version: 66.06
glider: 140
mission: 8
dive: 38
start: 10 10 109 16 19 1
data:
$ID,140
$MISSION,8
$DIVE,38
$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,-44994.852
$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,69
$R_STBD_OVSHOOT,38
$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
$GPS1,161301,6458.492,-41.089,40,1.6,41,-5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.41
$_SM_ANGLEo,-52.0
$GPS2,161838,6458.555,-41.113,12,1.4,12,-5.6
$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,318.7,20175,-13.7,-6.875
$D_GRID,2864
$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,-8.30,0.000,2,0.000,0.000,217,2270,1579,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.4,-0.0,1,133,8.62,2.08,-89.90,0.000,4,0.229,0.051,2503,913,3479,0,0,0,0,0,0
$GC,380,-0.64,-116.7,32.6,-11.5,64,388,0.15,2.15,0.00,0.000,6,0.199,0.032,2548,2314,3482,0,0,0,0,0,0
$GC,731,-0.56,-116.7,67.5,-11.7,119,733,0.12,0.00,0.00,0.000,6,0.206,0.000,2580,2314,3482,0,0,0,0,0,0
$GC,1039,-0.60,-116.7,93.3,-7.5,134,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2314,3482,0,0,0,0,0,0
$GC,1350,-0.64,-116.7,113.3,-5.8,149,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2314,3483,0,0,0,0,0,0
$GC,1658,-0.69,-116.7,129.1,-4.9,164,1663,0.12,2.10,0.00,0.000,4,0.140,0.045,2541,3712,3483,0,0,0,0,0,0
$GC,1706,-0.69,-116.7,132.2,-6.3,166,1710,0.00,2.03,0.00,0.000,6,0.000,0.025,2541,2294,3483,0,0,0,0,0,0
$GC,2028,-0.66,-116.7,152.3,-6.0,182,2031,0.00,2.03,0.00,0.000,4,0.000,0.038,2541,916,3483,0,0,0,0,0,0
$GC,2178,-0.60,-116.7,163.1,-7.4,188,2186,0.08,2.08,0.00,0.000,6,0.197,0.031,2565,2303,3483,0,0,0,0,0,0
$GC,2493,-0.60,-116.7,182.5,-5.6,204,2497,0.00,2.08,0.00,0.000,4,0.000,0.044,2565,3705,3483,0,0,0,0,0,0
$GC,2565,-0.63,-116.7,187.2,-6.0,207,2568,0.00,2.00,0.00,0.000,6,0.000,0.025,2565,2291,3483,0,0,0,0,0,0
$GC,2885,-0.63,-116.7,206.4,-6.1,223,2889,0.00,2.12,0.00,0.000,4,0.000,0.044,2565,3708,3483,0,0,0,0,0,0
$GC,2975,-0.68,-116.7,212.3,-6.6,227,2979,0.00,2.00,0.00,0.000,6,0.000,0.026,2564,2299,3482,0,0,0,0,0,0
$GC,3302,-0.71,-116.7,232.2,-6.0,243,3305,0.00,2.10,0.00,0.000,4,0.000,0.044,2565,3698,3483,0,0,0,0,0,0
$GC,3380,-0.75,-116.7,237.0,-6.0,246,3386,0.12,2.00,0.00,0.000,6,0.138,0.026,2526,2288,3482,0,0,0,0,0,0
$GC,3695,-0.69,-116.7,261.4,-8.0,262,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2287,3482,0,0,0,0,0,0
$GC,4005,-0.64,-116.7,287.2,-8.4,277,4009,0.12,2.03,0.00,0.000,4,0.207,0.040,2557,922,3481,0,0,0,0,0,0
$GC,4070,-0.64,-116.7,292.7,-7.9,280,4075,0.00,2.05,0.00,0.000,6,0.000,0.031,2557,2294,3481,0,0,0,0,0,0
$GC,4384,-0.64,-116.7,316.1,-7.3,292,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2294,3481,0,0,0,0,0,0
$GC,4691,-0.64,-116.7,338.5,-7.3,302,4694,0.00,2.08,0.00,0.000,4,0.000,0.046,2557,3700,3479,0,0,0,0,0,0
$GC,4747,-0.64,-116.7,342.7,-7.7,303,4750,0.00,2.00,0.00,0.000,6,0.000,0.027,2557,2298,3480,0,0,0,0,0,0
$GC,5064,-0.64,-116.7,367.4,-7.8,314,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2293,3478,0,0,0,0,0,0
$GC,5370,-0.64,-116.7,391.1,-7.8,324,5374,0.00,2.10,0.00,0.000,4,0.000,0.045,2557,3699,3478,0,0,0,0,0,0
$GC,5432,-0.67,-116.7,395.8,-7.3,326,5436,0.00,2.00,0.00,0.000,6,0.000,0.028,2556,2298,3477,0,0,0,0,0,0
$GC,5772,-0.67,-116.7,420.2,-7.2,337,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2297,3476,0,0,0,0,0,0
$GC,6078,-0.67,-116.7,440.0,-6.2,347,6082,0.00,2.12,0.00,0.000,4,0.000,0.046,2557,3708,3475,0,0,0,0,0,0
$GC,6161,-0.71,-116.7,445.2,-6.3,349,6165,0.00,2.03,0.00,0.000,6,0.000,0.028,2556,2293,3475,0,0,0,0,0,0
$GC,6485,-0.71,-116.7,465.2,-6.3,360,6486,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2290,3475,0,0,0,0,0,0
$GC,6791,-0.71,-116.7,485.2,-6.5,370,6795,0.00,2.12,0.00,0.000,4,0.000,0.046,2557,3701,3474,0,0,0,0,0,0
$GC,6886,-0.75,-116.7,491.5,-6.7,372,6893,0.12,2.00,0.00,0.000,6,0.145,0.028,2518,2294,3473,0,0,0,0,0,0
$GC,7196,-0.69,-116.7,516.1,-8.1,380,7200,0.00,2.03,0.00,0.000,4,0.000,0.041,2517,919,3473,0,0,0,0,0,0
$GC,7246,-0.62,-116.7,520.6,-9.1,380,7250,0.10,2.08,0.00,0.000,6,0.179,0.034,2561,2298,3473,0,0,0,0,0,0
$GC,7566,-0.65,-116.7,542.4,-6.8,386,7570,0.00,2.08,0.00,0.000,4,0.000,0.047,2561,3701,3472,0,0,0,0,0,0
$GC,7671,-0.70,-116.7,549.8,-7.0,387,7675,0.00,2.00,0.00,0.000,6,0.000,0.028,2561,2295,3472,0,0,0,0,0,0
$GC,7998,-0.74,-116.7,570.8,-6.4,393,8002,0.00,2.12,0.00,0.000,4,0.000,0.047,2562,3701,3471,0,0,0,0,0,0
$GC,8054,-0.79,-116.7,574.5,-5.9,393,8059,0.15,2.05,0.00,0.000,6,0.135,0.028,2514,2293,3471,0,0,0,0,0,0
$GC,8368,-0.73,-116.7,599.0,-7.9,399,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2291,3470,0,0,0,0,0,0
$GC,8671,-0.67,-116.7,621.5,-7.4,404,8673,0.12,0.00,0.00,0.000,6,0.204,0.000,2545,2290,3470,0,0,0,0,0,0
$GC,8975,-0.67,-116.7,640.0,-6.1,409,8979,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3702,3469,0,0,0,0,0,0
$GC,9047,-0.67,-116.7,644.5,-6.0,410,9051,0.00,2.05,0.00,0.000,6,0.000,0.028,2545,2301,3469,0,0,0,0,0,0
$GC,9407,-0.67,-116.7,664.8,-5.7,416,9411,0.00,2.12,0.00,0.000,4,0.000,0.047,2545,3705,3469,0,0,0,0,0,0
$GC,9475,-0.67,-116.7,668.8,-5.8,417,9478,0.00,2.03,0.00,0.000,6,0.000,0.029,2545,2295,3469,0,0,0,0,0,0
$GC,9845,-0.67,-116.7,690.5,-5.9,423,9849,0.00,2.12,0.00,0.000,4,0.000,0.047,2545,3703,3468,0,0,0,0,0,0
$GC,9900,-0.67,-116.7,694.1,-6.6,423,9906,0.00,2.05,0.00,0.000,6,0.000,0.029,2545,2273,3468,0,0,0,0,0,0
$GC,10210,-0.67,-116.7,713.4,-6.3,429,10214,0.00,2.15,0.00,0.000,4,0.000,0.047,2545,3701,3467,0,0,0,0,0,0
$GC,10272,-0.67,-116.7,717.5,-7.0,430,10276,0.00,2.03,0.00,0.000,6,0.000,0.029,2545,2291,3467,0,0,0,0,0,0
$GC,10642,-0.67,-116.7,741.4,-6.4,436,10646,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3701,3467,0,0,0,0,0,0
$GC,10703,-0.67,-116.7,745.7,-7.1,436,10711,0.00,2.05,0.00,0.000,6,0.000,0.029,2545,2298,3467,0,0,0,0,0,0
$GC,11013,-0.67,-116.7,765.3,-6.4,442,11014,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2297,3467,0,0,0,0,0,0
$GC,11315,-0.67,-116.7,784.6,-6.4,447,11319,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3706,3466,0,0,0,0,0,0
$GC,11416,-0.70,-116.7,791.1,-6.2,448,11420,0.00,2.03,0.00,0.000,6,0.000,0.029,2545,2295,3466,0,0,0,0,0,0
$GC,11753,-0.70,-116.7,811.7,-6.0,454,11757,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3705,3466,0,0,0,0,0,0
$GC,11807,-0.70,-116.7,815.1,-6.0,454,11813,0.00,2.05,0.00,0.000,6,0.000,0.029,2545,2307,3466,0,0,0,0,0,0
$GC,12117,-0.70,-116.7,832.5,-5.6,460,12118,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2306,3465,0,0,0,0,0,0
$GC,12421,-0.70,-116.7,849.1,-5.4,465,12424,0.00,2.10,0.00,0.000,4,0.000,0.048,2545,3700,3465,0,0,0,0,0,0
$GC,12533,-0.73,-116.7,855.7,-5.5,466,12537,0.00,2.03,0.00,0.000,6,0.000,0.028,2545,2293,3465,0,0,0,0,0,0
$GC,12853,-0.73,-116.7,875.0,-6.1,472,12854,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2288,3465,0,0,0,0,0,0
$GC,13157,-0.73,-116.7,894.4,-6.4,477,13161,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3701,3464,0,0,0,0,0,0
$GC,13268,-0.77,-116.7,901.9,-6.9,478,13272,0.00,2.05,0.00,0.000,6,0.000,0.028,2545,2298,3464,0,0,0,0,0,0
$GC,13588,-0.77,-116.7,923.7,-6.9,484,13592,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3708,3464,0,0,0,0,0,0
$GC,13643,-0.80,-116.7,927.6,-6.8,484,13650,0.12,2.03,0.00,0.000,6,0.150,0.029,2504,2296,3463,0,0,0,0,0,0
$GC,13952,-0.74,-116.7,953.9,-8.7,490,13953,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2295,3463,0,0,0,0,0,0
$GC,14255,-0.67,-116.7,981.7,-9.2,495,14257,0.15,0.00,0.00,0.000,6,0.206,0.000,2542,2294,3463,0,0,0,0,0,0
$STATE,14375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14375,begin apogee
$GC,14380,-0.24,0.0,991.2,8.6,497,14480,0.47,0.00,97.35,1.549,6,0.176,0.000,2686,2658,3006,0,0,0,0,0,0
$STATE,14481,end apogee,CONTROL_FINISHED_OK
$STATE,14481,begin climb
$GC,14483,0.80,116.7,994.1,0.0,498,14597,1.08,2.35,104.82,1.458,4,0.130,0.050,3007,4031,2529,0,0,0,0,0,0
$GC,14636,0.55,118.4,992.5,6.8,501,14641,0.30,2.15,0.00,0.000,6,0.202,0.029,2945,2662,2524,0,0,0,0,0,0
$GC,14984,0.58,175.2,976.1,4.6,507,15038,0.00,0.00,51.95,1.444,6,0.000,0.000,2945,2661,2291,0,0,0,0,0,0
$GC,15287,0.61,197.1,958.8,6.0,512,15308,0.00,0.00,19.88,1.410,6,0.000,0.000,2945,2661,2202,0,0,0,0,0,0
$GC,15590,0.62,202.8,939.0,6.6,517,15601,0.00,2.20,5.93,1.216,4,0.000,0.038,2954,1247,2179,0,0,0,0,0,0
$GC,15623,0.63,215.5,936.6,6.4,517,15643,0.00,2.22,13.75,1.362,6,0.000,0.036,2953,2649,2126,0,0,0,0,0,0
$GC,15952,0.63,215.5,912.2,7.5,523,15956,0.00,2.15,0.00,0.000,4,0.000,0.039,2962,1257,2121,0,0,0,0,0,0
$GC,15961,0.63,215.5,911.5,7.5,523,15965,0.00,2.20,0.00,0.000,6,0.000,0.036,2961,2654,2121,0,0,0,0,0,0
$GC,16316,0.63,215.5,884.1,7.7,529,16320,0.00,2.15,0.00,0.000,4,0.000,0.040,2971,1250,2119,0,0,0,0,0,0
$GC,16325,0.63,215.5,883.2,7.8,529,16329,0.00,2.17,0.00,0.000,6,0.000,0.037,2967,2646,2119,0,0,0,0,0,0
$GC,16685,0.63,215.5,853.5,8.4,535,16686,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2646,2118,0,0,0,0,0,0
$GC,16988,0.63,215.5,827.7,8.5,540,16989,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2646,2118,0,0,0,0,0,0
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$STATE,26884,end climb,SURFACE_DEPTH_REACHED
$STATE,26884,begin surface coast
$FINISH,2.8,1.019509
$STATE,26934,end surface coast,CONTROL_FINISHED_OK
$STATE,26934,begin surface
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