version: 66.06
glider: 140
mission: 8
dive: 277
start: 12 23 109 13 49 31
data:
$ID,140
$MISSION,8
$DIVE,277
$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,-49438.887
$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,94
$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
$GPS1,133937,6436.478,-1.714,41,1.7,42,-5.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.53
$_SM_ANGLEo,-64.1
$GPS2,134908,6436.442,-1.676,13,1.2,13,-5.2
$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,137.3,264791,-13.7,-6.875
$D_GRID,2645
$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,-7.55,0.000,2,0.000,0.000,210,2265,2027,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.4,-0.0,1,129,9.15,2.05,-85.72,0.000,4,0.239,0.047,2501,923,3480,0,0,0,0,0,0
$GC,377,-0.67,-116.7,20.0,-8.9,64,384,0.12,2.10,0.00,0.000,6,0.169,0.028,2540,2310,3482,0,0,0,0,0,0
$GC,715,-0.67,-116.7,45.1,-7.9,125,721,0.00,2.08,0.00,0.000,4,0.000,0.035,2540,930,3482,0,0,0,0,0,0
$GC,878,-0.64,-116.7,57.9,-9.3,154,884,0.00,2.08,0.00,0.000,6,0.000,0.028,2540,2308,3483,0,0,0,0,0,0
$GC,1221,-0.64,-116.7,84.2,-7.5,215,1227,0.00,2.08,0.00,0.000,4,0.000,0.034,2540,926,3483,0,0,0,0,0,0
$GC,1234,-0.64,-116.7,85.0,-7.5,217,1240,0.00,2.03,0.00,0.000,6,0.000,0.028,2540,2303,3483,0,0,0,0,0,0
$GC,1577,-0.64,-116.7,111.1,-7.5,278,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2303,3483,0,0,0,0,0,0
$GC,1906,-0.64,-116.7,138.0,-9.3,310,1910,0.00,2.05,0.00,0.000,4,0.000,0.035,2540,934,3484,0,0,0,0,0,0
$GC,1916,-0.64,-116.7,139.1,-9.8,310,1923,0.00,2.05,0.00,0.000,6,0.000,0.028,2540,2304,3483,0,0,0,0,0,0
$GC,2232,-0.64,-116.7,163.6,-7.8,326,2235,0.00,2.03,0.00,0.000,4,0.000,0.033,2540,942,3484,0,0,0,0,0,0
$GC,2243,-0.64,-116.7,164.4,-7.6,326,2246,0.00,2.00,0.00,0.000,6,0.000,0.028,2540,2302,3484,0,0,0,0,0,0
$GC,2564,-0.64,-116.7,188.7,-7.7,342,2567,0.00,2.03,0.00,0.000,4,0.000,0.033,2541,941,3484,0,0,0,0,0,0
$GC,2575,-0.64,-116.7,189.6,-7.5,342,2579,0.00,2.00,0.00,0.000,6,0.000,0.028,2540,2305,3484,0,0,0,0,0,0
$GC,2896,-0.64,-116.7,213.5,-7.7,358,2897,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2305,3484,0,0,0,0,0,0
$GC,3205,-0.64,-116.7,236.6,-6.9,373,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2305,3485,0,0,0,0,0,0
$GC,3515,-0.64,-116.7,258.6,-7.4,388,3519,0.00,2.05,0.00,0.000,4,0.000,0.040,2540,3698,3484,0,0,0,0,0,0
$GC,3593,-0.64,-116.7,264.5,-7.4,391,3599,0.00,2.00,0.00,0.000,6,0.000,0.023,2540,2302,3484,0,0,0,0,0,0
$GC,3909,-0.64,-116.7,286.3,-7.0,407,3912,0.00,2.10,0.00,0.000,4,0.000,0.040,2540,3698,3484,0,0,0,0,0,0
$GC,3926,-0.64,-116.7,287.5,-6.8,408,3929,0.00,1.98,0.00,0.000,6,0.000,0.023,2540,2310,3484,0,0,0,0,0,0
$GC,4266,-0.64,-116.7,311.7,-7.1,422,4270,0.00,2.10,0.00,0.000,4,0.000,0.040,2541,3698,3484,0,0,0,0,0,0
$GC,4277,-0.64,-116.7,312.5,-7.2,422,4281,0.00,2.03,0.00,0.000,6,0.000,0.024,2540,2301,3484,0,0,0,0,0,0
$GC,4605,-0.64,-116.7,336.3,-7.4,433,4609,0.00,2.12,0.00,0.000,4,0.000,0.041,2540,3705,3484,0,0,0,0,0,0
$GC,4626,-0.64,-116.7,337.8,-7.1,433,4631,0.00,2.05,0.00,0.000,6,0.000,0.024,2540,2297,3484,0,0,0,0,0,0
$GC,4945,-0.64,-116.7,361.1,-7.5,444,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2295,3483,0,0,0,0,0,0
$GC,5251,-0.64,-116.7,383.6,-7.2,454,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2295,3483,0,0,0,0,0,0
$GC,5557,-0.64,-116.7,405.4,-7.1,464,5561,0.00,2.15,0.00,0.000,4,0.000,0.041,2540,3704,3482,0,0,0,0,0,0
$GC,5583,-0.64,-116.7,407.4,-6.8,464,5589,0.00,2.05,0.00,0.000,6,0.000,0.025,2540,2297,3482,0,0,0,0,0,0
$GC,5896,-0.64,-116.7,429.2,-7.2,475,5900,0.00,2.12,0.00,0.000,4,0.000,0.041,2540,3697,3481,0,0,0,0,0,0
$GC,5940,-0.68,-116.7,432.6,-7.9,476,5944,0.00,2.05,0.00,0.000,6,0.000,0.025,2540,2294,3480,0,0,0,0,0,0
$GC,6269,-0.68,-116.7,455.6,-6.9,487,6272,0.00,2.12,0.00,0.000,4,0.000,0.041,2540,3697,3480,0,0,0,0,0,0
$GC,6319,-0.72,-116.7,458.8,-6.6,488,6323,0.00,2.00,0.00,0.000,6,0.000,0.025,2540,2303,3480,0,0,0,0,0,0
$GC,6636,-0.72,-116.7,478.4,-6.3,499,6640,0.00,2.12,0.00,0.000,4,0.000,0.041,2541,3697,3479,0,0,0,0,0,0
$GC,6671,-0.75,-116.7,480.6,-6.4,500,6675,0.00,2.03,0.00,0.000,6,0.000,0.025,2540,2287,3479,0,0,0,0,0,0
$GC,7035,-0.75,-116.7,504.2,-6.6,511,7039,0.00,2.15,0.00,0.000,4,0.000,0.041,2540,3702,3477,0,0,0,0,0,0
$GC,7079,-0.80,-116.7,507.3,-7.0,511,7083,0.00,2.05,0.00,0.000,6,0.000,0.025,2540,2298,3477,0,0,0,0,0,0
$GC,7400,-0.80,-116.7,528.6,-6.6,517,7404,0.00,2.12,0.00,0.000,4,0.000,0.041,2540,3697,3476,0,0,0,0,0,0
$GC,7466,-0.84,-116.7,533.1,-6.6,518,7471,0.15,2.00,0.00,0.000,6,0.131,0.025,2491,2295,3476,0,0,0,0,0,0
$GC,7826,-0.76,-116.7,563.2,-8.5,524,7827,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2293,3475,0,0,0,0,0,0
$GC,8128,-0.69,-116.7,589.7,-8.8,529,8130,0.17,0.00,0.00,0.000,6,0.182,0.000,2538,2291,3475,0,0,0,0,0,0
$GC,8432,-0.69,-116.7,609.9,-6.6,534,8436,0.00,2.15,0.00,0.000,4,0.000,0.042,2538,3702,3474,0,0,0,0,0,0
$GC,8442,-0.69,-116.7,610.8,-6.5,534,8446,0.00,2.00,0.00,0.000,6,0.000,0.026,2538,2313,3474,0,0,0,0,0,0
$GC,8796,-0.69,-116.7,634.8,-6.8,540,8800,0.00,2.12,0.00,0.000,4,0.000,0.042,2538,3706,3473,0,0,0,0,0,0
$GC,8819,-0.72,-116.7,636.4,-7.1,540,8823,0.00,2.03,0.00,0.000,6,0.000,0.026,2538,2299,3473,0,0,0,0,0,0
$GC,9157,-0.76,-116.7,659.8,-7.0,546,9161,0.00,2.12,0.00,0.000,4,0.000,0.043,2538,3696,3473,0,0,0,0,0,0
$GC,9190,-0.80,-116.7,662.3,-7.3,546,9194,0.00,2.05,0.00,0.000,6,0.000,0.026,2538,2286,3472,0,0,0,0,0,0
$GC,9521,-0.83,-116.7,685.0,-6.9,552,9526,0.12,2.20,0.00,0.000,4,0.139,0.043,2499,3705,3471,0,0,0,0,0,0
$GC,9577,-0.78,-116.7,689.6,-8.7,552,9581,0.00,2.03,0.00,0.000,6,0.000,0.026,2499,2298,3471,0,0,0,0,0,0
$GC,9887,-0.74,-116.7,715.5,-8.4,557,9888,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2296,3471,0,0,0,0,0,0
$GC,10190,-0.69,-116.7,741.0,-8.4,562,10194,0.15,2.15,0.00,0.000,4,0.194,0.043,2538,3695,3470,0,0,0,0,0,0
$GC,10199,-0.65,-116.7,741.8,-8.4,562,10204,0.00,2.05,0.00,0.000,6,0.000,0.027,2538,2310,3470,0,0,0,0,0,0
$GC,10555,-0.68,-116.7,765.7,-6.7,568,10559,0.00,2.12,0.00,0.000,4,0.000,0.043,2538,3698,3469,0,0,0,0,0,0
$GC,10582,-0.73,-116.7,767.7,-7.2,568,10586,0.00,2.08,0.00,0.000,6,0.000,0.026,2538,2294,3469,0,0,0,0,0,0
$GC,10926,-0.76,-116.7,790.7,-6.8,574,10930,0.00,2.15,0.00,0.000,4,0.000,0.043,2538,3701,3469,0,0,0,0,0,0
$GC,10964,-0.81,-116.7,793.5,-7.4,574,10968,0.12,2.08,0.00,0.000,6,0.139,0.026,2500,2265,3469,0,0,0,0,0,0
$GC,11290,-0.77,-116.7,819.7,-8.0,580,11294,0.00,2.20,0.00,0.000,4,0.000,0.043,2500,3704,3468,0,0,0,0,0,0
$GC,11300,-0.73,-116.7,820.6,-7.9,580,11305,0.12,2.05,0.00,0.000,6,0.194,0.026,2530,2290,3468,0,0,0,0,0,0
$GC,11648,-0.73,-116.7,844.3,-6.8,586,11652,0.00,2.17,0.00,0.000,4,0.000,0.043,2530,3704,3468,0,0,0,0,0,0
$GC,11668,-0.73,-116.7,846.0,-7.3,586,11673,0.00,2.08,0.00,0.000,6,0.000,0.026,2530,2299,3468,0,0,0,0,0,0
$GC,12018,-0.73,-116.7,869.2,-6.7,592,12022,0.00,2.12,0.00,0.000,4,0.000,0.043,2530,3695,3468,0,0,0,0,0,0
$GC,12062,-0.77,-116.7,872.3,-6.9,592,12066,0.00,2.03,0.00,0.000,6,0.000,0.026,2530,2295,3468,0,0,0,0,0,0
$GC,12382,-0.77,-116.7,892.4,-6.3,598,12386,0.00,2.15,0.00,0.000,4,0.000,0.043,2530,3700,3468,0,0,0,0,0,0
$GC,12427,-0.80,-116.7,895.5,-7.0,598,12430,0.00,2.03,0.00,0.000,6,0.000,0.026,2530,2299,3467,0,0,0,0,0,0
$GC,12747,-0.80,-116.7,915.7,-6.3,604,12751,0.00,2.15,0.00,0.000,4,0.000,0.044,2530,3701,3467,0,0,0,0,0,0
$GC,12791,-0.84,-116.7,918.7,-6.5,604,12796,0.12,2.05,0.00,0.000,6,0.143,0.026,2490,2290,3467,0,0,0,0,0,0
$GC,13106,-0.79,-116.7,943.1,-7.9,610,13107,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2287,3467,0,0,0,0,0,0
$GC,13408,-0.73,-116.7,967.5,-8.0,615,13410,0.15,0.00,0.00,0.000,6,0.186,0.000,2529,2286,3466,0,0,0,0,0,0
$GC,13711,-0.73,-116.7,987.9,-6.7,620,13715,0.00,2.15,0.00,0.000,4,0.000,0.044,2529,3694,3466,0,0,0,0,0,0
$GC,13727,-0.73,-116.7,988.9,-6.7,620,13731,0.00,2.03,0.00,0.000,6,0.000,0.027,2529,2298,3466,0,0,0,0,0,0
$STATE,13740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13740,begin apogee
$GC,13746,-0.24,0.0,990.1,6.1,620,13849,0.50,0.00,100.18,1.542,6,0.164,0.000,2682,2640,3006,0,0,0,0,0,0
$STATE,13850,end apogee,CONTROL_FINISHED_OK
$STATE,13850,begin climb
$GC,13852,0.80,116.7,993.2,0.0,622,13970,1.05,2.42,108.82,1.453,4,0.110,0.044,3007,4038,2529,0,0,0,0,0,0
$GC,14089,0.59,116.7,982.4,8.0,624,14094,0.22,2.17,0.00,0.000,6,0.173,0.026,2961,2647,2522,0,0,0,0,0,0
$GC,14404,0.57,139.1,963.2,6.0,630,14426,0.00,0.00,19.80,1.421,6,0.000,0.000,2961,2646,2438,0,0,0,0,0,0
$GC,14706,0.59,151.0,943.8,6.4,635,14719,0.00,0.00,11.77,1.381,6,0.000,0.000,2961,2646,2390,0,0,0,0,0,0
$GC,15009,0.59,151.0,923.0,6.9,640,15010,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2646,2387,0,0,0,0,0,0
$GC,15312,0.59,151.0,901.3,7.2,645,15313,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2646,2386,0,0,0,0,0,0
$GC,15615,0.59,151.0,879.3,7.3,650,15616,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2646,2385,0,0,0,0,0,0
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$STATE,26534,end climb,SURFACE_DEPTH_REACHED
$STATE,26534,begin surface coast
$FINISH,2.7,1.027573
$STATE,26577,end surface coast,CONTROL_FINISHED_OK
$STATE,26577,begin surface
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$10V_AH,9.8,30.502
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,241296
$DATA_FILE_SIZE,66409,1149
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$CFSIZE,260165632,231788544
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