version: 66.06
glider: 140
mission: 8
dive: 270
start: 12 21 109 8 5 42
data:
$ID,140
$MISSION,8
$DIVE,270
$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,-49303.836
$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,50
$R_STBD_OVSHOOT,46
$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
$GPS1,075537,6456.289,-36.228,36,1.0,37,-5.6
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.41
$_SM_ANGLEo,-50.6
$GPS2,080519,6456.213,-36.223,13,1.9,13,-5.6
$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,139.1,310978,-13.7,-6.875
$D_GRID,2823
$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,-7.85,0.000,2,0.000,0.000,218,2302,1747,0,0,0,0,0,0
$GC,28,-0.80,-116.7,3.4,-0.0,1,144,8.75,2.22,-97.43,0.000,4,0.223,0.051,2501,862,3481,0,0,0,0,0,0
$GC,324,-0.66,-116.7,15.4,-5.1,53,330,0.17,2.17,0.00,0.000,6,0.189,0.028,2546,2305,3482,0,0,0,0,0,0
$GC,657,-0.66,-116.7,39.8,-9.5,114,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2305,3482,0,0,0,0,0,0
$GC,990,-0.66,-116.7,63.7,-7.0,175,995,0.00,2.12,0.00,0.000,4,0.000,0.034,2547,894,3482,0,0,0,0,0,0
$GC,1003,-0.66,-116.7,64.6,-7.3,177,1008,0.00,2.10,0.00,0.000,6,0.000,0.028,2546,2312,3482,0,0,0,0,0,0
$GC,1338,-0.66,-116.7,85.1,-6.1,238,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2313,3483,0,0,0,0,0,0
$GC,1673,-0.66,-116.7,110.2,-7.5,299,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2313,3483,0,0,0,0,0,0
$GC,2010,-0.66,-116.7,144.3,-8.7,330,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2313,3483,0,0,0,0,0,0
$GC,2320,-0.66,-116.7,167.4,-8.2,345,2323,0.00,2.12,0.00,0.000,4,0.000,0.033,2547,887,3483,0,0,0,0,0,0
$GC,2336,-0.66,-116.7,168.9,-8.0,346,2340,0.00,2.08,0.00,0.000,6,0.000,0.028,2547,2302,3483,0,0,0,0,0,0
$GC,2667,-0.66,-116.7,196.1,-8.2,362,2671,0.00,2.08,0.00,0.000,4,0.000,0.040,2547,3708,3484,0,0,0,0,0,0
$GC,2731,-0.69,-116.7,200.9,-7.5,365,2735,0.00,2.05,0.00,0.000,6,0.000,0.023,2546,2259,3484,0,0,0,0,0,0
$GC,3057,-0.69,-116.7,224.2,-6.4,381,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2259,3484,0,0,0,0,0,0
$GC,3366,-0.69,-116.7,243.6,-6.6,396,3370,0.00,2.17,0.00,0.000,4,0.000,0.040,2547,3698,3484,0,0,0,0,0,0
$GC,3443,-0.73,-116.7,248.8,-7.0,399,3449,0.00,2.00,0.00,0.000,6,0.000,0.023,2547,2287,3484,0,0,0,0,0,0
$GC,3760,-0.73,-116.7,270.6,-6.8,415,3764,0.00,2.12,0.00,0.000,4,0.000,0.040,2547,3698,3483,0,0,0,0,0,0
$GC,3827,-0.76,-116.7,275.3,-6.9,418,3831,0.00,2.00,0.00,0.000,6,0.000,0.023,2547,2302,3483,0,0,0,0,0,0
$GC,4153,-0.76,-116.7,297.6,-7.1,434,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2300,3483,0,0,0,0,0,0
$GC,4470,-0.76,-116.7,320.3,-7.2,445,4474,0.00,2.15,0.00,0.000,4,0.000,0.041,2547,3704,3483,0,0,0,0,0,0
$GC,4480,-0.76,-116.7,321.0,-7.0,445,4485,0.00,2.03,0.00,0.000,6,0.000,0.024,2547,2310,3483,0,0,0,0,0,0
$GC,4805,-0.76,-116.7,342.6,-6.5,456,4808,0.00,2.10,0.00,0.000,4,0.000,0.041,2547,3697,3483,0,0,0,0,0,0
$GC,4815,-0.76,-116.7,343.4,-6.5,456,4819,0.00,2.05,0.00,0.000,6,0.000,0.024,2547,2292,3483,0,0,0,0,0,0
$GC,5138,-0.76,-116.7,364.0,-6.3,467,5142,0.00,2.12,0.00,0.000,4,0.000,0.041,2547,3697,3482,0,0,0,0,0,0
$GC,5171,-0.76,-116.7,366.2,-6.8,468,5175,0.00,2.03,0.00,0.000,6,0.000,0.024,2547,2298,3482,0,0,0,0,0,0
$GC,5506,-0.76,-116.7,386.7,-6.2,479,5510,0.00,2.12,0.00,0.000,4,0.000,0.041,2547,3700,3481,0,0,0,0,0,0
$GC,5516,-0.76,-116.7,387.4,-6.4,479,5521,0.00,2.05,0.00,0.000,6,0.000,0.025,2547,2296,3481,0,0,0,0,0,0
$GC,5846,-0.76,-116.7,408.6,-6.5,490,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2294,3481,0,0,0,0,0,0
$GC,6152,-0.76,-116.7,429.1,-6.9,500,6155,0.00,2.12,0.00,0.000,4,0.000,0.041,2547,3696,3480,0,0,0,0,0,0
$GC,6173,-0.79,-116.7,430.6,-6.7,500,6178,0.12,2.00,0.00,0.000,6,0.141,0.025,2507,2292,3479,0,0,0,0,0,0
$GC,6486,-0.74,-116.7,457.1,-8.6,510,6489,0.00,2.03,0.00,0.000,4,0.000,0.036,2507,927,3478,0,0,0,0,0,0
$GC,6513,-0.67,-116.7,459.7,-9.4,510,6519,0.08,2.05,0.00,0.000,6,0.173,0.029,2543,2291,3478,0,0,0,0,0,0
$GC,6825,-0.67,-116.7,482.9,-7.6,521,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2291,3477,0,0,0,0,0,0
$GC,7131,-0.67,-116.7,505.4,-7.4,530,7135,0.00,2.10,0.00,0.000,4,0.000,0.041,2543,3698,3477,0,0,0,0,0,0
$GC,7141,-0.70,-116.7,506.3,-7.3,530,7145,0.00,2.00,0.00,0.000,6,0.000,0.025,2544,2305,3476,0,0,0,0,0,0
$GC,7495,-0.73,-116.7,531.3,-7.0,536,7499,0.00,2.12,0.00,0.000,4,0.000,0.041,2544,3700,3476,0,0,0,0,0,0
$GC,7517,-0.77,-116.7,532.9,-7.3,536,7521,0.00,2.05,0.00,0.000,6,0.000,0.025,2544,2304,3475,0,0,0,0,0,0
$GC,7861,-0.80,-116.7,556.2,-6.8,542,7865,0.12,2.15,0.00,0.000,4,0.144,0.042,2503,3698,3475,0,0,0,0,0,0
$GC,7887,-0.76,-116.7,558.4,-8.5,542,7891,0.00,2.08,0.00,0.000,6,0.000,0.025,2503,2293,3475,0,0,0,0,0,0
$GC,8230,-0.71,-116.7,586.5,-8.3,548,8232,0.12,0.00,0.00,0.000,6,0.189,0.000,2535,2289,3474,0,0,0,0,0,0
$GC,8534,-0.71,-116.7,608.0,-7.0,553,8537,0.00,2.15,0.00,0.000,4,0.000,0.042,2535,3699,3473,0,0,0,0,0,0
$GC,8549,-0.71,-116.7,609.3,-6.7,553,8553,0.00,2.08,0.00,0.000,6,0.000,0.026,2535,2294,3473,0,0,0,0,0,0
$GC,8898,-0.71,-116.7,632.2,-6.6,559,8902,0.00,2.15,0.00,0.000,4,0.000,0.042,2535,3698,3472,0,0,0,0,0,0
$GC,8920,-0.71,-116.7,633.7,-6.5,559,8924,0.00,2.08,0.00,0.000,6,0.000,0.026,2535,2296,3472,0,0,0,0,0,0
$GC,9269,-0.71,-116.7,656.1,-6.4,565,9273,0.00,2.15,0.00,0.000,4,0.000,0.042,2535,3702,3471,0,0,0,0,0,0
$GC,9295,-0.71,-116.7,657.9,-6.4,565,9299,0.00,2.08,0.00,0.000,6,0.000,0.025,2535,2301,3471,0,0,0,0,0,0
$GC,9633,-0.71,-116.7,679.5,-6.4,571,9637,0.00,2.15,0.00,0.000,4,0.000,0.043,2535,3701,3471,0,0,0,0,0,0
$GC,9660,-0.71,-116.7,681.3,-6.6,571,9664,0.00,2.03,0.00,0.000,6,0.000,0.026,2535,2299,3470,0,0,0,0,0,0
$GC,9997,-0.71,-116.7,702.5,-6.3,577,10001,0.00,2.12,0.00,0.000,4,0.000,0.043,2535,3702,3470,0,0,0,0,0,0
$GC,10025,-0.74,-116.7,704.3,-6.4,577,10029,0.00,2.03,0.00,0.000,6,0.000,0.026,2535,2298,3470,0,0,0,0,0,0
$GC,10362,-0.74,-116.7,725.7,-6.4,583,10366,0.00,2.12,0.00,0.000,4,0.000,0.043,2535,3697,3469,0,0,0,0,0,0
$GC,10384,-0.74,-116.7,727.2,-6.7,583,10388,0.00,2.05,0.00,0.000,6,0.000,0.026,2535,2298,3469,0,0,0,0,0,0
$GC,10727,-0.74,-116.7,749.5,-6.6,589,10731,0.00,2.12,0.00,0.000,4,0.000,0.043,2535,3701,3469,0,0,0,0,0,0
$GC,10750,-0.77,-116.7,751.1,-7.2,589,10754,0.00,2.03,0.00,0.000,6,0.000,0.027,2535,2300,3469,0,0,0,0,0,0
$GC,11093,-0.77,-116.7,773.6,-6.5,595,11097,0.00,2.12,0.00,0.000,4,0.000,0.043,2535,3698,3468,0,0,0,0,0,0
$GC,11143,-0.82,-116.7,777.0,-7.2,595,11147,0.00,2.05,0.00,0.000,6,0.000,0.026,2535,2300,3468,0,0,0,0,0,0
$GC,11458,-0.82,-116.7,797.6,-6.6,601,11462,0.00,2.12,0.00,0.000,4,0.000,0.043,2535,3697,3468,0,0,0,0,0,0
$GC,11492,-0.85,-116.7,799.9,-6.4,601,11497,0.15,2.03,0.00,0.000,6,0.133,0.027,2488,2290,3468,0,0,0,0,0,0
$GC,11823,-0.79,-116.7,827.5,-8.4,607,11827,0.00,2.15,0.00,0.000,4,0.000,0.043,2487,3705,3468,0,0,0,0,0,0
$GC,11833,-0.72,-116.7,828.3,-8.4,607,11838,0.17,2.03,0.00,0.000,6,0.183,0.027,2533,2295,3467,0,0,0,0,0,0
$GC,12182,-0.72,-116.7,852.5,-6.9,613,12186,0.00,2.12,0.00,0.000,4,0.000,0.044,2533,3697,3467,0,0,0,0,0,0
$GC,12214,-0.75,-116.7,854.9,-7.1,613,12218,0.00,2.05,0.00,0.000,6,0.000,0.027,2533,2302,3467,0,0,0,0,0,0
$GC,12546,-0.79,-116.7,877.1,-6.6,619,12550,0.00,2.15,0.00,0.000,4,0.000,0.044,2533,3705,3467,0,0,0,0,0,0
$GC,12615,-0.83,-116.7,881.6,-6.8,620,12618,0.00,2.03,0.00,0.000,6,0.000,0.027,2533,2304,3466,0,0,0,0,0,0
$GC,12985,-0.83,-116.7,904.4,-6.1,626,12989,0.00,2.12,0.00,0.000,4,0.000,0.044,2533,3696,3466,0,0,0,0,0,0
$GC,13052,-0.87,-116.7,908.5,-6.1,627,13057,0.15,2.03,0.00,0.000,6,0.134,0.027,2487,2289,3466,0,0,0,0,0,0
$GC,13417,-0.80,-116.7,937.6,-8.0,633,13419,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2287,3466,0,0,0,0,0,0
$GC,13720,-0.73,-116.7,962.2,-8.1,638,13725,0.15,2.17,0.00,0.000,4,0.190,0.044,2525,3702,3466,0,0,0,0,0,0
$GC,13731,-0.68,-116.7,963.0,-8.2,638,13734,0.00,2.03,0.00,0.000,6,0.000,0.027,2525,2310,3466,0,0,0,0,0,0
$GC,14084,-0.68,-116.7,987.7,-7.0,644,14088,0.00,2.12,0.00,0.000,4,0.000,0.044,2525,3702,3465,0,0,0,0,0,0
$GC,14110,-0.68,-116.7,989.6,-7.4,644,14115,0.00,2.08,0.00,0.000,6,0.000,0.027,2525,2297,3465,0,0,0,0,0,0
$STATE,14119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14119,begin apogee
$GC,14125,-0.24,0.0,990.4,6.7,644,14228,0.50,0.00,100.38,1.550,6,0.167,0.000,2677,2641,3006,0,0,0,0,0,0
$STATE,14229,end apogee,CONTROL_FINISHED_OK
$STATE,14229,begin climb
$GC,14231,0.80,116.7,993.5,0.0,646,14349,1.08,2.42,108.93,1.452,4,0.114,0.044,3012,4046,2529,0,0,0,0,0,0
$GC,14439,0.58,116.7,986.2,7.3,648,14444,0.28,2.20,0.00,0.000,6,0.170,0.026,2954,2644,2522,0,0,0,0,0,0
$GC,14782,0.59,153.8,967.4,5.4,654,14817,0.00,0.00,33.08,1.440,6,0.000,0.000,2955,2644,2378,0,0,0,0,0,0
$GC,15084,0.61,171.8,949.2,6.2,659,15108,0.00,2.33,16.77,1.410,4,0.000,0.046,2953,4053,2304,0,0,0,0,0,0
$GC,15148,0.56,171.8,944.8,7.6,660,15152,0.00,2.12,0.00,0.000,6,0.000,0.028,2962,2647,2303,0,0,0,0,0,0
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$STATE,26602,end climb,SURFACE_DEPTH_REACHED
$STATE,26602,begin surface coast
$FINISH,2.9,1.003628
$STATE,26656,end surface coast,CONTROL_FINISHED_OK
$STATE,26656,begin surface
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$10V_AH,9.8,29.697
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,241320
$DATA_FILE_SIZE,66398,1155
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$CFSIZE,260165632,232415232
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