version: 66.06
glider: 140
mission: 8
dive: 56
start: 10 15 109 18 30 0
data:
$ID,140
$MISSION,8
$DIVE,56
$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,-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,-45348.367
$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,84
$R_STBD_OVSHOOT,45
$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
$GPS1,182400,6437.896,-3.591,37,0.9,43,-5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.76
$_SM_ANGLEo,-61.2
$GPS2,182937,6437.844,-3.465,10,1.0,15,-5.2
$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,137.5,267648,-13.7,-6.875
$D_GRID,2650
$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,-7.72,0.000,2,0.000,0.000,221,2260,2041,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.7,-0.0,1,119,9.07,2.25,-77.43,0.000,4,0.251,0.057,2504,3705,3481,0,0,0,0,0,0
$GC,366,-0.66,-116.7,27.5,-9.4,62,375,0.12,2.08,0.00,0.000,6,0.180,0.025,2542,2298,3483,0,0,0,0,0,0
$GC,707,-0.60,-116.7,60.0,-7.6,123,712,0.00,2.15,0.00,0.000,4,0.000,0.044,2542,3707,3483,0,0,0,0,0,0
$GC,731,-0.54,-116.7,61.9,-7.7,125,735,0.17,2.03,0.00,0.000,6,0.193,0.026,2589,2298,3483,0,0,0,0,0,0
$GC,1058,-0.60,-116.7,85.8,-7.3,141,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2297,3484,0,0,0,0,0,0
$GC,1366,-0.67,-116.7,105.9,-6.3,156,1368,0.12,0.00,0.00,0.000,6,0.140,0.000,2550,2296,3485,0,0,0,0,0,0
$GC,1676,-0.67,-116.7,129.3,-8.0,171,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2296,3485,0,0,0,0,0,0
$GC,1985,-0.67,-116.7,150.0,-6.5,186,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2296,3486,0,0,0,0,0,0
$GC,2295,-0.67,-116.7,168.8,-6.1,201,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2296,3486,0,0,0,0,0,0
$GC,2603,-0.67,-116.7,188.6,-7.0,216,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2296,3486,0,0,0,0,0,0
$GC,2913,-0.67,-116.7,212.3,-7.8,231,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2296,3486,0,0,0,0,0,0
$GC,3221,-0.67,-116.7,239.0,-8.9,246,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2296,3486,0,0,0,0,0,0
$GC,3531,-0.67,-116.7,264.2,-7.5,261,3535,0.00,2.12,0.00,0.000,4,0.000,0.044,2550,3708,3486,0,0,0,0,0,0
$GC,3546,-0.67,-116.7,265.3,-7.3,261,3552,0.00,2.05,0.00,0.000,6,0.000,0.026,2550,2306,3485,0,0,0,0,0,0
$GC,3862,-0.67,-116.7,284.6,-5.9,277,3866,0.00,2.10,0.00,0.000,4,0.000,0.044,2550,3705,3485,0,0,0,0,0,0
$GC,3871,-0.67,-116.7,285.1,-6.0,277,3877,0.00,2.05,0.00,0.000,6,0.000,0.027,2550,2297,3485,0,0,0,0,0,0
$GC,4186,-0.67,-116.7,304.5,-5.9,292,4190,0.00,2.10,0.00,0.000,4,0.000,0.044,2550,3702,3484,0,0,0,0,0,0
$GC,4202,-0.67,-116.7,305.6,-5.9,292,4206,0.00,2.03,0.00,0.000,6,0.000,0.027,2550,2305,3485,0,0,0,0,0,0
$GC,4521,-0.67,-116.7,325.5,-6.8,303,4525,0.00,2.10,0.00,0.000,4,0.000,0.044,2550,3708,3484,0,0,0,0,0,0
$GC,4531,-0.67,-116.7,326.3,-7.0,303,4535,0.00,2.05,0.00,0.000,6,0.000,0.027,2550,2303,3484,0,0,0,0,0,0
$GC,4854,-0.67,-116.7,349.4,-7.1,314,4858,0.00,2.10,0.00,0.000,4,0.000,0.044,2550,3704,3483,0,0,0,0,0,0
$GC,4869,-0.67,-116.7,350.6,-6.8,314,4873,0.00,2.05,0.00,0.000,6,0.000,0.027,2550,2299,3483,0,0,0,0,0,0
$GC,5187,-0.67,-116.7,372.2,-6.8,325,5191,0.00,2.12,0.00,0.000,4,0.000,0.045,2550,3712,3482,0,0,0,0,0,0
$GC,5203,-0.67,-116.7,373.4,-6.8,325,5207,0.00,2.08,0.00,0.000,6,0.000,0.028,2550,2295,3482,0,0,0,0,0,0
$GC,5521,-0.67,-116.7,396.0,-7.4,336,5525,0.00,2.12,0.00,0.000,4,0.000,0.045,2550,3711,3481,0,0,0,0,0,0
$GC,5542,-0.67,-116.7,397.7,-7.3,336,5548,0.00,2.08,0.00,0.000,6,0.000,0.028,2550,2291,3481,0,0,0,0,0,0
$GC,5855,-0.67,-116.7,421.7,-7.7,347,5859,0.00,2.12,0.00,0.000,4,0.000,0.045,2550,3702,3480,0,0,0,0,0,0
$GC,5881,-0.67,-116.7,423.9,-7.9,347,5888,0.00,2.05,0.00,0.000,6,0.000,0.028,2550,2300,3480,0,0,0,0,0,0
$GC,6194,-0.67,-116.7,448.5,-7.8,358,6198,0.00,2.10,0.00,0.000,4,0.000,0.045,2550,3701,3479,0,0,0,0,0,0
$GC,6220,-0.67,-116.7,450.8,-7.6,358,6228,0.00,2.05,0.00,0.000,6,0.000,0.028,2550,2296,3480,0,0,0,0,0,0
$GC,6533,-0.67,-116.7,473.4,-7.0,369,6537,0.00,2.12,0.00,0.000,4,0.000,0.046,2550,3711,3479,0,0,0,0,0,0
$GC,6571,-0.67,-116.7,476.2,-7.1,370,6575,0.00,2.05,0.00,0.000,6,0.000,0.028,2550,2306,3478,0,0,0,0,0,0
$GC,6906,-0.67,-116.7,497.8,-6.2,381,6910,0.00,2.10,0.00,0.000,4,0.000,0.046,2550,3702,3478,0,0,0,0,0,0
$GC,6939,-0.67,-116.7,499.9,-6.2,382,6943,0.00,2.05,0.00,0.000,6,0.000,0.028,2550,2303,3478,0,0,0,0,0,0
$GC,7271,-0.67,-116.7,520.8,-6.3,388,7275,0.00,2.10,0.00,0.000,4,0.000,0.046,2550,3701,3477,0,0,0,0,0,0
$GC,7304,-0.67,-116.7,522.9,-6.2,388,7308,0.00,2.05,0.00,0.000,6,0.000,0.028,2550,2303,3477,0,0,0,0,0,0
$GC,7635,-0.67,-116.7,543.1,-6.0,394,7639,0.00,2.12,0.00,0.000,4,0.000,0.046,2550,3704,3476,0,0,0,0,0,0
$GC,7668,-0.67,-116.7,545.1,-6.0,394,7672,0.00,2.05,0.00,0.000,6,0.000,0.028,2550,2302,3476,0,0,0,0,0,0
$GC,8005,-0.67,-116.7,564.3,-5.7,400,8009,0.00,2.10,0.00,0.000,4,0.000,0.046,2550,3701,3476,0,0,0,0,0,0
$GC,8043,-0.67,-116.7,566.6,-6.1,400,8048,0.00,2.05,0.00,0.000,6,0.000,0.028,2550,2300,3475,0,0,0,0,0,0
$GC,8370,-0.67,-116.7,584.8,-5.6,406,8374,0.00,2.12,0.00,0.000,4,0.000,0.047,2550,3709,3475,0,0,0,0,0,0
$GC,8408,-0.67,-116.7,587.1,-5.9,406,8412,0.00,2.05,0.00,0.000,6,0.000,0.029,2550,2290,3474,0,0,0,0,0,0
$GC,8734,-0.67,-116.7,606.3,-6.0,412,8738,0.00,2.12,0.00,0.000,4,0.000,0.046,2550,3701,3474,0,0,0,0,0,0
$GC,8783,-0.70,-116.7,609.5,-6.2,412,8787,0.00,2.03,0.00,0.000,6,0.000,0.028,2550,2292,3473,0,0,0,0,0,0
$GC,9098,-0.70,-116.7,629.7,-6.5,418,9102,0.00,2.12,0.00,0.000,4,0.000,0.046,2550,3701,3473,0,0,0,0,0,0
$GC,9142,-0.73,-116.7,632.6,-6.4,418,9145,0.00,2.03,0.00,0.000,6,0.000,0.028,2550,2289,3473,0,0,0,0,0,0
$GC,9467,-0.73,-116.7,654.6,-6.8,424,9471,0.00,2.12,0.00,0.000,4,0.000,0.047,2550,3701,3473,0,0,0,0,0,0
$GC,9494,-0.73,-116.7,656.5,-7.2,424,9498,0.00,2.05,0.00,0.000,6,0.000,0.028,2550,2300,3473,0,0,0,0,0,0
$GC,9832,-0.73,-116.7,678.0,-6.4,430,9836,0.00,2.12,0.00,0.000,4,0.000,0.048,2550,3707,3472,0,0,0,0,0,0
$GC,9864,-0.73,-116.7,680.2,-6.7,430,9868,0.00,2.08,0.00,0.000,6,0.000,0.029,2550,2297,3472,0,0,0,0,0,0
$GC,10196,-0.73,-116.7,700.4,-6.2,436,10200,0.00,2.12,0.00,0.000,4,0.000,0.047,2550,3706,3472,0,0,0,0,0,0
$GC,10236,-0.73,-116.7,702.9,-6.4,436,10240,0.00,2.03,0.00,0.000,6,0.000,0.029,2550,2300,3472,0,0,0,0,0,0
$GC,10556,-0.73,-116.7,721.6,-5.8,442,10560,0.00,2.12,0.00,0.000,4,0.000,0.047,2550,3700,3472,0,0,0,0,0,0
$GC,10582,-0.73,-116.7,723.2,-5.7,442,10586,0.00,2.03,0.00,0.000,6,0.000,0.029,2550,2293,3471,0,0,0,0,0,0
$GC,10925,-0.73,-116.7,742.6,-5.7,448,10929,0.00,2.12,0.00,0.000,4,0.000,0.047,2550,3701,3471,0,0,0,0,0,0
$GC,10987,-0.77,-116.7,746.4,-6.3,449,10991,0.00,2.03,0.00,0.000,6,0.000,0.029,2550,2293,3471,0,0,0,0,0,0
$GC,11359,-0.77,-116.7,769.9,-6.4,455,11363,0.00,2.12,0.00,0.000,4,0.000,0.048,2550,3700,3470,0,0,0,0,0,0
$GC,11421,-0.80,-116.7,774.3,-7.4,456,11425,0.12,2.03,0.00,0.000,6,0.146,0.029,2510,2291,3470,0,0,0,0,0,0
$GC,11786,-0.75,-116.7,804.0,-8.3,462,11790,0.00,2.12,0.00,0.000,4,0.000,0.048,2509,3699,3470,0,0,0,0,0,0
$GC,11797,-0.69,-116.7,805.1,-8.2,462,11801,0.05,2.05,0.00,0.000,6,0.202,0.029,2537,2306,3470,0,0,0,0,0,0
$GC,12150,-0.69,-116.7,831.2,-7.3,468,12154,0.00,2.12,0.00,0.000,4,0.000,0.048,2536,3704,3470,0,0,0,0,0,0
$GC,12160,-0.69,-116.7,831.9,-7.2,468,12164,0.00,2.08,0.00,0.000,6,0.000,0.029,2537,2296,3470,0,0,0,0,0,0
$GC,12519,-0.69,-116.7,857.3,-7.1,474,12523,0.00,2.12,0.00,0.000,4,0.000,0.048,2537,3704,3469,0,0,0,0,0,0
$GC,12546,-0.69,-116.7,859.2,-7.6,474,12550,0.00,2.08,0.00,0.000,6,0.000,0.029,2537,2297,3469,0,0,0,0,0,0
$GC,12884,-0.69,-116.7,883.7,-7.3,480,12888,0.00,2.12,0.00,0.000,4,0.000,0.047,2537,3707,3469,0,0,0,0,0,0
$GC,12916,-0.69,-116.7,886.2,-7.1,480,12920,0.00,2.08,0.00,0.000,6,0.000,0.029,2537,2292,3469,0,0,0,0,0,0
$GC,13248,-0.69,-116.7,910.5,-7.4,486,13252,0.00,2.12,0.00,0.000,4,0.000,0.048,2537,3700,3469,0,0,0,0,0,0
$GC,13280,-0.69,-116.7,913.1,-8.0,486,13285,0.00,2.05,0.00,0.000,6,0.000,0.029,2537,2303,3469,0,0,0,0,0,0
$GC,13612,-0.69,-116.7,936.9,-7.2,492,13616,0.00,2.10,0.00,0.000,4,0.000,0.048,2537,3700,3469,0,0,0,0,0,0
$GC,13644,-0.69,-116.7,939.3,-7.9,492,13648,0.00,2.05,0.00,0.000,6,0.000,0.029,2537,2302,3469,0,0,0,0,0,0
$GC,13981,-0.69,-116.7,962.8,-7.1,498,13985,0.00,2.15,0.00,0.000,4,0.000,0.048,2537,3709,3468,0,0,0,0,0,0
$GC,13997,-0.69,-116.7,963.9,-6.7,498,14001,0.00,2.05,0.00,0.000,6,0.000,0.030,2537,2290,3468,0,0,0,0,0,0
$GC,14345,-0.69,-116.7,988.1,-6.9,504,14349,0.00,2.12,0.00,0.000,4,0.000,0.047,2537,3700,3468,0,0,0,0,0,0
$STATE,14370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14371,begin apogee
$GC,14377,-0.24,0.0,990.1,6.9,504,14478,0.45,0.00,98.03,1.549,6,0.176,0.000,2676,2633,3006,0,0,0,0,0,0
$STATE,14479,end apogee,CONTROL_FINISHED_OK
$STATE,14479,begin climb
$GC,14481,0.80,116.7,993.8,0.0,506,14595,1.08,2.40,105.18,1.458,4,0.127,0.048,3006,4035,2528,0,0,0,0,0,0
$GC,14658,0.56,116.7,986.5,8.2,508,14663,0.28,2.17,0.00,0.000,6,0.196,0.029,2949,2656,2521,0,0,0,0,0,0
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$STATE,27116,end climb,SURFACE_DEPTH_REACHED
$STATE,27116,begin surface coast
$FINISH,3.1,1.016407
$STATE,27159,end surface coast,CONTROL_FINISHED_OK
$STATE,27159,begin surface
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$10V_AH,10.1,6.828
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$FG_AHR_10Vo,0.000
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$MEM,241600
$DATA_FILE_SIZE,53854,943
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$CFSIZE,260165632,250441728
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$CURRENT,0.102,198.1,1
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