version: 66.06
glider: 140
mission: 8
dive: 137
start: 11 9 109 16 6 14
data:
$ID,140
$MISSION,8
$DIVE,137
$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,-46776.547
$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,87
$R_STBD_OVSHOOT,42
$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
$GPS1,160007,6432.854,-1.323,48,0.9,49,-5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.72
$_SM_ANGLEo,-61.0
$GPS2,160550,6432.904,-1.319,13,1.2,13,-5.2
$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,328.5,76490,-13.7,-6.875
$D_GRID,2619
$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,-7.93,0.000,2,0.000,0.000,220,2272,2042,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.8,-0.0,1,121,8.85,2.08,-75.95,0.000,4,0.237,0.049,2503,929,3481,0,0,0,0,0,0
$GC,128,-0.69,-116.7,4.6,-3.0,18,135,0.10,2.10,0.00,0.000,6,0.193,0.029,2533,2311,3482,0,0,0,0,0,0
$GC,465,-0.62,-116.7,34.1,-9.5,79,471,0.10,2.10,0.00,0.000,4,0.202,0.035,2558,930,3483,0,0,0,0,0,0
$GC,720,-0.62,-116.7,55.6,-8.9,125,725,0.00,2.03,0.00,0.000,6,0.000,0.028,2558,2303,3483,0,0,0,0,0,0
$GC,1050,-0.62,-116.7,81.6,-7.9,149,1054,0.00,2.05,0.00,0.000,4,0.000,0.035,2558,930,3484,0,0,0,0,0,0
$GC,1183,-0.62,-116.7,92.9,-8.3,155,1187,0.00,2.05,0.00,0.000,6,0.000,0.028,2558,2299,3484,0,0,0,0,0,0
$GC,1510,-0.62,-116.7,117.6,-7.7,171,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2299,3485,0,0,0,0,0,0
$GC,1819,-0.62,-116.7,141.0,-7.4,186,1822,0.00,2.08,0.00,0.000,4,0.000,0.041,2557,3701,3485,0,0,0,0,0,0
$GC,1874,-0.62,-116.7,144.9,-7.3,188,1882,0.00,2.03,0.00,0.000,6,0.000,0.024,2558,2295,3485,0,0,0,0,0,0
$GC,2189,-0.62,-116.7,164.6,-6.1,204,2192,0.00,2.00,0.00,0.000,4,0.000,0.035,2558,929,3485,0,0,0,0,0,0
$GC,2294,-0.62,-116.7,171.7,-6.7,208,2302,0.00,2.05,0.00,0.000,6,0.000,0.028,2558,2307,3485,0,0,0,0,0,0
$GC,2610,-0.62,-116.7,192.2,-6.7,224,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2307,3486,0,0,0,0,0,0
$GC,2919,-0.62,-116.7,212.6,-6.4,239,2923,0.00,2.05,0.00,0.000,4,0.000,0.041,2558,3699,3486,0,0,0,0,0,0
$GC,2996,-0.62,-116.7,217.5,-6.6,242,3002,0.00,1.98,0.00,0.000,6,0.000,0.024,2558,2295,3486,0,0,0,0,0,0
$GC,3311,-0.62,-116.7,239.6,-7.6,258,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2294,3486,0,0,0,0,0,0
$GC,3622,-0.62,-116.7,261.0,-5.9,273,3626,0.00,2.10,0.00,0.000,4,0.000,0.041,2558,3697,3486,0,0,0,0,0,0
$GC,3707,-0.66,-116.7,266.0,-5.8,277,3711,0.00,1.98,0.00,0.000,6,0.000,0.025,2558,2302,3485,0,0,0,0,0,0
$GC,4039,-0.66,-116.7,285.9,-6.5,293,4043,0.00,2.10,0.00,0.000,4,0.000,0.042,2557,3697,3485,0,0,0,0,0,0
$GC,4125,-0.70,-116.7,292.0,-7.0,297,4128,0.00,2.00,0.00,0.000,6,0.000,0.025,2558,2292,3484,0,0,0,0,0,0
$GC,4464,-0.70,-116.7,316.5,-7.0,310,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2285,3484,0,0,0,0,0,0
$GC,4771,-0.70,-116.7,337.6,-6.7,320,4775,0.00,2.12,0.00,0.000,4,0.000,0.042,2558,3698,3483,0,0,0,0,0,0
$GC,4859,-0.74,-116.7,343.9,-7.0,322,4865,0.00,2.03,0.00,0.000,6,0.000,0.025,2558,2297,3483,0,0,0,0,0,0
$GC,5172,-0.74,-116.7,365.7,-7.2,333,5173,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2296,3482,0,0,0,0,0,0
$GC,5478,-0.77,-116.7,387.3,-7.1,343,5483,0.12,2.12,0.00,0.000,4,0.143,0.043,2518,3695,3482,0,0,0,0,0,0
$GC,5567,-0.72,-116.7,394.9,-8.6,345,5573,0.00,2.03,0.00,0.000,6,0.000,0.025,2517,2302,3482,0,0,0,0,0,0
$GC,5879,-0.67,-116.7,421.4,-8.6,356,5884,0.12,2.12,0.00,0.000,4,0.193,0.044,2549,3701,3480,0,0,0,0,0,0
$GC,5940,-0.67,-116.7,426.1,-7.2,358,5944,0.00,2.00,0.00,0.000,6,0.000,0.026,2549,2296,3480,0,0,0,0,0,0
$GC,6280,-0.67,-116.7,448.5,-6.1,369,6281,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2295,3480,0,0,0,0,0,0
$GC,6586,-0.67,-116.7,467.4,-6.2,379,6590,0.00,2.12,0.00,0.000,4,0.000,0.044,2550,3704,3479,0,0,0,0,0,0
$GC,6697,-0.70,-116.7,474.7,-6.8,382,6701,0.00,2.00,0.00,0.000,6,0.000,0.026,2549,2299,3478,0,0,0,0,0,0
$GC,7021,-0.70,-116.7,495.6,-6.5,393,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2298,3477,0,0,0,0,0,0
$GC,7355,-0.70,-116.7,518.1,-6.7,400,7359,0.00,2.12,0.00,0.000,4,0.000,0.044,2550,3702,3477,0,0,0,0,0,0
$GC,7427,-0.73,-116.7,523.1,-6.9,401,7431,0.00,2.05,0.00,0.000,6,0.000,0.026,2550,2295,3476,0,0,0,0,0,0
$GC,7793,-0.73,-116.7,547.8,-6.7,407,7796,0.00,2.12,0.00,0.000,4,0.000,0.044,2549,3704,3476,0,0,0,0,0,0
$GC,7865,-0.76,-116.7,552.8,-6.7,408,7869,0.00,2.00,0.00,0.000,6,0.000,0.027,2549,2301,3476,0,0,0,0,0,0
$GC,8218,-0.76,-116.7,574.9,-6.2,414,8222,0.00,2.12,0.00,0.000,4,0.000,0.044,2550,3695,3475,0,0,0,0,0,0
$GC,8285,-0.80,-116.7,579.1,-6.2,415,8290,0.12,2.00,0.00,0.000,6,0.140,0.027,2510,2297,3475,0,0,0,0,0,0
$GC,8645,-0.73,-116.7,605.4,-7.4,421,8646,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2295,3474,0,0,0,0,0,0
$GC,8948,-0.67,-116.7,627.8,-7.4,426,8949,0.15,0.00,0.00,0.000,6,0.193,0.000,2550,2293,3473,0,0,0,0,0,0
$GC,9250,-0.67,-116.7,646.6,-6.2,431,9254,0.00,2.12,0.00,0.000,4,0.000,0.044,2549,3700,3473,0,0,0,0,0,0
$GC,9312,-0.71,-116.7,650.6,-6.4,431,9317,0.00,2.00,0.00,0.000,6,0.000,0.027,2549,2302,3473,0,0,0,0,0,0
$GC,9621,-0.71,-116.7,670.7,-6.5,437,9625,0.00,2.12,0.00,0.000,4,0.000,0.045,2549,3694,3472,0,0,0,0,0,0
$GC,9677,-0.75,-116.7,674.4,-6.7,437,9683,0.00,2.00,0.00,0.000,6,0.000,0.028,2549,2301,3472,0,0,0,0,0,0
$GC,9986,-0.75,-116.7,694.7,-6.5,443,9990,0.00,2.12,0.00,0.000,4,0.000,0.045,2549,3694,3471,0,0,0,0,0,0
$GC,10035,-0.79,-116.7,698.2,-7.2,443,10040,0.12,2.00,0.00,0.000,6,0.140,0.027,2510,2300,3471,0,0,0,0,0,0
$GC,10350,-0.73,-116.7,723.9,-8.2,449,10351,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2298,3471,0,0,0,0,0,0
$GC,10653,-0.67,-116.7,748.4,-8.1,454,10655,0.15,0.00,0.00,0.000,6,0.191,0.000,2550,2297,3470,0,0,0,0,0,0
$GC,10956,-0.67,-116.7,767.8,-6.3,459,10960,0.00,2.10,0.00,0.000,4,0.000,0.045,2549,3694,3470,0,0,0,0,0,0
$GC,11028,-0.72,-116.7,772.3,-5.7,460,11032,0.00,2.03,0.00,0.000,6,0.000,0.028,2550,2294,3470,0,0,0,0,0,0
$GC,11387,-0.75,-116.7,794.3,-6.1,466,11391,0.00,2.12,0.00,0.000,4,0.000,0.044,2550,3694,3469,0,0,0,0,0,0
$GC,11465,-0.80,-116.7,799.4,-7.0,467,11470,0.08,2.05,0.00,0.000,6,0.108,0.028,2506,2296,3469,0,0,0,0,0,0
$GC,11819,-0.74,-116.7,826.2,-7.7,473,11820,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2295,3469,0,0,0,0,0,0
$GC,12122,-0.68,-116.7,848.8,-7.4,478,12124,0.15,0.00,0.00,0.000,6,0.190,0.000,2544,2293,3468,0,0,0,0,0,0
$GC,12425,-0.68,-116.7,867.3,-6.1,483,12429,0.00,2.12,0.00,0.000,4,0.000,0.046,2544,3694,3468,0,0,0,0,0,0
$GC,12519,-0.72,-116.7,873.2,-6.2,484,12523,0.00,2.00,0.00,0.000,6,0.000,0.028,2544,2298,3468,0,0,0,0,0,0
$GC,12862,-0.72,-116.7,893.3,-5.8,490,12866,0.00,2.12,0.00,0.000,4,0.000,0.045,2544,3704,3468,0,0,0,0,0,0
$GC,12917,-0.75,-116.7,896.8,-5.7,490,12923,0.00,2.03,0.00,0.000,6,0.000,0.028,2544,2300,3468,0,0,0,0,0,0
$GC,13227,-0.75,-116.7,915.1,-6.0,496,13228,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2299,3468,0,0,0,0,0,0
$GC,13530,-0.75,-116.7,933.0,-5.9,501,13534,0.00,2.12,0.00,0.000,4,0.000,0.045,2544,3701,3467,0,0,0,0,0,0
$GC,13636,-0.79,-116.7,939.6,-6.7,502,13640,0.12,2.03,0.00,0.000,6,0.146,0.028,2504,2289,3467,0,0,0,0,0,0
$GC,13956,-0.73,-116.7,963.1,-7.5,508,13957,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2288,3467,0,0,0,0,0,0
$GC,14259,-0.68,-116.7,986.8,-7.9,513,14261,0.15,0.00,0.00,0.000,6,0.187,0.000,2542,2286,3467,0,0,0,0,0,0
$STATE,14317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14317,begin apogee
$GC,14322,-0.24,0.0,991.0,7.7,514,14423,0.45,0.00,98.10,1.555,6,0.164,0.000,2679,2647,3006,0,0,0,0,0,0
$STATE,14424,end apogee,CONTROL_FINISHED_OK
$STATE,14424,begin climb
$GC,14426,0.80,116.7,993.1,0.0,515,14541,1.10,2.40,105.62,1.463,4,0.117,0.048,3018,4038,2529,0,0,0,0,0,0
$GC,14591,0.54,116.7,988.3,8.3,518,14596,0.35,2.17,0.00,0.000,6,0.180,0.026,2941,2658,2524,0,0,0,0,0,0
$GC,14928,0.58,148.4,969.0,5.6,524,14958,0.00,0.00,28.05,1.438,6,0.000,0.000,2941,2658,2400,0,0,0,0,0,0
$GC,15231,0.60,164.8,950.4,6.2,529,15248,0.00,0.00,15.18,1.411,6,0.000,0.000,2941,2658,2334,0,0,0,0,0,0
$GC,15534,0.62,180.8,931.5,6.2,534,15551,0.00,0.00,15.43,1.414,6,0.000,0.000,2941,2658,2268,0,0,0,0,0,0
$GC,15837,0.63,190.5,911.7,6.5,539,15849,0.00,0.00,9.88,1.371,6,0.000,0.000,2941,2658,2229,0,0,0,0,0,0
$GC,16140,0.63,190.5,890.9,6.9,544,16144,0.00,2.17,0.00,0.000,4,0.000,0.048,2939,4043,2226,0,0,0,0,0,0
$GC,16166,0.63,190.5,888.8,7.4,544,16171,0.00,2.12,0.00,0.000,6,0.000,0.028,2948,2650,2226,0,0,0,0,0,0
$GC,16504,0.63,190.5,864.0,7.4,550,16508,0.00,2.17,0.00,0.000,4,0.000,0.048,2948,4049,2225,0,0,0,0,0,0
$GC,16513,0.63,190.5,863.1,7.5,550,16518,0.00,2.12,0.00,0.000,6,0.000,0.028,2956,2647,2225,0,0,0,0,0,0
$GC,16867,0.63,190.5,834.9,8.0,556,16871,0.00,2.15,0.00,0.000,4,0.000,0.047,2954,4042,2224,0,0,0,0,0,0
$GC,16877,0.63,190.5,833.9,8.2,556,16881,0.00,2.10,0.00,0.000,6,0.000,0.028,2962,2649,2224,0,0,0,0,0,0
$GC,17231,0.63,190.5,804.3,8.4,562,17235,0.00,2.15,0.00,0.000,4,0.000,0.047,2962,4042,2224,0,0,0,0,0,0
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$STATE,27519,end climb,SURFACE_DEPTH_REACHED
$STATE,27519,begin surface coast
$FINISH,3.1,1.027231
$STATE,27578,end surface coast,CONTROL_FINISHED_OK
$STATE,27578,begin surface
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$10V_AH,10.1,14.946
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,241520
$DATA_FILE_SIZE,57167,982
$CAP_FILE_SIZE,202878,0
$CFSIZE,260165632,244006912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,316.5,1
$GPS,091109,234736,6435.795,-7.291,37,0.9,38,-5.2