version: 66.06
glider: 140
mission: 8
dive: 76
start: 10 22 109 4 6 25
data:
$ID,140
$MISSION,8
$DIVE,76
$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,-45713.809
$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,54
$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
$GPS1,035706,6348.945,205.328,36,0.9,37,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.49
$_SM_ANGLEo,-66.7
$GPS2,040602,6348.974,205.385,12,0.9,12,-3.8
$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,138.8,126771,-13.7,-6.875
$D_GRID,1526
$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,15,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-6.45,0.000,2,0.000,0.000,221,2306,2018,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.5,-0.0,1,122,9.23,2.17,-77.25,0.000,4,0.255,0.051,2506,896,3481,0,0,0,0,0,0
$GC,164,-0.62,-116.7,6.0,-7.4,25,170,0.20,2.12,0.00,0.000,6,0.196,0.030,2558,2312,3483,0,0,0,0,0,0
$GC,501,-0.62,-116.7,33.0,-7.9,86,507,0.00,2.12,0.00,0.000,4,0.000,0.041,2558,3702,3484,0,0,0,0,0,0
$GC,531,-0.62,-116.7,35.3,-7.6,91,537,0.00,2.05,0.00,0.000,6,0.000,0.024,2559,2273,3483,0,0,0,0,0,0
$GC,883,-0.62,-116.7,61.9,-7.7,152,887,0.00,2.15,0.00,0.000,4,0.000,0.041,2559,3698,3484,0,0,0,0,0,0
$GC,901,-0.62,-116.7,63.1,-7.7,153,905,0.00,2.00,0.00,0.000,6,0.000,0.024,2559,2303,3484,0,0,0,0,0,0
$GC,1233,-0.62,-116.7,87.2,-6.9,169,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2294,3484,0,0,0,0,0,0
$GC,1542,-0.62,-116.7,108.4,-7.0,184,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2294,3484,0,0,0,0,0,0
$GC,1852,-0.62,-116.7,129.7,-6.9,199,1856,0.00,2.12,0.00,0.000,4,0.000,0.041,2558,3709,3484,0,0,0,0,0,0
$GC,1884,-0.62,-116.7,132.1,-7.5,200,1891,0.00,2.05,0.00,0.000,6,0.000,0.024,2559,2288,3484,0,0,0,0,0,0
$GC,2200,-0.62,-116.7,154.6,-7.4,216,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2288,3484,0,0,0,0,0,0
$GC,2510,-0.62,-116.7,176.7,-7.0,231,2514,0.00,2.10,0.00,0.000,4,0.000,0.041,2558,3700,3484,0,0,0,0,0,0
$GC,2527,-0.62,-116.7,177.9,-6.5,232,2531,0.00,1.98,0.00,0.000,6,0.000,0.024,2558,2296,3484,0,0,0,0,0,0
$GC,2859,-0.62,-116.7,201.2,-7.0,248,2863,0.00,2.10,0.00,0.000,4,0.000,0.041,2558,3706,3485,0,0,0,0,0,0
$GC,2891,-0.62,-116.7,203.5,-7.5,249,2896,0.00,2.03,0.00,0.000,6,0.000,0.024,2558,2295,3485,0,0,0,0,0,0
$GC,3213,-0.62,-116.7,226.8,-7.4,265,3217,0.00,2.10,0.00,0.000,4,0.000,0.041,2558,3702,3485,0,0,0,0,0,0
$GC,3234,-0.62,-116.7,228.3,-6.6,266,3238,0.00,2.03,0.00,0.000,6,0.000,0.024,2559,2293,3485,0,0,0,0,0,0
$GC,3560,-0.62,-116.7,250.8,-6.9,282,3564,0.00,2.10,0.00,0.000,4,0.000,0.041,2559,3704,3485,0,0,0,0,0,0
$GC,3593,-0.62,-116.7,253.2,-7.3,283,3600,0.00,2.03,0.00,0.000,6,0.000,0.024,2558,2291,3485,0,0,0,0,0,0
$GC,3908,-0.62,-116.7,275.0,-7.0,299,3912,0.00,2.10,0.00,0.000,4,0.000,0.041,2559,3704,3485,0,0,0,0,0,0
$GC,3946,-0.62,-116.7,277.8,-7.2,301,3950,0.00,1.98,0.00,0.000,6,0.000,0.024,2559,2296,3485,0,0,0,0,0,0
$GC,4278,-0.62,-116.7,299.9,-7.0,317,4282,0.00,2.10,0.00,0.000,4,0.000,0.041,2559,3706,3485,0,0,0,0,0,0
$GC,4305,-0.62,-116.7,301.9,-7.7,319,4309,0.00,2.00,0.00,0.000,6,0.000,0.025,2559,2289,3485,0,0,0,0,0,0
$GC,4644,-0.62,-116.7,326.0,-7.0,330,4648,0.00,2.10,0.00,0.000,4,0.000,0.041,2559,3702,3485,0,0,0,0,0,0
$GC,4672,-0.62,-116.7,328.0,-7.2,331,4676,0.00,1.98,0.00,0.000,6,0.000,0.024,2559,2298,3485,0,0,0,0,0,0
$GC,5012,-0.62,-116.7,349.8,-6.3,342,5016,0.00,2.10,0.00,0.000,4,0.000,0.041,2559,3705,3485,0,0,0,0,0,0
$GC,5074,-0.65,-116.7,354.0,-7.0,344,5078,0.00,1.98,0.00,0.000,6,0.000,0.025,2559,2300,3485,0,0,0,0,0,0
$GC,5414,-0.65,-116.7,376.5,-6.7,355,5418,0.00,2.10,0.00,0.000,4,0.000,0.041,2559,3706,3485,0,0,0,0,0,0
$GC,5442,-0.68,-116.7,378.4,-7.1,356,5446,0.00,2.00,0.00,0.000,6,0.000,0.025,2559,2295,3485,0,0,0,0,0,0
$GC,5782,-0.68,-116.7,401.0,-6.5,367,5786,0.00,2.10,0.00,0.000,4,0.000,0.041,2559,3704,3484,0,0,0,0,0,0
$GC,5859,-0.73,-116.7,406.5,-7.3,369,5863,0.00,2.00,0.00,0.000,6,0.000,0.025,2559,2284,3484,0,0,0,0,0,0
$GC,6184,-0.76,-116.7,429.7,-7.3,380,6189,0.12,2.12,0.00,0.000,4,0.140,0.042,2518,3700,3484,0,0,0,0,0,0
$GC,6238,-0.71,-116.7,434.6,-8.7,381,6244,0.00,2.00,0.00,0.000,6,0.000,0.025,2518,2300,3483,0,0,0,0,0,0
$GC,6551,-0.65,-116.7,460.2,-8.0,392,6556,0.12,2.12,0.00,0.000,4,0.199,0.043,2549,3709,3483,0,0,0,0,0,0
$GC,6618,-0.65,-116.7,465.2,-7.3,394,6622,0.00,2.00,0.00,0.000,6,0.000,0.025,2550,2300,3482,0,0,0,0,0,0
$GC,6958,-0.65,-116.7,486.5,-5.7,405,6962,0.00,2.10,0.00,0.000,4,0.000,0.042,2550,3704,3482,0,0,0,0,0,0
$GC,7012,-0.65,-116.7,489.8,-5.8,406,7018,0.00,2.03,0.00,0.000,6,0.000,0.025,2550,2272,3482,0,0,0,0,0,0
$GC,7324,-0.65,-116.7,508.3,-6.1,415,7327,0.00,2.12,0.00,0.000,4,0.000,0.042,2550,3698,3482,0,0,0,0,0,0
$GC,7413,-0.68,-116.7,514.3,-6.5,416,7417,0.00,1.98,0.00,0.000,6,0.000,0.025,2549,2295,3481,0,0,0,0,0,0
$GC,7755,-0.68,-116.7,537.9,-7.0,422,7759,0.00,2.10,0.00,0.000,4,0.000,0.043,2550,3698,3480,0,0,0,0,0,0
$GC,7832,-0.72,-116.7,543.5,-7.4,423,7836,0.00,2.03,0.00,0.000,6,0.000,0.025,2550,2298,3480,0,0,0,0,0,0
$GC,8192,-0.72,-116.7,567.5,-6.5,429,8196,0.00,2.10,0.00,0.000,4,0.000,0.044,2549,3701,3478,0,0,0,0,0,0
$GC,8275,-0.75,-116.7,573.1,-6.9,430,8279,0.00,2.00,0.00,0.000,6,0.000,0.026,2550,2295,3478,0,0,0,0,0,0
$GC,8623,-0.75,-116.7,597.0,-7.0,436,8627,0.00,2.10,0.00,0.000,4,0.000,0.044,2549,3698,3477,0,0,0,0,0,0
$GC,8746,-0.79,-116.7,606.2,-7.5,437,8753,0.12,2.00,0.00,0.000,6,0.139,0.026,2510,2289,3476,0,0,0,0,0,0
$GC,9055,-0.72,-116.7,633.5,-9.0,443,9059,0.00,2.12,0.00,0.000,4,0.000,0.044,2510,3705,3475,0,0,0,0,0,0
$GC,9099,-0.66,-116.7,637.5,-8.8,443,9104,0.15,2.00,0.00,0.000,6,0.196,0.027,2549,2298,3475,0,0,0,0,0,0
$GC,9419,-0.66,-116.7,659.7,-6.8,449,9423,0.00,2.12,0.00,0.000,4,0.000,0.044,2549,3707,3474,0,0,0,0,0,0
$GC,9486,-0.66,-116.7,664.2,-7.0,450,9490,0.00,2.00,0.00,0.000,6,0.000,0.028,2549,2309,3473,0,0,0,0,0,0
$GC,9858,-0.66,-116.7,688.7,-6.6,456,9861,0.00,2.10,0.00,0.000,4,0.000,0.044,2549,3704,3472,0,0,0,0,0,0
$GC,9946,-0.70,-116.7,694.8,-7.1,457,9950,0.00,2.05,0.00,0.000,6,0.000,0.027,2549,2298,3472,0,0,0,0,0,0
$GC,10289,-0.70,-116.7,717.0,-6.5,463,10293,0.00,2.10,0.00,0.000,4,0.000,0.045,2549,3697,3471,0,0,0,0,0,0
$GC,10384,-0.74,-116.7,723.5,-7.2,464,10388,0.00,2.00,0.00,0.000,6,0.000,0.027,2549,2294,3470,0,0,0,0,0,0
$GC,10721,-0.74,-116.7,745.0,-6.3,470,10725,0.00,2.12,0.00,0.000,4,0.000,0.045,2549,3707,3470,0,0,0,0,0,0
$GC,10827,-0.78,-116.7,751.9,-6.9,471,10832,0.12,2.03,0.00,0.000,6,0.140,0.028,2510,2289,3469,0,0,0,0,0,0
$GC,11147,-0.72,-116.7,776.1,-7.7,477,11151,0.00,2.12,0.00,0.000,4,0.000,0.045,2509,3699,3469,0,0,0,0,0,0
$GC,11214,-0.67,-116.7,781.5,-8.9,478,11219,0.15,2.00,0.00,0.000,6,0.196,0.028,2547,2293,3469,0,0,0,0,0,0
$GC,11579,-0.67,-116.7,805.1,-6.4,484,11583,0.00,2.12,0.00,0.000,4,0.000,0.046,2547,3705,3468,0,0,0,0,0,0
$GC,11691,-0.71,-116.7,812.3,-6.0,485,11695,0.00,2.00,0.00,0.000,6,0.000,0.028,2548,2309,3468,0,0,0,0,0,0
$GC,12012,-0.71,-116.7,831.5,-5.9,491,12015,0.00,2.10,0.00,0.000,4,0.000,0.046,2548,3702,3467,0,0,0,0,0,0
$GC,12090,-0.75,-116.7,836.6,-6.5,492,12094,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2273,3466,0,0,0,0,0,0
$GC,12444,-0.75,-116.7,858.9,-6.4,498,12448,0.00,2.15,0.00,0.000,4,0.000,0.046,2547,3700,3466,0,0,0,0,0,0
$GC,12544,-0.79,-116.7,865.8,-6.6,499,12549,0.12,2.03,0.00,0.000,6,0.143,0.028,2508,2287,3465,0,0,0,0,0,0
$GC,12875,-0.73,-116.7,892.9,-8.3,505,12879,0.00,2.12,0.00,0.000,4,0.000,0.046,2507,3695,3465,0,0,0,0,0,0
$GC,12907,-0.68,-116.7,895.7,-8.9,505,12912,0.08,2.05,0.00,0.000,6,0.167,0.028,2543,2295,3465,0,0,0,0,0,0
$GC,13244,-0.68,-116.7,919.2,-6.9,511,13247,0.00,2.12,0.00,0.000,4,0.000,0.046,2543,3704,3464,0,0,0,0,0,0
$GC,13299,-0.72,-116.7,923.1,-7.2,511,13306,0.00,2.03,0.00,0.000,6,0.000,0.028,2544,2295,3464,0,0,0,0,0,0
$GC,13608,-0.72,-116.7,943.1,-6.4,517,13612,0.00,2.10,0.00,0.000,4,0.000,0.046,2544,3696,3464,0,0,0,0,0,0
$GC,13663,-0.75,-116.7,946.9,-6.5,517,13668,0.00,2.00,0.00,0.000,6,0.000,0.028,2543,2300,3463,0,0,0,0,0,0
$GC,13972,-0.75,-116.7,966.3,-6.4,523,13976,0.00,2.10,0.00,0.000,4,0.000,0.046,2543,3696,3463,0,0,0,0,0,0
$GC,14016,-0.79,-116.7,969.1,-6.3,523,14020,0.10,2.00,0.00,0.000,6,0.156,0.028,2515,2299,3463,0,0,0,0,0,0
$STATE,14333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14333,begin apogee
$GC,14339,-0.24,0.0,992.9,7.6,529,14439,0.57,0.00,96.95,1.578,6,0.178,0.000,2686,2642,3007,0,0,0,0,0,0
$STATE,14439,end apogee,CONTROL_FINISHED_OK
$STATE,14439,begin climb
$GC,14441,0.80,116.7,995.0,0.0,530,14556,1.08,2.42,104.12,1.466,4,0.120,0.048,3018,4043,2529,0,0,0,0,0,0
$GC,14606,0.54,116.7,989.4,8.8,533,14611,0.35,2.17,0.00,0.000,6,0.189,0.028,2941,2655,2523,0,0,0,0,0,0
$GC,14943,0.54,144.1,969.5,5.8,539,14969,0.00,0.00,23.88,1.426,6,0.000,0.000,2941,2653,2418,0,0,0,0,0,0
$GC,15247,0.56,159.0,950.6,6.3,544,15262,0.00,0.00,13.73,1.397,6,0.000,0.000,2942,2653,2358,0,0,0,0,0,0
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$STATE,27747,end climb,SURFACE_DEPTH_REACHED
$STATE,27747,begin surface coast
$FINISH,2.6,1.022939
$STATE,27794,end surface coast,CONTROL_FINISHED_OK
$STATE,27794,begin surface
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$10V_AH,10.1,8.873
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$FG_AHR_10Vo,0.000
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$CFSIZE,260165632,248795136
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