version: 66.06
glider: 187
mission: 2
dive: 122
start: 7 30 110 14 21 7
data:
$ID,187
$MISSION,2
$DIVE,122
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$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,-25910.719
$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,34
$R_STBD_OVSHOOT,24
$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
$GPS1,141407,4702.114,-12658.104,77,1.7,77,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-73.7
$GPS2,142102,4702.109,-12658.015,16,1.7,16,18.6
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$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,48.8,182299,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.45,-112.4,0.0,0.0,0,71,0.00,0.00,-57.35,0.000,2,0.000,0.000,132,2059,3088,0,0,0,0,0,0
$GC,73,-0.45,-112.4,3.0,-2.3,10,101,10.30,1.92,-11.88,0.000,4,0.242,0.069,2679,849,3611,0,0,0,0,0,0
$GC,181,-0.40,-112.4,26.8,-20.2,30,187,0.08,1.95,0.00,0.000,6,0.151,0.054,2697,2071,3613,0,0,0,0,0,0
$GC,507,-0.37,-112.4,77.2,-14.4,91,513,0.00,2.00,0.00,0.000,4,0.000,0.064,2690,3310,3615,0,0,0,0,0,0
$GC,549,-0.35,-112.4,83.1,-13.6,99,556,0.00,1.90,0.00,0.000,6,0.000,0.049,2690,2092,3615,0,0,0,0,0,0
$GC,875,-0.34,-112.4,122.5,-11.5,142,877,0.12,0.00,0.00,0.000,6,0.156,0.000,2725,2090,3616,0,0,0,0,0,0
$GC,1186,-0.34,-112.4,150.6,-8.5,172,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2090,3616,0,0,0,0,0,0
$GC,1496,-0.34,-112.4,173.6,-6.5,202,1499,0.00,1.95,0.00,0.000,4,0.000,0.067,2719,3312,3616,0,0,0,0,0,0
$GC,1532,-0.35,-112.4,176.3,-6.7,205,1540,0.00,1.92,0.00,0.000,6,0.000,0.051,2719,2079,3616,0,0,0,0,0,0
$GC,1847,-0.35,-112.4,198.8,-7.2,236,1852,0.00,2.00,0.00,0.000,4,0.000,0.066,2716,3311,3616,0,0,0,0,0,0
$GC,1874,-0.36,-112.4,200.7,-7.2,238,1880,0.00,1.92,0.00,0.000,6,0.000,0.051,2716,2081,3616,0,0,0,0,0,0
$GC,2189,-0.36,-112.4,224.3,-7.7,269,2194,0.00,1.98,0.00,0.000,4,0.000,0.059,2716,836,3615,0,0,0,0,0,0
$GC,2243,-0.37,-112.4,228.3,-7.5,274,2247,0.00,1.98,0.00,0.000,6,0.000,0.057,2716,2097,3615,0,0,0,0,0,0
$GC,2563,-0.37,-112.4,252.4,-7.8,305,2568,0.00,1.98,0.00,0.000,4,0.000,0.068,2709,3317,3614,0,0,0,0,0,0
$GC,2659,-0.38,-112.4,260.0,-8.2,314,2664,0.00,1.92,0.00,0.000,6,0.000,0.051,2709,2085,3614,0,0,0,0,0,0
$GC,2980,-0.38,-112.4,286.6,-7.9,345,2985,0.00,1.98,0.00,0.000,4,0.000,0.060,2709,838,3614,0,0,0,0,0,0
$GC,3012,-0.38,-112.4,289.3,-8.9,348,3016,0.00,2.00,0.00,0.000,6,0.000,0.058,2709,2103,3614,0,0,0,0,0,0
$GC,3334,-0.38,-112.4,312.9,-7.6,379,3337,0.00,1.92,0.00,0.000,4,0.000,0.069,2704,3304,3613,0,0,0,0,0,0
$GC,3455,-0.40,-112.4,321.6,-7.4,390,3462,0.00,1.88,0.00,0.000,6,0.000,0.051,2704,2102,3613,0,0,0,0,0,0
$GC,3772,-0.40,-112.4,345.1,-7.7,421,3775,0.00,1.95,0.00,0.000,4,0.000,0.069,2699,3314,3613,0,0,0,0,0,0
$GC,3813,-0.41,-112.4,348.2,-7.2,425,3818,0.00,1.88,0.00,0.000,6,0.000,0.054,2699,2117,3613,0,0,0,0,0,0
$GC,4134,-0.41,-112.4,373.2,-7.8,456,4139,0.00,2.03,0.00,0.000,4,0.000,0.060,2699,837,3611,0,0,0,0,0,0
$GC,4187,-0.41,-112.4,377.5,-7.9,461,4192,0.00,2.03,0.00,0.000,6,0.000,0.058,2693,2122,3612,0,0,0,0,0,0
$GC,4508,-0.41,-112.4,403.3,-7.7,492,4512,0.00,1.90,0.00,0.000,4,0.000,0.069,2691,3308,3611,0,0,0,0,0,0
$GC,4551,-0.41,-112.4,406.5,-7.4,496,4555,0.00,1.85,0.00,0.000,6,0.000,0.053,2691,2112,3610,0,0,0,0,0,0
$GC,4871,-0.41,-112.4,432.2,-7.7,527,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2112,3610,0,0,0,0,0,0
$GC,5182,-0.41,-112.4,456.3,-7.6,557,5186,0.00,1.92,0.00,0.000,4,0.000,0.070,2685,3304,3609,0,0,0,0,0,0
$GC,5213,-0.41,-112.4,458.7,-8.0,560,5218,0.00,1.85,0.00,0.000,6,0.000,0.054,2686,2124,3609,0,0,0,0,0,0
$GC,5534,-0.41,-112.4,485.6,-8.4,591,5539,0.00,2.03,0.00,0.000,4,0.000,0.061,2685,844,3609,0,0,0,0,0,0
$GC,5566,-0.41,-112.4,488.3,-8.7,594,5571,0.00,2.03,0.00,0.000,6,0.000,0.061,2682,2121,3609,0,0,0,0,0,0
$GC,5887,-0.41,-112.4,514.2,-7.6,625,5891,0.00,1.92,0.00,0.000,4,0.000,0.072,2673,3313,3608,0,0,0,0,0,0
$GC,5929,-0.41,-112.4,517.4,-7.8,629,5934,0.10,1.88,0.00,0.000,6,0.159,0.055,2699,2117,3608,0,0,0,0,0,0
$GC,6250,-0.41,-112.4,537.9,-6.9,660,6254,0.00,1.92,0.00,0.000,4,0.000,0.071,2696,3304,3608,0,0,0,0,0,0
$GC,6282,-0.42,-112.4,540.1,-7.8,663,6286,0.00,1.83,0.00,0.000,6,0.000,0.055,2696,2139,3607,0,0,0,0,0,0
$GC,6604,-0.42,-112.4,564.5,-7.8,694,6607,0.00,2.03,0.00,0.000,4,0.000,0.062,2695,849,3607,0,0,0,0,0,0
$GC,6645,-0.42,-112.4,568.0,-7.8,698,6650,0.00,2.05,0.00,0.000,6,0.000,0.060,2693,2144,3607,0,0,0,0,0,0
$GC,6966,-0.42,-112.4,592.1,-7.3,729,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2144,3606,0,0,0,0,0,0
$GC,7292,-0.42,-112.4,614.5,-6.7,747,7297,0.00,1.90,0.00,0.000,4,0.000,0.072,2692,3319,3605,0,0,0,0,0,0
$GC,7340,-0.43,-112.4,617.8,-6.5,748,7344,0.00,1.88,0.00,0.000,6,0.000,0.056,2692,2125,3605,0,0,0,0,0,0
$GC,7659,-0.43,-112.4,639.4,-6.9,759,7660,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2125,3605,0,0,0,0,0,0
$GC,7963,-0.43,-112.4,660.4,-7.0,769,7963,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2125,3605,0,0,0,0,0,0
$GC,8266,-0.43,-112.4,681.0,-6.7,779,8271,0.00,1.95,0.00,0.000,4,0.000,0.073,2692,3317,3603,0,0,0,0,0,0
$GC,8287,-0.44,-112.4,682.6,-7.6,779,8292,0.00,1.83,0.00,0.000,6,0.000,0.058,2692,2145,3603,0,0,0,0,0,0
$GC,8601,-0.44,-112.4,702.8,-6.4,790,8605,0.00,2.05,0.00,0.000,4,0.000,0.065,2692,849,3602,0,0,0,0,0,0
$GC,8648,-0.44,-112.4,706.1,-7.5,791,8653,0.00,2.05,0.00,0.000,6,0.000,0.062,2691,2139,3602,0,0,0,0,0,0
$GC,8968,-0.44,-112.4,727.0,-6.6,802,8972,0.00,1.92,0.00,0.000,4,0.000,0.074,2691,3320,3602,0,0,0,0,0,0
$GC,9021,-0.46,-112.4,730.5,-6.5,803,9026,0.00,1.85,0.00,0.000,6,0.000,0.057,2691,2134,3602,0,0,0,0,0,0
$GC,9335,-0.46,-112.4,752.1,-6.7,814,9339,0.00,1.92,0.00,0.000,4,0.000,0.074,2691,3309,3601,0,0,0,0,0,0
$GC,9361,-0.47,-112.4,753.9,-6.2,814,9368,0.00,1.85,0.00,0.000,6,0.000,0.058,2691,2137,3602,0,0,0,0,0,0
$GC,9670,-0.47,-112.4,770.8,-5.3,825,9671,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2137,3602,0,0,0,0,0,0
$GC,9973,-0.47,-112.4,788.4,-6.0,835,9978,0.00,1.92,0.00,0.000,4,0.000,0.074,2691,3325,3601,0,0,0,0,0,0
$GC,10016,-0.49,-112.4,791.0,-5.8,836,10020,0.00,1.88,0.00,0.000,6,0.000,0.058,2691,2135,3601,0,0,0,0,0,0
$GC,10341,-0.49,-112.4,812.0,-6.6,847,10345,0.00,2.03,0.00,0.000,4,0.000,0.065,2691,854,3601,0,0,0,0,0,0
$GC,10425,-0.49,-112.4,818.3,-7.9,849,10430,0.00,2.05,0.00,0.000,6,0.000,0.063,2691,2140,3600,0,0,0,0,0,0
$GC,10739,-0.49,-112.4,838.5,-6.4,860,10744,0.00,1.90,0.00,0.000,4,0.000,0.074,2691,3309,3599,0,0,0,0,0,0
$GC,10777,-0.50,-112.4,840.8,-5.6,861,10781,0.00,1.83,0.00,0.000,6,0.000,0.058,2691,2145,3600,0,0,0,0,0,0
$GC,11107,-0.51,-112.4,860.8,-6.1,872,11111,0.00,2.03,0.00,0.000,4,0.000,0.066,2690,849,3600,0,0,0,0,0,0
$GC,11176,-0.53,-112.4,865.4,-6.6,874,11180,0.00,2.03,0.00,0.000,6,0.000,0.063,2691,2131,3600,0,0,0,0,0,0
$GC,11506,-0.54,-112.4,884.7,-5.9,885,11510,0.00,1.88,0.00,0.000,4,0.000,0.073,2691,3307,3599,0,0,0,0,0,0
$GC,11543,-0.55,-112.4,886.8,-5.6,886,11548,0.10,1.88,0.00,0.000,6,0.112,0.058,2643,2119,3599,0,0,0,0,0,0
$GC,11873,-0.54,-112.4,915.2,-8.8,897,11877,0.00,2.00,0.00,0.000,4,0.000,0.065,2642,846,3598,0,0,0,0,0,0
$GC,11904,-0.52,-112.4,918.2,-9.1,898,11909,0.00,2.03,0.00,0.000,6,0.000,0.064,2635,2124,3598,0,0,0,0,0,0
$GC,12240,-0.50,-112.4,948.2,-8.9,909,12245,0.12,1.92,0.00,0.000,4,0.176,0.074,2662,3314,3598,0,0,0,0,0,0
$GC,12325,-0.50,-112.4,954.5,-8.2,911,12329,0.00,1.88,0.00,0.000,6,0.000,0.058,2662,2128,3598,0,0,0,0,0,0
$GC,12639,-0.50,-112.4,976.8,-7.1,922,12643,0.00,2.00,0.00,0.000,4,0.000,0.066,2662,850,3597,0,0,0,0,0,0
$GC,12665,-0.50,-112.4,978.9,-8.5,922,12671,0.00,2.03,0.00,0.000,6,0.000,0.064,2654,2127,3597,0,0,0,0,0,0
$STATE,12821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12821,begin apogee
$GC,12824,-0.14,0.0,990.1,7.2,928,12919,0.43,0.00,93.25,1.229,6,0.129,0.000,2791,1997,3150,0,0,0,0,0,0
$STATE,12919,end apogee,CONTROL_FINISHED_OK
$STATE,12919,begin climb
$GC,12920,0.45,112.4,991.6,0.0,931,13025,0.55,0.00,98.80,1.190,6,0.085,0.000,2978,1997,2691,0,0,0,0,0,0
$GC,13344,0.43,112.4,961.9,7.8,945,13349,0.00,2.08,0.00,0.000,4,0.000,0.071,2978,3229,2686,0,0,0,0,0,0
$GC,13403,0.39,112.4,957.0,8.2,946,13409,0.00,2.00,0.00,0.000,6,0.000,0.060,2987,2006,2685,0,0,0,0,0,0
$GC,13711,0.36,112.4,931.4,8.2,957,13715,0.12,2.05,0.00,0.000,4,0.178,0.071,2955,3234,2685,0,0,0,0,0,0
$GC,13865,0.33,112.4,919.3,7.9,961,13873,0.00,1.98,0.00,0.000,6,0.000,0.060,2962,2020,2685,0,0,0,0,0,0
$GC,14174,0.31,112.4,897.5,6.9,972,14179,0.00,1.98,0.00,0.000,4,0.000,0.072,2962,3225,2685,0,0,0,0,0,0
$GC,14281,0.28,112.4,889.2,8.3,975,14286,0.12,1.88,0.00,0.000,6,0.145,0.060,2930,2053,2685,0,0,0,0,0,0
$GC,14605,0.29,129.6,870.9,5.5,986,14625,0.00,1.98,15.15,1.090,4,0.000,0.074,2930,3235,2621,0,0,0,0,0,0
$GC,14641,0.30,135.4,868.7,5.9,987,14651,0.00,1.92,6.70,0.923,6,0.000,0.061,2933,2057,2598,0,0,0,0,0,0
$GC,14971,0.30,135.4,848.1,6.3,998,14972,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2057,2596,0,0,0,0,0,0
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$STATE,26474,end climb,SURFACE_DEPTH_REACHED
$STATE,26474,begin surface coast
$FINISH,1.0,1.012778
$STATE,26501,end surface coast,CONTROL_FINISHED_OK
$STATE,26501,begin surface
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$TCM_TEMP,17.60
$XPDR_PINGS,0
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$10V_AH,10.3,11.418
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298704
$DATA_FILE_SIZE,113605,2007
$CAP_FILE_SIZE,266456,0
$CFSIZE,260165632,249729024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089, 48.7,1
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