version: 66.06
glider: 140
mission: 8
dive: 131
start: 11 7 109 18 27 8
data:
$ID,140
$MISSION,8
$DIVE,131
$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,-46690.477
$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,82
$R_STBD_OVSHOOT,45
$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
$GPS1,182112,6420.097,32.874,41,1.7,53,-4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.55
$_SM_ANGLEo,-59.3
$GPS2,182644,6420.079,32.889,10,2.0,10,-4.8
$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,324.4,111710,-13.7,-6.875
$D_GRID,2448
$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,-7.25,0.000,2,0.000,0.000,218,2282,2030,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.6,-0.0,1,127,9.02,2.25,-81.25,0.000,4,0.243,0.058,2500,3706,3483,0,0,0,0,0,0
$GC,355,-0.68,-116.7,24.2,-11.1,60,362,0.12,2.05,0.00,0.000,6,0.171,0.024,2539,2299,3484,0,0,0,0,0,0
$GC,694,-0.63,-116.7,54.4,-8.6,121,700,0.00,2.03,0.00,0.000,4,0.000,0.035,2540,931,3484,0,0,0,0,0,0
$GC,788,-0.57,-116.7,62.9,-9.1,134,793,0.15,2.03,0.00,0.000,6,0.203,0.028,2579,2309,3485,0,0,0,0,0,0
$GC,1116,-0.60,-116.7,83.3,-6.4,150,1120,0.00,2.08,0.00,0.000,4,0.000,0.041,2579,3704,3485,0,0,0,0,0,0
$GC,1171,-0.65,-116.7,87.5,-6.9,152,1175,0.00,2.00,0.00,0.000,6,0.000,0.024,2580,2304,3485,0,0,0,0,0,0
$GC,1491,-0.71,-116.7,112.0,-7.5,168,1496,0.12,2.15,0.00,0.000,4,0.136,0.041,2541,3702,3485,0,0,0,0,0,0
$GC,1564,-0.71,-116.7,118.4,-8.7,171,1568,0.00,2.00,0.00,0.000,6,0.000,0.024,2541,2285,3485,0,0,0,0,0,0
$GC,1886,-0.67,-116.7,141.2,-6.6,187,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2284,3486,0,0,0,0,0,0
$GC,2194,-0.67,-116.7,165.6,-8.2,202,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2284,3487,0,0,0,0,0,0
$GC,2504,-0.67,-116.7,190.9,-8.3,217,2508,0.00,1.98,0.00,0.000,4,0.000,0.035,2541,930,3487,0,0,0,0,0,0
$GC,2610,-0.64,-116.7,199.8,-8.0,221,2617,0.00,2.03,0.00,0.000,6,0.000,0.028,2541,2295,3487,0,0,0,0,0,0
$GC,2925,-0.64,-116.7,223.2,-7.6,237,2929,0.00,2.08,0.00,0.000,4,0.000,0.041,2541,3704,3487,0,0,0,0,0,0
$GC,2987,-0.64,-116.7,227.7,-7.4,240,2990,0.00,1.98,0.00,0.000,6,0.000,0.024,2541,2303,3487,0,0,0,0,0,0
$GC,3318,-0.64,-116.7,250.7,-7.1,256,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2296,3487,0,0,0,0,0,0
$GC,3628,-0.64,-116.7,272.9,-7.4,271,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2296,3486,0,0,0,0,0,0
$GC,3937,-0.64,-116.7,295.7,-7.3,286,3941,0.00,2.10,0.00,0.000,4,0.000,0.042,2541,3697,3486,0,0,0,0,0,0
$GC,3992,-0.64,-116.7,300.1,-8.1,288,3998,0.00,2.00,0.00,0.000,6,0.000,0.025,2541,2303,3486,0,0,0,0,0,0
$GC,4305,-0.64,-116.7,324.1,-7.9,299,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2303,3484,0,0,0,0,0,0
$GC,4611,-0.64,-116.7,349.6,-8.4,309,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2303,3483,0,0,0,0,0,0
$GC,4917,-0.64,-116.7,374.5,-8.1,319,4921,0.00,2.10,0.00,0.000,4,0.000,0.043,2541,3701,3483,0,0,0,0,0,0
$GC,4973,-0.64,-116.7,378.9,-7.7,320,4977,0.00,1.98,0.00,0.000,6,0.000,0.025,2541,2307,3483,0,0,0,0,0,0
$GC,5290,-0.64,-116.7,402.1,-7.1,331,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2301,3482,0,0,0,0,0,0
$GC,5596,-0.64,-116.7,424.1,-7.2,341,5597,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2301,3481,0,0,0,0,0,0
$GC,5902,-0.64,-116.7,446.9,-7.2,351,5906,0.00,2.12,0.00,0.000,4,0.000,0.044,2541,3701,3481,0,0,0,0,0,0
$GC,5974,-0.64,-116.7,452.2,-7.4,353,5978,0.00,2.03,0.00,0.000,6,0.000,0.026,2541,2302,3480,0,0,0,0,0,0
$GC,6309,-0.64,-116.7,477.2,-7.5,364,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2301,3480,0,0,0,0,0,0
$GC,6616,-0.64,-116.7,500.6,-7.5,374,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2302,3478,0,0,0,0,0,0
$GC,6918,-0.64,-116.7,523.3,-7.4,379,6922,0.00,2.10,0.00,0.000,4,0.000,0.044,2541,3695,3478,0,0,0,0,0,0
$GC,6989,-0.64,-116.7,528.8,-7.4,380,6994,0.00,2.03,0.00,0.000,6,0.000,0.026,2541,2306,3477,0,0,0,0,0,0
$GC,7350,-0.64,-116.7,553.9,-6.9,386,7351,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2305,3476,0,0,0,0,0,0
$GC,7652,-0.64,-116.7,575.7,-7.3,391,7653,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2304,3476,0,0,0,0,0,0
$GC,7955,-0.64,-116.7,598.2,-7.4,396,7959,0.00,2.10,0.00,0.000,4,0.000,0.044,2541,3697,3475,0,0,0,0,0,0
$GC,8032,-0.64,-116.7,604.3,-8.1,397,8036,0.00,2.03,0.00,0.000,6,0.000,0.026,2541,2302,3475,0,0,0,0,0,0
$GC,8386,-0.64,-116.7,631.3,-7.7,403,8387,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2302,3474,0,0,0,0,0,0
$GC,8689,-0.64,-116.7,653.8,-7.4,408,8693,0.00,2.12,0.00,0.000,4,0.000,0.044,2541,3704,3474,0,0,0,0,0,0
$GC,8766,-0.64,-116.7,659.5,-7.0,409,8770,0.00,2.05,0.00,0.000,6,0.000,0.027,2541,2299,3473,0,0,0,0,0,0
$GC,9120,-0.64,-116.7,685.0,-7.2,415,9121,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2297,3473,0,0,0,0,0,0
$GC,9423,-0.64,-116.7,707.1,-7.3,420,9427,0.00,2.12,0.00,0.000,4,0.000,0.044,2541,3704,3472,0,0,0,0,0,0
$GC,9505,-0.64,-116.7,713.5,-7.7,421,9510,0.00,2.05,0.00,0.000,6,0.000,0.027,2541,2304,3472,0,0,0,0,0,0
$GC,9854,-0.64,-116.7,738.7,-7.3,427,9855,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2304,3472,0,0,0,0,0,0
$GC,10156,-0.64,-116.7,761.0,-7.4,432,10160,0.00,2.10,0.00,0.000,4,0.000,0.044,2541,3694,3471,0,0,0,0,0,0
$GC,10228,-0.64,-116.7,766.5,-7.8,433,10232,0.00,2.05,0.00,0.000,6,0.000,0.027,2541,2297,3471,0,0,0,0,0,0
$GC,10588,-0.64,-116.7,792.1,-7.2,439,10589,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2296,3470,0,0,0,0,0,0
$GC,10891,-0.64,-116.7,813.8,-7.2,444,10895,0.00,2.12,0.00,0.000,4,0.000,0.045,2541,3702,3470,0,0,0,0,0,0
$GC,10968,-0.64,-116.7,819.7,-7.2,445,10973,0.00,2.05,0.00,0.000,6,0.000,0.027,2541,2304,3470,0,0,0,0,0,0
$GC,11323,-0.64,-116.7,845.6,-7.3,451,11324,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2303,3470,0,0,0,0,0,0
$GC,11625,-0.64,-116.7,867.7,-7.3,456,11629,0.00,2.10,0.00,0.000,4,0.000,0.045,2541,3694,3469,0,0,0,0,0,0
$GC,11709,-0.67,-116.7,874.1,-7.3,457,11713,0.00,2.05,0.00,0.000,6,0.000,0.027,2541,2295,3469,0,0,0,0,0,0
$GC,12056,-0.67,-116.7,899.7,-7.3,463,12060,0.00,2.12,0.00,0.000,4,0.000,0.045,2541,3698,3469,0,0,0,0,0,0
$GC,12105,-0.67,-116.7,903.4,-7.3,463,12110,0.00,2.05,0.00,0.000,6,0.000,0.027,2541,2301,3469,0,0,0,0,0,0
$GC,12420,-0.67,-116.7,925.9,-7.1,469,12422,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2300,3469,0,0,0,0,0,0
$GC,12724,-0.67,-116.7,946.8,-6.9,474,12728,0.00,2.15,0.00,0.000,4,0.000,0.046,2541,3704,3468,0,0,0,0,0,0
$GC,12813,-0.70,-116.7,953.2,-6.6,475,12817,0.00,2.03,0.00,0.000,6,0.000,0.028,2541,2298,3468,0,0,0,0,0,0
$GC,13156,-0.70,-116.7,976.0,-6.6,481,13160,0.00,2.12,0.00,0.000,4,0.000,0.045,2541,3702,3468,0,0,0,0,0,0
$GC,13211,-0.73,-116.7,979.8,-6.9,481,13215,0.00,2.05,0.00,0.000,6,0.000,0.028,2541,2309,3468,0,0,0,0,0,0
$STATE,13401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13402,begin apogee
$GC,13407,-0.24,0.0,992.6,6.6,485,13508,0.47,0.00,98.35,1.548,6,0.175,0.000,2680,2655,3006,0,0,0,0,0,0
$STATE,13509,end apogee,CONTROL_FINISHED_OK
$STATE,13509,begin climb
$GC,13511,0.80,116.7,994.7,0.0,486,13625,1.10,2.38,105.28,1.457,4,0.123,0.048,3016,4035,2529,0,0,0,0,0,0
$GC,13675,0.54,116.7,989.5,9.5,489,13680,0.32,2.20,0.00,0.000,6,0.183,0.027,2947,2650,2524,0,0,0,0,0,0
$GC,14013,0.53,132.7,968.3,6.2,495,14032,0.00,2.30,13.77,1.401,4,0.000,0.048,2940,4035,2464,0,0,0,0,0,0
$GC,14055,0.47,139.8,965.4,6.6,495,14069,0.00,2.12,8.25,1.236,6,0.000,0.028,2949,2649,2435,0,0,0,0,0,0
$GC,14378,0.47,139.8,942.4,7.1,501,14382,0.00,2.20,0.00,0.000,4,0.000,0.047,2949,4046,2432,0,0,0,0,0,0
$GC,14401,0.41,139.8,940.7,7.8,501,14406,0.22,2.10,0.00,0.000,6,0.187,0.028,2899,2646,2431,0,0,0,0,0,0
$GC,14738,0.52,164.2,920.6,5.9,507,14763,0.10,0.00,22.35,1.439,6,0.135,0.000,2934,2642,2336,0,0,0,0,0,0
$GC,15041,0.52,164.2,898.3,7.5,512,15045,0.00,2.10,0.00,0.000,4,0.000,0.038,2944,1263,2330,0,0,0,0,0,0
$GC,15050,0.52,164.2,897.6,7.6,512,15055,0.00,2.15,0.00,0.000,6,0.000,0.034,2941,2638,2331,0,0,0,0,0,0
$GC,15405,0.52,164.2,870.8,7.6,518,15407,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2638,2329,0,0,0,0,0,0
$GC,15708,0.52,164.2,847.8,7.6,523,15709,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2638,2329,0,0,0,0,0,0
$GC,16011,0.52,164.2,825.1,7.4,528,16015,0.00,2.08,0.00,0.000,4,0.000,0.037,2949,1263,2328,0,0,0,0,0,0
$GC,16021,0.52,164.2,824.3,7.5,528,16025,0.00,2.12,0.00,0.000,6,0.000,0.035,2949,2648,2328,0,0,0,0,0,0
$GC,16376,0.52,164.2,797.1,7.7,534,16377,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2648,2328,0,0,0,0,0,0
$GC,16678,0.52,164.2,773.6,7.8,539,16682,0.00,2.10,0.00,0.000,4,0.000,0.037,2958,1258,2327,0,0,0,0,0,0
$GC,16688,0.52,164.2,772.7,7.7,539,16693,0.00,2.12,0.00,0.000,6,0.000,0.034,2954,2649,2328,0,0,0,0,0,0
$GC,17042,0.52,164.2,745.1,7.8,545,17044,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2648,2327,0,0,0,0,0,0
$GC,17346,0.52,164.2,721.4,7.8,550,17347,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2649,2327,0,0,0,0,0,0
$GC,17649,0.52,164.2,697.8,7.8,555,17650,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2649,2327,0,0,0,0,0,0
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$STATE,26066,end climb,SURFACE_DEPTH_REACHED
$STATE,26066,begin surface coast
$FINISH,3.1,1.027217
$STATE,26074,end surface coast,CONTROL_FINISHED_OK
$STATE,26074,begin surface
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$TCM_TEMP,14.70
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$10V_AH,10.1,14.321
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,241520
$DATA_FILE_SIZE,53802,925
$CAP_FILE_SIZE,183162,0
$CFSIZE,260165632,244514816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052,164.6,1
$GPS,081109,014336,6421.732,28.370,38,1.2,50,-4.8