version: 66.06
glider: 140
mission: 8
dive: 34
start: 10 9 109 9 53 6
data:
$ID,140
$MISSION,8
$DIVE,34
$D_SURF,3
$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,-44920.574
$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,72
$R_STBD_OVSHOOT,41
$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
$GPS1,094657,6448.989,-18.131,38,2.3,57,-5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.70
$_SM_ANGLEo,-62.4
$GPS2,095243,6448.989,-18.098,10,1.7,15,-5.4
$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,319.4,45387,-13.7,-6.875
$D_GRID,2762
$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,-7.57,0.000,2,0.000,0.000,219,2269,2035,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.8,-0.0,1,120,9.35,2.10,-76.30,0.000,4,0.263,0.052,2501,919,3483,0,0,0,0,0,0
$GC,145,-0.59,-116.7,6.3,-7.0,21,151,0.25,2.10,0.00,0.000,6,0.189,0.032,2568,2308,3484,0,0,0,0,0,0
$GC,479,-0.59,-116.7,33.0,-7.4,82,487,0.00,2.15,0.00,0.000,4,0.000,0.044,2568,3703,3485,0,0,0,0,0,0
$GC,536,-0.59,-116.7,37.7,-8.1,92,543,0.00,2.08,0.00,0.000,6,0.000,0.025,2568,2299,3485,0,0,0,0,0,0
$GC,886,-0.59,-116.7,63.4,-7.3,150,890,0.00,2.08,0.00,0.000,4,0.000,0.039,2569,911,3486,0,0,0,0,0,0
$GC,1012,-0.59,-116.7,72.6,-6.8,155,1018,0.00,2.10,0.00,0.000,6,0.000,0.031,2569,2302,3487,0,0,0,0,0,0
$GC,1330,-0.59,-116.7,93.6,-6.4,171,1334,0.00,2.08,0.00,0.000,4,0.000,0.044,2569,3700,3487,0,0,0,0,0,0
$GC,1380,-0.63,-116.7,97.3,-6.7,173,1384,0.00,2.00,0.00,0.000,6,0.000,0.025,2569,2301,3487,0,0,0,0,0,0
$GC,1702,-0.67,-116.7,118.6,-6.8,189,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2294,3488,0,0,0,0,0,0
$GC,2010,-0.71,-116.7,139.4,-6.8,204,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2294,3488,0,0,0,0,0,0
$GC,2321,-0.74,-116.7,160.8,-6.8,219,2326,0.12,2.12,0.00,0.000,4,0.140,0.044,2528,3700,3489,0,0,0,0,0,0
$GC,2383,-0.70,-116.7,166.1,-8.4,222,2386,0.00,2.00,0.00,0.000,6,0.000,0.026,2528,2299,3488,0,0,0,0,0,0
$GC,2715,-0.65,-116.7,194.1,-8.6,238,2718,0.00,2.03,0.00,0.000,4,0.000,0.039,2528,920,3488,0,0,0,0,0,0
$GC,2769,-0.58,-116.7,199.0,-8.7,240,2774,0.17,2.03,0.00,0.000,6,0.198,0.032,2574,2300,3487,0,0,0,0,0,0
$GC,3091,-0.63,-116.7,218.5,-5.8,256,3095,0.00,2.10,0.00,0.000,4,0.000,0.045,2575,3703,3487,0,0,0,0,0,0
$GC,3180,-0.71,-116.7,223.8,-6.1,260,3185,0.12,2.00,0.00,0.000,6,0.139,0.026,2536,2295,3487,0,0,0,0,0,0
$GC,3506,-0.71,-116.7,246.1,-7.0,276,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2293,3486,0,0,0,0,0,0
$GC,3816,-0.71,-116.7,268.1,-7.2,291,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2293,3486,0,0,0,0,0,0
$GC,4124,-0.71,-116.7,291.3,-7.5,306,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2293,3485,0,0,0,0,0,0
$GC,4432,-0.71,-116.7,314.3,-7.5,318,4436,0.00,2.12,0.00,0.000,4,0.000,0.045,2536,3705,3485,0,0,0,0,0,0
$GC,4486,-0.71,-116.7,318.5,-7.4,319,4493,0.00,2.03,0.00,0.000,6,0.000,0.028,2536,2310,3484,0,0,0,0,0,0
$GC,4799,-0.71,-116.7,342.0,-7.6,330,4802,0.00,2.05,0.00,0.000,4,0.000,0.041,2536,918,3484,0,0,0,0,0,0
$GC,4848,-0.66,-116.7,346.0,-8.2,331,4852,0.00,2.08,0.00,0.000,6,0.000,0.033,2537,2300,3484,0,0,0,0,0,0
$GC,5171,-0.66,-116.7,370.5,-7.9,342,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2300,3483,0,0,0,0,0,0
$GC,5477,-0.66,-116.7,394.4,-7.9,352,5481,0.00,2.10,0.00,0.000,4,0.000,0.047,2536,3703,3482,0,0,0,0,0,0
$GC,5527,-0.66,-116.7,398.4,-7.8,353,5531,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2294,3482,0,0,0,0,0,0
$GC,5845,-0.66,-116.7,423.8,-8.0,364,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2293,3482,0,0,0,0,0,0
$GC,6151,-0.66,-116.7,448.1,-7.9,374,6155,0.00,2.12,0.00,0.000,4,0.000,0.046,2536,3710,3481,0,0,0,0,0,0
$GC,6206,-0.66,-116.7,452.5,-8.1,375,6210,0.00,2.08,0.00,0.000,6,0.000,0.028,2536,2292,3481,0,0,0,0,0,0
$GC,6524,-0.66,-116.7,474.9,-6.9,386,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2291,3480,0,0,0,0,0,0
$GC,6830,-0.66,-116.7,496.6,-7.2,396,6831,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2291,3479,0,0,0,0,0,0
$GC,7134,-0.66,-116.7,516.8,-6.7,402,7138,0.00,2.12,0.00,0.000,4,0.000,0.047,2536,3707,3479,0,0,0,0,0,0
$GC,7177,-0.66,-116.7,519.8,-7.1,402,7181,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2303,3479,0,0,0,0,0,0
$GC,7498,-0.66,-116.7,541.1,-6.7,408,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2302,3478,0,0,0,0,0,0
$GC,7800,-0.66,-116.7,562.2,-6.9,413,7804,0.00,2.10,0.00,0.000,4,0.000,0.047,2536,3702,3478,0,0,0,0,0,0
$GC,7855,-0.66,-116.7,566.2,-7.6,413,7861,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2299,3478,0,0,0,0,0,0
$GC,8165,-0.66,-116.7,588.1,-7.1,419,8166,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2298,3477,0,0,0,0,0,0
$GC,8467,-0.66,-116.7,609.7,-7.1,424,8469,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2298,3477,0,0,0,0,0,0
$GC,8771,-0.66,-116.7,630.8,-6.9,429,8774,0.00,2.10,0.00,0.000,4,0.000,0.047,2536,3701,3476,0,0,0,0,0,0
$GC,8842,-0.66,-116.7,636.0,-7.2,430,8846,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2298,3476,0,0,0,0,0,0
$GC,9202,-0.66,-116.7,660.2,-6.7,436,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2296,3475,0,0,0,0,0,0
$GC,9505,-0.66,-116.7,680.1,-6.5,441,9507,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2296,3475,0,0,0,0,0,0
$GC,9809,-0.66,-116.7,699.9,-6.5,446,9813,0.00,2.12,0.00,0.000,4,0.000,0.048,2536,3709,3475,0,0,0,0,0,0
$GC,9871,-0.66,-116.7,703.9,-6.9,447,9875,0.00,2.03,0.00,0.000,6,0.000,0.029,2536,2299,3474,0,0,0,0,0,0
$GC,10241,-0.66,-116.7,727.2,-6.3,453,10242,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2298,3474,0,0,0,0,0,0
$GC,10544,-0.66,-116.7,746.5,-6.3,458,10548,0.00,2.12,0.00,0.000,4,0.000,0.048,2536,3711,3474,0,0,0,0,0,0
$GC,10617,-0.66,-116.7,751.1,-5.9,459,10620,0.00,2.03,0.00,0.000,6,0.000,0.029,2536,2300,3473,0,0,0,0,0,0
$GC,10976,-0.66,-116.7,773.9,-6.4,465,10977,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2299,3473,0,0,0,0,0,0
$GC,11279,-0.66,-116.7,794.0,-6.6,470,11283,0.00,2.10,0.00,0.000,4,0.000,0.048,2536,3700,3473,0,0,0,0,0,0
$GC,11347,-0.66,-116.7,798.6,-6.8,471,11351,0.00,2.03,0.00,0.000,6,0.000,0.029,2536,2294,3473,0,0,0,0,0,0
$GC,11712,-0.66,-116.7,822.6,-6.5,477,11716,0.00,2.12,0.00,0.000,4,0.000,0.048,2536,3704,3473,0,0,0,0,0,0
$GC,11761,-0.66,-116.7,825.9,-6.9,477,11765,0.00,2.05,0.00,0.000,6,0.000,0.029,2536,2303,3473,0,0,0,0,0,0
$GC,12076,-0.66,-116.7,847.1,-6.8,483,12077,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2302,3473,0,0,0,0,0,0
$GC,12379,-0.66,-116.7,868.0,-6.9,488,12382,0.00,2.10,0.00,0.000,4,0.000,0.048,2536,3700,3472,0,0,0,0,0,0
$GC,12450,-0.66,-116.7,873.2,-7.2,489,12454,0.00,2.05,0.00,0.000,6,0.000,0.029,2536,2303,3472,0,0,0,0,0,0
$GC,12811,-0.66,-116.7,897.2,-6.7,495,12812,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2302,3472,0,0,0,0,0,0
$GC,13113,-0.66,-116.7,917.5,-6.7,500,13117,0.00,2.10,0.00,0.000,4,0.000,0.048,2536,3700,3472,0,0,0,0,0,0
$GC,13191,-0.66,-116.7,923.0,-6.9,501,13195,0.00,2.05,0.00,0.000,6,0.000,0.029,2536,2302,3471,0,0,0,0,0,0
$GC,13546,-0.66,-116.7,946.7,-6.7,507,13550,0.00,2.12,0.00,0.000,4,0.000,0.048,2536,3709,3471,0,0,0,0,0,0
$GC,13608,-0.66,-116.7,950.9,-6.2,508,13612,0.00,2.05,0.00,0.000,6,0.000,0.030,2536,2289,3471,0,0,0,0,0,0
$GC,13973,-0.66,-116.7,975.0,-6.5,514,13976,0.00,2.15,0.00,0.000,4,0.000,0.048,2536,3709,3471,0,0,0,0,0,0
$GC,14028,-0.66,-116.7,978.7,-6.5,514,14032,0.00,2.08,0.00,0.000,6,0.000,0.030,2535,2302,3471,0,0,0,0,0,0
$STATE,14219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14219,begin apogee
$GC,14225,-0.24,0.0,991.1,6.4,518,14326,0.50,0.00,98.95,1.547,6,0.182,0.000,2685,2648,3006,0,0,0,0,0,0
$STATE,14327,end apogee,CONTROL_FINISHED_OK
$STATE,14327,begin climb
$GC,14329,0.80,116.7,992.9,0.0,519,14443,1.10,2.35,104.75,1.453,4,0.128,0.050,3018,4040,2529,0,0,0,0,0,0
$GC,14481,0.53,116.7,987.4,9.0,522,14487,0.38,2.20,0.00,0.000,6,0.205,0.029,2938,2647,2524,0,0,0,0,0,0
$GC,14824,0.54,130.5,965.5,6.3,528,14842,0.00,2.33,11.68,1.378,4,0.000,0.049,2927,4042,2473,0,0,0,0,0,0
$GC,14859,0.50,134.9,963.2,6.7,528,14870,0.00,2.15,5.80,1.097,6,0.000,0.030,2936,2643,2455,0,0,0,0,0,0
$GC,15184,0.51,145.8,942.2,6.4,534,15200,0.00,2.25,11.07,1.379,4,0.000,0.048,2927,4044,2410,0,0,0,0,0,0
$GC,15217,0.48,145.8,940.0,6.9,534,15221,0.00,2.12,0.00,0.000,6,0.000,0.031,2937,2651,2409,0,0,0,0,0,0
$GC,15548,0.50,157.6,918.6,6.4,540,15566,0.00,2.30,11.48,1.389,4,0.000,0.049,2928,4047,2363,0,0,0,0,0,0
$GC,15583,0.50,157.6,916.1,6.9,540,15588,0.00,2.15,0.00,0.000,6,0.000,0.031,2937,2655,2362,0,0,0,0,0,0
$GC,15915,0.51,171.2,894.9,6.3,546,15935,0.00,2.28,13.45,1.400,4,0.000,0.050,2937,4043,2307,0,0,0,0,0,0
$GC,15946,0.54,188.5,893.0,6.2,546,15968,0.00,2.15,17.33,1.354,6,0.000,0.031,2946,2650,2237,0,0,0,0,0,0
$GC,16277,0.54,191.4,870.7,6.8,552,16281,0.00,2.22,0.00,0.000,4,0.000,0.050,2946,4047,2230,0,0,0,0,0,0
$GC,16300,0.54,191.4,868.9,8.3,552,16304,0.00,2.10,0.00,0.000,6,0.000,0.031,2954,2652,2230,0,0,0,0,0,0
$GC,16636,0.54,191.4,844.8,7.2,558,16640,0.00,2.17,0.00,0.000,4,0.000,0.049,2953,4047,2229,0,0,0,0,0,0
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$STATE,27415,end climb,SURFACE_DEPTH_REACHED
$STATE,27415,begin surface coast
$FINISH,3.0,1.027167
$STATE,27462,end surface coast,CONTROL_FINISHED_OK
$STATE,27462,begin surface
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$10V_AH,10.1,4.704
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$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.275,203.450,309.000,39.150,0.000,23.441,42.005,162.069,0.000,0.000,15.257,2176.705,22191.996,515.470,2497.000,475.226,0.000,1775.451,0.000,2462.058,0.000,0.534,0.000
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$MEM,241608
$DATA_FILE_SIZE,56887,1008
$CAP_FILE_SIZE,206662,0
$CFSIZE,260165632,252145664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031,260.5,1
$GPS,091009,173301,6451.026,-24.819,40,1.3,40,-5.4