version: 66.06
glider: 187
mission: 2
dive: 450
start: 9 17 110 1 10 31
data:
$ID,187
$MISSION,2
$DIVE,450
$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,-32828.434
$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,28
$R_STBD_OVSHOOT,34
$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
$GPS1,010237,4714.009,-12632.934,45,1.0,45,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-76.7
$GPS2,011025,4713.965,-12632.948,15,2.0,15,18.6
$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,33.6,144246,-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,-112.4,0.0,0.0,0,73,0.00,0.00,-57.97,0.000,2,0.000,0.000,132,2090,2956,0,0,0,0,0,0
$GC,75,-0.45,-112.4,3.2,-2.1,11,104,10.45,2.05,-14.23,0.000,4,0.233,0.071,2701,834,3610,0,0,0,0,0,0
$GC,216,-0.43,-112.4,32.8,-16.8,37,221,0.00,1.98,0.00,0.000,6,0.000,0.056,2694,2059,3613,0,0,0,0,0,0
$GC,541,-0.41,-112.4,73.7,-12.4,98,548,0.00,2.05,0.00,0.000,4,0.000,0.064,2685,3310,3615,0,0,0,0,0,0
$GC,623,-0.41,-112.4,83.6,-11.8,113,629,0.10,1.95,0.00,0.000,6,0.118,0.049,2720,2079,3616,0,0,0,0,0,0
$GC,944,-0.41,-112.4,113.5,-8.7,160,947,0.00,2.03,0.00,0.000,4,0.000,0.064,2713,3324,3616,0,0,0,0,0,0
$GC,991,-0.42,-112.4,117.7,-8.8,164,997,0.00,1.95,0.00,0.000,6,0.000,0.049,2713,2085,3617,0,0,0,0,0,0
$GC,1307,-0.42,-112.4,143.6,-8.5,195,1311,0.00,2.03,0.00,0.000,4,0.000,0.065,2707,3317,3616,0,0,0,0,0,0
$GC,1376,-0.44,-112.4,149.6,-8.7,201,1383,0.00,1.92,0.00,0.000,6,0.000,0.049,2707,2097,3617,0,0,0,0,0,0
$GC,1692,-0.44,-112.4,174.8,-7.6,232,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2097,3616,0,0,0,0,0,0
$GC,2005,-0.44,-112.4,199.9,-8.5,262,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2097,3615,0,0,0,0,0,0
$GC,2315,-0.45,-112.4,224.9,-7.8,292,2317,0.00,1.98,0.00,0.000,4,0.000,0.066,2705,3313,3615,0,0,0,0,0,0
$GC,2346,-0.47,-112.4,227.5,-8.1,295,2349,0.00,1.85,0.00,0.000,6,0.000,0.051,2705,2108,3614,0,0,0,0,0,0
$GC,2666,-0.47,-112.4,251.6,-7.0,326,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2109,3614,0,0,0,0,0,0
$GC,2978,-0.48,-112.4,274.2,-7.5,356,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2109,3613,0,0,0,0,0,0
$GC,3288,-0.49,-112.4,297.5,-7.4,386,3291,0.00,1.98,0.00,0.000,4,0.000,0.068,2705,3318,3612,0,0,0,0,0,0
$GC,3351,-0.51,-112.4,302.0,-7.0,392,3355,0.00,1.90,0.00,0.000,6,0.000,0.052,2705,2114,3612,0,0,0,0,0,0
$GC,3672,-0.52,-112.4,326.0,-7.3,423,3675,0.00,1.98,0.00,0.000,4,0.000,0.067,2704,3309,3612,0,0,0,0,0,0
$GC,3725,-0.54,-112.4,329.9,-7.3,428,3729,0.00,1.88,0.00,0.000,6,0.000,0.052,2703,2122,3611,0,0,0,0,0,0
$GC,4046,-0.55,-112.4,352.0,-6.7,459,4050,0.00,1.95,0.00,0.000,4,0.000,0.068,2701,3302,3611,0,0,0,0,0,0
$GC,4083,-0.57,-112.4,354.6,-7.4,462,4090,0.00,1.85,0.00,0.000,6,0.000,0.052,2701,2131,3610,0,0,0,0,0,0
$GC,4399,-0.58,-112.4,376.2,-6.9,493,4402,0.10,1.92,0.00,0.000,4,0.108,0.068,2642,3311,3610,0,0,0,0,0,0
$GC,4431,-0.57,-112.4,379.1,-9.7,496,4434,0.00,1.85,0.00,0.000,6,0.000,0.053,2641,2139,3610,0,0,0,0,0,0
$GC,4751,-0.56,-112.4,413.9,-10.8,527,4752,0.12,0.00,0.00,0.000,6,0.159,0.000,2677,2138,3609,0,0,0,0,0,0
$GC,5061,-0.56,-112.4,441.9,-9.1,557,5065,0.00,1.95,0.00,0.000,4,0.000,0.067,2671,3316,3609,0,0,0,0,0,0
$GC,5093,-0.56,-112.4,444.7,-9.1,560,5097,0.00,1.85,0.00,0.000,6,0.000,0.052,2671,2142,3609,0,0,0,0,0,0
$GC,5413,-0.56,-112.4,474.0,-8.9,591,5418,0.00,2.10,0.00,0.000,4,0.000,0.060,2671,840,3608,0,0,0,0,0,0
$GC,5446,-0.56,-112.4,477.0,-9.7,594,5450,0.00,2.10,0.00,0.000,6,0.000,0.061,2665,2144,3608,0,0,0,0,0,0
$GC,5767,-0.56,-112.4,505.7,-9.0,625,5770,0.00,1.92,0.00,0.000,4,0.000,0.070,2656,3311,3607,0,0,0,0,0,0
$GC,5857,-0.56,-112.4,513.7,-8.8,633,5863,0.00,1.85,0.00,0.000,6,0.000,0.054,2657,2142,3606,0,0,0,0,0,0
$GC,6173,-0.56,-112.4,542.2,-8.9,664,6174,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2142,3606,0,0,0,0,0,0
$GC,6485,-0.56,-112.4,568.1,-8.2,694,6488,0.00,1.92,0.00,0.000,4,0.000,0.071,2648,3311,3605,0,0,0,0,0,0
$GC,6526,-0.56,-112.4,571.6,-7.7,698,6530,0.00,1.85,0.00,0.000,6,0.000,0.056,2648,2150,3605,0,0,0,0,0,0
$GC,6847,-0.56,-112.4,598.3,-8.1,729,6852,0.00,2.12,0.00,0.000,4,0.000,0.061,2648,841,3605,0,0,0,0,0,0
$GC,6879,-0.56,-112.4,600.9,-8.4,732,6884,0.08,2.12,0.00,0.000,6,0.139,0.061,2667,2153,3605,0,0,0,0,0,0
$GC,7214,-0.56,-112.4,624.2,-6.7,743,7218,0.00,1.92,0.00,0.000,4,0.000,0.072,2661,3309,3604,0,0,0,0,0,0
$GC,7295,-0.56,-112.4,630.1,-8.0,745,7299,0.00,1.83,0.00,0.000,6,0.000,0.054,2660,2159,3604,0,0,0,0,0,0
$GC,7613,-0.56,-112.4,654.6,-7.9,756,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2159,3603,0,0,0,0,0,0
$GC,7917,-0.56,-112.4,678.1,-7.6,766,7918,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2159,3603,0,0,0,0,0,0
$GC,8221,-0.56,-112.4,700.8,-7.4,776,8224,0.00,1.92,0.00,0.000,4,0.000,0.070,2653,3313,3603,0,0,0,0,0,0
$GC,8247,-0.56,-112.4,702.8,-8.7,776,8253,0.00,1.85,0.00,0.000,6,0.000,0.054,2653,2154,3603,0,0,0,0,0,0
$GC,8555,-0.56,-112.4,726.9,-8.0,787,8559,0.00,1.92,0.00,0.000,4,0.000,0.070,2645,3308,3602,0,0,0,0,0,0
$GC,8598,-0.56,-112.4,730.6,-8.1,788,8602,0.00,1.83,0.00,0.000,6,0.000,0.054,2645,2165,3602,0,0,0,0,0,0
$GC,8922,-0.56,-112.4,758.2,-8.7,799,8926,0.00,2.15,0.00,0.000,4,0.000,0.061,2645,841,3602,0,0,0,0,0,0
$GC,8948,-0.56,-112.4,760.6,-9.6,799,8955,0.10,2.15,0.00,0.000,6,0.130,0.062,2673,2165,3602,0,0,0,0,0,0
$GC,9258,-0.56,-112.4,782.6,-7.1,810,9261,0.00,1.90,0.00,0.000,4,0.000,0.072,2666,3311,3601,0,0,0,0,0,0
$GC,9305,-0.56,-112.4,786.0,-7.4,811,9309,0.00,1.83,0.00,0.000,6,0.000,0.054,2666,2167,3601,0,0,0,0,0,0
$GC,9624,-0.56,-112.4,809.0,-7.2,822,9628,0.00,2.15,0.00,0.000,4,0.000,0.061,2666,846,3601,0,0,0,0,0,0
$GC,9672,-0.56,-112.4,812.7,-8.2,823,9676,0.00,2.12,0.00,0.000,6,0.000,0.061,2663,2160,3601,0,0,0,0,0,0
$GC,9991,-0.56,-112.4,834.9,-6.8,834,9996,0.00,1.88,0.00,0.000,4,0.000,0.072,2663,3301,3600,0,0,0,0,0,0
$GC,10081,-0.56,-112.4,840.8,-7.2,836,10087,0.00,1.80,0.00,0.000,6,0.000,0.054,2663,2176,3600,0,0,0,0,0,0
$GC,10391,-0.56,-112.4,860.9,-6.5,847,10394,0.00,2.15,0.00,0.000,4,0.000,0.062,2663,825,3600,0,0,0,0,0,0
$GC,10432,-0.56,-112.4,863.8,-6.7,848,10437,0.00,2.20,0.00,0.000,6,0.000,0.061,2663,2182,3599,0,0,0,0,0,0
$GC,10757,-0.56,-112.4,884.5,-6.4,859,10762,0.00,1.85,0.00,0.000,4,0.000,0.072,2663,3306,3599,0,0,0,0,0,0
$GC,10811,-0.56,-112.4,887.9,-6.8,860,10814,0.00,1.80,0.00,0.000,6,0.000,0.057,2663,2187,3599,0,0,0,0,0,0
$GC,11124,-0.56,-112.4,908.3,-6.5,871,11128,0.00,2.17,0.00,0.000,4,0.000,0.064,2663,844,3599,0,0,0,0,0,0
$GC,11172,-0.56,-112.4,911.7,-8.0,872,11176,0.00,2.17,0.00,0.000,6,0.000,0.062,2663,2184,3598,0,0,0,0,0,0
$GC,11491,-0.56,-112.4,932.4,-6.7,883,11495,0.00,1.85,0.00,0.000,4,0.000,0.072,2663,3304,3598,0,0,0,0,0,0
$GC,11523,-0.56,-112.4,934.4,-6.4,884,11527,0.00,1.80,0.00,0.000,6,0.000,0.055,2663,2181,3598,0,0,0,0,0,0
$GC,11858,-0.56,-112.4,955.8,-6.3,895,11862,0.00,1.85,0.00,0.000,4,0.000,0.071,2663,3301,3598,0,0,0,0,0,0
$GC,11891,-0.56,-112.4,957.8,-6.5,896,11894,0.00,1.77,0.00,0.000,6,0.000,0.056,2663,2196,3598,0,0,0,0,0,0
$GC,12225,-0.56,-112.4,980.5,-6.9,907,12229,0.00,2.17,0.00,0.000,4,0.000,0.062,2663,849,3598,0,0,0,0,0,0
$GC,12273,-0.56,-112.4,984.1,-7.5,908,12277,0.00,2.17,0.00,0.000,6,0.000,0.062,2663,2182,3598,0,0,0,0,0,0
$STATE,12378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12378,begin apogee
$GC,12383,-0.14,0.0,991.4,6.8,912,12479,0.45,0.00,94.30,1.239,6,0.117,0.000,2808,1989,3150,0,0,0,0,0,0
$STATE,12480,end apogee,CONTROL_FINISHED_OK
$STATE,12480,begin climb
$GC,12481,0.45,112.4,993.2,0.0,915,12589,0.55,2.15,100.47,1.198,4,0.070,0.064,3013,771,2690,0,0,0,0,0,0
$GC,12641,0.42,112.4,987.4,8.2,920,12646,0.00,2.12,0.00,0.000,6,0.000,0.058,3013,1998,2687,0,0,0,0,0,0
$GC,12966,0.38,112.4,959.9,8.4,931,12970,0.15,2.10,0.00,0.000,4,0.166,0.069,2975,3232,2684,0,0,0,0,0,0
$GC,13085,0.35,112.4,950.8,7.0,934,13088,0.00,1.98,0.00,0.000,6,0.000,0.058,2981,2020,2683,0,0,0,0,0,0
$GC,13398,0.32,112.4,928.2,7.3,945,13401,0.00,2.03,0.00,0.000,4,0.000,0.069,2981,3232,2683,0,0,0,0,0,0
$GC,13467,0.29,112.4,922.8,7.5,947,13471,0.15,1.95,0.00,0.000,6,0.140,0.058,2945,2041,2682,0,0,0,0,0,0
$GC,13797,0.30,128.4,904.2,5.5,958,13815,0.00,2.03,13.60,1.096,4,0.000,0.071,2944,3236,2626,0,0,0,0,0,0
$GC,13870,0.29,137.3,899.8,5.8,960,13884,0.00,1.92,9.48,1.026,6,0.000,0.057,2946,2056,2589,0,0,0,0,0,0
$GC,14194,0.30,141.6,880.3,6.0,971,14203,0.00,1.98,5.07,0.857,4,0.000,0.069,2946,3240,2572,0,0,0,0,0,0
$GC,14220,0.31,169.8,878.7,5.1,971,14249,0.00,1.92,26.38,1.121,6,0.000,0.058,2946,2063,2457,0,0,0,0,0,0
$GC,14555,0.32,187.8,859.7,5.5,982,14573,0.00,0.00,16.80,1.085,6,0.000,0.000,2947,2064,2384,0,0,0,0,0,0
$GC,14857,0.33,199.2,842.8,5.7,992,14869,0.00,0.00,11.35,1.037,6,0.000,0.000,2947,2063,2337,0,0,0,0,0,0
$GC,15161,0.33,203.1,824.9,6.0,1002,15167,0.00,0.00,4.65,0.799,6,0.000,0.000,2947,2063,2321,0,0,0,0,0,0
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$STATE,25889,end climb,SURFACE_DEPTH_REACHED
$STATE,25889,begin surface coast
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$STATE,25933,end surface coast,CONTROL_FINISHED_OK
$STATE,25934,begin surface
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$10V_AH,10.1,46.412
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$FG_AHR_10Vo,0.000
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$MEM,298604
$DATA_FILE_SIZE,113741,2001
$CAP_FILE_SIZE,255628,0
$CFSIZE,260165632,226828288
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$CURRENT,0.041,204.8,1
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