version: 66.06
glider: 140
mission: 8
dive: 113
start: 11 2 109 0 0 1
data:
$ID,140
$MISSION,8
$DIVE,113
$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,-1
$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,-46397.57
$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,83
$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
$GPS1,235400,6326.734,217.430,36,0.9,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.32
$_SM_ANGLEo,-66.6
$GPS2,235937,6326.732,217.378,11,1.0,15,-3.7
$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,323.8,239762,-13.7,-6.875
$D_GRID,1221
$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,-116.7,0.0,0.0,0,23,0.00,0.00,-7.28,0.000,2,0.000,0.000,220,2275,2034,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.3,-0.0,1,121,8.93,2.10,-79.65,0.000,4,0.243,0.051,2500,926,3483,0,0,0,0,0,0
$GC,134,-0.84,-116.7,3.7,-2.4,20,141,0.00,2.10,0.00,0.000,6,0.000,0.030,2500,2305,3483,0,0,0,0,0,0
$GC,473,-0.70,-116.7,38.3,-10.4,81,480,0.12,2.10,0.00,0.000,4,0.211,0.041,2530,3701,3484,0,0,0,0,0,0
$GC,728,-0.64,-116.7,62.7,-9.7,123,732,0.00,2.00,0.00,0.000,6,0.000,0.023,2531,2296,3484,0,0,0,0,0,0
$GC,1050,-0.57,-116.7,90.2,-8.5,139,1055,0.17,2.15,0.00,0.000,4,0.185,0.041,2579,3710,3484,0,0,0,0,0,0
$GC,1173,-0.62,-116.7,99.2,-7.1,144,1180,0.00,2.03,0.00,0.000,6,0.000,0.024,2579,2301,3484,0,0,0,0,0,0
$GC,1489,-0.67,-116.7,122.7,-7.4,160,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2300,3484,0,0,0,0,0,0
$GC,1800,-0.71,-116.7,144.4,-6.6,175,1804,0.15,2.12,0.00,0.000,4,0.126,0.041,2530,3706,3484,0,0,0,0,0,0
$GC,1862,-0.66,-116.7,149.7,-9.1,178,1865,0.00,2.00,0.00,0.000,6,0.000,0.024,2530,2295,3484,0,0,0,0,0,0
$GC,2194,-0.59,-116.7,177.9,-8.0,194,2199,0.15,2.03,0.00,0.000,4,0.187,0.035,2569,913,3485,0,0,0,0,0,0
$GC,2254,-0.59,-116.7,182.6,-7.7,196,2261,0.00,2.05,0.00,0.000,6,0.000,0.028,2569,2302,3485,0,0,0,0,0,0
$GC,2570,-0.59,-116.7,205.4,-7.6,212,2574,0.00,2.05,0.00,0.000,4,0.000,0.041,2569,3702,3485,0,0,0,0,0,0
$GC,2625,-0.63,-116.7,209.8,-7.8,214,2631,0.00,1.98,0.00,0.000,6,0.000,0.024,2569,2288,3486,0,0,0,0,0,0
$GC,2940,-0.63,-116.7,232.5,-7.1,230,2944,0.00,1.98,0.00,0.000,4,0.000,0.035,2569,923,3485,0,0,0,0,0,0
$GC,2989,-0.63,-116.7,236.4,-7.8,232,2994,0.00,2.03,0.00,0.000,6,0.000,0.028,2569,2294,3486,0,0,0,0,0,0
$GC,3317,-0.63,-116.7,258.4,-6.5,248,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2294,3486,0,0,0,0,0,0
$GC,3625,-0.63,-116.7,280.2,-7.0,263,3629,0.00,2.05,0.00,0.000,4,0.000,0.041,2569,3697,3486,0,0,0,0,0,0
$GC,3692,-0.68,-116.7,284.9,-7.3,266,3696,0.00,2.00,0.00,0.000,6,0.000,0.023,2569,2292,3486,0,0,0,0,0,0
$GC,4029,-0.72,-116.7,307.4,-6.7,281,4031,0.12,0.00,0.00,0.000,6,0.132,0.000,2528,2290,3486,0,0,0,0,0,0
$GC,4334,-0.66,-116.7,331.9,-8.2,291,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2289,3485,0,0,0,0,0,0
$GC,4641,-0.61,-116.7,357.2,-8.1,301,4643,0.15,0.00,0.00,0.000,6,0.189,0.000,2567,2289,3485,0,0,0,0,0,0
$GC,4947,-0.65,-116.7,376.1,-6.1,311,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2289,3485,0,0,0,0,0,0
$GC,5253,-0.68,-116.7,393.8,-5.9,321,5257,0.00,2.10,0.00,0.000,4,0.000,0.041,2567,3698,3485,0,0,0,0,0,0
$GC,5326,-0.74,-116.7,398.1,-5.6,323,5330,0.12,1.95,0.00,0.000,6,0.129,0.024,2526,2296,3485,0,0,0,0,0,0
$GC,5655,-0.69,-116.7,421.6,-7.1,334,5658,0.00,1.98,0.00,0.000,4,0.000,0.035,2527,934,3485,0,0,0,0,0,0
$GC,5738,-0.63,-116.7,427.9,-7.8,336,5742,0.12,1.98,0.00,0.000,6,0.210,0.029,2556,2305,3484,0,0,0,0,0,0
$GC,6061,-0.63,-116.7,448.0,-6.5,347,6065,0.00,2.03,0.00,0.000,4,0.000,0.041,2556,3697,3484,0,0,0,0,0,0
$GC,6129,-0.66,-116.7,452.6,-6.9,349,6133,0.00,1.95,0.00,0.000,6,0.000,0.024,2557,2303,3484,0,0,0,0,0,0
$GC,6469,-0.66,-116.7,476.7,-7.2,360,6473,0.00,2.08,0.00,0.000,4,0.000,0.042,2557,3695,3484,0,0,0,0,0,0
$GC,6541,-0.70,-116.7,481.8,-6.8,362,6545,0.00,1.95,0.00,0.000,6,0.000,0.025,2557,2300,3482,0,0,0,0,0,0
$GC,6908,-0.73,-116.7,504.8,-6.3,373,6912,0.00,2.12,0.00,0.000,4,0.000,0.043,2557,3705,3482,0,0,0,0,0,0
$GC,6997,-0.77,-116.7,510.7,-6.1,374,7001,0.12,1.98,0.00,0.000,6,0.134,0.025,2516,2296,3482,0,0,0,0,0,0
$GC,7340,-0.72,-116.7,537.0,-7.9,380,7341,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2295,3481,0,0,0,0,0,0
$GC,7642,-0.66,-116.7,562.4,-8.4,385,7644,0.12,0.00,0.00,0.000,6,0.191,0.000,2547,2293,3480,0,0,0,0,0,0
$GC,7946,-0.66,-116.7,582.1,-6.4,390,7950,0.00,2.10,0.00,0.000,4,0.000,0.043,2547,3699,3480,0,0,0,0,0,0
$GC,8001,-0.66,-116.7,585.7,-5.9,390,8007,0.00,2.00,0.00,0.000,6,0.000,0.025,2547,2311,3479,0,0,0,0,0,0
$GC,8310,-0.66,-116.7,605.0,-6.3,396,8312,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2311,3478,0,0,0,0,0,0
$GC,8613,-0.66,-116.7,624.6,-6.5,401,8617,0.00,2.08,0.00,0.000,4,0.000,0.043,2547,3698,3477,0,0,0,0,0,0
$GC,8702,-0.66,-116.7,630.7,-7.3,402,8706,0.00,2.03,0.00,0.000,6,0.000,0.025,2547,2295,3476,0,0,0,0,0,0
$GC,9045,-0.66,-116.7,653.3,-6.6,408,9049,0.00,2.10,0.00,0.000,4,0.000,0.044,2547,3697,3476,0,0,0,0,0,0
$GC,9094,-0.66,-116.7,656.8,-6.9,408,9099,0.00,2.03,0.00,0.000,6,0.000,0.026,2547,2303,3476,0,0,0,0,0,0
$GC,9410,-0.66,-116.7,677.5,-6.6,414,9411,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2302,3474,0,0,0,0,0,0
$GC,9713,-0.66,-116.7,697.3,-6.5,419,9717,0.00,2.10,0.00,0.000,4,0.000,0.044,2547,3701,3473,0,0,0,0,0,0
$GC,9802,-0.70,-116.7,703.2,-6.6,420,9806,0.00,2.00,0.00,0.000,6,0.000,0.027,2547,2289,3473,0,0,0,0,0,0
$GC,10139,-0.70,-116.7,724.2,-6.3,426,10143,0.00,2.12,0.00,0.000,4,0.000,0.044,2547,3703,3472,0,0,0,0,0,0
$GC,10211,-0.73,-116.7,729.1,-6.7,427,10215,0.00,2.00,0.00,0.000,6,0.000,0.027,2547,2305,3472,0,0,0,0,0,0
$GC,10571,-0.73,-116.7,752.1,-6.5,433,10574,0.00,2.12,0.00,0.000,4,0.000,0.045,2547,3698,3471,0,0,0,0,0,0
$GC,10626,-0.76,-116.7,756.0,-7.2,433,10630,0.00,2.03,0.00,0.000,6,0.000,0.027,2547,2303,3471,0,0,0,0,0,0
$GC,10940,-0.76,-116.7,777.2,-6.8,439,10941,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2302,3470,0,0,0,0,0,0
$GC,11243,-0.76,-116.7,798.0,-6.8,444,11247,0.00,2.10,0.00,0.000,4,0.000,0.045,2547,3700,3469,0,0,0,0,0,0
$GC,11332,-0.79,-116.7,804.3,-7.0,445,11336,0.12,2.00,0.00,0.000,6,0.142,0.027,2506,2294,3469,0,0,0,0,0,0
$GC,11679,-0.73,-116.7,832.3,-8.0,451,11681,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2293,3468,0,0,0,0,0,0
$GC,11983,-0.67,-116.7,856.3,-7.9,456,11984,0.15,0.00,0.00,0.000,6,0.193,0.000,2544,2291,3468,0,0,0,0,0,0
$GC,12286,-0.67,-116.7,876.1,-6.5,461,12290,0.00,2.12,0.00,0.000,4,0.000,0.045,2544,3702,3467,0,0,0,0,0,0
$GC,12369,-0.70,-116.7,881.7,-6.7,462,12373,0.00,2.00,0.00,0.000,6,0.000,0.027,2545,2300,3466,0,0,0,0,0,0
$GC,12717,-0.70,-116.7,902.9,-6.1,468,12721,0.00,2.10,0.00,0.000,4,0.000,0.045,2545,3692,3465,0,0,0,0,0,0
$GC,12767,-0.73,-116.7,906.0,-5.8,468,12771,0.00,2.00,0.00,0.000,6,0.000,0.028,2545,2297,3465,0,0,0,0,0,0
$GC,13082,-0.73,-116.7,925.2,-6.1,474,13086,0.00,2.10,0.00,0.000,4,0.000,0.045,2545,3692,3465,0,0,0,0,0,0
$GC,13149,-0.77,-116.7,929.6,-6.2,475,13153,0.00,2.00,0.00,0.000,6,0.000,0.028,2545,2301,3465,0,0,0,0,0,0
$GC,13514,-0.77,-116.7,952.1,-6.1,481,13518,0.00,2.10,0.00,0.000,4,0.000,0.045,2545,3695,3464,0,0,0,0,0,0
$GC,13564,-0.80,-116.7,955.3,-6.7,481,13569,0.12,2.05,0.00,0.000,6,0.144,0.028,2504,2265,3464,0,0,0,0,0,0
$GC,13884,-0.74,-116.7,979.4,-7.7,487,13885,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2264,3464,0,0,0,0,0,0
$STATE,14064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14064,begin apogee
$GC,14069,-0.24,0.0,993.5,7.7,490,14169,0.60,0.00,97.15,1.557,6,0.178,0.000,2681,2642,3006,0,0,0,0,0,0
$STATE,14170,end apogee,CONTROL_FINISHED_OK
$STATE,14170,begin climb
$GC,14172,0.80,116.7,995.7,0.0,491,14287,1.08,2.42,104.40,1.460,4,0.120,0.047,3014,4039,2528,0,0,0,0,0,0
$GC,14303,0.57,116.7,992.6,7.3,493,14311,0.30,2.20,0.00,0.000,6,0.183,0.027,2952,2655,2525,0,0,0,0,0,0
$GC,14613,0.54,129.9,973.0,6.3,499,14629,0.00,2.25,11.23,1.378,4,0.000,0.046,2952,4045,2475,0,0,0,0,0,0
$GC,14645,0.47,142.0,970.7,6.4,499,14665,0.15,2.12,12.38,1.317,6,0.189,0.028,2923,2651,2427,0,0,0,0,0,0
$GC,14974,0.49,159.8,950.5,6.2,505,14993,0.00,0.00,16.75,1.419,6,0.000,0.000,2924,2650,2354,0,0,0,0,0,0
$GC,15278,0.55,173.2,931.3,6.3,510,15293,0.00,0.00,12.75,1.400,6,0.000,0.000,2924,2650,2300,0,0,0,0,0,0
$GC,15581,0.60,178.9,911.2,6.6,515,15590,0.10,0.00,6.55,1.272,6,0.133,0.000,2957,2648,2275,0,0,0,0,0,0
$GC,15883,0.60,178.9,887.2,8.0,520,15884,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2648,2272,0,0,0,0,0,0
$GC,16186,0.60,178.9,862.7,8.1,525,16188,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2648,2272,0,0,0,0,0,0
$GC,16490,0.60,178.9,838.2,8.1,530,16494,0.00,2.15,0.00,0.000,4,0.000,0.047,2953,4047,2271,0,0,0,0,0,0
$GC,16500,0.60,178.9,837.3,8.0,530,16504,0.00,2.10,0.00,0.000,6,0.000,0.028,2962,2649,2271,0,0,0,0,0,0
$GC,16854,0.60,178.9,808.0,8.3,536,16858,0.00,2.15,0.00,0.000,4,0.000,0.047,2962,4049,2271,0,0,0,0,0,0
$GC,16876,0.54,178.9,806.0,8.3,536,16881,0.12,2.05,0.00,0.000,6,0.197,0.029,2942,2645,2271,0,0,0,0,0,0
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$STATE,27443,end climb,SURFACE_DEPTH_REACHED
$STATE,27443,begin surface coast
$FINISH,2.3,1.016962
$STATE,27510,end surface coast,CONTROL_FINISHED_OK
$STATE,27510,begin surface
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$HUMID,1078330958
$INTERNAL_PRESSURE,8.31087
$TCM_TEMP,20.20
$XPDR_PINGS,0
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$10V_AH,10.1,12.451
$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,235208
$DATA_FILE_SIZE,53866,966
$CAP_FILE_SIZE,201965,0
$CFSIZE,260165632,245968896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,243.3,1
$GPS,021109,074037,6328.829,211.848,29,1.4,30,-3.7