version: 66.06
glider: 140
mission: 8
dive: 320
start: 1 5 110 21 40 1
data:
$ID,140
$MISSION,8
$DIVE,320
$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,-89552.875
$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,69
$R_STBD_OVSHOOT,45
$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,3.35
$_SM_ANGLEo,-64.1
$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,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,-7.62,0.000,2,0.000,0.000,217,2281,710,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.3,-0.0,1,192,8.75,2.08,-146.00,0.000,4,0.225,0.056,2503,905,3482,0,0,0,0,0,0
$GC,442,-0.48,-116.7,30.5,-12.0,75,448,0.38,2.08,0.00,0.000,6,0.197,0.029,2604,2314,3483,0,0,0,0,0,0
$GC,777,-0.44,-116.7,53.8,-6.3,136,784,0.00,2.15,0.00,0.000,4,0.000,0.035,2605,907,3483,0,0,0,0,0,0
$GC,801,-0.39,-116.7,55.4,-6.2,140,808,0.08,2.08,0.00,0.000,6,0.189,0.028,2629,2301,3483,0,0,0,0,0,0
$GC,1145,-0.56,-116.7,74.6,-6.2,201,1151,0.15,2.10,0.00,0.000,4,0.127,0.041,2579,3704,3483,0,0,0,0,0,0
$GC,1283,-0.56,-116.7,84.1,-6.6,225,1288,0.00,2.03,0.00,0.000,6,0.000,0.023,2579,2286,3483,0,0,0,0,0,0
$GC,1624,-0.61,-116.7,106.6,-6.2,286,1630,0.00,2.12,0.00,0.000,4,0.000,0.039,2579,3698,3483,0,0,0,0,0,0
$GC,1688,-0.61,-116.7,110.7,-6.3,297,1693,0.00,2.00,0.00,0.000,6,0.000,0.023,2579,2294,3483,0,0,0,0,0,0
$GC,2020,-0.67,-116.7,133.0,-7.0,332,2024,0.00,2.03,0.00,0.000,4,0.000,0.035,2579,919,3483,0,0,0,0,0,0
$GC,2120,-0.67,-116.7,139.9,-6.4,336,2123,0.00,2.03,0.00,0.000,6,0.000,0.028,2579,2301,3482,0,0,0,0,0,0
$GC,2440,-0.67,-116.7,161.0,-7.1,352,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2301,3483,0,0,0,0,0,0
$GC,2753,-0.74,-116.7,179.2,-5.2,367,2758,0.15,2.10,0.00,0.000,4,0.125,0.035,2528,912,3483,0,0,0,0,0,0
$GC,2769,-0.74,-116.7,180.3,-5.5,368,2773,0.00,2.05,0.00,0.000,6,0.000,0.028,2528,2310,3482,0,0,0,0,0,0
$GC,3096,-0.52,-116.7,204.4,-8.0,384,3101,0.25,2.08,0.00,0.000,4,0.197,0.038,2599,3709,3482,0,0,0,0,0,0
$GC,3151,-0.49,-116.7,208.3,-6.4,386,3158,0.00,2.00,0.00,0.000,6,0.000,0.023,2600,2296,3483,0,0,0,0,0,0
$GC,3466,-0.61,-116.7,230.6,-7.7,402,3470,0.00,2.12,0.00,0.000,4,0.000,0.040,2600,3701,3483,0,0,0,0,0,0
$GC,3589,-0.72,-116.7,240.8,-8.8,407,3596,0.20,2.00,0.00,0.000,6,0.110,0.023,2532,2282,3482,0,0,0,0,0,0
$GC,3905,-0.72,-116.7,266.4,-6.9,423,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2282,3482,0,0,0,0,0,0
$GC,4214,-0.72,-116.7,285.5,-6.4,438,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2282,3483,0,0,0,0,0,0
$GC,4542,-0.72,-116.7,310.3,-8.0,452,4546,0.00,1.98,0.00,0.000,4,0.000,0.035,2532,937,3482,0,0,0,0,0,0
$GC,4569,-0.65,-116.7,312.5,-7.9,452,4575,0.00,2.03,0.00,0.000,6,0.000,0.028,2531,2297,3482,0,0,0,0,0,0
$GC,4882,-0.65,-116.7,336.7,-7.8,463,4886,0.00,2.08,0.00,0.000,4,0.000,0.040,2531,3698,3482,0,0,0,0,0,0
$GC,4925,-0.58,-116.7,340.2,-7.3,464,4930,0.10,2.00,0.00,0.000,6,0.163,0.023,2576,2302,3482,0,0,0,0,0,0
$GC,5255,-0.67,-116.7,363.3,-7.0,475,5259,0.00,2.12,0.00,0.000,4,0.000,0.041,2576,3701,3481,0,0,0,0,0,0
$GC,5361,-0.74,-116.7,370.7,-6.7,478,5366,0.15,1.98,0.00,0.000,6,0.123,0.024,2528,2301,3481,0,0,0,0,0,0
$GC,5683,-0.74,-116.7,395.9,-7.9,489,5687,0.00,2.03,0.00,0.000,4,0.000,0.037,2528,930,3481,0,0,0,0,0,0
$GC,5700,-0.69,-116.7,397.2,-7.9,489,5704,0.00,2.03,0.00,0.000,6,0.000,0.029,2528,2310,3481,0,0,0,0,0,0
$GC,6017,-0.69,-116.7,421.7,-7.7,500,6021,0.00,2.05,0.00,0.000,4,0.000,0.036,2528,934,3480,0,0,0,0,0,0
$GC,6038,-0.63,-116.7,423.5,-8.4,500,6045,0.05,2.05,0.00,0.000,6,0.160,0.029,2556,2307,3480,0,0,0,0,0,0
$GC,6352,-0.68,-116.7,446.0,-7.3,511,6355,0.00,2.08,0.00,0.000,4,0.000,0.041,2556,3699,3478,0,0,0,0,0,0
$GC,6440,-0.68,-116.7,452.6,-6.9,513,6446,0.00,2.03,0.00,0.000,6,0.000,0.024,2556,2307,3478,0,0,0,0,0,0
$GC,6753,-0.73,-116.7,477.0,-8.0,524,6757,0.00,2.12,0.00,0.000,4,0.000,0.041,2556,3706,3477,0,0,0,0,0,0
$GC,6836,-0.73,-116.7,483.7,-8.0,526,6841,0.00,2.05,0.00,0.000,6,0.000,0.025,2556,2305,3477,0,0,0,0,0,0
$GC,7184,-0.78,-116.7,512.0,-8.3,536,7189,0.12,2.15,0.00,0.000,4,0.134,0.042,2515,3701,3475,0,0,0,0,0,0
$GC,7319,-0.65,-116.7,523.8,-8.6,538,7324,0.15,2.03,0.00,0.000,6,0.185,0.025,2554,2282,3475,0,0,0,0,0,0
$GC,7678,-0.69,-116.7,553.4,-8.2,544,7682,0.00,2.15,0.00,0.000,4,0.000,0.042,2554,3697,3474,0,0,0,0,0,0
$GC,7773,-0.69,-116.7,561.2,-7.8,545,7777,0.00,2.03,0.00,0.000,6,0.000,0.025,2554,2290,3473,0,0,0,0,0,0
$GC,8111,-0.75,-116.7,587.7,-7.9,551,8115,0.00,2.15,0.00,0.000,4,0.000,0.042,2554,3701,3472,0,0,0,0,0,0
$GC,8200,-0.75,-116.7,594.4,-7.4,552,8204,0.00,2.03,0.00,0.000,6,0.000,0.025,2554,2303,3471,0,0,0,0,0,0
$GC,8542,-0.81,-116.7,619.4,-7.3,558,8547,0.15,2.15,0.00,0.000,4,0.129,0.043,2504,3698,3470,0,0,0,0,0,0
$GC,8614,-0.67,-116.7,625.1,-8.2,559,8619,0.15,2.08,0.00,0.000,6,0.189,0.025,2541,2261,3470,0,0,0,0,0,0
$GC,8974,-0.67,-116.7,651.1,-7.2,565,8978,0.00,2.20,0.00,0.000,4,0.000,0.043,2541,3701,3469,0,0,0,0,0,0
$GC,9073,-0.67,-116.7,658.0,-6.4,566,9078,0.00,2.05,0.00,0.000,6,0.000,0.025,2542,2312,3469,0,0,0,0,0,0
$GC,9411,-0.70,-116.7,681.3,-6.9,572,9415,0.00,2.12,0.00,0.000,4,0.000,0.042,2541,3701,3468,0,0,0,0,0,0
$GC,9477,-0.70,-116.7,685.9,-6.6,573,9482,0.00,2.08,0.00,0.000,6,0.000,0.026,2542,2298,3468,0,0,0,0,0,0
$GC,9843,-0.74,-116.7,711.3,-7.0,579,9847,0.00,2.15,0.00,0.000,4,0.000,0.043,2542,3701,3466,0,0,0,0,0,0
$GC,9927,-0.74,-116.7,717.4,-7.1,580,9931,0.00,2.10,0.00,0.000,6,0.000,0.026,2542,2290,3466,0,0,0,0,0,0
$GC,10275,-0.74,-116.7,742.7,-7.3,586,10279,0.00,2.15,0.00,0.000,4,0.000,0.043,2542,3695,3465,0,0,0,0,0,0
$GC,10358,-0.74,-116.7,748.7,-7.4,587,10362,0.00,2.03,0.00,0.000,6,0.000,0.026,2542,2301,3465,0,0,0,0,0,0
$GC,10706,-0.74,-116.7,774.1,-7.4,593,10710,0.00,2.15,0.00,0.000,4,0.000,0.044,2542,3698,3464,0,0,0,0,0,0
$GC,10788,-0.74,-116.7,780.2,-7.6,594,10793,0.00,2.08,0.00,0.000,6,0.000,0.026,2542,2303,3464,0,0,0,0,0,0
$GC,11143,-0.77,-116.7,807.1,-7.7,600,11147,0.00,2.15,0.00,0.000,4,0.000,0.044,2542,3704,3463,0,0,0,0,0,0
$GC,11215,-0.77,-116.7,812.7,-7.5,601,11219,0.00,2.10,0.00,0.000,6,0.000,0.027,2542,2293,3464,0,0,0,0,0,0
$GC,11576,-0.80,-116.7,839.8,-7.6,607,11581,0.12,2.17,0.00,0.000,4,0.143,0.044,2502,3696,3463,0,0,0,0,0,0
$GC,11683,-0.69,-116.7,848.7,-8.3,608,11688,0.15,2.05,0.00,0.000,6,0.186,0.026,2540,2282,3463,0,0,0,0,0,0
$GC,12002,-0.72,-116.7,872.0,-7.3,614,12006,0.00,2.17,0.00,0.000,4,0.000,0.044,2540,3702,3462,0,0,0,0,0,0
$GC,12086,-0.72,-116.7,877.9,-6.9,615,12090,0.00,2.05,0.00,0.000,6,0.000,0.026,2540,2301,3462,0,0,0,0,0,0
$GC,12429,-0.76,-116.7,902.2,-7.2,621,12433,0.00,2.10,0.00,0.000,4,0.000,0.041,2540,908,3462,0,0,0,0,0,0
$GC,12559,-0.73,-116.7,911.5,-7.4,622,12565,0.00,2.08,0.00,0.000,6,0.000,0.031,2540,2297,3462,0,0,0,0,0,0
$GC,12867,-0.76,-116.7,933.1,-7.1,628,12871,0.00,2.12,0.00,0.000,4,0.000,0.044,2540,3706,3461,0,0,0,0,0,0
$GC,12968,-0.76,-116.7,940.1,-7.0,629,12971,0.00,2.05,0.00,0.000,6,0.000,0.027,2540,2300,3462,0,0,0,0,0,0
$GC,13306,-0.80,-116.7,963.5,-7.0,635,13310,0.00,2.17,0.00,0.000,4,0.000,0.044,2541,3698,3461,0,0,0,0,0,0
$GC,13383,-0.80,-116.7,969.0,-5.6,636,13387,0.00,2.08,0.00,0.000,6,0.000,0.027,2540,2307,3461,0,0,0,0,0,0
$GC,13739,-0.92,-116.7,981.8,-1.8,642,13741,0.22,0.00,0.00,0.000,6,0.104,0.000,2460,2302,3461,0,0,0,0,0,0
$STATE,13917,end dive,NO_VERTICAL_VELOCITY
$STATE,13917,begin apogee
$GC,13923,-0.24,0.0,981.8,0.0,645,14026,0.73,0.00,99.95,1.539,6,0.137,0.000,2686,2647,3006,0,0,0,0,0,0
$STATE,14027,end apogee,CONTROL_FINISHED_OK
$STATE,14027,begin climb
$GC,14029,0.80,116.7,981.8,0.0,646,14143,1.12,0.00,111.15,1.446,6,0.140,0.000,3012,2647,2530,0,0,0,0,0,0
$GC,14403,0.82,140.0,963.4,5.9,653,14429,0.00,2.25,21.00,1.406,4,0.000,0.036,3022,1248,2434,0,0,0,0,0,0
$GC,14682,0.84,150.7,945.7,6.4,657,14697,0.00,2.17,10.40,1.351,6,0.000,0.034,3019,2659,2391,0,0,0,0,0,0
$GC,15029,0.85,160.6,923.4,6.5,663,15044,0.00,2.20,9.98,1.361,4,0.000,0.038,3029,1256,2351,0,0,0,0,0,0
$GC,15297,0.86,167.5,905.3,6.6,667,15311,0.00,2.12,7.57,1.302,6,0.000,0.034,3029,2652,2323,0,0,0,0,0,0
$GC,15667,0.86,172.2,880.2,6.7,673,15678,0.00,2.15,5.93,1.222,4,0.000,0.036,3039,1256,2303,0,0,0,0,0,0
$GC,15931,0.87,180.7,861.7,6.5,677,15945,0.00,2.12,9.27,1.342,6,0.000,0.035,3039,2648,2268,0,0,0,0,0,0
$GC,16300,0.87,180.7,836.0,6.9,683,16304,0.00,2.12,0.00,0.000,4,0.000,0.038,3047,1256,2266,0,0,0,0,0,0
$GC,16558,0.89,191.5,817.3,6.4,686,16574,0.00,2.12,10.98,1.363,6,0.000,0.035,3047,2653,2225,0,0,0,0,0,0
$GC,16928,0.89,191.5,790.7,7.2,693,16932,0.00,2.12,0.00,0.000,4,0.000,0.038,3057,1257,2222,0,0,0,0,0,0
$GC,17185,0.89,191.5,771.5,7.1,696,17191,0.00,2.15,0.00,0.000,6,0.000,0.035,3057,2642,2221,0,0,0,0,0,0
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$STATE,27433,end climb,SURFACE_DEPTH_REACHED
$STATE,27433,begin surface coast
$FINISH,2.9,1.017307
$STATE,27509,end surface coast,CONTROL_FINISHED_OK
$STATE,27509,begin surface
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$HUMID,1078305152
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$TCM_TEMP,15.00
$XPDR_PINGS,2
$24V_AH,22.0,52.964
$10V_AH,9.7,36.318
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.700,223.950,311.350,309.350,0.000,164.908,141.316,0.000,0.500,0.000,903.222,2717.123,20427.867,881.318,4721.113,652.356,0.000,2682.568,0.000,3773.706,0.000,0.536,0.000
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$MEM,235252
$DATA_FILE_SIZE,69654,1235
$CAP_FILE_SIZE,245901,0
$CFSIZE,260165632,227328000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.008,167.7,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7