version: 66.06
glider: 140
mission: 8
dive: 126
start: 11 6 109 4 10 56
data:
$ID,140
$MISSION,8
$DIVE,126
$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,-46618.914
$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,80
$R_STBD_OVSHOOT,47
$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
$GPS1,040436,6408.001,104.050,41,1.5,47,-4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.56
$_SM_ANGLEo,-65.5
$GPS2,041032,6408.055,103.998,17,1.6,17,-4.5
$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,322.5,144446,-13.7,-6.875
$D_GRID,2323
$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,-7.20,0.000,2,0.000,0.000,221,2260,2028,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.6,-0.0,1,124,9.12,2.08,-81.55,0.000,4,0.249,0.053,2503,927,3483,0,0,0,0,0,0
$GC,377,-0.65,-116.7,21.6,-11.0,63,384,0.17,2.05,0.00,0.000,6,0.204,0.029,2549,2308,3483,0,0,0,0,0,0
$GC,715,-0.62,-116.7,51.6,-8.0,124,722,0.00,2.12,0.00,0.000,4,0.000,0.035,2550,918,3484,0,0,0,0,0,0
$GC,888,-0.58,-116.7,65.0,-7.3,146,895,0.00,2.08,0.00,0.000,6,0.000,0.029,2549,2300,3485,0,0,0,0,0,0
$GC,1203,-0.54,-116.7,86.4,-7.4,162,1205,0.15,0.00,0.00,0.000,6,0.193,0.000,2590,2301,3485,0,0,0,0,0,0
$GC,1514,-0.61,-116.7,112.3,-9.2,177,1518,0.00,2.08,0.00,0.000,4,0.000,0.035,2590,925,3485,0,0,0,0,0,0
$GC,1575,-0.67,-116.7,118.5,-9.8,179,1582,0.05,2.08,0.00,0.000,6,0.108,0.028,2553,2313,3485,0,0,0,0,0,0
$GC,1892,-0.67,-116.7,144.6,-6.3,195,1896,0.00,2.05,0.00,0.000,4,0.000,0.041,2553,3698,3486,0,0,0,0,0,0
$GC,1941,-0.67,-116.7,147.3,-5.1,197,1945,0.00,1.98,0.00,0.000,6,0.000,0.024,2553,2293,3486,0,0,0,0,0,0
$GC,2263,-0.67,-116.7,164.6,-6.3,213,2267,0.00,2.00,0.00,0.000,4,0.000,0.035,2553,921,3487,0,0,0,0,0,0
$GC,2354,-0.67,-116.7,172.1,-8.6,217,2358,0.00,2.00,0.00,0.000,6,0.000,0.028,2553,2295,3487,0,0,0,0,0,0
$GC,2687,-0.67,-116.7,200.2,-7.9,233,2691,0.00,2.08,0.00,0.000,4,0.000,0.041,2553,3707,3487,0,0,0,0,0,0
$GC,2850,-0.67,-116.7,212.5,-6.8,240,2853,0.00,2.00,0.00,0.000,6,0.000,0.024,2553,2297,3486,0,0,0,0,0,0
$GC,3170,-0.67,-116.7,237.1,-7.3,256,3174,0.00,2.10,0.00,0.000,4,0.000,0.041,2553,3697,3486,0,0,0,0,0,0
$GC,3220,-0.67,-116.7,240.5,-6.8,258,3224,0.00,2.00,0.00,0.000,6,0.000,0.024,2553,2280,3486,0,0,0,0,0,0
$GC,3541,-0.67,-116.7,259.7,-6.0,274,3545,0.00,1.98,0.00,0.000,4,0.000,0.035,2553,923,3486,0,0,0,0,0,0
$GC,3664,-0.67,-116.7,268.9,-7.9,279,3668,0.00,2.03,0.00,0.000,6,0.000,0.028,2553,2317,3486,0,0,0,0,0,0
$GC,3984,-0.67,-116.7,293.4,-7.7,295,3988,0.00,2.03,0.00,0.000,4,0.000,0.041,2553,3695,3486,0,0,0,0,0,0
$GC,4029,-0.67,-116.7,296.9,-7.9,297,4033,0.00,1.98,0.00,0.000,6,0.000,0.025,2553,2297,3486,0,0,0,0,0,0
$GC,4348,-0.67,-116.7,320.8,-7.3,308,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2292,3485,0,0,0,0,0,0
$GC,4654,-0.67,-116.7,340.8,-6.2,318,4658,0.00,2.10,0.00,0.000,4,0.000,0.042,2553,3696,3485,0,0,0,0,0,0
$GC,4703,-0.67,-116.7,343.9,-6.1,319,4708,0.00,2.03,0.00,0.000,6,0.000,0.025,2553,2295,3484,0,0,0,0,0,0
$GC,5027,-0.67,-116.7,363.8,-6.4,330,5028,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2293,3483,0,0,0,0,0,0
$GC,5333,-0.67,-116.7,385.7,-7.4,340,5337,0.00,2.10,0.00,0.000,4,0.000,0.043,2553,3695,3482,0,0,0,0,0,0
$GC,5382,-0.67,-116.7,389.7,-7.9,341,5387,0.00,2.03,0.00,0.000,6,0.000,0.025,2553,2302,3482,0,0,0,0,0,0
$GC,5701,-0.67,-116.7,414.3,-7.8,352,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2300,3481,0,0,0,0,0,0
$GC,6007,-0.67,-116.7,437.2,-7.4,362,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2300,3481,0,0,0,0,0,0
$GC,6314,-0.67,-116.7,458.2,-6.7,372,6317,0.00,2.15,0.00,0.000,4,0.000,0.044,2553,3701,3480,0,0,0,0,0,0
$GC,6391,-0.70,-116.7,463.7,-7.1,374,6395,0.00,2.00,0.00,0.000,6,0.000,0.026,2552,2292,3480,0,0,0,0,0,0
$GC,6720,-0.70,-116.7,487.6,-7.6,385,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2290,3479,0,0,0,0,0,0
$GC,7025,-0.70,-116.7,511.4,-7.9,393,7029,0.00,2.12,0.00,0.000,4,0.000,0.044,2553,3702,3478,0,0,0,0,0,0
$GC,7108,-0.73,-116.7,517.9,-8.1,394,7112,0.00,2.00,0.00,0.000,6,0.000,0.026,2553,2293,3478,0,0,0,0,0,0
$GC,7456,-0.73,-116.7,542.2,-7.0,400,7458,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2292,3477,0,0,0,0,0,0
$GC,7759,-0.73,-116.7,562.9,-6.8,405,7763,0.00,2.12,0.00,0.000,4,0.000,0.044,2553,3704,3476,0,0,0,0,0,0
$GC,7832,-0.77,-116.7,568.3,-7.3,406,7836,0.12,2.00,0.00,0.000,6,0.139,0.026,2512,2300,3476,0,0,0,0,0,0
$GC,8186,-0.72,-116.7,598.2,-8.5,412,8189,0.00,2.03,0.00,0.000,4,0.000,0.039,2512,927,3475,0,0,0,0,0,0
$GC,8246,-0.64,-116.7,603.8,-8.9,412,8253,0.10,2.05,0.00,0.000,6,0.157,0.031,2556,2291,3475,0,0,0,0,0,0
$GC,8556,-0.68,-116.7,623.3,-6.2,418,8560,0.00,2.10,0.00,0.000,4,0.000,0.044,2556,3707,3475,0,0,0,0,0,0
$GC,8657,-0.73,-116.7,629.5,-5.9,419,8661,0.00,2.05,0.00,0.000,6,0.000,0.027,2557,2298,3474,0,0,0,0,0,0
$GC,8988,-0.77,-116.7,648.2,-5.7,425,8990,0.12,0.00,0.00,0.000,6,0.137,0.000,2515,2296,3473,0,0,0,0,0,0
$GC,9291,-0.72,-116.7,669.9,-7.2,430,9295,0.00,2.12,0.00,0.000,4,0.000,0.044,2515,3704,3473,0,0,0,0,0,0
$GC,9345,-0.68,-116.7,674.0,-7.0,430,9351,0.00,2.05,0.00,0.000,6,0.000,0.027,2516,2305,3473,0,0,0,0,0,0
$GC,9656,-0.64,-116.7,697.1,-7.5,436,9657,0.15,0.00,0.00,0.000,6,0.185,0.000,2555,2302,3472,0,0,0,0,0,0
$GC,9958,-0.67,-116.7,716.3,-6.3,441,9962,0.00,2.10,0.00,0.000,4,0.000,0.044,2555,3698,3472,0,0,0,0,0,0
$GC,10014,-0.73,-116.7,719.8,-6.0,441,10019,0.00,2.00,0.00,0.000,6,0.000,0.027,2555,2295,3471,0,0,0,0,0,0
$GC,10323,-0.77,-116.7,737.2,-5.6,447,10328,0.12,2.15,0.00,0.000,4,0.138,0.045,2514,3706,3471,0,0,0,0,0,0
$GC,10372,-0.74,-116.7,740.7,-7.2,447,10377,0.00,2.05,0.00,0.000,6,0.000,0.028,2515,2309,3471,0,0,0,0,0,0
$GC,10693,-0.69,-116.7,763.5,-7.1,453,10694,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2308,3470,0,0,0,0,0,0
$GC,10996,-0.65,-116.7,784.5,-6.9,458,10998,0.15,0.00,0.00,0.000,6,0.191,0.000,2554,2306,3470,0,0,0,0,0,0
$GC,11299,-0.68,-116.7,800.8,-5.4,463,11303,0.00,2.12,0.00,0.000,4,0.000,0.045,2554,3708,3470,0,0,0,0,0,0
$GC,11366,-0.74,-116.7,804.5,-5.1,464,11370,0.00,2.05,0.00,0.000,6,0.000,0.028,2554,2286,3470,0,0,0,0,0,0
$GC,11732,-0.78,-116.7,824.4,-5.5,470,11737,0.12,2.17,0.00,0.000,4,0.134,0.045,2514,3704,3470,0,0,0,0,0,0
$GC,11793,-0.75,-116.7,828.6,-7.6,470,11798,0.00,2.03,0.00,0.000,6,0.000,0.028,2514,2297,3469,0,0,0,0,0,0
$GC,12102,-0.71,-116.7,850.4,-7.1,476,12106,0.00,2.05,0.00,0.000,4,0.000,0.041,2514,910,3469,0,0,0,0,0,0
$GC,12146,-0.65,-116.7,854.1,-8.3,476,12151,0.15,2.08,0.00,0.000,6,0.202,0.033,2553,2294,3469,0,0,0,0,0,0
$GC,12467,-0.70,-116.7,873.8,-6.2,482,12471,0.00,2.10,0.00,0.000,4,0.000,0.044,2553,3708,3468,0,0,0,0,0,0
$GC,12557,-0.75,-116.7,879.8,-6.8,483,12560,0.00,2.03,0.00,0.000,6,0.000,0.028,2553,2301,3468,0,0,0,0,0,0
$GC,12899,-0.80,-116.7,901.8,-6.5,489,12901,0.15,0.00,0.00,0.000,6,0.127,0.000,2504,2293,3469,0,0,0,0,0,0
$GC,13203,-0.74,-116.7,926.2,-8.1,494,13206,0.00,2.12,0.00,0.000,4,0.000,0.045,2503,3699,3468,0,0,0,0,0,0
$GC,13258,-0.69,-116.7,930.8,-7.7,494,13264,0.08,2.05,0.00,0.000,6,0.181,0.028,2539,2300,3468,0,0,0,0,0,0
$GC,13568,-0.69,-116.7,949.7,-6.0,500,13569,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2300,3467,0,0,0,0,0,0
$GC,13870,-0.69,-116.7,967.3,-5.8,505,13874,0.00,2.15,0.00,0.000,4,0.000,0.046,2539,3705,3467,0,0,0,0,0,0
$GC,13933,-0.72,-116.7,971.0,-6.6,506,13936,0.00,2.03,0.00,0.000,6,0.000,0.028,2539,2303,3467,0,0,0,0,0,0
$STATE,14302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14302,begin apogee
$GC,14307,-0.24,0.0,992.9,6.0,512,14408,0.47,0.00,98.00,1.559,6,0.170,0.000,2682,2660,3006,0,0,0,0,0,0
$STATE,14409,end apogee,CONTROL_FINISHED_OK
$STATE,14409,begin climb
$GC,14411,0.80,116.7,994.5,0.0,513,14525,1.08,2.38,105.35,1.460,4,0.121,0.045,3013,4043,2528,0,0,0,0,0,0
$GC,14553,0.53,116.7,989.9,8.0,516,14558,0.32,2.22,0.00,0.000,6,0.183,0.027,2943,2652,2524,0,0,0,0,0,0
$GC,14906,0.53,116.7,964.7,7.1,522,14910,0.00,2.22,0.00,0.000,4,0.000,0.047,2940,4040,2518,0,0,0,0,0,0
$GC,14922,0.48,116.7,963.6,7.2,522,14926,0.00,2.12,0.00,0.000,6,0.000,0.028,2949,2641,2517,0,0,0,0,0,0
$GC,15277,0.45,116.7,938.6,7.0,528,15279,0.15,0.00,0.00,0.000,6,0.195,0.000,2912,2638,2516,0,0,0,0,0,0
$GC,15579,0.49,150.1,921.5,5.5,533,15609,0.00,0.00,27.98,1.459,6,0.000,0.000,2912,2638,2393,0,0,0,0,0,0
$GC,15883,0.57,172.7,903.7,6.0,538,15906,0.12,0.00,21.05,1.423,6,0.123,0.000,2954,2637,2301,0,0,0,0,0,0
$GC,16185,0.57,172.7,880.9,7.5,543,16189,0.00,2.20,0.00,0.000,4,0.000,0.047,2953,4040,2296,0,0,0,0,0,0
$GC,16201,0.57,172.7,879.7,7.7,543,16205,0.00,2.12,0.00,0.000,6,0.000,0.028,2962,2648,2296,0,0,0,0,0,0
$GC,16549,0.57,172.7,851.8,8.0,549,16553,0.00,2.17,0.00,0.000,4,0.000,0.047,2962,4042,2294,0,0,0,0,0,0
$GC,16577,0.49,172.7,849.5,8.7,549,16582,0.17,2.08,0.00,0.000,6,0.189,0.028,2927,2638,2294,0,0,0,0,0,0
$GC,16914,0.55,178.0,826.8,6.7,555,16920,0.00,0.00,5.10,1.157,6,0.000,0.000,2927,2639,2280,0,0,0,0,0,0
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$STATE,27569,end climb,SURFACE_DEPTH_REACHED
$STATE,27569,begin surface coast
$FINISH,2.8,1.021735
$STATE,27614,end surface coast,CONTROL_FINISHED_OK
$STATE,27615,begin surface
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$TCM_TEMP,14.20
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$10V_AH,10.1,13.807
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,57098,979
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$CFSIZE,260165632,244899840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,332.5,1
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