version: 66.06
glider: 140
mission: 8
dive: 304
start: 1 1 110 6 18 20
data:
$ID,140
$MISSION,8
$DIVE,304
$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,-1
$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,602.45679
$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,-60640.156
$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,63
$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
$GPS1,061850,6350.368,223.979,901,99.0,901,-3.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.17
$_SM_ANGLEo,-62.6
$GPS2,061850,6350.368,223.979,901,99.0,901,-3.7
$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,144.9,118241,-13.7,-6.875
$D_GRID,1488
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.80,-116.7,0.0,0.0,0,25,0.00,0.00,-7.43,0.000,2,0.000,0.000,219,2287,709,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.1,-0.0,1,187,8.48,2.03,-141.85,0.000,4,0.218,0.053,2501,899,3481,0,0,0,0,0,0
$GC,426,-0.46,-116.7,30.6,-10.9,73,433,0.40,2.10,0.00,0.000,6,0.193,0.029,2610,2314,3482,0,0,0,0,0,0
$GC,763,-0.43,-116.7,50.4,-6.3,134,769,0.00,2.10,0.00,0.000,4,0.000,0.041,2610,3693,3483,0,0,0,0,0,0
$GC,776,-0.39,-116.7,51.3,-6.3,136,783,0.00,2.05,0.00,0.000,6,0.000,0.023,2610,2290,3482,0,0,0,0,0,0
$GC,1119,-0.36,-116.7,73.4,-6.3,197,1125,0.12,2.15,0.00,0.000,4,0.193,0.040,2644,3700,3482,0,0,0,0,0,0
$GC,1143,-0.36,-116.7,74.9,-6.0,201,1149,0.00,2.00,0.00,0.000,6,0.000,0.023,2645,2297,3482,0,0,0,0,0,0
$GC,1485,-0.56,-116.7,95.3,-5.5,262,1491,0.17,2.12,0.00,0.000,4,0.111,0.040,2579,3697,3482,0,0,0,0,0,0
$GC,1581,-0.56,-116.7,101.3,-6.2,279,1587,0.00,2.00,0.00,0.000,6,0.000,0.023,2579,2291,3482,0,0,0,0,0,0
$GC,1926,-0.62,-116.7,120.3,-5.7,340,1930,0.00,2.12,0.00,0.000,4,0.000,0.040,2579,3706,3482,0,0,0,0,0,0
$GC,1990,-0.62,-116.7,123.9,-6.2,343,1993,0.00,2.00,0.00,0.000,6,0.000,0.023,2580,2301,3482,0,0,0,0,0,0
$GC,2323,-0.68,-116.7,144.4,-6.3,359,2327,0.00,2.12,0.00,0.000,4,0.000,0.039,2580,3706,3482,0,0,0,0,0,0
$GC,2379,-0.72,-116.7,147.7,-5.4,361,2385,0.15,2.00,0.00,0.000,6,0.129,0.023,2530,2286,3482,0,0,0,0,0,0
$GC,2695,-0.66,-116.7,171.2,-7.7,377,2699,0.00,1.98,0.00,0.000,4,0.000,0.035,2530,931,3482,0,0,0,0,0,0
$GC,2764,-0.43,-116.7,176.8,-7.8,380,2768,0.32,2.00,0.00,0.000,6,0.187,0.028,2619,2301,3482,0,0,0,0,0,0
$GC,3091,-0.58,-116.7,196.2,-5.9,396,3096,0.12,2.10,0.00,0.000,4,0.121,0.041,2573,3706,3482,0,0,0,0,0,0
$GC,3226,-0.58,-116.7,205.0,-6.5,402,3230,0.00,1.98,0.00,0.000,6,0.000,0.022,2573,2301,3482,0,0,0,0,0,0
$GC,3553,-0.63,-116.7,228.4,-7.7,418,3557,0.00,2.10,0.00,0.000,4,0.000,0.039,2573,3700,3482,0,0,0,0,0,0
$GC,3608,-0.63,-116.7,232.9,-7.9,420,3614,0.00,2.03,0.00,0.000,6,0.000,0.022,2573,2269,3482,0,0,0,0,0,0
$GC,3924,-0.70,-116.7,259.5,-8.6,436,3928,0.00,2.15,0.00,0.000,4,0.000,0.038,2573,3702,3482,0,0,0,0,0,0
$GC,4001,-0.70,-116.7,266.0,-7.7,439,4008,0.00,2.03,0.00,0.000,6,0.000,0.022,2573,2299,3482,0,0,0,0,0,0
$GC,4317,-0.76,-116.7,291.9,-8.1,455,4322,0.15,2.12,0.00,0.000,4,0.123,0.040,2520,3700,3481,0,0,0,0,0,0
$GC,4411,-0.55,-116.7,300.4,-9.1,459,4416,0.17,2.03,0.00,0.000,6,0.182,0.022,2583,2273,3481,0,0,0,0,0,0
$GC,4735,-0.47,-116.7,323.2,-6.8,470,4740,0.10,2.17,0.00,0.000,4,0.210,0.040,2608,3703,3481,0,0,0,0,0,0
$GC,4797,-0.47,-116.7,327.0,-6.0,472,4801,0.00,1.95,0.00,0.000,6,0.000,0.022,2608,2322,3481,0,0,0,0,0,0
$GC,5138,-0.60,-116.7,347.0,-5.9,483,5142,0.12,2.10,0.00,0.000,4,0.122,0.040,2560,3704,3481,0,0,0,0,0,0
$GC,5148,-0.71,-116.7,347.7,-5.6,483,5151,0.00,2.00,0.00,0.000,6,0.000,0.023,2560,2294,3481,0,0,0,0,0,0
$GC,5470,-0.71,-116.7,371.8,-7.8,494,5474,0.00,2.03,0.00,0.000,4,0.000,0.035,2560,915,3481,0,0,0,0,0,0
$GC,5520,-0.66,-116.7,376.0,-8.0,495,5524,0.00,2.03,0.00,0.000,6,0.000,0.028,2560,2299,3481,0,0,0,0,0,0
$GC,5844,-0.70,-116.7,404.3,-8.7,506,5848,0.00,2.05,0.00,0.000,4,0.000,0.040,2560,3698,3481,0,0,0,0,0,0
$GC,5921,-0.70,-116.7,410.6,-8.3,508,5925,0.00,2.03,0.00,0.000,6,0.000,0.022,2560,2290,3481,0,0,0,0,0,0
$GC,6246,-0.74,-116.7,433.7,-6.6,519,6250,0.10,2.15,0.00,0.000,4,0.146,0.040,2526,3708,3481,0,0,0,0,0,0
$GC,6312,-0.64,-116.7,438.4,-7.2,521,6316,0.12,2.00,0.00,0.000,6,0.198,0.022,2556,2284,3481,0,0,0,0,0,0
$GC,6647,-0.68,-116.7,461.9,-7.2,532,6651,0.00,2.12,0.00,0.000,4,0.000,0.039,2556,3697,3481,0,0,0,0,0,0
$GC,6723,-0.68,-116.7,468.0,-7.9,534,6728,0.00,2.00,0.00,0.000,6,0.000,0.022,2556,2312,3481,0,0,0,0,0,0
$GC,7048,-0.59,-116.7,489.8,-6.4,545,7052,0.00,2.10,0.00,0.000,4,0.000,0.040,2556,3707,3481,0,0,0,0,0,0
$GC,7081,-0.47,-116.7,492.0,-6.4,546,7086,0.20,2.00,0.00,0.000,6,0.184,0.023,2610,2286,3481,0,0,0,0,0,0
$GC,7439,-0.63,-116.7,510.6,-5.3,555,7443,0.15,2.00,0.00,0.000,4,0.116,0.035,2557,930,3480,0,0,0,0,0,0
$GC,7568,-0.63,-116.7,517.7,-5.5,556,7573,0.00,2.00,0.00,0.000,6,0.000,0.028,2557,2305,3480,0,0,0,0,0,0
$GC,7877,-0.68,-116.7,535.4,-5.8,562,7881,0.00,2.05,0.00,0.000,4,0.000,0.041,2557,3697,3479,0,0,0,0,0,0
$GC,7977,-0.68,-116.7,541.9,-6.5,563,7981,0.00,1.98,0.00,0.000,6,0.000,0.023,2557,2297,3478,0,0,0,0,0,0
$GC,8314,-0.74,-116.7,565.9,-7.3,569,8318,0.00,2.12,0.00,0.000,4,0.000,0.041,2557,3704,3478,0,0,0,0,0,0
$GC,8396,-0.74,-116.7,572.2,-7.6,570,8401,0.00,2.03,0.00,0.000,6,0.000,0.023,2556,2310,3478,0,0,0,0,0,0
$GC,8747,-0.80,-116.7,599.0,-7.7,576,8751,0.15,2.08,0.00,0.000,4,0.122,0.036,2504,914,3476,0,0,0,0,0,0
$GC,8882,-0.56,-116.7,611.1,-9.2,578,8886,0.28,2.03,0.00,0.000,6,0.192,0.029,2577,2302,3476,0,0,0,0,0,0
$GC,9248,-0.66,-116.7,634.9,-6.7,584,9252,0.00,2.08,0.00,0.000,4,0.000,0.041,2577,3698,3475,0,0,0,0,0,0
$GC,9372,-0.74,-116.7,642.6,-5.7,585,9378,0.15,2.00,0.00,0.000,6,0.119,0.024,2526,2287,3475,0,0,0,0,0,0
$GC,9681,-0.74,-116.7,664.6,-7.2,591,9685,0.00,2.15,0.00,0.000,4,0.000,0.041,2526,3705,3473,0,0,0,0,0,0
$GC,9708,-0.68,-116.7,666.5,-7.2,591,9712,0.00,2.03,0.00,0.000,6,0.000,0.025,2525,2317,3473,0,0,0,0,0,0
$GC,10045,-0.68,-116.7,690.4,-7.0,597,10049,0.00,2.10,0.00,0.000,4,0.000,0.041,2525,3698,3472,0,0,0,0,0,0
$GC,10067,-0.64,-116.7,692.0,-7.4,597,10071,0.12,2.03,0.00,0.000,6,0.189,0.025,2556,2286,3472,0,0,0,0,0,0
$GC,10404,-0.69,-116.7,714.1,-6.7,603,10407,0.00,2.15,0.00,0.000,4,0.000,0.041,2556,3702,3471,0,0,0,0,0,0
$GC,10521,-0.73,-116.7,722.2,-6.9,604,10525,0.00,2.03,0.00,0.000,6,0.000,0.025,2556,2298,3470,0,0,0,0,0,0
$GC,10835,-0.80,-116.7,744.9,-7.4,610,10840,0.15,2.15,0.00,0.000,4,0.122,0.042,2504,3702,3469,0,0,0,0,0,0
$GC,10966,-0.64,-116.7,755.7,-8.3,612,10971,0.20,2.03,0.00,0.000,6,0.192,0.025,2556,2279,3468,0,0,0,0,0,0
$GC,11330,-0.64,-116.7,781.5,-7.1,618,11334,0.00,2.15,0.00,0.000,4,0.000,0.042,2556,3696,3468,0,0,0,0,0,0
$GC,11414,-0.68,-116.7,787.4,-7.1,619,11418,0.00,2.00,0.00,0.000,6,0.000,0.025,2556,2309,3467,0,0,0,0,0,0
$GC,11762,-0.76,-116.7,812.4,-7.2,625,11767,0.10,2.15,0.00,0.000,4,0.142,0.043,2521,3704,3466,0,0,0,0,0,0
$GC,11862,-0.69,-116.7,820.0,-7.9,626,11866,0.00,2.05,0.00,0.000,6,0.000,0.025,2521,2286,3466,0,0,0,0,0,0
$GC,12200,-0.69,-116.7,845.5,-7.7,632,12204,0.00,2.15,0.00,0.000,4,0.000,0.042,2521,3696,3465,0,0,0,0,0,0
$GC,12222,-0.64,-116.7,847.2,-7.0,632,12226,0.08,2.05,0.00,0.000,6,0.170,0.025,2556,2301,3465,0,0,0,0,0,0
$GC,12565,-0.70,-116.7,871.9,-7.3,638,12569,0.00,2.12,0.00,0.000,4,0.000,0.043,2556,3694,3464,0,0,0,0,0,0
$GC,12696,-0.75,-116.7,881.0,-7.2,640,12700,0.12,2.03,0.00,0.000,6,0.135,0.026,2517,2287,3463,0,0,0,0,0,0
$GC,13060,-0.75,-116.7,911.0,-8.3,646,13064,0.00,2.15,0.00,0.000,4,0.000,0.043,2516,3698,3463,0,0,0,0,0,0
$GC,13070,-0.75,-116.7,911.9,-8.3,646,13074,0.00,2.05,0.00,0.000,6,0.000,0.026,2516,2312,3463,0,0,0,0,0,0
$GC,13425,-0.75,-116.7,940.4,-8.0,652,13429,0.00,2.12,0.00,0.000,4,0.000,0.043,2516,3703,3462,0,0,0,0,0,0
$GC,13446,-0.70,-116.7,942.2,-8.2,652,13450,0.00,2.05,0.00,0.000,6,0.000,0.026,2516,2294,3462,0,0,0,0,0,0
$GC,13794,-0.70,-116.7,968.4,-7.5,658,13798,0.00,2.15,0.00,0.000,4,0.000,0.043,2516,3699,3462,0,0,0,0,0,0
$GC,13843,-0.64,-116.7,972.0,-7.8,658,13848,0.08,2.08,0.00,0.000,6,0.156,0.026,2554,2294,3462,0,0,0,0,0,0
$STATE,14157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14157,begin apogee
$GC,14162,-0.24,0.0,992.2,6.4,664,14264,0.43,0.00,99.18,1.545,6,0.160,0.000,2682,2650,3006,0,0,0,0,0,0
$STATE,14265,end apogee,CONTROL_FINISHED_OK
$STATE,14265,begin climb
$GC,14267,0.80,116.7,995.1,0.0,665,14384,1.08,2.35,107.90,1.452,4,0.122,0.037,3024,1271,2529,0,0,0,0,0,0
$GC,14484,0.80,116.7,988.3,7.0,668,14489,0.00,2.25,0.00,0.000,6,0.000,0.033,3020,2639,2522,0,0,0,0,0,0
$GC,14828,0.80,121.1,965.6,6.7,674,14832,0.00,2.20,0.00,0.000,4,0.000,0.046,3020,4054,2518,0,0,0,0,0,0
$GC,15030,0.72,125.6,952.4,6.7,677,15045,0.12,2.08,7.40,1.314,6,0.195,0.027,2999,2639,2492,0,0,0,0,0,0
$GC,15401,0.78,140.7,929.5,6.3,683,15420,0.00,2.25,14.70,1.411,4,0.000,0.047,2994,4058,2432,0,0,0,0,0,0
$GC,15465,0.80,155.2,925.4,6.3,684,15485,0.00,2.12,14.52,1.364,6,0.000,0.026,3002,2656,2372,0,0,0,0,0,0
$GC,15830,0.90,172.1,903.0,6.2,690,15852,0.15,2.15,16.17,1.404,4,0.100,0.037,3069,1258,2302,0,0,0,0,0,0
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$STATE,27324,end climb,SURFACE_DEPTH_REACHED
$STATE,27324,begin surface coast
$FINISH,2.9,1.015335
$STATE,27414,end surface coast,CONTROL_FINISHED_OK
$STATE,27414,begin surface
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$HUMID,1078290958
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$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,22.3,49.983
$10V_AH,9.8,33.870
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.825,234.875,333.075,277.200,0.000,164.415,141.090,0.000,0.000,0.000,903.222,2626.136,20939.180,826.029,4223.596,651.259,0.000,2469.070,0.000,3289.681,0.000,0.535,0.000
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$MEM,235252
$DATA_FILE_SIZE,69527,1205
$CAP_FILE_SIZE,245708,0
$CFSIZE,260165632,229126144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.028,148.3,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7