version: 66.07
glider: 187
mission: 4
dive: 222
start: 5 15 111 16 51 46
data:
$ID,187
$MISSION,4
$DIVE,222
$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,1
$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,-1584101
$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,39
$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
$GPS1,150511,164356,4707.039,-12646.628,37,2.6,56,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-75.4
$GPS2,150511,165050,4707.062,-12646.620,13,1.8,13,18.6
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.063,0.228
$KALMAN_X,361.3,39.7,-644.2,15237.1,1370.3
$KALMAN_Y,-486.9,178.8,1290.8,8640.7,-2724.1
$MHEAD_RNG_PITCHd_Wd,24.0,165460,-20.8,-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,-0.72,-117.3,0.0,0.0,0,92,0.00,0.00,-73.93,0.000,2,0.000,0.000,123,2190,2877,0,0,0,0,0,0
$GC,96,-0.72,-117.3,3.1,-5.3,11,119,10.12,2.47,-7.32,0.000,4,0.235,0.062,2663,653,3216,0,0,0,0,0,0
$GC,273,-0.68,-117.3,46.5,-21.0,43,281,0.05,2.40,0.00,0.000,6,0.166,0.048,2682,2161,3219,0,0,0,0,0,0
$GC,347,-0.65,-117.3,60.8,-18.9,56,354,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2161,3219,0,0,0,0,0,0
$GC,421,-0.62,-117.3,74.0,-17.9,69,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2161,3219,0,0,0,0,0,0
$GC,493,-0.59,-117.3,87.6,-19.3,82,502,0.10,2.50,0.00,0.000,4,0.182,0.060,2699,3694,3220,0,0,0,0,0,0
$GC,530,-0.59,-117.3,94.7,-16.8,88,538,0.00,2.45,0.00,0.000,6,0.000,0.044,2698,2147,3220,0,0,0,0,0,0
$GC,609,-0.58,-117.3,106.9,-15.4,98,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2141,3220,0,0,0,0,0,0
$GC,736,-0.58,-117.3,124.0,-12.5,110,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2141,3221,0,0,0,0,0,0
$GC,864,-0.58,-117.3,140.0,-12.6,122,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2141,3221,0,0,0,0,0,0
$GC,991,-0.58,-117.3,155.4,-11.9,134,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2141,3221,0,0,0,0,0,0
$GC,1118,-0.58,-117.3,171.0,-12.1,146,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2141,3221,0,0,0,0,0,0
$GC,1246,-0.58,-117.3,186.5,-12.2,158,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2141,3221,0,0,0,0,0,0
$GC,1373,-0.58,-117.3,202.1,-12.2,170,1377,0.00,2.47,0.00,0.000,4,0.000,0.060,2688,3693,3221,0,0,0,0,0,0
$GC,1405,-0.58,-117.3,206.3,-13.1,172,1412,0.10,2.33,0.00,0.000,6,0.161,0.044,2713,2176,3221,0,0,0,0,0,0
$GC,1542,-0.58,-117.3,221.4,-11.3,185,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2171,3221,0,0,0,0,0,0
$GC,1676,-0.58,-117.3,237.3,-11.7,198,1680,0.00,2.45,0.00,0.000,4,0.000,0.063,2704,3693,3221,0,0,0,0,0,0
$GC,1707,-0.58,-117.3,241.4,-12.3,200,1714,0.00,2.30,0.00,0.000,6,0.000,0.044,2703,2190,3221,0,0,0,0,0,0
$GC,1843,-0.58,-117.3,257.3,-12.0,213,1847,0.00,2.33,0.00,0.000,4,0.000,0.052,2703,667,3221,0,0,0,0,0,0
$GC,1895,-0.58,-117.3,263.7,-12.3,217,1899,0.00,2.35,0.00,0.000,6,0.000,0.050,2693,2198,3221,0,0,0,0,0,0
$GC,2030,-0.58,-117.3,280.1,-11.9,229,2034,0.00,2.40,0.00,0.000,4,0.000,0.061,2681,3697,3221,0,0,0,0,0,0
$GC,2074,-0.58,-117.3,286.0,-12.9,232,2082,0.12,2.33,0.00,0.000,6,0.156,0.044,2715,2191,3221,0,0,0,0,0,0
$GC,2209,-0.59,-117.3,300.2,-9.9,245,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2186,3221,0,0,0,0,0,0
$GC,2337,-0.60,-117.3,313.4,-10.2,257,2342,0.00,2.35,0.00,0.000,4,0.000,0.053,2715,657,3221,0,0,0,0,0,0
$GC,2377,-0.61,-117.3,317.7,-10.3,260,2382,0.00,2.35,0.00,0.000,6,0.000,0.050,2708,2189,3221,0,0,0,0,0,0
$GC,2511,-0.61,-117.3,332.1,-10.6,272,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2188,3221,0,0,0,0,0,0
$GC,2640,-0.61,-117.3,345.9,-10.5,284,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2188,3221,0,0,0,0,0,0
$GC,2767,-0.61,-117.3,358.9,-10.0,296,2771,0.00,2.38,0.00,0.000,4,0.000,0.063,2697,3691,3221,0,0,0,0,0,0
$GC,2802,-0.61,-117.3,362.6,-10.3,299,2806,0.00,2.33,0.00,0.000,6,0.000,0.045,2695,2183,3221,0,0,0,0,0,0
$GC,2936,-0.61,-117.3,376.5,-10.2,311,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2178,3220,0,0,0,0,0,0
$GC,3065,-0.61,-117.3,389.9,-10.6,323,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2177,3220,0,0,0,0,0,0
$GC,3191,-0.61,-117.3,403.2,-10.7,335,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2177,3220,0,0,0,0,0,0
$GC,3318,-0.61,-117.3,416.7,-10.6,347,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2178,3219,0,0,0,0,0,0
$GC,3446,-0.61,-117.3,430.4,-10.9,359,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2177,3219,0,0,0,0,0,0
$GC,3573,-0.61,-117.3,444.0,-10.8,371,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2177,3219,0,0,0,0,0,0
$GC,3701,-0.61,-117.3,457.3,-10.2,383,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2178,3219,0,0,0,0,0,0
$GC,3829,-0.61,-117.3,470.6,-10.5,395,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2178,3219,0,0,0,0,0,0
$GC,3955,-0.61,-117.3,483.7,-10.3,407,3956,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2178,3219,0,0,0,0,0,0
$GC,4082,-0.61,-117.3,496.6,-10.2,419,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2177,3219,0,0,0,0,0,0
$GC,4211,-0.61,-117.3,509.1,-9.8,431,4215,0.00,2.33,0.00,0.000,4,0.000,0.053,2695,656,3218,0,0,0,0,0,0
$GC,4250,-0.61,-117.3,513.4,-10.3,434,4254,0.00,2.35,0.00,0.000,6,0.000,0.051,2686,2193,3218,0,0,0,0,0,0
$GC,4384,-0.61,-117.3,527.0,-10.4,446,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2193,3218,0,0,0,0,0,0
$GC,4513,-0.61,-117.3,540.2,-10.3,458,4517,0.00,2.40,0.00,0.000,4,0.000,0.063,2674,3695,3218,0,0,0,0,0,0
$GC,4552,-0.61,-117.3,544.6,-11.3,461,4557,0.12,2.33,0.00,0.000,6,0.156,0.047,2708,2186,3218,0,0,0,0,0,0
$GC,4692,-0.63,-117.3,557.7,-9.2,474,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2182,3218,0,0,0,0,0,0
$GC,4821,-0.64,-117.3,569.4,-9.5,486,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2181,3218,0,0,0,0,0,0
$GC,4946,-0.65,-117.3,581.3,-9.4,498,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2181,3217,0,0,0,0,0,0
$GC,5074,-0.67,-117.3,592.8,-9.2,510,5075,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2182,3217,0,0,0,0,0,0
$GC,5221,-0.68,-117.3,606.1,-9.0,520,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2182,3217,0,0,0,0,0,0
$GC,5529,-0.70,-117.3,631.7,-7.9,530,5530,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2181,3217,0,0,0,0,0,0
$GC,5833,-0.71,-117.3,654.9,-7.5,540,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2182,3217,0,0,0,0,0,0
$GC,6140,-0.73,-117.3,678.4,-7.8,550,6145,0.12,2.35,0.00,0.000,4,0.091,0.054,2642,659,3216,0,0,0,0,0,0
$GC,6189,-0.71,-117.3,684.1,-11.8,551,6194,0.15,2.35,0.00,0.000,6,0.163,0.052,2673,2191,3216,0,0,0,0,0,0
$GC,6503,-0.71,-117.3,716.1,-10.5,561,6507,0.00,2.38,0.00,0.000,4,0.000,0.065,2664,3697,3216,0,0,0,0,0,0
$GC,6541,-0.71,-117.3,720.7,-11.5,562,6545,0.00,2.35,0.00,0.000,6,0.000,0.047,2663,2188,3215,0,0,0,0,0,0
$GC,6876,-0.71,-117.3,757.8,-11.2,573,6880,0.00,2.40,0.00,0.000,4,0.000,0.065,2652,3694,3215,0,0,0,0,0,0
$GC,6915,-0.71,-117.3,762.6,-12.7,574,6919,0.00,2.30,0.00,0.000,6,0.000,0.047,2652,2188,3215,0,0,0,0,0,0
$GC,7238,-0.71,-117.3,800.1,-11.4,585,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2184,3215,0,0,0,0,0,0
$GC,7545,-0.71,-117.3,835.5,-11.4,595,7546,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2184,3214,0,0,0,0,0,0
$GC,7851,-0.71,-117.3,870.8,-11.5,605,7855,0.00,2.40,0.00,0.000,4,0.000,0.066,2641,3694,3214,0,0,0,0,0,0
$GC,7896,-0.70,-117.3,876.2,-12.1,606,7900,0.12,2.30,0.00,0.000,6,0.162,0.048,2674,2189,3214,0,0,0,0,0,0
$GC,8214,-0.70,-117.3,908.8,-10.1,617,8215,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2186,3213,0,0,0,0,0,0
$GC,8522,-0.70,-117.3,938.3,-9.5,627,8523,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2186,3213,0,0,0,0,0,0
$GC,8826,-0.70,-117.3,966.6,-9.3,637,8831,0.00,2.33,0.00,0.000,4,0.000,0.057,2674,667,3213,0,0,0,0,0,0
$GC,8876,-0.70,-117.3,971.6,-10.1,638,8880,0.00,2.38,0.00,0.000,6,0.000,0.054,2666,2211,3212,0,0,0,0,0,0
$STATE,9064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9064,begin apogee
$GC,9072,-0.22,0.0,990.1,9.8,644,9176,0.52,0.00,101.53,1.233,6,0.126,0.000,2835,2057,2735,0,0,0,0,0,0
$STATE,9177,end apogee,CONTROL_FINISHED_OK
$STATE,9177,begin climb
$GC,9180,0.72,117.3,993.0,0.0,647,9293,0.85,0.00,109.55,1.205,6,0.077,0.000,3130,2057,2256,0,0,0,0,0,0
$GC,9589,0.69,117.3,941.1,15.3,661,9593,0.00,2.45,0.00,0.000,4,0.000,0.058,3141,552,2245,0,0,0,0,0,0
$GC,9610,0.67,117.3,936.8,15.3,661,9617,0.00,2.42,0.00,0.000,6,0.000,0.050,3141,2067,2245,0,0,0,0,0,0
$GC,9923,0.64,117.3,887.0,16.0,672,9928,0.00,2.45,0.00,0.000,4,0.000,0.063,3141,3575,2243,0,0,0,0,0,0
$GC,9958,0.60,117.3,881.0,17.8,673,9963,0.20,2.40,0.00,0.000,6,0.180,0.048,3102,2060,2242,0,0,0,0,0,0
$GC,10288,0.59,117.3,837.5,13.1,684,10289,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2060,2241,0,0,0,0,0,0
$GC,10594,0.58,117.3,798.2,12.8,694,10595,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2059,2240,0,0,0,0,0,0
$GC,10901,0.57,117.3,761.0,11.9,704,10902,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2058,2240,0,0,0,0,0,0
$GC,11206,0.57,117.3,724.0,12.3,714,11210,0.00,2.45,0.00,0.000,4,0.000,0.063,3101,3585,2240,0,0,0,0,0,0
$GC,11256,0.55,117.3,716.9,14.9,715,11260,0.00,2.38,0.00,0.000,6,0.000,0.048,3111,2055,2238,0,0,0,0,0,0
$GC,11570,0.53,117.3,674.9,13.2,725,11572,0.12,0.00,0.00,0.000,6,0.174,0.000,3078,2053,2239,0,0,0,0,0,0
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$STATE,17476,end climb,SURFACE_DEPTH_REACHED
$STATE,17476,begin surface coast
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$STATE,17514,end surface coast,CONTROL_FINISHED_OK
$STATE,17514,begin surface
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$10V_AH,10.2,16.461
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,297488
$DATA_FILE_SIZE,73584,1303
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$CFSIZE,260165632,200867840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.046,103.9,1
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