version: 66.06
glider: 140
mission: 8
dive: 144
start: 11 11 109 21 17 49
data:
$ID,140
$MISSION,8
$DIVE,144
$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,-46919.617
$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,73
$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
$GPS1,211137,6455.343,-47.868,40,1.3,41,-5.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.67
$_SM_ANGLEo,-65.9
$GPS2,211725,6455.401,-47.906,10,1.6,15,-5.7
$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,340.0,21777,-13.7,-6.875
$D_GRID,2846
$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,-7.32,0.000,2,0.000,0.000,219,2260,1976,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.6,-0.0,1,130,9.15,2.05,-86.50,0.000,4,0.252,0.048,2506,903,3481,0,0,0,0,0,0
$GC,377,-0.65,-116.7,27.5,-10.1,64,385,0.12,2.12,0.00,0.000,6,0.177,0.029,2544,2305,3483,0,0,0,0,0,0
$GC,717,-0.61,-116.7,57.7,-9.9,125,722,0.00,2.08,0.00,0.000,4,0.000,0.035,2545,918,3484,0,0,0,0,0,0
$GC,855,-0.55,-116.7,71.1,-7.6,134,860,0.15,2.10,0.00,0.000,6,0.191,0.028,2583,2308,3484,0,0,0,0,0,0
$GC,1183,-0.60,-116.7,86.2,-5.3,150,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2308,3484,0,0,0,0,0,0
$GC,1493,-0.66,-116.7,116.7,-11.3,165,1496,0.00,2.08,0.00,0.000,4,0.000,0.041,2583,3704,3485,0,0,0,0,0,0
$GC,1564,-0.74,-116.7,124.6,-10.2,168,1569,0.10,2.05,0.00,0.000,6,0.103,0.024,2529,2288,3485,0,0,0,0,0,0
$GC,1887,-0.69,-116.7,146.4,-4.3,184,1891,0.00,2.12,0.00,0.000,4,0.000,0.041,2528,3701,3485,0,0,0,0,0,0
$GC,1936,-0.64,-116.7,148.8,-5.5,186,1940,0.00,2.00,0.00,0.000,6,0.000,0.024,2529,2293,3485,0,0,0,0,0,0
$GC,2257,-0.59,-116.7,170.2,-7.7,202,2262,0.15,2.03,0.00,0.000,4,0.184,0.035,2568,922,3485,0,0,0,0,0,0
$GC,2340,-0.59,-116.7,176.3,-7.1,206,2344,0.00,2.03,0.00,0.000,6,0.000,0.028,2568,2312,3485,0,0,0,0,0,0
$GC,2666,-0.63,-116.7,201.7,-8.2,222,2670,0.00,2.05,0.00,0.000,4,0.000,0.041,2568,3702,3486,0,0,0,0,0,0
$GC,2733,-0.69,-116.7,207.1,-7.9,225,2737,0.00,2.00,0.00,0.000,6,0.000,0.025,2568,2295,3486,0,0,0,0,0,0
$GC,3065,-0.73,-116.7,227.6,-5.0,241,3067,0.12,0.00,0.00,0.000,6,0.133,0.000,2528,2286,3485,0,0,0,0,0,0
$GC,3374,-0.68,-116.7,248.3,-7.9,256,3378,0.00,2.12,0.00,0.000,4,0.000,0.041,2528,3706,3485,0,0,0,0,0,0
$GC,3437,-0.65,-116.7,253.8,-9.1,259,3441,0.00,2.00,0.00,0.000,6,0.000,0.025,2528,2300,3485,0,0,0,0,0,0
$GC,3770,-0.60,-116.7,282.8,-8.1,275,3774,0.15,2.05,0.00,0.000,4,0.189,0.036,2567,910,3484,0,0,0,0,0,0
$GC,3824,-0.60,-116.7,286.7,-6.4,277,3830,0.00,2.05,0.00,0.000,6,0.000,0.029,2568,2291,3484,0,0,0,0,0,0
$GC,4140,-0.65,-116.7,303.4,-5.3,292,4144,0.00,2.08,0.00,0.000,4,0.000,0.041,2568,3698,3483,0,0,0,0,0,0
$GC,4234,-0.71,-116.7,308.8,-6.0,294,4241,0.00,2.00,0.00,0.000,6,0.000,0.025,2568,2286,3483,0,0,0,0,0,0
$GC,4547,-0.76,-116.7,326.9,-6.1,305,4551,0.15,2.15,0.00,0.000,4,0.124,0.042,2517,3700,3483,0,0,0,0,0,0
$GC,4602,-0.71,-116.7,331.2,-8.4,306,4605,0.00,2.00,0.00,0.000,6,0.000,0.025,2517,2298,3482,0,0,0,0,0,0
$GC,4920,-0.65,-116.7,352.5,-6.6,317,4924,0.15,2.03,0.00,0.000,4,0.190,0.037,2556,922,3482,0,0,0,0,0,0
$GC,4974,-0.65,-116.7,355.9,-5.9,318,4981,0.00,2.00,0.00,0.000,6,0.000,0.029,2556,2301,3482,0,0,0,0,0,0
$GC,5286,-0.65,-116.7,372.2,-5.3,329,5290,0.00,2.08,0.00,0.000,4,0.000,0.043,2556,3697,3482,0,0,0,0,0,0
$GC,5381,-0.69,-116.7,377.6,-5.7,331,5387,0.00,2.00,0.00,0.000,6,0.000,0.025,2556,2284,3481,0,0,0,0,0,0
$GC,5694,-0.69,-116.7,395.1,-5.6,342,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2283,3481,0,0,0,0,0,0
$GC,6000,-0.69,-116.7,413.6,-6.0,352,6001,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2283,3481,0,0,0,0,0,0
$GC,6306,-0.73,-116.7,433.4,-6.5,362,6310,0.00,2.12,0.00,0.000,4,0.000,0.042,2556,3702,3481,0,0,0,0,0,0
$GC,6379,-0.77,-116.7,438.5,-7.6,364,6383,0.12,2.00,0.00,0.000,6,0.143,0.025,2516,2289,3480,0,0,0,0,0,0
$GC,6713,-0.71,-116.7,465.0,-7.5,375,6717,0.00,2.00,0.00,0.000,4,0.000,0.038,2516,926,3480,0,0,0,0,0,0
$GC,6780,-0.63,-116.7,470.0,-7.2,377,6785,0.15,2.03,0.00,0.000,6,0.196,0.030,2554,2312,3480,0,0,0,0,0,0
$GC,7114,-0.63,-116.7,486.6,-4.6,388,7118,0.00,2.05,0.00,0.000,4,0.000,0.043,2555,3700,3479,0,0,0,0,0,0
$GC,7186,-0.66,-116.7,490.0,-4.2,390,7190,0.00,2.00,0.00,0.000,6,0.000,0.025,2555,2296,3478,0,0,0,0,0,0
$GC,7550,-0.70,-116.7,508.0,-5.4,400,7554,0.00,2.12,0.00,0.000,4,0.000,0.043,2555,3706,3478,0,0,0,0,0,0
$GC,7650,-0.75,-116.7,513.9,-6.1,401,7654,0.00,2.00,0.00,0.000,6,0.000,0.026,2555,2299,3477,0,0,0,0,0,0
$GC,7989,-0.78,-116.7,535.0,-6.5,407,7991,0.12,0.00,0.00,0.000,6,0.140,0.000,2515,2296,3477,0,0,0,0,0,0
$GC,8290,-0.72,-116.7,560.0,-8.3,412,8294,0.00,2.10,0.00,0.000,4,0.000,0.044,2515,3695,3476,0,0,0,0,0,0
$GC,8340,-0.67,-116.7,564.4,-9.2,412,8344,0.08,2.03,0.00,0.000,6,0.181,0.026,2551,2302,3476,0,0,0,0,0,0
$GC,8655,-0.67,-116.7,588.0,-7.5,418,8659,0.00,2.10,0.00,0.000,4,0.000,0.044,2551,3695,3476,0,0,0,0,0,0
$GC,8704,-0.71,-116.7,591.9,-7.6,418,8708,0.00,2.03,0.00,0.000,6,0.000,0.027,2551,2309,3476,0,0,0,0,0,0
$GC,9024,-0.71,-116.7,614.4,-7.0,424,9028,0.00,2.10,0.00,0.000,4,0.000,0.044,2551,3702,3476,0,0,0,0,0,0
$GC,9091,-0.75,-116.7,619.1,-7.1,425,9095,0.00,2.05,0.00,0.000,6,0.000,0.026,2551,2297,3475,0,0,0,0,0,0
$GC,9456,-0.75,-116.7,641.8,-6.1,431,9460,0.00,2.12,0.00,0.000,4,0.000,0.044,2551,3704,3475,0,0,0,0,0,0
$GC,9522,-0.79,-116.7,646.0,-6.7,432,9527,0.12,2.03,0.00,0.000,6,0.139,0.027,2513,2291,3474,0,0,0,0,0,0
$GC,9881,-0.74,-116.7,671.3,-7.0,438,9885,0.00,2.03,0.00,0.000,4,0.000,0.039,2513,919,3474,0,0,0,0,0,0
$GC,9942,-0.66,-116.7,676.1,-7.7,438,9950,0.15,2.08,0.00,0.000,6,0.206,0.032,2551,2325,3474,0,0,0,0,0,0
$GC,10252,-0.66,-116.7,694.1,-5.8,444,10256,0.00,2.05,0.00,0.000,4,0.000,0.045,2550,3699,3473,0,0,0,0,0,0
$GC,10363,-0.71,-116.7,701.1,-6.7,445,10367,0.00,2.05,0.00,0.000,6,0.000,0.027,2551,2268,3473,0,0,0,0,0,0
$GC,10690,-0.74,-116.7,720.3,-5.9,451,10691,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2267,3473,0,0,0,0,0,0
$GC,10993,-0.77,-116.7,738.2,-6.0,456,10997,0.12,2.17,0.00,0.000,4,0.137,0.044,2511,3700,3472,0,0,0,0,0,0
$GC,11127,-0.73,-116.7,748.3,-7.5,458,11131,0.00,2.03,0.00,0.000,6,0.000,0.027,2511,2295,3472,0,0,0,0,0,0
$GC,11492,-0.68,-116.7,776.5,-7.8,464,11494,0.12,0.00,0.00,0.000,6,0.202,0.000,2542,2288,3471,0,0,0,0,0,0
$GC,11795,-0.68,-116.7,797.6,-6.9,469,11799,0.00,2.12,0.00,0.000,4,0.000,0.045,2542,3699,3471,0,0,0,0,0,0
$GC,11931,-0.71,-116.7,807.2,-6.6,471,11934,0.00,2.03,0.00,0.000,6,0.000,0.027,2542,2296,3471,0,0,0,0,0,0
$GC,12295,-0.71,-116.7,833.4,-7.2,477,12296,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2289,3470,0,0,0,0,0,0
$GC,12598,-0.71,-116.7,855.6,-7.3,482,12602,0.00,2.12,0.00,0.000,4,0.000,0.045,2542,3698,3470,0,0,0,0,0,0
$GC,12699,-0.74,-116.7,863.2,-6.8,483,12703,0.00,2.03,0.00,0.000,6,0.000,0.027,2542,2296,3470,0,0,0,0,0,0
$GC,13036,-0.74,-116.7,889.1,-7.8,489,13039,0.00,2.12,0.00,0.000,4,0.000,0.044,2542,3698,3470,0,0,0,0,0,0
$GC,13098,-0.78,-116.7,894.0,-8.2,490,13102,0.00,2.03,0.00,0.000,6,0.000,0.028,2542,2296,3470,0,0,0,0,0,0
$GC,13468,-0.78,-116.7,922.3,-7.5,496,13469,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2295,3469,0,0,0,0,0,0
$GC,13771,-0.78,-116.7,942.8,-6.8,501,13775,0.00,2.15,0.00,0.000,4,0.000,0.045,2542,3708,3469,0,0,0,0,0,0
$GC,13866,-0.82,-116.7,949.5,-7.1,502,13870,0.12,2.03,0.00,0.000,6,0.147,0.028,2502,2300,3469,0,0,0,0,0,0
$GC,14209,-0.76,-116.7,974.8,-7.3,508,14210,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2299,3469,0,0,0,0,0,0
$STATE,14449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14449,begin apogee
$GC,14455,-0.24,0.0,992.2,7.2,512,14557,0.60,0.00,98.88,1.568,6,0.174,0.000,2679,2647,3006,0,0,0,0,0,0
$STATE,14557,end apogee,CONTROL_FINISHED_OK
$STATE,14557,begin climb
$GC,14559,0.80,116.7,994.0,0.0,513,14674,1.10,2.40,105.70,1.460,4,0.118,0.045,3017,4043,2529,0,0,0,0,0,0
$GC,14696,0.54,116.7,989.8,7.9,516,14701,0.32,2.22,0.00,0.000,6,0.180,0.028,2947,2655,2524,0,0,0,0,0,0
$GC,15057,0.53,136.1,967.1,6.1,522,15075,0.00,0.00,16.67,1.412,6,0.000,0.000,2947,2655,2451,0,0,0,0,0,0
$GC,15426,0.55,156.3,944.6,6.1,528,15450,0.00,2.28,18.98,1.423,4,0.000,0.048,2940,4033,2367,0,0,0,0,0,0
$GC,15456,0.58,177.4,942.8,6.0,528,15481,0.00,2.12,20.45,1.386,6,0.000,0.029,2949,2647,2282,0,0,0,0,0,0
$GC,15785,0.58,178.1,920.6,6.8,533,15786,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2647,2275,0,0,0,0,0,0
$GC,16088,0.58,178.1,899.3,7.1,538,16089,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2647,2272,0,0,0,0,0,0
$GC,16391,0.58,178.1,878.1,7.0,543,16395,0.00,2.17,0.00,0.000,4,0.000,0.047,2949,4047,2271,0,0,0,0,0,0
$GC,16407,0.58,178.1,876.8,7.1,543,16411,0.00,2.10,0.00,0.000,6,0.000,0.028,2957,2651,2272,0,0,0,0,0,0
$GC,16756,0.58,178.1,852.1,7.0,549,16759,0.00,2.15,0.00,0.000,4,0.000,0.047,2954,4040,2271,0,0,0,0,0,0
$GC,16794,0.52,178.1,849.1,7.7,549,16798,0.00,2.10,0.00,0.000,6,0.000,0.028,2962,2645,2271,0,0,0,0,0,0
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$STATE,26967,end climb,SURFACE_DEPTH_REACHED
$STATE,26967,begin surface coast
$FINISH,3.0,1.012331
$STATE,27017,end surface coast,CONTROL_FINISHED_OK
$STATE,27017,begin surface
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$10V_AH,10.0,15.664
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.425,201.725,338.700,13.075,0.000,27.312,29.855,165.861,0.000,0.000,15.969,2134.340,21677.928,513.476,2560.280,504.357,0.000,1817.401,0.000,2526.720,0.000,0.533,0.000
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$MEM,241520
$DATA_FILE_SIZE,53849,954
$CAP_FILE_SIZE,211029,0
$CFSIZE,260165632,243437568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131,  7.2,1
$GPS,121109,044954,6500.056,-51.080,41,0.9,42,-5.7