version: 66.06
glider: 140
mission: 8
dive: 35
start: 10 9 109 17 39 25
data:
$ID,140
$MISSION,8
$DIVE,35
$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,-44938.422
$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,80
$R_STBD_OVSHOOT,41
$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
$GPS1,173301,6451.026,-24.819,40,1.3,40,-5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.70
$_SM_ANGLEo,-66.7
$GPS2,173902,6451.025,-24.848,17,1.4,17,-5.4
$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,320.7,38992,-13.7,-6.875
$D_GRID,2779
$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,-7.65,0.000,2,0.000,0.000,219,2263,2037,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.6,-0.0,1,123,9.62,2.25,-79.62,0.000,4,0.275,0.057,2501,3712,3481,0,0,0,0,0,0
$GC,338,-0.66,-116.7,25.0,-10.4,57,345,0.17,2.05,0.00,0.000,6,0.196,0.026,2546,2290,3484,0,0,0,0,0,0
$GC,674,-0.61,-116.7,52.9,-8.5,118,681,0.00,2.05,0.00,0.000,4,0.000,0.038,2546,939,3484,0,0,0,0,0,0
$GC,764,-0.54,-116.7,60.8,-8.5,134,769,0.15,2.05,0.00,0.000,6,0.198,0.032,2585,2315,3485,0,0,0,0,0,0
$GC,1092,-0.60,-116.7,82.7,-6.7,150,1096,0.00,2.10,0.00,0.000,4,0.000,0.038,2585,923,3485,0,0,0,0,0,0
$GC,1146,-0.64,-116.7,86.8,-7.2,152,1150,0.00,2.08,0.00,0.000,6,0.000,0.031,2585,2305,3485,0,0,0,0,0,0
$GC,1468,-0.70,-116.7,106.7,-6.1,168,1472,0.15,2.10,0.00,0.000,4,0.133,0.044,2538,3703,3486,0,0,0,0,0,0
$GC,1616,-0.70,-116.7,118.3,-7.3,174,1625,0.00,2.03,0.00,0.000,6,0.000,0.025,2538,2307,3486,0,0,0,0,0,0
$GC,1932,-0.67,-116.7,143.3,-8.3,190,1936,0.00,2.05,0.00,0.000,4,0.000,0.038,2538,915,3486,0,0,0,0,0,0
$GC,1987,-0.62,-116.7,148.3,-9.0,192,1991,0.00,2.05,0.00,0.000,6,0.000,0.031,2538,2310,3486,0,0,0,0,0,0
$GC,2308,-0.59,-116.7,173.0,-7.7,208,2312,0.12,2.08,0.00,0.000,4,0.211,0.044,2569,3698,3486,0,0,0,0,0,0
$GC,2385,-0.64,-116.7,178.2,-6.0,211,2389,0.00,2.00,0.00,0.000,6,0.000,0.026,2569,2298,3487,0,0,0,0,0,0
$GC,2707,-0.68,-116.7,197.4,-6.2,227,2711,0.00,2.03,0.00,0.000,4,0.000,0.038,2569,917,3486,0,0,0,0,0,0
$GC,2762,-0.68,-116.7,201.5,-7.0,229,2767,0.00,2.08,0.00,0.000,6,0.000,0.031,2569,2305,3486,0,0,0,0,0,0
$GC,3085,-0.72,-116.7,222.3,-6.6,245,3090,0.12,2.10,0.00,0.000,4,0.143,0.044,2529,3712,3486,0,0,0,0,0,0
$GC,3179,-0.68,-116.7,229.5,-7.7,249,3183,0.00,2.00,0.00,0.000,6,0.000,0.027,2529,2299,3486,0,0,0,0,0,0
$GC,3500,-0.63,-116.7,253.8,-7.5,265,3505,0.12,2.05,0.00,0.000,4,0.201,0.040,2560,919,3485,0,0,0,0,0,0
$GC,3562,-0.63,-116.7,258.2,-6.7,268,3565,0.00,2.05,0.00,0.000,6,0.000,0.032,2560,2313,3485,0,0,0,0,0,0
$GC,3888,-0.63,-116.7,278.5,-6.0,284,3892,0.00,2.05,0.00,0.000,4,0.000,0.044,2560,3702,3484,0,0,0,0,0,0
$GC,3955,-0.67,-116.7,283.0,-7.2,287,3959,0.00,2.00,0.00,0.000,6,0.000,0.027,2560,2301,3484,0,0,0,0,0,0
$GC,4270,-0.67,-116.7,303.2,-6.4,302,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2298,3484,0,0,0,0,0,0
$GC,4576,-0.67,-116.7,322.6,-6.4,312,4580,0.00,2.10,0.00,0.000,4,0.000,0.045,2560,3701,3483,0,0,0,0,0,0
$GC,4626,-0.71,-116.7,326.1,-7.2,313,4630,0.00,2.05,0.00,0.000,6,0.000,0.027,2560,2295,3483,0,0,0,0,0,0
$GC,4944,-0.71,-116.7,346.8,-6.5,324,4948,0.00,2.12,0.00,0.000,4,0.000,0.046,2560,3701,3482,0,0,0,0,0,0
$GC,5011,-0.75,-116.7,351.2,-6.6,326,5016,0.12,2.00,0.00,0.000,6,0.148,0.028,2521,2296,3482,0,0,0,0,0,0
$GC,5345,-0.69,-116.7,378.6,-8.5,337,5349,0.00,2.03,0.00,0.000,4,0.000,0.041,2521,916,3481,0,0,0,0,0,0
$GC,5406,-0.61,-116.7,384.2,-9.3,338,5413,0.17,2.03,0.00,0.000,6,0.201,0.034,2567,2299,3481,0,0,0,0,0,0
$GC,5718,-0.66,-116.7,405.1,-6.7,349,5722,0.00,2.08,0.00,0.000,4,0.000,0.046,2567,3702,3480,0,0,0,0,0,0
$GC,5829,-0.72,-116.7,412.6,-7.1,352,5833,0.12,2.00,0.00,0.000,6,0.139,0.028,2528,2295,3480,0,0,0,0,0,0
$GC,6153,-0.68,-116.7,437.4,-7.8,363,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2293,3480,0,0,0,0,0,0
$GC,6459,-0.64,-116.7,460.4,-7.4,373,6463,0.10,2.12,0.00,0.000,4,0.215,0.047,2552,3699,3479,0,0,0,0,0,0
$GC,6508,-0.64,-116.7,463.9,-6.9,374,6512,0.00,2.03,0.00,0.000,6,0.000,0.028,2552,2310,3479,0,0,0,0,0,0
$GC,6826,-0.64,-116.7,484.4,-6.3,385,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2308,3478,0,0,0,0,0,0
$GC,7131,-0.64,-116.7,504.1,-6.4,394,7135,0.00,2.10,0.00,0.000,4,0.000,0.047,2552,3706,3477,0,0,0,0,0,0
$GC,7215,-0.67,-116.7,509.8,-6.6,395,7219,0.00,2.03,0.00,0.000,6,0.000,0.028,2552,2291,3477,0,0,0,0,0,0
$GC,7563,-0.67,-116.7,532.3,-6.5,401,7567,0.00,2.12,0.00,0.000,4,0.000,0.048,2553,3704,3477,0,0,0,0,0,0
$GC,7619,-0.71,-116.7,536.0,-6.5,401,7624,0.00,2.03,0.00,0.000,6,0.000,0.028,2552,2293,3477,0,0,0,0,0,0
$GC,7928,-0.71,-116.7,555.8,-6.4,407,7929,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2291,3476,0,0,0,0,0,0
$GC,8231,-0.71,-116.7,575.2,-6.3,412,8235,0.00,2.12,0.00,0.000,4,0.000,0.047,2552,3704,3476,0,0,0,0,0,0
$GC,8320,-0.74,-116.7,581.1,-6.3,413,8324,0.00,2.03,0.00,0.000,6,0.000,0.029,2552,2296,3476,0,0,0,0,0,0
$GC,8663,-0.74,-116.7,603.0,-6.3,419,8664,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2293,3474,0,0,0,0,0,0
$GC,8965,-0.74,-116.7,623.7,-6.9,424,8969,0.00,2.12,0.00,0.000,4,0.000,0.048,2552,3703,3474,0,0,0,0,0,0
$GC,9043,-0.78,-116.7,629.5,-7.7,425,9048,0.10,2.05,0.00,0.000,6,0.115,0.029,2515,2301,3474,0,0,0,0,0,0
$GC,9397,-0.73,-116.7,658.8,-8.4,431,9398,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2298,3474,0,0,0,0,0,0
$GC,9700,-0.68,-116.7,684.2,-8.4,436,9702,0.12,0.00,0.00,0.000,6,0.206,0.000,2545,2297,3474,0,0,0,0,0,0
$GC,10003,-0.68,-116.7,706.6,-7.3,441,10006,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3702,3473,0,0,0,0,0,0
$GC,10057,-0.68,-116.7,710.7,-7.7,441,10062,0.00,2.05,0.00,0.000,6,0.000,0.029,2545,2302,3473,0,0,0,0,0,0
$GC,10373,-0.68,-116.7,733.5,-7.3,447,10374,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2300,3473,0,0,0,0,0,0
$GC,10675,-0.68,-116.7,755.2,-7.1,452,10679,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3698,3472,0,0,0,0,0,0
$GC,10769,-0.68,-116.7,762.3,-7.2,453,10774,0.00,2.05,0.00,0.000,6,0.000,0.029,2546,2298,3472,0,0,0,0,0,0
$GC,11113,-0.68,-116.7,787.1,-7.2,459,11114,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2297,3472,0,0,0,0,0,0
$GC,11416,-0.68,-116.7,808.4,-7.0,464,11420,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3700,3471,0,0,0,0,0,0
$GC,11498,-0.68,-116.7,814.3,-7.3,465,11503,0.00,2.05,0.00,0.000,6,0.000,0.029,2545,2300,3472,0,0,0,0,0,0
$GC,11853,-0.68,-116.7,839.0,-7.0,471,11857,0.00,2.10,0.00,0.000,4,0.000,0.048,2546,3698,3471,0,0,0,0,0,0
$GC,11909,-0.71,-116.7,843.0,-7.5,471,11914,0.00,2.03,0.00,0.000,6,0.000,0.029,2546,2290,3471,0,0,0,0,0,0
$GC,12218,-0.71,-116.7,863.7,-6.6,477,12219,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2289,3471,0,0,0,0,0,0
$GC,12521,-0.71,-116.7,883.7,-6.6,482,12525,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3701,3471,0,0,0,0,0,0
$GC,12620,-0.75,-116.7,890.5,-6.9,483,12624,0.00,2.03,0.00,0.000,6,0.000,0.029,2545,2292,3471,0,0,0,0,0,0
$GC,12952,-0.75,-116.7,911.2,-6.3,489,12956,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3701,3470,0,0,0,0,0,0
$GC,13014,-0.79,-116.7,915.2,-6.1,490,13018,0.12,2.03,0.00,0.000,6,0.152,0.030,2506,2291,3470,0,0,0,0,0,0
$GC,13380,-0.73,-116.7,943.1,-7.7,496,13384,0.00,2.05,0.00,0.000,4,0.000,0.044,2506,914,3470,0,0,0,0,0,0
$GC,13434,-0.65,-116.7,947.8,-8.5,496,13440,0.12,2.08,0.00,0.000,6,0.184,0.035,2544,2296,3470,0,0,0,0,0,0
$GC,13749,-0.65,-116.7,967.1,-6.0,502,13753,0.00,2.10,0.00,0.000,4,0.000,0.048,2544,3709,3470,0,0,0,0,0,0
$GC,13838,-0.69,-116.7,972.6,-6.1,503,13841,0.00,2.03,0.00,0.000,6,0.000,0.030,2544,2298,3470,0,0,0,0,0,0
$STATE,14178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14178,begin apogee
$GC,14183,-0.24,0.0,992.7,5.9,509,14285,0.45,0.00,98.65,1.547,6,0.175,0.000,2680,2658,3006,0,0,0,0,0,0
$STATE,14286,end apogee,CONTROL_FINISHED_OK
$STATE,14286,begin climb
$GC,14288,0.80,116.7,994.3,0.0,510,14403,1.10,2.38,104.88,1.452,4,0.128,0.050,3015,4038,2528,0,0,0,0,0,0
$GC,14430,0.52,116.7,989.4,8.1,513,14436,0.35,2.17,0.00,0.000,6,0.199,0.029,2940,2655,2524,0,0,0,0,0,0
$GC,14790,0.52,116.7,963.7,7.1,519,14791,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2655,2518,0,0,0,0,0,0
$GC,15092,0.52,116.7,942.2,7.1,524,15096,0.00,2.17,0.00,0.000,4,0.000,0.050,2939,4039,2517,0,0,0,0,0,0
$GC,15114,0.46,116.7,940.5,7.0,524,15119,0.12,2.08,0.00,0.000,6,0.209,0.031,2919,2647,2516,0,0,0,0,0,0
$GC,15457,0.47,126.1,918.0,6.5,530,15471,0.00,2.28,7.35,1.328,4,0.000,0.049,2913,4048,2491,0,0,0,0,0,0
$GC,15488,0.49,146.2,915.9,6.1,530,15513,0.00,2.12,19.33,1.397,6,0.000,0.031,2922,2630,2409,0,0,0,0,0,0
$GC,15822,0.49,146.2,892.7,6.9,536,15823,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2630,2405,0,0,0,0,0,0
$GC,16125,0.50,151.8,872.5,6.6,541,16136,0.00,2.22,5.55,1.206,4,0.000,0.048,2922,4042,2387,0,0,0,0,0,0
$GC,16141,0.51,156.8,871.5,6.7,541,16152,0.00,2.10,6.68,1.218,6,0.000,0.031,2931,2635,2366,0,0,0,0,0,0
$GC,16484,0.51,156.8,846.3,7.4,547,16488,0.00,2.20,0.00,0.000,4,0.000,0.049,2930,4049,2364,0,0,0,0,0,0
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$STATE,27266,end climb,SURFACE_DEPTH_REACHED
$STATE,27266,begin surface coast
$FINISH,3.0,1.024091
$STATE,27303,end surface coast,CONTROL_FINISHED_OK
$STATE,27303,begin surface
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$TCM_TEMP,13.50
$XPDR_PINGS,0
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$10V_AH,10.1,4.809
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$FG_AHR_10Vo,0.000
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$MEM,241580
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$CFSIZE,260165632,252051456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033,194.2,1
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