version: 66.06
glider: 140
mission: 8
dive: 33
start: 10 9 109 2 7 42
data:
$ID,140
$MISSION,8
$DIVE,33
$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,-44904.691
$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,84
$R_STBD_OVSHOOT,40
$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
$GPS1,020137,6446.986,-12.667,34,0.9,35,-5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.68
$_SM_ANGLEo,-62.3
$GPS2,020719,6446.983,-12.620,14,1.0,14,-5.3
$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,318.9,51042,-13.7,-6.875
$D_GRID,2747
$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,-7.57,0.000,2,0.000,0.000,221,2259,2036,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.8,-0.0,1,117,9.12,0.00,-77.82,0.000,6,0.256,0.000,2499,2259,3482,0,0,0,0,0,0
$GC,450,-0.64,-116.7,36.7,-10.1,77,457,0.20,2.00,0.00,0.000,4,0.203,0.038,2553,933,3485,0,0,0,0,0,0
$GC,542,-0.58,-116.7,46.8,-10.4,93,548,0.00,2.05,0.00,0.000,6,0.000,0.031,2553,2305,3485,0,0,0,0,0,0
$GC,879,-0.55,-116.7,76.5,-8.5,129,883,0.12,2.12,0.00,0.000,4,0.212,0.044,2584,3712,3486,0,0,0,0,0,0
$GC,956,-0.62,-116.7,82.1,-6.7,132,963,0.00,2.05,0.00,0.000,6,0.000,0.026,2584,2309,3486,0,0,0,0,0,0
$GC,1272,-0.69,-116.7,103.0,-6.7,148,1274,0.12,0.00,0.00,0.000,6,0.142,0.000,2545,2309,3487,0,0,0,0,0,0
$GC,1581,-0.69,-116.7,125.4,-6.9,163,1585,0.00,2.05,0.00,0.000,4,0.000,0.038,2545,921,3487,0,0,0,0,0,0
$GC,1674,-0.65,-116.7,132.2,-7.1,167,1678,0.00,2.05,0.00,0.000,6,0.000,0.031,2544,2308,3488,0,0,0,0,0,0
$GC,2001,-0.65,-116.7,153.8,-6.7,183,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2309,3488,0,0,0,0,0,0
$GC,2309,-0.65,-116.7,174.6,-6.7,198,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2309,3489,0,0,0,0,0,0
$GC,2619,-0.65,-116.7,197.4,-7.6,213,2623,0.00,2.08,0.00,0.000,4,0.000,0.044,2544,3709,3488,0,0,0,0,0,0
$GC,2668,-0.65,-116.7,201.5,-8.0,215,2673,0.00,2.05,0.00,0.000,6,0.000,0.026,2544,2303,3488,0,0,0,0,0,0
$GC,2990,-0.65,-116.7,225.5,-7.6,231,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2302,3487,0,0,0,0,0,0
$GC,3299,-0.65,-116.7,249.0,-7.5,246,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2302,3487,0,0,0,0,0,0
$GC,3608,-0.65,-116.7,271.7,-7.3,261,3612,0.00,2.10,0.00,0.000,4,0.000,0.045,2544,3704,3486,0,0,0,0,0,0
$GC,3662,-0.65,-116.7,275.7,-7.0,263,3668,0.00,2.05,0.00,0.000,6,0.000,0.027,2544,2296,3486,0,0,0,0,0,0
$GC,3978,-0.65,-116.7,299.2,-7.8,279,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2295,3485,0,0,0,0,0,0
$GC,4305,-0.65,-116.7,324.5,-7.6,290,4309,0.00,2.12,0.00,0.000,4,0.000,0.045,2544,3709,3485,0,0,0,0,0,0
$GC,4382,-0.65,-116.7,330.7,-7.9,292,4386,0.00,2.05,0.00,0.000,6,0.000,0.028,2544,2303,3484,0,0,0,0,0,0
$GC,4711,-0.65,-116.7,354.8,-7.3,303,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2302,3484,0,0,0,0,0,0
$GC,5017,-0.65,-116.7,377.1,-7.2,313,5021,0.00,2.10,0.00,0.000,4,0.000,0.046,2544,3704,3484,0,0,0,0,0,0
$GC,5106,-0.65,-116.7,383.9,-7.5,315,5110,0.00,2.05,0.00,0.000,6,0.000,0.028,2544,2300,3483,0,0,0,0,0,0
$GC,5424,-0.65,-116.7,407.2,-7.4,326,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2299,3483,0,0,0,0,0,0
$GC,5730,-0.65,-116.7,430.0,-7.5,336,5734,0.00,2.10,0.00,0.000,4,0.000,0.046,2544,3698,3482,0,0,0,0,0,0
$GC,5835,-0.65,-116.7,438.2,-8.0,339,5840,0.00,2.05,0.00,0.000,6,0.000,0.028,2544,2291,3481,0,0,0,0,0,0
$GC,6170,-0.65,-116.7,462.9,-7.3,350,6174,0.00,2.12,0.00,0.000,4,0.000,0.046,2544,3704,3481,0,0,0,0,0,0
$GC,6269,-0.65,-116.7,470.2,-6.8,353,6274,0.00,2.05,0.00,0.000,6,0.000,0.028,2544,2298,3480,0,0,0,0,0,0
$GC,6604,-0.65,-116.7,493.0,-6.7,364,6608,0.00,2.12,0.00,0.000,4,0.000,0.047,2544,3709,3480,0,0,0,0,0,0
$GC,6659,-0.65,-116.7,496.8,-7.1,365,6666,0.00,2.08,0.00,0.000,6,0.000,0.028,2544,2293,3479,0,0,0,0,0,0
$GC,6969,-0.65,-116.7,517.4,-6.7,372,6973,0.00,2.12,0.00,0.000,4,0.000,0.047,2544,3705,3479,0,0,0,0,0,0
$GC,7047,-0.65,-116.7,522.8,-6.9,373,7051,0.00,2.08,0.00,0.000,6,0.000,0.028,2545,2291,3479,0,0,0,0,0,0
$GC,7401,-0.65,-116.7,546.8,-6.8,379,7405,0.00,2.12,0.00,0.000,4,0.000,0.048,2544,3702,3478,0,0,0,0,0,0
$GC,7456,-0.65,-116.7,550.6,-6.7,379,7461,0.00,2.05,0.00,0.000,6,0.000,0.029,2544,2299,3478,0,0,0,0,0,0
$GC,7771,-0.65,-116.7,571.3,-6.6,385,7775,0.00,2.10,0.00,0.000,4,0.000,0.047,2544,3698,3478,0,0,0,0,0,0
$GC,7848,-0.65,-116.7,576.7,-7.1,386,7853,0.00,2.05,0.00,0.000,6,0.000,0.029,2544,2299,3477,0,0,0,0,0,0
$GC,8203,-0.65,-116.7,600.6,-6.8,392,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2297,3477,0,0,0,0,0,0
$GC,8506,-0.65,-116.7,621.6,-6.9,397,8510,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3709,3476,0,0,0,0,0,0
$GC,8594,-0.65,-116.7,628.1,-7.1,398,8598,0.00,2.08,0.00,0.000,6,0.000,0.029,2544,2295,3476,0,0,0,0,0,0
$GC,8937,-0.65,-116.7,652.3,-7.1,404,8941,0.00,2.12,0.00,0.000,4,0.000,0.048,2544,3705,3475,0,0,0,0,0,0
$GC,8999,-0.65,-116.7,656.9,-8.1,405,9002,0.00,2.03,0.00,0.000,6,0.000,0.029,2544,2299,3476,0,0,0,0,0,0
$GC,9369,-0.65,-116.7,683.4,-7.1,411,9373,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3706,3475,0,0,0,0,0,0
$GC,9434,-0.65,-116.7,688.2,-7.4,412,9439,0.00,2.08,0.00,0.000,6,0.000,0.029,2544,2293,3475,0,0,0,0,0,0
$GC,9800,-0.65,-116.7,713.4,-6.9,418,9804,0.00,2.12,0.00,0.000,4,0.000,0.048,2544,3700,3474,0,0,0,0,0,0
$GC,9883,-0.65,-116.7,719.4,-7.3,419,9888,0.00,2.05,0.00,0.000,6,0.000,0.029,2544,2298,3474,0,0,0,0,0,0
$GC,10237,-0.65,-116.7,743.9,-6.9,425,10241,0.00,2.12,0.00,0.000,4,0.000,0.048,2544,3708,3474,0,0,0,0,0,0
$GC,10320,-0.65,-116.7,749.7,-7.2,426,10325,0.00,2.08,0.00,0.000,6,0.000,0.029,2544,2292,3474,0,0,0,0,0,0
$GC,10669,-0.65,-116.7,773.0,-6.7,432,10673,0.00,2.12,0.00,0.000,4,0.000,0.048,2544,3702,3474,0,0,0,0,0,0
$GC,10741,-0.65,-116.7,777.9,-7.0,433,10745,0.00,2.05,0.00,0.000,6,0.000,0.029,2545,2304,3473,0,0,0,0,0,0
$GC,11101,-0.65,-116.7,802.3,-6.9,439,11105,0.00,2.10,0.00,0.000,4,0.000,0.048,2544,3698,3473,0,0,0,0,0,0
$GC,11196,-0.68,-116.7,809.0,-7.3,440,11200,0.00,2.05,0.00,0.000,6,0.000,0.029,2544,2296,3473,0,0,0,0,0,0
$GC,11534,-0.68,-116.7,831.7,-6.7,446,11538,0.00,2.12,0.00,0.000,4,0.000,0.048,2544,3708,3472,0,0,0,0,0,0
$GC,11605,-0.68,-116.7,836.6,-7.1,447,11610,0.00,2.08,0.00,0.000,6,0.000,0.029,2544,2296,3472,0,0,0,0,0,0
$GC,11971,-0.68,-116.7,861.4,-6.8,453,11975,0.00,2.12,0.00,0.000,4,0.000,0.048,2544,3705,3472,0,0,0,0,0,0
$GC,12059,-0.71,-116.7,867.7,-7.1,454,12063,0.00,2.03,0.00,0.000,6,0.000,0.029,2544,2296,3472,0,0,0,0,0,0
$GC,12402,-0.71,-116.7,890.9,-6.8,460,12406,0.00,2.12,0.00,0.000,4,0.000,0.048,2544,3702,3472,0,0,0,0,0,0
$GC,12486,-0.75,-116.7,896.7,-6.7,461,12490,0.00,2.03,0.00,0.000,6,0.000,0.030,2544,2294,3472,0,0,0,0,0,0
$GC,12834,-0.75,-116.7,920.0,-6.8,467,12838,0.00,2.12,0.00,0.000,4,0.000,0.048,2544,3702,3472,0,0,0,0,0,0
$GC,12895,-0.78,-116.7,924.4,-7.0,468,12899,0.00,2.03,0.00,0.000,6,0.000,0.030,2544,2296,3471,0,0,0,0,0,0
$GC,13267,-0.78,-116.7,949.4,-6.7,474,13270,0.00,2.12,0.00,0.000,4,0.000,0.048,2544,3698,3471,0,0,0,0,0,0
$GC,13350,-0.82,-116.7,955.4,-7.7,475,13355,0.10,2.05,0.00,0.000,6,0.118,0.030,2489,2301,3471,0,0,0,0,0,0
$GC,13704,-0.73,-116.7,986.1,-8.8,481,13706,0.15,0.00,0.00,0.000,6,0.206,0.000,2526,2297,3471,0,0,0,0,0,0
$STATE,13763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13763,begin apogee
$GC,13768,-0.24,0.0,990.6,8.6,482,13870,0.52,0.00,99.07,1.547,6,0.179,0.000,2686,2642,3006,0,0,0,0,0,0
$STATE,13871,end apogee,CONTROL_FINISHED_OK
$STATE,13871,begin climb
$GC,13873,0.80,116.7,992.9,0.0,483,13987,1.10,2.35,104.93,1.453,4,0.128,0.048,3018,4037,2529,0,0,0,0,0,0
$GC,14042,0.53,116.7,987.2,8.8,486,14048,0.30,2.20,0.00,0.000,6,0.202,0.029,2941,2659,2522,0,0,0,0,0,0
$GC,14374,0.53,143.9,967.7,5.8,492,14400,0.00,0.00,23.80,1.424,6,0.000,0.000,2940,2658,2419,0,0,0,0,0,0
$GC,14677,0.55,158.1,948.8,6.3,497,14696,0.00,2.25,13.18,1.388,4,0.000,0.040,2949,1256,2361,0,0,0,0,0,0
$GC,14718,0.55,162.9,946.1,6.7,497,14729,0.00,2.22,6.28,1.140,6,0.000,0.036,2949,2644,2341,0,0,0,0,0,0
$GC,15038,0.55,162.9,924.0,6.9,503,15042,0.00,2.15,0.00,0.000,4,0.000,0.038,2958,1248,2336,0,0,0,0,0,0
$GC,15070,0.55,162.9,921.6,7.2,503,15074,0.00,2.20,0.00,0.000,6,0.000,0.037,2953,2647,2336,0,0,0,0,0,0
$GC,15401,0.55,162.9,898.0,7.2,509,15405,0.00,2.12,0.00,0.000,4,0.000,0.039,2962,1254,2336,0,0,0,0,0,0
$GC,15422,0.55,162.9,896.3,7.1,509,15427,0.00,2.17,0.00,0.000,6,0.000,0.037,2962,2652,2336,0,0,0,0,0,0
$GC,15766,0.51,162.9,870.3,7.7,515,15770,0.12,2.15,0.00,0.000,4,0.195,0.040,2941,1245,2335,0,0,0,0,0,0
$GC,15781,0.51,162.9,869.2,7.5,515,15785,0.00,2.17,0.00,0.000,6,0.000,0.037,2940,2654,2335,0,0,0,0,0,0
$GC,16135,0.51,162.9,844.9,6.9,521,16139,0.00,2.12,0.00,0.000,4,0.000,0.038,2949,1245,2334,0,0,0,0,0,0
$GC,16161,0.52,171.1,843.0,6.5,521,16175,0.00,2.17,7.70,1.338,6,0.000,0.037,2949,2654,2307,0,0,0,0,0,0
$GC,16497,0.52,171.1,818.0,7.5,527,16501,0.00,2.12,0.00,0.000,4,0.000,0.038,2957,1249,2306,0,0,0,0,0,0
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$STATE,27301,end climb,SURFACE_DEPTH_REACHED
$STATE,27301,begin surface coast
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$STATE,27402,end surface coast,NO_VERTICAL_VELOCITY
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$TCM_TEMP,14.40
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$10V_AH,10.1,4.596
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241608
$DATA_FILE_SIZE,57041,983
$CAP_FILE_SIZE,212158,0
$CFSIZE,260165632,252227584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,216.5,1
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