version: 66.07
glider: 187
mission: 4
dive: 690
start: 8 29 111 1 55 22
data:
$ID,187
$MISSION,4
$DIVE,690
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,2.5
$T_BOOST,0
$D_FINISH,10
$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,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,0
$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,325
$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,-1585613.5
$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,2920
$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,32
$R_STBD_OVSHOOT,43
$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,12
$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
$GPS1,290811,014331,4740.544,-12523.501,41,1.4,41,18.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-77.4
$GPS2,290811,015425,4740.400,-12523.552,10,1.7,15,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.030,0.198
$KALMAN_X,364956.9,444.3,-376.9,-385464.5,-889.4
$KALMAN_Y,-766485.8,645.4,-505.3,755059.6,-6310.3
$MHEAD_RNG_PITCHd_Wd,332.9,25150,-13.6,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.50,-117.3,0.0,0.0,0,90,0.00,0.00,-72.50,0.000,6,0.000,0.000,130,2198,3215,0,0,0,0,0,0
$GC,94,-0.50,-117.3,0.0,-0.0,0,109,10.57,2.38,0.00,0.000,4,0.222,0.039,2749,646,3219,0,0,0,0,0,0
$GC,133,-0.37,-117.3,25.7,-35.0,0,138,0.20,2.35,0.00,0.000,6,0.122,0.048,2801,2167,3221,0,0,0,0,0,0
$GC,396,-0.37,-117.3,45.0,-6.9,3,400,0.00,2.33,0.00,0.000,4,0.000,0.048,2801,660,3223,0,0,0,0,0,0
$GC,424,-0.37,-117.3,47.5,-8.7,3,428,0.00,2.35,0.00,0.000,6,0.000,0.045,2800,2183,3223,0,0,0,0,0,0
$GC,704,-0.37,-117.3,67.7,-7.1,6,708,0.00,2.38,0.00,0.000,4,0.000,0.058,2791,3693,3225,0,0,0,0,0,0
$GC,748,-0.39,-117.3,71.3,-8.3,6,752,0.00,2.35,0.00,0.000,6,0.000,0.042,2791,2162,3225,0,0,0,0,0,0
$GC,1006,-0.39,-117.3,91.3,-7.7,9,1010,0.00,2.28,0.00,0.000,4,0.000,0.049,2791,671,3225,0,0,0,0,0,0
$GC,1051,-0.41,-117.3,94.3,-6.3,9,1055,0.00,2.33,0.00,0.000,6,0.000,0.047,2791,2181,3225,0,0,0,0,0,0
$GC,1521,-0.42,-117.3,118.3,-5.1,12,1525,0.00,2.33,0.00,0.000,4,0.000,0.049,2791,667,3224,0,0,0,0,0,0
$GC,1567,-0.44,-117.3,120.7,-5.6,12,1571,0.00,2.30,0.00,0.000,6,0.000,0.047,2790,2167,3224,0,0,0,0,0,0
$GC,2151,-0.48,-117.3,154.8,-6.0,14,2155,0.00,2.30,0.00,0.000,4,0.000,0.049,2790,670,3222,0,0,0,0,0,0
$GC,2173,-0.51,-117.3,156.4,-6.7,14,2178,0.10,2.38,0.00,0.000,6,0.098,0.048,2733,2213,3222,0,0,0,0,0,0
$GC,2785,-0.51,-117.3,197.5,-6.4,16,2789,0.00,2.38,0.00,0.000,4,0.000,0.061,2724,3696,3221,0,0,0,0,0,0
$GC,2811,-0.51,-117.3,199.5,-7.0,16,2816,0.10,2.35,0.00,0.000,6,0.139,0.044,2752,2160,3221,0,0,0,0,0,0
$GC,3415,-0.51,-117.3,238.1,-6.3,18,3419,0.00,2.33,0.00,0.000,4,0.000,0.051,2752,669,3219,0,0,0,0,0,0
$GC,3521,-0.51,-117.3,244.9,-5.9,18,3525,0.00,2.30,0.00,0.000,6,0.000,0.049,2748,2155,3219,0,0,0,0,0,0
$GC,4051,-0.51,-117.3,280.0,-6.7,20,4056,0.00,2.33,0.00,0.000,4,0.000,0.051,2747,660,3217,0,0,0,0,0,0
$GC,4084,-0.51,-117.3,282.5,-7.4,20,4088,0.00,2.30,0.00,0.000,6,0.000,0.049,2739,2146,3217,0,0,0,0,0,0
$GC,4683,-0.51,-117.3,323.4,-6.7,22,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2146,3216,0,0,0,0,0,0
$GC,4983,-0.51,-117.3,343.9,-6.8,23,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2146,3216,0,0,0,0,0,0
$GC,5285,-0.51,-117.3,364.9,-6.8,24,5290,0.00,2.33,0.00,0.000,4,0.000,0.053,2739,668,3215,0,0,0,0,0,0
$GC,5330,-0.51,-117.3,368.6,-8.2,24,5334,0.00,2.28,0.00,0.000,6,0.000,0.050,2731,2140,3215,0,0,0,0,0,0
$GC,5913,-0.51,-117.3,415.2,-7.9,26,5914,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2140,3214,0,0,0,0,0,0
$GC,6212,-0.51,-117.3,436.3,-7.5,27,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2140,3213,0,0,0,0,0,0
$GC,6512,-0.51,-117.3,455.2,-7.1,28,6516,0.00,2.30,0.00,0.000,4,0.000,0.053,2731,671,3213,0,0,0,0,0,0
$GC,6568,-0.51,-117.3,458.8,-6.7,28,6573,0.12,2.28,0.00,0.000,6,0.134,0.051,2760,2136,3213,0,0,0,0,0,0
$GC,7144,-0.52,-117.3,487.0,-4.9,30,7148,0.00,2.30,0.00,0.000,4,0.000,0.054,2761,671,3211,0,0,0,0,0,0
$GC,7174,-0.53,-117.3,488.6,-5.8,30,7178,0.00,2.28,0.00,0.000,6,0.000,0.052,2760,2133,3212,0,0,0,0,0,0
$GC,7773,-0.55,-117.3,521.6,-5.8,32,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2134,3211,0,0,0,0,0,0
$GC,8074,-0.56,-117.3,538.5,-5.7,33,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2133,3210,0,0,0,0,0,0
$GC,8374,-0.57,-117.3,554.0,-5.5,34,8375,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2133,3210,0,0,0,0,0,0
$GC,8674,-0.58,-117.3,568.8,-5.4,35,8678,0.00,2.33,0.00,0.000,4,0.000,0.055,2760,669,3209,0,0,0,0,0,0
$GC,8718,-0.59,-117.3,571.3,-6.6,35,8722,0.00,2.30,0.00,0.000,6,0.000,0.054,2755,2132,3209,0,0,0,0,0,0
$GC,9311,-0.60,-117.3,602.9,-5.5,37,9312,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2133,3208,0,0,0,0,0,0
$GC,9611,-0.61,-117.3,620.2,-5.6,38,9612,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2133,3208,0,0,0,0,0,0
$GC,9914,-0.62,-117.3,636.9,-5.6,39,9915,0.10,0.00,0.00,0.000,6,0.100,0.000,2697,2133,3207,0,0,0,0,0,0
$GC,10213,-0.62,-117.3,661.2,-6.1,40,10215,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2133,3207,0,0,0,0,0,0
$GC,10512,-0.62,-117.3,686.5,-6.9,41,10513,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2133,3207,0,0,0,0,0,0
$GC,10813,-0.62,-117.3,711.0,-7.7,42,10814,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2133,3206,0,0,0,0,0,0
$GC,11114,-0.61,-117.3,735.8,-8.2,43,11115,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2133,3206,0,0,0,0,0,0
$GC,11416,-0.60,-117.3,760.0,-8.2,44,11417,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2132,3206,0,0,0,0,0,0
$GC,11715,-0.58,-117.3,783.0,-8.0,45,11717,0.12,0.00,0.00,0.000,6,0.144,0.000,2735,2133,3206,0,0,0,0,0,0
$GC,12016,-0.57,-117.3,800.6,-7.5,46,12017,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2133,3205,0,0,0,0,0,0
$GC,12316,-0.57,-117.3,817.2,-6.8,47,12317,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2133,3205,0,0,0,0,0,0
$GC,12617,-0.57,-117.3,833.0,-6.0,48,12618,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2133,3205,0,0,0,0,0,0
$GC,12919,-0.57,-117.3,848.6,-5.4,49,12920,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2132,3204,0,0,0,0,0,0
$GC,13218,-0.57,-117.3,864.5,-5.3,50,13222,0.00,2.33,0.00,0.000,4,0.000,0.057,2735,664,3204,0,0,0,0,0,0
$GC,13246,-0.57,-117.3,866.1,-5.5,50,13250,0.00,2.33,0.00,0.000,6,0.000,0.054,2730,2137,3204,0,0,0,0,0,0
$GC,13849,-0.57,-117.3,900.3,-5.9,52,13854,0.00,2.53,0.00,0.000,4,0.000,0.065,2719,3696,3204,0,0,0,0,0,0
$GC,13882,-0.57,-117.3,902.4,-6.5,52,13887,0.00,2.45,0.00,0.000,6,0.000,0.050,2718,2137,3204,0,0,0,0,0,0
$GC,14475,-0.57,-117.3,940.6,-6.3,54,14479,0.00,2.35,0.00,0.000,4,0.000,0.058,2718,657,3203,0,0,0,0,0,0
$GC,14524,-0.57,-117.3,944.0,-6.7,54,14528,0.00,2.33,0.00,0.000,6,0.000,0.055,2711,2135,3203,0,0,0,0,0,0
$GC,15100,-0.57,-117.3,980.6,-6.3,56,15105,0.00,2.53,0.00,0.000,4,0.000,0.067,2699,3689,3203,0,0,0,0,0,0
$GC,15146,-0.57,-117.3,983.8,-6.7,56,15151,0.12,2.45,0.00,0.000,6,0.129,0.050,2737,2133,3203,0,0,0,0,0,0
$STATE,15261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15263,begin apogee
$GC,15269,-0.22,0.0,990.2,5.2,56,15382,0.30,0.00,104.50,1.223,6,0.100,0.000,2846,2055,2735,0,0,0,0,0,0
$STATE,15383,end apogee,CONTROL_FINISHED_OK
$STATE,15383,begin climb
$GC,15386,0.50,117.3,992.8,0.0,56,15510,0.65,2.70,114.40,1.191,4,0.063,0.060,3082,3581,2254,0,0,0,0,0,0
$GC,15528,0.46,117.3,985.0,8.6,57,15533,0.00,2.55,0.00,0.000,6,0.000,0.047,3094,2070,2251,0,0,0,0,0,0
$GC,16042,0.43,117.3,932.7,10.2,59,16044,0.12,0.00,0.00,0.000,6,0.164,0.000,3059,2069,2243,0,0,0,0,0,0
$GC,16344,0.40,117.3,909.6,9.1,60,16345,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2068,2241,0,0,0,0,0,0
$GC,16643,0.37,117.3,887.1,8.5,61,16644,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2067,2240,0,0,0,0,0,0
$GC,16944,0.35,117.3,862.7,8.2,62,16945,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2067,2240,0,0,0,0,0,0
$GC,17245,0.33,117.3,837.6,7.9,63,17249,0.10,2.42,0.00,0.000,4,0.164,0.060,3039,544,2240,0,0,0,0,0,0
$GC,17267,0.33,117.3,835.9,7.9,63,17272,0.00,2.40,0.00,0.000,6,0.000,0.052,3038,2068,2239,0,0,0,0,0,0
$GC,17872,0.33,117.3,793.2,7.0,65,17876,0.00,2.40,0.00,0.000,4,0.000,0.063,3039,3577,2239,0,0,0,0,0,0
$GC,17945,0.32,117.3,787.1,8.6,65,17950,0.00,2.38,0.00,0.000,6,0.000,0.049,3049,2056,2237,0,0,0,0,0,0
$GC,18500,0.32,117.3,748.4,6.7,67,18502,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2053,2237,0,0,0,0,0,0
$GC,18800,0.32,117.3,729.8,6.5,68,18804,0.00,2.38,0.00,0.000,4,0.000,0.058,3060,539,2237,0,0,0,0,0,0
$GC,18832,0.32,117.3,727.6,6.3,68,18837,0.12,2.40,0.00,0.000,6,0.139,0.052,3025,2072,2237,0,0,0,0,0,0
$GC,19430,0.33,142.8,697.4,5.2,70,19457,0.00,2.42,21.20,1.011,4,0.000,0.062,3024,3576,2151,0,0,0,0,0,0
$GC,19501,0.33,142.8,692.6,7.3,70,19506,0.00,2.38,0.00,0.000,6,0.000,0.049,3031,2064,2148,0,0,0,0,0,0
$GC,20055,0.33,142.8,654.5,6.9,72,20059,0.00,2.40,0.00,0.000,4,0.000,0.058,3041,546,2146,0,0,0,0,0,0
$GC,20094,0.33,142.8,652.0,6.6,72,20098,0.00,2.40,0.00,0.000,6,0.000,0.052,3041,2071,2146,0,0,0,0,0,0
$GC,20681,0.33,142.8,609.7,7.2,74,20685,0.00,2.45,0.00,0.000,4,0.000,0.063,3041,3579,2146,0,0,0,0,0,0
$GC,20715,0.33,142.8,607.0,8.4,74,20719,0.00,2.40,0.00,0.000,6,0.000,0.049,3051,2057,2145,0,0,0,0,0,0
$GC,21309,0.33,142.8,562.9,7.2,76,21310,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2054,2145,0,0,0,0,0,0
$GC,21607,0.33,142.8,541.8,7.1,77,21608,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2054,2145,0,0,0,0,0,0
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$STATE,30099,end climb,SURFACE_DEPTH_REACHED
$STATE,30099,begin surface coast
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$STATE,30103,end surface coast,CONTROL_FINISHED_OK
$STATE,30103,begin surface
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$10V_AH,9.7,81.943
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$FG_AHR_10Vo,0.000
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$MEM,297664
$DATA_FILE_SIZE,3649,113
$CAP_FILE_SIZE,201821,0
$CFSIZE,260165632,158527488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.186,355.0,1
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