version: 66.06
glider: 140
mission: 8
dive: 315
start: 1 4 110 11 11 16
data:
$ID,140
$MISSION,8
$DIVE,315
$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,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,-80518.805
$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,62
$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
$GPS1,061850,6350.368,223.979,901,99.0,901,-3.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.31
$_SM_ANGLEo,-63.1
$GPS2,061850,6350.368,223.979,901,99.0,901,-3.7
$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,144.9,118241,-13.7,-6.875
$D_GRID,1488
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.80,-116.7,0.0,0.0,0,26,0.00,0.00,-8.30,0.000,2,0.000,0.000,214,2288,720,0,0,0,0,0,0
$GC,29,-0.80,-116.7,3.1,-0.0,1,192,8.60,2.17,-146.38,0.000,4,0.219,0.051,2503,886,3482,0,0,0,0,0,0
$GC,209,-0.66,-116.7,5.0,-4.8,32,218,0.12,2.12,0.00,0.000,6,0.164,0.029,2543,2297,3483,0,0,0,0,0,0
$GC,548,-0.45,-116.7,43.3,-10.6,93,554,0.25,2.10,0.00,0.000,4,0.193,0.031,2617,900,3484,0,0,0,0,0,0
$GC,741,-0.45,-116.7,62.9,-13.0,128,749,0.00,2.10,0.00,0.000,6,0.000,0.028,2617,2307,3484,0,0,0,0,0,0
$GC,1082,-0.59,-116.7,86.8,-7.8,189,1088,0.12,2.10,0.00,0.000,4,0.130,0.041,2573,3706,3484,0,0,0,0,0,0
$GC,1219,-0.49,-116.7,98.5,-9.0,213,1225,0.12,2.05,0.00,0.000,6,0.199,0.025,2603,2265,3483,0,0,0,0,0,0
$GC,1549,-0.44,-116.7,129.9,-9.4,259,1553,0.00,2.17,0.00,0.000,4,0.000,0.040,2603,3705,3483,0,0,0,0,0,0
$GC,1589,-0.44,-116.7,134.7,-12.4,261,1593,0.00,2.00,0.00,0.000,6,0.000,0.024,2604,2309,3483,0,0,0,0,0,0
$GC,1923,-0.40,-116.7,163.8,-6.0,277,1928,0.10,2.15,0.00,0.000,4,0.216,0.041,2628,3705,3483,0,0,0,0,0,0
$GC,1950,-0.40,-116.7,165.2,-4.2,278,1954,0.00,2.05,0.00,0.000,6,0.000,0.023,2629,2298,3483,0,0,0,0,0,0
$GC,2272,-0.58,-116.7,181.4,-5.5,294,2276,0.15,2.05,0.00,0.000,4,0.118,0.035,2574,915,3483,0,0,0,0,0,0
$GC,2411,-0.46,-116.7,189.1,-5.7,300,2416,0.15,2.03,0.00,0.000,6,0.197,0.028,2610,2305,3483,0,0,0,0,0,0
$GC,2728,-0.60,-116.7,207.9,-6.8,315,2733,0.12,2.10,0.00,0.000,4,0.131,0.035,2569,910,3483,0,0,0,0,0,0
$GC,2789,-0.55,-116.7,212.6,-7.8,317,2795,0.00,2.08,0.00,0.000,6,0.000,0.028,2568,2295,3483,0,0,0,0,0,0
$GC,3105,-0.59,-116.7,235.3,-7.0,333,3109,0.00,2.10,0.00,0.000,4,0.000,0.041,2569,3706,3483,0,0,0,0,0,0
$GC,3160,-0.59,-116.7,239.7,-8.3,335,3166,0.00,2.05,0.00,0.000,6,0.000,0.023,2569,2287,3483,0,0,0,0,0,0
$GC,3476,-0.64,-116.7,266.0,-7.9,351,3480,0.00,2.12,0.00,0.000,4,0.000,0.039,2569,3697,3483,0,0,0,0,0,0
$GC,3542,-0.64,-116.7,270.9,-7.3,354,3546,0.00,2.03,0.00,0.000,6,0.000,0.022,2569,2296,3483,0,0,0,0,0,0
$GC,3869,-0.70,-116.7,294.2,-6.7,370,3873,0.00,2.12,0.00,0.000,4,0.000,0.040,2568,3704,3483,0,0,0,0,0,0
$GC,3959,-0.70,-116.7,299.8,-6.2,374,3963,0.00,2.00,0.00,0.000,6,0.000,0.023,2568,2294,3483,0,0,0,0,0,0
$GC,4289,-0.77,-116.7,319.5,-6.3,385,4293,0.15,2.15,0.00,0.000,4,0.123,0.040,2516,3704,3483,0,0,0,0,0,0
$GC,4412,-0.55,-116.7,328.9,-8.1,388,4420,0.25,2.00,0.00,0.000,6,0.188,0.022,2582,2274,3483,0,0,0,0,0,0
$GC,4724,-0.65,-116.7,350.4,-7.2,399,4728,0.00,1.98,0.00,0.000,4,0.000,0.035,2582,930,3483,0,0,0,0,0,0
$GC,4785,-0.70,-116.7,354.6,-6.5,400,4793,0.12,2.00,0.00,0.000,6,0.133,0.028,2542,2306,3483,0,0,0,0,0,0
$GC,5097,-0.70,-116.7,376.3,-6.9,411,5101,0.00,2.05,0.00,0.000,4,0.000,0.041,2542,3692,3483,0,0,0,0,0,0
$GC,5112,-0.70,-116.7,377.4,-6.9,411,5116,0.00,1.98,0.00,0.000,6,0.000,0.023,2542,2320,3482,0,0,0,0,0,0
$GC,5430,-0.70,-116.7,399.5,-6.9,422,5434,0.00,2.08,0.00,0.000,4,0.000,0.041,2541,3695,3482,0,0,0,0,0,0
$GC,5452,-0.70,-116.7,401.0,-7.0,422,5457,0.00,1.98,0.00,0.000,6,0.000,0.024,2542,2301,3482,0,0,0,0,0,0
$GC,5764,-0.70,-116.7,422.9,-7.1,433,5768,0.00,2.12,0.00,0.000,4,0.000,0.041,2542,3693,3481,0,0,0,0,0,0
$GC,5802,-0.65,-116.7,425.8,-6.7,434,5806,0.00,1.98,0.00,0.000,6,0.000,0.024,2542,2302,3481,0,0,0,0,0,0
$GC,6132,-0.65,-116.7,448.4,-6.9,445,6136,0.00,2.10,0.00,0.000,4,0.000,0.041,2542,3691,3480,0,0,0,0,0,0
$GC,6153,-0.65,-116.7,450.1,-7.5,445,6157,0.00,2.03,0.00,0.000,6,0.000,0.024,2542,2301,3480,0,0,0,0,0,0
$GC,6471,-0.65,-116.7,471.7,-7.0,456,6475,0.00,2.10,0.00,0.000,4,0.000,0.041,2542,3691,3480,0,0,0,0,0,0
$GC,6492,-0.65,-116.7,473.2,-7.0,456,6496,0.00,2.03,0.00,0.000,6,0.000,0.025,2542,2303,3479,0,0,0,0,0,0
$GC,6810,-0.65,-116.7,495.7,-7.2,467,6814,0.00,2.10,0.00,0.000,4,0.000,0.041,2542,3691,3478,0,0,0,0,0,0
$GC,6831,-0.65,-116.7,497.2,-7.3,467,6835,0.00,2.05,0.00,0.000,6,0.000,0.025,2541,2298,3478,0,0,0,0,0,0
$GC,7177,-0.65,-116.7,523.0,-7.5,474,7181,0.00,2.05,0.00,0.000,4,0.000,0.038,2542,913,3477,0,0,0,0,0,0
$GC,7232,-0.59,-116.7,527.3,-7.4,474,7239,0.05,2.08,0.00,0.000,6,0.153,0.030,2569,2293,3477,0,0,0,0,0,0
$GC,7541,-0.68,-116.7,548.7,-7.0,480,7545,0.00,2.10,0.00,0.000,4,0.000,0.042,2569,3702,3476,0,0,0,0,0,0
$GC,7660,-0.73,-116.7,556.3,-5.8,481,7665,0.12,2.03,0.00,0.000,6,0.137,0.025,2529,2285,3475,0,0,0,0,0,0
$GC,7969,-0.73,-116.7,579.0,-7.4,486,7973,0.00,2.15,0.00,0.000,4,0.000,0.042,2529,3700,3474,0,0,0,0,0,0
$GC,7990,-0.69,-116.7,580.6,-7.4,486,7994,0.00,2.05,0.00,0.000,6,0.000,0.025,2529,2276,3475,0,0,0,0,0,0
$GC,8339,-0.69,-116.7,605.8,-7.3,492,8340,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2276,3473,0,0,0,0,0,0
$GC,8642,-0.69,-116.7,628.4,-7.4,497,8646,0.00,2.17,0.00,0.000,4,0.000,0.042,2529,3700,3472,0,0,0,0,0,0
$GC,8703,-0.65,-116.7,632.9,-7.8,498,8707,0.00,2.03,0.00,0.000,6,0.000,0.025,2529,2298,3472,0,0,0,0,0,0
$GC,9069,-0.65,-116.7,660.4,-7.6,504,9072,0.00,2.15,0.00,0.000,4,0.000,0.043,2529,3701,3471,0,0,0,0,0,0
$GC,9090,-0.61,-116.7,662.2,-7.8,504,9095,0.12,2.08,0.00,0.000,6,0.193,0.026,2560,2290,3471,0,0,0,0,0,0
$GC,9439,-0.68,-116.7,686.8,-7.1,510,9443,0.00,2.15,0.00,0.000,4,0.000,0.044,2560,3697,3470,0,0,0,0,0,0
$GC,9563,-0.72,-116.7,695.5,-6.7,511,9568,0.00,2.03,0.00,0.000,6,0.000,0.025,2560,2298,3469,0,0,0,0,0,0
$GC,9872,-0.80,-116.7,716.8,-6.9,517,9877,0.17,2.17,0.00,0.000,4,0.127,0.044,2503,3701,3468,0,0,0,0,0,0
$GC,9961,-0.68,-116.7,723.6,-8.1,518,9966,0.15,2.03,0.00,0.000,6,0.189,0.025,2540,2292,3468,0,0,0,0,0,0
$GC,10297,-0.68,-116.7,746.8,-6.8,524,10301,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3698,3468,0,0,0,0,0,0
$GC,10364,-0.68,-116.7,751.4,-7.2,525,10368,0.00,2.03,0.00,0.000,6,0.000,0.026,2540,2303,3467,0,0,0,0,0,0
$GC,10729,-0.68,-116.7,776.8,-7.0,531,10733,0.00,2.12,0.00,0.000,4,0.000,0.044,2541,3697,3467,0,0,0,0,0,0
$GC,10811,-0.68,-116.7,782.6,-7.1,532,10816,0.00,2.08,0.00,0.000,6,0.000,0.026,2540,2295,3466,0,0,0,0,0,0
$GC,11160,-0.68,-116.7,807.0,-7.1,538,11164,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3698,3466,0,0,0,0,0,0
$GC,11295,-0.68,-116.7,816.3,-7.0,540,11299,0.00,2.05,0.00,0.000,6,0.000,0.026,2540,2290,3465,0,0,0,0,0,0
$GC,11660,-0.71,-116.7,841.7,-7.0,546,11664,0.00,2.15,0.00,0.000,4,0.000,0.043,2540,3701,3465,0,0,0,0,0,0
$GC,11742,-0.71,-116.7,847.4,-7.0,547,11746,0.00,2.08,0.00,0.000,6,0.000,0.026,2541,2298,3465,0,0,0,0,0,0
$GC,12092,-0.74,-116.7,871.6,-7.0,553,12096,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3704,3464,0,0,0,0,0,0
$GC,12204,-0.74,-116.7,879.5,-6.5,554,12208,0.00,2.08,0.00,0.000,6,0.000,0.026,2540,2306,3464,0,0,0,0,0,0
$GC,12524,-0.78,-116.7,902.3,-7.2,560,12528,0.00,2.12,0.00,0.000,4,0.000,0.044,2541,3696,3463,0,0,0,0,0,0
$GC,12596,-0.78,-116.7,907.5,-7.0,561,12600,0.00,2.05,0.00,0.000,6,0.000,0.026,2541,2287,3463,0,0,0,0,0,0
$GC,12956,-0.82,-116.7,933.8,-7.3,567,12961,0.12,2.20,0.00,0.000,4,0.140,0.044,2501,3700,3463,0,0,0,0,0,0
$GC,13093,-0.70,-116.7,944.4,-7.7,569,13098,0.12,2.05,0.00,0.000,6,0.194,0.026,2531,2279,3462,0,0,0,0,0,0
$GC,13457,-0.70,-116.7,971.4,-7.3,575,13461,0.00,2.20,0.00,0.000,4,0.000,0.044,2531,3702,3462,0,0,0,0,0,0
$GC,13526,-0.66,-116.7,975.9,-6.7,576,13529,0.00,2.03,0.00,0.000,6,0.000,0.027,2532,2312,3462,0,0,0,0,0,0
$STATE,13773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13773,begin apogee
$GC,13778,-0.24,0.0,992.9,6.8,580,13881,0.52,0.00,100.32,1.539,6,0.168,0.000,2687,2651,3006,0,0,0,0,0,0
$STATE,13882,end apogee,CONTROL_FINISHED_OK
$STATE,13882,begin climb
$GC,13884,0.80,116.7,996.0,0.0,581,13999,1.10,0.00,111.28,1.450,6,0.121,0.000,3017,2651,2530,0,0,0,0,0,0
$GC,14259,0.82,133.9,980.7,6.2,588,14279,0.00,2.25,15.45,1.394,4,0.000,0.045,3017,4046,2458,0,0,0,0,0,0
$GC,14442,0.76,144.4,969.0,6.5,590,14458,0.00,2.10,10.68,1.349,6,0.000,0.026,3028,2644,2417,0,0,0,0,0,0
$GC,14819,0.77,156.0,945.3,6.4,597,14835,0.00,2.20,11.50,1.388,4,0.000,0.039,3038,1257,2369,0,0,0,0,0,0
$GC,14908,0.78,163.9,939.6,6.6,598,14923,0.00,2.15,8.85,1.300,6,0.000,0.035,3035,2653,2336,0,0,0,0,0,0
$GC,15250,0.83,163.9,916.3,6.9,604,15254,0.00,2.15,0.00,0.000,4,0.000,0.047,3034,4051,2332,0,0,0,0,0,0
$GC,15356,0.76,163.9,908.9,7.0,605,15361,0.12,2.08,0.00,0.000,6,0.179,0.027,3011,2642,2332,0,0,0,0,0,0
$GC,15676,0.84,170.7,888.3,6.6,611,15689,0.00,2.15,6.65,1.288,4,0.000,0.038,3020,1268,2310,0,0,0,0,0,0
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$STATE,27367,end climb,SURFACE_DEPTH_REACHED
$STATE,27368,begin surface coast
$FINISH,2.8,1.005631
$STATE,27444,end surface coast,CONTROL_FINISHED_OK
$STATE,27445,begin surface
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$FG_AHR_10Vo,0.000
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