version: 66.06
glider: 140
mission: 8
dive: 83
start: 10 24 109 10 43 6
data:
$ID,140
$MISSION,8
$DIVE,83
$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,-45833.242
$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,81
$R_STBD_OVSHOOT,39
$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
$GPS1,103706,6328.361,227.788,40,1.0,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.48
$_SM_ANGLEo,-63.3
$GPS2,104243,6328.335,227.777,10,1.6,15,-3.6
$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,129.5,87530,-13.7,-6.875
$D_GRID,1199
$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,-7.62,0.000,2,0.000,0.000,218,2280,2043,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.5,-0.0,1,115,8.88,0.00,-71.75,0.000,6,0.242,0.000,2504,2281,3483,0,0,0,0,0,0
$GC,449,-0.66,-116.7,37.4,-10.4,77,456,0.17,2.20,0.00,0.000,4,0.206,0.042,2550,3715,3485,0,0,0,0,0,0
$GC,497,-0.62,-116.7,41.7,-8.7,85,504,0.00,2.05,0.00,0.000,6,0.000,0.024,2550,2294,3485,0,0,0,0,0,0
$GC,832,-0.58,-116.7,68.4,-8.0,132,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2293,3486,0,0,0,0,0,0
$GC,1142,-0.58,-116.7,94.3,-8.1,147,1146,0.00,2.03,0.00,0.000,4,0.000,0.036,2550,918,3485,0,0,0,0,0,0
$GC,1175,-0.54,-116.7,97.2,-8.7,148,1180,0.12,2.05,0.00,0.000,6,0.200,0.028,2582,2315,3485,0,0,0,0,0,0
$GC,1497,-0.59,-116.7,119.0,-6.7,164,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2315,3486,0,0,0,0,0,0
$GC,1806,-0.64,-116.7,140.2,-6.9,179,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2315,3486,0,0,0,0,0,0
$GC,2115,-0.70,-116.7,160.9,-6.5,194,2117,0.12,0.00,0.00,0.000,6,0.139,0.000,2543,2315,3486,0,0,0,0,0,0
$GC,2424,-0.70,-116.7,185.2,-7.7,209,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2315,3486,0,0,0,0,0,0
$GC,2733,-0.70,-116.7,208.5,-7.5,224,2736,0.00,2.08,0.00,0.000,4,0.000,0.035,2543,912,3486,0,0,0,0,0,0
$GC,2748,-0.66,-116.7,209.7,-7.7,224,2754,0.00,2.05,0.00,0.000,6,0.000,0.028,2542,2298,3486,0,0,0,0,0,0
$GC,3063,-0.66,-116.7,234.2,-8.0,240,3067,0.00,2.05,0.00,0.000,4,0.000,0.035,2542,909,3486,0,0,0,0,0,0
$GC,3074,-0.63,-116.7,235.0,-7.8,240,3079,0.00,2.03,0.00,0.000,6,0.000,0.028,2542,2304,3486,0,0,0,0,0,0
$GC,3389,-0.59,-116.7,260.2,-7.6,256,3391,0.12,0.00,0.00,0.000,6,0.207,0.000,2573,2304,3486,0,0,0,0,0,0
$GC,3699,-0.64,-116.7,280.9,-6.8,271,3703,0.00,2.05,0.00,0.000,4,0.000,0.035,2573,908,3486,0,0,0,0,0,0
$GC,3717,-0.67,-116.7,282.1,-6.4,272,3721,0.00,2.03,0.00,0.000,6,0.000,0.028,2573,2303,3486,0,0,0,0,0,0
$GC,4043,-0.70,-116.7,300.6,-5.6,288,4045,0.12,0.00,0.00,0.000,6,0.133,0.000,2531,2303,3486,0,0,0,0,0,0
$GC,4350,-0.66,-116.7,323.0,-7.3,298,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2303,3485,0,0,0,0,0,0
$GC,4655,-0.62,-116.7,345.4,-7.4,308,4657,0.12,0.00,0.00,0.000,6,0.193,0.000,2562,2303,3486,0,0,0,0,0,0
$GC,4962,-0.62,-116.7,365.0,-6.4,318,4966,0.00,2.05,0.00,0.000,4,0.000,0.041,2562,3703,3485,0,0,0,0,0,0
$GC,4995,-0.66,-116.7,367.1,-6.5,319,4998,0.00,1.98,0.00,0.000,6,0.000,0.025,2563,2296,3485,0,0,0,0,0,0
$GC,5330,-0.69,-116.7,388.1,-6.9,330,5331,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2293,3485,0,0,0,0,0,0
$GC,5635,-0.73,-116.7,409.9,-7.1,340,5639,0.00,2.08,0.00,0.000,4,0.000,0.042,2563,3696,3485,0,0,0,0,0,0
$GC,5668,-0.77,-116.7,412.3,-7.0,341,5673,0.15,1.95,0.00,0.000,6,0.126,0.025,2514,2292,3484,0,0,0,0,0,0
$GC,6003,-0.71,-116.7,441.9,-9.2,352,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2291,3483,0,0,0,0,0,0
$GC,6309,-0.64,-116.7,468.6,-8.5,362,6314,0.15,2.00,0.00,0.000,4,0.194,0.038,2554,929,3483,0,0,0,0,0,0
$GC,6325,-0.61,-116.7,470.0,-8.2,362,6329,0.00,2.00,0.00,0.000,6,0.000,0.030,2554,2309,3483,0,0,0,0,0,0
$GC,6648,-0.61,-116.7,494.3,-7.8,373,6649,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2309,3483,0,0,0,0,0,0
$GC,6982,-0.61,-116.7,518.6,-7.0,380,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2309,3482,0,0,0,0,0,0
$GC,7286,-0.61,-116.7,538.1,-6.3,385,7290,0.00,2.05,0.00,0.000,4,0.000,0.043,2554,3700,3481,0,0,0,0,0,0
$GC,7336,-0.64,-116.7,541.2,-6.0,385,7340,0.00,2.00,0.00,0.000,6,0.000,0.026,2554,2306,3480,0,0,0,0,0,0
$GC,7656,-0.64,-116.7,560.1,-5.9,391,7660,0.00,2.08,0.00,0.000,4,0.000,0.044,2554,3698,3479,0,0,0,0,0,0
$GC,7695,-0.68,-116.7,562.4,-5.9,391,7698,0.00,1.98,0.00,0.000,6,0.000,0.026,2554,2301,3479,0,0,0,0,0,0
$GC,8020,-0.68,-116.7,579.2,-5.2,397,8024,0.00,2.10,0.00,0.000,4,0.000,0.044,2554,3702,3478,0,0,0,0,0,0
$GC,8059,-0.71,-116.7,581.4,-5.4,397,8063,0.00,2.00,0.00,0.000,6,0.000,0.026,2554,2296,3477,0,0,0,0,0,0
$GC,8385,-0.71,-116.7,599.2,-5.5,403,8389,0.00,2.10,0.00,0.000,4,0.000,0.044,2553,3699,3476,0,0,0,0,0,0
$GC,8447,-0.75,-116.7,602.6,-5.9,404,8451,0.00,2.00,0.00,0.000,6,0.000,0.027,2554,2297,3476,0,0,0,0,0,0
$GC,8818,-0.75,-116.7,623.4,-5.7,410,8822,0.00,2.10,0.00,0.000,4,0.000,0.044,2553,3698,3475,0,0,0,0,0,0
$GC,8867,-0.80,-116.7,626.3,-5.7,410,8872,0.08,2.03,0.00,0.000,6,0.110,0.027,2509,2301,3475,0,0,0,0,0,0
$GC,9187,-0.73,-116.7,650.4,-7.6,416,9188,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2299,3474,0,0,0,0,0,0
$GC,9490,-0.67,-116.7,672.9,-7.3,421,9492,0.15,0.00,0.00,0.000,6,0.194,0.000,2547,2296,3473,0,0,0,0,0,0
$GC,9794,-0.67,-116.7,691.6,-6.2,426,9798,0.00,2.10,0.00,0.000,4,0.000,0.045,2548,3699,3472,0,0,0,0,0,0
$GC,9809,-0.67,-116.7,692.7,-6.0,426,9813,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2296,3472,0,0,0,0,0,0
$GC,10158,-0.67,-116.7,715.0,-6.6,432,10162,0.00,2.10,0.00,0.000,4,0.000,0.045,2548,3697,3471,0,0,0,0,0,0
$GC,10207,-0.67,-116.7,718.5,-6.8,432,10211,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2291,3471,0,0,0,0,0,0
$GC,10528,-0.67,-116.7,740.2,-6.8,438,10532,0.00,2.12,0.00,0.000,4,0.000,0.045,2548,3705,3471,0,0,0,0,0,0
$GC,10548,-0.67,-116.7,741.7,-7.3,438,10553,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2304,3470,0,0,0,0,0,0
$GC,10892,-0.67,-116.7,764.7,-6.8,444,10896,0.00,2.10,0.00,0.000,4,0.000,0.045,2548,3702,3469,0,0,0,0,0,0
$GC,10918,-0.67,-116.7,766.6,-7.3,444,10922,0.00,2.05,0.00,0.000,6,0.000,0.028,2548,2302,3469,0,0,0,0,0,0
$GC,11256,-0.67,-116.7,788.2,-6.4,450,11260,0.00,2.12,0.00,0.000,4,0.000,0.046,2548,3698,3469,0,0,0,0,0,0
$GC,11278,-0.67,-116.7,789.6,-6.1,450,11282,0.00,2.03,0.00,0.000,6,0.000,0.028,2548,2288,3469,0,0,0,0,0,0
$GC,11621,-0.67,-116.7,811.2,-6.2,456,11625,0.00,2.12,0.00,0.000,4,0.000,0.045,2548,3703,3468,0,0,0,0,0,0
$GC,11665,-0.70,-116.7,814.2,-6.7,456,11669,0.00,2.03,0.00,0.000,6,0.000,0.028,2548,2295,3468,0,0,0,0,0,0
$GC,11991,-0.70,-116.7,834.3,-6.1,462,11995,0.00,2.12,0.00,0.000,4,0.000,0.045,2547,3705,3467,0,0,0,0,0,0
$GC,12035,-0.74,-116.7,837.1,-6.9,462,12039,0.00,2.08,0.00,0.000,6,0.000,0.028,2547,2291,3466,0,0,0,0,0,0
$GC,12356,-0.74,-116.7,856.2,-6.0,468,12360,0.00,2.12,0.00,0.000,4,0.000,0.045,2548,3702,3467,0,0,0,0,0,0
$GC,12417,-0.78,-116.7,860.1,-6.5,469,12421,0.00,2.03,0.00,0.000,6,0.000,0.028,2548,2294,3466,0,0,0,0,0,0
$GC,12788,-0.78,-116.7,881.8,-5.9,475,12792,0.00,2.12,0.00,0.000,4,0.000,0.045,2548,3702,3466,0,0,0,0,0,0
$GC,12843,-0.82,-116.7,885.1,-6.3,475,12849,0.15,2.03,0.00,0.000,6,0.133,0.028,2501,2288,3466,0,0,0,0,0,0
$GC,13152,-0.75,-116.7,908.0,-7.5,481,13153,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2288,3465,0,0,0,0,0,0
$GC,13456,-0.68,-116.7,931.5,-7.8,486,13458,0.15,0.00,0.00,0.000,6,0.199,0.000,2540,2286,3465,0,0,0,0,0,0
$GC,13758,-0.68,-116.7,951.5,-6.6,491,13762,0.00,2.12,0.00,0.000,4,0.000,0.046,2539,3697,3465,0,0,0,0,0,0
$GC,13785,-0.68,-116.7,953.3,-6.1,491,13790,0.00,2.05,0.00,0.000,6,0.000,0.028,2540,2300,3465,0,0,0,0,0,0
$GC,14123,-0.68,-116.7,975.2,-6.5,497,14127,0.00,2.10,0.00,0.000,4,0.000,0.046,2541,3695,3464,0,0,0,0,0,0
$GC,14179,-0.71,-116.7,978.9,-6.2,497,14185,0.00,2.03,0.00,0.000,6,0.000,0.028,2540,2288,3464,0,0,0,0,0,0
$STATE,14364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14364,begin apogee
$GC,14369,-0.24,0.0,990.8,6.4,501,14469,0.47,0.00,97.00,1.564,6,0.170,0.000,2685,2653,3006,0,0,0,0,0,0
$STATE,14470,end apogee,CONTROL_FINISHED_OK
$STATE,14470,begin climb
$GC,14472,0.80,116.7,993.0,0.0,502,14587,1.08,2.40,104.12,1.465,4,0.118,0.048,3017,4036,2529,0,0,0,0,0,0
$GC,14637,0.54,116.7,987.2,9.4,505,14642,0.35,2.17,0.00,0.000,6,0.188,0.028,2941,2652,2523,0,0,0,0,0,0
$GC,14980,0.53,136.9,966.1,6.1,511,15000,0.00,0.00,17.40,1.414,6,0.000,0.000,2941,2652,2447,0,0,0,0,0,0
$GC,15283,0.54,140.2,945.9,6.7,516,15287,0.00,2.17,0.00,0.000,4,0.000,0.048,2939,4037,2442,0,0,0,0,0,0
$GC,15354,0.47,140.2,940.3,7.5,517,15359,0.05,2.10,0.00,0.000,6,0.167,0.028,2921,2650,2442,0,0,0,0,0,0
$GC,15714,0.50,162.1,918.4,6.0,523,15738,0.00,0.00,22.80,1.443,6,0.000,0.000,2920,2649,2345,0,0,0,0,0,0
$GC,16017,0.56,178.0,899.6,6.2,528,16037,0.00,2.25,14.90,1.404,4,0.000,0.049,2912,4047,2280,0,0,0,0,0,0
$GC,16076,0.56,178.0,895.5,7.6,529,16080,0.00,2.10,0.00,0.000,6,0.000,0.029,2922,2653,2277,0,0,0,0,0,0
$GC,16442,0.63,189.6,872.1,6.4,535,16456,0.15,0.00,11.62,1.378,6,0.110,0.000,2975,2649,2232,0,0,0,0,0,0
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$STATE,27440,end climb,SURFACE_DEPTH_REACHED
$STATE,27440,begin surface coast
$FINISH,2.7,1.017410
$STATE,27492,end surface coast,CONTROL_FINISHED_OK
$STATE,27494,begin surface
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$10V_AH,10.1,9.606
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$FG_AHR_10Vo,0.000
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$MEM,235244
$DATA_FILE_SIZE,54065,965
$CAP_FILE_SIZE,210518,0
$CFSIZE,260165632,248205312
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$CURRENT,0.170,195.6,1
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