version: 66.06
glider: 140
mission: 8
dive: 248
start: 12 14 109 9 16 24
data:
$ID,140
$MISSION,8
$DIVE,248
$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,-48885.992
$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,85
$R_STBD_OVSHOOT,44
$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
$GPS1,090937,6440.671,25.780,24,1.4,25,-4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.87
$_SM_ANGLEo,-57.1
$GPS2,091601,6440.658,25.784,13,1.4,13,-4.9
$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,310.0,81714,-13.7,-6.875
$D_GRID,2636
$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,-7.32,0.000,2,0.000,0.000,214,2261,2025,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.9,-0.0,1,123,9.20,2.28,-80.07,0.000,4,0.239,0.054,2500,3712,3482,0,0,0,0,0,0
$GC,273,-0.69,-116.7,20.6,-8.6,45,279,0.15,2.05,0.00,0.000,6,0.183,0.025,2540,2297,3484,0,0,0,0,0,0
$GC,607,-0.66,-116.7,49.6,-8.3,106,615,0.00,2.08,0.00,0.000,4,0.000,0.036,2540,935,3485,0,0,0,0,0,0
$GC,676,-0.62,-116.7,55.7,-8.9,118,684,0.00,2.08,0.00,0.000,6,0.000,0.029,2540,2309,3484,0,0,0,0,0,0
$GC,1021,-0.62,-116.7,83.8,-8.0,179,1026,0.00,2.10,0.00,0.000,4,0.000,0.041,2540,3710,3485,0,0,0,0,0,0
$GC,1066,-0.62,-116.7,87.7,-8.6,187,1071,0.00,2.03,0.00,0.000,6,0.000,0.025,2540,2306,3484,0,0,0,0,0,0
$GC,1407,-0.62,-116.7,113.2,-7.4,248,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2305,3485,0,0,0,0,0,0
$GC,1744,-0.62,-116.7,138.2,-7.0,276,1748,0.00,2.05,0.00,0.000,4,0.000,0.036,2540,920,3486,0,0,0,0,0,0
$GC,1807,-0.62,-116.7,142.8,-7.8,279,1811,0.00,2.05,0.00,0.000,6,0.000,0.028,2540,2310,3486,0,0,0,0,0,0
$GC,2134,-0.62,-116.7,167.3,-7.5,295,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2310,3486,0,0,0,0,0,0
$GC,2442,-0.62,-116.7,190.0,-7.4,310,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2310,3487,0,0,0,0,0,0
$GC,2751,-0.62,-116.7,213.0,-7.5,325,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2310,3487,0,0,0,0,0,0
$GC,3060,-0.62,-116.7,236.3,-7.5,340,3064,0.00,2.08,0.00,0.000,4,0.000,0.041,2540,3705,3487,0,0,0,0,0,0
$GC,3110,-0.62,-116.7,240.2,-7.7,342,3114,0.00,2.05,0.00,0.000,6,0.000,0.025,2540,2296,3486,0,0,0,0,0,0
$GC,3431,-0.62,-116.7,264.2,-7.7,358,3434,0.00,2.03,0.00,0.000,4,0.000,0.037,2540,927,3486,0,0,0,0,0,0
$GC,3485,-0.62,-116.7,268.7,-8.5,360,3490,0.00,2.08,0.00,0.000,6,0.000,0.029,2540,2301,3486,0,0,0,0,0,0
$GC,3807,-0.62,-116.7,292.3,-7.1,376,3811,0.00,2.10,0.00,0.000,4,0.000,0.042,2540,3705,3485,0,0,0,0,0,0
$GC,3862,-0.62,-116.7,296.2,-6.6,378,3869,0.00,2.05,0.00,0.000,6,0.000,0.025,2540,2296,3485,0,0,0,0,0,0
$GC,4175,-0.62,-116.7,318.3,-7.3,390,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2297,3485,0,0,0,0,0,0
$GC,4481,-0.62,-116.7,340.8,-7.5,400,4485,0.00,2.15,0.00,0.000,4,0.000,0.042,2540,3708,3484,0,0,0,0,0,0
$GC,4577,-0.62,-116.7,348.1,-7.5,403,4581,0.00,2.03,0.00,0.000,6,0.000,0.025,2540,2300,3484,0,0,0,0,0,0
$GC,4910,-0.62,-116.7,373.1,-7.5,414,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2299,3483,0,0,0,0,0,0
$GC,5217,-0.62,-116.7,396.3,-7.6,424,5221,0.00,2.15,0.00,0.000,4,0.000,0.042,2540,3707,3483,0,0,0,0,0,0
$GC,5294,-0.62,-116.7,402.3,-7.4,426,5298,0.00,2.08,0.00,0.000,6,0.000,0.025,2540,2300,3482,0,0,0,0,0,0
$GC,5624,-0.62,-116.7,426.5,-7.5,437,5625,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2298,3482,0,0,0,0,0,0
$GC,5930,-0.62,-116.7,448.9,-7.2,447,5933,0.00,2.15,0.00,0.000,4,0.000,0.043,2540,3702,3481,0,0,0,0,0,0
$GC,6012,-0.62,-116.7,455.0,-7.4,449,6017,0.00,2.08,0.00,0.000,6,0.000,0.025,2540,2293,3481,0,0,0,0,0,0
$GC,6336,-0.62,-116.7,477.9,-7.0,460,6340,0.00,2.17,0.00,0.000,4,0.000,0.042,2540,3708,3480,0,0,0,0,0,0
$GC,6386,-0.62,-116.7,481.4,-7.0,461,6390,0.00,2.08,0.00,0.000,6,0.000,0.025,2540,2302,3480,0,0,0,0,0,0
$GC,6740,-0.62,-116.7,504.2,-6.6,472,6743,0.00,2.15,0.00,0.000,4,0.000,0.043,2540,3709,3480,0,0,0,0,0,0
$GC,6795,-0.65,-116.7,508.1,-7.1,472,6801,0.00,2.05,0.00,0.000,6,0.000,0.026,2540,2290,3480,0,0,0,0,0,0
$GC,7104,-0.65,-116.7,529.0,-6.9,478,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2289,3479,0,0,0,0,0,0
$GC,7407,-0.65,-116.7,550.9,-7.3,483,7411,0.00,2.15,0.00,0.000,4,0.000,0.042,2540,3700,3479,0,0,0,0,0,0
$GC,7496,-0.69,-116.7,557.6,-7.5,484,7500,0.00,2.03,0.00,0.000,6,0.000,0.026,2540,2295,3478,0,0,0,0,0,0
$GC,7832,-0.69,-116.7,581.8,-7.3,490,7836,0.00,2.15,0.00,0.000,4,0.000,0.043,2540,3700,3478,0,0,0,0,0,0
$GC,7887,-0.73,-116.7,585.8,-6.9,490,7894,0.00,2.08,0.00,0.000,6,0.000,0.026,2540,2297,3477,0,0,0,0,0,0
$GC,8196,-0.73,-116.7,607.1,-6.8,496,8197,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2296,3478,0,0,0,0,0,0
$GC,8499,-0.73,-116.7,627.3,-6.7,501,8503,0.00,2.15,0.00,0.000,4,0.000,0.043,2540,3701,3477,0,0,0,0,0,0
$GC,8582,-0.77,-116.7,632.8,-6.3,502,8586,0.00,2.03,0.00,0.000,6,0.000,0.027,2540,2299,3477,0,0,0,0,0,0
$GC,8931,-0.80,-116.7,655.4,-6.6,508,8935,0.00,2.17,0.00,0.000,4,0.000,0.043,2540,3709,3476,0,0,0,0,0,0
$GC,8980,-0.84,-116.7,658.8,-6.7,508,8985,0.15,2.08,0.00,0.000,6,0.132,0.026,2491,2301,3476,0,0,0,0,0,0
$GC,9300,-0.76,-116.7,685.7,-8.6,514,9301,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2300,3476,0,0,0,0,0,0
$GC,9604,-0.69,-116.7,711.3,-8.4,519,9606,0.17,0.00,0.00,0.000,6,0.183,0.000,2538,2298,3475,0,0,0,0,0,0
$GC,9906,-0.69,-116.7,731.9,-6.7,524,9910,0.00,2.15,0.00,0.000,4,0.000,0.044,2538,3702,3475,0,0,0,0,0,0
$GC,9955,-0.73,-116.7,735.4,-7.3,524,9959,0.00,2.08,0.00,0.000,6,0.000,0.026,2538,2274,3475,0,0,0,0,0,0
$GC,10270,-0.76,-116.7,757.0,-6.9,530,10274,0.00,2.17,0.00,0.000,4,0.000,0.043,2538,3699,3474,0,0,0,0,0,0
$GC,10332,-0.80,-116.7,761.6,-7.2,530,10338,0.00,2.03,0.00,0.000,6,0.000,0.026,2538,2300,3474,0,0,0,0,0,0
$GC,10640,-0.80,-116.7,782.8,-6.8,536,10644,0.00,2.17,0.00,0.000,4,0.000,0.044,2538,3704,3474,0,0,0,0,0,0
$GC,10713,-0.84,-116.7,788.1,-7.2,537,10718,0.15,2.05,0.00,0.000,6,0.133,0.027,2490,2293,3473,0,0,0,0,0,0
$GC,11067,-0.77,-116.7,818.4,-8.7,543,11068,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2291,3473,0,0,0,0,0,0
$GC,11370,-0.70,-116.7,844.1,-8.4,548,11372,0.17,0.00,0.00,0.000,6,0.184,0.000,2536,2289,3473,0,0,0,0,0,0
$GC,11673,-0.70,-116.7,864.4,-6.6,553,11677,0.00,2.17,0.00,0.000,4,0.000,0.044,2536,3706,3473,0,0,0,0,0,0
$GC,11745,-0.74,-116.7,869.2,-6.5,554,11749,0.00,2.05,0.00,0.000,6,0.000,0.027,2536,2298,3473,0,0,0,0,0,0
$GC,12105,-0.77,-116.7,893.2,-6.7,560,12109,0.00,2.17,0.00,0.000,4,0.000,0.044,2537,3706,3473,0,0,0,0,0,0
$GC,12178,-0.81,-116.7,898.2,-6.6,561,12181,0.00,2.05,0.00,0.000,6,0.000,0.027,2536,2298,3472,0,0,0,0,0,0
$GC,12544,-0.84,-116.7,922.7,-6.7,567,12549,0.15,2.17,0.00,0.000,4,0.132,0.044,2487,3699,3472,0,0,0,0,0,0
$GC,12616,-0.78,-116.7,928.9,-7.7,568,12620,0.00,2.05,0.00,0.000,6,0.000,0.027,2488,2291,3472,0,0,0,0,0,0
$GC,12970,-0.71,-116.7,958.8,-8.5,574,12972,0.17,0.00,0.00,0.000,6,0.184,0.000,2534,2288,3473,0,0,0,0,0,0
$GC,13274,-0.71,-116.7,979.8,-6.9,579,13278,0.00,2.17,0.00,0.000,4,0.000,0.044,2535,3704,3472,0,0,0,0,0,0
$GC,13363,-0.76,-116.7,986.0,-6.8,580,13366,0.00,2.05,0.00,0.000,6,0.000,0.027,2535,2296,3472,0,0,0,0,0,0
$STATE,13466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13466,begin apogee
$GC,13472,-0.24,0.0,992.9,6.5,582,13577,0.50,0.00,101.95,1.549,6,0.163,0.000,2684,2650,3006,0,0,0,0,0,0
$STATE,13578,end apogee,CONTROL_FINISHED_OK
$STATE,13578,begin climb
$GC,13579,0.80,116.7,995.1,0.0,583,13698,1.05,2.40,109.20,1.455,4,0.114,0.044,3010,4036,2529,0,0,0,0,0,0
$GC,13799,0.58,116.7,986.9,8.2,585,13804,0.25,2.17,0.00,0.000,6,0.176,0.026,2958,2648,2522,0,0,0,0,0,0
$GC,14131,0.57,143.7,967.2,5.8,591,14160,0.00,2.33,23.88,1.433,4,0.000,0.046,2953,4045,2420,0,0,0,0,0,0
$GC,14172,0.53,160.9,964.6,6.2,591,14196,0.00,2.15,17.38,1.350,6,0.000,0.028,2962,2650,2348,0,0,0,0,0,0
$GC,14563,0.53,162.0,937.9,6.8,598,14564,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2650,2342,0,0,0,0,0,0
$GC,14865,0.53,162.0,917.0,6.9,603,14866,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2650,2341,0,0,0,0,0,0
$GC,15168,0.54,164.7,896.4,6.8,608,15170,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2651,2340,0,0,0,0,0,0
$GC,15471,0.54,164.7,875.5,6.9,613,15472,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2650,2340,0,0,0,0,0,0
$GC,15774,0.54,164.7,854.6,6.9,618,15778,0.00,2.20,0.00,0.000,4,0.000,0.046,2962,4047,2339,0,0,0,0,0,0
$GC,15783,0.54,164.7,853.8,7.0,618,15789,0.10,2.10,0.00,0.000,6,0.161,0.028,2941,2650,2339,0,0,0,0,0,0
$GC,16138,0.56,186.6,832.3,6.0,624,16163,0.00,0.00,22.55,1.433,6,0.000,0.000,2942,2650,2245,0,0,0,0,0,0
$GC,16442,0.63,206.6,813.9,6.1,629,16463,0.00,0.00,19.70,1.385,6,0.000,0.000,2941,2650,2163,0,0,0,0,0,0
$GC,16745,0.69,214.7,794.2,6.6,634,16756,0.15,0.00,8.65,1.305,6,0.111,0.000,2992,2648,2130,0,0,0,0,0,0
$GC,17048,0.66,214.7,767.9,8.9,639,17049,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2647,2126,0,0,0,0,0,0
$GC,17351,0.61,214.7,739.9,9.3,644,17355,0.00,2.17,0.00,0.000,4,0.000,0.046,2992,4045,2125,0,0,0,0,0,0
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$STATE,26660,end climb,SURFACE_DEPTH_REACHED
$STATE,26660,begin surface coast
$FINISH,3.4,1.027390
$STATE,26696,end surface coast,CONTROL_FINISHED_OK
$STATE,26696,begin surface
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$10V_AH,9.8,27.257
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,241412
$DATA_FILE_SIZE,66476,1143
$CAP_FILE_SIZE,198890,0
$CFSIZE,260165632,234336256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043,218.5,1
$GPS,141209,164307,6441.923,18.604,39,1.3,40,-5.0