version: 66.06
glider: 140
mission: 8
dive: 328
start: 1 7 110 17 8 20
data:
$ID,140
$MISSION,8
$DIVE,328
$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,-104011.73
$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,59
$R_STBD_OVSHOOT,52
$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,3.22
$_SM_ANGLEo,-64.0
$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,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,-8.07,0.000,2,0.000,0.000,214,2276,712,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.1,-0.0,1,188,8.55,2.28,-144.07,0.000,4,0.220,0.055,2502,3708,3482,0,0,0,0,0,0
$GC,195,-0.69,-116.7,4.0,-2.5,30,202,0.10,2.08,0.00,0.000,6,0.183,0.024,2534,2284,3482,0,0,0,0,0,0
$GC,531,-0.45,-116.7,36.5,-10.6,91,537,0.25,2.17,0.00,0.000,4,0.188,0.038,2608,3707,3483,0,0,0,0,0,0
$GC,774,-0.45,-116.7,51.2,-5.8,135,779,0.00,2.03,0.00,0.000,6,0.000,0.023,2608,2289,3483,0,0,0,0,0,0
$GC,1109,-0.56,-116.7,71.6,-5.7,196,1117,0.00,2.05,0.00,0.000,4,0.000,0.036,2608,920,3483,0,0,0,0,0,0
$GC,1234,-0.61,-116.7,79.4,-6.0,218,1240,0.12,2.03,0.00,0.000,6,0.135,0.028,2569,2316,3482,0,0,0,0,0,0
$GC,1572,-0.64,-116.7,102.1,-6.8,279,1578,0.00,2.03,0.00,0.000,4,0.000,0.038,2569,3694,3483,0,0,0,0,0,0
$GC,1623,-0.64,-116.7,105.5,-6.5,288,1631,0.00,2.03,0.00,0.000,6,0.000,0.022,2569,2285,3482,0,0,0,0,0,0
$GC,1958,-0.64,-116.7,128.6,-7.0,332,1962,0.00,2.00,0.00,0.000,4,0.000,0.035,2569,918,3482,0,0,0,0,0,0
$GC,2075,-0.54,-116.7,136.9,-7.0,337,2079,0.00,2.00,0.00,0.000,6,0.000,0.028,2569,2295,3482,0,0,0,0,0,0
$GC,2398,-0.57,-116.7,157.9,-6.4,353,2402,0.00,2.08,0.00,0.000,4,0.000,0.039,2569,3701,3482,0,0,0,0,0,0
$GC,2431,-0.57,-116.7,160.2,-6.4,354,2437,0.00,2.03,0.00,0.000,6,0.000,0.023,2569,2297,3482,0,0,0,0,0,0
$GC,2745,-0.57,-116.7,180.7,-7.0,370,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2297,3482,0,0,0,0,0,0
$GC,3055,-0.61,-116.7,205.9,-8.4,385,3059,0.00,2.03,0.00,0.000,4,0.000,0.035,2569,927,3482,0,0,0,0,0,0
$GC,3215,-0.48,-116.7,219.1,-8.5,392,3219,0.15,2.00,0.00,0.000,6,0.199,0.028,2607,2304,3482,0,0,0,0,0,0
$GC,3541,-0.61,-116.7,243.0,-7.2,408,3546,0.12,2.10,0.00,0.000,4,0.123,0.040,2563,3704,3482,0,0,0,0,0,0
$GC,3590,-0.61,-116.7,246.8,-7.2,410,3594,0.00,2.00,0.00,0.000,6,0.000,0.023,2563,2294,3482,0,0,0,0,0,0
$GC,3911,-0.65,-116.7,269.6,-7.0,426,3915,0.00,2.03,0.00,0.000,4,0.000,0.035,2563,913,3482,0,0,0,0,0,0
$GC,4024,-0.61,-116.7,277.5,-6.8,431,4028,0.00,2.03,0.00,0.000,6,0.000,0.028,2563,2301,3482,0,0,0,0,0,0
$GC,4352,-0.65,-116.7,300.2,-6.8,447,4356,0.00,2.08,0.00,0.000,4,0.000,0.040,2563,3705,3482,0,0,0,0,0,0
$GC,4436,-0.65,-116.7,305.8,-6.7,449,4439,0.00,2.00,0.00,0.000,6,0.000,0.023,2563,2296,3482,0,0,0,0,0,0
$GC,4753,-0.70,-116.7,328.1,-7.6,460,4757,0.00,2.10,0.00,0.000,4,0.000,0.039,2563,3697,3482,0,0,0,0,0,0
$GC,4782,-0.70,-116.7,330.3,-7.5,461,4786,0.00,1.98,0.00,0.000,6,0.000,0.023,2563,2304,3481,0,0,0,0,0,0
$GC,5122,-0.76,-116.7,356.4,-7.5,472,5124,0.12,0.00,0.00,0.000,6,0.134,0.000,2520,2299,3481,0,0,0,0,0,0
$GC,5428,-0.71,-116.7,379.9,-7.9,482,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2299,3481,0,0,0,0,0,0
$GC,5734,-0.68,-116.7,402.7,-7.3,492,5738,0.00,2.05,0.00,0.000,4,0.000,0.036,2521,915,3481,0,0,0,0,0,0
$GC,5762,-0.56,-116.7,404.7,-7.3,492,5769,0.22,2.03,0.00,0.000,6,0.189,0.029,2580,2299,3480,0,0,0,0,0,0
$GC,6074,-0.66,-116.7,423.2,-6.0,503,6078,0.00,2.08,0.00,0.000,4,0.000,0.041,2580,3695,3479,0,0,0,0,0,0
$GC,6192,-0.73,-116.7,430.3,-6.1,506,6197,0.15,2.00,0.00,0.000,6,0.120,0.024,2531,2276,3479,0,0,0,0,0,0
$GC,6510,-0.73,-116.7,453.2,-7.5,517,6511,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2274,3478,0,0,0,0,0,0
$GC,6815,-0.73,-116.7,477.1,-7.8,527,6819,0.00,2.15,0.00,0.000,4,0.000,0.041,2530,3697,3476,0,0,0,0,0,0
$GC,6865,-0.65,-116.7,481.0,-7.9,528,6869,0.00,1.98,0.00,0.000,6,0.000,0.025,2530,2314,3476,0,0,0,0,0,0
$GC,7183,-0.65,-116.7,505.8,-8.0,538,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2314,3475,0,0,0,0,0,0
$GC,7485,-0.65,-116.7,530.2,-8.1,543,7489,0.00,2.10,0.00,0.000,4,0.000,0.041,2530,3693,3474,0,0,0,0,0,0
$GC,7507,-0.60,-116.7,532.2,-8.8,543,7511,0.15,2.03,0.00,0.000,6,0.186,0.025,2568,2284,3474,0,0,0,0,0,0
$GC,7850,-0.67,-116.7,557.9,-7.5,549,7853,0.00,2.03,0.00,0.000,4,0.000,0.038,2568,916,3473,0,0,0,0,0,0
$GC,7871,-0.70,-116.7,559.6,-7.7,549,7875,0.00,2.08,0.00,0.000,6,0.000,0.031,2568,2316,3472,0,0,0,0,0,0
$GC,8220,-0.78,-116.7,584.8,-7.2,555,8222,0.17,0.00,0.00,0.000,6,0.116,0.000,2510,2317,3471,0,0,0,0,0,0
$GC,8523,-0.72,-116.7,609.1,-8.1,560,8527,0.00,2.10,0.00,0.000,4,0.000,0.038,2510,923,3470,0,0,0,0,0,0
$GC,8561,-0.52,-116.7,612.5,-8.8,560,8566,0.28,2.08,0.00,0.000,6,0.192,0.031,2587,2298,3470,0,0,0,0,0,0
$GC,8887,-0.63,-116.7,634.8,-6.9,566,8891,0.00,2.08,0.00,0.000,4,0.000,0.038,2588,915,3469,0,0,0,0,0,0
$GC,8999,-0.70,-116.7,642.2,-6.3,567,9004,0.15,2.05,0.00,0.000,6,0.123,0.031,2540,2303,3468,0,0,0,0,0,0
$GC,9319,-0.70,-116.7,664.9,-7.2,573,9323,0.00,2.10,0.00,0.000,4,0.000,0.043,2540,3705,3467,0,0,0,0,0,0
$GC,9385,-0.70,-116.7,669.6,-6.8,574,9389,0.00,2.05,0.00,0.000,6,0.000,0.026,2540,2311,3467,0,0,0,0,0,0
$GC,9750,-0.70,-116.7,694.7,-6.9,580,9754,0.00,2.08,0.00,0.000,4,0.000,0.039,2540,915,3466,0,0,0,0,0,0
$GC,9881,-0.64,-116.7,703.9,-7.0,582,9885,0.00,2.05,0.00,0.000,6,0.000,0.031,2540,2297,3466,0,0,0,0,0,0
$GC,10246,-0.64,-116.7,730.4,-7.3,588,10250,0.00,2.10,0.00,0.000,4,0.000,0.044,2540,3702,3465,0,0,0,0,0,0
$GC,10295,-0.64,-116.7,733.9,-6.8,588,10299,0.00,2.05,0.00,0.000,6,0.000,0.026,2540,2289,3465,0,0,0,0,0,0
$GC,10615,-0.64,-116.7,758.0,-7.6,594,10619,0.00,2.15,0.00,0.000,4,0.000,0.042,2540,3705,3464,0,0,0,0,0,0
$GC,10641,-0.64,-116.7,760.1,-7.9,594,10646,0.00,2.08,0.00,0.000,6,0.000,0.026,2540,2299,3464,0,0,0,0,0,0
$GC,10979,-0.64,-116.7,785.7,-7.6,600,10983,0.00,2.15,0.00,0.000,4,0.000,0.043,2540,3707,3463,0,0,0,0,0,0
$GC,11001,-0.64,-116.7,787.4,-7.8,600,11005,0.00,2.05,0.00,0.000,6,0.000,0.027,2540,2298,3463,0,0,0,0,0,0
$GC,11337,-0.64,-116.7,812.3,-7.5,606,11341,0.00,2.15,0.00,0.000,4,0.000,0.043,2540,3705,3463,0,0,0,0,0,0
$GC,11380,-0.64,-116.7,815.7,-7.7,606,11384,0.00,2.10,0.00,0.000,6,0.000,0.026,2540,2292,3463,0,0,0,0,0,0
$GC,11701,-0.64,-116.7,839.5,-7.5,612,11705,0.00,2.17,0.00,0.000,4,0.000,0.043,2540,3708,3462,0,0,0,0,0,0
$GC,11749,-0.64,-116.7,843.3,-7.8,612,11754,0.00,2.10,0.00,0.000,6,0.000,0.027,2540,2298,3462,0,0,0,0,0,0
$GC,12070,-0.64,-116.7,867.1,-7.4,618,12074,0.00,2.15,0.00,0.000,4,0.000,0.043,2540,3702,3462,0,0,0,0,0,0
$GC,12108,-0.64,-116.7,870.0,-7.3,618,12112,0.00,2.05,0.00,0.000,6,0.000,0.027,2540,2290,3462,0,0,0,0,0,0
$GC,12434,-0.64,-116.7,893.7,-7.3,624,12437,0.00,2.17,0.00,0.000,4,0.000,0.043,2540,3711,3461,0,0,0,0,0,0
$GC,12477,-0.64,-116.7,896.9,-7.0,624,12482,0.00,2.10,0.00,0.000,6,0.000,0.027,2540,2301,3462,0,0,0,0,0,0
$GC,12799,-0.69,-116.7,916.6,-6.2,630,12803,0.00,2.12,0.00,0.000,4,0.000,0.040,2540,897,3461,0,0,0,0,0,0
$STATE,12943,end dive,NO_VERTICAL_VELOCITY
$STATE,12943,begin apogee
$GC,12950,-0.24,0.0,916.7,0.0,632,13055,0.45,0.00,98.38,1.493,6,0.149,0.000,2680,2645,3005,0,0,0,0,0,0
$STATE,13056,end apogee,CONTROL_FINISHED_OK
$STATE,13056,begin climb
$GC,13059,0.80,116.7,916.6,0.0,634,13176,1.12,2.40,108.50,1.404,4,0.147,0.044,3008,4042,2529,0,0,0,0,0,0
$GC,13429,0.74,139.2,899.2,6.0,638,13454,0.00,2.12,20.00,1.366,6,0.000,0.026,3017,2644,2438,0,0,0,0,0,0
$GC,13810,0.77,165.2,876.9,5.8,645,13840,0.00,2.22,23.45,1.387,4,0.000,0.040,3026,1248,2332,0,0,0,0,0,0
$GC,14065,0.78,174.7,860.6,6.5,648,14080,0.00,2.15,9.25,1.303,6,0.000,0.034,3023,2657,2293,0,0,0,0,0,0
$GC,14447,0.80,185.6,836.0,6.4,655,14463,0.00,2.17,11.07,1.341,4,0.000,0.036,3031,1256,2248,0,0,0,0,0,0
$GC,14675,0.80,185.6,820.6,7.1,658,14680,0.00,2.17,0.00,0.000,6,0.000,0.034,3031,2652,2245,0,0,0,0,0,0
$GC,15013,0.81,193.4,798.4,6.6,664,15027,0.00,2.20,8.20,1.301,4,0.000,0.038,3038,1256,2217,0,0,0,0,0,0
$GC,15184,0.81,193.4,786.7,7.3,666,15188,0.00,2.17,0.00,0.000,6,0.000,0.035,3038,2652,2214,0,0,0,0,0,0
$GC,15516,0.81,195.9,764.4,6.8,672,15520,0.00,2.12,0.00,0.000,4,0.000,0.038,3045,1255,2213,0,0,0,0,0,0
$GC,15688,0.81,195.9,752.1,7.1,674,15693,0.00,2.15,0.00,0.000,6,0.000,0.035,3045,2642,2213,0,0,0,0,0,0
$GC,16014,0.81,195.9,729.1,7.1,680,16018,0.00,2.12,0.00,0.000,4,0.000,0.039,3048,1245,2212,0,0,0,0,0,0
$GC,16198,0.81,195.9,715.5,7.3,682,16203,0.00,2.17,0.00,0.000,6,0.000,0.035,3048,2652,2212,0,0,0,0,0,0
$GC,16513,0.81,195.9,692.9,7.2,688,16517,0.00,2.12,0.00,0.000,4,0.000,0.038,3056,1248,2212,0,0,0,0,0,0
$GC,16703,0.82,203.2,679.2,6.6,690,16718,0.00,2.15,10.02,1.309,6,0.000,0.035,3057,2642,2176,0,0,0,0,0,0
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$STATE,25453,end climb,SURFACE_DEPTH_REACHED
$STATE,25453,begin surface coast
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$CFSIZE,260165632,226611200
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