version: 66.06
glider: 140
mission: 8
dive: 124
start: 11 5 109 12 49 30
data:
$ID,140
$MISSION,8
$DIVE,124
$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,-46583.348
$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,80
$R_STBD_OVSHOOT,47
$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
$GPS1,124254,6359.555,119.268,39,1.4,40,-4.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,3.47
$_SM_ANGLEo,-59.1
$GPS2,124907,6359.635,119.271,10,1.4,15,-4.3
$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,322.8,164012,-13.7,-6.875
$D_GRID,2211
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-6.75,0.000,2,0.000,0.000,215,2252,2023,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.5,-0.0,1,124,8.93,2.00,-81.65,0.000,4,0.241,0.047,2505,930,3482,0,0,0,0,0,0
$GC,373,-0.65,-116.7,28.0,-11.8,63,379,0.17,2.05,0.00,0.000,6,0.202,0.028,2551,2314,3483,0,0,0,0,0,0
$GC,709,-0.62,-116.7,55.9,-6.8,124,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2314,3484,0,0,0,0,0,0
$GC,1035,-0.59,-116.7,80.6,-8.4,147,1038,0.00,2.08,0.00,0.000,4,0.000,0.034,2551,918,3484,0,0,0,0,0,0
$GC,1101,-0.55,-116.7,87.4,-9.6,150,1106,0.10,2.08,0.00,0.000,6,0.170,0.028,2595,2302,3484,0,0,0,0,0,0
$GC,1429,-0.63,-116.7,110.0,-5.7,166,1433,0.00,2.08,0.00,0.000,4,0.000,0.041,2595,3698,3484,0,0,0,0,0,0
$GC,1498,-0.72,-116.7,113.8,-5.3,169,1503,0.20,2.00,0.00,0.000,6,0.112,0.024,2529,2279,3484,0,0,0,0,0,0
$GC,1832,-0.66,-116.7,137.7,-8.0,185,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2278,3485,0,0,0,0,0,0
$GC,2139,-0.60,-116.7,164.8,-8.7,200,2141,0.15,0.00,0.00,0.000,6,0.183,0.000,2568,2277,3485,0,0,0,0,0,0
$GC,2450,-0.60,-116.7,185.1,-6.0,215,2454,0.00,1.98,0.00,0.000,4,0.000,0.034,2568,926,3486,0,0,0,0,0,0
$GC,2542,-0.60,-116.7,190.9,-5.9,219,2546,0.00,2.03,0.00,0.000,6,0.000,0.028,2568,2307,3485,0,0,0,0,0,0
$GC,2874,-0.60,-116.7,212.6,-6.8,235,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2307,3486,0,0,0,0,0,0
$GC,3183,-0.63,-116.7,235.2,-7.4,250,3187,0.00,2.05,0.00,0.000,4,0.000,0.041,2568,3701,3486,0,0,0,0,0,0
$GC,3261,-0.70,-116.7,241.1,-7.6,253,3266,0.00,1.98,0.00,0.000,6,0.000,0.024,2568,2293,3486,0,0,0,0,0,0
$GC,3577,-0.74,-116.7,261.8,-6.2,269,3581,0.12,2.00,0.00,0.000,4,0.129,0.035,2527,931,3486,0,0,0,0,0,0
$GC,3660,-0.68,-116.7,268.2,-7.8,273,3664,0.00,2.00,0.00,0.000,6,0.000,0.028,2527,2308,3486,0,0,0,0,0,0
$GC,3994,-0.64,-116.7,293.3,-8.2,289,3999,0.12,2.08,0.00,0.000,4,0.212,0.042,2557,3702,3485,0,0,0,0,0,0
$GC,4037,-0.67,-116.7,296.8,-8.1,291,4041,0.00,2.00,0.00,0.000,6,0.000,0.025,2557,2304,3485,0,0,0,0,0,0
$GC,4372,-0.67,-116.7,319.8,-6.4,303,4373,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2303,3485,0,0,0,0,0,0
$GC,4678,-0.67,-116.7,335.0,-4.6,313,4682,0.00,2.10,0.00,0.000,4,0.000,0.042,2557,3695,3485,0,0,0,0,0,0
$GC,4807,-0.71,-116.7,341.3,-5.1,316,4813,0.00,1.98,0.00,0.000,6,0.000,0.025,2557,2294,3483,0,0,0,0,0,0
$GC,5120,-0.71,-116.7,358.3,-6.0,327,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2293,3483,0,0,0,0,0,0
$GC,5425,-0.71,-116.7,381.3,-8.1,337,5429,0.00,2.10,0.00,0.000,4,0.000,0.043,2557,3695,3482,0,0,0,0,0,0
$GC,5514,-0.75,-116.7,388.9,-8.6,339,5520,0.05,2.00,0.00,0.000,6,0.120,0.025,2518,2306,3482,0,0,0,0,0,0
$GC,5826,-0.69,-116.7,418.6,-9.4,350,5830,0.00,2.03,0.00,0.000,4,0.000,0.038,2518,930,3481,0,0,0,0,0,0
$GC,5895,-0.63,-116.7,425.4,-9.9,352,5900,0.15,2.00,0.00,0.000,6,0.199,0.031,2556,2297,3481,0,0,0,0,0,0
$GC,6229,-0.63,-116.7,449.9,-7.0,363,6233,0.00,2.08,0.00,0.000,4,0.000,0.043,2556,3701,3480,0,0,0,0,0,0
$GC,6325,-0.67,-116.7,456.7,-7.3,366,6329,0.00,2.00,0.00,0.000,6,0.000,0.026,2556,2297,3479,0,0,0,0,0,0
$GC,6665,-0.70,-116.7,480.0,-6.9,377,6669,0.00,2.12,0.00,0.000,4,0.000,0.044,2557,3706,3478,0,0,0,0,0,0
$GC,6715,-0.74,-116.7,483.6,-6.9,378,6719,0.00,2.00,0.00,0.000,6,0.000,0.026,2557,2304,3478,0,0,0,0,0,0
$GC,7032,-0.77,-116.7,504.4,-6.5,388,7037,0.12,2.12,0.00,0.000,4,0.140,0.044,2515,3702,3478,0,0,0,0,0,0
$GC,7081,-0.72,-116.7,508.4,-8.2,388,7085,0.00,2.03,0.00,0.000,6,0.000,0.026,2515,2289,3477,0,0,0,0,0,0
$GC,7396,-0.67,-116.7,533.9,-8.2,394,7401,0.12,2.05,0.00,0.000,4,0.195,0.038,2547,908,3476,0,0,0,0,0,0
$GC,7444,-0.67,-116.7,537.7,-7.9,394,7449,0.00,2.08,0.00,0.000,6,0.000,0.031,2547,2299,3476,0,0,0,0,0,0
$GC,7760,-0.67,-116.7,559.3,-6.8,400,7764,0.00,2.08,0.00,0.000,4,0.000,0.044,2547,3703,3475,0,0,0,0,0,0
$GC,7859,-0.67,-116.7,566.3,-7.2,401,7864,0.00,2.05,0.00,0.000,6,0.000,0.026,2547,2291,3475,0,0,0,0,0,0
$GC,8191,-0.67,-116.7,588.9,-6.9,407,8195,0.00,2.12,0.00,0.000,4,0.000,0.044,2547,3705,3475,0,0,0,0,0,0
$GC,8245,-0.67,-116.7,593.0,-7.5,407,8250,0.00,2.05,0.00,0.000,6,0.000,0.027,2547,2301,3474,0,0,0,0,0,0
$GC,8559,-0.67,-116.7,616.2,-7.4,413,8563,0.00,2.12,0.00,0.000,4,0.000,0.044,2547,3698,3474,0,0,0,0,0,0
$GC,8614,-0.67,-116.7,620.4,-7.7,413,8620,0.00,2.05,0.00,0.000,6,0.000,0.027,2547,2296,3473,0,0,0,0,0,0
$GC,8924,-0.67,-116.7,643.2,-7.4,419,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2296,3473,0,0,0,0,0,0
$GC,9226,-0.67,-116.7,664.3,-7.0,424,9230,0.00,2.12,0.00,0.000,4,0.000,0.044,2547,3704,3472,0,0,0,0,0,0
$GC,9327,-0.70,-116.7,671.4,-7.5,425,9331,0.00,2.05,0.00,0.000,6,0.000,0.027,2547,2301,3472,0,0,0,0,0,0
$GC,9659,-0.70,-116.7,693.4,-6.6,431,9660,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2300,3471,0,0,0,0,0,0
$GC,9962,-0.70,-116.7,712.7,-6.4,436,9966,0.00,2.15,0.00,0.000,4,0.000,0.045,2547,3706,3471,0,0,0,0,0,0
$GC,10051,-0.73,-116.7,718.9,-7.2,437,10055,0.00,2.08,0.00,0.000,6,0.000,0.028,2547,2295,3470,0,0,0,0,0,0
$GC,10395,-0.73,-116.7,741.1,-6.5,443,10399,0.00,2.12,0.00,0.000,4,0.000,0.044,2547,3702,3470,0,0,0,0,0,0
$GC,10450,-0.77,-116.7,744.8,-6.2,443,10456,0.00,2.03,0.00,0.000,6,0.000,0.027,2546,2288,3470,0,0,0,0,0,0
$GC,10759,-0.77,-116.7,764.5,-6.4,449,10760,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2287,3470,0,0,0,0,0,0
$GC,11062,-0.77,-116.7,784.6,-6.6,454,11066,0.00,2.12,0.00,0.000,4,0.000,0.044,2547,3698,3469,0,0,0,0,0,0
$GC,11193,-0.80,-116.7,793.6,-6.6,456,11198,0.12,2.03,0.00,0.000,6,0.143,0.028,2506,2285,3469,0,0,0,0,0,0
$GC,11559,-0.74,-116.7,824.3,-8.6,462,11560,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2284,3468,0,0,0,0,0,0
$GC,11861,-0.68,-116.7,849.7,-8.3,467,11863,0.12,0.00,0.00,0.000,6,0.198,0.000,2538,2282,3468,0,0,0,0,0,0
$GC,12164,-0.68,-116.7,870.0,-6.6,472,12168,0.00,2.15,0.00,0.000,4,0.000,0.045,2538,3706,3468,0,0,0,0,0,0
$GC,12247,-0.68,-116.7,875.5,-6.8,473,12251,0.00,2.03,0.00,0.000,6,0.000,0.028,2538,2298,3468,0,0,0,0,0,0
$GC,12596,-0.68,-116.7,896.6,-6.0,479,12597,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2296,3467,0,0,0,0,0,0
$GC,12899,-0.68,-116.7,915.2,-6.1,484,12903,0.00,2.12,0.00,0.000,4,0.000,0.045,2539,3704,3467,0,0,0,0,0,0
$GC,12993,-0.68,-116.7,921.2,-6.3,485,12998,0.00,2.05,0.00,0.000,6,0.000,0.028,2539,2306,3467,0,0,0,0,0,0
$GC,13331,-0.68,-116.7,941.8,-6.1,491,13332,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2304,3467,0,0,0,0,0,0
$GC,13634,-0.68,-116.7,960.6,-6.2,496,13638,0.00,2.12,0.00,0.000,4,0.000,0.045,2539,3708,3466,0,0,0,0,0,0
$GC,13728,-0.68,-116.7,966.7,-6.1,497,13732,0.00,2.08,0.00,0.000,6,0.000,0.028,2539,2297,3466,0,0,0,0,0,0
$GC,14066,-0.68,-116.7,988.2,-6.4,503,14070,0.00,2.12,0.00,0.000,4,0.000,0.045,2539,3706,3466,0,0,0,0,0,0
$STATE,14090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14090,begin apogee
$GC,14097,-0.24,0.0,990.0,7.0,503,14198,0.45,0.00,97.18,1.547,6,0.169,0.000,2678,2638,3006,0,0,0,0,0,0
$STATE,14198,end apogee,CONTROL_FINISHED_OK
$STATE,14198,begin climb
$GC,14200,0.80,116.7,993.8,0.0,505,14316,1.05,2.47,105.05,1.457,4,0.119,0.046,3008,4032,2528,0,0,0,0,0,0
$GC,14360,0.56,116.7,988.1,8.7,507,14365,0.28,2.17,0.00,0.000,6,0.178,0.028,2951,2657,2524,0,0,0,0,0,0
$GC,14692,0.55,145.5,969.0,5.7,513,14722,0.00,2.28,25.23,1.432,4,0.000,0.046,2950,4043,2411,0,0,0,0,0,0
$GC,14739,0.51,171.4,966.0,5.8,513,14768,0.00,2.15,24.30,1.391,6,0.000,0.028,2958,2651,2307,0,0,0,0,0,0
$GC,15120,0.51,171.4,939.4,7.0,520,15124,0.00,2.20,0.00,0.000,4,0.000,0.046,2953,4040,2298,0,0,0,0,0,0
$GC,15141,0.46,171.4,937.6,7.0,520,15146,0.17,2.10,0.00,0.000,6,0.182,0.028,2917,2641,2298,0,0,0,0,0,0
$GC,15479,0.56,201.1,918.1,5.7,526,15507,0.00,0.00,26.30,1.438,6,0.000,0.000,2917,2641,2186,0,0,0,0,0,0
$GC,15782,0.68,230.0,900.7,5.7,531,15812,0.20,0.00,27.30,1.418,6,0.100,0.000,2987,2639,2068,0,0,0,0,0,0
$GC,16085,0.64,230.0,875.4,8.5,536,16089,0.00,2.20,0.00,0.000,4,0.000,0.047,2987,4045,2060,0,0,0,0,0,0
$GC,16106,0.56,230.0,873.3,9.2,536,16111,0.17,2.12,0.00,0.000,6,0.176,0.028,2953,2630,2060,0,0,0,0,0,0
$GC,16449,0.60,230.0,849.0,7.1,542,16453,0.00,2.20,0.00,0.000,4,0.000,0.047,2953,4043,2058,0,0,0,0,0,0
$GC,16469,0.60,230.0,847.2,7.7,542,16474,0.00,2.10,0.00,0.000,6,0.000,0.028,2959,2652,2058,0,0,0,0,0,0
$GC,16818,0.60,230.0,820.0,8.0,548,16819,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2650,2057,0,0,0,0,0,0
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$STATE,26989,end climb,SURFACE_DEPTH_REACHED
$STATE,26989,begin surface coast
$FINISH,2.7,1.013892
$STATE,27027,end surface coast,CONTROL_FINISHED_OK
$STATE,27027,begin surface
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$10V_AH,10.1,13.590
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,235236
$DATA_FILE_SIZE,53810,966
$CAP_FILE_SIZE,208384,0
$CFSIZE,260165632,245067776
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$CURRENT,0.153,327.5,1
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