version: 66.06
glider: 140
mission: 8
dive: 166
start: 11 18 109 12 55 53
data:
$ID,140
$MISSION,8
$DIVE,166
$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,-47289.797
$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,89
$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
$GPS1,124914,6423.245,20.027,38,2.4,58,-4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.49
$_SM_ANGLEo,-66.4
$GPS2,125532,6423.194,20.018,8,1.6,8,-4.9
$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,135.5,234889,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.80,-116.7,0.0,0.0,0,25,0.00,0.00,-7.68,0.000,2,0.000,0.000,218,2264,2030,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.4,-0.0,1,134,9.07,2.08,-87.57,0.000,4,0.245,0.051,2502,933,3482,0,0,0,0,0,0
$GC,342,-0.66,-116.7,24.3,-10.3,57,348,0.17,2.05,0.00,0.000,6,0.194,0.029,2548,2314,3484,0,0,0,0,0,0
$GC,678,-0.66,-116.7,52.6,-7.6,118,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2315,3484,0,0,0,0,0,0
$GC,1019,-0.66,-116.7,80.5,-8.7,179,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2315,3485,0,0,0,0,0,0
$GC,1359,-0.66,-116.7,108.3,-7.3,240,1366,0.00,2.10,0.00,0.000,4,0.000,0.041,2547,3701,3485,0,0,0,0,0,0
$GC,1371,-0.66,-116.7,109.1,-7.2,242,1377,0.00,2.00,0.00,0.000,6,0.000,0.024,2548,2301,3485,0,0,0,0,0,0
$GC,1699,-0.66,-116.7,131.4,-6.9,279,1702,0.00,2.12,0.00,0.000,4,0.000,0.041,2548,3706,3485,0,0,0,0,0,0
$GC,1708,-0.66,-116.7,132.3,-7.0,279,1715,0.00,2.05,0.00,0.000,6,0.000,0.024,2548,2303,3485,0,0,0,0,0,0
$GC,2025,-0.66,-116.7,154.0,-7.0,295,2029,0.00,2.10,0.00,0.000,4,0.000,0.041,2548,3698,3486,0,0,0,0,0,0
$GC,2065,-0.66,-116.7,156.9,-7.4,297,2069,0.00,2.00,0.00,0.000,6,0.000,0.024,2547,2298,3486,0,0,0,0,0,0
$GC,2399,-0.66,-116.7,180.5,-7.1,313,2403,0.00,2.12,0.00,0.000,4,0.000,0.041,2548,3705,3486,0,0,0,0,0,0
$GC,2420,-0.66,-116.7,182.3,-7.4,314,2424,0.00,2.03,0.00,0.000,6,0.000,0.024,2548,2306,3486,0,0,0,0,0,0
$GC,2747,-0.66,-116.7,204.8,-6.7,330,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2305,3486,0,0,0,0,0,0
$GC,3056,-0.66,-116.7,227.1,-7.7,345,3060,0.00,2.10,0.00,0.000,4,0.000,0.041,2548,3701,3486,0,0,0,0,0,0
$GC,3082,-0.66,-116.7,229.3,-7.9,346,3086,0.00,2.03,0.00,0.000,6,0.000,0.024,2548,2297,3486,0,0,0,0,0,0
$GC,3403,-0.66,-116.7,253.2,-7.2,362,3407,0.00,2.12,0.00,0.000,4,0.000,0.041,2548,3706,3486,0,0,0,0,0,0
$GC,3469,-0.66,-116.7,257.8,-6.4,365,3473,0.00,2.00,0.00,0.000,6,0.000,0.025,2548,2297,3486,0,0,0,0,0,0
$GC,3795,-0.66,-116.7,280.7,-7.0,381,3799,0.00,2.12,0.00,0.000,4,0.000,0.041,2548,3705,3486,0,0,0,0,0,0
$GC,3844,-0.66,-116.7,284.4,-7.4,383,3849,0.00,2.05,0.00,0.000,6,0.000,0.025,2548,2299,3486,0,0,0,0,0,0
$GC,4175,-0.66,-116.7,307.4,-7.0,398,4179,0.00,2.12,0.00,0.000,4,0.000,0.041,2548,3707,3486,0,0,0,0,0,0
$GC,4224,-0.66,-116.7,311.0,-7.3,399,4228,0.00,2.05,0.00,0.000,6,0.000,0.025,2548,2302,3486,0,0,0,0,0,0
$GC,4542,-0.66,-116.7,333.9,-7.3,410,4545,0.00,2.12,0.00,0.000,4,0.000,0.042,2548,3708,3485,0,0,0,0,0,0
$GC,4586,-0.66,-116.7,337.3,-7.9,411,4589,0.00,2.03,0.00,0.000,6,0.000,0.025,2548,2296,3485,0,0,0,0,0,0
$GC,4909,-0.66,-116.7,360.0,-6.9,422,4913,0.00,2.12,0.00,0.000,4,0.000,0.042,2548,3701,3484,0,0,0,0,0,0
$GC,4937,-0.66,-116.7,361.8,-6.4,423,4941,0.00,2.03,0.00,0.000,6,0.000,0.025,2548,2292,3484,0,0,0,0,0,0
$GC,5271,-0.66,-116.7,383.6,-6.4,434,5275,0.00,2.12,0.00,0.000,4,0.000,0.042,2548,3699,3483,0,0,0,0,0,0
$GC,5304,-0.66,-116.7,385.7,-6.3,435,5308,0.00,2.03,0.00,0.000,6,0.000,0.025,2548,2290,3483,0,0,0,0,0,0
$GC,5638,-0.66,-116.7,405.7,-5.8,446,5642,0.00,2.15,0.00,0.000,4,0.000,0.048,2548,3704,3482,0,0,0,0,0,0
$GC,5722,-0.66,-116.7,411.2,-6.1,448,5726,0.00,2.03,0.00,0.000,6,0.000,0.025,2548,2293,3482,0,0,0,0,0,0
$GC,6034,-0.66,-116.7,430.4,-6.3,458,6038,0.00,2.12,0.00,0.000,4,0.000,0.043,2548,3697,3481,0,0,0,0,0,0
$GC,6083,-0.66,-116.7,433.7,-6.5,459,6087,0.00,2.00,0.00,0.000,6,0.000,0.025,2548,2301,3481,0,0,0,0,0,0
$GC,6401,-0.66,-116.7,453.7,-6.1,470,6405,0.00,2.12,0.00,0.000,4,0.000,0.044,2548,3698,3480,0,0,0,0,0,0
$GC,6469,-0.66,-116.7,457.9,-5.7,472,6473,0.00,2.00,0.00,0.000,6,0.000,0.026,2548,2304,3480,0,0,0,0,0,0
$GC,6809,-0.66,-116.7,477.6,-5.7,483,6813,0.00,2.15,0.00,0.000,4,0.000,0.044,2548,3698,3479,0,0,0,0,0,0
$GC,6881,-0.69,-116.7,482.0,-5.9,485,6884,0.00,2.03,0.00,0.000,6,0.000,0.026,2548,2291,3479,0,0,0,0,0,0
$GC,7216,-0.69,-116.7,501.6,-5.9,496,7220,0.00,2.12,0.00,0.000,4,0.000,0.044,2548,3697,3478,0,0,0,0,0,0
$GC,7289,-0.72,-116.7,506.1,-5.7,497,7292,0.00,2.03,0.00,0.000,6,0.000,0.026,2548,2286,3478,0,0,0,0,0,0
$GC,7654,-0.72,-116.7,528.9,-6.3,503,7658,0.00,2.15,0.00,0.000,4,0.000,0.043,2548,3706,3478,0,0,0,0,0,0
$GC,7737,-0.76,-116.7,534.3,-6.9,504,7741,0.00,2.03,0.00,0.000,6,0.000,0.027,2548,2297,3477,0,0,0,0,0,0
$GC,8085,-0.76,-116.7,554.9,-5.9,510,8089,0.00,2.12,0.00,0.000,4,0.000,0.044,2548,3698,3477,0,0,0,0,0,0
$GC,8158,-0.79,-116.7,559.4,-6.6,511,8163,0.12,2.03,0.00,0.000,6,0.142,0.026,2509,2289,3476,0,0,0,0,0,0
$GC,8511,-0.74,-116.7,584.6,-7.1,517,8515,0.00,2.15,0.00,0.000,4,0.000,0.044,2508,3702,3475,0,0,0,0,0,0
$GC,8533,-0.68,-116.7,586.2,-7.3,517,8537,0.08,2.05,0.00,0.000,6,0.177,0.027,2543,2306,3475,0,0,0,0,0,0
$GC,8882,-0.68,-116.7,606.1,-5.7,523,8886,0.00,2.12,0.00,0.000,4,0.000,0.044,2543,3704,3475,0,0,0,0,0,0
$GC,8931,-0.68,-116.7,609.1,-5.7,523,8935,0.00,2.05,0.00,0.000,6,0.000,0.027,2543,2308,3475,0,0,0,0,0,0
$GC,9246,-0.68,-116.7,627.5,-5.9,529,9250,0.00,2.10,0.00,0.000,4,0.000,0.044,2544,3698,3474,0,0,0,0,0,0
$GC,9290,-0.68,-116.7,630.3,-6.0,529,9294,0.00,2.05,0.00,0.000,6,0.000,0.027,2543,2301,3474,0,0,0,0,0,0
$GC,9611,-0.68,-116.7,649.4,-6.0,535,9615,0.00,2.15,0.00,0.000,4,0.000,0.045,2544,3699,3473,0,0,0,0,0,0
$GC,9677,-0.68,-116.7,653.7,-6.4,536,9681,0.00,2.03,0.00,0.000,6,0.000,0.027,2544,2290,3473,0,0,0,0,0,0
$GC,10042,-0.68,-116.7,676.1,-6.2,542,10046,0.00,2.15,0.00,0.000,4,0.000,0.044,2544,3705,3473,0,0,0,0,0,0
$GC,10109,-0.71,-116.7,680.4,-6.7,543,10113,0.00,2.03,0.00,0.000,6,0.000,0.027,2543,2306,3473,0,0,0,0,0,0
$GC,10480,-0.71,-116.7,704.2,-6.5,549,10484,0.00,2.15,0.00,0.000,4,0.000,0.045,2544,3698,3473,0,0,0,0,0,0
$GC,10557,-0.75,-116.7,709.4,-6.8,550,10561,0.00,2.03,0.00,0.000,6,0.000,0.027,2544,2293,3472,0,0,0,0,0,0
$GC,10912,-0.75,-116.7,732.9,-6.7,556,10916,0.00,2.12,0.00,0.000,4,0.000,0.044,2544,3696,3472,0,0,0,0,0,0
$GC,10990,-0.78,-116.7,738.4,-6.8,557,10994,0.00,2.03,0.00,0.000,6,0.000,0.027,2544,2292,3472,0,0,0,0,0,0
$GC,11344,-0.78,-116.7,762.1,-6.7,563,11348,0.00,2.15,0.00,0.000,4,0.000,0.044,2544,3702,3471,0,0,0,0,0,0
$GC,11422,-0.82,-116.7,767.6,-6.9,564,11426,0.12,2.03,0.00,0.000,6,0.144,0.027,2504,2297,3471,0,0,0,0,0,0
$GC,11769,-0.76,-116.7,795.9,-8.2,570,11773,0.00,2.12,0.00,0.000,4,0.000,0.044,2503,3695,3471,0,0,0,0,0,0
$GC,11786,-0.70,-116.7,797.3,-8.1,570,11790,0.12,2.03,0.00,0.000,6,0.190,0.028,2534,2290,3471,0,0,0,0,0,0
$GC,12139,-0.70,-116.7,822.4,-7.0,576,12143,0.00,2.15,0.00,0.000,4,0.000,0.044,2533,3702,3470,0,0,0,0,0,0
$GC,12188,-0.70,-116.7,825.8,-6.9,576,12192,0.00,2.08,0.00,0.000,6,0.000,0.027,2534,2301,3470,0,0,0,0,0,0
$GC,12503,-0.70,-116.7,847.1,-6.8,582,12507,0.00,2.15,0.00,0.000,4,0.000,0.045,2534,3697,3470,0,0,0,0,0,0
$GC,12558,-0.70,-116.7,851.0,-6.8,582,12564,0.00,2.08,0.00,0.000,6,0.000,0.027,2534,2294,3470,0,0,0,0,0,0
$GC,12868,-0.70,-116.7,871.7,-6.8,588,12872,0.00,2.12,0.00,0.000,4,0.000,0.044,2534,3697,3470,0,0,0,0,0,0
$GC,12929,-0.70,-116.7,875.9,-6.6,589,12933,0.00,2.03,0.00,0.000,6,0.000,0.028,2534,2301,3470,0,0,0,0,0,0
$GC,13299,-0.70,-116.7,900.0,-6.4,595,13303,0.00,2.12,0.00,0.000,4,0.000,0.045,2534,3697,3469,0,0,0,0,0,0
$GC,13355,-0.70,-116.7,903.8,-6.5,595,13359,0.00,2.08,0.00,0.000,6,0.000,0.028,2534,2294,3469,0,0,0,0,0,0
$GC,13669,-0.70,-116.7,923.7,-6.4,601,13673,0.00,2.15,0.00,0.000,4,0.000,0.044,2534,3704,3469,0,0,0,0,0,0
$GC,13731,-0.70,-116.7,927.8,-7.2,602,13735,0.00,2.08,0.00,0.000,6,0.000,0.028,2534,2288,3469,0,0,0,0,0,0
$GC,14102,-0.70,-116.7,951.2,-6.3,608,14106,0.00,2.15,0.00,0.000,4,0.000,0.044,2534,3698,3469,0,0,0,0,0,0
$GC,14168,-0.70,-116.7,955.7,-6.7,609,14172,0.00,2.08,0.00,0.000,6,0.000,0.028,2534,2298,3468,0,0,0,0,0,0
$GC,14534,-0.70,-116.7,978.9,-6.4,615,14538,0.00,2.12,0.00,0.000,4,0.000,0.044,2534,3695,3468,0,0,0,0,0,0
$GC,14600,-0.70,-116.7,983.3,-6.4,616,14604,0.00,2.05,0.00,0.000,6,0.000,0.028,2534,2308,3468,0,0,0,0,0,0
$STATE,14721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14721,begin apogee
$GC,14726,-0.24,0.0,990.9,6.2,618,14829,0.50,0.00,99.38,1.554,6,0.170,0.000,2683,2651,3006,0,0,0,0,0,0
$STATE,14830,end apogee,CONTROL_FINISHED_OK
$STATE,14830,begin climb
$GC,14831,0.80,116.7,992.8,0.0,619,14947,1.08,2.40,107.12,1.457,4,0.116,0.045,3015,4040,2529,0,0,0,0,0,0
$GC,14998,0.55,116.7,986.9,9.3,622,15003,0.32,2.22,0.00,0.000,6,0.179,0.027,2945,2651,2523,0,0,0,0,0,0
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$STATE,27227,end climb,SURFACE_DEPTH_REACHED
$STATE,27227,begin surface coast
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$STATE,27272,end surface coast,CONTROL_FINISHED_OK
$STATE,27272,begin surface
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