version: 66.06
glider: 187
mission: 2
dive: 140
start: 8 5 110 5 47 37
data:
$ID,187
$MISSION,2
$DIVE,140
$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,-26289.658
$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,25
$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
$GPS1,054031,4737.294,-12545.902,61,1.7,61,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-75.3
$GPS2,054732,4737.211,-12545.939,18,1.7,18,18.7
$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,55.8,71869,-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,-112.4,0.0,0.0,0,73,0.00,0.00,-58.67,0.000,2,0.000,0.000,132,2082,3094,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.4,-2.5,11,102,10.48,2.00,-11.38,0.000,4,0.249,0.073,2679,838,3611,0,0,0,0,0,0
$GC,219,-0.42,-112.4,33.2,-15.3,38,226,0.00,1.98,0.00,0.000,6,0.000,0.058,2672,2072,3613,0,0,0,0,0,0
$GC,546,-0.40,-112.4,81.8,-14.3,99,553,0.12,2.00,0.00,0.000,4,0.161,0.067,2699,3308,3616,0,0,0,0,0,0
$GC,610,-0.40,-112.4,89.0,-10.6,111,617,0.00,1.95,0.00,0.000,6,0.000,0.050,2699,2064,3616,0,0,0,0,0,0
$GC,929,-0.40,-112.4,122.6,-10.5,151,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2062,3617,0,0,0,0,0,0
$GC,1240,-0.40,-112.4,150.0,-8.4,181,1244,0.00,2.00,0.00,0.000,4,0.000,0.067,2692,3323,3617,0,0,0,0,0,0
$GC,1292,-0.40,-112.4,154.4,-8.0,186,1297,0.00,1.98,0.00,0.000,6,0.000,0.051,2692,2068,3617,0,0,0,0,0,0
$GC,1614,-0.40,-112.4,181.5,-8.1,217,1617,0.00,1.90,0.00,0.000,4,0.000,0.058,2692,849,3617,0,0,0,0,0,0
$GC,1661,-0.40,-112.4,185.5,-8.6,221,1667,0.00,1.95,0.00,0.000,6,0.000,0.057,2687,2077,3617,0,0,0,0,0,0
$GC,1976,-0.40,-112.4,210.9,-7.9,252,1981,0.00,2.00,0.00,0.000,4,0.000,0.067,2677,3309,3616,0,0,0,0,0,0
$GC,2078,-0.40,-112.4,219.4,-9.3,261,2085,0.00,1.92,0.00,0.000,6,0.000,0.052,2677,2072,3616,0,0,0,0,0,0
$GC,2394,-0.40,-112.4,248.9,-9.9,292,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2070,3616,0,0,0,0,0,0
$GC,2705,-0.40,-112.4,278.9,-9.2,322,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2070,3615,0,0,0,0,0,0
$GC,3015,-0.40,-112.4,306.2,-8.9,352,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2070,3615,0,0,0,0,0,0
$GC,3326,-0.40,-112.4,333.0,-8.5,382,3329,0.00,2.00,0.00,0.000,4,0.000,0.071,2673,3316,3614,0,0,0,0,0,0
$GC,3382,-0.40,-112.4,338.0,-8.0,387,3390,0.12,1.95,0.00,0.000,6,0.148,0.054,2709,2076,3614,0,0,0,0,0,0
$GC,3699,-0.41,-112.4,359.6,-7.1,418,3703,0.00,1.95,0.00,0.000,4,0.000,0.064,2709,847,3613,0,0,0,0,0,0
$GC,3731,-0.42,-112.4,362.0,-7.8,421,3735,0.00,1.98,0.00,0.000,6,0.000,0.061,2709,2094,3613,0,0,0,0,0,0
$GC,4051,-0.44,-112.4,385.2,-7.0,452,4055,0.00,1.98,0.00,0.000,4,0.000,0.071,2709,3312,3613,0,0,0,0,0,0
$GC,4141,-0.46,-112.4,391.2,-6.3,460,4148,0.00,1.90,0.00,0.000,6,0.000,0.055,2709,2093,3613,0,0,0,0,0,0
$GC,4457,-0.47,-112.4,411.7,-6.3,491,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2093,3612,0,0,0,0,0,0
$GC,4768,-0.48,-112.4,429.9,-5.5,521,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2093,3611,0,0,0,0,0,0
$GC,5079,-0.50,-112.4,448.0,-6.1,551,5080,0.10,0.00,0.00,0.000,6,0.110,0.000,2657,2093,3610,0,0,0,0,0,0
$GC,5388,-0.49,-112.4,475.5,-9.0,581,5392,0.00,1.98,0.00,0.000,4,0.000,0.072,2649,3310,3610,0,0,0,0,0,0
$GC,5446,-0.49,-112.4,481.0,-9.5,586,5453,0.00,1.90,0.00,0.000,6,0.000,0.055,2649,2102,3609,0,0,0,0,0,0
$GC,5762,-0.47,-112.4,510.5,-9.2,617,5767,0.12,1.98,0.00,0.000,4,0.162,0.063,2685,849,3609,0,0,0,0,0,0
$GC,5799,-0.47,-112.4,513.7,-8.3,620,5805,0.00,2.00,0.00,0.000,6,0.000,0.061,2683,2108,3609,0,0,0,0,0,0
$GC,6115,-0.47,-112.4,536.1,-6.9,651,6119,0.00,1.95,0.00,0.000,4,0.000,0.071,2674,3314,3609,0,0,0,0,0,0
$GC,6190,-0.47,-112.4,541.5,-6.9,658,6193,0.00,1.88,0.00,0.000,6,0.000,0.055,2675,2110,3608,0,0,0,0,0,0
$GC,6510,-0.47,-112.4,566.1,-8.0,689,6515,0.00,2.00,0.00,0.000,4,0.000,0.063,2675,841,3608,0,0,0,0,0,0
$GC,6574,-0.47,-112.4,571.5,-8.6,695,6578,0.00,2.00,0.00,0.000,6,0.000,0.063,2673,2103,3608,0,0,0,0,0,0
$GC,6894,-0.47,-112.4,598.1,-8.1,726,6899,0.00,1.98,0.00,0.000,4,0.000,0.074,2669,3312,3608,0,0,0,0,0,0
$GC,6964,-0.47,-112.4,603.9,-8.6,730,6968,0.00,1.90,0.00,0.000,6,0.000,0.058,2669,2104,3608,0,0,0,0,0,0
$GC,7293,-0.47,-112.4,630.4,-7.9,741,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2102,3607,0,0,0,0,0,0
$GC,7597,-0.47,-112.4,653.6,-7.6,751,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2102,3607,0,0,0,0,0,0
$GC,7901,-0.47,-112.4,676.7,-7.6,761,7905,0.00,1.98,0.00,0.000,4,0.000,0.074,2662,3312,3606,0,0,0,0,0,0
$GC,7926,-0.47,-112.4,678.6,-7.9,761,7933,0.00,1.92,0.00,0.000,6,0.000,0.058,2662,2096,3606,0,0,0,0,0,0
$GC,8235,-0.47,-112.4,703.4,-7.9,772,8236,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2096,3606,0,0,0,0,0,0
$GC,8539,-0.47,-112.4,727.9,-8.1,782,8540,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2096,3606,0,0,0,0,0,0
$GC,8842,-0.47,-112.4,753.0,-8.2,792,8843,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2096,3605,0,0,0,0,0,0
$GC,9145,-0.47,-112.4,778.3,-8.3,802,9150,0.00,2.03,0.00,0.000,4,0.000,0.067,2662,835,3604,0,0,0,0,0,0
$GC,9172,-0.47,-112.4,780.8,-9.5,802,9179,0.00,2.03,0.00,0.000,6,0.000,0.064,2658,2111,3604,0,0,0,0,0,0
$GC,9481,-0.47,-112.4,806.9,-8.5,813,9485,0.00,1.95,0.00,0.000,4,0.000,0.074,2649,3313,3604,0,0,0,0,0,0
$GC,9549,-0.47,-112.4,813.0,-9.0,815,9555,0.12,1.90,0.00,0.000,6,0.148,0.058,2685,2109,3604,0,0,0,0,0,0
$GC,9880,-0.48,-112.4,835.6,-7.0,826,9884,0.00,2.03,0.00,0.000,4,0.000,0.067,2685,839,3604,0,0,0,0,0,0
$GC,9922,-0.48,-112.4,839.0,-7.5,827,9927,0.00,2.05,0.00,0.000,6,0.000,0.065,2685,2119,3604,0,0,0,0,0,0
$GC,10247,-0.48,-112.4,861.5,-6.8,838,10247,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2119,3603,0,0,0,0,0,0
$GC,10550,-0.48,-112.4,882.1,-6.7,848,10551,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2119,3603,0,0,0,0,0,0
$GC,10854,-0.49,-112.4,902.6,-6.6,858,10855,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2119,3603,0,0,0,0,0,0
$GC,11157,-0.50,-112.4,924.1,-7.2,868,11162,0.00,1.92,0.00,0.000,4,0.000,0.076,2682,3305,3602,0,0,0,0,0,0
$GC,11205,-0.52,-112.4,927.5,-7.4,869,11209,0.00,1.90,0.00,0.000,6,0.000,0.058,2682,2104,3602,0,0,0,0,0,0
$GC,11524,-0.53,-112.4,949.7,-6.6,880,11525,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2103,3602,0,0,0,0,0,0
$GC,11828,-0.54,-112.4,969.1,-6.1,890,11828,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2103,3602,0,0,0,0,0,0
$GC,12131,-0.54,-112.4,987.0,-5.7,900,12135,0.00,1.98,0.00,0.000,4,0.000,0.077,2677,3306,3602,0,0,0,0,0,0
$GC,12168,-0.55,-112.4,989.2,-6.1,901,12173,0.00,1.90,0.00,0.000,6,0.000,0.059,2677,2107,3602,0,0,0,0,0,0
$STATE,12182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12182,begin apogee
$GC,12186,-0.14,0.0,990.0,6.0,901,12285,0.32,0.00,93.88,1.234,6,0.123,0.000,2788,2002,3149,0,0,0,0,0,0
$STATE,12285,end apogee,CONTROL_FINISHED_OK
$STATE,12285,begin climb
$GC,12287,0.45,112.4,991.5,0.0,905,12388,0.57,0.00,99.20,1.197,6,0.084,0.000,2979,2002,2692,0,0,0,0,0,0
$GC,12677,0.43,112.4,963.1,8.7,918,12681,0.00,2.08,0.00,0.000,4,0.000,0.072,2979,3225,2687,0,0,0,0,0,0
$GC,12806,0.39,112.4,950.6,10.0,922,12810,0.00,1.98,0.00,0.000,6,0.000,0.060,2987,2020,2686,0,0,0,0,0,0
$GC,13140,0.36,112.4,922.4,8.1,933,13145,0.12,2.03,0.00,0.000,4,0.173,0.073,2956,3233,2686,0,0,0,0,0,0
$GC,13226,0.33,112.4,915.4,8.6,935,13230,0.00,1.92,0.00,0.000,6,0.000,0.059,2962,2037,2686,0,0,0,0,0,0
$GC,13539,0.31,112.4,892.5,7.3,946,13544,0.00,1.95,0.00,0.000,4,0.000,0.073,2962,3226,2686,0,0,0,0,0,0
$GC,13630,0.29,112.4,885.0,8.5,948,13637,0.15,1.90,0.00,0.000,6,0.170,0.059,2930,2048,2687,0,0,0,0,0,0
$GC,13939,0.30,132.7,867.4,5.4,959,13962,0.00,2.00,18.20,1.103,4,0.000,0.074,2929,3233,2608,0,0,0,0,0,0
$GC,13984,0.30,140.8,864.7,5.8,960,13996,0.00,1.92,8.57,0.987,6,0.000,0.059,2930,2056,2575,0,0,0,0,0,0
$GC,14298,0.31,145.9,846.2,5.9,970,14305,0.00,0.00,5.82,0.898,6,0.000,0.000,2930,2056,2555,0,0,0,0,0,0
$GC,14601,0.31,145.9,827.9,6.1,980,14605,0.00,1.95,0.00,0.000,4,0.000,0.073,2929,3233,2554,0,0,0,0,0,0
$GC,14616,0.31,148.3,827.0,6.0,980,14624,0.00,1.90,3.90,0.719,6,0.000,0.061,2930,2061,2545,0,0,0,0,0,0
$GC,14931,0.31,148.3,806.7,6.4,991,14932,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2061,2545,0,0,0,0,0,0
$GC,15234,0.31,148.3,787.2,6.4,1001,15239,0.00,1.95,0.00,0.000,4,0.000,0.074,2929,3233,2545,0,0,0,0,0,0
$GC,15260,0.31,148.3,785.4,6.4,1001,15267,0.00,1.88,0.00,0.000,6,0.000,0.060,2931,2069,2545,0,0,0,0,0,0
$GC,15569,0.31,148.3,765.6,6.4,1012,15573,0.00,1.92,0.00,0.000,4,0.000,0.074,2930,3234,2545,0,0,0,0,0,0
$GC,15595,0.31,148.3,763.9,6.4,1012,15601,0.00,1.88,0.00,0.000,6,0.000,0.060,2933,2070,2545,0,0,0,0,0,0
$GC,15904,0.31,148.3,744.7,6.1,1023,15908,0.00,1.95,0.00,0.000,4,0.000,0.074,2932,3252,2546,0,0,0,0,0,0
$GC,15930,0.31,148.3,742.8,6.7,1023,15936,0.00,1.88,0.00,0.000,6,0.000,0.060,2933,2083,2546,0,0,0,0,0,0
$GC,16239,0.31,153.3,724.4,5.9,1034,16249,0.00,2.08,6.55,0.893,4,0.000,0.067,2933,766,2524,0,0,0,0,0,0
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$STATE,25837,end climb,SURFACE_DEPTH_REACHED
$STATE,25837,begin surface coast
$FINISH,1.2,1.012368
$STATE,25896,end surface coast,CONTROL_FINISHED_OK
$STATE,25897,begin surface
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$TCM_TEMP,16.60
$XPDR_PINGS,0
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$10V_AH,10.3,14.422
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.550,205.750,401.300,7.250,0.000,23.412,34.862,244.425,0.000,0.000,18.113,0.000,20361.703,689.963,4661.114,586.118,0.000,2392.812,0.000,3959.325,0.000,0.534,0.000
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298600
$DATA_FILE_SIZE,110537,1976
$CAP_FILE_SIZE,248840,0
$CFSIZE,260165632,247574528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.027,305.5,1
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