version: 66.06
glider: 187
mission: 2
dive: 127
start: 8 1 110 3 56 8
data:
$ID,187
$MISSION,2
$DIVE,127
$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,-25991.846
$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,33
$R_STBD_OVSHOOT,26
$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
$GPS1,034837,4711.171,-12634.273,41,0.9,41,18.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-74.1
$GPS2,035602,4711.101,-12634.239,10,1.8,10,18.6
$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,15.4,148606,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.45,-112.4,0.0,0.0,0,70,0.00,0.00,-56.38,0.000,2,0.000,0.000,132,2059,3071,0,0,0,0,0,0
$GC,71,-0.45,-112.4,3.5,-2.8,10,100,10.38,1.92,-11.75,0.000,4,0.247,0.071,2681,849,3612,0,0,0,0,0,0
$GC,211,-0.40,-112.4,37.2,-20.8,36,218,0.00,1.95,0.00,0.000,6,0.000,0.056,2674,2075,3614,0,0,0,0,0,0
$GC,538,-0.37,-112.4,95.0,-14.5,97,545,0.15,1.98,0.00,0.000,4,0.160,0.065,2709,3304,3616,0,0,0,0,0,0
$GC,624,-0.37,-112.4,104.2,-9.4,109,628,0.00,1.90,0.00,0.000,6,0.000,0.050,2708,2086,3617,0,0,0,0,0,0
$GC,944,-0.37,-112.4,134.9,-9.2,140,948,0.00,1.98,0.00,0.000,4,0.000,0.057,2708,832,3618,0,0,0,0,0,0
$GC,981,-0.37,-112.4,138.3,-9.1,143,987,0.00,2.00,0.00,0.000,6,0.000,0.055,2706,2094,3618,0,0,0,0,0,0
$GC,1297,-0.37,-112.4,165.5,-9.1,174,1301,0.00,1.92,0.00,0.000,4,0.000,0.066,2698,3306,3618,0,0,0,0,0,0
$GC,1333,-0.37,-112.4,168.8,-8.5,177,1341,0.00,1.92,0.00,0.000,6,0.000,0.051,2698,2075,3618,0,0,0,0,0,0
$GC,1650,-0.37,-112.4,193.9,-8.2,208,1653,0.00,1.98,0.00,0.000,4,0.000,0.067,2692,3311,3618,0,0,0,0,0,0
$GC,1718,-0.37,-112.4,199.5,-8.2,214,1724,0.00,1.90,0.00,0.000,6,0.000,0.051,2691,2098,3617,0,0,0,0,0,0
$GC,2033,-0.37,-112.4,227.3,-9.0,245,2038,0.00,1.95,0.00,0.000,4,0.000,0.068,2690,3309,3617,0,0,0,0,0,0
$GC,2076,-0.37,-112.4,231.0,-9.0,249,2080,0.00,1.88,0.00,0.000,6,0.000,0.051,2690,2109,3617,0,0,0,0,0,0
$GC,2397,-0.37,-112.4,258.5,-7.7,280,2401,0.00,1.95,0.00,0.000,4,0.000,0.060,2690,853,3617,0,0,0,0,0,0
$GC,2429,-0.37,-112.4,261.3,-8.2,283,2433,0.00,1.98,0.00,0.000,6,0.000,0.058,2686,2110,3617,0,0,0,0,0,0
$GC,2749,-0.37,-112.4,289.5,-9.4,314,2754,0.00,1.95,0.00,0.000,4,0.000,0.068,2677,3314,3616,0,0,0,0,0,0
$GC,2787,-0.37,-112.4,293.0,-8.8,317,2793,0.10,1.85,0.00,0.000,6,0.123,0.052,2713,2121,3616,0,0,0,0,0,0
$GC,3102,-0.38,-112.4,316.2,-7.2,348,3106,0.00,1.98,0.00,0.000,4,0.000,0.061,2713,850,3616,0,0,0,0,0,0
$GC,3139,-0.39,-112.4,319.2,-8.0,351,3146,0.00,2.00,0.00,0.000,6,0.000,0.058,2713,2126,3616,0,0,0,0,0,0
$GC,3455,-0.40,-112.4,342.0,-7.2,382,3459,0.00,1.90,0.00,0.000,4,0.000,0.070,2713,3305,3615,0,0,0,0,0,0
$GC,3508,-0.43,-112.4,345.6,-6.4,387,3512,0.00,1.85,0.00,0.000,6,0.000,0.054,2713,2115,3615,0,0,0,0,0,0
$GC,3829,-0.44,-112.4,367.8,-6.8,418,3833,0.00,1.98,0.00,0.000,4,0.000,0.062,2713,848,3615,0,0,0,0,0,0
$GC,3866,-0.45,-112.4,370.6,-7.4,421,3872,0.00,2.00,0.00,0.000,6,0.000,0.061,2713,2118,3615,0,0,0,0,0,0
$GC,4181,-0.47,-112.4,392.1,-6.8,452,4185,0.00,1.92,0.00,0.000,4,0.000,0.071,2711,3313,3615,0,0,0,0,0,0
$GC,4245,-0.49,-112.4,396.3,-6.5,458,4250,0.08,1.85,0.00,0.000,6,0.066,0.054,2659,2122,3615,0,0,0,0,0,0
$GC,4566,-0.48,-112.4,428.2,-10.0,489,4570,0.00,1.98,0.00,0.000,4,0.000,0.061,2659,851,3615,0,0,0,0,0,0
$GC,4641,-0.46,-112.4,436.0,-10.1,496,4645,0.08,2.03,0.00,0.000,6,0.134,0.061,2688,2138,3615,0,0,0,0,0,0
$GC,4961,-0.46,-112.4,462.8,-8.2,527,4965,0.00,1.92,0.00,0.000,4,0.000,0.071,2683,3321,3615,0,0,0,0,0,0
$GC,5030,-0.46,-112.4,468.9,-8.6,533,5036,0.00,1.88,0.00,0.000,6,0.000,0.054,2682,2124,3614,0,0,0,0,0,0
$GC,5345,-0.46,-112.4,496.6,-8.6,564,5350,0.00,2.00,0.00,0.000,4,0.000,0.061,2682,848,3615,0,0,0,0,0,0
$GC,5383,-0.46,-112.4,499.9,-8.8,567,5390,0.00,2.03,0.00,0.000,6,0.000,0.062,2678,2137,3614,0,0,0,0,0,0
$GC,5699,-0.46,-112.4,527.4,-8.6,598,5702,0.00,1.90,0.00,0.000,4,0.000,0.073,2670,3314,3614,0,0,0,0,0,0
$GC,5762,-0.46,-112.4,533.0,-9.0,604,5766,0.00,1.83,0.00,0.000,6,0.000,0.055,2670,2140,3614,0,0,0,0,0,0
$GC,6082,-0.46,-112.4,561.6,-8.9,635,6087,0.00,2.03,0.00,0.000,4,0.000,0.062,2669,848,3614,0,0,0,0,0,0
$GC,6125,-0.46,-112.4,565.5,-9.4,639,6130,0.00,2.08,0.00,0.000,6,0.000,0.062,2663,2153,3614,0,0,0,0,0,0
$GC,6447,-0.46,-112.4,593.5,-8.1,670,6450,0.00,1.88,0.00,0.000,4,0.000,0.073,2657,3316,3614,0,0,0,0,0,0
$GC,6499,-0.46,-112.4,597.9,-9.1,675,6503,0.00,1.85,0.00,0.000,6,0.000,0.057,2656,2139,3613,0,0,0,0,0,0
$GC,6834,-0.45,-112.4,625.3,-8.0,688,6839,0.12,2.05,0.00,0.000,4,0.158,0.064,2692,841,3614,0,0,0,0,0,0
$GC,6870,-0.45,-112.4,627.8,-6.6,689,6875,0.00,2.10,0.00,0.000,6,0.000,0.063,2691,2160,3613,0,0,0,0,0,0
$GC,7201,-0.45,-112.4,647.1,-6.0,700,7206,0.00,1.88,0.00,0.000,4,0.000,0.075,2691,3314,3614,0,0,0,0,0,0
$GC,7238,-0.46,-112.4,649.4,-6.2,701,7242,0.00,1.83,0.00,0.000,6,0.000,0.058,2691,2148,3613,0,0,0,0,0,0
$GC,7567,-0.46,-112.4,669.8,-6.3,712,7572,0.00,2.03,0.00,0.000,4,0.000,0.065,2691,850,3614,0,0,0,0,0,0
$GC,7636,-0.46,-112.4,674.6,-6.3,714,7641,0.00,2.08,0.00,0.000,6,0.000,0.063,2691,2153,3614,0,0,0,0,0,0
$GC,7967,-0.46,-112.4,695.4,-6.4,725,7971,0.00,1.88,0.00,0.000,4,0.000,0.074,2691,3313,3614,0,0,0,0,0,0
$GC,8014,-0.48,-112.4,698.4,-6.5,726,8019,0.00,1.85,0.00,0.000,6,0.000,0.057,2691,2140,3613,0,0,0,0,0,0
$GC,8334,-0.48,-112.4,720.3,-7.1,737,8338,0.00,2.03,0.00,0.000,4,0.000,0.065,2691,846,3613,0,0,0,0,0,0
$GC,8408,-0.48,-112.4,726.2,-8.5,739,8413,0.00,2.05,0.00,0.000,6,0.000,0.062,2691,2146,3613,0,0,0,0,0,0
$GC,8733,-0.48,-112.4,748.4,-6.7,750,8737,0.00,1.92,0.00,0.000,4,0.000,0.074,2691,3324,3613,0,0,0,0,0,0
$GC,8775,-0.50,-112.4,751.1,-6.3,751,8780,0.00,1.88,0.00,0.000,6,0.000,0.058,2690,2125,3613,0,0,0,0,0,0
$GC,9100,-0.50,-112.4,770.2,-5.6,762,9104,0.00,2.03,0.00,0.000,4,0.000,0.064,2690,847,3613,0,0,0,0,0,0
$GC,9126,-0.50,-112.4,771.8,-6.9,762,9133,0.00,2.08,0.00,0.000,6,0.000,0.065,2690,2144,3613,0,0,0,0,0,0
$GC,9435,-0.50,-112.4,789.2,-5.6,773,9439,0.00,1.90,0.00,0.000,4,0.000,0.075,2690,3317,3613,0,0,0,0,0,0
$GC,9467,-0.51,-112.4,791.1,-5.9,774,9471,0.00,1.85,0.00,0.000,6,0.000,0.058,2690,2133,3613,0,0,0,0,0,0
$GC,9802,-0.52,-112.4,810.1,-5.8,785,9806,0.00,2.03,0.00,0.000,4,0.000,0.067,2690,847,3613,0,0,0,0,0,0
$GC,9839,-0.52,-112.4,812.4,-6.1,786,9843,0.00,2.05,0.00,0.000,6,0.000,0.066,2690,2141,3613,0,0,0,0,0,0
$GC,10169,-0.52,-112.4,831.5,-5.9,797,10174,0.00,1.90,0.00,0.000,4,0.000,0.076,2685,3312,3613,0,0,0,0,0,0
$GC,10227,-0.54,-112.4,835.1,-6.3,798,10234,0.00,1.83,0.00,0.000,6,0.000,0.059,2685,2147,3613,0,0,0,0,0,0
$GC,10536,-0.54,-112.4,854.2,-6.2,809,10540,0.00,2.05,0.00,0.000,4,0.000,0.066,2685,843,3613,0,0,0,0,0,0
$GC,10589,-0.54,-112.4,857.8,-7.1,810,10593,0.00,2.08,0.00,0.000,6,0.000,0.065,2685,2142,3613,0,0,0,0,0,0
$GC,10903,-0.54,-112.4,877.0,-6.0,821,10907,0.00,1.90,0.00,0.000,4,0.000,0.076,2684,3313,3614,0,0,0,0,0,0
$GC,10951,-0.56,-112.4,879.8,-5.5,822,10955,0.00,1.88,0.00,0.000,6,0.000,0.058,2683,2125,3613,0,0,0,0,0,0
$GC,11270,-0.56,-112.4,898.5,-6.0,833,11271,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2125,3613,0,0,0,0,0,0
$GC,11573,-0.56,-112.4,917.3,-6.3,843,11574,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2125,3613,0,0,0,0,0,0
$GC,11877,-0.56,-112.4,936.5,-6.3,853,11881,0.00,1.95,0.00,0.000,4,0.000,0.076,2683,3314,3614,0,0,0,0,0,0
$GC,11914,-0.57,-112.4,938.9,-6.6,854,11918,0.00,1.88,0.00,0.000,6,0.000,0.060,2682,2131,3614,0,0,0,0,0,0
$GC,12244,-0.57,-112.4,960.5,-6.6,865,12245,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2131,3614,0,0,0,0,0,0
$GC,12547,-0.57,-112.4,979.3,-6.1,875,12548,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2131,3614,0,0,0,0,0,0
$STATE,12758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12758,begin apogee
$GC,12762,-0.14,0.0,991.7,5.9,882,12860,0.32,0.00,96.80,1.231,6,0.123,0.000,2788,1994,3150,0,0,0,0,0,0
$STATE,12861,end apogee,CONTROL_FINISHED_OK
$STATE,12861,begin climb
$GC,12862,0.45,112.4,993.6,0.0,885,12967,0.55,2.12,98.85,1.194,4,0.086,0.070,2984,766,2691,0,0,0,0,0,0
$GC,12977,0.43,125.0,989.5,5.6,888,12993,0.00,2.12,12.70,1.063,6,0.000,0.062,2985,2007,2639,0,0,0,0,0,0
$GC,13312,0.40,125.0,962.0,8.2,900,13316,0.00,2.08,0.00,0.000,4,0.000,0.072,2984,3232,2634,0,0,0,0,0,0
$GC,13435,0.37,125.0,950.3,9.5,903,13441,0.10,1.98,0.00,0.000,6,0.151,0.059,2962,2024,2633,0,0,0,0,0,0
$GC,13743,0.35,125.0,927.6,7.2,914,13747,0.00,2.00,0.00,0.000,4,0.000,0.071,2962,3237,2633,0,0,0,0,0,0
$GC,13817,0.32,125.0,921.6,8.9,916,13822,0.00,1.98,0.00,0.000,6,0.000,0.059,2968,2023,2634,0,0,0,0,0,0
$GC,14142,0.30,125.0,896.8,7.4,927,14147,0.12,2.00,0.00,0.000,4,0.172,0.073,2936,3230,2634,0,0,0,0,0,0
$GC,14195,0.29,125.0,893.0,6.4,928,14200,0.00,1.90,0.00,0.000,6,0.000,0.059,2940,2042,2633,0,0,0,0,0,0
$GC,14509,0.29,129.8,874.2,5.9,939,14519,0.00,1.98,4.85,0.846,4,0.000,0.073,2940,3238,2620,0,0,0,0,0,0
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$STATE,26437,end climb,SURFACE_DEPTH_REACHED
$STATE,26437,begin surface coast
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$10V_AH,10.2,12.246
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$FG_AHR_10Vo,0.000
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$MEM,298580
$DATA_FILE_SIZE,107264,1929
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$CFSIZE,260165632,249135104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107,131.3,1
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