6428,-0.63,-116.7,466.7,-6.6,476,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2302,3482,0,0,0,0,0,0
$GC,6735,-0.63,-116.7,484.8,-5.7,486,6739,0.00,2.10,0.00,0.000,4,0.000,0.041,2549,3697,3481,0,0,0,0,0,0
$GC,6785,-0.67,-116.7,487.7,-5.7,487,6788,0.00,1.98,0.00,0.000,6,0.000,0.023,2548,2297,3482,0,0,0,0,0,0
$GC,7132,-0.67,-116.7,511.0,-7.2,497,7135,0.00,2.10,0.00,0.000,4,0.000,0.041,2548,3697,3482,0,0,0,0,0,0
$GC,7204,-0.71,-116.7,516.4,-7.3,498,7208,0.00,2.03,0.00,0.000,6,0.000,0.023,2548,2295,3481,0,0,0,0,0,0
$GC,7569,-0.71,-116.7,541.8,-7.0,504,7573,0.00,2.12,0.00,0.000,4,0.000,0.041,2548,3706,3481,0,0,0,0,0,0
$GC,7619,-0.75,-116.7,545.5,-7.7,504,7622,0.00,2.00,0.00,0.000,6,0.000,0.024,2548,2295,3481,0,0,0,0,0,0
$GC,7934,-0.78,-116.7,568.1,-7.3,510,7936,0.10,0.00,0.00,0.000,6,0.147,0.000,2516,2292,3480,0,0,0,0,0,0
$GC,8236,-0.74,-116.7,592.2,-8.0,515,8240,0.00,2.12,0.00,0.000,4,0.000,0.042,2516,3700,3478,0,0,0,0,0,0
$GC,8304,-0.74,-116.7,597.7,-8.0,516,8307,0.00,2.00,0.00,0.000,6,0.000,0.025,2516,2302,3478,0,0,0,0,0,0
$GC,8675,-0.71,-116.7,626.4,-7.6,522,8676,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2299,3477,0,0,0,0,0,0
$GC,8977,-0.68,-116.7,648.4,-7.3,527,8979,0.10,0.00,0.00,0.000,6,0.197,0.000,2540,2295,3475,0,0,0,0,0,0
$GC,9281,-0.68,-116.7,668.2,-6.5,532,9285,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3697,3474,0,0,0,0,0,0
$GC,9364,-0.71,-116.7,673.9,-6.4,533,9368,0.00,2.00,0.00,0.000,6,0.000,0.025,2541,2296,3474,0,0,0,0,0,0
$GC,9713,-0.71,-116.7,695.7,-6.2,539,9717,0.00,2.15,0.00,0.000,4,0.000,0.044,2541,3700,3472,0,0,0,0,0,0
$GC,9762,-0.75,-116.7,699.2,-7.3,539,9766,0.00,2.05,0.00,0.000,6,0.000,0.026,2541,2301,3472,0,0,0,0,0,0
$GC,10082,-0.75,-116.7,719.0,-6.1,545,10086,0.00,2.12,0.00,0.000,4,0.000,0.044,2541,3700,3471,0,0,0,0,0,0
$GC,10138,-0.78,-116.7,722.3,-5.7,545,10144,0.00,2.03,0.00,0.000,6,0.000,0.026,2541,2296,3470,0,0,0,0,0,0
$GC,10447,-0.78,-116.7,740.5,-5.9,551,10448,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2296,3470,0,0,0,0,0,0
$GC,10750,-0.78,-116.7,758.3,-5.9,556,10754,0.00,2.12,0.00,0.000,4,0.000,0.044,2541,3694,3468,0,0,0,0,0,0
$GC,10822,-0.82,-116.7,762.6,-6.3,557,10827,0.12,2.03,0.00,0.000,6,0.138,0.027,2502,2289,3468,0,0,0,0,0,0
$GC,11176,-0.76,-116.7,789.4,-7.8,563,11177,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2288,3466,0,0,0,0,0,0
$GC,11479,-0.70,-116.7,813.2,-7.9,568,11483,0.12,2.08,0.00,0.000,4,0.193,0.041,2533,909,3465,0,0,0,0,0,0
$GC,11522,-0.70,-116.7,816.5,-7.2,568,11526,0.00,2.05,0.00,0.000,6,0.000,0.032,2533,2295,3465,0,0,0,0,0,0
$GC,11843,-0.70,-116.7,838.0,-6.7,574,11847,0.00,2.10,0.00,0.000,4,0.000,0.044,2533,3700,3464,0,0,0,0,0,0
$GC,11910,-0.70,-116.7,842.5,-6.3,575,11914,0.00,2.03,0.00,0.000,6,0.000,0.027,2533,2302,3464,0,0,0,0,0,0
$GC,12281,-0.70,-116.7,866.4,-6.4,581,12282,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2298,3463,0,0,0,0,0,0
$GC,12584,-0.70,-116.7,885.9,-6.4,586,12588,0.00,2.15,0.00,0.000,4,0.000,0.044,2533,3705,3462,0,0,0,0,0,0
$GC,12651,-0.70,-116.7,890.3,-6.7,587,12655,0.00,2.05,0.00,0.000,6,0.000,0.027,2533,2294,3462,0,0,0,0,0,0
$GC,13016,-0.70,-116.7,913.7,-6.4,593,13017,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2294,3462,0,0,0,0,0,0
$GC,13319,-0.70,-116.7,933.3,-6.4,598,13323,0.00,2.15,0.00,0.000,4,0.000,0.045,2533,3700,3461,0,0,0,0,0,0
$GC,13391,-0.70,-116.7,938.1,-6.3,599,13394,0.00,2.03,0.00,0.000,6,0.000,0.027,2533,2302,3461,0,0,0,0,0,0
$GC,13756,-0.70,-116.7,960.8,-6.2,605,13757,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2302,3461,0,0,0,0,0,0
$STATE,13935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13936,begin apogee
$GC,13941,-0.24,0.0,972.1,6.3,608,14040,0.50,0.00,97.05,1.536,6,0.163,0.000,2682,2658,3006,0,0,0,0,0,0
$STATE,14041,end apogee,CONTROL_FINISHED_OK
$STATE,14041,begin climb
$GC,14044,0.80,116.7,974.0,0.0,609,14158,1.08,2.42,105.65,1.440,4,0.111,0.048,3017,4038,2529,0,0,0,0,0,0
$GC,14181,0.54,116.7,970.9,7.4,612,14187,0.32,2.22,0.00,0.000,6,0.180,0.026,2949,2650,2525,0,0,0,0,0,0
$GC,14549,0.53,134.0,947.9,6.2,618,14565,0.00,0.00,15.00,1.392,6,0.000,0.000,2949,2650,2459,0,0,0,0,0,0
$GC,14849,0.54,144.4,928.6,6.5,623,14865,0.00,2.22,10.62,1.360,4,0.000,0.047,2949,4046,2415,0,0,0,0,0,0
$GC,14876,0.50,144.4,926.8,7.1,623,14880,0.00,2.12,0.00,0.000,6,0.000,0.028,2954,2640,2414,0,0,0,0,0,0
$GC,15207,0.51,149.3,904.6,6.7,629,15217,0.00,2.22,5.45,1.180,4,0.000,0.046,2954,4049,2396,0,0,0,0,0,0
$GC,15239,0.44,149.3,902.2,7.2,629,15244,0.20,2.12,0.00,0.000,6,0.186,0.028,2910,2624,2396,0,0,0,0,0,0
$GC,15571,0.55,184.4,883.9,5.5,635,15605,0.00,0.00,32.22,1.430,6,0.000,0.000,2910,2624,2254,0,0,0,0,0,0
$GC,15874,0.67,206.1,865.9,6.0,640,15898,0.20,0.00,20.77,1.395,6,0.099,0.000,2981,2623,2165,0,0,0,0,0,0
$GC,16177,0.64,206.1,839.4,8.9,645,16181,0.00,2.22,0.00,0.000,4,0.000,0.048,2981,4042,2159,0,0,0,0,0,0
$GC,16217,0.54,206.1,835.6,10.7,645,16221,0.17,2.08,0.00,0.000,6,0.178,0.028,2947,2644,2158,0,0,0,0,0,0
$GC,16536,0.58,206.1,811.8,7.3,651,16537,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2644,2157,0,0,0,0,0,0
$GC,16839,0.62,206.1,789.5,7.3,656,16841,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2644,2156,0,0,0,0,0,0
$GC,17143,0.66,206.1,767.6,7.2,661,17144,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2644,2155,0,0,0,0,0,0
$GC,17446,0.70,206.1,744.8,7.6,666,17448,0.12,0.00,0.00,0.000,6,0.127,0.000,2989,2642,2155,0,0,0,0,0,0
$GC,17749,0.66,206.1,716.8,9.3,671,17753,0.00,2.15,0.00,0.000,4,0.000,0.048,2989,4038,2154,0,0,0,0,0,0
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$STATE,26165,end climb,SURFACE_DEPTH_REACHED
$STATE,26165,begin surface coast
$FINISH,2.8,1.026990
$STATE,26199,end surface coast,CONTROL_FINISHED_OK
$STATE,26199,begin surface
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$IRIDIUM_FIX,6244.56,344.09,250299,222210
$TT8_MAMPS,0.027612
$HUMID,1078337410
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,20.30
$XPDR_PINGS,0
$24V_AH,22.6,35.074
$10V_AH,10.1,22.991
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.425,151.650,371.950,0.000,0.000,23.826,34.812,259.858,0.000,0.000,32.419,2247.655,20870.096,505.396,2513.913,591.860,0.000,1729.583,0.000,2473.661,0.000,0.535,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,233776
$DATA_FILE_SIZE,63339,1110
$CAP_FILE_SIZE,192199,0
$CFSIZE,260165632,237674496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,342.0,1
$GPS,021209,133354,6316.003,325.869,53,1.2,71,-3.0