version: 66.06
glider: 140
mission: 8
dive: 245
start: 12 13 109 10 9 11
data:
$ID,140
$MISSION,8
$DIVE,245
$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,-48824.609
$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,67
$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
$GPS1,100207,6434.856,39.338,35,1.0,36,-4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.82
$_SM_ANGLEo,-64.3
$GPS2,100849,6434.836,39.451,13,1.2,18,-4.8
$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,311.5,96668,-13.7,-6.875
$D_GRID,2620
$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,-7.62,0.000,2,0.000,0.000,209,2287,2039,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.7,-0.0,1,119,9.05,2.12,-76.60,0.000,4,0.235,0.047,2501,897,3481,0,0,0,0,0,0
$GC,166,-0.65,-116.7,7.5,-8.1,25,172,0.20,2.12,0.00,0.000,6,0.184,0.028,2554,2313,3482,0,0,0,0,0,0
$GC,500,-0.65,-116.7,32.3,-6.8,86,507,0.00,2.12,0.00,0.000,4,0.000,0.041,2554,3691,3483,0,0,0,0,0,0
$GC,554,-0.65,-116.7,35.8,-6.8,95,559,0.00,2.03,0.00,0.000,6,0.000,0.023,2554,2285,3483,0,0,0,0,0,0
$GC,887,-0.65,-116.7,60.1,-8.7,156,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2284,3483,0,0,0,0,0,0
$GC,1229,-0.65,-116.7,85.3,-7.9,217,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2283,3484,0,0,0,0,0,0
$GC,1568,-0.65,-116.7,110.6,-6.7,278,1574,0.00,2.17,0.00,0.000,4,0.000,0.040,2554,3704,3484,0,0,0,0,0,0
$GC,1613,-0.65,-116.7,113.9,-7.2,286,1620,0.00,2.03,0.00,0.000,6,0.000,0.024,2554,2298,3484,0,0,0,0,0,0
$GC,1952,-0.65,-116.7,136.9,-6.1,314,1956,0.00,2.12,0.00,0.000,4,0.000,0.040,2554,3697,3484,0,0,0,0,0,0
$GC,2007,-0.68,-116.7,140.3,-5.8,316,2011,0.00,2.00,0.00,0.000,6,0.000,0.023,2554,2293,3484,0,0,0,0,0,0
$GC,2328,-0.68,-116.7,159.5,-6.1,332,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2293,3485,0,0,0,0,0,0
$GC,2639,-0.68,-116.7,179.0,-6.6,347,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2293,3485,0,0,0,0,0,0
$GC,2947,-0.68,-116.7,198.2,-6.4,362,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2293,3485,0,0,0,0,0,0
$GC,3255,-0.68,-116.7,219.8,-7.5,377,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2293,3485,0,0,0,0,0,0
$GC,3564,-0.68,-116.7,242.7,-7.0,392,3568,0.00,2.15,0.00,0.000,4,0.000,0.040,2554,3708,3485,0,0,0,0,0,0
$GC,3643,-0.72,-116.7,248.2,-6.7,395,3648,0.00,2.00,0.00,0.000,6,0.000,0.024,2554,2299,3486,0,0,0,0,0,0
$GC,3959,-0.75,-116.7,269.0,-6.4,411,3962,0.00,2.03,0.00,0.000,4,0.000,0.035,2554,924,3485,0,0,0,0,0,0
$GC,4014,-0.75,-116.7,273.1,-7.1,413,4018,0.00,2.05,0.00,0.000,6,0.000,0.028,2554,2301,3486,0,0,0,0,0,0
$GC,4335,-0.79,-116.7,293.6,-6.3,429,4340,0.12,2.08,0.00,0.000,4,0.135,0.041,2514,3698,3486,0,0,0,0,0,0
$GC,4435,-0.74,-116.7,301.2,-7.8,433,4441,0.00,2.03,0.00,0.000,6,0.000,0.024,2514,2299,3485,0,0,0,0,0,0
$GC,4748,-0.69,-116.7,325.7,-8.0,444,4752,0.00,2.05,0.00,0.000,4,0.000,0.036,2514,915,3485,0,0,0,0,0,0
$GC,4820,-0.63,-116.7,331.8,-8.7,446,4824,0.10,2.08,0.00,0.000,6,0.171,0.029,2557,2305,3485,0,0,0,0,0,0
$GC,5155,-0.67,-116.7,351.5,-5.7,457,5159,0.00,2.08,0.00,0.000,4,0.000,0.041,2556,3700,3484,0,0,0,0,0,0
$GC,5205,-0.73,-116.7,354.6,-5.8,458,5209,0.00,2.03,0.00,0.000,6,0.000,0.025,2557,2304,3484,0,0,0,0,0,0
$GC,5529,-0.78,-116.7,373.9,-6.2,469,5534,0.15,2.12,0.00,0.000,4,0.127,0.041,2506,3698,3483,0,0,0,0,0,0
$GC,5584,-0.72,-116.7,378.2,-7.9,470,5591,0.00,2.00,0.00,0.000,6,0.000,0.025,2506,2297,3483,0,0,0,0,0,0
$GC,5896,-0.66,-116.7,404.4,-8.5,481,5898,0.15,0.00,0.00,0.000,6,0.187,0.000,2545,2295,3482,0,0,0,0,0,0
$GC,6203,-0.66,-116.7,425.5,-7.0,491,6204,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2294,3482,0,0,0,0,0,0
$GC,6508,-0.66,-116.7,446.7,-6.9,501,6512,0.00,2.12,0.00,0.000,4,0.000,0.042,2544,3696,3481,0,0,0,0,0,0
$GC,6591,-0.70,-116.7,452.6,-7.6,503,6595,0.00,2.03,0.00,0.000,6,0.000,0.025,2545,2307,3480,0,0,0,0,0,0
$GC,6914,-0.70,-116.7,474.8,-6.9,514,6918,0.00,2.12,0.00,0.000,4,0.000,0.041,2545,3700,3480,0,0,0,0,0,0
$GC,6975,-0.75,-116.7,479.2,-7.5,515,6981,0.00,2.03,0.00,0.000,6,0.000,0.025,2545,2293,3479,0,0,0,0,0,0
$GC,7287,-0.75,-116.7,500.5,-6.7,526,7291,0.00,2.15,0.00,0.000,4,0.000,0.041,2544,3705,3479,0,0,0,0,0,0
$GC,7343,-0.79,-116.7,504.3,-7.0,526,7350,0.12,2.03,0.00,0.000,6,0.142,0.025,2504,2295,3479,0,0,0,0,0,0
$GC,7652,-0.74,-116.7,528.9,-8.0,532,7653,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2295,3478,0,0,0,0,0,0
$GC,7955,-0.68,-116.7,553.7,-8.2,537,7957,0.15,0.00,0.00,0.000,6,0.185,0.000,2543,2292,3477,0,0,0,0,0,0
$GC,8258,-0.68,-116.7,575.2,-7.1,542,8259,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2292,3476,0,0,0,0,0,0
$GC,8561,-0.68,-116.7,596.7,-7.1,547,8565,0.00,2.15,0.00,0.000,4,0.000,0.043,2542,3704,3475,0,0,0,0,0,0
$GC,8639,-0.72,-116.7,602.4,-7.1,548,8643,0.00,2.05,0.00,0.000,6,0.000,0.025,2543,2309,3475,0,0,0,0,0,0
$GC,8993,-0.75,-116.7,627.4,-7.1,554,8995,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2308,3474,0,0,0,0,0,0
$GC,9296,-0.75,-116.7,649.2,-7.2,559,9300,0.00,2.12,0.00,0.000,4,0.000,0.043,2543,3696,3473,0,0,0,0,0,0
$GC,9368,-0.80,-116.7,654.6,-7.3,560,9373,0.08,2.05,0.00,0.000,6,0.109,0.026,2499,2301,3473,0,0,0,0,0,0
$GC,9728,-0.73,-116.7,685.9,-8.8,566,9729,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2298,3473,0,0,0,0,0,0
$GC,10031,-0.67,-116.7,711.7,-8.5,571,10033,0.17,0.00,0.00,0.000,6,0.186,0.000,2544,2297,3472,0,0,0,0,0,0
$GC,10334,-0.71,-116.7,732.6,-6.9,576,10338,0.00,2.15,0.00,0.000,4,0.000,0.044,2544,3699,3472,0,0,0,0,0,0
$GC,10390,-0.76,-116.7,736.5,-7.3,576,10395,0.00,2.03,0.00,0.000,6,0.000,0.027,2545,2302,3471,0,0,0,0,0,0
$GC,10699,-0.80,-116.7,757.0,-6.6,582,10704,0.12,2.15,0.00,0.000,4,0.144,0.044,2504,3695,3470,0,0,0,0,0,0
$GC,10748,-0.76,-116.7,761.0,-8.6,582,10752,0.00,2.05,0.00,0.000,6,0.000,0.027,2504,2308,3470,0,0,0,0,0,0
$GC,11063,-0.72,-116.7,785.9,-7.9,588,11067,0.00,2.10,0.00,0.000,4,0.000,0.040,2504,909,3470,0,0,0,0,0,0
$GC,11113,-0.65,-116.7,790.1,-9.0,588,11118,0.15,2.10,0.00,0.000,6,0.166,0.031,2550,2297,3470,0,0,0,0,0,0
$GC,11434,-0.71,-116.7,809.5,-6.0,594,11438,0.00,2.10,0.00,0.000,4,0.000,0.044,2549,3699,3469,0,0,0,0,0,0
$GC,11529,-0.77,-116.7,815.4,-5.6,595,11532,0.00,2.05,0.00,0.000,6,0.000,0.026,2550,2283,3469,0,0,0,0,0,0
$GC,11866,-0.83,-116.7,834.9,-5.8,601,11871,0.15,2.20,0.00,0.000,4,0.130,0.043,2501,3705,3469,0,0,0,0,0,0
$GC,11944,-0.79,-116.7,840.6,-7.5,602,11948,0.00,2.05,0.00,0.000,6,0.000,0.026,2501,2297,3468,0,0,0,0,0,0
$GC,12298,-0.74,-116.7,866.2,-7.1,608,12299,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2296,3468,0,0,0,0,0,0
$GC,12601,-0.69,-116.7,887.9,-7.2,613,12603,0.15,0.00,0.00,0.000,6,0.186,0.000,2540,2295,3468,0,0,0,0,0,0
$GC,12904,-0.73,-116.7,905.0,-5.6,618,12908,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3698,3468,0,0,0,0,0,0
$GC,12973,-0.78,-116.7,909.0,-6.0,619,12977,0.00,2.05,0.00,0.000,6,0.000,0.026,2541,2286,3468,0,0,0,0,0,0
$GC,13338,-0.82,-116.7,929.0,-5.5,625,13343,0.12,2.20,0.00,0.000,4,0.140,0.044,2501,3707,3467,0,0,0,0,0,0
$GC,13421,-0.79,-116.7,934.7,-7.3,626,13425,0.00,2.08,0.00,0.000,6,0.000,0.026,2501,2285,3467,0,0,0,0,0,0
$GC,13770,-0.75,-116.7,958.6,-6.9,632,13771,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2283,3467,0,0,0,0,0,0
$GC,14073,-0.70,-116.7,980.0,-7.1,637,14077,0.12,2.20,0.00,0.000,4,0.191,0.044,2533,3704,3467,0,0,0,0,0,0
$GC,14129,-0.74,-116.7,983.6,-6.6,637,14133,0.00,2.05,0.00,0.000,6,0.000,0.026,2533,2297,3467,0,0,0,0,0,0
$STATE,14255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14255,begin apogee
$GC,14260,-0.24,0.0,991.4,6.1,639,14363,0.50,0.00,100.12,1.549,6,0.165,0.000,2680,2654,3006,0,0,0,0,0,0
$STATE,14364,end apogee,CONTROL_FINISHED_OK
$STATE,14364,begin climb
$GC,14366,0.80,116.7,993.2,0.0,640,14484,1.05,2.40,108.07,1.452,4,0.114,0.046,3009,4036,2529,0,0,0,0,0,0
$GC,14562,0.58,116.7,985.6,8.5,642,14566,0.25,2.17,0.00,0.000,6,0.170,0.026,2957,2650,2523,0,0,0,0,0,0
$GC,14922,0.56,136.3,963.4,6.1,648,14946,0.00,2.30,17.23,1.420,4,0.000,0.045,2953,4038,2449,0,0,0,0,0,0
$GC,14953,0.54,161.1,961.3,5.9,648,14984,0.00,2.12,24.00,1.378,6,0.000,0.027,2962,2649,2348,0,0,0,0,0,0
$GC,15286,0.54,161.1,937.5,7.2,654,15288,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2649,2341,0,0,0,0,0,0
$GC,15590,0.54,161.1,915.7,7.2,659,15594,0.00,2.17,0.00,0.000,4,0.000,0.045,2962,4039,2340,0,0,0,0,0,0
$GC,15613,0.49,161.1,913.9,7.6,659,15618,0.17,2.08,0.00,0.000,6,0.177,0.027,2926,2641,2340,0,0,0,0,0,0
$GC,15950,0.56,178.1,892.8,6.2,665,15967,0.00,0.00,15.12,1.430,6,0.000,0.000,2926,2641,2279,0,0,0,0,0,0
$GC,16254,0.63,185.8,873.1,6.6,670,16268,0.12,2.15,8.35,1.331,4,0.120,0.037,2979,1266,2247,0,0,0,0,0,0
$GC,16279,0.63,185.8,871.0,7.7,670,16283,0.00,2.15,0.00,0.000,6,0.000,0.033,2979,2639,2247,0,0,0,0,0,0
$GC,16622,0.60,185.8,841.9,8.6,676,16623,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2639,2245,0,0,0,0,0,0
$GC,16926,0.57,185.8,815.9,8.6,681,16927,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2639,2244,0,0,0,0,0,0
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$STATE,26885,end climb,SURFACE_DEPTH_REACHED
$STATE,26885,begin surface coast
$FINISH,3.1,1.012976
$STATE,26923,end surface coast,CONTROL_FINISHED_OK
$STATE,26923,begin surface
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$TCM_TEMP,19.90
$XPDR_PINGS,1
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$10V_AH,9.9,26.914
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.975,160.875,331.700,21.850,0.000,30.409,33.427,201.500,0.250,0.000,18.471,2357.497,21323.861,519.379,2603.393,549.432,0.000,1789.534,0.000,2574.211,0.000,0.535,0.000
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$MEM,241432
$DATA_FILE_SIZE,66365,1162
$CAP_FILE_SIZE,203211,0
$CFSIZE,260165632,234602496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,114.9,1
$GPS,131209,173936,6436.384,35.157,25,1.1,26,-4.8