version: 66.06
glider: 140
mission: 8
dive: 331
start: 1 8 110 16 47 41
data:
$ID,140
$MISSION,8
$DIVE,331
$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,-109435.24
$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,75
$R_STBD_OVSHOOT,47
$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,3.45
$_SM_ANGLEo,-58.3
$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,-7.60,0.000,2,0.000,0.000,213,2270,704,0,0,0,0,0,0
$GC,28,-0.80,-116.7,3.5,-0.0,1,189,8.40,2.25,-143.27,0.000,4,0.207,0.058,2506,3712,3482,0,0,0,0,0,0
$GC,241,-0.58,-116.7,8.2,-9.6,39,248,0.25,2.03,0.00,0.000,6,0.194,0.025,2573,2287,3484,0,0,0,0,0,0
$GC,581,-0.45,-116.7,31.0,-6.5,100,588,0.15,0.00,0.00,0.000,6,0.197,0.000,2612,2286,3484,0,0,0,0,0,0
$GC,921,-0.56,-116.7,56.6,-7.9,161,926,0.00,2.15,0.00,0.000,4,0.000,0.041,2611,3702,3484,0,0,0,0,0,0
$GC,957,-0.68,-116.7,60.0,-9.5,167,964,0.20,2.00,0.00,0.000,6,0.111,0.024,2544,2285,3484,0,0,0,0,0,0
$GC,1300,-0.48,-116.7,102.8,-12.3,228,1307,0.22,2.03,0.00,0.000,4,0.189,0.033,2604,937,3483,0,0,0,0,0,0
$GC,1401,-0.41,-116.7,111.1,-6.8,245,1407,0.00,2.03,0.00,0.000,6,0.000,0.029,2604,2311,3483,0,0,0,0,0,0
$GC,1734,-0.53,-116.7,130.3,-5.4,280,1738,0.00,2.08,0.00,0.000,4,0.000,0.040,2604,3706,3484,0,0,0,0,0,0
$GC,1753,-0.64,-116.7,131.3,-5.7,281,1757,0.15,1.98,0.00,0.000,6,0.118,0.024,2554,2299,3484,0,0,0,0,0,0
$GC,2080,-0.64,-116.7,155.1,-7.5,297,2083,0.00,2.00,0.00,0.000,4,0.000,0.035,2555,931,3483,0,0,0,0,0,0
$GC,2102,-0.64,-116.7,156.9,-7.6,298,2106,0.00,2.00,0.00,0.000,6,0.000,0.028,2554,2302,3484,0,0,0,0,0,0
$GC,2434,-0.64,-116.7,181.2,-7.4,314,2438,0.00,2.05,0.00,0.000,4,0.000,0.040,2554,3698,3483,0,0,0,0,0,0
$GC,2452,-0.64,-116.7,182.4,-7.5,315,2455,0.00,1.98,0.00,0.000,6,0.000,0.023,2554,2301,3483,0,0,0,0,0,0
$GC,2784,-0.64,-116.7,206.3,-7.2,331,2787,0.00,2.03,0.00,0.000,4,0.000,0.035,2554,916,3483,0,0,0,0,0,0
$GC,2839,-0.56,-116.7,210.8,-8.5,333,2843,0.00,2.05,0.00,0.000,6,0.000,0.028,2554,2294,3483,0,0,0,0,0,0
$GC,3160,-0.56,-116.7,235.2,-7.8,349,3163,0.00,2.08,0.00,0.000,4,0.000,0.040,2554,3698,3483,0,0,0,0,0,0
$GC,3187,-0.56,-116.7,237.4,-7.2,350,3191,0.00,1.98,0.00,0.000,6,0.000,0.023,2554,2296,3483,0,0,0,0,0,0
$GC,3507,-0.56,-116.7,262.2,-7.5,366,3511,0.00,2.00,0.00,0.000,4,0.000,0.035,2554,927,3483,0,0,0,0,0,0
$GC,3546,-0.49,-116.7,265.3,-7.9,367,3553,0.17,2.00,0.00,0.000,6,0.193,0.028,2599,2301,3483,0,0,0,0,0,0
$GC,3862,-0.63,-116.7,286.7,-7.0,383,3866,0.12,2.08,0.00,0.000,4,0.126,0.041,2555,3698,3483,0,0,0,0,0,0
$GC,3945,-0.63,-116.7,292.8,-7.2,387,3949,0.00,1.98,0.00,0.000,6,0.000,0.023,2555,2295,3483,0,0,0,0,0,0
$GC,4266,-0.67,-116.7,315.2,-6.8,399,4269,0.00,2.10,0.00,0.000,4,0.000,0.039,2555,3698,3483,0,0,0,0,0,0
$GC,4315,-0.67,-116.7,318.4,-6.4,400,4319,0.00,2.03,0.00,0.000,6,0.000,0.023,2555,2296,3483,0,0,0,0,0,0
$GC,4634,-0.71,-116.7,337.6,-6.1,411,4638,0.00,2.00,0.00,0.000,4,0.000,0.035,2555,927,3482,0,0,0,0,0,0
$GC,4644,-0.71,-116.7,338.4,-6.1,411,4648,0.00,2.05,0.00,0.000,6,0.000,0.029,2555,2299,3482,0,0,0,0,0,0
$GC,4974,-0.75,-116.7,359.2,-6.5,422,4978,0.00,2.05,0.00,0.000,4,0.000,0.035,2555,921,3482,0,0,0,0,0,0
$GC,5069,-0.75,-116.7,365.7,-7.0,425,5073,0.00,2.03,0.00,0.000,6,0.000,0.029,2555,2304,3481,0,0,0,0,0,0
$GC,5409,-0.79,-116.7,390.1,-7.3,436,5414,0.12,2.10,0.00,0.000,4,0.129,0.041,2512,3703,3481,0,0,0,0,0,0
$GC,5533,-0.66,-116.7,400.3,-8.6,439,5540,0.15,2.00,0.00,0.000,6,0.193,0.024,2550,2282,3480,0,0,0,0,0,0
$GC,5845,-0.70,-116.7,424.1,-7.7,450,5849,0.00,2.12,0.00,0.000,4,0.000,0.041,2550,3698,3480,0,0,0,0,0,0
$GC,5907,-0.70,-116.7,428.8,-7.5,452,5911,0.00,1.98,0.00,0.000,6,0.000,0.024,2550,2310,3480,0,0,0,0,0,0
$GC,6247,-0.74,-116.7,454.9,-7.6,463,6251,0.00,2.10,0.00,0.000,4,0.000,0.041,2550,3701,3478,0,0,0,0,0,0
$GC,6258,-0.78,-116.7,455.8,-7.7,463,6262,0.12,2.05,0.00,0.000,6,0.137,0.025,2511,2292,3478,0,0,0,0,0,0
$GC,6581,-0.73,-116.7,481.9,-8.2,474,6585,0.00,2.03,0.00,0.000,4,0.000,0.038,2512,926,3477,0,0,0,0,0,0
$GC,6621,-0.56,-116.7,485.3,-9.1,475,6626,0.25,2.03,0.00,0.000,6,0.196,0.031,2577,2302,3477,0,0,0,0,0,0
$GC,6979,-0.66,-116.7,511.1,-7.3,485,6983,0.00,2.08,0.00,0.000,4,0.000,0.042,2577,3697,3476,0,0,0,0,0,0
$GC,7110,-0.74,-116.7,520.1,-7.3,487,7114,0.15,2.00,0.00,0.000,6,0.123,0.025,2529,2292,3475,0,0,0,0,0,0
$GC,7479,-0.74,-116.7,548.4,-7.7,493,7483,0.00,2.15,0.00,0.000,4,0.000,0.042,2528,3704,3474,0,0,0,0,0,0
$GC,7490,-0.74,-116.7,549.3,-7.8,493,7494,0.00,2.05,0.00,0.000,6,0.000,0.025,2528,2283,3474,0,0,0,0,0,0
$GC,7844,-0.74,-116.7,576.5,-7.7,499,7847,0.00,2.15,0.00,0.000,4,0.000,0.041,2528,3701,3473,0,0,0,0,0,0
$GC,7865,-0.70,-116.7,578.2,-7.5,499,7869,0.00,2.03,0.00,0.000,6,0.000,0.025,2528,2295,3472,0,0,0,0,0,0
$GC,8214,-0.70,-116.7,603.9,-7.5,505,8218,0.00,2.12,0.00,0.000,4,0.000,0.042,2528,3695,3471,0,0,0,0,0,0
$GC,8229,-0.70,-116.7,605.2,-7.6,505,8233,0.00,2.05,0.00,0.000,6,0.000,0.025,2528,2299,3471,0,0,0,0,0,0
$GC,8577,-0.70,-116.7,631.4,-7.6,511,8578,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2299,3470,0,0,0,0,0,0
$GC,8881,-0.70,-116.7,654.3,-7.6,516,8885,0.00,2.12,0.00,0.000,4,0.000,0.043,2528,3696,3469,0,0,0,0,0,0
$GC,8920,-0.65,-116.7,657.3,-7.3,516,8924,0.00,2.03,0.00,0.000,6,0.000,0.026,2528,2291,3469,0,0,0,0,0,0
$GC,9239,-0.65,-116.7,682.6,-8.0,522,9243,0.00,2.15,0.00,0.000,4,0.000,0.042,2528,3700,3469,0,0,0,0,0,0
$GC,9249,-0.65,-116.7,683.3,-7.9,522,9253,0.00,2.08,0.00,0.000,6,0.000,0.026,2528,2297,3468,0,0,0,0,0,0
$GC,9605,-0.65,-116.7,711.3,-7.9,528,9608,0.00,2.15,0.00,0.000,4,0.000,0.043,2528,3697,3468,0,0,0,0,0,0
$GC,9648,-0.61,-116.7,714.8,-7.2,528,9653,0.15,2.05,0.00,0.000,6,0.182,0.026,2567,2282,3468,0,0,0,0,0,0
$GC,9974,-0.70,-116.7,737.9,-7.1,534,9978,0.00,2.15,0.00,0.000,4,0.000,0.043,2567,3694,3467,0,0,0,0,0,0
$GC,10052,-0.76,-116.7,743.2,-6.4,535,10057,0.15,2.03,0.00,0.000,6,0.124,0.026,2519,2296,3467,0,0,0,0,0,0
$GC,10399,-0.76,-116.7,769.4,-7.6,541,10403,0.00,2.05,0.00,0.000,4,0.000,0.040,2518,922,3466,0,0,0,0,0,0
$GC,10409,-0.76,-116.7,770.3,-7.6,541,10414,0.00,2.08,0.00,0.000,6,0.000,0.032,2518,2295,3466,0,0,0,0,0,0
$GC,10764,-0.76,-116.7,797.2,-7.7,547,10765,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2295,3465,0,0,0,0,0,0
$GC,11067,-0.76,-116.7,820.6,-7.7,552,11071,0.00,2.10,0.00,0.000,4,0.000,0.044,2518,3698,3465,0,0,0,0,0,0
$GC,11093,-0.71,-116.7,822.7,-7.7,552,11098,0.00,2.03,0.00,0.000,6,0.000,0.026,2518,2298,3465,0,0,0,0,0,0
$GC,11431,-0.71,-116.7,848.6,-7.8,558,11432,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2298,3464,0,0,0,0,0,0
$GC,11734,-0.71,-116.7,871.8,-7.6,563,11737,0.00,2.12,0.00,0.000,4,0.000,0.044,2518,3698,3464,0,0,0,0,0,0
$GC,11761,-0.65,-116.7,873.8,-7.1,563,11765,0.12,2.03,0.00,0.000,6,0.189,0.026,2549,2297,3463,0,0,0,0,0,0
$GC,12098,-0.70,-116.7,897.3,-7.0,569,12102,0.00,2.15,0.00,0.000,4,0.000,0.044,2549,3700,3463,0,0,0,0,0,0
$STATE,12253,end dive,NO_VERTICAL_VELOCITY
$STATE,12253,begin apogee
$GC,12259,-0.24,0.0,898.1,0.0,571,12362,0.40,0.00,99.10,1.479,6,0.138,0.000,2679,2630,3006,0,0,0,0,0,0
$STATE,12362,end apogee,CONTROL_FINISHED_OK
$STATE,12363,begin climb
$GC,12365,0.80,116.7,898.2,0.0,573,12483,1.10,2.45,108.82,1.387,4,0.136,0.044,3006,4032,2528,0,0,0,0,0,0
$GC,12736,0.76,141.2,880.7,5.9,577,12765,0.00,2.08,21.70,1.356,6,0.000,0.027,3016,2656,2430,0,0,0,0,0,0
$GC,13121,0.77,154.4,856.8,6.3,584,13140,0.00,2.20,12.35,1.338,4,0.000,0.038,3024,1268,2376,0,0,0,0,0,0
$GC,13220,0.78,157.1,850.6,6.8,585,13224,0.00,2.12,0.00,0.000,6,0.000,0.033,3020,2654,2374,0,0,0,0,0,0
$GC,13552,0.82,165.3,829.0,6.5,591,13567,0.00,2.15,10.93,1.336,4,0.000,0.035,3029,1259,2331,0,0,0,0,0,0
$GC,13701,0.82,165.3,819.1,7.0,593,13706,0.00,2.15,0.00,0.000,6,0.000,0.033,3028,2643,2329,0,0,0,0,0,0
$GC,14051,0.86,165.3,795.3,6.9,599,14055,0.00,2.10,0.00,0.000,4,0.000,0.037,3037,1258,2327,0,0,0,0,0,0
$GC,14208,0.86,165.9,785.1,6.9,601,14212,0.00,2.12,0.00,0.000,6,0.000,0.034,3035,2658,2327,0,0,0,0,0,0
$GC,14545,0.87,176.2,763.3,6.5,607,14560,0.00,2.15,10.57,1.338,4,0.000,0.046,3035,4051,2286,0,0,0,0,0,0
$GC,14813,0.82,176.2,743.2,7.3,611,14817,0.00,2.05,0.00,0.000,6,0.000,0.027,3044,2656,2285,0,0,0,0,0,0
$GC,15172,0.82,176.2,718.1,7.1,617,15176,0.00,2.15,0.00,0.000,4,0.000,0.047,3044,4045,2283,0,0,0,0,0,0
$GC,15431,0.76,176.2,698.5,7.7,620,15437,0.12,2.05,0.00,0.000,6,0.199,0.028,3014,2647,2283,0,0,0,0,0,0
$GC,15740,0.84,180.8,678.2,6.7,626,15749,0.00,2.10,5.10,1.098,4,0.000,0.038,3017,1255,2269,0,0,0,0,0,0
$GC,15878,0.92,191.3,669.4,6.5,628,15895,0.12,2.12,11.23,1.285,6,0.121,0.034,3061,2660,2226,0,0,0,0,0,0
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$STATE,24710,end climb,SURFACE_DEPTH_REACHED
$STATE,24710,begin surface coast
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$10V_AH,9.6,37.892
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$FG_AHR_10Vo,0.000
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$CFSIZE,260165632,226230272
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