version: 66.06
glider: 140
mission: 8
dive: 316
start: 1 4 110 19 34 46
data:
$ID,140
$MISSION,8
$DIVE,316
$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,-82325.312
$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,72
$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
$GPS1,061850,6350.368,223.979,901,99.0,901,-3.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.29
$_SM_ANGLEo,-58.2
$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,16,-0.80,-116.7,0.0,0.0,0,25,0.00,0.00,-7.28,0.000,2,0.000,0.000,216,2284,702,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.2,-0.0,1,188,8.73,2.08,-141.18,0.000,4,0.226,0.052,2505,912,3484,0,0,0,0,0,0
$GC,438,-0.47,-116.7,36.9,-8.4,75,445,0.38,2.05,0.00,0.000,6,0.193,0.029,2607,2312,3484,0,0,0,0,0,0
$GC,777,-0.43,-116.7,55.9,-8.1,136,784,0.00,2.12,0.00,0.000,4,0.000,0.035,2608,918,3484,0,0,0,0,0,0
$GC,852,-0.39,-116.7,61.0,-6.7,149,858,0.10,2.03,0.00,0.000,6,0.217,0.028,2633,2299,3484,0,0,0,0,0,0
$GC,1196,-0.50,-116.7,81.4,-5.9,210,1201,0.00,2.08,0.00,0.000,4,0.000,0.041,2633,3700,3484,0,0,0,0,0,0
$GC,1350,-0.66,-116.7,90.9,-5.3,237,1356,0.25,2.03,0.00,0.000,6,0.100,0.023,2546,2265,3484,0,0,0,0,0,0
$GC,1691,-0.66,-116.7,111.5,-5.9,298,1696,0.00,1.95,0.00,0.000,4,0.000,0.034,2546,930,3484,0,0,0,0,0,0
$GC,1770,-0.50,-116.7,116.6,-6.7,312,1777,0.17,2.05,0.00,0.000,6,0.179,0.028,2595,2305,3484,0,0,0,0,0,0
$GC,2099,-0.44,-116.7,138.5,-7.4,335,2103,0.00,2.08,0.00,0.000,4,0.000,0.041,2595,3704,3483,0,0,0,0,0,0
$GC,2148,-0.39,-116.7,142.6,-7.7,337,2153,0.10,2.03,0.00,0.000,6,0.175,0.023,2629,2299,3483,0,0,0,0,0,0
$GC,2470,-0.57,-116.7,165.4,-7.1,353,2475,0.15,2.15,0.00,0.000,4,0.123,0.040,2576,3701,3484,0,0,0,0,0,0
$GC,2603,-0.61,-116.7,175.3,-7.9,359,2607,0.00,1.98,0.00,0.000,6,0.000,0.022,2576,2310,3483,0,0,0,0,0,0
$GC,2936,-0.68,-116.7,199.7,-7.2,375,2940,0.00,2.10,0.00,0.000,4,0.000,0.039,2576,3702,3484,0,0,0,0,0,0
$GC,3003,-0.71,-116.7,204.5,-7.1,378,3008,0.12,2.00,0.00,0.000,6,0.133,0.023,2534,2289,3483,0,0,0,0,0,0
$GC,3323,-0.71,-116.7,228.2,-7.6,394,3326,0.00,2.00,0.00,0.000,4,0.000,0.035,2535,929,3483,0,0,0,0,0,0
$GC,3369,-0.57,-116.7,231.8,-7.9,396,3373,0.17,2.03,0.00,0.000,6,0.199,0.028,2579,2308,3483,0,0,0,0,0,0
$GC,3696,-0.49,-116.7,254.9,-7.3,412,3700,0.00,2.08,0.00,0.000,4,0.000,0.041,2579,3699,3483,0,0,0,0,0,0
$GC,3735,-0.41,-116.7,258.0,-8.0,414,3740,0.17,2.00,0.00,0.000,6,0.191,0.022,2625,2278,3483,0,0,0,0,0,0
$GC,4062,-0.59,-116.7,279.6,-6.7,430,4067,0.15,2.00,0.00,0.000,4,0.122,0.035,2572,930,3483,0,0,0,0,0,0
$GC,4194,-0.59,-116.7,288.6,-7.0,436,4198,0.00,2.00,0.00,0.000,6,0.000,0.028,2572,2303,3483,0,0,0,0,0,0
$GC,4514,-0.66,-116.7,311.4,-7.2,449,4518,0.00,2.05,0.00,0.000,4,0.000,0.041,2572,3696,3483,0,0,0,0,0,0
$GC,4602,-0.70,-116.7,317.4,-7.0,451,4606,0.00,2.00,0.00,0.000,6,0.000,0.022,2572,2302,3483,0,0,0,0,0,0
$GC,4921,-0.78,-116.7,341.0,-7.3,462,4925,0.17,2.05,0.00,0.000,4,0.115,0.035,2512,926,3483,0,0,0,0,0,0
$GC,4930,-0.82,-116.7,341.8,-7.2,462,4934,0.00,2.05,0.00,0.000,6,0.000,0.028,2511,2300,3483,0,0,0,0,0,0
$GC,5260,-0.76,-116.7,368.5,-8.1,473,5263,0.00,2.08,0.00,0.000,4,0.000,0.035,2511,920,3483,0,0,0,0,0,0
$GC,5282,-0.65,-116.7,370.2,-8.0,473,5286,0.15,2.03,0.00,0.000,6,0.204,0.028,2548,2303,3483,0,0,0,0,0,0
$GC,5593,-0.65,-116.7,392.3,-6.9,483,5597,0.00,2.08,0.00,0.000,4,0.000,0.041,2549,3702,3482,0,0,0,0,0,0
$GC,5636,-0.65,-116.7,395.3,-7.0,484,5640,0.00,2.03,0.00,0.000,6,0.000,0.023,2549,2295,3482,0,0,0,0,0,0
$GC,5960,-0.68,-116.7,417.8,-7.2,495,5964,0.00,2.12,0.00,0.000,4,0.000,0.040,2548,3701,3482,0,0,0,0,0,0
$GC,6004,-0.68,-116.7,421.1,-7.3,496,6008,0.00,2.03,0.00,0.000,6,0.000,0.023,2549,2302,3482,0,0,0,0,0,0
$GC,6329,-0.72,-116.7,444.3,-7.3,507,6332,0.00,2.12,0.00,0.000,4,0.000,0.041,2549,3705,3481,0,0,0,0,0,0
$GC,6372,-0.72,-116.7,447.7,-7.9,508,6376,0.00,2.05,0.00,0.000,6,0.000,0.024,2548,2294,3481,0,0,0,0,0,0
$GC,6696,-0.75,-116.7,472.2,-7.8,519,6700,0.00,2.12,0.00,0.000,4,0.000,0.041,2549,3698,3479,0,0,0,0,0,0
$GC,6745,-0.75,-116.7,476.0,-7.6,520,6749,0.00,2.03,0.00,0.000,6,0.000,0.024,2549,2303,3480,0,0,0,0,0,0
$GC,7063,-0.78,-116.7,500.1,-7.6,531,7068,0.12,2.15,0.00,0.000,4,0.133,0.041,2508,3704,3478,0,0,0,0,0,0
$GC,7140,-0.68,-116.7,506.8,-8.9,532,7145,0.12,2.05,0.00,0.000,6,0.189,0.024,2539,2265,3477,0,0,0,0,0,0
$GC,7494,-0.68,-116.7,534.1,-7.6,538,7498,0.00,2.17,0.00,0.000,4,0.000,0.041,2539,3698,3477,0,0,0,0,0,0
$GC,7532,-0.65,-116.7,536.9,-7.1,538,7536,0.00,2.03,0.00,0.000,6,0.000,0.024,2539,2310,3477,0,0,0,0,0,0
$GC,7858,-0.65,-116.7,560.9,-7.4,544,7862,0.00,2.10,0.00,0.000,4,0.000,0.041,2539,3695,3476,0,0,0,0,0,0
$GC,7908,-0.65,-116.7,564.5,-7.5,544,7912,0.00,2.00,0.00,0.000,6,0.000,0.025,2540,2297,3475,0,0,0,0,0,0
$GC,8222,-0.65,-116.7,586.4,-7.0,550,8226,0.00,2.15,0.00,0.000,4,0.000,0.042,2539,3700,3474,0,0,0,0,0,0
$GC,8277,-0.65,-116.7,590.3,-7.3,550,8282,0.00,2.05,0.00,0.000,6,0.000,0.025,2539,2306,3474,0,0,0,0,0,0
$GC,8593,-0.65,-116.7,612.1,-7.0,556,8597,0.00,2.12,0.00,0.000,4,0.000,0.042,2539,3701,3473,0,0,0,0,0,0
$GC,8631,-0.65,-116.7,614.8,-6.3,556,8636,0.00,2.05,0.00,0.000,6,0.000,0.025,2540,2307,3473,0,0,0,0,0,0
$GC,8958,-0.65,-116.7,636.9,-6.8,562,8962,0.00,2.12,0.00,0.000,4,0.000,0.042,2540,3701,3471,0,0,0,0,0,0
$GC,8986,-0.65,-116.7,638.7,-6.5,562,8990,0.00,2.03,0.00,0.000,6,0.000,0.025,2539,2298,3472,0,0,0,0,0,0
$GC,9318,-0.65,-116.7,660.7,-6.7,568,9321,0.00,2.08,0.00,0.000,4,0.000,0.039,2540,908,3471,0,0,0,0,0,0
$GC,9424,-0.59,-116.7,667.9,-6.3,569,9428,0.12,2.05,0.00,0.000,6,0.203,0.031,2571,2296,3470,0,0,0,0,0,0
$GC,9750,-0.68,-116.7,688.7,-6.5,575,9754,0.00,2.10,0.00,0.000,4,0.000,0.044,2571,3699,3469,0,0,0,0,0,0
$GC,9761,-0.76,-116.7,689.6,-6.5,575,9765,0.17,2.03,0.00,0.000,6,0.123,0.026,2515,2292,3469,0,0,0,0,0,0
$GC,10109,-0.73,-116.7,716.0,-7.7,581,10113,0.00,2.15,0.00,0.000,4,0.000,0.043,2515,3698,3468,0,0,0,0,0,0
$GC,10208,-0.63,-116.7,724.0,-8.2,582,10213,0.12,2.05,0.00,0.000,6,0.169,0.025,2553,2301,3468,0,0,0,0,0,0
$GC,10541,-0.69,-116.7,747.4,-7.1,588,10545,0.00,2.15,0.00,0.000,4,0.000,0.044,2553,3705,3467,0,0,0,0,0,0
$GC,10618,-0.69,-116.7,752.6,-6.7,589,10622,0.00,2.05,0.00,0.000,6,0.000,0.026,2554,2314,3467,0,0,0,0,0,0
$GC,10979,-0.75,-116.7,777.0,-6.8,595,10983,0.00,2.12,0.00,0.000,4,0.000,0.043,2553,3704,3466,0,0,0,0,0,0
$GC,11111,-0.78,-116.7,785.5,-5.7,597,11115,0.12,2.05,0.00,0.000,6,0.137,0.026,2516,2288,3466,0,0,0,0,0,0
$GC,11481,-0.78,-116.7,813.5,-7.6,603,11484,0.00,2.05,0.00,0.000,4,0.000,0.039,2515,913,3465,0,0,0,0,0,0
$GC,11514,-0.67,-116.7,816.3,-8.3,603,11519,0.12,2.08,0.00,0.000,6,0.205,0.031,2544,2306,3465,0,0,0,0,0,0
$GC,11839,-0.71,-116.7,839.4,-7.1,609,11843,0.00,2.10,0.00,0.000,4,0.000,0.044,2544,3704,3465,0,0,0,0,0,0
$GC,11905,-0.71,-116.7,844.1,-7.2,610,11909,0.00,2.03,0.00,0.000,6,0.000,0.026,2545,2302,3464,0,0,0,0,0,0
$GC,12271,-0.75,-116.7,869.6,-7.0,616,12275,0.00,2.17,0.00,0.000,4,0.000,0.044,2545,3707,3464,0,0,0,0,0,0
$GC,12281,-0.79,-116.7,870.2,-6.9,616,12285,0.12,2.05,0.00,0.000,6,0.145,0.027,2506,2297,3464,0,0,0,0,0,0
$GC,12635,-0.75,-116.7,896.7,-7.6,622,12639,0.00,2.15,0.00,0.000,4,0.000,0.044,2505,3698,3463,0,0,0,0,0,0
$GC,12724,-0.59,-116.7,903.6,-7.4,623,12728,0.17,2.08,0.00,0.000,6,0.171,0.026,2569,2294,3463,0,0,0,0,0,0
$GC,13067,-0.69,-116.7,926.3,-6.6,629,13071,0.00,2.15,0.00,0.000,4,0.000,0.044,2570,3697,3463,0,0,0,0,0,0
$GC,13207,-0.77,-116.7,935.5,-6.9,631,13212,0.17,2.03,0.00,0.000,6,0.120,0.026,2514,2298,3463,0,0,0,0,0,0
$GC,13566,-0.77,-116.7,962.7,-7.5,637,13570,0.00,2.05,0.00,0.000,4,0.000,0.039,2514,923,3463,0,0,0,0,0,0
$GC,13610,-0.66,-116.7,966.0,-6.9,637,13615,0.15,2.05,0.00,0.000,6,0.202,0.032,2551,2299,3462,0,0,0,0,0,0
$GC,13924,-0.72,-116.7,987.4,-6.8,643,13928,0.00,2.12,0.00,0.000,4,0.000,0.044,2551,3701,3462,0,0,0,0,0,0
$STATE,13961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13961,begin apogee
$GC,13968,-0.24,0.0,990.1,5.9,643,14071,0.43,0.00,100.07,1.538,6,0.165,0.000,2680,2633,3006,0,0,0,0,0,0
$STATE,14072,end apogee,CONTROL_FINISHED_OK
$STATE,14072,begin climb
$GC,14074,0.80,116.7,994.1,0.0,645,14197,1.10,2.35,109.93,1.450,4,0.123,0.036,3025,1287,2528,0,0,0,0,0,0
$GC,14265,0.83,148.4,988.9,5.6,648,14301,0.00,2.22,30.08,1.398,6,0.000,0.034,3021,2646,2400,0,0,0,0,0,0
$GC,14629,0.89,154.9,965.2,6.6,654,14639,0.00,2.22,6.05,1.203,4,0.000,0.044,3021,4053,2373,0,0,0,0,0,0
$GC,14859,0.86,167.8,950.0,6.4,657,14878,0.00,2.08,13.30,1.384,6,0.000,0.027,3030,2652,2320,0,0,0,0,0,0
$GC,15194,0.92,170.7,927.7,6.8,663,15198,0.00,2.17,0.00,0.000,4,0.000,0.045,3030,4049,2316,0,0,0,0,0,0
$GC,15238,0.88,179.4,924.5,6.5,663,15256,0.00,2.08,11.20,1.380,6,0.000,0.028,3041,2647,2273,0,0,0,0,0,0
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$STATE,26662,end climb,SURFACE_DEPTH_REACHED
$STATE,26662,begin surface coast
$FINISH,2.9,1.027568
$STATE,26685,end surface coast,CONTROL_FINISHED_OK
$STATE,26685,begin surface
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$XPDR_PINGS,1
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$10V_AH,9.7,35.721
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,235252
$DATA_FILE_SIZE,66445,1148
$CAP_FILE_SIZE,245156,0
$CFSIZE,260165632,227762176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.008,145.0,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7