version: 66.06
glider: 140
mission: 8
dive: 28
start: 10 7 109 11 46 1
data:
$ID,140
$MISSION,8
$DIVE,28
$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,-44811.332
$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,70
$R_STBD_OVSHOOT,36
$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
$GPS1,114001,6438.844,22.051,39,1.7,40,-5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.48
$_SM_ANGLEo,-64.3
$GPS2,114538,6438.836,22.080,12,1.9,12,-5.0
$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,313.2,81408,-13.7,-6.875
$D_GRID,2624
$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,-8.18,0.000,2,0.000,0.000,217,2280,2042,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.6,-0.0,1,124,9.32,0.00,-82.93,0.000,6,0.262,0.000,2502,2281,3483,0,0,0,0,0,0
$GC,453,-0.64,-116.7,35.1,-11.1,78,460,0.20,0.00,0.00,0.000,6,0.209,0.000,2554,2280,3485,0,0,0,0,0,0
$GC,796,-0.61,-116.7,66.9,-8.0,129,799,0.00,2.05,0.00,0.000,4,0.000,0.041,2554,912,3486,0,0,0,0,0,0
$GC,861,-0.61,-116.7,72.6,-8.7,132,866,0.00,2.12,0.00,0.000,6,0.000,0.031,2554,2315,3485,0,0,0,0,0,0
$GC,1188,-0.61,-116.7,95.4,-6.9,148,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2316,3487,0,0,0,0,0,0
$GC,1499,-0.61,-116.7,118.6,-7.5,163,1503,0.00,2.08,0.00,0.000,4,0.000,0.044,2554,3709,3487,0,0,0,0,0,0
$GC,1564,-0.61,-116.7,124.1,-8.4,166,1568,0.00,2.08,0.00,0.000,6,0.000,0.025,2554,2295,3488,0,0,0,0,0,0
$GC,1891,-0.61,-116.7,149.5,-8.1,182,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2295,3488,0,0,0,0,0,0
$GC,2202,-0.61,-116.7,172.6,-7.4,197,2205,0.00,2.03,0.00,0.000,4,0.000,0.038,2554,917,3488,0,0,0,0,0,0
$GC,2293,-0.61,-116.7,179.5,-7.3,201,2296,0.00,2.05,0.00,0.000,6,0.000,0.031,2554,2305,3488,0,0,0,0,0,0
$GC,2619,-0.61,-116.7,203.2,-6.9,217,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2306,3487,0,0,0,0,0,0
$GC,2928,-0.61,-116.7,224.0,-6.5,232,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2306,3486,0,0,0,0,0,0
$GC,3237,-0.61,-116.7,244.6,-6.8,247,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2306,3486,0,0,0,0,0,0
$GC,3547,-0.61,-116.7,266.2,-6.8,262,3551,0.00,2.08,0.00,0.000,4,0.000,0.046,2554,3703,3485,0,0,0,0,0,0
$GC,3609,-0.61,-116.7,270.7,-7.6,265,3612,0.00,2.03,0.00,0.000,6,0.000,0.027,2554,2290,3485,0,0,0,0,0,0
$GC,3935,-0.61,-116.7,293.1,-6.8,281,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2290,3485,0,0,0,0,0,0
$GC,4252,-0.61,-116.7,314.9,-7.1,293,4256,0.00,2.12,0.00,0.000,4,0.000,0.047,2554,3704,3484,0,0,0,0,0,0
$GC,4296,-0.64,-116.7,318.2,-7.5,294,4300,0.00,2.05,0.00,0.000,6,0.000,0.028,2554,2303,3484,0,0,0,0,0,0
$GC,4620,-0.64,-116.7,340.8,-6.9,305,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2303,3483,0,0,0,0,0,0
$GC,4926,-0.64,-116.7,362.2,-7.1,315,4927,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2303,3483,0,0,0,0,0,0
$GC,5233,-0.64,-116.7,384.0,-7.2,325,5236,0.00,2.12,0.00,0.000,4,0.000,0.047,2554,3706,3482,0,0,0,0,0,0
$GC,5300,-0.68,-116.7,388.9,-7.4,327,5304,0.00,2.03,0.00,0.000,6,0.000,0.028,2554,2298,3482,0,0,0,0,0,0
$GC,5640,-0.68,-116.7,412.5,-7.0,338,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2297,3481,0,0,0,0,0,0
$GC,5946,-0.68,-116.7,433.9,-7.0,348,5950,0.00,2.12,0.00,0.000,4,0.000,0.048,2554,3708,3480,0,0,0,0,0,0
$GC,5995,-0.72,-116.7,437.6,-7.2,349,6000,0.00,2.05,0.00,0.000,6,0.000,0.029,2554,2304,3480,0,0,0,0,0,0
$GC,6319,-0.72,-116.7,460.0,-7.1,360,6320,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2304,3479,0,0,0,0,0,0
$GC,6625,-0.72,-116.7,482.3,-7.4,370,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2304,3479,0,0,0,0,0,0
$GC,6931,-0.72,-116.7,504.7,-7.2,379,6934,0.00,2.10,0.00,0.000,4,0.000,0.048,2554,3701,3478,0,0,0,0,0,0
$GC,6997,-0.76,-116.7,509.5,-7.4,380,7001,0.08,2.05,0.00,0.000,6,0.117,0.029,2526,2299,3478,0,0,0,0,0,0
$GC,7362,-0.72,-116.7,538.9,-8.1,386,7366,0.00,2.05,0.00,0.000,4,0.000,0.044,2525,907,3478,0,0,0,0,0,0
$GC,7418,-0.66,-116.7,543.7,-9.0,386,7423,0.00,2.05,0.00,0.000,6,0.000,0.035,2525,2300,3478,0,0,0,0,0,0
$GC,7727,-0.62,-116.7,568.2,-7.9,392,7729,0.15,0.00,0.00,0.000,6,0.219,0.000,2563,2301,3477,0,0,0,0,0,0
$GC,8031,-0.67,-116.7,587.8,-6.3,397,8035,0.00,2.08,0.00,0.000,4,0.000,0.048,2562,3701,3476,0,0,0,0,0,0
$GC,8120,-0.73,-116.7,593.7,-6.8,398,8124,0.00,2.03,0.00,0.000,6,0.000,0.029,2562,2289,3476,0,0,0,0,0,0
$GC,8463,-0.77,-116.7,615.0,-6.2,404,8468,0.15,2.15,0.00,0.000,4,0.140,0.048,2514,3702,3476,0,0,0,0,0,0
$GC,8519,-0.73,-116.7,619.1,-7.2,404,8523,0.00,2.03,0.00,0.000,6,0.000,0.029,2514,2295,3476,0,0,0,0,0,0
$GC,8829,-0.67,-116.7,642.9,-7.7,409,8831,0.12,0.00,0.00,0.000,6,0.220,0.000,2543,2290,3475,0,0,0,0,0,0
$GC,9131,-0.67,-116.7,663.1,-6.7,414,9135,0.00,2.12,0.00,0.000,4,0.000,0.049,2543,3704,3475,0,0,0,0,0,0
$GC,9181,-0.67,-116.7,666.4,-6.4,414,9185,0.00,2.05,0.00,0.000,6,0.000,0.029,2544,2307,3474,0,0,0,0,0,0
$GC,9496,-0.67,-116.7,687.2,-6.6,420,9497,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2307,3474,0,0,0,0,0,0
$GC,9799,-0.67,-116.7,707.3,-6.7,425,9803,0.00,2.10,0.00,0.000,4,0.000,0.048,2544,3704,3474,0,0,0,0,0,0
$GC,9876,-0.67,-116.7,712.7,-7.1,426,9881,0.00,2.05,0.00,0.000,6,0.000,0.030,2543,2305,3474,0,0,0,0,0,0
$GC,10231,-0.67,-116.7,736.9,-6.9,432,10232,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2305,3474,0,0,0,0,0,0
$GC,10534,-0.67,-116.7,757.9,-7.0,437,10538,0.00,2.10,0.00,0.000,4,0.000,0.048,2544,3699,3473,0,0,0,0,0,0
$GC,10589,-0.70,-116.7,761.9,-7.5,437,10595,0.00,2.03,0.00,0.000,6,0.000,0.030,2543,2293,3473,0,0,0,0,0,0
$GC,10898,-0.70,-116.7,783.6,-7.0,443,10899,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2293,3473,0,0,0,0,0,0
$GC,11201,-0.70,-116.7,805.1,-7.1,448,11205,0.00,2.12,0.00,0.000,4,0.000,0.048,2543,3704,3473,0,0,0,0,0,0
$GC,11268,-0.73,-116.7,810.1,-7.6,449,11272,0.00,2.05,0.00,0.000,6,0.000,0.030,2543,2306,3472,0,0,0,0,0,0
$GC,11633,-0.73,-116.7,835.1,-6.9,455,11634,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2305,3472,0,0,0,0,0,0
$GC,11936,-0.73,-116.7,855.6,-6.8,460,11940,0.00,2.10,0.00,0.000,4,0.000,0.048,2544,3699,3472,0,0,0,0,0,0
$GC,12014,-0.77,-116.7,861.1,-7.8,461,12018,0.00,2.03,0.00,0.000,6,0.000,0.030,2543,2295,3472,0,0,0,0,0,0
$GC,12368,-0.77,-116.7,885.6,-7.0,467,12369,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2295,3471,0,0,0,0,0,0
$GC,12671,-0.77,-116.7,906.8,-7.0,472,12675,0.00,2.12,0.00,0.000,4,0.000,0.049,2543,3705,3471,0,0,0,0,0,0
$GC,12760,-0.81,-116.7,913.4,-6.7,473,12765,0.12,2.03,0.00,0.000,6,0.149,0.030,2504,2295,3471,0,0,0,0,0,0
$GC,13097,-0.74,-116.7,941.9,-8.6,479,13100,0.00,2.05,0.00,0.000,4,0.000,0.044,2504,908,3471,0,0,0,0,0,0
$GC,13158,-0.66,-116.7,947.7,-9.3,480,13163,0.17,2.05,0.00,0.000,6,0.215,0.036,2548,2299,3471,0,0,0,0,0,0
$GC,13529,-0.69,-116.7,973.8,-7.0,486,13533,0.00,2.08,0.00,0.000,4,0.000,0.049,2549,3700,3471,0,0,0,0,0,0
$GC,13612,-0.74,-116.7,979.7,-8.1,487,13616,0.00,2.05,0.00,0.000,6,0.000,0.030,2549,2305,3470,0,0,0,0,0,0
$STATE,13776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13777,begin apogee
$GC,13782,-0.24,0.0,990.7,6.7,490,13884,0.45,0.00,99.05,1.554,6,0.178,0.000,2685,2650,3006,0,0,0,0,0,0
$STATE,13884,end apogee,CONTROL_FINISHED_OK
$STATE,13884,begin climb
$GC,13886,0.80,116.7,993.1,0.0,491,14000,1.08,2.33,105.32,1.462,4,0.127,0.051,3006,4035,2529,0,0,0,0,0,0
$GC,14056,0.56,116.7,988.4,8.5,494,14061,0.25,2.20,0.00,0.000,6,0.202,0.029,2951,2658,2523,0,0,0,0,0,0
$GC,14393,0.53,138.3,968.1,6.0,500,14414,0.00,0.00,18.95,1.418,6,0.000,0.000,2951,2658,2442,0,0,0,0,0,0
$GC,14697,0.50,144.5,948.3,6.6,505,14708,0.00,2.28,6.53,1.260,4,0.000,0.051,2951,4037,2416,0,0,0,0,0,0
$GC,14725,0.44,152.8,946.2,6.5,505,14740,0.17,2.12,9.32,1.289,6,0.202,0.030,2915,2639,2383,0,0,0,0,0,0
$GC,15062,0.53,185.6,927.1,5.6,511,15094,0.00,0.00,30.60,1.440,6,0.000,0.000,2915,2639,2249,0,0,0,0,0,0
$GC,15364,0.62,202.4,908.6,6.2,516,15383,0.15,0.00,16.27,1.401,6,0.125,0.000,2963,2636,2179,0,0,0,0,0,0
$GC,15732,0.62,202.4,878.9,8.1,522,15733,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2636,2174,0,0,0,0,0,0
$GC,16035,0.62,202.4,854.1,8.1,527,16039,0.00,2.17,0.00,0.000,4,0.000,0.051,2963,4038,2172,0,0,0,0,0,0
$GC,16073,0.55,202.4,850.7,9.3,527,16077,0.00,2.10,0.00,0.000,6,0.000,0.030,2971,2654,2172,0,0,0,0,0,0
$GC,16399,0.55,202.4,823.5,8.4,533,16403,0.00,2.17,0.00,0.000,4,0.000,0.051,2967,4050,2171,0,0,0,0,0,0
$GC,16442,0.47,202.4,819.4,10.1,533,16447,0.22,2.08,0.00,0.000,6,0.200,0.031,2916,2652,2171,0,0,0,0,0,0
$GC,16762,0.58,220.9,799.2,6.1,539,16782,0.10,0.00,16.77,1.397,6,0.145,0.000,2949,2648,2105,0,0,0,0,0,0
$GC,17065,0.61,220.9,776.9,7.5,544,17069,0.00,2.17,0.00,0.000,4,0.000,0.051,2949,4044,2100,0,0,0,0,0,0
$GC,17092,0.61,220.9,774.5,8.1,544,17096,0.00,2.12,0.00,0.000,6,0.000,0.031,2949,2655,2100,0,0,0,0,0,0
$GC,17429,0.61,220.9,748.9,7.6,550,17433,0.00,2.15,0.00,0.000,4,0.000,0.051,2950,4040,2099,0,0,0,0,0,0
$GC,17450,0.61,220.9,747.1,8.8,550,17455,0.00,2.12,0.00,0.000,6,0.000,0.031,2951,2643,2099,0,0,0,0,0,0
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$STATE,26638,end climb,SURFACE_DEPTH_REACHED
$STATE,26638,begin surface coast
$FINISH,2.8,1.003193
$STATE,26680,end surface coast,CONTROL_FINISHED_OK
$STATE,26680,begin surface
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$10V_AH,10.1,4.076
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$FG_AHR_10Vo,0.000
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$MEM,241608
$DATA_FILE_SIZE,53742,949
$CAP_FILE_SIZE,199818,0
$CFSIZE,260165632,252653568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043,239.1,1
$GPS,071009,191236,6440.349,14.684,43,1.3,50,-5.0