version: 66.06
glider: 140
mission: 8
dive: 48
start: 10 13 109 4 43 43
data:
$ID,140
$MISSION,8
$DIVE,48
$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,-45161.812
$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,56
$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
$GPS1,043737,6456.896,-46.213,38,0.8,39,-5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.73
$_SM_ANGLEo,-63.7
$GPS2,044320,6456.931,-46.248,14,0.9,14,-5.7
$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,138.3,318040,-13.7,-6.875
$D_GRID,2842
$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,-7.65,0.000,2,0.000,0.000,214,2282,1953,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.8,-0.0,1,128,9.32,2.25,-81.70,0.000,4,0.262,0.058,2500,3705,3481,0,0,0,0,0,0
$GC,135,-1.05,-116.7,3.1,0.0,20,142,0.20,2.12,0.00,0.000,6,0.110,0.025,2421,2273,3482,0,0,0,0,0,0
$GC,475,-0.75,-116.7,47.8,-14.5,81,481,0.32,2.20,0.00,0.000,4,0.204,0.042,2512,3708,3484,0,0,0,0,0,0
$GC,490,-0.48,-116.7,49.7,-13.6,83,497,0.32,2.03,0.00,0.000,6,0.193,0.026,2604,2300,3483,0,0,0,0,0,0
$GC,824,-0.56,-116.7,70.2,-6.0,121,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2299,3484,0,0,0,0,0,0
$GC,1133,-0.64,-116.7,88.1,-5.6,136,1135,0.15,0.00,0.00,0.000,6,0.133,0.000,2557,2299,3485,0,0,0,0,0,0
$GC,1442,-0.64,-116.7,109.1,-6.9,151,1445,0.00,2.03,0.00,0.000,4,0.000,0.037,2557,926,3486,0,0,0,0,0,0
$GC,1501,-0.64,-116.7,113.8,-7.6,153,1508,0.00,2.08,0.00,0.000,6,0.000,0.030,2556,2305,3486,0,0,0,0,0,0
$GC,1818,-0.64,-116.7,137.2,-7.4,169,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2305,3487,0,0,0,0,0,0
$GC,2127,-0.64,-116.7,159.8,-7.2,184,2131,0.00,2.05,0.00,0.000,4,0.000,0.038,2556,925,3487,0,0,0,0,0,0
$GC,2165,-0.64,-116.7,162.6,-7.6,186,2169,0.00,2.03,0.00,0.000,6,0.000,0.031,2556,2305,3487,0,0,0,0,0,0
$GC,2497,-0.64,-116.7,184.8,-6.5,202,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2305,3487,0,0,0,0,0,0
$GC,2806,-0.64,-116.7,204.8,-6.5,217,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2305,3487,0,0,0,0,0,0
$GC,3115,-0.64,-116.7,225.7,-7.0,232,3119,0.00,2.08,0.00,0.000,4,0.000,0.044,2556,3708,3486,0,0,0,0,0,0
$GC,3132,-0.64,-116.7,226.9,-7.2,233,3135,0.00,2.00,0.00,0.000,6,0.000,0.026,2556,2306,3486,0,0,0,0,0,0
$GC,3463,-0.64,-116.7,251.8,-7.8,249,3467,0.00,2.10,0.00,0.000,4,0.000,0.044,2556,3705,3485,0,0,0,0,0,0
$GC,3518,-0.67,-116.7,256.5,-8.8,251,3524,0.00,2.03,0.00,0.000,6,0.000,0.026,2556,2287,3485,0,0,0,0,0,0
$GC,3833,-0.67,-116.7,283.0,-8.5,267,3837,0.00,2.12,0.00,0.000,4,0.000,0.044,2557,3707,3484,0,0,0,0,0,0
$GC,3850,-0.67,-116.7,284.4,-8.1,268,3854,0.00,2.03,0.00,0.000,6,0.000,0.027,2556,2296,3484,0,0,0,0,0,0
$GC,4190,-0.67,-116.7,312.6,-8.2,282,4194,0.00,2.10,0.00,0.000,4,0.000,0.044,2556,3698,3484,0,0,0,0,0,0
$GC,4222,-0.67,-116.7,315.4,-8.3,283,4227,0.00,2.05,0.00,0.000,6,0.000,0.027,2556,2290,3484,0,0,0,0,0,0
$GC,4557,-0.67,-116.7,342.2,-7.9,294,4561,0.00,2.12,0.00,0.000,4,0.000,0.044,2556,3705,3483,0,0,0,0,0,0
$GC,4589,-0.67,-116.7,344.9,-8.0,295,4593,0.00,2.05,0.00,0.000,6,0.000,0.027,2556,2300,3483,0,0,0,0,0,0
$GC,4924,-0.67,-116.7,371.6,-8.0,306,4928,0.00,2.10,0.00,0.000,4,0.000,0.045,2556,3697,3482,0,0,0,0,0,0
$GC,4973,-0.70,-116.7,375.8,-8.4,307,4977,0.00,2.05,0.00,0.000,6,0.000,0.027,2556,2291,3482,0,0,0,0,0,0
$GC,5297,-0.70,-116.7,401.5,-8.0,318,5301,0.00,2.12,0.00,0.000,4,0.000,0.045,2556,3705,3481,0,0,0,0,0,0
$GC,5329,-0.70,-116.7,404.2,-7.9,319,5333,0.00,2.05,0.00,0.000,6,0.000,0.028,2556,2303,3481,0,0,0,0,0,0
$GC,5664,-0.70,-116.7,429.8,-7.6,330,5668,0.00,2.10,0.00,0.000,4,0.000,0.045,2556,3701,3480,0,0,0,0,0,0
$GC,5698,-0.73,-116.7,432.4,-7.6,331,5702,0.00,2.03,0.00,0.000,6,0.000,0.028,2556,2289,3480,0,0,0,0,0,0
$GC,6032,-0.73,-116.7,457.3,-7.4,342,6036,0.00,2.12,0.00,0.000,4,0.000,0.045,2556,3703,3480,0,0,0,0,0,0
$GC,6075,-0.77,-116.7,460.7,-7.4,343,6080,0.05,2.05,0.00,0.000,6,0.099,0.028,2517,2298,3479,0,0,0,0,0,0
$GC,6399,-0.71,-116.7,486.5,-7.9,354,6403,0.00,2.10,0.00,0.000,4,0.000,0.045,2516,3697,3478,0,0,0,0,0,0
$GC,6414,-0.65,-116.7,487.8,-7.8,354,6419,0.08,2.05,0.00,0.000,6,0.184,0.028,2553,2295,3478,0,0,0,0,0,0
$GC,6736,-0.65,-116.7,507.7,-6.1,363,6740,0.00,2.10,0.00,0.000,4,0.000,0.046,2553,3697,3477,0,0,0,0,0,0
$GC,6747,-0.65,-116.7,508.3,-6.0,363,6751,0.00,2.00,0.00,0.000,6,0.000,0.028,2553,2303,3477,0,0,0,0,0,0
$GC,7101,-0.65,-116.7,529.5,-6.0,369,7105,0.00,2.10,0.00,0.000,4,0.000,0.046,2553,3699,3477,0,0,0,0,0,0
$GC,7134,-0.69,-116.7,531.6,-6.2,369,7138,0.00,2.03,0.00,0.000,6,0.000,0.028,2553,2293,3476,0,0,0,0,0,0
$GC,7465,-0.69,-116.7,551.6,-6.1,375,7469,0.00,2.12,0.00,0.000,4,0.000,0.046,2553,3701,3476,0,0,0,0,0,0
$GC,7493,-0.72,-116.7,553.4,-6.5,375,7496,0.00,2.03,0.00,0.000,6,0.000,0.028,2553,2292,3476,0,0,0,0,0,0
$GC,7830,-0.72,-116.7,575.0,-6.5,381,7834,0.00,2.12,0.00,0.000,4,0.000,0.046,2553,3702,3475,0,0,0,0,0,0
$GC,7856,-0.72,-116.7,576.8,-7.0,381,7860,0.00,2.05,0.00,0.000,6,0.000,0.028,2553,2300,3475,0,0,0,0,0,0
$GC,8194,-0.72,-116.7,598.5,-6.5,387,8198,0.00,2.10,0.00,0.000,4,0.000,0.046,2553,3697,3475,0,0,0,0,0,0
$GC,8227,-0.75,-116.7,600.6,-6.9,387,8231,0.00,2.03,0.00,0.000,6,0.000,0.028,2553,2289,3475,0,0,0,0,0,0
$GC,8559,-0.79,-116.7,621.0,-6.1,393,8563,0.12,2.15,0.00,0.000,4,0.142,0.047,2514,3703,3474,0,0,0,0,0,0
$GC,8602,-0.74,-116.7,624.3,-7.7,393,8606,0.00,2.03,0.00,0.000,6,0.000,0.028,2514,2294,3474,0,0,0,0,0,0
$GC,8923,-0.68,-116.7,647.7,-7.3,399,8927,0.12,2.15,0.00,0.000,4,0.208,0.048,2544,3699,3473,0,0,0,0,0,0
$GC,8937,-0.68,-116.7,648.8,-7.3,399,8942,0.00,2.05,0.00,0.000,6,0.000,0.029,2545,2302,3473,0,0,0,0,0,0
$GC,9292,-0.68,-116.7,669.9,-6.0,405,9296,0.00,2.12,0.00,0.000,4,0.000,0.047,2545,3697,3473,0,0,0,0,0,0
$GC,9325,-0.68,-116.7,672.0,-6.0,405,9329,0.00,2.03,0.00,0.000,6,0.000,0.029,2545,2291,3473,0,0,0,0,0,0
$GC,9657,-0.68,-116.7,691.8,-6.0,411,9660,0.00,2.12,0.00,0.000,4,0.000,0.047,2545,3700,3472,0,0,0,0,0,0
$GC,9706,-0.68,-116.7,695.0,-6.3,411,9710,0.00,2.05,0.00,0.000,6,0.000,0.029,2545,2302,3472,0,0,0,0,0,0
$GC,10021,-0.68,-116.7,714.2,-6.1,417,10025,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,3697,3472,0,0,0,0,0,0
$GC,10047,-0.68,-116.7,716.0,-7.0,417,10051,0.00,2.05,0.00,0.000,6,0.000,0.029,2545,2302,3472,0,0,0,0,0,0
$GC,10385,-0.68,-116.7,736.3,-6.1,423,10389,0.00,2.10,0.00,0.000,4,0.000,0.047,2545,3697,3471,0,0,0,0,0,0
$GC,10418,-0.68,-116.7,738.5,-6.1,423,10422,0.00,2.05,0.00,0.000,6,0.000,0.029,2545,2303,3471,0,0,0,0,0,0
$GC,10749,-0.68,-116.7,758.7,-6.1,429,10753,0.00,2.10,0.00,0.000,4,0.000,0.047,2545,3697,3471,0,0,0,0,0,0
$GC,10793,-0.68,-116.7,761.5,-6.9,429,10797,0.00,2.05,0.00,0.000,6,0.000,0.029,2545,2299,3471,0,0,0,0,0,0
$GC,11114,-0.68,-116.7,780.5,-6.0,435,11118,0.00,2.12,0.00,0.000,4,0.000,0.047,2545,3706,3471,0,0,0,0,0,0
$GC,11164,-0.72,-116.7,783.6,-6.1,435,11167,0.00,2.03,0.00,0.000,6,0.000,0.029,2545,2299,3471,0,0,0,0,0,0
$GC,11478,-0.72,-116.7,802.6,-6.1,441,11482,0.00,2.12,0.00,0.000,4,0.000,0.047,2545,3704,3471,0,0,0,0,0,0
$GC,11516,-0.72,-116.7,805.2,-6.7,441,11520,0.00,2.03,0.00,0.000,6,0.000,0.029,2545,2299,3470,0,0,0,0,0,0
$GC,11847,-0.72,-116.7,825.5,-6.2,447,11851,0.00,2.12,0.00,0.000,4,0.000,0.047,2545,3706,3470,0,0,0,0,0,0
$GC,11897,-0.75,-116.7,828.8,-6.2,447,11901,0.00,2.05,0.00,0.000,6,0.000,0.029,2545,2287,3470,0,0,0,0,0,0
$GC,12212,-0.75,-116.7,848.5,-6.3,453,12216,0.00,2.12,0.00,0.000,4,0.000,0.047,2545,3701,3470,0,0,0,0,0,0
$GC,12239,-0.75,-116.7,850.3,-6.2,453,12242,0.00,2.03,0.00,0.000,6,0.000,0.029,2545,2293,3470,0,0,0,0,0,0
$GC,12576,-0.75,-116.7,872.2,-6.6,459,12580,0.00,2.12,0.00,0.000,4,0.000,0.047,2545,3702,3469,0,0,0,0,0,0
$GC,12603,-0.78,-116.7,874.0,-6.5,459,12607,0.00,2.03,0.00,0.000,6,0.000,0.029,2545,2298,3469,0,0,0,0,0,0
$GC,12940,-0.78,-116.7,896.3,-6.6,465,12944,0.00,2.10,0.00,0.000,4,0.000,0.047,2545,3697,3469,0,0,0,0,0,0
$GC,12983,-0.81,-116.7,899.3,-7.1,465,12988,0.05,2.05,0.00,0.000,6,0.101,0.029,2507,2298,3469,0,0,0,0,0,0
$GC,13304,-0.76,-116.7,925.4,-8.2,471,13305,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2296,3469,0,0,0,0,0,0
$GC,13607,-0.70,-116.7,950.2,-8.1,476,13609,0.12,0.00,0.00,0.000,6,0.209,0.000,2538,2294,3468,0,0,0,0,0,0
$GC,13909,-0.70,-116.7,971.1,-6.9,481,13913,0.00,2.12,0.00,0.000,4,0.000,0.048,2538,3705,3469,0,0,0,0,0,0
$GC,13930,-0.70,-116.7,972.8,-7.8,481,13935,0.00,2.08,0.00,0.000,6,0.000,0.029,2538,2296,3469,0,0,0,0,0,0
$STATE,14211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14211,begin apogee
$GC,14216,-0.24,0.0,992.6,7.1,486,14317,0.47,0.00,98.50,1.552,6,0.175,0.000,2682,2642,3006,0,0,0,0,0,0
$STATE,14318,end apogee,CONTROL_FINISHED_OK
$STATE,14318,begin climb
$GC,14320,0.80,116.7,995.1,0.0,487,14433,1.10,2.38,105.55,1.457,4,0.126,0.050,3017,4042,2529,0,0,0,0,0,0
$GC,14477,0.54,116.7,990.9,8.3,490,14482,0.35,2.22,0.00,0.000,6,0.201,0.028,2943,2635,2523,0,0,0,0,0,0
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$STATE,27533,end climb,SURFACE_DEPTH_REACHED
$STATE,27533,begin surface coast
$FINISH,3.5,1.027162
$STATE,27546,end surface coast,CONTROL_FINISHED_OK
$STATE,27547,begin surface
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$10V_AH,10.0,5.988
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241584
$DATA_FILE_SIZE,53806,952
$CAP_FILE_SIZE,208031,0
$CFSIZE,260165632,251125760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,341.0,1
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