version: 66.06
glider: 140
mission: 8
dive: 203
start: 11 30 109 5 6 6
data:
$ID,140
$MISSION,8
$DIVE,203
$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,-2
$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,-47950.84
$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,97
$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
$GPS1,045927,6307.152,334.037,34,99.0,53,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.32
$_SM_ANGLEo,-63.9
$GPS2,050543,6307.184,334.052,13,1.2,13,-2.9
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,INSHORE
$TGT_LATLONG,6300.600,352.100
$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,131.7,19462,-13.7,-6.875
$D_GRID,935
$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,-7.55,0.000,2,0.000,0.000,216,2267,2040,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.2,-0.0,1,123,9.23,2.10,-77.90,0.000,4,0.246,0.052,2505,926,3483,0,0,0,0,0,0
$GC,143,-0.80,-116.7,4.3,-4.7,21,149,0.00,2.08,0.00,0.000,6,0.000,0.030,2505,2313,3484,0,0,0,0,0,0
$GC,477,-0.70,-116.7,36.6,-7.6,82,485,0.12,2.12,0.00,0.000,4,0.211,0.035,2537,945,3484,0,0,0,0,0,0
$GC,732,-0.65,-116.7,58.3,-8.3,128,739,0.00,2.05,0.00,0.000,6,0.000,0.028,2536,2308,3484,0,0,0,0,0,0
$GC,1077,-0.60,-116.7,83.4,-9.0,189,1083,0.12,2.05,0.00,0.000,4,0.202,0.034,2569,941,3484,0,0,0,0,0,0
$GC,1279,-0.60,-116.7,102.8,-9.3,225,1285,0.00,2.00,0.00,0.000,6,0.000,0.028,2569,2306,3485,0,0,0,0,0,0
$GC,1629,-0.60,-116.7,127.6,-7.3,274,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2306,3484,0,0,0,0,0,0
$GC,1940,-0.60,-116.7,150.4,-7.0,289,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2306,3484,0,0,0,0,0,0
$GC,2247,-0.60,-116.7,171.3,-7.0,304,2251,0.00,2.05,0.00,0.000,4,0.000,0.035,2569,929,3484,0,0,0,0,0,0
$GC,2257,-0.60,-116.7,172.0,-7.0,304,2261,0.00,2.03,0.00,0.000,6,0.000,0.028,2569,2297,3484,0,0,0,0,0,0
$GC,2579,-0.63,-116.7,193.2,-6.6,320,2583,0.00,2.08,0.00,0.000,4,0.000,0.040,2569,3709,3484,0,0,0,0,0,0
$GC,2598,-0.66,-116.7,194.3,-6.4,321,2602,0.00,1.98,0.00,0.000,6,0.000,0.023,2569,2315,3484,0,0,0,0,0,0
$GC,2930,-0.70,-116.7,217.4,-6.9,337,2934,0.00,2.08,0.00,0.000,4,0.000,0.040,2569,3704,3484,0,0,0,0,0,0
$GC,2951,-0.74,-116.7,219.0,-7.1,338,2956,0.08,2.03,0.00,0.000,6,0.084,0.023,2522,2295,3484,0,0,0,0,0,0
$GC,3278,-0.68,-116.7,247.3,-8.5,354,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2294,3484,0,0,0,0,0,0
$GC,3587,-0.62,-116.7,274.0,-8.7,369,3589,0.15,0.00,0.00,0.000,6,0.187,0.000,2561,2290,3484,0,0,0,0,0,0
$GC,3896,-0.62,-116.7,295.2,-6.6,384,3900,0.00,2.12,0.00,0.000,4,0.000,0.040,2561,3704,3485,0,0,0,0,0,0
$GC,3928,-0.65,-116.7,297.4,-7.0,385,3934,0.00,2.03,0.00,0.000,6,0.000,0.023,2561,2308,3485,0,0,0,0,0,0
$GC,4251,-0.65,-116.7,318.5,-6.7,397,4255,0.00,2.10,0.00,0.000,4,0.000,0.040,2561,3706,3484,0,0,0,0,0,0
$GC,4290,-0.69,-116.7,321.4,-7.1,398,4294,0.00,2.03,0.00,0.000,6,0.000,0.023,2561,2304,3484,0,0,0,0,0,0
$GC,4624,-0.69,-116.7,345.5,-7.1,409,4628,0.00,2.10,0.00,0.000,4,0.000,0.040,2561,3701,3484,0,0,0,0,0,0
$GC,4657,-0.73,-116.7,347.9,-7.7,410,4660,0.00,2.00,0.00,0.000,6,0.000,0.023,2561,2295,3484,0,0,0,0,0,0
$GC,4991,-0.76,-116.7,372.3,-7.0,421,4996,0.12,2.12,0.00,0.000,4,0.134,0.041,2520,3701,3484,0,0,0,0,0,0
$GC,5069,-0.71,-116.7,378.5,-8.3,423,5072,0.00,2.00,0.00,0.000,6,0.000,0.023,2520,2288,3484,0,0,0,0,0,0
$GC,5392,-0.66,-116.7,403.3,-8.3,434,5397,0.12,2.15,0.00,0.000,4,0.189,0.041,2552,3700,3484,0,0,0,0,0,0
$GC,5441,-0.69,-116.7,407.0,-7.6,435,5445,0.00,2.03,0.00,0.000,6,0.000,0.023,2553,2297,3485,0,0,0,0,0,0
$GC,5759,-0.69,-116.7,428.1,-6.4,446,5763,0.00,2.10,0.00,0.000,4,0.000,0.040,2552,3698,3485,0,0,0,0,0,0
$GC,5781,-0.69,-116.7,429.6,-6.6,446,5787,0.00,2.03,0.00,0.000,6,0.000,0.023,2552,2297,3485,0,0,0,0,0,0
$GC,6093,-0.69,-116.7,451.5,-7.5,457,6096,0.00,2.10,0.00,0.000,4,0.000,0.040,2553,3699,3485,0,0,0,0,0,0
$GC,6170,-0.73,-116.7,457.6,-7.3,459,6174,0.00,1.98,0.00,0.000,6,0.000,0.023,2552,2296,3484,0,0,0,0,0,0
$GC,6500,-0.76,-116.7,480.0,-6.5,470,6504,0.00,2.10,0.00,0.000,4,0.000,0.041,2552,3699,3484,0,0,0,0,0,0
$GC,6535,-0.81,-116.7,482.1,-6.1,471,6540,0.15,1.98,0.00,0.000,6,0.127,0.024,2502,2295,3484,0,0,0,0,0,0
$GC,6898,-0.74,-116.7,509.7,-7.6,481,6902,0.00,2.10,0.00,0.000,4,0.000,0.041,2502,3697,3483,0,0,0,0,0,0
$GC,6914,-0.68,-116.7,511.0,-7.7,481,6919,0.12,2.00,0.00,0.000,6,0.161,0.024,2555,2301,3483,0,0,0,0,0,0
$GC,7264,-0.71,-116.7,531.5,-5.7,487,7268,0.00,2.10,0.00,0.000,4,0.000,0.041,2556,3697,3483,0,0,0,0,0,0
$GC,7302,-0.77,-116.7,533.9,-6.2,487,7306,0.12,1.98,0.00,0.000,6,0.133,0.024,2515,2296,3483,0,0,0,0,0,0
$GC,7633,-0.73,-116.7,560.1,-8.1,493,7637,0.00,2.12,0.00,0.000,4,0.000,0.041,2515,3704,3482,0,0,0,0,0,0
$GC,7660,-0.70,-116.7,562.4,-8.3,493,7664,0.00,2.03,0.00,0.000,6,0.000,0.025,2515,2314,3482,0,0,0,0,0,0
$GC,7998,-0.66,-116.7,588.5,-7.7,499,8003,0.12,2.12,0.00,0.000,4,0.186,0.043,2547,3702,3481,0,0,0,0,0,0
$GC,8020,-0.66,-116.7,590.2,-7.6,499,8024,0.00,2.03,0.00,0.000,6,0.000,0.025,2547,2293,3481,0,0,0,0,0,0
$GC,8357,-0.66,-116.7,613.0,-6.9,505,8361,0.00,2.12,0.00,0.000,4,0.000,0.043,2547,3697,3479,0,0,0,0,0,0
$GC,8419,-0.70,-116.7,617.3,-6.8,506,8423,0.00,2.03,0.00,0.000,6,0.000,0.025,2547,2291,3479,0,0,0,0,0,0
$GC,8785,-0.70,-116.7,642.0,-6.8,512,8789,0.00,2.15,0.00,0.000,4,0.000,0.043,2547,3705,3477,0,0,0,0,0,0
$GC,8817,-0.74,-116.7,644.4,-6.9,512,8821,0.00,2.05,0.00,0.000,6,0.000,0.025,2547,2308,3476,0,0,0,0,0,0
$GC,9155,-0.77,-116.7,667.3,-6.8,518,9158,0.00,2.10,0.00,0.000,4,0.000,0.043,2547,3695,3475,0,0,0,0,0,0
$GC,9218,-0.81,-116.7,671.5,-6.5,519,9222,0.15,2.03,0.00,0.000,6,0.128,0.026,2498,2288,3475,0,0,0,0,0,0
$GC,9588,-0.75,-116.7,703.1,-8.7,525,9592,0.00,2.15,0.00,0.000,4,0.000,0.044,2498,3699,3473,0,0,0,0,0,0
$GC,9609,-0.68,-116.7,705.1,-8.5,525,9614,0.10,2.05,0.00,0.000,6,0.173,0.027,2539,2304,3473,0,0,0,0,0,0
$GC,9951,-0.68,-116.7,729.6,-7.1,531,9955,0.00,2.12,0.00,0.000,4,0.000,0.044,2539,3698,3472,0,0,0,0,0,0
$GC,9972,-0.68,-116.7,731.2,-7.2,531,9977,0.00,2.05,0.00,0.000,6,0.000,0.026,2540,2308,3471,0,0,0,0,0,0
$GC,10322,-0.68,-116.7,754.5,-6.7,537,10325,0.00,2.10,0.00,0.000,4,0.000,0.044,2540,3695,3470,0,0,0,0,0,0
$GC,10360,-0.68,-116.7,757.1,-6.8,537,10364,0.00,2.05,0.00,0.000,6,0.000,0.027,2540,2303,3470,0,0,0,0,0,0
$GC,10686,-0.68,-116.7,778.4,-6.4,543,10690,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3697,3469,0,0,0,0,0,0
$GC,10737,-0.71,-116.7,781.8,-6.8,543,10740,0.00,2.03,0.00,0.000,6,0.000,0.027,2539,2301,3469,0,0,0,0,0,0
$GC,11052,-0.71,-116.7,801.7,-6.3,549,11056,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3697,3468,0,0,0,0,0,0
$GC,11101,-0.75,-116.7,804.9,-6.4,549,11105,0.00,2.03,0.00,0.000,6,0.000,0.027,2539,2297,3468,0,0,0,0,0,0
$GC,11417,-0.75,-116.7,824.5,-6.2,555,11421,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3693,3467,0,0,0,0,0,0
$GC,11455,-0.78,-116.7,826.9,-6.4,555,11459,0.00,2.03,0.00,0.000,6,0.000,0.027,2540,2295,3467,0,0,0,0,0,0
$GC,11786,-0.78,-116.7,847.1,-6.1,561,11790,0.00,2.12,0.00,0.000,4,0.000,0.045,2540,3694,3466,0,0,0,0,0,0
$GC,11825,-0.81,-116.7,849.5,-6.3,561,11830,0.12,2.03,0.00,0.000,6,0.139,0.028,2502,2295,3466,0,0,0,0,0,0
$GC,12146,-0.76,-116.7,873.3,-7.5,567,12150,0.00,2.15,0.00,0.000,4,0.000,0.045,2501,3701,3464,0,0,0,0,0,0
$GC,12169,-0.70,-116.7,875.0,-7.7,567,12173,0.12,2.05,0.00,0.000,6,0.188,0.028,2532,2288,3464,0,0,0,0,0,0
$GC,12505,-0.70,-116.7,897.1,-6.5,573,12509,0.00,2.15,0.00,0.000,4,0.000,0.045,2532,3695,3464,0,0,0,0,0,0
$GC,12526,-0.70,-116.7,898.4,-6.0,573,12530,0.00,2.08,0.00,0.000,6,0.000,0.027,2532,2301,3464,0,0,0,0,0,0
$GC,12870,-0.70,-116.7,920.8,-6.6,579,12874,0.00,2.15,0.00,0.000,4,0.000,0.045,2532,3703,3463,0,0,0,0,0,0
$GC,12919,-0.70,-116.7,924.1,-6.3,579,12923,0.00,2.10,0.00,0.000,6,0.000,0.027,2532,2290,3463,0,0,0,0,0,0
$STATE,13117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13117,begin apogee
$GC,13122,-0.24,0.0,937.4,6.7,583,13222,0.50,0.00,96.90,1.506,6,0.163,0.000,2681,2649,3006,0,0,0,0,0,0
$STATE,13223,end apogee,CONTROL_FINISHED_OK
$STATE,13223,begin climb
$GC,13225,0.80,116.7,939.5,0.0,584,13339,1.08,2.42,104.78,1.415,4,0.113,0.048,3017,4035,2529,0,0,0,0,0,0
$GC,13469,0.55,116.7,923.9,10.4,588,13474,0.32,2.15,0.00,0.000,6,0.179,0.026,2945,2647,2522,0,0,0,0,0,0
$GC,13794,0.56,121.7,901.9,6.7,594,13800,0.00,0.00,4.07,0.969,6,0.000,0.000,2945,2647,2509,0,0,0,0,0,0
$GC,14097,0.58,138.5,882.9,6.2,599,14116,0.00,0.00,16.25,1.391,6,0.000,0.000,2945,2647,2441,0,0,0,0,0,0
$GC,14400,0.60,157.6,864.4,6.1,604,14420,0.00,0.00,18.00,1.383,6,0.000,0.000,2945,2647,2363,0,0,0,0,0,0
$GC,14703,0.60,157.6,843.8,6.9,609,14704,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2647,2358,0,0,0,0,0,0
$GC,15006,0.61,163.7,823.5,6.6,614,15014,0.00,0.00,6.32,1.239,6,0.000,0.000,2945,2647,2338,0,0,0,0,0,0
$GC,15310,0.62,169.9,803.5,6.6,619,15319,0.00,0.00,7.05,1.266,6,0.000,0.000,2945,2647,2313,0,0,0,0,0,0
$GC,15613,0.62,174.4,783.1,6.7,624,15620,0.00,0.00,5.68,1.180,6,0.000,0.000,2945,2647,2294,0,0,0,0,0,0
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$STATE,25801,end climb,SURFACE_DEPTH_REACHED
$STATE,25801,begin surface coast
$FINISH,2.5,1.024955
$STATE,25846,end surface coast,CONTROL_FINISHED_OK
$STATE,25846,begin surface
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$TCM_TEMP,15.60
$XPDR_PINGS,1
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$10V_AH,10.0,22.247
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,233848
$DATA_FILE_SIZE,66397,1147
$CAP_FILE_SIZE,206858,0
$CFSIZE,260165632,238247936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,130.7,1
$GPS,301109,121906,6304.489,340.600,30,1.4,30,-2.9