version: 66.06
glider: 140
mission: 8
dive: 27
start: 10 7 109 4 13 31
data:
$ID,140
$MISSION,8
$DIVE,27
$D_SURF,3
$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,-44798.305
$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,82
$R_STBD_OVSHOOT,43
$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
$GPS1,040700,6437.704,27.599,40,1.2,41,-4.9
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,3.35
$_SM_ANGLEo,-58.2
$GPS2,041308,6437.649,27.545,16,1.1,16,-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,312.5,86121,-13.7,-6.875
$D_GRID,2617
$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,-116.7,0.0,0.0,0,24,0.00,0.00,-7.28,0.000,2,0.000,0.000,220,2280,2021,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.4,-0.0,1,125,9.38,2.28,-82.57,0.000,4,0.264,0.060,2506,3706,3482,0,0,0,0,0,0
$GC,334,-0.65,-116.7,22.6,-8.2,56,342,0.12,2.08,0.00,0.000,6,0.193,0.027,2543,2307,3485,0,0,0,0,0,0
$GC,672,-0.59,-116.7,53.9,-9.1,117,677,0.12,0.00,0.00,0.000,6,0.216,0.000,2574,2303,3486,0,0,0,0,0,0
$GC,991,-0.59,-116.7,77.2,-6.6,142,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2303,3487,0,0,0,0,0,0
$GC,1303,-0.63,-116.7,96.3,-5.9,157,1307,0.00,2.05,0.00,0.000,4,0.000,0.039,2574,918,3488,0,0,0,0,0,0
$GC,1357,-0.63,-116.7,99.9,-6.5,159,1363,0.00,2.08,0.00,0.000,6,0.000,0.031,2574,2299,3488,0,0,0,0,0,0
$GC,1675,-0.67,-116.7,118.5,-5.9,175,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2299,3488,0,0,0,0,0,0
$GC,1983,-0.72,-116.7,136.5,-6.0,190,1985,0.12,0.00,0.00,0.000,6,0.147,0.000,2535,2300,3488,0,0,0,0,0,0
$GC,2293,-0.68,-116.7,160.5,-8.1,205,2297,0.00,2.10,0.00,0.000,4,0.000,0.045,2535,3701,3488,0,0,0,0,0,0
$GC,2342,-0.68,-116.7,164.9,-8.4,207,2346,0.00,2.05,0.00,0.000,6,0.000,0.026,2535,2300,3488,0,0,0,0,0,0
$GC,2665,-0.64,-116.7,191.3,-8.3,223,2668,0.00,2.08,0.00,0.000,4,0.000,0.041,2535,907,3488,0,0,0,0,0,0
$GC,2732,-0.59,-116.7,197.7,-9.4,226,2736,0.15,2.08,0.00,0.000,6,0.209,0.032,2572,2312,3488,0,0,0,0,0,0
$GC,3059,-0.63,-116.7,220.1,-6.6,242,3063,0.00,2.08,0.00,0.000,4,0.000,0.045,2572,3710,3487,0,0,0,0,0,0
$GC,3136,-0.70,-116.7,225.4,-6.6,245,3142,0.00,2.03,0.00,0.000,6,0.000,0.028,2572,2299,3487,0,0,0,0,0,0
$GC,3452,-0.76,-116.7,246.5,-6.6,261,3454,0.15,0.00,0.00,0.000,6,0.135,0.000,2525,2295,3486,0,0,0,0,0,0
$GC,3761,-0.71,-116.7,272.8,-8.6,276,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2295,3485,0,0,0,0,0,0
$GC,4070,-0.66,-116.7,299.2,-8.4,291,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2294,3485,0,0,0,0,0,0
$GC,4397,-0.61,-116.7,325.8,-8.1,302,4399,0.15,0.00,0.00,0.000,6,0.215,0.000,2561,2295,3485,0,0,0,0,0,0
$GC,4704,-0.64,-116.7,346.0,-6.5,312,4708,0.00,2.12,0.00,0.000,4,0.000,0.048,2561,3709,3484,0,0,0,0,0,0
$GC,4759,-0.69,-116.7,350.1,-6.7,313,4765,0.00,2.03,0.00,0.000,6,0.000,0.028,2561,2295,3484,0,0,0,0,0,0
$GC,5071,-0.73,-116.7,370.5,-6.6,324,5075,0.00,2.12,0.00,0.000,4,0.000,0.047,2561,3701,3483,0,0,0,0,0,0
$GC,5121,-0.78,-116.7,373.9,-7.1,325,5126,0.10,2.05,0.00,0.000,6,0.114,0.028,2521,2300,3482,0,0,0,0,0,0
$GC,5444,-0.72,-116.7,400.7,-8.2,336,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2300,3482,0,0,0,0,0,0
$GC,5750,-0.67,-116.7,425.8,-8.2,346,5754,0.00,2.08,0.00,0.000,4,0.000,0.044,2520,914,3481,0,0,0,0,0,0
$GC,5794,-0.60,-116.7,429.8,-9.4,347,5799,0.17,2.08,0.00,0.000,6,0.212,0.035,2565,2292,3481,0,0,0,0,0,0
$GC,6123,-0.64,-116.7,452.3,-6.8,358,6127,0.00,2.10,0.00,0.000,4,0.000,0.048,2565,3707,3480,0,0,0,0,0,0
$GC,6212,-0.70,-116.7,458.6,-7.4,360,6219,0.00,2.05,0.00,0.000,6,0.000,0.029,2565,2303,3480,0,0,0,0,0,0
$GC,6525,-0.74,-116.7,480.4,-7.0,371,6526,0.12,0.00,0.00,0.000,6,0.146,0.000,2527,2300,3479,0,0,0,0,0,0
$GC,6830,-0.71,-116.7,505.8,-8.4,380,6834,0.00,2.12,0.00,0.000,4,0.000,0.048,2527,3701,3479,0,0,0,0,0,0
$GC,6884,-0.71,-116.7,510.5,-8.4,380,6891,0.00,2.05,0.00,0.000,6,0.000,0.029,2526,2307,3478,0,0,0,0,0,0
$GC,7194,-0.68,-116.7,535.3,-8.0,386,7198,0.00,2.08,0.00,0.000,4,0.000,0.044,2527,903,3478,0,0,0,0,0,0
$GC,7243,-0.62,-116.7,539.8,-8.7,386,7248,0.08,2.10,0.00,0.000,6,0.175,0.035,2564,2304,3478,0,0,0,0,0,0
$GC,7558,-0.67,-116.7,560.0,-6.4,392,7562,0.00,2.10,0.00,0.000,4,0.000,0.048,2564,3711,3478,0,0,0,0,0,0
$GC,7641,-0.73,-116.7,565.5,-6.8,393,7645,0.00,2.05,0.00,0.000,6,0.000,0.029,2564,2288,3478,0,0,0,0,0,0
$GC,7995,-0.77,-116.7,587.1,-6.1,399,8000,0.15,2.15,0.00,0.000,4,0.140,0.048,2515,3702,3477,0,0,0,0,0,0
$GC,8050,-0.73,-116.7,591.3,-8.0,399,8056,0.00,2.05,0.00,0.000,6,0.000,0.029,2515,2309,3477,0,0,0,0,0,0
$GC,8360,-0.67,-116.7,615.3,-7.9,405,8364,0.12,2.10,0.00,0.000,4,0.216,0.044,2545,901,3476,0,0,0,0,0,0
$GC,8408,-0.67,-116.7,619.2,-7.5,405,8413,0.00,2.10,0.00,0.000,6,0.000,0.035,2545,2299,3476,0,0,0,0,0,0
$GC,8724,-0.67,-116.7,640.2,-6.7,411,8728,0.00,2.10,0.00,0.000,4,0.000,0.048,2545,3705,3476,0,0,0,0,0,0
$GC,8801,-0.67,-116.7,645.6,-7.0,412,8805,0.00,2.08,0.00,0.000,6,0.000,0.029,2545,2289,3475,0,0,0,0,0,0
$GC,9161,-0.67,-116.7,668.6,-6.4,418,9162,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2288,3475,0,0,0,0,0,0
$GC,9464,-0.67,-116.7,687.6,-6.3,423,9468,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3700,3474,0,0,0,0,0,0
$GC,9541,-0.67,-116.7,692.5,-6.2,424,9545,0.00,2.05,0.00,0.000,6,0.000,0.029,2546,2305,3474,0,0,0,0,0,0
$GC,9901,-0.67,-116.7,714.9,-6.2,430,9905,0.00,2.10,0.00,0.000,4,0.000,0.048,2545,3700,3474,0,0,0,0,0,0
$GC,9950,-0.70,-116.7,718.0,-6.2,430,9954,0.00,2.03,0.00,0.000,6,0.000,0.030,2545,2293,3474,0,0,0,0,0,0
$GC,10265,-0.70,-116.7,738.3,-6.5,436,10266,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2293,3474,0,0,0,0,0,0
$GC,10569,-0.70,-116.7,758.5,-6.6,441,10573,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3706,3473,0,0,0,0,0,0
$GC,10641,-0.74,-116.7,763.6,-7.1,442,10645,0.00,2.08,0.00,0.000,6,0.000,0.030,2545,2298,3473,0,0,0,0,0,0
$GC,11006,-0.74,-116.7,788.3,-6.8,448,11010,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3705,3473,0,0,0,0,0,0
$GC,11055,-0.77,-116.7,791.8,-7.1,448,11059,0.00,2.03,0.00,0.000,6,0.000,0.030,2545,2298,3473,0,0,0,0,0,0
$GC,11370,-0.77,-116.7,812.7,-6.7,454,11374,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3705,3473,0,0,0,0,0,0
$GC,11419,-0.81,-116.7,816.2,-6.9,454,11424,0.12,2.03,0.00,0.000,6,0.150,0.030,2506,2294,3473,0,0,0,0,0,0
$GC,11734,-0.74,-116.7,841.1,-8.0,460,11735,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2292,3472,0,0,0,0,0,0
$GC,12037,-0.68,-116.7,864.7,-7.7,465,12039,0.15,0.00,0.00,0.000,6,0.212,0.000,2542,2291,3472,0,0,0,0,0,0
$GC,12340,-0.68,-116.7,883.8,-6.2,470,12344,0.00,2.12,0.00,0.000,4,0.000,0.049,2542,3701,3472,0,0,0,0,0,0
$GC,12395,-0.71,-116.7,887.5,-6.7,470,12399,0.00,2.03,0.00,0.000,6,0.000,0.030,2542,2301,3472,0,0,0,0,0,0
$GC,12709,-0.71,-116.7,906.9,-6.2,476,12710,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2301,3472,0,0,0,0,0,0
$GC,13012,-0.71,-116.7,926.0,-6.3,481,13016,0.00,2.12,0.00,0.000,4,0.000,0.049,2543,3704,3471,0,0,0,0,0,0
$GC,13096,-0.74,-116.7,931.5,-6.2,482,13100,0.00,2.03,0.00,0.000,6,0.000,0.030,2542,2299,3471,0,0,0,0,0,0
$GC,13450,-0.74,-116.7,953.8,-6.4,488,13451,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2299,3471,0,0,0,0,0,0
$GC,13753,-0.74,-116.7,973.0,-6.4,493,13757,0.00,2.12,0.00,0.000,4,0.000,0.049,2543,3708,3471,0,0,0,0,0,0
$GC,13837,-0.78,-116.7,978.6,-6.3,494,13841,0.00,2.05,0.00,0.000,6,0.000,0.030,2543,2289,3471,0,0,0,0,0,0
$STATE,14067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14067,begin apogee
$GC,14073,-0.24,0.0,993.4,6.4,498,14174,0.47,0.00,98.93,1.560,6,0.179,0.000,2686,2650,3006,0,0,0,0,0,0
$STATE,14175,end apogee,CONTROL_FINISHED_OK
$STATE,14175,begin climb
$GC,14177,0.80,116.7,995.5,0.0,499,14291,1.08,2.35,105.22,1.457,4,0.129,0.051,3013,4039,2529,0,0,0,0,0,0
$GC,14335,0.54,116.7,991.1,8.7,502,14340,0.35,2.17,0.00,0.000,6,0.207,0.029,2940,2653,2524,0,0,0,0,0,0
$GC,14678,0.53,139.9,970.5,6.0,508,14703,0.00,2.28,20.23,1.423,4,0.000,0.050,2939,4039,2435,0,0,0,0,0,0
$GC,14725,0.47,144.1,967.4,6.7,508,14738,0.12,2.15,5.30,1.070,6,0.214,0.030,2921,2648,2418,0,0,0,0,0,0
$GC,15039,0.51,173.8,949.4,5.7,514,15069,0.00,0.00,27.60,1.437,6,0.000,0.000,2921,2648,2297,0,0,0,0,0,0
$GC,15343,0.59,197.8,931.8,5.9,519,15367,0.00,0.00,22.52,1.424,6,0.000,0.000,2921,2648,2199,0,0,0,0,0,0
$GC,15646,0.67,212.1,912.9,6.3,524,15666,0.17,2.30,13.93,1.394,4,0.121,0.052,2977,4037,2141,0,0,0,0,0,0
$GC,15693,0.56,212.1,908.7,10.1,524,15698,0.15,2.15,0.00,0.000,6,0.202,0.030,2953,2634,2139,0,0,0,0,0,0
$GC,16013,0.56,212.1,884.4,7.6,530,16017,0.00,2.22,0.00,0.000,4,0.000,0.051,2952,4044,2136,0,0,0,0,0,0
$GC,16034,0.56,212.1,882.6,8.5,530,16038,0.00,2.15,0.00,0.000,6,0.000,0.031,2959,2646,2136,0,0,0,0,0,0
$GC,16377,0.56,212.1,856.4,7.6,536,16380,0.00,2.20,0.00,0.000,4,0.000,0.051,2959,4050,2134,0,0,0,0,0,0
$GC,16392,0.56,212.1,855.0,7.6,536,16396,0.00,2.12,0.00,0.000,6,0.000,0.031,2968,2650,2134,0,0,0,0,0,0
$GC,16746,0.56,212.1,827.6,7.7,542,16750,0.00,2.20,0.00,0.000,4,0.000,0.051,2968,4049,2133,0,0,0,0,0,0
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$STATE,26627,begin surface coast
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$STATE,26665,end surface coast,CONTROL_FINISHED_OK
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