version: 66.06
glider: 140
mission: 8
dive: 88
start: 10 26 109 1 39 42
data:
$ID,140
$MISSION,8
$DIVE,88
$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,-45907.781
$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,43
$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
$GPS1,013336,6312.876,251.775,41,1.4,47,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.49
$_SM_ANGLEo,-62.9
$GPS2,013919,6312.886,251.719,8,1.5,14,-3.3
$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,117.4,55618,-13.7,-6.875
$D_GRID,991
$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,-7.70,0.000,2,0.000,0.000,213,2281,2045,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.4,-0.0,1,117,9.07,2.12,-76.15,0.000,4,0.248,0.051,2501,909,3482,0,0,0,0,0,0
$GC,368,-0.63,-116.7,28.0,-11.1,62,375,0.17,2.10,0.00,0.000,6,0.173,0.029,2555,2305,3483,0,0,0,0,0,0
$GC,709,-0.59,-116.7,55.5,-8.1,123,715,0.00,2.08,0.00,0.000,4,0.000,0.035,2555,913,3483,0,0,0,0,0,0
$GC,777,-0.54,-116.7,61.6,-8.8,133,782,0.12,2.05,0.00,0.000,6,0.197,0.028,2587,2307,3483,0,0,0,0,0,0
$GC,1106,-0.59,-116.7,83.4,-6.6,149,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2307,3484,0,0,0,0,0,0
$GC,1413,-0.64,-116.7,104.8,-7.0,164,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2307,3484,0,0,0,0,0,0
$GC,1723,-0.70,-116.7,126.6,-7.0,179,1725,0.15,0.00,0.00,0.000,6,0.126,0.000,2539,2308,3484,0,0,0,0,0,0
$GC,2031,-0.65,-116.7,151.3,-7.9,194,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2308,3484,0,0,0,0,0,0
$GC,2342,-0.60,-116.7,175.8,-7.8,209,2346,0.12,2.08,0.00,0.000,4,0.199,0.042,2569,3706,3485,0,0,0,0,0,0
$GC,2358,-0.60,-116.7,177.1,-7.6,210,2361,0.00,2.00,0.00,0.000,6,0.000,0.025,2570,2298,3485,0,0,0,0,0,0
$GC,2689,-0.60,-116.7,198.3,-6.2,226,2693,0.00,2.10,0.00,0.000,4,0.000,0.041,2569,3706,3485,0,0,0,0,0,0
$GC,2708,-0.63,-116.7,199.4,-6.1,227,2712,0.00,2.00,0.00,0.000,6,0.000,0.025,2569,2296,3485,0,0,0,0,0,0
$GC,3040,-0.63,-116.7,220.1,-6.1,243,3044,0.00,2.10,0.00,0.000,4,0.000,0.041,2570,3705,3485,0,0,0,0,0,0
$GC,3067,-0.63,-116.7,221.8,-6.4,244,3072,0.00,2.03,0.00,0.000,6,0.000,0.024,2569,2295,3485,0,0,0,0,0,0
$GC,3389,-0.63,-116.7,241.9,-6.1,260,3393,0.00,2.10,0.00,0.000,4,0.000,0.041,2569,3702,3485,0,0,0,0,0,0
$GC,3411,-0.66,-116.7,243.2,-6.2,261,3415,0.00,2.00,0.00,0.000,6,0.000,0.025,2569,2289,3485,0,0,0,0,0,0
$GC,3744,-0.70,-116.7,262.5,-5.7,277,3748,0.00,2.10,0.00,0.000,4,0.000,0.041,2569,3698,3485,0,0,0,0,0,0
$GC,3777,-0.74,-116.7,264.7,-6.0,278,3783,0.12,1.98,0.00,0.000,6,0.136,0.025,2529,2291,3485,0,0,0,0,0,0
$GC,4092,-0.68,-116.7,289.3,-8.2,294,4096,0.00,2.10,0.00,0.000,4,0.000,0.041,2528,3702,3485,0,0,0,0,0,0
$GC,4108,-0.63,-116.7,290.7,-7.9,295,4113,0.12,2.00,0.00,0.000,6,0.194,0.025,2559,2287,3485,0,0,0,0,0,0
$GC,4438,-0.63,-116.7,313.6,-6.7,308,4442,0.00,2.10,0.00,0.000,4,0.000,0.041,2559,3701,3485,0,0,0,0,0,0
$GC,4466,-0.63,-116.7,315.7,-7.0,309,4470,0.00,1.98,0.00,0.000,6,0.000,0.025,2559,2297,3485,0,0,0,0,0,0
$GC,4807,-0.63,-116.7,338.1,-6.7,320,4810,0.00,2.10,0.00,0.000,4,0.000,0.041,2559,3706,3485,0,0,0,0,0,0
$GC,4884,-0.66,-116.7,343.6,-7.6,322,4888,0.00,1.98,0.00,0.000,6,0.000,0.025,2559,2296,3484,0,0,0,0,0,0
$GC,5208,-0.66,-116.7,364.9,-6.6,333,5212,0.00,2.10,0.00,0.000,4,0.000,0.041,2559,3706,3484,0,0,0,0,0,0
$GC,5252,-0.66,-116.7,367.9,-6.6,334,5256,0.00,1.98,0.00,0.000,6,0.000,0.025,2559,2301,3484,0,0,0,0,0,0
$GC,5575,-0.66,-116.7,388.8,-6.3,345,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2298,3484,0,0,0,0,0,0
$GC,5881,-0.66,-116.7,407.7,-6.1,355,5885,0.00,2.10,0.00,0.000,4,0.000,0.042,2559,3706,3483,0,0,0,0,0,0
$GC,5914,-0.69,-116.7,410.0,-7.1,356,5918,0.00,1.98,0.00,0.000,6,0.000,0.025,2559,2302,3482,0,0,0,0,0,0
$GC,6249,-0.69,-116.7,432.3,-6.8,367,6253,0.00,2.08,0.00,0.000,4,0.000,0.043,2559,3697,3482,0,0,0,0,0,0
$GC,6282,-0.73,-116.7,434.6,-6.9,368,6286,0.00,2.03,0.00,0.000,6,0.000,0.025,2559,2295,3482,0,0,0,0,0,0
$GC,6616,-0.73,-116.7,455.4,-6.1,379,6620,0.00,2.10,0.00,0.000,4,0.000,0.042,2559,3701,3481,0,0,0,0,0,0
$GC,6679,-0.77,-116.7,459.5,-6.6,381,6683,0.15,2.00,0.00,0.000,6,0.130,0.025,2510,2288,3481,0,0,0,0,0,0
$GC,7019,-0.70,-116.7,486.9,-8.4,392,7023,0.00,2.10,0.00,0.000,4,0.000,0.043,2510,3695,3480,0,0,0,0,0,0
$GC,7029,-0.63,-116.7,487.9,-8.5,392,7034,0.17,1.98,0.00,0.000,6,0.196,0.026,2555,2293,3480,0,0,0,0,0,0
$GC,7351,-0.63,-116.7,510.8,-7.1,401,7355,0.00,2.10,0.00,0.000,4,0.000,0.044,2555,3697,3479,0,0,0,0,0,0
$GC,7395,-0.66,-116.7,514.0,-7.0,401,7399,0.00,1.98,0.00,0.000,6,0.000,0.026,2555,2306,3479,0,0,0,0,0,0
$GC,7715,-0.66,-116.7,536.9,-7.1,407,7719,0.00,2.10,0.00,0.000,4,0.000,0.044,2555,3704,3478,0,0,0,0,0,0
$GC,7769,-0.70,-116.7,540.9,-7.0,407,7774,0.00,2.03,0.00,0.000,6,0.000,0.027,2555,2308,3478,0,0,0,0,0,0
$GC,8084,-0.70,-116.7,562.7,-7.0,413,8087,0.00,2.08,0.00,0.000,4,0.000,0.044,2555,3698,3476,0,0,0,0,0,0
$GC,8139,-0.74,-116.7,566.8,-7.4,413,8144,0.00,2.03,0.00,0.000,6,0.000,0.027,2555,2302,3476,0,0,0,0,0,0
$GC,8448,-0.74,-116.7,587.2,-6.6,419,8452,0.00,2.12,0.00,0.000,4,0.000,0.045,2555,3704,3475,0,0,0,0,0,0
$GC,8486,-0.78,-116.7,589.9,-7.1,419,8490,0.10,2.05,0.00,0.000,6,0.105,0.028,2516,2297,3475,0,0,0,0,0,0
$GC,8811,-0.72,-116.7,615.5,-7.9,425,8812,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2296,3473,0,0,0,0,0,0
$GC,9114,-0.66,-116.7,639.7,-8.0,430,9116,0.12,0.00,0.00,0.000,6,0.199,0.000,2546,2293,3472,0,0,0,0,0,0
$GC,9417,-0.66,-116.7,661.1,-7.0,435,9421,0.00,2.10,0.00,0.000,4,0.000,0.045,2546,3693,3471,0,0,0,0,0,0
$GC,9460,-0.66,-116.7,664.2,-7.3,435,9464,0.00,2.03,0.00,0.000,6,0.000,0.028,2546,2308,3471,0,0,0,0,0,0
$GC,9780,-0.66,-116.7,687.3,-7.2,441,9784,0.00,2.10,0.00,0.000,4,0.000,0.045,2546,3702,3470,0,0,0,0,0,0
$GC,9824,-0.66,-116.7,690.7,-8.2,441,9828,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2300,3470,0,0,0,0,0,0
$GC,10150,-0.66,-116.7,713.6,-7.0,447,10154,0.00,2.10,0.00,0.000,4,0.000,0.045,2546,3697,3470,0,0,0,0,0,0
$GC,10215,-0.66,-116.7,718.4,-7.5,448,10220,0.00,2.05,0.00,0.000,6,0.000,0.028,2547,2294,3469,0,0,0,0,0,0
$GC,10581,-0.66,-116.7,743.7,-6.9,454,10585,0.00,2.10,0.00,0.000,4,0.000,0.045,2546,3693,3468,0,0,0,0,0,0
$GC,10647,-0.66,-116.7,748.3,-6.8,455,10651,0.00,2.00,0.00,0.000,6,0.000,0.028,2546,2295,3468,0,0,0,0,0,0
$GC,11012,-0.66,-116.7,773.8,-7.0,461,11016,0.00,2.10,0.00,0.000,4,0.000,0.046,2547,3692,3467,0,0,0,0,0,0
$GC,11078,-0.66,-116.7,778.7,-6.9,462,11082,0.00,2.03,0.00,0.000,6,0.000,0.028,2546,2307,3467,0,0,0,0,0,0
$GC,11444,-0.66,-116.7,803.6,-6.8,468,11448,0.00,2.10,0.00,0.000,4,0.000,0.045,2547,3699,3466,0,0,0,0,0,0
$GC,11516,-0.69,-116.7,808.6,-6.9,469,11520,0.00,2.03,0.00,0.000,6,0.000,0.028,2546,2289,3466,0,0,0,0,0,0
$GC,11881,-0.69,-116.7,832.4,-6.5,475,11885,0.00,2.12,0.00,0.000,4,0.000,0.045,2546,3701,3465,0,0,0,0,0,0
$GC,11949,-0.73,-116.7,836.9,-6.3,476,11953,0.00,2.03,0.00,0.000,6,0.000,0.028,2546,2295,3465,0,0,0,0,0,0
$GC,12314,-0.73,-116.7,860.3,-6.4,482,12318,0.00,2.12,0.00,0.000,4,0.000,0.046,2546,3702,3464,0,0,0,0,0,0
$GC,12392,-0.76,-116.7,865.5,-6.9,483,12396,0.00,2.03,0.00,0.000,6,0.000,0.028,2546,2293,3464,0,0,0,0,0,0
$GC,12746,-0.76,-116.7,887.7,-6.3,489,12750,0.00,2.10,0.00,0.000,4,0.000,0.046,2547,3692,3463,0,0,0,0,0,0
$GC,12841,-0.80,-116.7,894.0,-6.6,490,12846,0.12,2.00,0.00,0.000,6,0.146,0.028,2506,2296,3463,0,0,0,0,0,0
$GC,13179,-0.74,-116.7,919.8,-7.8,496,13180,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2294,3463,0,0,0,0,0,0
$GC,13481,-0.67,-116.7,943.4,-7.8,501,13486,0.15,2.12,0.00,0.000,4,0.197,0.047,2544,3693,3463,0,0,0,0,0,0
$GC,13501,-0.67,-116.7,945.0,-7.2,501,13506,0.00,2.05,0.00,0.000,6,0.000,0.028,2544,2303,3463,0,0,0,0,0,0
$GC,13845,-0.67,-116.7,966.3,-6.2,507,13849,0.00,2.10,0.00,0.000,4,0.000,0.046,2545,3697,3463,0,0,0,0,0,0
$GC,13923,-0.71,-116.7,971.4,-6.2,508,13927,0.00,2.03,0.00,0.000,6,0.000,0.028,2544,2296,3462,0,0,0,0,0,0
$STATE,14274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14274,begin apogee
$GC,14279,-0.24,0.0,993.4,6.2,514,14379,0.45,0.00,96.43,1.565,6,0.173,0.000,2679,2639,3006,0,0,0,0,0,0
$STATE,14380,end apogee,CONTROL_FINISHED_OK
$STATE,14380,begin climb
$GC,14382,0.80,116.7,995.2,0.0,515,14491,1.08,0.00,104.88,1.468,6,0.121,0.000,3015,2639,2530,0,0,0,0,0,0
$GC,14747,0.62,116.7,973.1,8.1,521,14752,0.17,2.22,0.00,0.000,4,0.174,0.048,2967,4041,2519,0,0,0,0,0,0
$GC,14824,0.48,116.7,966.6,8.6,522,14829,0.20,2.12,0.00,0.000,6,0.189,0.028,2925,2642,2518,0,0,0,0,0,0
$GC,15173,0.51,146.7,946.6,5.7,528,15200,0.00,0.00,25.45,1.450,6,0.000,0.000,2925,2641,2408,0,0,0,0,0,0
$GC,15475,0.54,166.4,928.4,6.1,533,15495,0.00,0.00,18.35,1.425,6,0.000,0.000,2925,2641,2327,0,0,0,0,0,0
$GC,15779,0.59,178.9,909.1,6.4,538,15793,0.00,0.00,12.20,1.391,6,0.000,0.000,2925,2641,2276,0,0,0,0,0,0
$GC,16082,0.65,182.9,888.8,6.7,543,16089,0.15,0.00,4.60,1.092,6,0.117,0.000,2975,2638,2260,0,0,0,0,0,0
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$STATE,26864,end climb,SURFACE_DEPTH_REACHED
$STATE,26864,begin surface coast
$FINISH,2.8,1.010727
$STATE,26915,end surface coast,CONTROL_FINISHED_OK
$STATE,26915,begin surface
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$10V_AH,10.1,10.131
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$CAP_FILE_SIZE,208968,0
$CFSIZE,260165632,247787520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056,196.7,1
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