version: 66.06
glider: 187
mission: 2
dive: 432
start: 9 11 110 11 38 31
data:
$ID,187
$MISSION,2
$DIVE,432
$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,-32507.617
$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,2855
$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,26
$R_STBD_OVSHOOT,32
$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
$GPS1,113036,4717.407,-12623.709,40,0.9,45,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-75.4
$GPS2,113825,4717.357,-12623.678,12,0.9,17,18.6
$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,215.2,56018,-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,13,-0.45,-112.4,0.0,0.0,0,77,0.00,0.00,-61.58,0.000,2,0.000,0.000,133,2090,3085,0,0,0,0,0,0
$GC,79,-0.45,-112.4,3.7,-2.8,12,107,10.48,2.00,-10.88,0.000,4,0.235,0.077,2691,3308,3612,0,0,0,0,0,0
$GC,155,-0.41,-112.4,23.5,-20.4,26,162,0.00,1.98,0.00,0.000,6,0.000,0.048,2690,2074,3614,0,0,0,0,0,0
$GC,483,-0.39,-112.4,74.0,-13.8,87,489,0.12,2.03,0.00,0.000,4,0.162,0.063,2719,3299,3616,0,0,0,0,0,0
$GC,552,-0.39,-112.4,81.5,-9.9,100,559,0.00,1.95,0.00,0.000,6,0.000,0.048,2718,2064,3617,0,0,0,0,0,0
$GC,875,-0.39,-112.4,109.3,-7.7,150,879,0.00,2.03,0.00,0.000,4,0.000,0.064,2716,3307,3618,0,0,0,0,0,0
$GC,960,-0.41,-112.4,115.3,-6.5,158,964,0.00,1.90,0.00,0.000,6,0.000,0.047,2716,2095,3618,0,0,0,0,0,0
$GC,1281,-0.41,-112.4,139.4,-8.4,189,1285,0.00,1.95,0.00,0.000,4,0.000,0.063,2715,3295,3618,0,0,0,0,0,0
$GC,1334,-0.42,-112.4,144.2,-9.0,194,1338,0.00,1.88,0.00,0.000,6,0.000,0.048,2715,2097,3618,0,0,0,0,0,0
$GC,1655,-0.42,-112.4,171.2,-7.7,225,1659,0.00,1.95,0.00,0.000,4,0.000,0.064,2708,3296,3618,0,0,0,0,0,0
$GC,1676,-0.44,-112.4,173.0,-8.2,227,1680,0.00,1.88,0.00,0.000,6,0.000,0.049,2708,2099,3617,0,0,0,0,0,0
$GC,1996,-0.44,-112.4,198.7,-7.8,258,2000,0.00,1.95,0.00,0.000,4,0.000,0.064,2702,3303,3617,0,0,0,0,0,0
$GC,2023,-0.45,-112.4,200.7,-8.0,260,2029,0.00,1.88,0.00,0.000,6,0.000,0.049,2702,2104,3617,0,0,0,0,0,0
$GC,2339,-0.45,-112.4,224.2,-7.5,291,2342,0.00,1.95,0.00,0.000,4,0.000,0.066,2695,3292,3616,0,0,0,0,0,0
$GC,2365,-0.45,-112.4,226.4,-8.0,293,2371,0.00,1.88,0.00,0.000,6,0.000,0.051,2695,2103,3616,0,0,0,0,0,0
$GC,2680,-0.45,-112.4,252.1,-8.1,324,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2102,3616,0,0,0,0,0,0
$GC,2992,-0.45,-112.4,278.3,-8.7,354,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2102,3614,0,0,0,0,0,0
$GC,3303,-0.45,-112.4,303.7,-7.9,384,3306,0.00,1.95,0.00,0.000,4,0.000,0.067,2692,3302,3614,0,0,0,0,0,0
$GC,3339,-0.46,-112.4,306.6,-7.7,387,3345,0.00,1.88,0.00,0.000,6,0.000,0.051,2691,2105,3613,0,0,0,0,0,0
$GC,3656,-0.46,-112.4,331.7,-8.3,418,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2105,3613,0,0,0,0,0,0
$GC,3966,-0.46,-112.4,357.1,-8.0,448,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2105,3613,0,0,0,0,0,0
$GC,4278,-0.46,-112.4,382.1,-7.8,478,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2105,3611,0,0,0,0,0,0
$GC,4587,-0.46,-112.4,406.6,-8.1,508,4590,0.00,1.95,0.00,0.000,4,0.000,0.068,2691,3301,3611,0,0,0,0,0,0
$GC,4612,-0.47,-112.4,408.8,-8.3,510,4620,0.00,1.88,0.00,0.000,6,0.000,0.052,2691,2112,3611,0,0,0,0,0,0
$GC,4929,-0.47,-112.4,433.3,-7.3,541,4930,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2112,3611,0,0,0,0,0,0
$GC,5241,-0.47,-112.4,454.1,-6.4,571,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2112,3610,0,0,0,0,0,0
$GC,5551,-0.47,-112.4,472.4,-6.2,601,5553,0.00,1.95,0.00,0.000,4,0.000,0.070,2691,3305,3609,0,0,0,0,0,0
$GC,5582,-0.48,-112.4,474.2,-5.7,604,5585,0.00,1.88,0.00,0.000,6,0.000,0.054,2691,2100,3609,0,0,0,0,0,0
$GC,5902,-0.48,-112.4,494.0,-6.5,635,5906,0.00,1.98,0.00,0.000,4,0.000,0.068,2691,3294,3608,0,0,0,0,0,0
$GC,5956,-0.50,-112.4,497.6,-6.3,640,5959,0.00,1.88,0.00,0.000,6,0.000,0.054,2691,2112,3608,0,0,0,0,0,0
$GC,6276,-0.50,-112.4,520.1,-6.8,671,6277,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2112,3607,0,0,0,0,0,0
$GC,6588,-0.51,-112.4,542.3,-7.2,701,6589,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2111,3607,0,0,0,0,0,0
$GC,6898,-0.51,-112.4,564.8,-7.2,731,6901,0.00,1.95,0.00,0.000,4,0.000,0.071,2691,3302,3606,0,0,0,0,0,0
$GC,6944,-0.53,-112.4,568.3,-7.3,735,6951,0.00,1.88,0.00,0.000,6,0.000,0.054,2691,2121,3606,0,0,0,0,0,0
$GC,7261,-0.53,-112.4,591.2,-6.9,766,7264,0.00,1.95,0.00,0.000,4,0.000,0.070,2691,3295,3605,0,0,0,0,0,0
$GC,7286,-0.54,-112.4,592.9,-6.7,768,7293,0.00,1.88,0.00,0.000,6,0.000,0.054,2691,2114,3605,0,0,0,0,0,0
$GC,7608,-0.55,-112.4,614.1,-6.4,786,7609,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2115,3605,0,0,0,0,0,0
$GC,7911,-0.57,-112.4,632.4,-5.7,796,7915,0.00,1.98,0.00,0.000,4,0.000,0.070,2691,3304,3605,0,0,0,0,0,0
$GC,7943,-0.58,-112.4,634.4,-6.2,797,7946,0.00,1.90,0.00,0.000,6,0.000,0.054,2691,2113,3604,0,0,0,0,0,0
$GC,8279,-0.60,-112.4,652.8,-5.5,808,8279,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2112,3604,0,0,0,0,0,0
$GC,8581,-0.61,-112.4,670.1,-5.9,818,8582,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2112,3604,0,0,0,0,0,0
$GC,8885,-0.62,-112.4,688.9,-6.4,828,8889,0.10,1.95,0.00,0.000,4,0.113,0.071,2637,3299,3603,0,0,0,0,0,0
$GC,8932,-0.62,-112.4,693.0,-9.4,829,8937,0.00,1.88,0.00,0.000,6,0.000,0.054,2637,2120,3603,0,0,0,0,0,0
$GC,9252,-0.61,-112.4,724.1,-9.8,840,9253,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2120,3603,0,0,0,0,0,0
$GC,9555,-0.60,-112.4,753.9,-9.8,850,9559,0.00,1.98,0.00,0.000,4,0.000,0.071,2629,3303,3602,0,0,0,0,0,0
$GC,9603,-0.59,-112.4,758.8,-10.0,851,9607,0.10,1.88,0.00,0.000,6,0.132,0.055,2662,2126,3602,0,0,0,0,0,0
$GC,9922,-0.59,-112.4,784.8,-7.9,862,9923,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2126,3602,0,0,0,0,0,0
$GC,10226,-0.59,-112.4,807.1,-7.1,872,10230,0.00,1.95,0.00,0.000,4,0.000,0.071,2662,3291,3602,0,0,0,0,0,0
$GC,10257,-0.59,-112.4,809.3,-6.8,873,10261,0.00,1.88,0.00,0.000,6,0.000,0.055,2662,2124,3602,0,0,0,0,0,0
$GC,10593,-0.59,-112.4,831.1,-6.2,884,10593,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2123,3601,0,0,0,0,0,0
$GC,10897,-0.59,-112.4,850.1,-6.4,894,10897,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2123,3601,0,0,0,0,0,0
$GC,11199,-0.59,-112.4,870.8,-6.9,904,11200,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2123,3601,0,0,0,0,0,0
$GC,11503,-0.59,-112.4,892.7,-7.4,914,11507,0.00,1.98,0.00,0.000,4,0.000,0.072,2662,3299,3600,0,0,0,0,0,0
$GC,11540,-0.59,-112.4,895.5,-8.0,915,11544,0.00,1.88,0.00,0.000,6,0.000,0.056,2662,2129,3600,0,0,0,0,0,0
$GC,11870,-0.59,-112.4,920.9,-7.8,926,11871,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2129,3600,0,0,0,0,0,0
$GC,12173,-0.59,-112.4,945.4,-8.3,936,12177,0.00,1.92,0.00,0.000,4,0.000,0.071,2663,3294,3600,0,0,0,0,0,0
$GC,12200,-0.59,-112.4,947.6,-8.5,936,12206,0.00,1.85,0.00,0.000,6,0.000,0.056,2663,2136,3600,0,0,0,0,0,0
$GC,12509,-0.59,-112.4,973.0,-8.1,947,12510,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2135,3599,0,0,0,0,0,0
$STATE,12749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12749,begin apogee
$GC,12754,-0.14,0.0,991.9,7.7,955,12850,0.45,0.00,94.30,1.239,6,0.118,0.000,2807,1997,3150,0,0,0,0,0,0
$STATE,12850,end apogee,CONTROL_FINISHED_OK
$STATE,12850,begin climb
$GC,12853,0.45,112.4,994.5,0.0,958,12959,0.55,2.15,99.78,1.200,4,0.071,0.061,3012,766,2692,0,0,0,0,0,0
$GC,13017,0.42,112.4,989.0,7.8,963,13021,0.00,2.10,0.00,0.000,6,0.000,0.059,3012,1983,2689,0,0,0,0,0,0
$GC,13337,0.38,112.4,963.1,8.1,974,13340,0.12,2.10,0.00,0.000,4,0.176,0.068,2982,3240,2686,0,0,0,0,0,0
$GC,13443,0.34,112.4,954.5,8.6,977,13447,0.00,2.00,0.00,0.000,6,0.000,0.057,2988,2013,2684,0,0,0,0,0,0
$GC,13768,0.31,112.4,930.1,7.6,988,13771,0.12,2.03,0.00,0.000,4,0.173,0.069,2957,3244,2684,0,0,0,0,0,0
$GC,13825,0.29,112.4,925.9,7.0,989,13831,0.00,2.00,0.00,0.000,6,0.000,0.058,2963,2021,2684,0,0,0,0,0,0
$GC,14135,0.28,114.8,906.3,6.0,1000,14138,0.00,2.03,0.00,0.000,4,0.000,0.070,2963,3238,2684,0,0,0,0,0,0
$GC,14182,0.25,114.8,903.0,6.4,1001,14186,0.10,1.98,0.00,0.000,6,0.144,0.058,2940,2025,2684,0,0,0,0,0,0
$GC,14501,0.28,152.8,887.2,4.7,1012,14537,0.00,0.00,34.70,1.146,6,0.000,0.000,2941,2024,2526,0,0,0,0,0,0
$GC,14835,0.29,179.8,870.4,5.1,1023,14865,0.00,0.00,24.80,1.116,6,0.000,0.000,2940,2024,2416,0,0,0,0,0,0
$GC,15168,0.30,196.8,852.8,5.5,1034,15187,0.00,2.03,15.88,1.075,4,0.000,0.070,2940,3237,2347,0,0,0,0,0,0
$GC,15209,0.30,196.8,850.3,6.5,1035,15213,0.00,2.00,0.00,0.000,6,0.000,0.059,2942,2025,2345,0,0,0,0,0,0
$GC,15533,0.30,196.8,830.1,6.5,1046,15537,0.00,2.08,0.00,0.000,4,0.000,0.067,2946,769,2343,0,0,0,0,0,0
$GC,15571,0.32,196.8,827.5,6.9,1047,15575,0.00,2.05,0.00,0.000,6,0.000,0.061,2946,2031,2343,0,0,0,0,0,0
$GC,15901,0.32,196.8,803.6,7.3,1058,15905,0.00,2.00,0.00,0.000,4,0.000,0.070,2946,3235,2341,0,0,0,0,0,0
$GC,15954,0.32,196.8,799.4,9.2,1059,15958,0.00,1.98,0.00,0.000,6,0.000,0.058,2946,2023,2341,0,0,0,0,0,0
$GC,16267,0.32,196.8,776.3,7.5,1070,16268,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2023,2341,0,0,0,0,0,0
$GC,16572,0.32,196.8,754.6,7.0,1080,16572,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2022,2341,0,0,0,0,0,0
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$STATE,26798,end climb,SURFACE_DEPTH_REACHED
$STATE,26798,begin surface coast
$FINISH,1.0,1.011681
$STATE,26837,end surface coast,CONTROL_FINISHED_OK
$STATE,26837,begin surface
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$10V_AH,10.1,43.383
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$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.775,206.100,408.775,0.000,0.000,27.420,29.844,253.092,0.000,0.000,17.772,0.000,21135.025,627.874,4802.877,768.232,0.000,2381.260,0.000,4070.510,0.000,0.535,0.000
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$MEM,298604
$DATA_FILE_SIZE,113750,2029
$CAP_FILE_SIZE,256756,0
$CFSIZE,260165632,228962304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.041,114.0,1
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