version: 66.06
glider: 140
mission: 8
dive: 219
start: 12 5 109 3 1 2
data:
$ID,140
$MISSION,8
$DIVE,219
$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,-48268.172
$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,81
$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
$GPS1,024631,6336.976,215.028,39,1.4,40,-3.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.38
$_SM_ANGLEo,-59.6
$GPS2,030038,6337.026,214.995,15,1.6,15,-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,321.0,224212,-13.7,-6.875
$D_GRID,1358
$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,-7.07,0.000,2,0.000,0.000,220,2271,2031,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.4,-0.0,1,120,8.90,2.12,-73.95,0.000,4,0.230,0.050,2503,915,3484,0,0,0,0,0,0
$GC,368,-0.66,-116.7,29.7,-10.9,62,376,0.12,2.12,0.00,0.000,6,0.173,0.028,2542,2313,3485,0,0,0,0,0,0
$GC,707,-0.66,-116.7,57.8,-8.6,123,712,0.00,2.10,0.00,0.000,4,0.000,0.035,2542,919,3485,0,0,0,0,0,0
$GC,796,-0.62,-116.7,65.9,-9.3,139,801,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2309,3485,0,0,0,0,0,0
$GC,1135,-0.59,-116.7,92.1,-7.5,200,1142,0.12,2.12,0.00,0.000,4,0.191,0.041,2576,3691,3485,0,0,0,0,0,0
$GC,1200,-0.65,-116.7,96.4,-6.4,211,1206,0.00,2.00,0.00,0.000,6,0.000,0.023,2576,2288,3485,0,0,0,0,0,0
$GC,1556,-0.70,-116.7,121.9,-7.9,272,1560,0.12,2.05,0.00,0.000,4,0.132,0.035,2537,913,3485,0,0,0,0,0,0
$GC,1605,-0.64,-116.7,126.8,-10.3,274,1609,0.00,2.08,0.00,0.000,6,0.000,0.028,2536,2325,3486,0,0,0,0,0,0
$GC,1932,-0.60,-116.7,155.0,-7.9,290,1933,0.12,0.00,0.00,0.000,6,0.197,0.000,2567,2325,3485,0,0,0,0,0,0
$GC,2242,-0.60,-116.7,175.8,-6.3,305,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2325,3485,0,0,0,0,0,0
$GC,2550,-0.60,-116.7,196.1,-6.2,320,2554,0.00,2.10,0.00,0.000,4,0.000,0.035,2568,914,3485,0,0,0,0,0,0
$GC,2610,-0.60,-116.7,200.1,-6.7,322,2618,0.00,2.05,0.00,0.000,6,0.000,0.028,2567,2295,3485,0,0,0,0,0,0
$GC,2926,-0.63,-116.7,219.2,-6.8,338,2927,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2295,3485,0,0,0,0,0,0
$GC,3236,-0.66,-116.7,239.5,-6.2,353,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2295,3485,0,0,0,0,0,0
$GC,3545,-0.70,-116.7,258.5,-6.8,368,3549,0.00,2.08,0.00,0.000,4,0.000,0.040,2568,3704,3485,0,0,0,0,0,0
$GC,3622,-0.75,-116.7,264.1,-6.9,371,3628,0.08,2.03,0.00,0.000,6,0.098,0.022,2521,2287,3485,0,0,0,0,0,0
$GC,3939,-0.69,-116.7,289.2,-7.9,387,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2286,3486,0,0,0,0,0,0
$GC,4266,-0.63,-116.7,316.5,-8.4,400,4270,0.15,2.00,0.00,0.000,4,0.181,0.035,2560,933,3485,0,0,0,0,0,0
$GC,4331,-0.63,-116.7,321.8,-8.0,402,4335,0.00,2.03,0.00,0.000,6,0.000,0.028,2560,2301,3485,0,0,0,0,0,0
$GC,4667,-0.67,-116.7,343.9,-6.5,413,4670,0.00,2.05,0.00,0.000,4,0.000,0.040,2560,3697,3486,0,0,0,0,0,0
$GC,4716,-0.71,-116.7,347.2,-7.2,414,4720,0.00,2.00,0.00,0.000,6,0.000,0.022,2560,2309,3486,0,0,0,0,0,0
$GC,5035,-0.75,-116.7,367.7,-6.3,425,5037,0.12,0.00,0.00,0.000,6,0.134,0.000,2519,2306,3486,0,0,0,0,0,0
$GC,5341,-0.69,-116.7,390.9,-7.7,435,5345,0.00,2.10,0.00,0.000,4,0.000,0.040,2518,3704,3485,0,0,0,0,0,0
$GC,5441,-0.64,-116.7,399.2,-8.2,438,5446,0.12,2.00,0.00,0.000,6,0.187,0.023,2550,2279,3486,0,0,0,0,0,0
$GC,5770,-0.64,-116.7,422.1,-6.8,449,5773,0.00,1.98,0.00,0.000,4,0.000,0.035,2551,928,3486,0,0,0,0,0,0
$GC,5819,-0.64,-116.7,425.6,-6.9,450,5823,0.00,2.03,0.00,0.000,6,0.000,0.027,2550,2294,3485,0,0,0,0,0,0
$GC,6143,-0.64,-116.7,445.8,-6.3,461,6147,0.00,2.08,0.00,0.000,4,0.000,0.040,2551,3704,3485,0,0,0,0,0,0
$GC,6187,-0.68,-116.7,448.7,-6.3,462,6191,0.00,1.98,0.00,0.000,6,0.000,0.023,2551,2308,3485,0,0,0,0,0,0
$GC,6516,-0.68,-116.7,470.3,-6.5,473,6519,0.00,2.03,0.00,0.000,4,0.000,0.035,2551,927,3484,0,0,0,0,0,0
$GC,6565,-0.68,-116.7,474.0,-7.1,474,6569,0.00,2.05,0.00,0.000,6,0.000,0.028,2551,2300,3484,0,0,0,0,0,0
$GC,6889,-0.68,-116.7,495.7,-6.5,485,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2300,3484,0,0,0,0,0,0
$GC,7224,-0.68,-116.7,516.5,-6.2,492,7228,0.00,2.08,0.00,0.000,4,0.000,0.041,2551,3697,3484,0,0,0,0,0,0
$GC,7286,-0.72,-116.7,520.4,-6.0,493,7290,0.00,2.00,0.00,0.000,6,0.000,0.024,2551,2289,3484,0,0,0,0,0,0
$GC,7658,-0.76,-116.7,545.0,-6.7,499,7659,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2289,3483,0,0,0,0,0,0
$GC,7960,-0.79,-116.7,565.9,-6.8,504,7962,0.12,0.00,0.00,0.000,6,0.128,0.000,2510,2286,3483,0,0,0,0,0,0
$GC,8263,-0.74,-116.7,590.5,-8.1,509,8267,0.00,2.12,0.00,0.000,4,0.000,0.041,2509,3697,3482,0,0,0,0,0,0
$GC,8346,-0.70,-116.7,597.5,-8.3,510,8350,0.00,2.03,0.00,0.000,6,0.000,0.024,2509,2302,3482,0,0,0,0,0,0
$GC,8695,-0.65,-116.7,624.3,-7.6,516,8700,0.15,2.08,0.00,0.000,4,0.187,0.037,2550,913,3481,0,0,0,0,0,0
$GC,8744,-0.65,-116.7,627.6,-6.6,516,8748,0.00,2.08,0.00,0.000,6,0.000,0.029,2549,2300,3481,0,0,0,0,0,0
$GC,9065,-0.68,-116.7,645.6,-5.7,522,9069,0.00,2.10,0.00,0.000,4,0.000,0.043,2549,3710,3480,0,0,0,0,0,0
$GC,9177,-0.73,-116.7,652.8,-6.7,523,9181,0.00,2.03,0.00,0.000,6,0.000,0.025,2549,2297,3479,0,0,0,0,0,0
$GC,9498,-0.77,-116.7,672.7,-6.3,529,9502,0.00,2.15,0.00,0.000,4,0.000,0.042,2549,3711,3478,0,0,0,0,0,0
$GC,9548,-0.82,-116.7,676.3,-6.8,529,9553,0.15,2.03,0.00,0.000,6,0.123,0.025,2501,2293,3478,0,0,0,0,0,0
$GC,9857,-0.76,-116.7,702.6,-8.7,534,9858,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2292,3477,0,0,0,0,0,0
$GC,10160,-0.70,-116.7,729.3,-8.9,539,10162,0.15,0.00,0.00,0.000,6,0.189,0.000,2540,2289,3475,0,0,0,0,0,0
$GC,10463,-0.70,-116.7,751.7,-7.4,544,10467,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3702,3475,0,0,0,0,0,0
$GC,10512,-0.73,-116.7,755.4,-7.3,544,10516,0.00,2.05,0.00,0.000,6,0.000,0.025,2540,2313,3475,0,0,0,0,0,0
$GC,10827,-0.73,-116.7,776.8,-6.8,550,10831,0.00,2.12,0.00,0.000,4,0.000,0.043,2540,3706,3474,0,0,0,0,0,0
$GC,10882,-0.77,-116.7,780.6,-7.1,550,10888,0.00,2.05,0.00,0.000,6,0.000,0.026,2540,2290,3473,0,0,0,0,0,0
$GC,11191,-0.77,-116.7,801.1,-6.7,556,11195,0.00,2.15,0.00,0.000,4,0.000,0.043,2540,3698,3472,0,0,0,0,0,0
$GC,11253,-0.81,-116.7,805.3,-6.6,557,11258,0.12,2.03,0.00,0.000,6,0.136,0.026,2501,2292,3472,0,0,0,0,0,0
$GC,11619,-0.75,-116.7,835.0,-8.3,563,11623,0.00,2.05,0.00,0.000,4,0.000,0.039,2501,914,3471,0,0,0,0,0,0
$GC,11681,-0.68,-116.7,840.6,-9.1,563,11688,0.15,2.05,0.00,0.000,6,0.191,0.031,2540,2301,3471,0,0,0,0,0,0
$GC,11991,-0.68,-116.7,861.3,-6.5,569,11994,0.00,2.10,0.00,0.000,4,0.000,0.044,2540,3704,3469,0,0,0,0,0,0
$GC,12096,-0.72,-116.7,868.6,-7.6,570,12100,0.00,2.08,0.00,0.000,6,0.000,0.026,2541,2302,3469,0,0,0,0,0,0
$GC,12423,-0.76,-116.7,890.2,-6.7,576,12424,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2302,3469,0,0,0,0,0,0
$GC,12726,-0.79,-116.7,909.7,-6.4,581,12730,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3706,3468,0,0,0,0,0,0
$GC,12809,-0.83,-116.7,915.1,-6.3,582,12814,0.12,2.05,0.00,0.000,6,0.135,0.026,2501,2289,3468,0,0,0,0,0,0
$GC,13157,-0.78,-116.7,941.4,-7.6,588,13158,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2288,3467,0,0,0,0,0,0
$GC,13460,-0.73,-116.7,964.3,-7.6,593,13461,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2288,3466,0,0,0,0,0,0
$GC,13763,-0.68,-116.7,988.1,-7.8,598,13765,0.15,0.00,0.00,0.000,6,0.185,0.000,2540,2285,3466,0,0,0,0,0,0
$STATE,13822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13822,begin apogee
$GC,13828,-0.24,0.0,992.0,7.5,599,13929,0.47,0.00,98.68,1.534,6,0.160,0.000,2684,2659,3006,0,0,0,0,0,0
$STATE,13930,end apogee,CONTROL_FINISHED_OK
$STATE,13930,begin climb
$GC,13932,0.80,116.7,994.0,0.0,600,14049,1.05,2.45,106.10,1.442,4,0.108,0.047,3015,4042,2528,0,0,0,0,0,0
$GC,14093,0.55,116.7,988.1,9.5,603,14099,0.32,2.20,0.00,0.000,6,0.170,0.026,2944,2650,2524,0,0,0,0,0,0
$GC,14430,0.57,131.7,966.4,6.3,609,14449,0.00,2.28,13.05,1.383,4,0.000,0.047,2941,4036,2468,0,0,0,0,0,0
$GC,14456,0.56,148.3,964.8,6.2,609,14477,0.00,2.12,16.52,1.339,6,0.000,0.028,2949,2647,2401,0,0,0,0,0,0
$GC,14792,0.56,148.3,941.4,7.0,615,14796,0.00,2.20,0.00,0.000,4,0.000,0.046,2949,4046,2394,0,0,0,0,0,0
$GC,14814,0.51,148.3,939.7,7.5,615,14818,0.00,2.10,0.00,0.000,6,0.000,0.028,2957,2642,2394,0,0,0,0,0,0
$GC,15151,0.51,148.3,914.4,7.4,621,15155,0.00,2.20,0.00,0.000,4,0.000,0.047,2957,4047,2393,0,0,0,0,0,0
$GC,15167,0.46,148.3,913.1,7.4,621,15172,0.20,2.12,0.00,0.000,6,0.179,0.028,2914,2608,2392,0,0,0,0,0,0
$GC,15516,0.55,173.0,892.5,5.9,627,15540,0.00,0.00,21.73,1.434,6,0.000,0.000,2914,2608,2300,0,0,0,0,0,0
$GC,15819,0.63,176.6,872.4,6.7,632,15821,0.15,0.00,0.00,0.000,6,0.109,0.000,2969,2607,2295,0,0,0,0,0,0
$GC,16121,0.59,176.6,846.6,8.6,637,16125,0.00,2.22,0.00,0.000,4,0.000,0.048,2969,4039,2294,0,0,0,0,0,0
$GC,16137,0.54,176.6,845.2,8.6,637,16142,0.15,2.08,0.00,0.000,6,0.190,0.028,2940,2631,2294,0,0,0,0,0,0
$GC,16486,0.57,176.6,819.9,7.1,643,16490,0.00,2.20,0.00,0.000,4,0.000,0.047,2940,4049,2293,0,0,0,0,0,0
$GC,16512,0.57,176.6,817.7,8.4,643,16517,0.00,2.10,0.00,0.000,6,0.000,0.028,2948,2652,2293,0,0,0,0,0,0
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$STATE,26497,end climb,SURFACE_DEPTH_REACHED
$STATE,26497,begin surface coast
$FINISH,2.6,1.023274
$STATE,26575,end surface coast,CONTROL_FINISHED_OK
$STATE,26575,begin surface
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$10V_AH,10.0,24.007
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,235104
$DATA_FILE_SIZE,63403,1138
$CAP_FILE_SIZE,217505,0
$CFSIZE,260165632,236851200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,118.0,1
$GPS,051209,102606,6338.912,210.615,38,1.6,44,-3.8