version: 66.06
glider: 140
mission: 8
dive: 225
start: 12 7 109 0 46 1
data:
$ID,140
$MISSION,8
$DIVE,225
$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,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,-48428.84
$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,86
$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
$GPS1,003854,6345.866,156.757,74,1.0,75,-3.9
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,3.42
$_SM_ANGLEo,-58.9
$GPS2,004538,6345.976,156.859,12,1.2,12,-3.9
$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,321.0,202442,-13.7,-6.875
$D_GRID,1580
$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,-7.40,0.000,2,0.000,0.000,212,2269,2033,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.3,-0.0,1,113,8.23,2.08,-69.60,0.000,4,0.196,0.051,2499,934,3482,0,0,0,0,0,0
$GC,363,-0.66,-116.7,41.8,-12.6,61,370,0.17,2.03,0.00,0.000,6,0.187,0.028,2546,2307,3484,0,0,0,0,0,0
$GC,702,-0.66,-116.7,73.8,-9.3,122,707,0.00,2.08,0.00,0.000,4,0.000,0.034,2546,920,3484,0,0,0,0,0,0
$GC,900,-0.63,-116.7,91.9,-7.6,157,906,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2313,3485,0,0,0,0,0,0
$GC,1242,-0.63,-116.7,110.7,-7.8,218,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2313,3485,0,0,0,0,0,0
$GC,1565,-0.63,-116.7,136.3,-9.0,252,1569,0.00,2.08,0.00,0.000,4,0.000,0.034,2546,918,3485,0,0,0,0,0,0
$GC,1615,-0.63,-116.7,141.4,-10.4,254,1619,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2295,3485,0,0,0,0,0,0
$GC,1936,-0.63,-116.7,167.5,-8.4,270,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2295,3485,0,0,0,0,0,0
$GC,2246,-0.63,-116.7,192.4,-7.7,285,2250,0.00,2.08,0.00,0.000,4,0.000,0.039,2546,3702,3485,0,0,0,0,0,0
$GC,2308,-0.63,-116.7,197.6,-8.1,288,2311,0.00,1.98,0.00,0.000,6,0.000,0.022,2546,2303,3485,0,0,0,0,0,0
$GC,2639,-0.63,-116.7,223.4,-7.4,304,2643,0.00,2.00,0.00,0.000,4,0.000,0.035,2546,928,3485,0,0,0,0,0,0
$GC,2717,-0.63,-116.7,229.7,-8.0,307,2721,0.00,2.03,0.00,0.000,6,0.000,0.027,2546,2296,3485,0,0,0,0,0,0
$GC,3038,-0.63,-116.7,253.7,-7.9,323,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2296,3485,0,0,0,0,0,0
$GC,3348,-0.63,-116.7,279.6,-8.7,338,3349,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2296,3485,0,0,0,0,0,0
$GC,3657,-0.63,-116.7,305.4,-8.2,352,3661,0.00,2.08,0.00,0.000,4,0.000,0.040,2546,3698,3485,0,0,0,0,0,0
$GC,3702,-0.63,-116.7,309.2,-8.1,353,3706,0.00,1.98,0.00,0.000,6,0.000,0.022,2546,2302,3485,0,0,0,0,0,0
$GC,4025,-0.63,-116.7,334.6,-7.7,364,4029,0.00,2.03,0.00,0.000,4,0.000,0.035,2546,918,3485,0,0,0,0,0,0
$GC,4080,-0.63,-116.7,338.9,-7.4,365,4084,0.00,2.08,0.00,0.000,6,0.000,0.028,2546,2308,3485,0,0,0,0,0,0
$GC,4398,-0.63,-116.7,358.8,-6.2,376,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2308,3485,0,0,0,0,0,0
$GC,4705,-0.63,-116.7,377.3,-6.1,386,4709,0.00,2.05,0.00,0.000,4,0.000,0.035,2546,922,3485,0,0,0,0,0,0
$GC,4777,-0.63,-116.7,382.8,-7.9,388,4781,0.00,2.05,0.00,0.000,6,0.000,0.027,2546,2303,3485,0,0,0,0,0,0
$GC,5106,-0.63,-116.7,409.2,-8.1,399,5110,0.00,2.05,0.00,0.000,4,0.000,0.035,2546,919,3485,0,0,0,0,0,0
$GC,5161,-0.63,-116.7,413.8,-8.5,400,5167,0.00,2.05,0.00,0.000,6,0.000,0.028,2547,2299,3485,0,0,0,0,0,0
$GC,5474,-0.63,-116.7,435.2,-6.5,411,5477,0.00,2.08,0.00,0.000,4,0.000,0.041,2546,3696,3484,0,0,0,0,0,0
$GC,5547,-0.66,-116.7,439.8,-5.9,413,5550,0.00,1.98,0.00,0.000,6,0.000,0.023,2546,2297,3484,0,0,0,0,0,0
$GC,5881,-0.66,-116.7,460.4,-6.2,424,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2293,3484,0,0,0,0,0,0
$GC,6187,-0.66,-116.7,481.2,-7.0,434,6191,0.00,2.12,0.00,0.000,4,0.000,0.041,2546,3699,3484,0,0,0,0,0,0
$GC,6260,-0.70,-116.7,486.5,-7.0,436,6263,0.00,1.98,0.00,0.000,6,0.000,0.024,2546,2301,3483,0,0,0,0,0,0
$GC,6593,-0.70,-116.7,511.1,-7.5,445,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2299,3483,0,0,0,0,0,0
$GC,6896,-0.70,-116.7,533.7,-7.3,450,6900,0.00,2.12,0.00,0.000,4,0.000,0.041,2546,3699,3482,0,0,0,0,0,0
$GC,6980,-0.74,-116.7,539.7,-7.4,451,6984,0.00,2.00,0.00,0.000,6,0.000,0.024,2546,2293,3482,0,0,0,0,0,0
$GC,7334,-0.74,-116.7,562.5,-6.3,457,7338,0.00,2.12,0.00,0.000,4,0.000,0.041,2546,3701,3480,0,0,0,0,0,0
$GC,7389,-0.78,-116.7,566.0,-6.3,457,7395,0.00,2.00,0.00,0.000,6,0.000,0.025,2546,2290,3480,0,0,0,0,0,0
$GC,7698,-0.78,-116.7,584.8,-6.2,463,7702,0.00,2.12,0.00,0.000,4,0.000,0.041,2546,3697,3479,0,0,0,0,0,0
$GC,7771,-0.82,-116.7,589.4,-6.3,464,7776,0.15,2.00,0.00,0.000,6,0.129,0.025,2498,2290,3479,0,0,0,0,0,0
$GC,8125,-0.75,-116.7,617.4,-8.0,470,8126,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2288,3477,0,0,0,0,0,0
$GC,8427,-0.68,-116.7,641.9,-8.1,475,8432,0.17,2.05,0.00,0.000,4,0.183,0.038,2544,920,3476,0,0,0,0,0,0
$GC,8481,-0.68,-116.7,646.0,-7.4,475,8488,0.00,2.08,0.00,0.000,6,0.000,0.030,2544,2303,3476,0,0,0,0,0,0
$GC,8791,-0.68,-116.7,665.3,-6.3,481,8795,0.00,2.10,0.00,0.000,4,0.000,0.043,2544,3700,3475,0,0,0,0,0,0
$GC,8886,-0.72,-116.7,671.2,-6.6,482,8890,0.00,2.00,0.00,0.000,6,0.000,0.025,2544,2303,3474,0,0,0,0,0,0
$GC,9229,-0.72,-116.7,690.7,-5.7,488,9233,0.00,2.12,0.00,0.000,4,0.000,0.042,2544,3699,3474,0,0,0,0,0,0
$GC,9284,-0.76,-116.7,694.1,-6.1,488,9290,0.00,2.03,0.00,0.000,6,0.000,0.025,2544,2295,3473,0,0,0,0,0,0
$GC,9594,-0.76,-116.7,713.5,-6.3,494,9598,0.00,2.15,0.00,0.000,4,0.000,0.043,2544,3706,3472,0,0,0,0,0,0
$GC,9644,-0.80,-116.7,717.0,-7.0,494,9648,0.08,2.05,0.00,0.000,6,0.110,0.026,2500,2304,3472,0,0,0,0,0,0
$GC,9959,-0.74,-116.7,743.2,-8.4,500,9963,0.00,2.08,0.00,0.000,4,0.000,0.038,2501,908,3471,0,0,0,0,0,0
$GC,10014,-0.66,-116.7,748.4,-9.4,500,10019,0.15,2.10,0.00,0.000,6,0.168,0.031,2545,2298,3471,0,0,0,0,0,0
$GC,10329,-0.69,-116.7,770.8,-7.0,506,10333,0.00,2.10,0.00,0.000,4,0.000,0.043,2545,3706,3470,0,0,0,0,0,0
$GC,10412,-0.74,-116.7,776.9,-7.4,507,10417,0.00,2.05,0.00,0.000,6,0.000,0.026,2545,2305,3470,0,0,0,0,0,0
$GC,10762,-0.78,-116.7,800.8,-6.9,513,10765,0.00,2.12,0.00,0.000,4,0.000,0.043,2545,3701,3469,0,0,0,0,0,0
$GC,10811,-0.83,-116.7,804.4,-7.0,513,10816,0.15,2.03,0.00,0.000,6,0.130,0.026,2496,2293,3469,0,0,0,0,0,0
$GC,11121,-0.76,-116.7,830.5,-8.6,518,11122,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2292,3468,0,0,0,0,0,0
$GC,11423,-0.69,-116.7,856.1,-8.4,523,11425,0.15,0.00,0.00,0.000,6,0.185,0.000,2536,2290,3468,0,0,0,0,0,0
$GC,11727,-0.69,-116.7,877.1,-6.8,528,11728,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2290,3467,0,0,0,0,0,0
$GC,12029,-0.69,-116.7,898.1,-7.0,533,12033,0.00,2.17,0.00,0.000,4,0.000,0.044,2536,3706,3467,0,0,0,0,0,0
$GC,12113,-0.72,-116.7,904.1,-7.2,534,12117,0.00,2.05,0.00,0.000,6,0.000,0.027,2536,2296,3466,0,0,0,0,0,0
$GC,12467,-0.72,-116.7,928.0,-6.7,540,12468,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2295,3466,0,0,0,0,0,0
$GC,12770,-0.72,-116.7,947.9,-6.5,545,12774,0.00,2.15,0.00,0.000,4,0.000,0.044,2536,3701,3465,0,0,0,0,0,0
$GC,12858,-0.76,-116.7,953.9,-7.0,546,12862,0.00,2.08,0.00,0.000,6,0.000,0.026,2536,2269,3465,0,0,0,0,0,0
$GC,13202,-0.76,-116.7,974.7,-6.0,552,13206,0.00,2.20,0.00,0.000,4,0.000,0.043,2537,3705,3465,0,0,0,0,0,0
$GC,13269,-0.80,-116.7,979.0,-6.6,553,13273,0.00,2.05,0.00,0.000,6,0.000,0.027,2536,2293,3464,0,0,0,0,0,0
$STATE,13450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13450,begin apogee
$GC,13456,-0.24,0.0,990.4,6.2,556,13557,0.50,0.00,98.60,1.546,6,0.164,0.000,2685,2651,3006,0,0,0,0,0,0
$STATE,13558,end apogee,CONTROL_FINISHED_OK
$STATE,13558,begin climb
$GC,13560,0.80,116.7,992.3,0.0,557,13676,1.08,2.38,106.78,1.447,4,0.110,0.044,3018,4036,2528,0,0,0,0,0,0
$GC,13709,0.53,116.7,988.7,8.5,560,13714,0.35,2.20,0.00,0.000,6,0.170,0.026,2940,2650,2524,0,0,0,0,0,0
$GC,14058,0.56,143.4,968.2,5.8,566,14087,0.00,2.30,23.23,1.424,4,0.000,0.046,2940,4035,2420,0,0,0,0,0,0
$GC,14098,0.61,184.9,965.7,5.2,566,14143,0.00,2.12,38.67,1.407,6,0.000,0.027,2949,2649,2251,0,0,0,0,0,0
$GC,14486,0.61,184.9,938.5,7.0,573,14487,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2649,2241,0,0,0,0,0,0
$GC,14790,0.61,184.9,917.3,7.0,578,14794,0.00,2.17,0.00,0.000,4,0.000,0.045,2948,4040,2239,0,0,0,0,0,0
$GC,14805,0.61,184.9,916.0,7.1,578,14809,0.00,2.10,0.00,0.000,6,0.000,0.027,2956,2649,2239,0,0,0,0,0,0
$GC,15154,0.61,184.9,890.9,7.2,584,15157,0.00,2.17,0.00,0.000,4,0.000,0.045,2953,4049,2238,0,0,0,0,0,0
$GC,15174,0.61,184.9,889.1,7.7,584,15179,0.00,2.12,0.00,0.000,6,0.000,0.028,2962,2641,2238,0,0,0,0,0,0
$GC,15524,0.61,184.9,863.7,7.3,590,15528,0.00,2.17,0.00,0.000,4,0.000,0.045,2962,4049,2237,0,0,0,0,0,0
$GC,15550,0.57,184.9,861.5,7.6,590,15554,0.00,2.10,0.00,0.000,6,0.000,0.028,2971,2649,2237,0,0,0,0,0,0
$GC,15887,0.57,184.9,835.6,7.6,596,15891,0.00,2.17,0.00,0.000,4,0.000,0.045,2967,4051,2237,0,0,0,0,0,0
$GC,15915,0.51,184.9,833.4,7.5,596,15920,0.17,2.08,0.00,0.000,6,0.183,0.028,2930,2641,2236,0,0,0,0,0,0
$GC,16247,0.60,207.6,813.3,6.0,602,16268,0.00,0.00,19.30,1.417,6,0.000,0.000,2930,2641,2159,0,0,0,0,0,0
$GC,16550,0.69,225.9,794.7,6.1,607,16570,0.17,0.00,17.65,1.366,6,0.108,0.000,2989,2638,2085,0,0,0,0,0,0
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$STATE,25291,end climb,SURFACE_DEPTH_REACHED
$STATE,25291,begin surface coast
$FINISH,2.9,1.027307
$STATE,25297,end surface coast,CONTROL_FINISHED_OK
$STATE,25297,begin surface
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$TCM_TEMP,15.40
$XPDR_PINGS,0
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$10V_AH,9.9,24.661
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,235104
$DATA_FILE_SIZE,57148,1019
$CAP_FILE_SIZE,197897,0
$CFSIZE,260165632,236355584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073, 90.2,1
$GPS,071209,075007,6348.125,153.915,37,1.7,37,-3.9