version: 66.06
glider: 140
mission: 8
dive: 206
start: 12 1 109 0 41 49
data:
$ID,140
$MISSION,8
$DIVE,206
$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,-47994.359
$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,61
$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
$GPS1,003536,6302.493,353.717,24,1.5,24,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.33
$_SM_ANGLEo,-63.6
$GPS2,004125,6302.513,353.729,10,1.5,15,-2.7
$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,317.7,323668,-13.7,-6.875
$D_GRID,896
$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,15,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-7.22,0.000,2,0.000,0.000,218,2288,2032,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.3,-0.0,1,119,8.90,2.20,-77.65,0.000,4,0.232,0.053,2500,3705,3479,0,0,0,0,0,0
$GC,126,-1.09,-116.7,2.8,-0.5,18,134,0.22,2.10,0.00,0.000,6,0.097,0.023,2420,2280,3481,0,0,0,0,0,0
$GC,465,-0.82,-116.7,48.9,-13.7,79,470,0.25,0.00,0.00,0.000,6,0.190,0.000,2492,2279,3481,0,0,0,0,0,0
$GC,806,-0.68,-116.7,82.1,-9.2,140,813,0.17,2.08,0.00,0.000,4,0.190,0.036,2540,926,3482,0,0,0,0,0,0
$GC,860,-0.62,-116.7,86.7,-8.5,149,865,0.00,2.03,0.00,0.000,6,0.000,0.028,2540,2306,3482,0,0,0,0,0,0
$GC,1200,-0.58,-116.7,115.9,-8.8,210,1206,0.12,2.10,0.00,0.000,4,0.202,0.035,2572,913,3482,0,0,0,0,0,0
$GC,1261,-0.58,-116.7,121.2,-8.3,219,1267,0.00,2.08,0.00,0.000,6,0.000,0.028,2572,2301,3482,0,0,0,0,0,0
$GC,1579,-0.61,-116.7,143.1,-6.6,235,1583,0.00,2.08,0.00,0.000,4,0.000,0.040,2572,3704,3482,0,0,0,0,0,0
$GC,1641,-0.66,-116.7,147.3,-6.6,238,1645,0.00,2.00,0.00,0.000,6,0.000,0.023,2572,2298,3482,0,0,0,0,0,0
$GC,1974,-0.70,-116.7,168.5,-6.6,254,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2293,3482,0,0,0,0,0,0
$GC,2284,-0.73,-116.7,190.3,-6.9,269,2286,0.12,0.00,0.00,0.000,6,0.137,0.000,2531,2290,3482,0,0,0,0,0,0
$GC,2592,-0.68,-116.7,216.2,-8.5,284,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2290,3482,0,0,0,0,0,0
$GC,2903,-0.63,-116.7,240.7,-7.4,299,2905,0.12,0.00,0.00,0.000,6,0.190,0.000,2562,2289,3483,0,0,0,0,0,0
$GC,3211,-0.63,-116.7,260.2,-6.2,314,3215,0.00,2.12,0.00,0.000,4,0.000,0.040,2562,3704,3482,0,0,0,0,0,0
$GC,3279,-0.67,-116.7,264.2,-6.3,317,3282,0.00,2.00,0.00,0.000,6,0.000,0.023,2562,2293,3482,0,0,0,0,0,0
$GC,3610,-0.67,-116.7,284.9,-6.5,333,3614,0.00,2.00,0.00,0.000,4,0.000,0.035,2562,918,3483,0,0,0,0,0,0
$GC,3665,-0.67,-116.7,289.0,-7.3,335,3669,0.00,2.05,0.00,0.000,6,0.000,0.028,2562,2299,3482,0,0,0,0,0,0
$GC,3995,-0.67,-116.7,311.0,-6.8,349,3999,0.00,2.08,0.00,0.000,4,0.000,0.040,2562,3701,3482,0,0,0,0,0,0
$GC,4091,-0.71,-116.7,317.9,-7.3,352,4095,0.00,1.98,0.00,0.000,6,0.000,0.022,2562,2294,3482,0,0,0,0,0,0
$GC,4431,-0.71,-116.7,341.9,-7.2,363,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2290,3483,0,0,0,0,0,0
$GC,4737,-0.71,-116.7,364.3,-7.5,373,4741,0.00,2.10,0.00,0.000,4,0.000,0.040,2562,3698,3482,0,0,0,0,0,0
$GC,4804,-0.76,-116.7,368.7,-6.5,375,4808,0.12,1.98,0.00,0.000,6,0.131,0.022,2521,2286,3482,0,0,0,0,0,0
$GC,5132,-0.70,-116.7,394.8,-8.0,386,5135,0.00,1.98,0.00,0.000,4,0.000,0.034,2521,929,3482,0,0,0,0,0,0
$GC,5244,-0.62,-116.7,404.4,-8.4,389,5248,0.15,2.00,0.00,0.000,6,0.186,0.028,2559,2309,3482,0,0,0,0,0,0
$GC,5566,-0.62,-116.7,425.5,-6.5,400,5570,0.00,2.03,0.00,0.000,4,0.000,0.040,2559,3697,3482,0,0,0,0,0,0
$GC,5644,-0.67,-116.7,430.2,-5.6,402,5647,0.00,1.95,0.00,0.000,6,0.000,0.023,2559,2305,3482,0,0,0,0,0,0
$GC,5973,-0.70,-116.7,449.6,-6.0,413,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2305,3482,0,0,0,0,0,0
$GC,6280,-0.74,-116.7,468.5,-6.0,423,6281,0.12,0.00,0.00,0.000,6,0.133,0.000,2518,2301,3482,0,0,0,0,0,0
$GC,6585,-0.70,-116.7,492.1,-8.1,433,6589,0.00,2.10,0.00,0.000,4,0.000,0.041,2518,3698,3481,0,0,0,0,0,0
$GC,6653,-0.67,-116.7,497.6,-8.1,435,6658,0.12,1.98,0.00,0.000,6,0.182,0.023,2549,2290,3482,0,0,0,0,0,0
$GC,7014,-0.67,-116.7,524.9,-8.0,442,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2289,3482,0,0,0,0,0,0
$GC,7319,-0.67,-116.7,544.9,-6.2,447,7322,0.00,2.12,0.00,0.000,4,0.000,0.041,2549,3698,3481,0,0,0,0,0,0
$GC,7385,-0.71,-116.7,549.3,-6.6,448,7389,0.00,2.00,0.00,0.000,6,0.000,0.024,2549,2315,3481,0,0,0,0,0,0
$GC,7750,-0.74,-116.7,575.0,-7.3,454,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2315,3480,0,0,0,0,0,0
$GC,8055,-0.77,-116.7,595.2,-6.5,459,8059,0.00,2.08,0.00,0.000,4,0.000,0.041,2549,3694,3479,0,0,0,0,0,0
$GC,8155,-0.82,-116.7,601.3,-6.3,460,8160,0.15,1.98,0.00,0.000,6,0.123,0.024,2501,2291,3478,0,0,0,0,0,0
$GC,8481,-0.75,-116.7,626.9,-8.0,466,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2291,3478,0,0,0,0,0,0
$GC,8784,-0.68,-116.7,651.5,-8.2,471,8786,0.15,0.00,0.00,0.000,6,0.189,0.000,2540,2286,3476,0,0,0,0,0,0
$GC,9087,-0.68,-116.7,672.1,-6.7,476,9091,0.00,2.12,0.00,0.000,4,0.000,0.043,2540,3693,3475,0,0,0,0,0,0
$GC,9175,-0.68,-116.7,678.4,-7.5,477,9180,0.00,2.03,0.00,0.000,6,0.000,0.025,2540,2311,3474,0,0,0,0,0,0
$GC,9519,-0.68,-116.7,701.0,-6.7,483,9520,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2310,3473,0,0,0,0,0,0
$GC,9821,-0.68,-116.7,722.1,-7.0,488,9825,0.00,2.10,0.00,0.000,4,0.000,0.044,2540,3696,3471,0,0,0,0,0,0
$GC,9904,-0.68,-116.7,728.1,-7.1,489,9909,0.00,2.05,0.00,0.000,6,0.000,0.026,2540,2297,3471,0,0,0,0,0,0
$GC,10253,-0.68,-116.7,752.1,-6.9,495,10254,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2297,3470,0,0,0,0,0,0
$GC,10556,-0.68,-116.7,772.3,-6.6,500,10560,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3697,3468,0,0,0,0,0,0
$GC,10611,-0.72,-116.7,776.1,-6.6,500,10617,0.00,2.03,0.00,0.000,6,0.000,0.026,2540,2296,3468,0,0,0,0,0,0
$GC,10920,-0.72,-116.7,796.1,-6.5,506,10921,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2295,3466,0,0,0,0,0,0
$GC,11224,-0.72,-116.7,816.2,-6.6,511,11225,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2295,3465,0,0,0,0,0,0
$GC,11526,-0.72,-116.7,836.1,-6.5,516,11530,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3691,3464,0,0,0,0,0,0
$GC,11594,-0.75,-116.7,840.5,-6.2,517,11597,0.00,2.03,0.00,0.000,6,0.000,0.027,2540,2298,3464,0,0,0,0,0,0
$GC,11959,-0.75,-116.7,863.8,-6.3,523,11960,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2294,3463,0,0,0,0,0,0
$GC,12262,-0.75,-116.7,883.4,-6.4,528,12266,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3691,3463,0,0,0,0,0,0
$GC,12317,-0.79,-116.7,886.9,-6.1,528,12323,0.00,2.03,0.00,0.000,6,0.000,0.027,2540,2293,3463,0,0,0,0,0,0
$STATE,12502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12502,begin apogee
$GC,12508,-0.24,0.0,897.3,5.5,532,12607,0.47,0.00,96.28,1.473,6,0.160,0.000,2684,2640,3006,0,0,0,0,0,0
$STATE,12608,end apogee,CONTROL_FINISHED_OK
$STATE,12608,begin climb
$GC,12610,0.80,116.7,899.3,0.0,533,12723,1.08,2.38,104.22,1.386,4,0.113,0.046,3020,4033,2528,0,0,0,0,0,0
$GC,12824,0.55,116.7,891.8,8.7,537,12829,0.32,2.15,0.00,0.000,6,0.179,0.026,2948,2650,2521,0,0,0,0,0,0
$GC,13178,0.59,148.3,872.2,5.6,543,13212,0.00,2.33,26.77,1.374,4,0.000,0.048,2947,4042,2400,0,0,0,0,0,0
$GC,13234,0.53,152.6,868.5,6.7,543,13244,0.00,2.12,5.38,1.022,6,0.000,0.028,2952,2650,2383,0,0,0,0,0,0
$GC,13605,0.54,156.9,843.7,6.7,550,13614,0.00,2.20,4.60,1.045,4,0.000,0.048,2953,4040,2366,0,0,0,0,0,0
$GC,13642,0.46,156.9,840.8,7.5,550,13646,0.17,2.10,0.00,0.000,6,0.185,0.028,2917,2627,2365,0,0,0,0,0,0
$GC,13974,0.56,190.2,822.2,5.5,556,14010,0.00,2.28,30.70,1.377,4,0.000,0.047,2916,4036,2229,0,0,0,0,0,0
$GC,14021,0.66,219.2,819.3,5.7,556,14056,0.17,2.12,27.58,1.324,6,0.101,0.028,2982,2641,2111,0,0,0,0,0,0
$GC,14399,0.66,219.2,786.2,8.9,563,14403,0.00,2.20,0.00,0.000,4,0.000,0.048,2982,4038,2101,0,0,0,0,0,0
$GC,14448,0.58,219.2,781.1,10.5,563,14453,0.10,2.10,0.00,0.000,6,0.170,0.028,2962,2649,2100,0,0,0,0,0,0
$GC,14768,0.58,219.2,754.5,8.3,569,14772,0.00,2.17,0.00,0.000,4,0.000,0.048,2961,4042,2099,0,0,0,0,0,0
$GC,14783,0.58,219.2,753.2,8.3,569,14787,0.00,2.10,0.00,0.000,6,0.000,0.028,2967,2649,2099,0,0,0,0,0,0
$GC,15132,0.58,219.2,723.4,8.5,575,15136,0.00,2.17,0.00,0.000,4,0.000,0.048,2967,4045,2098,0,0,0,0,0,0
$GC,15164,0.54,219.2,720.4,9.6,575,15169,0.12,2.08,0.00,0.000,6,0.203,0.028,2946,2636,2097,0,0,0,0,0,0
$GC,15490,0.59,219.2,696.0,7.4,581,15491,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2636,2096,0,0,0,0,0,0
$GC,15793,0.65,219.2,673.8,7.4,586,15797,0.00,2.17,0.00,0.000,4,0.000,0.048,2941,4039,2095,0,0,0,0,0,0
$GC,15808,0.69,219.2,672.6,7.3,586,15813,0.08,2.10,0.00,0.000,6,0.100,0.028,2981,2641,2095,0,0,0,0,0,0
$GC,16156,0.69,219.2,642.1,8.8,592,16160,0.00,2.15,0.00,0.000,4,0.000,0.048,2981,4039,2095,0,0,0,0,0,0
$GC,16188,0.61,219.2,639.0,9.6,592,16192,0.00,2.08,0.00,0.000,6,0.000,0.028,2988,2652,2095,0,0,0,0,0,0
$GC,16520,0.58,219.2,609.4,8.9,598,16525,0.12,2.15,0.00,0.000,4,0.204,0.048,2954,4040,2094,0,0,0,0,0,0
$GC,16557,0.58,219.2,606.0,8.8,598,16562,0.00,2.08,0.00,0.000,6,0.000,0.028,2961,2655,2094,0,0,0,0,0,0
$GC,16890,0.58,219.2,579.9,7.9,604,16891,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2654,2094,0,0,0,0,0,0
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$STATE,23968,end climb,SURFACE_DEPTH_REACHED
$STATE,23970,begin surface coast
$FINISH,2.6,1.016576
$STATE,24013,end surface coast,CONTROL_FINISHED_OK
$STATE,24013,begin surface
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$10V_AH,10.0,22.553
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,233808
$DATA_FILE_SIZE,60176,1068
$CAP_FILE_SIZE,196149,0
$CFSIZE,260165632,238018560
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$CURRENT,0.099, 45.7,1
$GPS,011209,072407,6305.362,351.064,29,1.6,29,-2.8