version: 66.06
glider: 140
mission: 8
dive: 240
start: 12 11 109 19 42 32
data:
$ID,140
$MISSION,8
$DIVE,240
$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,-48723.004
$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,72
$R_STBD_OVSHOOT,44
$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
$GPS1,193607,6425.916,101.898,39,1.0,40,-4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.01
$_SM_ANGLEo,-65.3
$GPS2,194208,6425.908,101.937,13,1.5,13,-4.5
$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,312.5,120639,-13.7,-6.875
$D_GRID,2508
$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,-7.75,0.000,2,0.000,0.000,217,2280,2043,0,0,0,0,0,0
$GC,27,-0.80,-116.7,4.1,-0.0,1,120,9.15,2.10,-76.80,0.000,4,0.241,0.051,2500,912,3481,0,0,0,0,0,0
$GC,331,-0.68,-116.7,22.4,-10.7,55,337,0.17,2.08,0.00,0.000,6,0.189,0.028,2546,2307,3483,0,0,0,0,0,0
$GC,664,-0.68,-116.7,50.4,-8.4,116,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2307,3483,0,0,0,0,0,0
$GC,1002,-0.68,-116.7,77.3,-8.0,177,1007,0.00,2.10,0.00,0.000,4,0.000,0.035,2546,914,3483,0,0,0,0,0,0
$GC,1064,-0.68,-116.7,82.4,-8.3,188,1071,0.00,2.10,0.00,0.000,6,0.000,0.028,2546,2297,3483,0,0,0,0,0,0
$GC,1404,-0.68,-116.7,107.8,-7.1,249,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2297,3484,0,0,0,0,0,0
$GC,1747,-0.68,-116.7,132.1,-7.4,289,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2297,3485,0,0,0,0,0,0
$GC,2055,-0.68,-116.7,155.8,-7.5,304,2058,0.00,2.12,0.00,0.000,4,0.000,0.041,2546,3701,3485,0,0,0,0,0,0
$GC,2137,-0.68,-116.7,161.9,-7.4,307,2143,0.00,2.05,0.00,0.000,6,0.000,0.023,2546,2289,3485,0,0,0,0,0,0
$GC,2454,-0.68,-116.7,186.1,-8.0,323,2458,0.00,2.15,0.00,0.000,4,0.000,0.040,2546,3705,3485,0,0,0,0,0,0
$GC,2503,-0.68,-116.7,190.2,-8.3,325,2507,0.00,2.05,0.00,0.000,6,0.000,0.023,2546,2297,3485,0,0,0,0,0,0
$GC,2824,-0.68,-116.7,213.1,-6.8,341,2828,0.00,2.12,0.00,0.000,4,0.000,0.040,2546,3702,3486,0,0,0,0,0,0
$GC,2885,-0.68,-116.7,217.3,-6.8,343,2891,0.00,2.05,0.00,0.000,6,0.000,0.024,2546,2295,3486,0,0,0,0,0,0
$GC,3201,-0.68,-116.7,237.6,-6.6,359,3205,0.00,2.12,0.00,0.000,4,0.000,0.040,2546,3702,3486,0,0,0,0,0,0
$GC,3279,-0.71,-116.7,243.0,-6.6,362,3284,0.00,2.00,0.00,0.000,6,0.000,0.024,2546,2296,3486,0,0,0,0,0,0
$GC,3594,-0.71,-116.7,264.2,-6.8,378,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2295,3486,0,0,0,0,0,0
$GC,3903,-0.71,-116.7,286.3,-7.4,393,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2295,3485,0,0,0,0,0,0
$GC,4231,-0.71,-116.7,309.9,-7.3,407,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2295,3485,0,0,0,0,0,0
$GC,4538,-0.71,-116.7,331.8,-7.2,417,4542,0.00,2.15,0.00,0.000,4,0.000,0.041,2546,3700,3485,0,0,0,0,0,0
$GC,4616,-0.75,-116.7,337.6,-7.4,419,4620,0.00,2.00,0.00,0.000,6,0.000,0.025,2546,2301,3484,0,0,0,0,0,0
$GC,4939,-0.75,-116.7,361.8,-7.6,430,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2301,3484,0,0,0,0,0,0
$GC,5246,-0.75,-116.7,386.0,-8.0,440,5249,0.00,2.17,0.00,0.000,4,0.000,0.042,2546,3708,3483,0,0,0,0,0,0
$GC,5346,-0.78,-116.7,394.1,-8.0,443,5350,0.05,2.05,0.00,0.000,6,0.089,0.025,2510,2303,3483,0,0,0,0,0,0
$GC,5681,-0.73,-116.7,423.9,-8.5,454,5685,0.00,2.05,0.00,0.000,4,0.000,0.038,2510,919,3481,0,0,0,0,0,0
$GC,5730,-0.67,-116.7,428.5,-9.6,455,5735,0.08,2.08,0.00,0.000,6,0.148,0.030,2546,2304,3481,0,0,0,0,0,0
$GC,6048,-0.67,-116.7,451.2,-7.2,466,6051,0.00,2.08,0.00,0.000,4,0.000,0.042,2546,3700,3481,0,0,0,0,0,0
$GC,6154,-0.71,-116.7,458.9,-7.6,469,6158,0.00,2.05,0.00,0.000,6,0.000,0.025,2546,2298,3480,0,0,0,0,0,0
$GC,6488,-0.71,-116.7,481.7,-6.9,480,6492,0.00,2.15,0.00,0.000,4,0.000,0.042,2546,3708,3480,0,0,0,0,0,0
$GC,6538,-0.75,-116.7,485.4,-7.4,481,6541,0.00,2.03,0.00,0.000,6,0.000,0.025,2546,2302,3479,0,0,0,0,0,0
$GC,6884,-0.75,-116.7,510.6,-7.3,491,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2301,3479,0,0,0,0,0,0
$GC,7187,-0.75,-116.7,532.7,-7.2,496,7191,0.00,2.15,0.00,0.000,4,0.000,0.043,2546,3709,3478,0,0,0,0,0,0
$GC,7260,-0.79,-116.7,538.1,-7.2,497,7264,0.12,2.05,0.00,0.000,6,0.143,0.026,2505,2288,3478,0,0,0,0,0,0
$GC,7613,-0.74,-116.7,567.5,-8.3,503,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2286,3477,0,0,0,0,0,0
$GC,7916,-0.69,-116.7,591.3,-7.8,508,7918,0.12,0.00,0.00,0.000,6,0.193,0.000,2537,2285,3476,0,0,0,0,0,0
$GC,8220,-0.69,-116.7,611.2,-6.6,513,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2285,3476,0,0,0,0,0,0
$GC,8522,-0.69,-116.7,631.6,-6.7,518,8526,0.00,2.17,0.00,0.000,4,0.000,0.043,2538,3701,3475,0,0,0,0,0,0
$GC,8600,-0.73,-116.7,637.1,-6.9,519,8604,0.00,2.08,0.00,0.000,6,0.000,0.025,2538,2293,3475,0,0,0,0,0,0
$GC,8961,-0.73,-116.7,660.7,-6.5,525,8962,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2292,3474,0,0,0,0,0,0
$GC,9263,-0.73,-116.7,680.3,-6.5,530,9267,0.00,2.15,0.00,0.000,4,0.000,0.043,2538,3699,3474,0,0,0,0,0,0
$GC,9330,-0.77,-116.7,684.9,-6.8,531,9333,0.00,2.03,0.00,0.000,6,0.000,0.026,2538,2302,3473,0,0,0,0,0,0
$GC,9696,-0.77,-116.7,708.9,-6.6,537,9697,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2301,3473,0,0,0,0,0,0
$GC,9998,-0.77,-116.7,729.6,-6.8,542,10002,0.00,2.15,0.00,0.000,4,0.000,0.043,2537,3705,3473,0,0,0,0,0,0
$GC,10081,-0.80,-116.7,735.5,-7.2,543,10085,0.00,2.08,0.00,0.000,6,0.000,0.026,2538,2277,3472,0,0,0,0,0,0
$GC,10430,-0.80,-116.7,760.0,-7.1,549,10434,0.00,2.17,0.00,0.000,4,0.000,0.043,2538,3698,3471,0,0,0,0,0,0
$GC,10473,-0.84,-116.7,763.2,-7.5,549,10478,0.08,2.08,0.00,0.000,6,0.091,0.026,2491,2297,3471,0,0,0,0,0,0
$GC,10799,-0.77,-116.7,791.2,-8.7,555,10803,0.00,2.08,0.00,0.000,4,0.000,0.040,2491,909,3471,0,0,0,0,0,0
$GC,10843,-0.68,-116.7,795.4,-9.5,555,10847,0.20,2.08,0.00,0.000,6,0.184,0.031,2543,2308,3471,0,0,0,0,0,0
$GC,11158,-0.72,-116.7,816.3,-6.6,561,11162,0.00,2.10,0.00,0.000,4,0.000,0.043,2543,3707,3471,0,0,0,0,0,0
$GC,11235,-0.78,-116.7,821.6,-7.5,562,11239,0.00,2.05,0.00,0.000,6,0.000,0.027,2543,2299,3471,0,0,0,0,0,0
$GC,11590,-0.82,-116.7,844.4,-6.5,568,11594,0.12,2.17,0.00,0.000,4,0.143,0.044,2502,3705,3470,0,0,0,0,0,0
$GC,11656,-0.79,-116.7,849.5,-7.2,569,11660,0.00,2.05,0.00,0.000,6,0.000,0.026,2502,2294,3470,0,0,0,0,0,0
$GC,12021,-0.75,-116.7,878.3,-8.1,575,12022,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2292,3470,0,0,0,0,0,0
$GC,12324,-0.71,-116.7,902.7,-8.0,580,12326,0.12,0.00,0.00,0.000,6,0.192,0.000,2534,2290,3469,0,0,0,0,0,0
$GC,12627,-0.71,-116.7,924.6,-7.2,585,12631,0.00,2.15,0.00,0.000,4,0.000,0.044,2534,3698,3469,0,0,0,0,0,0
$GC,12689,-0.75,-116.7,929.3,-7.6,586,12693,0.00,2.05,0.00,0.000,6,0.000,0.027,2534,2287,3469,0,0,0,0,0,0
$GC,13058,-0.75,-116.7,956.2,-7.3,592,13062,0.00,2.17,0.00,0.000,4,0.000,0.044,2534,3705,3469,0,0,0,0,0,0
$GC,13114,-0.79,-116.7,960.5,-7.7,592,13121,0.00,2.05,0.00,0.000,6,0.000,0.027,2534,2293,3469,0,0,0,0,0,0
$GC,13423,-0.82,-116.7,983.5,-7.4,598,13425,0.10,0.00,0.00,0.000,6,0.155,0.000,2503,2292,3468,0,0,0,0,0,0
$STATE,13542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13542,begin apogee
$GC,13547,-0.24,0.0,993.8,8.0,600,13651,0.62,0.00,100.53,1.557,6,0.170,0.000,2683,2650,3006,0,0,0,0,0,0
$STATE,13652,end apogee,CONTROL_FINISHED_OK
$STATE,13652,begin climb
$GC,13654,0.80,116.7,996.4,0.0,601,13771,1.08,2.40,107.97,1.454,4,0.114,0.046,3014,4035,2529,0,0,0,0,0,0
$GC,13793,0.59,137.3,995.9,6.1,604,13819,0.25,2.22,20.38,1.377,6,0.171,0.026,2963,2652,2446,0,0,0,0,0,0
$GC,14147,0.58,166.9,975.9,5.7,610,14175,0.00,0.00,26.85,1.428,6,0.000,0.000,2963,2652,2325,0,0,0,0,0,0
$GC,14448,0.60,182.7,957.2,6.2,615,14465,0.00,0.00,15.07,1.405,6,0.000,0.000,2964,2652,2261,0,0,0,0,0,0
$GC,14752,0.61,191.5,937.4,6.5,620,14763,0.00,0.00,9.32,1.360,6,0.000,0.000,2964,2652,2225,0,0,0,0,0,0
$GC,15055,0.62,195.8,917.1,6.7,625,15065,0.00,2.20,5.38,1.177,4,0.000,0.044,2963,4046,2206,0,0,0,0,0,0
$GC,15081,0.58,195.8,915.0,7.2,625,15085,0.00,2.12,0.00,0.000,6,0.000,0.027,2971,2629,2206,0,0,0,0,0,0
$GC,15419,0.58,195.8,891.2,7.1,631,15423,0.00,2.20,0.00,0.000,4,0.000,0.045,2967,4042,2205,0,0,0,0,0,0
$GC,15440,0.55,195.8,889.6,7.5,631,15445,0.12,2.10,0.00,0.000,6,0.190,0.028,2945,2650,2205,0,0,0,0,0,0
$GC,15783,0.61,216.2,868.7,6.1,637,15805,0.00,0.00,20.10,1.427,6,0.000,0.000,2945,2650,2124,0,0,0,0,0,0
$GC,16086,0.68,231.3,849.7,6.3,642,16104,0.12,0.00,15.05,1.388,6,0.123,0.000,2986,2648,2063,0,0,0,0,0,0
$GC,16388,0.68,231.3,825.9,7.9,647,16392,0.00,2.17,0.00,0.000,4,0.000,0.045,2980,4042,2057,0,0,0,0,0,0
$GC,16398,0.68,231.3,825.0,7.8,647,16402,0.00,2.12,0.00,0.000,6,0.000,0.028,2988,2650,2058,0,0,0,0,0,0
$GC,16753,0.68,231.3,797.4,7.8,653,16757,0.00,2.17,0.00,0.000,4,0.000,0.046,2988,4046,2057,0,0,0,0,0,0
$GC,16780,0.61,231.3,794.8,9.3,653,16785,0.12,2.10,0.00,0.000,6,0.180,0.028,2967,2627,2057,0,0,0,0,0,0
$GC,17122,0.61,231.3,770.5,7.0,659,17123,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2625,2056,0,0,0,0,0,0
$GC,17426,0.62,231.7,749.7,6.9,664,17430,0.00,2.20,0.00,0.000,4,0.000,0.046,2967,4050,2055,0,0,0,0,0,0
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$STATE,25772,end climb,SURFACE_DEPTH_REACHED
$STATE,25772,begin surface coast
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$STATE,25817,end surface coast,CONTROL_FINISHED_OK
$STATE,25818,begin surface
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$10V_AH,9.9,26.347
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$FG_AHR_10Vo,0.000
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