version: 66.06
glider: 187
mission: 2
dive: 274
start: 8 18 110 14 12 13
data:
$ID,187
$MISSION,2
$DIVE,274
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$D_FINISH,5
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,540
$T_MISSION,600
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,-7
$APOGEE_PITCH,-5
$MAX_BUOY,115
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,-29025.338
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3970
$C_PITCH,2835
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,35
$C_ROLL_DIVE,2075
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,3150
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.597298
$PRESSURE_SLOPE,0.0001138132
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$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,0.0043543768
$SEABIRD_T_H,0.0006249955
$SEABIRD_T_I,2.3401506e-05
$SEABIRD_T_J,2.4672308e-06
$SEABIRD_C_G,-9.9855604
$SEABIRD_C_H,1.1126566
$SEABIRD_C_I,-0.0021479612
$SEABIRD_C_J,0.0002479906
$GPS1,140430,4711.904,-12631.001,53,1.4,59,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-76.5
$GPS2,141208,4711.877,-12630.988,14,1.6,14,18.6
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$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,231.1,42739,-13.9,-6.111
$D_GRID,1000
$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,-0.45,-112.4,0.0,0.0,0,73,0.00,0.00,-57.28,0.000,2,0.000,0.000,132,2049,3071,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.3,-2.5,11,103,10.27,2.05,-11.88,0.000,4,0.239,0.074,2674,3314,3610,0,0,0,0,0,0
$GC,198,-0.42,-112.4,30.2,-18.1,34,204,0.00,1.95,0.00,0.000,6,0.000,0.049,2673,2076,3612,0,0,0,0,0,0
$GC,524,-0.39,-112.4,78.0,-13.9,95,530,0.12,0.00,0.00,0.000,6,0.163,0.000,2707,2071,3614,0,0,0,0,0,0
$GC,850,-0.39,-112.4,114.6,-10.3,144,854,0.00,2.00,0.00,0.000,4,0.000,0.064,2700,3305,3616,0,0,0,0,0,0
$GC,930,-0.39,-112.4,122.5,-10.0,151,936,0.00,1.92,0.00,0.000,6,0.000,0.049,2700,2081,3616,0,0,0,0,0,0
$GC,1245,-0.39,-112.4,152.1,-8.0,182,1250,0.00,1.92,0.00,0.000,4,0.000,0.056,2700,840,3616,0,0,0,0,0,0
$GC,1267,-0.39,-112.4,153.9,-8.2,184,1271,0.00,1.98,0.00,0.000,6,0.000,0.056,2696,2098,3616,0,0,0,0,0,0
$GC,1587,-0.39,-112.4,180.6,-8.8,215,1591,0.00,1.95,0.00,0.000,4,0.000,0.066,2687,3309,3616,0,0,0,0,0,0
$GC,1667,-0.39,-112.4,187.6,-8.6,222,1674,0.00,1.90,0.00,0.000,6,0.000,0.050,2687,2094,3615,0,0,0,0,0,0
$GC,1984,-0.39,-112.4,216.3,-9.0,253,1987,0.00,1.98,0.00,0.000,4,0.000,0.067,2679,3316,3615,0,0,0,0,0,0
$GC,2009,-0.39,-112.4,218.8,-9.6,255,2016,0.00,1.88,0.00,0.000,6,0.000,0.051,2679,2111,3615,0,0,0,0,0,0
$GC,2325,-0.39,-112.4,250.1,-9.8,286,2326,0.10,0.00,0.00,0.000,6,0.164,0.000,2706,2110,3614,0,0,0,0,0,0
$GC,2635,-0.39,-112.4,275.3,-7.7,316,2639,0.00,2.00,0.00,0.000,4,0.000,0.059,2706,846,3614,0,0,0,0,0,0
$GC,2661,-0.39,-112.4,277.4,-8.1,318,2668,0.00,2.00,0.00,0.000,6,0.000,0.057,2706,2110,3613,0,0,0,0,0,0
$GC,2978,-0.39,-112.4,300.2,-6.9,349,2981,0.00,1.92,0.00,0.000,4,0.000,0.067,2698,3306,3612,0,0,0,0,0,0
$GC,3010,-0.40,-112.4,302.5,-7.1,352,3013,0.00,1.85,0.00,0.000,6,0.000,0.053,2698,2111,3612,0,0,0,0,0,0
$GC,3329,-0.40,-112.4,326.9,-7.3,383,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2111,3612,0,0,0,0,0,0
$GC,3640,-0.40,-112.4,350.4,-7.8,413,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2111,3611,0,0,0,0,0,0
$GC,3951,-0.40,-112.4,374.4,-7.6,443,3955,0.00,1.95,0.00,0.000,4,0.000,0.071,2691,3311,3611,0,0,0,0,0,0
$GC,3982,-0.40,-112.4,377.0,-8.3,446,3986,0.00,1.88,0.00,0.000,6,0.000,0.054,2692,2107,3610,0,0,0,0,0,0
$GC,4303,-0.40,-112.4,403.3,-8.4,477,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2106,3610,0,0,0,0,0,0
$GC,4614,-0.40,-112.4,427.4,-7.5,507,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2106,3609,0,0,0,0,0,0
$GC,4925,-0.40,-112.4,450.7,-7.6,537,4928,0.00,1.92,0.00,0.000,4,0.000,0.071,2685,3306,3608,0,0,0,0,0,0
$GC,4950,-0.40,-112.4,452.7,-7.5,539,4956,0.00,1.88,0.00,0.000,6,0.000,0.055,2685,2104,3608,0,0,0,0,0,0
$GC,5265,-0.40,-112.4,477.3,-8.1,570,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2104,3608,0,0,0,0,0,0
$GC,5577,-0.40,-112.4,501.1,-7.7,600,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2104,3607,0,0,0,0,0,0
$GC,5888,-0.40,-112.4,525.7,-7.8,630,5891,0.00,1.92,0.00,0.000,4,0.000,0.071,2677,3306,3606,0,0,0,0,0,0
$GC,5934,-0.40,-112.4,529.8,-8.3,634,5940,0.00,1.90,0.00,0.000,6,0.000,0.055,2677,2100,3606,0,0,0,0,0,0
$GC,6249,-0.40,-112.4,557.3,-8.5,665,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2100,3605,0,0,0,0,0,0
$GC,6561,-0.40,-112.4,583.2,-8.6,695,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2100,3605,0,0,0,0,0,0
$GC,6888,-0.40,-112.4,610.3,-8.2,719,6893,0.00,1.98,0.00,0.000,4,0.000,0.072,2670,3311,3604,0,0,0,0,0,0
$GC,6942,-0.40,-112.4,614.8,-8.8,720,6946,0.10,1.88,0.00,0.000,6,0.127,0.056,2704,2114,3604,0,0,0,0,0,0
$GC,7255,-0.42,-112.4,635.6,-6.5,731,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2114,3604,0,0,0,0,0,0
$GC,7559,-0.43,-112.4,654.6,-6.2,741,7560,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2114,3603,0,0,0,0,0,0
$GC,7863,-0.45,-112.4,673.9,-6.5,751,7866,0.00,1.95,0.00,0.000,4,0.000,0.074,2703,3305,3603,0,0,0,0,0,0
$GC,7894,-0.47,-112.4,675.7,-5.8,752,7898,0.00,1.85,0.00,0.000,6,0.000,0.057,2703,2122,3602,0,0,0,0,0,0
$GC,8230,-0.49,-112.4,698.3,-6.7,763,8233,0.00,1.92,0.00,0.000,4,0.000,0.074,2702,3299,3603,0,0,0,0,0,0
$GC,8266,-0.51,-112.4,700.7,-6.4,764,8271,0.00,1.85,0.00,0.000,6,0.000,0.057,2702,2119,3602,0,0,0,0,0,0
$GC,8596,-0.53,-112.4,721.7,-6.3,775,8597,0.12,0.00,0.00,0.000,6,0.099,0.000,2644,2119,3602,0,0,0,0,0,0
$GC,8900,-0.51,-112.4,750.4,-9.6,785,8904,0.00,1.95,0.00,0.000,4,0.000,0.074,2635,3309,3602,0,0,0,0,0,0
$GC,8942,-0.50,-112.4,754.5,-10.0,786,8947,0.10,1.85,0.00,0.000,6,0.133,0.057,2669,2126,3602,0,0,0,0,0,0
$GC,9267,-0.50,-112.4,781.0,-8.3,797,9267,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2127,3601,0,0,0,0,0,0
$GC,9570,-0.50,-112.4,805.5,-7.8,807,9574,0.00,1.92,0.00,0.000,4,0.000,0.074,2663,3303,3601,0,0,0,0,0,0
$GC,9596,-0.50,-112.4,807.6,-8.1,807,9603,0.00,1.88,0.00,0.000,6,0.000,0.058,2664,2120,3601,0,0,0,0,0,0
$GC,9905,-0.50,-112.4,831.7,-7.7,818,9906,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2120,3601,0,0,0,0,0,0
$GC,10209,-0.50,-112.4,853.9,-7.0,828,10213,0.00,1.92,0.00,0.000,4,0.000,0.074,2657,3311,3600,0,0,0,0,0,0
$GC,10235,-0.50,-112.4,855.8,-8.4,828,10241,0.00,1.85,0.00,0.000,6,0.000,0.058,2656,2133,3599,0,0,0,0,0,0
$GC,10543,-0.50,-112.4,877.5,-7.0,839,10544,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2133,3599,0,0,0,0,0,0
$GC,10847,-0.50,-112.4,899.5,-7.4,849,10848,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2133,3599,0,0,0,0,0,0
$GC,11151,-0.50,-112.4,922.9,-8.0,859,11152,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2133,3599,0,0,0,0,0,0
$GC,11454,-0.50,-112.4,949.0,-8.8,869,11455,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2133,3598,0,0,0,0,0,0
$GC,11757,-0.50,-112.4,976.8,-9.2,879,11762,0.00,1.90,0.00,0.000,4,0.000,0.074,2650,3303,3598,0,0,0,0,0,0
$GC,11795,-0.50,-112.4,980.3,-9.4,880,11799,0.00,1.85,0.00,0.000,6,0.000,0.058,2650,2130,3598,0,0,0,0,0,0
$STATE,11910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11910,begin apogee
$GC,11914,-0.14,0.0,991.8,9.8,884,12009,0.43,0.00,93.22,1.236,6,0.127,0.000,2787,1994,3150,0,0,0,0,0,0
$STATE,12010,end apogee,CONTROL_FINISHED_OK
$STATE,12010,begin climb
$GC,12011,0.45,112.4,995.4,0.0,887,12117,0.55,2.15,98.62,1.200,4,0.087,0.066,2984,767,2690,0,0,0,0,0,0
$GC,12142,0.44,128.9,992.5,5.5,891,12164,0.00,2.08,15.90,1.103,6,0.000,0.061,2984,1986,2624,0,0,0,0,0,0
$GC,12467,0.41,128.9,970.1,7.3,902,12470,0.00,2.05,0.00,0.000,4,0.000,0.070,2984,3233,2620,0,0,0,0,0,0
$GC,12583,0.38,128.9,960.2,8.2,905,12588,0.08,2.00,0.00,0.000,6,0.157,0.058,2969,2017,2619,0,0,0,0,0,0
$GC,12897,0.36,128.9,936.9,7.5,916,12898,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2017,2619,0,0,0,0,0,0
$GC,13201,0.35,128.9,912.4,8.3,926,13205,0.00,2.03,0.00,0.000,4,0.000,0.071,2969,3232,2619,0,0,0,0,0,0
$GC,13270,0.32,128.9,906.0,9.3,928,13274,0.10,1.98,0.00,0.000,6,0.143,0.060,2942,2006,2618,0,0,0,0,0,0
$GC,13600,0.32,128.9,881.6,7.2,939,13604,0.00,2.03,0.00,0.000,4,0.000,0.071,2942,3228,2619,0,0,0,0,0,0
$GC,13631,0.31,128.9,879.2,8.6,940,13636,0.00,1.95,0.00,0.000,6,0.000,0.059,2946,2016,2619,0,0,0,0,0,0
$GC,13967,0.31,128.9,855.7,6.8,951,13968,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2016,2619,0,0,0,0,0,0
$GC,14270,0.31,128.9,836.5,6.2,961,14274,0.00,2.00,0.00,0.000,4,0.000,0.071,2946,3232,2619,0,0,0,0,0,0
$GC,14307,0.30,128.9,834.0,7.3,962,14311,0.00,1.92,0.00,0.000,6,0.000,0.060,2946,2026,2619,0,0,0,0,0,0
$GC,14637,0.30,135.9,814.2,5.9,973,14648,0.00,2.00,7.00,0.954,4,0.000,0.068,2947,766,2594,0,0,0,0,0,0
$GC,14674,0.31,148.3,812.1,5.7,974,14689,0.00,2.03,12.07,1.035,6,0.000,0.063,2947,2029,2545,0,0,0,0,0,0
$GC,14992,0.31,148.3,792.2,6.2,984,14997,0.00,1.98,0.00,0.000,4,0.000,0.071,2946,3226,2545,0,0,0,0,0,0
$GC,15072,0.30,148.3,786.5,7.5,986,15076,0.00,1.92,0.00,0.000,6,0.000,0.059,2947,2024,2544,0,0,0,0,0,0
$GC,15391,0.30,148.3,766.6,6.2,997,15396,0.00,2.00,0.00,0.000,4,0.000,0.071,2947,3233,2544,0,0,0,0,0,0
$GC,15439,0.29,148.3,763.4,7.4,998,15443,0.00,1.90,0.00,0.000,6,0.000,0.060,2947,2043,2544,0,0,0,0,0,0
$GC,15758,0.29,148.3,742.7,6.5,1009,15759,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2044,2544,0,0,0,0,0,0
$GC,16062,0.29,148.3,722.1,6.7,1019,16062,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2044,2543,0,0,0,0,0,0
$GC,16366,0.29,148.3,701.0,7.0,1029,16366,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2043,2543,0,0,0,0,0,0
$GC,16669,0.29,148.3,680.3,6.8,1039,16673,0.00,1.95,0.00,0.000,4,0.000,0.071,2947,3232,2543,0,0,0,0,0,0
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$STATE,26681,end climb,SURFACE_DEPTH_REACHED
$STATE,26681,begin surface coast
$FINISH,1.5,1.023849
$STATE,26697,end surface coast,CONTROL_FINISHED_OK
$STATE,26697,begin surface
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$10V_AH,10.2,26.010
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,298588
$DATA_FILE_SIZE,113773,2052
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$CFSIZE,260165632,240222208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.044, 52.2,1
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