version: 66.06
glider: 140
mission: 8
dive: 251
start: 12 15 109 8 6 1
data:
$ID,140
$MISSION,8
$DIVE,251
$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,-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,-48952.688
$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,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
$GPS1,075507,6444.178,6.101,33,0.9,34,-5.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.93
$_SM_ANGLEo,-64.7
$GPS2,080537,6444.050,5.995,9,0.9,15,-5.1
$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,313.4,65580,-13.7,-6.875
$D_GRID,2701
$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,-7.82,0.000,2,0.000,0.000,210,2272,2040,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.9,-0.0,1,124,8.93,2.15,-79.38,0.000,4,0.226,0.051,2507,918,3482,0,0,0,0,0,0
$GC,147,-0.98,-116.7,3.9,-1.5,21,153,0.17,2.10,0.00,0.000,6,0.133,0.029,2453,2310,3483,0,0,0,0,0,0
$GC,478,-0.78,-116.7,39.9,-10.9,82,486,0.22,2.15,0.00,0.000,4,0.187,0.039,2512,3695,3484,0,0,0,0,0,0
$GC,535,-0.70,-116.7,45.6,-9.2,92,543,0.00,2.05,0.00,0.000,6,0.000,0.024,2513,2304,3484,0,0,0,0,0,0
$GC,874,-0.62,-116.7,76.5,-9.4,153,880,0.17,0.00,0.00,0.000,6,0.189,0.000,2559,2301,3485,0,0,0,0,0,0
$GC,1211,-0.62,-116.7,101.4,-6.3,214,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2301,3485,0,0,0,0,0,0
$GC,1552,-0.62,-116.7,121.3,-5.6,273,1556,0.00,2.15,0.00,0.000,4,0.000,0.041,2559,3704,3485,0,0,0,0,0,0
$GC,1614,-0.67,-116.7,125.2,-6.0,275,1619,0.00,2.03,0.00,0.000,6,0.000,0.023,2559,2292,3485,0,0,0,0,0,0
$GC,1930,-0.71,-116.7,144.8,-6.3,291,1934,0.00,2.12,0.00,0.000,4,0.000,0.040,2559,3698,3486,0,0,0,0,0,0
$GC,2008,-0.76,-116.7,150.5,-7.0,294,2015,0.10,2.03,0.00,0.000,6,0.107,0.024,2521,2299,3486,0,0,0,0,0,0
$GC,2323,-0.72,-116.7,179.3,-9.0,310,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2299,3486,0,0,0,0,0,0
$GC,2633,-0.67,-116.7,206.6,-8.8,325,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2299,3486,0,0,0,0,0,0
$GC,2942,-0.63,-116.7,234.0,-8.6,340,2944,0.15,0.00,0.00,0.000,6,0.186,0.000,2559,2297,3486,0,0,0,0,0,0
$GC,3251,-0.67,-116.7,256.2,-7.1,355,3255,0.00,2.12,0.00,0.000,4,0.000,0.041,2558,3698,3486,0,0,0,0,0,0
$GC,3375,-0.74,-116.7,264.9,-6.8,360,3381,0.00,2.00,0.00,0.000,6,0.000,0.024,2558,2293,3486,0,0,0,0,0,0
$GC,3690,-0.79,-116.7,285.6,-6.4,376,3695,0.15,2.15,0.00,0.000,4,0.130,0.041,2510,3696,3485,0,0,0,0,0,0
$GC,3734,-0.74,-116.7,289.2,-8.1,378,3738,0.00,2.00,0.00,0.000,6,0.000,0.024,2510,2300,3485,0,0,0,0,0,0
$GC,4059,-0.69,-116.7,315.2,-7.9,391,4061,0.12,0.00,0.00,0.000,6,0.196,0.000,2541,2295,3485,0,0,0,0,0,0
$GC,4365,-0.69,-116.7,334.8,-6.3,401,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2295,3485,0,0,0,0,0,0
$GC,4671,-0.69,-116.7,353.6,-6.1,411,4675,0.00,2.12,0.00,0.000,4,0.000,0.042,2541,3697,3484,0,0,0,0,0,0
$GC,4749,-0.69,-116.7,358.6,-6.5,413,4753,0.00,2.00,0.00,0.000,6,0.000,0.025,2541,2296,3484,0,0,0,0,0,0
$GC,5073,-0.69,-116.7,380.2,-6.8,424,5077,0.00,2.12,0.00,0.000,4,0.000,0.042,2541,3697,3483,0,0,0,0,0,0
$GC,5128,-0.72,-116.7,384.2,-7.4,425,5134,0.00,2.00,0.00,0.000,6,0.000,0.025,2541,2304,3483,0,0,0,0,0,0
$GC,5441,-0.72,-116.7,405.5,-6.8,436,5445,0.00,2.12,0.00,0.000,4,0.000,0.042,2541,3700,3482,0,0,0,0,0,0
$GC,5497,-0.75,-116.7,409.4,-7.0,437,5501,0.00,2.03,0.00,0.000,6,0.000,0.025,2541,2304,3482,0,0,0,0,0,0
$GC,5814,-0.75,-116.7,431.7,-7.1,448,5818,0.00,2.12,0.00,0.000,4,0.000,0.042,2541,3697,3481,0,0,0,0,0,0
$GC,5858,-0.75,-116.7,435.3,-8.0,449,5862,0.00,2.08,0.00,0.000,6,0.000,0.025,2541,2292,3481,0,0,0,0,0,0
$GC,6182,-0.75,-116.7,460.0,-7.7,460,6186,0.00,2.15,0.00,0.000,4,0.000,0.042,2541,3697,3480,0,0,0,0,0,0
$GC,6242,-0.79,-116.7,464.8,-8.0,461,6248,0.00,2.03,0.00,0.000,6,0.000,0.025,2541,2296,3480,0,0,0,0,0,0
$GC,6554,-0.79,-116.7,488.9,-7.6,472,6558,0.00,2.15,0.00,0.000,4,0.000,0.042,2541,3705,3478,0,0,0,0,0,0
$GC,6609,-0.83,-116.7,493.2,-7.7,473,6615,0.12,2.05,0.00,0.000,6,0.142,0.025,2502,2287,3479,0,0,0,0,0,0
$GC,6950,-0.77,-116.7,523.3,-8.9,481,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2286,3478,0,0,0,0,0,0
$GC,7252,-0.71,-116.7,549.3,-8.6,486,7254,0.12,0.00,0.00,0.000,6,0.192,0.000,2533,2285,3478,0,0,0,0,0,0
$GC,7555,-0.71,-116.7,571.3,-7.2,491,7559,0.00,2.17,0.00,0.000,4,0.000,0.043,2533,3705,3477,0,0,0,0,0,0
$GC,7644,-0.71,-116.7,577.8,-7.6,492,7648,0.00,2.08,0.00,0.000,6,0.000,0.026,2533,2305,3477,0,0,0,0,0,0
$GC,7987,-0.71,-116.7,601.3,-6.9,498,7991,0.00,2.15,0.00,0.000,4,0.000,0.043,2533,3701,3476,0,0,0,0,0,0
$GC,8042,-0.71,-116.7,605.3,-7.6,498,8046,0.00,2.08,0.00,0.000,6,0.000,0.026,2533,2296,3476,0,0,0,0,0,0
$GC,8357,-0.71,-116.7,626.8,-6.8,504,8361,0.00,2.15,0.00,0.000,4,0.000,0.043,2533,3701,3475,0,0,0,0,0,0
$GC,8419,-0.71,-116.7,631.1,-6.5,505,8422,0.00,2.05,0.00,0.000,6,0.000,0.027,2533,2293,3475,0,0,0,0,0,0
$GC,8790,-0.71,-116.7,655.7,-6.6,511,8794,0.00,2.15,0.00,0.000,4,0.000,0.043,2533,3698,3475,0,0,0,0,0,0
$GC,8845,-0.74,-116.7,659.7,-7.1,511,8850,0.00,2.08,0.00,0.000,6,0.000,0.027,2533,2296,3474,0,0,0,0,0,0
$GC,9155,-0.74,-116.7,680.1,-6.7,517,9159,0.00,2.15,0.00,0.000,4,0.000,0.043,2533,3701,3474,0,0,0,0,0,0
$GC,9217,-0.77,-116.7,684.4,-7.5,518,9221,0.00,2.05,0.00,0.000,6,0.000,0.027,2533,2292,3474,0,0,0,0,0,0
$GC,9581,-0.77,-116.7,709.3,-6.9,524,9585,0.00,2.15,0.00,0.000,4,0.000,0.043,2533,3694,3473,0,0,0,0,0,0
$GC,9653,-0.80,-116.7,714.4,-6.6,525,9657,0.00,2.03,0.00,0.000,6,0.000,0.027,2533,2300,3473,0,0,0,0,0,0
$GC,10013,-0.80,-116.7,738.0,-6.5,531,10017,0.00,2.12,0.00,0.000,4,0.000,0.043,2533,3698,3473,0,0,0,0,0,0
$GC,10079,-0.84,-116.7,742.4,-6.7,532,10084,0.12,2.05,0.00,0.000,6,0.142,0.027,2493,2287,3472,0,0,0,0,0,0
$GC,10444,-0.77,-116.7,771.2,-7.9,538,10445,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2285,3473,0,0,0,0,0,0
$GC,10747,-0.70,-116.7,795.9,-8.1,543,10752,0.15,2.20,0.00,0.000,4,0.186,0.044,2531,3701,3471,0,0,0,0,0,0
$GC,10790,-0.70,-116.7,799.2,-6.8,543,10794,0.00,2.08,0.00,0.000,6,0.000,0.026,2532,2301,3471,0,0,0,0,0,0
$GC,11117,-0.70,-116.7,820.4,-6.5,549,11121,0.00,2.15,0.00,0.000,4,0.000,0.044,2532,3702,3471,0,0,0,0,0,0
$GC,11185,-0.70,-116.7,824.9,-6.8,550,11189,0.00,2.05,0.00,0.000,6,0.000,0.027,2532,2297,3471,0,0,0,0,0,0
$GC,11544,-0.70,-116.7,847.1,-6.2,556,11548,0.00,2.15,0.00,0.000,4,0.000,0.044,2532,3698,3471,0,0,0,0,0,0
$GC,11617,-0.73,-116.7,851.6,-6.3,557,11620,0.00,2.05,0.00,0.000,6,0.000,0.026,2532,2287,3470,0,0,0,0,0,0
$GC,11977,-0.73,-116.7,874.2,-6.4,563,11981,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3695,3470,0,0,0,0,0,0
$GC,12060,-0.77,-116.7,880.0,-6.4,564,12064,0.00,2.03,0.00,0.000,6,0.000,0.027,2532,2298,3470,0,0,0,0,0,0
$GC,12409,-0.77,-116.7,903.2,-6.7,570,12412,0.00,2.15,0.00,0.000,4,0.000,0.044,2532,3695,3470,0,0,0,0,0,0
$GC,12476,-0.81,-116.7,907.8,-7.1,571,12480,0.00,2.03,0.00,0.000,6,0.000,0.027,2532,2300,3470,0,0,0,0,0,0
$GC,12842,-0.81,-116.7,932.5,-6.8,577,12846,0.00,2.15,0.00,0.000,4,0.000,0.044,2532,3699,3470,0,0,0,0,0,0
$GC,12908,-0.85,-116.7,937.1,-7.4,578,12913,0.12,2.05,0.00,0.000,6,0.142,0.027,2491,2295,3470,0,0,0,0,0,0
$GC,13273,-0.79,-116.7,967.3,-8.4,584,13274,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2293,3469,0,0,0,0,0,0
$STATE,13574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13574,begin apogee
$GC,13579,-0.24,0.0,992.2,8.2,589,13684,0.65,0.00,101.10,1.550,6,0.172,0.000,2678,2649,3006,0,0,0,0,0,0
$STATE,13684,end apogee,CONTROL_FINISHED_OK
$STATE,13684,begin climb
$GC,13687,0.80,116.7,994.6,0.0,590,13806,1.10,2.47,108.85,1.456,4,0.110,0.045,3017,4037,2528,0,0,0,0,0,0
$GC,13840,0.54,116.7,991.8,7.3,593,13845,0.32,2.22,0.00,0.000,6,0.171,0.026,2946,2650,2524,0,0,0,0,0,0
$GC,14182,0.58,151.6,973.0,5.5,599,14216,0.00,0.00,31.67,1.438,6,0.000,0.000,2946,2650,2387,0,0,0,0,0,0
$GC,14485,0.60,165.3,954.1,6.3,604,14500,0.00,0.00,12.88,1.394,6,0.000,0.000,2946,2650,2332,0,0,0,0,0,0
$GC,14789,0.61,170.5,934.0,6.7,609,14797,0.00,0.00,6.05,1.229,6,0.000,0.000,2946,2650,2310,0,0,0,0,0,0
$GC,15091,0.61,172.0,913.4,6.8,614,15095,0.00,2.12,0.00,0.000,4,0.000,0.038,2954,1260,2308,0,0,0,0,0,0
$GC,15101,0.61,172.7,912.6,6.8,614,15106,0.00,2.15,0.00,0.000,6,0.000,0.034,2954,2646,2308,0,0,0,0,0,0
$GC,15456,0.61,172.7,888.0,7.0,620,15457,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2646,2307,0,0,0,0,0,0
$GC,15759,0.61,172.7,866.6,7.0,625,15760,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2646,2307,0,0,0,0,0,0
$GC,16062,0.61,172.7,844.4,7.3,630,16063,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2646,2306,0,0,0,0,0,0
$GC,16365,0.61,172.7,822.4,7.3,635,16366,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2646,2306,0,0,0,0,0,0
$GC,16668,0.61,172.7,800.0,7.4,640,16669,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2646,2306,0,0,0,0,0,0
$GC,16972,0.61,172.7,777.8,7.4,645,16973,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2646,2305,0,0,0,0,0,0
$GC,17274,0.61,172.7,755.4,7.4,650,17278,0.00,2.10,0.00,0.000,4,0.000,0.036,2962,1254,2305,0,0,0,0,0,0
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$STATE,27126,end climb,SURFACE_DEPTH_REACHED
$STATE,27126,begin surface coast
$FINISH,3.0,1.012838
$STATE,27165,end surface coast,CONTROL_FINISHED_OK
$STATE,27165,begin surface
$SM_CCo,27181,15.65,0.802,0,0,1884,275.23
$SM_GC,4.19,0.00,0.00,15.65,0.000,0.000,0.802,219,2262,1884,-7.96,-1.07,275.23
$IRIDIUM_FIX,6421.40,5.04,110399,080858
$TT8_MAMPS,0.027612
$HUMID,1078379990
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,22.2,41.473
$10V_AH,9.8,27.591
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.575,161.375,338.675,15.650,0.000,60.955,66.561,303.285,0.000,0.000,15.920,2364.708,21572.145,526.844,2643.555,711.985,0.000,1811.530,0.000,2610.086,0.000,0.533,0.000
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$SENSOR_SECS,803.389,1032.811,600.592,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241320
$DATA_FILE_SIZE,66567,1162
$CAP_FILE_SIZE,204723,0
$CFSIZE,260165632,234074112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121,205.2,1
$GPS,151209,154036,6444.450,-1.620,40,1.7,41,-5.2