version: 66.07
glider: 187
mission: 4
dive: 663
start: 8 20 111 5 27 39
data:
$ID,187
$MISSION,4
$DIVE,663
$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,-1585579.8
$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,29
$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,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
$GPS1,200811,052155,4712.955,-12631.014,43,1.2,43,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-74.7
$GPS2,200811,052644,4712.923,-12631.023,14,1.4,14,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.173,0.101
$KALMAN_X,362691.6,-26.2,-799.0,-466203.4,-1006.2
$KALMAN_Y,-678971.8,-836.6,1109.2,616425.2,46.5
$MHEAD_RNG_PITCHd_Wd,80.0,121748,-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,-117.3,0.0,0.0,0,99,0.00,0.00,-81.18,0.000,6,0.000,0.000,125,2189,3216,0,0,0,0,0,0
$GC,102,-0.50,-117.3,0.0,-0.0,0,117,10.65,2.38,0.00,0.000,4,0.224,0.041,2748,652,3219,0,0,0,0,0,0
$GC,250,-0.48,-117.3,39.1,-10.3,1,254,0.00,2.35,0.00,0.000,6,0.000,0.047,2739,2176,3224,0,0,0,0,0,0
$GC,519,-0.45,-117.3,68.1,-10.8,4,520,0.12,0.00,0.00,0.000,6,0.148,0.000,2775,2176,3226,0,0,0,0,0,0
$GC,719,-0.43,-117.3,85.9,-9.9,6,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2176,3226,0,0,0,0,0,0
$GC,922,-0.43,-117.3,102.7,-8.6,8,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2176,3227,0,0,0,0,0,0
$GC,1221,-0.43,-117.3,122.5,-7.5,9,1225,0.00,2.40,0.00,0.000,4,0.000,0.049,2775,647,3227,0,0,0,0,0,0
$GC,1261,-0.45,-117.3,125.4,-7.5,9,1265,0.00,2.38,0.00,0.000,6,0.000,0.047,2773,2178,3227,0,0,0,0,0,0
$GC,1848,-0.45,-117.3,163.5,-6.0,11,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2179,3225,0,0,0,0,0,0
$GC,2148,-0.45,-117.3,181.1,-5.9,12,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2178,3224,0,0,0,0,0,0
$GC,2449,-0.45,-117.3,198.0,-5.8,13,2452,0.00,2.40,0.00,0.000,4,0.000,0.051,2772,651,3223,0,0,0,0,0,0
$GC,2478,-0.46,-117.3,199.8,-6.6,13,2482,0.00,2.38,0.00,0.000,6,0.000,0.049,2772,2174,3223,0,0,0,0,0,0
$GC,3083,-0.47,-117.3,234.9,-5.7,15,3087,0.00,2.40,0.00,0.000,4,0.000,0.052,2772,657,3222,0,0,0,0,0,0
$GC,3123,-0.48,-117.3,237.4,-6.4,15,3127,0.00,2.33,0.00,0.000,6,0.000,0.050,2769,2158,3223,0,0,0,0,0,0
$GC,3712,-0.50,-117.3,272.9,-6.1,17,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2158,3221,0,0,0,0,0,0
$GC,4010,-0.51,-117.3,292.2,-6.2,18,4015,0.00,2.35,0.00,0.000,4,0.000,0.052,2769,655,3220,0,0,0,0,0,0
$GC,4044,-0.52,-117.3,294.5,-6.9,18,4048,0.00,2.35,0.00,0.000,6,0.000,0.051,2769,2160,3220,0,0,0,0,0,0
$GC,4637,-0.53,-117.3,327.1,-5.5,20,4641,0.00,2.35,0.00,0.000,4,0.000,0.053,2769,659,3218,0,0,0,0,0,0
$GC,4664,-0.54,-117.3,328.9,-6.3,20,4668,0.00,2.33,0.00,0.000,6,0.000,0.051,2769,2147,3219,0,0,0,0,0,0
$GC,5269,-0.56,-117.3,359.2,-4.8,22,5272,0.00,2.35,0.00,0.000,4,0.000,0.054,2769,656,3217,0,0,0,0,0,0
$GC,5309,-0.57,-117.3,361.1,-4.9,22,5314,0.10,2.33,0.00,0.000,6,0.099,0.052,2713,2142,3217,0,0,0,0,0,0
$GC,5908,-0.56,-117.3,405.3,-7.6,24,5912,0.00,2.50,0.00,0.000,4,0.000,0.063,2701,3692,3216,0,0,0,0,0,0
$GC,5936,-0.54,-117.3,407.7,-8.7,24,5941,0.15,2.42,0.00,0.000,6,0.122,0.047,2747,2132,3217,0,0,0,0,0,0
$GC,6537,-0.54,-117.3,447.2,-6.7,26,6541,0.00,2.28,0.00,0.000,4,0.000,0.054,2747,665,3215,0,0,0,0,0,0
$GC,6586,-0.54,-117.3,450.8,-7.0,26,6591,0.00,2.28,0.00,0.000,6,0.000,0.051,2742,2135,3215,0,0,0,0,0,0
$GC,7164,-0.54,-117.3,488.0,-6.4,28,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2136,3214,0,0,0,0,0,0
$GC,7463,-0.54,-117.3,507.4,-6.4,29,7464,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2136,3213,0,0,0,0,0,0
$GC,7764,-0.54,-117.3,526.0,-6.4,30,7767,0.00,2.33,0.00,0.000,4,0.000,0.056,2742,664,3213,0,0,0,0,0,0
$GC,7791,-0.54,-117.3,527.8,-6.7,30,7795,0.00,2.30,0.00,0.000,6,0.000,0.053,2734,2138,3213,0,0,0,0,0,0
$GC,8394,-0.54,-117.3,566.6,-6.5,32,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2138,3212,0,0,0,0,0,0
$GC,8694,-0.54,-117.3,585.8,-6.4,33,8698,0.00,2.35,0.00,0.000,4,0.000,0.056,2734,663,3211,0,0,0,0,0,0
$GC,8723,-0.54,-117.3,587.7,-7.2,33,8727,0.00,2.30,0.00,0.000,6,0.000,0.053,2731,2132,3211,0,0,0,0,0,0
$GC,9328,-0.54,-117.3,629.7,-7.0,35,9332,0.00,2.55,0.00,0.000,4,0.000,0.064,2719,3694,3211,0,0,0,0,0,0
$GC,9378,-0.54,-117.3,633.4,-7.5,35,9383,0.00,2.45,0.00,0.000,6,0.000,0.047,2719,2133,3210,0,0,0,0,0,0
$GC,9956,-0.54,-117.3,675.9,-7.3,37,9960,0.00,2.35,0.00,0.000,4,0.000,0.056,2719,656,3209,0,0,0,0,0,0
$GC,10011,-0.54,-117.3,680.2,-7.5,37,10016,0.12,2.33,0.00,0.000,6,0.137,0.053,2748,2139,3209,0,0,0,0,0,0
$GC,10590,-0.55,-117.3,710.1,-5.1,39,10594,0.00,2.58,0.00,0.000,4,0.000,0.067,2739,3696,3209,0,0,0,0,0,0
$GC,10623,-0.57,-117.3,711.9,-5.2,39,10628,0.00,2.45,0.00,0.000,6,0.000,0.049,2738,2134,3209,0,0,0,0,0,0
$GC,11216,-0.57,-117.3,744.7,-5.5,41,11220,0.00,2.33,0.00,0.000,4,0.000,0.057,2738,660,3208,0,0,0,0,0,0
$GC,11260,-0.57,-117.3,747.3,-6.6,41,11264,0.00,2.33,0.00,0.000,6,0.000,0.054,2731,2142,3208,0,0,0,0,0,0
$GC,11842,-0.57,-117.3,779.7,-5.5,43,11846,0.00,2.53,0.00,0.000,4,0.000,0.066,2720,3690,3208,0,0,0,0,0,0
$GC,11880,-0.57,-117.3,782.0,-5.6,43,11885,0.00,2.47,0.00,0.000,6,0.000,0.049,2719,2129,3207,0,0,0,0,0,0
$GC,12468,-0.57,-117.3,816.6,-6.1,45,12472,0.00,2.30,0.00,0.000,4,0.000,0.057,2719,667,3208,0,0,0,0,0,0
$GC,12514,-0.57,-117.3,819.7,-6.3,45,12518,0.00,2.33,0.00,0.000,6,0.000,0.054,2711,2136,3207,0,0,0,0,0,0
$GC,13097,-0.57,-117.3,857.1,-6.3,47,13098,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2135,3206,0,0,0,0,0,0
$GC,13396,-0.57,-117.3,874.8,-6.1,48,13397,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2135,3206,0,0,0,0,0,0
$GC,13697,-0.57,-117.3,891.4,-5.9,49,13698,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2136,3206,0,0,0,0,0,0
$GC,13997,-0.57,-117.3,907.4,-5.7,50,14001,0.00,2.55,0.00,0.000,4,0.000,0.067,2699,3690,3206,0,0,0,0,0,0
$GC,14024,-0.57,-117.3,908.8,-5.6,50,14029,0.12,2.45,0.00,0.000,6,0.128,0.050,2738,2136,3206,0,0,0,0,0,0
$GC,14623,-0.57,-117.3,934.0,-4.2,52,14627,0.00,2.33,0.00,0.000,4,0.000,0.059,2737,664,3205,0,0,0,0,0,0
$GC,14669,-0.57,-117.3,936.2,-5.4,52,14674,0.00,2.35,0.00,0.000,6,0.000,0.054,2732,2138,3205,0,0,0,0,0,0
$GC,15253,-0.57,-117.3,965.0,-5.3,54,15257,0.00,2.53,0.00,0.000,4,0.000,0.067,2722,3691,3205,0,0,0,0,0,0
$GC,15291,-0.57,-117.3,967.5,-6.3,54,15295,0.00,2.50,0.00,0.000,6,0.000,0.050,2721,2117,3205,0,0,0,0,0,0
$STATE,15882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15882,begin apogee
$GC,15890,-0.22,0.0,1005.0,6.4,56,15999,0.38,0.00,106.07,1.239,6,0.099,0.000,2847,2053,2735,0,0,0,0,0,0
$STATE,16000,end apogee,CONTROL_FINISHED_OK
$STATE,16000,begin climb
$GC,16002,0.50,117.3,1005.0,0.0,56,16125,0.65,0.00,114.43,1.204,6,0.063,0.000,3081,2053,2255,0,0,0,0,0,0
$GC,16629,0.47,117.3,957.7,9.2,58,16633,0.00,2.50,0.00,0.000,4,0.000,0.063,3081,3577,2244,0,0,0,0,0,0
$GC,16691,0.43,117.3,951.4,10.7,58,16697,0.12,2.40,0.00,0.000,6,0.168,0.050,3058,2067,2242,0,0,0,0,0,0
$GC,17258,0.41,117.3,908.9,7.3,60,17259,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2067,2241,0,0,0,0,0,0
$GC,17557,0.39,117.3,885.1,7.6,61,17561,0.00,2.45,0.00,0.000,4,0.000,0.063,3059,3577,2240,0,0,0,0,0,0
$GC,17596,0.37,117.3,881.4,8.8,61,17601,0.00,2.38,0.00,0.000,6,0.000,0.050,3067,2061,2239,0,0,0,0,0,0
$GC,18184,0.34,117.3,829.1,9.0,63,18189,0.12,2.47,0.00,0.000,4,0.159,0.063,3033,3577,2239,0,0,0,0,0,0
$GC,18211,0.33,117.3,826.5,8.5,63,18216,0.00,2.38,0.00,0.000,6,0.000,0.050,3041,2065,2238,0,0,0,0,0,0
$GC,18810,0.33,117.3,781.9,7.3,65,18811,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2061,2238,0,0,0,0,0,0
$GC,19110,0.33,117.3,759.9,7.3,66,19114,0.00,2.47,0.00,0.000,4,0.000,0.064,3041,3580,2238,0,0,0,0,0,0
$GC,19144,0.31,117.3,757.2,8.1,66,19148,0.00,2.40,0.00,0.000,6,0.000,0.050,3051,2065,2237,0,0,0,0,0,0
$GC,19739,0.30,117.3,711.7,7.7,68,19744,0.12,2.45,0.00,0.000,4,0.152,0.063,3014,3577,2237,0,0,0,0,0,0
$GC,19783,0.30,117.3,708.3,6.8,68,19787,0.00,2.38,0.00,0.000,6,0.000,0.050,3021,2062,2236,0,0,0,0,0,0
$GC,20366,0.31,128.5,674.2,5.7,70,20376,0.00,0.00,7.80,0.877,6,0.000,0.000,3021,2060,2211,0,0,0,0,0,0
$GC,20665,0.32,144.0,658.0,5.6,71,20684,0.00,0.00,16.40,0.968,6,0.000,0.000,3021,2058,2147,0,0,0,0,0,0
$GC,20966,0.33,159.3,640.9,5.6,72,20986,0.00,2.50,14.95,0.951,4,0.000,0.066,3021,3577,2085,0,0,0,0,0,0
$GC,21010,0.34,178.2,638.1,5.4,72,21034,0.00,2.38,18.40,0.953,6,0.000,0.050,3027,2071,2007,0,0,0,0,0,0
$GC,21595,0.35,178.2,596.6,7.3,74,21599,0.00,2.42,0.00,0.000,4,0.000,0.060,3037,548,2000,0,0,0,0,0,0
$GC,21635,0.36,178.2,593.6,8.5,74,21639,0.00,2.40,0.00,0.000,6,0.000,0.053,3036,2075,2000,0,0,0,0,0,0
$GC,22235,0.36,178.2,553.0,6.5,76,22239,0.00,2.40,0.00,0.000,4,0.000,0.063,3037,3575,2000,0,0,0,0,0,0
$GC,22279,0.36,178.2,549.6,8.2,76,22284,0.00,2.38,0.00,0.000,6,0.000,0.050,3045,2065,1998,0,0,0,0,0,0
$GC,22875,0.37,194.1,514.6,5.6,78,22891,0.00,0.00,14.23,0.876,6,0.000,0.000,3045,2063,1943,0,0,0,0,0,0
$GC,23174,0.38,204.7,496.5,5.7,79,23189,0.00,2.40,10.98,0.840,4,0.000,0.057,3055,548,1899,0,0,0,0,0,0
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$STATE,30376,end climb,SURFACE_DEPTH_REACHED
$STATE,30376,begin surface coast
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$STATE,30477,end surface coast,CONTROL_FINISHED_OK
$STATE,30477,begin surface
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$XPDR_PINGS,2
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$10V_AH,9.8,79.635
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,297664
$DATA_FILE_SIZE,3653,113
$CAP_FILE_SIZE,226494,0
$CFSIZE,260165632,160485376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.200,111.1,1
$GPS,200811,135807,4711.731,-12626.481,35,1.1,35,18.6