version: 66.06
glider: 140
mission: 8
dive: 159
start: 11 16 109 7 22 36
data:
$ID,140
$MISSION,8
$DIVE,159
$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,602.45679
$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,-47187.07
$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,86
$R_STBD_OVSHOOT,41
$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
$GPS1,071506,6444.289,-18.705,42,1.1,42,-5.4
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,3.16
$_SM_ANGLEo,-50.1
$GPS2,072213,6444.312,-18.668,11,1.2,16,-5.4
$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,137.7,285160,-13.7,-6.875
$D_GRID,2714
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-6.38,0.000,2,0.000,0.000,212,2256,680,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.1,-0.0,1,197,8.57,2.30,-150.23,0.000,4,0.216,0.054,2501,3701,3483,0,0,0,0,0,0
$GC,203,-0.71,-116.7,4.5,-3.7,32,210,0.08,2.08,0.00,0.000,6,0.188,0.024,2525,2301,3483,0,0,0,0,0,0
$GC,540,-0.63,-116.7,34.8,-8.9,93,546,0.12,2.20,0.00,0.000,4,0.212,0.042,2556,3714,3484,0,0,0,0,0,0
$GC,622,-0.63,-116.7,41.5,-8.0,108,628,0.00,2.08,0.00,0.000,6,0.000,0.025,2556,2310,3484,0,0,0,0,0,0
$GC,961,-0.63,-116.7,66.6,-7.4,169,967,0.00,2.15,0.00,0.000,4,0.000,0.041,2556,3716,3484,0,0,0,0,0,0
$GC,978,-0.63,-116.7,68.0,-7.7,172,984,0.00,2.08,0.00,0.000,6,0.000,0.024,2556,2298,3484,0,0,0,0,0,0
$GC,1323,-0.63,-116.7,91.6,-5.7,233,1328,0.00,2.15,0.00,0.000,4,0.000,0.041,2556,3715,3485,0,0,0,0,0,0
$GC,1413,-0.63,-116.7,97.3,-6.5,249,1419,0.00,2.03,0.00,0.000,6,0.000,0.024,2556,2296,3485,0,0,0,0,0,0
$GC,1756,-0.63,-116.7,123.4,-7.8,305,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2294,3485,0,0,0,0,0,0
$GC,2064,-0.63,-116.7,146.1,-7.1,320,2068,0.00,2.15,0.00,0.000,4,0.000,0.041,2556,3713,3485,0,0,0,0,0,0
$GC,2103,-0.63,-116.7,148.8,-6.6,322,2107,0.00,2.03,0.00,0.000,6,0.000,0.024,2556,2296,3485,0,0,0,0,0,0
$GC,2429,-0.63,-116.7,171.4,-7.2,338,2433,0.00,2.12,0.00,0.000,4,0.000,0.041,2556,3706,3485,0,0,0,0,0,0
$GC,2448,-0.63,-116.7,172.6,-7.2,339,2452,0.00,2.00,0.00,0.000,6,0.000,0.025,2556,2309,3485,0,0,0,0,0,0
$GC,2781,-0.63,-116.7,195.9,-7.0,355,2785,0.00,2.12,0.00,0.000,4,0.000,0.041,2556,3715,3485,0,0,0,0,0,0
$GC,2836,-0.63,-116.7,199.8,-6.9,357,2842,0.00,2.08,0.00,0.000,6,0.000,0.024,2556,2286,3485,0,0,0,0,0,0
$GC,3152,-0.63,-116.7,220.5,-6.7,373,3156,0.00,2.15,0.00,0.000,4,0.000,0.041,2556,3714,3485,0,0,0,0,0,0
$GC,3202,-0.66,-116.7,224.0,-6.5,375,3205,0.00,2.03,0.00,0.000,6,0.000,0.024,2556,2292,3484,0,0,0,0,0,0
$GC,3523,-0.66,-116.7,245.2,-6.6,391,3527,0.00,2.12,0.00,0.000,4,0.000,0.042,2556,3706,3484,0,0,0,0,0,0
$GC,3595,-0.70,-116.7,250.0,-6.6,394,3599,0.00,2.05,0.00,0.000,6,0.000,0.025,2556,2295,3484,0,0,0,0,0,0
$GC,3916,-0.70,-116.7,269.7,-6.3,410,3920,0.00,2.12,0.00,0.000,4,0.000,0.042,2556,3706,3484,0,0,0,0,0,0
$GC,3984,-0.73,-116.7,274.3,-6.3,413,3987,0.00,2.00,0.00,0.000,6,0.000,0.025,2556,2305,3483,0,0,0,0,0,0
$GC,4315,-0.73,-116.7,297.5,-7.2,429,4319,0.00,2.12,0.00,0.000,4,0.000,0.042,2556,3706,3483,0,0,0,0,0,0
$GC,4358,-0.77,-116.7,300.8,-7.6,431,4363,0.05,2.05,0.00,0.000,6,0.093,0.025,2518,2297,3482,0,0,0,0,0,0
$GC,4681,-0.72,-116.7,328.5,-8.4,442,4685,0.00,2.12,0.00,0.000,4,0.000,0.043,2518,3705,3482,0,0,0,0,0,0
$GC,4709,-0.66,-116.7,330.9,-8.8,442,4716,0.12,2.00,0.00,0.000,6,0.189,0.025,2549,2297,3482,0,0,0,0,0,0
$GC,5020,-0.66,-116.7,353.5,-7.3,453,5024,0.00,2.12,0.00,0.000,4,0.000,0.043,2549,3706,3481,0,0,0,0,0,0
$GC,5058,-0.66,-116.7,356.3,-7.4,454,5063,0.00,2.05,0.00,0.000,6,0.000,0.025,2549,2303,3481,0,0,0,0,0,0
$GC,5394,-0.66,-116.7,379.0,-6.6,465,5398,0.00,2.12,0.00,0.000,4,0.000,0.043,2549,3706,3480,0,0,0,0,0,0
$GC,5449,-0.66,-116.7,382.8,-6.8,466,5456,0.00,2.05,0.00,0.000,6,0.000,0.026,2549,2302,3480,0,0,0,0,0,0
$GC,5761,-0.66,-116.7,403.4,-6.6,477,5765,0.00,2.12,0.00,0.000,4,0.000,0.043,2549,3705,3479,0,0,0,0,0,0
$GC,5823,-0.69,-116.7,407.4,-6.5,478,5829,0.00,2.03,0.00,0.000,6,0.000,0.026,2549,2295,3478,0,0,0,0,0,0
$GC,6135,-0.69,-116.7,427.5,-6.3,489,6139,0.00,2.15,0.00,0.000,4,0.000,0.043,2549,3713,3478,0,0,0,0,0,0
$GC,6197,-0.73,-116.7,431.7,-6.9,491,6201,0.00,2.05,0.00,0.000,6,0.000,0.026,2549,2293,3477,0,0,0,0,0,0
$GC,6537,-0.73,-116.7,454.7,-6.7,502,6541,0.00,2.15,0.00,0.000,4,0.000,0.043,2549,3712,3477,0,0,0,0,0,0
$GC,6626,-0.76,-116.7,461.1,-6.9,504,6632,0.00,2.08,0.00,0.000,6,0.000,0.026,2549,2298,3477,0,0,0,0,0,0
$GC,6939,-0.76,-116.7,482.6,-6.8,515,6943,0.00,2.15,0.00,0.000,4,0.000,0.044,2549,3715,3475,0,0,0,0,0,0
$GC,7011,-0.79,-116.7,487.8,-7.4,517,7015,0.08,2.08,0.00,0.000,6,0.114,0.026,2503,2300,3475,0,0,0,0,0,0
$GC,7337,-0.72,-116.7,516.1,-8.8,525,7341,0.00,2.12,0.00,0.000,4,0.000,0.044,2502,3704,3475,0,0,0,0,0,0
$GC,7348,-0.65,-116.7,517.2,-8.9,525,7352,0.17,2.03,0.00,0.000,6,0.184,0.027,2550,2296,3474,0,0,0,0,0,0
$GC,7701,-0.65,-116.7,542.2,-7.0,531,7705,0.00,2.15,0.00,0.000,4,0.000,0.044,2550,3712,3474,0,0,0,0,0,0
$GC,7757,-0.69,-116.7,546.2,-6.6,531,7761,0.00,2.05,0.00,0.000,6,0.000,0.027,2549,2292,3474,0,0,0,0,0,0
$GC,8072,-0.69,-116.7,567.3,-6.7,537,8075,0.00,2.15,0.00,0.000,4,0.000,0.044,2550,3709,3473,0,0,0,0,0,0
$GC,8134,-0.73,-116.7,571.5,-6.7,538,8138,0.00,2.05,0.00,0.000,6,0.000,0.027,2550,2293,3472,0,0,0,0,0,0
$GC,8504,-0.73,-116.7,595.3,-6.4,544,8508,0.00,2.15,0.00,0.000,4,0.000,0.044,2550,3709,3472,0,0,0,0,0,0
$GC,8594,-0.77,-116.7,601.2,-6.8,545,8598,0.00,2.03,0.00,0.000,6,0.000,0.027,2550,2300,3472,0,0,0,0,0,0
$GC,8931,-0.77,-116.7,621.9,-6.1,551,8935,0.00,2.15,0.00,0.000,4,0.000,0.044,2550,3714,3471,0,0,0,0,0,0
$GC,9009,-0.81,-116.7,627.2,-6.5,552,9014,0.15,2.05,0.00,0.000,6,0.130,0.027,2502,2292,3471,0,0,0,0,0,0
$GC,9357,-0.74,-116.7,655.7,-8.3,558,9361,0.00,2.15,0.00,0.000,4,0.000,0.044,2501,3704,3470,0,0,0,0,0,0
$GC,9367,-0.67,-116.7,656.5,-8.3,558,9371,0.15,2.03,0.00,0.000,6,0.184,0.027,2541,2302,3470,0,0,0,0,0,0
$GC,9726,-0.67,-116.7,680.9,-6.6,564,9730,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3704,3470,0,0,0,0,0,0
$GC,9763,-0.67,-116.7,683.6,-7.2,564,9768,0.00,2.08,0.00,0.000,6,0.000,0.027,2541,2298,3469,0,0,0,0,0,0
$GC,10090,-0.67,-116.7,704.9,-6.6,570,10094,0.00,2.15,0.00,0.000,4,0.000,0.044,2541,3713,3469,0,0,0,0,0,0
$GC,10144,-0.67,-116.7,708.9,-7.2,570,10151,0.00,2.08,0.00,0.000,6,0.000,0.027,2541,2302,3469,0,0,0,0,0,0
$GC,10454,-0.67,-116.7,728.9,-6.5,576,10458,0.00,2.12,0.00,0.000,4,0.000,0.044,2541,3704,3468,0,0,0,0,0,0
$GC,10516,-0.67,-116.7,733.0,-6.4,577,10520,0.00,2.05,0.00,0.000,6,0.000,0.028,2541,2290,3468,0,0,0,0,0,0
$GC,10881,-0.67,-116.7,756.3,-6.4,583,10885,0.00,2.15,0.00,0.000,4,0.000,0.044,2541,3704,3468,0,0,0,0,0,0
$GC,10958,-0.67,-116.7,761.5,-6.5,584,10962,0.00,2.05,0.00,0.000,6,0.000,0.027,2541,2290,3468,0,0,0,0,0,0
$GC,11318,-0.67,-116.7,783.8,-6.2,590,11322,0.00,2.15,0.00,0.000,4,0.000,0.044,2541,3706,3468,0,0,0,0,0,0
$GC,11390,-0.67,-116.7,788.5,-6.2,591,11394,0.00,2.05,0.00,0.000,6,0.000,0.028,2541,2290,3467,0,0,0,0,0,0
$GC,11750,-0.67,-116.7,810.7,-6.2,597,11754,0.00,2.15,0.00,0.000,4,0.000,0.044,2541,3704,3467,0,0,0,0,0,0
$GC,11828,-0.71,-116.7,815.8,-6.0,598,11832,0.00,2.08,0.00,0.000,6,0.000,0.028,2541,2275,3467,0,0,0,0,0,0
$GC,12182,-0.71,-116.7,837.9,-6.3,604,12186,0.00,2.17,0.00,0.000,4,0.000,0.044,2541,3705,3467,0,0,0,0,0,0
$GC,12272,-0.74,-116.7,843.6,-5.7,605,12276,0.00,2.03,0.00,0.000,6,0.000,0.027,2541,2297,3466,0,0,0,0,0,0
$GC,12615,-0.74,-116.7,864.9,-6.2,611,12619,0.00,2.15,0.00,0.000,4,0.000,0.045,2541,3706,3466,0,0,0,0,0,0
$GC,12682,-0.78,-116.7,869.3,-6.9,612,12686,0.00,2.05,0.00,0.000,6,0.000,0.028,2541,2292,3466,0,0,0,0,0,0
$GC,13046,-0.78,-116.7,891.5,-6.1,618,13050,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3705,3466,0,0,0,0,0,0
$GC,13141,-0.81,-116.7,897.6,-6.5,619,13146,0.12,2.05,0.00,0.000,6,0.143,0.028,2502,2290,3466,0,0,0,0,0,0
$GC,13472,-0.75,-116.7,921.8,-7.4,625,13476,0.00,2.15,0.00,0.000,4,0.000,0.045,2502,3704,3466,0,0,0,0,0,0
$GC,13488,-0.70,-116.7,923.1,-7.5,625,13492,0.08,2.08,0.00,0.000,6,0.179,0.028,2536,2304,3466,0,0,0,0,0,0
$GC,13836,-0.70,-116.7,944.2,-6.0,631,13840,0.00,2.15,0.00,0.000,4,0.000,0.045,2536,3713,3465,0,0,0,0,0,0
$GC,13879,-0.70,-116.7,947.1,-6.0,631,13883,0.00,2.08,0.00,0.000,6,0.000,0.028,2537,2288,3465,0,0,0,0,0,0
$GC,14200,-0.70,-116.7,966.5,-6.0,637,14204,0.00,2.17,0.00,0.000,4,0.000,0.045,2537,3713,3465,0,0,0,0,0,0
$GC,14267,-0.70,-116.7,971.0,-6.5,638,14271,0.00,2.05,0.00,0.000,6,0.000,0.028,2537,2297,3465,0,0,0,0,0,0
$STATE,14569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14569,begin apogee
$GC,14575,-0.24,0.0,990.4,6.4,643,14676,0.50,0.00,97.97,1.550,6,0.170,0.000,2687,2655,3006,0,0,0,0,0,0
$STATE,14677,end apogee,CONTROL_FINISHED_OK
$STATE,14677,begin climb
$GC,14679,0.80,116.7,992.5,0.0,644,14795,1.05,2.42,106.45,1.457,4,0.116,0.048,3016,4033,2529,0,0,0,0,0,0
$GC,14823,0.53,116.7,989.4,7.6,646,14828,0.35,2.22,0.00,0.000,6,0.179,0.027,2940,2650,2525,0,0,0,0,0,0
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$STATE,27456,end climb,SURFACE_DEPTH_REACHED
$STATE,27456,begin surface coast
$FINISH,2.8,1.026957
$STATE,27505,end surface coast,CONTROL_FINISHED_OK
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$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,241344
$DATA_FILE_SIZE,69518,1212
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$CFSIZE,260165632,242159616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.008, 74.9,1
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