version: 66.07
glider: 187
mission: 4
dive: 216
start: 5 14 111 9 41 3
data:
$ID,187
$MISSION,4
$DIVE,216
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$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,375
$N_FILEKB,8
$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,-1584093.2
$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,2905
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$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,43
$C_ROLL_DIVE,2175
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2735
$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,-60.973145
$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,5
$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
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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
$GPS1,140511,093300,4701.098,-12657.580,43,1.0,43,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-74.6
$GPS2,140511,094026,4701.100,-12657.552,12,1.9,12,18.6
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.256,-0.052
$KALMAN_X,10711.6,-206.9,-75.4,-48769.7,1425.1
$KALMAN_Y,-11625.3,187.7,296.2,12586.6,-1661.0
$MHEAD_RNG_PITCHd_Wd,232.1,3702,-21.8,-10.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.75,-106.2,0.0,0.0,0,95,0.00,0.00,-77.35,0.000,2,0.000,0.000,123,2149,2968,0,0,0,0,0,0
$GC,99,-0.75,-117.3,3.3,-4.0,12,123,10.05,2.45,-5.28,0.000,4,0.236,0.068,2644,3693,3217,0,0,0,0,0,0
$GC,309,-0.72,-117.3,53.8,-19.1,50,318,0.00,2.40,0.00,0.000,6,0.000,0.044,2643,2170,3219,0,0,0,0,0,0
$GC,384,-0.68,-117.3,70.4,-22.8,63,391,0.15,0.00,0.00,0.000,6,0.175,0.000,2682,2165,3219,0,0,0,0,0,0
$GC,457,-0.66,-117.3,84.9,-17.0,76,465,0.00,2.47,0.00,0.000,4,0.000,0.060,2673,3682,3220,0,0,0,0,0,0
$GC,495,-0.64,-117.3,91.1,-17.1,82,503,0.00,2.35,0.00,0.000,6,0.000,0.044,2672,2190,3219,0,0,0,0,0,0
$GC,568,-0.63,-117.3,103.3,-15.3,93,573,0.00,2.38,0.00,0.000,4,0.000,0.053,2672,663,3220,0,0,0,0,0,0
$GC,613,-0.61,-117.3,111.0,-16.0,96,621,0.10,2.40,0.00,0.000,6,0.135,0.050,2707,2185,3220,0,0,0,0,0,0
$GC,749,-0.61,-117.3,127.7,-12.1,109,753,0.00,2.42,0.00,0.000,4,0.000,0.061,2698,3698,3221,0,0,0,0,0,0
$GC,794,-0.61,-117.3,133.8,-12.9,113,798,0.00,2.33,0.00,0.000,6,0.000,0.044,2697,2198,3220,0,0,0,0,0,0
$GC,928,-0.61,-117.3,150.0,-12.0,125,932,0.00,2.38,0.00,0.000,4,0.000,0.051,2697,662,3221,0,0,0,0,0,0
$GC,960,-0.61,-117.3,153.7,-13.3,127,964,0.00,2.40,0.00,0.000,6,0.000,0.049,2687,2206,3221,0,0,0,0,0,0
$GC,1095,-0.61,-117.3,170.7,-12.5,139,1099,0.00,2.38,0.00,0.000,4,0.000,0.061,2675,3694,3221,0,0,0,0,0,0
$GC,1118,-0.61,-117.3,173.8,-12.8,141,1123,0.12,2.30,0.00,0.000,6,0.155,0.044,2709,2205,3221,0,0,0,0,0,0
$GC,1253,-0.63,-117.3,189.3,-11.6,153,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2199,3221,0,0,0,0,0,0
$GC,1380,-0.64,-117.3,204.4,-11.5,165,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2199,3221,0,0,0,0,0,0
$GC,1507,-0.65,-117.3,219.1,-11.4,177,1511,0.00,2.38,0.00,0.000,4,0.000,0.051,2709,657,3221,0,0,0,0,0,0
$GC,1532,-0.65,-117.3,221.9,-11.7,179,1536,0.00,2.40,0.00,0.000,6,0.000,0.049,2700,2213,3221,0,0,0,0,0,0
$GC,1671,-0.65,-117.3,238.1,-11.1,192,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2213,3221,0,0,0,0,0,0
$GC,1799,-0.65,-117.3,252.3,-11.2,204,1803,0.00,2.38,0.00,0.000,4,0.000,0.051,2699,660,3221,0,0,0,0,0,0
$GC,1828,-0.65,-117.3,255.7,-11.9,206,1832,0.00,2.40,0.00,0.000,6,0.000,0.049,2689,2211,3221,0,0,0,0,0,0
$GC,1962,-0.65,-117.3,271.0,-11.1,218,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2211,3221,0,0,0,0,0,0
$GC,2090,-0.65,-117.3,285.1,-11.0,230,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2211,3221,0,0,0,0,0,0
$GC,2218,-0.65,-117.3,299.1,-10.9,242,2222,0.00,2.42,0.00,0.000,4,0.000,0.052,2688,659,3221,0,0,0,0,0,0
$GC,2248,-0.65,-117.3,302.5,-11.4,244,2252,0.00,2.38,0.00,0.000,6,0.000,0.049,2678,2202,3221,0,0,0,0,0,0
$GC,2383,-0.65,-117.3,318.0,-11.7,256,2387,0.00,2.38,0.00,0.000,4,0.000,0.062,2666,3692,3221,0,0,0,0,0,0
$GC,2406,-0.65,-117.3,321.0,-11.9,257,2412,0.00,2.30,0.00,0.000,6,0.000,0.045,2666,2197,3221,0,0,0,0,0,0
$GC,2540,-0.65,-117.3,336.8,-12.1,270,2544,0.00,2.38,0.00,0.000,4,0.000,0.053,2666,665,3221,0,0,0,0,0,0
$GC,2568,-0.65,-117.3,340.4,-13.3,272,2573,0.15,2.38,0.00,0.000,6,0.154,0.049,2697,2205,3221,0,0,0,0,0,0
$GC,2704,-0.66,-117.3,354.3,-9.9,284,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2205,3221,0,0,0,0,0,0
$GC,2830,-0.67,-117.3,366.9,-10.0,296,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2205,3220,0,0,0,0,0,0
$GC,2958,-0.68,-117.3,379.8,-9.8,308,2962,0.00,2.38,0.00,0.000,4,0.000,0.062,2688,3693,3220,0,0,0,0,0,0
$GC,2988,-0.68,-117.3,382.9,-10.5,310,2992,0.00,2.30,0.00,0.000,6,0.000,0.046,2687,2200,3220,0,0,0,0,0,0
$GC,3123,-0.68,-117.3,397.7,-10.8,322,3127,0.00,2.35,0.00,0.000,4,0.000,0.053,2688,656,3220,0,0,0,0,0,0
$GC,3145,-0.68,-117.3,400.4,-11.4,324,3149,0.00,2.38,0.00,0.000,6,0.000,0.050,2677,2193,3220,0,0,0,0,0,0
$GC,3280,-0.68,-117.3,415.7,-10.9,336,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2194,3220,0,0,0,0,0,0
$GC,3407,-0.68,-117.3,429.5,-10.7,348,3411,0.00,2.38,0.00,0.000,4,0.000,0.063,2665,3690,3219,0,0,0,0,0,0
$GC,3434,-0.68,-117.3,432.8,-11.7,350,3442,0.00,2.30,0.00,0.000,6,0.000,0.045,2665,2193,3219,0,0,0,0,0,0
$GC,3570,-0.68,-117.3,447.9,-11.5,363,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2190,3219,0,0,0,0,0,0
$GC,3696,-0.68,-117.3,462.4,-11.6,375,3700,0.00,2.35,0.00,0.000,4,0.000,0.053,2664,663,3219,0,0,0,0,0,0
$GC,3735,-0.68,-117.3,467.1,-12.2,378,3740,0.12,2.35,0.00,0.000,6,0.161,0.050,2688,2188,3218,0,0,0,0,0,0
$GC,3877,-0.68,-117.3,481.2,-9.2,391,3881,0.00,2.38,0.00,0.000,4,0.000,0.063,2678,3693,3218,0,0,0,0,0,0
$GC,3898,-0.68,-117.3,483.9,-10.6,392,3905,0.00,2.30,0.00,0.000,6,0.000,0.047,2678,2195,3218,0,0,0,0,0,0
$GC,4033,-0.68,-117.3,497.7,-10.5,405,4037,0.00,2.40,0.00,0.000,4,0.000,0.063,2667,3690,3218,0,0,0,0,0,0
$GC,4063,-0.68,-117.3,500.9,-10.9,407,4067,0.00,2.28,0.00,0.000,6,0.000,0.046,2667,2206,3218,0,0,0,0,0,0
$GC,4198,-0.68,-117.3,516.0,-11.2,419,4202,0.00,2.38,0.00,0.000,4,0.000,0.054,2666,662,3218,0,0,0,0,0,0
$GC,4237,-0.68,-117.3,520.9,-11.9,422,4241,0.00,2.38,0.00,0.000,6,0.000,0.050,2655,2201,3218,0,0,0,0,0,0
$GC,4378,-0.68,-117.3,537.5,-12.1,435,4380,0.10,0.00,0.00,0.000,6,0.171,0.000,2682,2201,3218,0,0,0,0,0,0
$GC,4505,-0.68,-117.3,550.9,-10.2,447,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2201,3218,0,0,0,0,0,0
$GC,4632,-0.68,-117.3,563.8,-9.9,459,4637,0.00,2.38,0.00,0.000,4,0.000,0.054,2682,666,3217,0,0,0,0,0,0
$GC,4666,-0.68,-117.3,567.4,-10.4,461,4672,0.00,2.35,0.00,0.000,6,0.000,0.052,2674,2188,3217,0,0,0,0,0,0
$GC,4800,-0.68,-117.3,581.6,-10.9,474,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2188,3217,0,0,0,0,0,0
$GC,4927,-0.68,-117.3,595.0,-10.8,486,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2187,3217,0,0,0,0,0,0
$GC,5073,-0.68,-117.3,610.3,-10.7,494,5077,0.00,2.38,0.00,0.000,4,0.000,0.063,2662,3690,3217,0,0,0,0,0,0
$GC,5094,-0.68,-117.3,613.0,-11.2,494,5098,0.00,2.30,0.00,0.000,6,0.000,0.047,2661,2192,3217,0,0,0,0,0,0
$GC,5413,-0.68,-117.3,649.1,-11.3,505,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2187,3216,0,0,0,0,0,0
$GC,5721,-0.68,-117.3,683.8,-11.3,515,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2187,3216,0,0,0,0,0,0
$GC,6025,-0.68,-117.3,716.8,-10.6,525,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2187,3216,0,0,0,0,0,0
$GC,6332,-0.68,-117.3,748.8,-10.3,535,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2187,3215,0,0,0,0,0,0
$GC,6638,-0.68,-117.3,780.1,-10.3,545,6642,0.00,2.35,0.00,0.000,4,0.000,0.055,2661,667,3215,0,0,0,0,0,0
$GC,6660,-0.68,-117.3,782.7,-11.8,545,6665,0.12,2.35,0.00,0.000,6,0.164,0.052,2685,2188,3215,0,0,0,0,0,0
$GC,6974,-0.69,-117.3,810.7,-8.8,555,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2188,3214,0,0,0,0,0,0
$GC,7280,-0.71,-117.3,837.6,-8.7,565,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2188,3214,0,0,0,0,0,0
$GC,7587,-0.72,-117.3,863.9,-8.5,575,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2188,3214,0,0,0,0,0,0
$GC,7892,-0.73,-117.3,890.1,-8.5,585,7896,0.00,2.40,0.00,0.000,4,0.000,0.067,2676,3697,3213,0,0,0,0,0,0
$GC,7931,-0.74,-117.3,893.9,-9.5,586,7935,0.00,2.33,0.00,0.000,6,0.000,0.048,2675,2180,3213,0,0,0,0,0,0
$GC,8268,-0.74,-117.3,924.0,-9.0,597,8272,0.00,2.33,0.00,0.000,4,0.000,0.056,2675,667,3213,0,0,0,0,0,0
$GC,8297,-0.74,-117.3,926.8,-10.2,598,8301,0.00,2.35,0.00,0.000,6,0.000,0.053,2664,2186,3213,0,0,0,0,0,0
$GC,8633,-0.74,-117.3,957.1,-8.8,609,8634,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2187,3212,0,0,0,0,0,0
$GC,8938,-0.74,-117.3,983.9,-8.7,619,8943,0.00,2.40,0.00,0.000,4,0.000,0.065,2653,3692,3212,0,0,0,0,0,0
$GC,8968,-0.74,-117.3,986.8,-9.1,620,8972,0.00,2.33,0.00,0.000,6,0.000,0.049,2652,2183,3212,0,0,0,0,0,0
$STATE,9025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9025,begin apogee
$GC,9032,-0.22,0.0,992.4,9.2,622,9136,0.55,0.00,101.35,1.233,6,0.131,0.000,2829,2055,2735,0,0,0,0,0,0
$STATE,9137,end apogee,CONTROL_FINISHED_OK
$STATE,9137,begin climb
$GC,9140,0.75,117.3,994.6,0.0,625,9257,0.95,2.70,109.88,1.205,4,0.080,0.063,3146,3574,2255,0,0,0,0,0,0
$GC,9280,0.72,117.3,980.1,18.0,630,9285,0.00,2.53,0.00,0.000,6,0.000,0.046,3157,2066,2251,0,0,0,0,0,0
$GC,9605,0.69,117.3,925.4,16.8,641,9609,0.00,2.50,0.00,0.000,4,0.000,0.060,3157,3580,2245,0,0,0,0,0,0
$GC,9648,0.65,117.3,917.3,18.5,642,9653,0.20,2.45,0.00,0.000,6,0.190,0.047,3120,2057,2243,0,0,0,0,0,0
$GC,9968,0.64,117.3,872.6,13.5,653,9972,0.00,2.50,0.00,0.000,4,0.000,0.063,3120,3584,2242,0,0,0,0,0,0
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$STATE,17379,end climb,SURFACE_DEPTH_REACHED
$STATE,17379,begin surface coast
$FINISH,0.8,1.014415
$STATE,17407,end surface coast,CONTROL_FINISHED_OK
$STATE,17407,begin surface
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$XPDR_PINGS,0
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$10V_AH,10.2,15.655
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,297488
$DATA_FILE_SIZE,73403,1272
$CAP_FILE_SIZE,217890,0
$CFSIZE,260165632,201408512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.102,156.5,1
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