version: 66.07
glider: 187
mission: 4
dive: 665
start: 8 20 111 21 24 33
data:
$ID,187
$MISSION,4
$DIVE,665
$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,-1585582.2
$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,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,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,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
$GPS1,200811,211855,4714.484,-12625.212,38,1.4,38,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-77.0
$GPS2,200811,212338,4714.485,-12625.245,10,2.0,10,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.167,0.110
$KALMAN_X,358939.2,-526.2,101.4,-455663.0,-2616.8
$KALMAN_Y,-683864.1,643.2,-80.2,623929.5,-1480.0
$MHEAD_RNG_PITCHd_Wd,72.0,114244,-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,-117.3,0.0,0.0,0,100,0.00,0.00,-82.25,0.000,6,0.000,0.000,114,2184,3215,0,0,0,0,0,0
$GC,104,-0.50,-117.3,2.9,-2.9,1,119,10.73,2.40,0.00,0.000,4,0.226,0.043,2746,650,3219,0,0,0,0,0,0
$GC,211,-0.48,-117.3,38.6,-12.3,2,215,0.00,2.38,0.00,0.000,6,0.000,0.047,2737,2180,3222,0,0,0,0,0,0
$GC,418,-0.45,-117.3,63.2,-12.1,4,420,0.12,0.00,0.00,0.000,6,0.151,0.000,2773,2180,3224,0,0,0,0,0,0
$GC,621,-0.43,-117.3,82.4,-10.5,6,625,0.00,2.40,0.00,0.000,4,0.000,0.050,2773,649,3226,0,0,0,0,0,0
$GC,647,-0.43,-117.3,85.2,-9.3,6,652,0.00,2.35,0.00,0.000,6,0.000,0.047,2771,2176,3226,0,0,0,0,0,0
$GC,922,-0.43,-117.3,107.7,-8.3,9,927,0.00,2.40,0.00,0.000,4,0.000,0.060,2759,3689,3226,0,0,0,0,0,0
$GC,944,-0.43,-117.3,109.6,-8.4,9,948,0.00,2.38,0.00,0.000,6,0.000,0.043,2759,2155,3226,0,0,0,0,0,0
$GC,1549,-0.43,-117.3,156.1,-7.4,11,1553,0.00,2.30,0.00,0.000,4,0.000,0.051,2759,669,3226,0,0,0,0,0,0
$GC,1605,-0.43,-117.3,160.0,-7.0,11,1610,0.10,2.33,0.00,0.000,6,0.145,0.048,2780,2165,3226,0,0,0,0,0,0
$GC,2178,-0.44,-117.3,191.1,-5.4,13,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2165,3224,0,0,0,0,0,0
$GC,2476,-0.46,-117.3,207.2,-5.4,14,2480,0.00,2.35,0.00,0.000,4,0.000,0.052,2780,665,3224,0,0,0,0,0,0
$GC,2504,-0.47,-117.3,208.9,-6.0,14,2509,0.00,2.35,0.00,0.000,6,0.000,0.049,2780,2171,3224,0,0,0,0,0,0
$GC,3109,-0.50,-117.3,243.8,-5.8,16,3113,0.00,2.45,0.00,0.000,4,0.000,0.063,2779,3690,3223,0,0,0,0,0,0
$GC,3153,-0.54,-117.3,246.6,-6.3,16,3157,0.00,2.45,0.00,0.000,6,0.000,0.045,2778,2123,3223,0,0,0,0,0,0
$GC,3734,-0.57,-117.3,283.7,-6.4,18,3738,0.12,2.30,0.00,0.000,4,0.086,0.051,2705,669,3221,0,0,0,0,0,0
$GC,3780,-0.55,-117.3,287.3,-9.3,18,3784,0.15,2.20,0.00,0.000,6,0.135,0.049,2740,2094,3221,0,0,0,0,0,0
$GC,4372,-0.55,-117.3,327.2,-6.5,20,4377,0.00,2.58,0.00,0.000,4,0.000,0.061,2731,3690,3220,0,0,0,0,0,0
$GC,4428,-0.55,-117.3,331.0,-6.3,20,4433,0.00,2.53,0.00,0.000,6,0.000,0.045,2730,2082,3220,0,0,0,0,0,0
$GC,4999,-0.55,-117.3,371.1,-6.7,22,5003,0.00,2.22,0.00,0.000,4,0.000,0.054,2730,670,3218,0,0,0,0,0,0
$GC,5044,-0.55,-117.3,374.4,-7.1,22,5048,0.00,2.20,0.00,0.000,6,0.000,0.050,2723,2089,3218,0,0,0,0,0,0
$GC,5639,-0.55,-117.3,421.5,-8.4,24,5643,0.00,2.60,0.00,0.000,4,0.000,0.061,2711,3696,3217,0,0,0,0,0,0
$GC,5682,-0.55,-117.3,425.6,-8.9,24,5687,0.10,2.53,0.00,0.000,6,0.135,0.045,2741,2096,3218,0,0,0,0,0,0
$GC,6266,-0.55,-117.3,464.7,-6.4,26,6270,0.00,2.25,0.00,0.000,4,0.000,0.055,2741,666,3217,0,0,0,0,0,0
$GC,6317,-0.55,-117.3,468.2,-7.0,26,6321,0.00,2.20,0.00,0.000,6,0.000,0.051,2735,2085,3217,0,0,0,0,0,0
$GC,6898,-0.55,-117.3,508.1,-6.7,28,6902,0.00,2.62,0.00,0.000,4,0.000,0.063,2723,3689,3216,0,0,0,0,0,0
$GC,6947,-0.55,-117.3,511.5,-6.8,28,6951,0.00,2.50,0.00,0.000,6,0.000,0.047,2723,2086,3216,0,0,0,0,0,0
$GC,7522,-0.55,-117.3,549.4,-6.5,30,7526,0.00,2.22,0.00,0.000,4,0.000,0.056,2723,671,3215,0,0,0,0,0,0
$GC,7583,-0.55,-117.3,553.7,-7.0,30,7586,0.00,2.20,0.00,0.000,6,0.000,0.052,2715,2090,3215,0,0,0,0,0,0
$GC,8153,-0.54,-117.3,594.5,-7.3,32,8158,0.12,2.62,0.00,0.000,4,0.141,0.063,2743,3695,3214,0,0,0,0,0,0
$GC,8192,-0.55,-117.3,597.0,-6.4,32,8196,0.00,2.55,0.00,0.000,6,0.000,0.047,2742,2081,3214,0,0,0,0,0,0
$GC,8779,-0.55,-117.3,631.4,-6.0,34,8783,0.00,2.25,0.00,0.000,4,0.000,0.056,2742,664,3213,0,0,0,0,0,0
$GC,8825,-0.55,-117.3,634.4,-6.7,34,8829,0.00,2.22,0.00,0.000,6,0.000,0.053,2741,2088,3213,0,0,0,0,0,0
$GC,9406,-0.55,-117.3,670.0,-6.2,36,9411,0.00,2.65,0.00,0.000,4,0.000,0.066,2742,3692,3212,0,0,0,0,0,0
$GC,9453,-0.57,-117.3,672.6,-6.1,36,9457,0.00,2.55,0.00,0.000,6,0.000,0.049,2742,2085,3212,0,0,0,0,0,0
$GC,10036,-0.57,-117.3,707.6,-6.1,38,10040,0.00,2.25,0.00,0.000,4,0.000,0.057,2741,672,3211,0,0,0,0,0,0
$GC,10079,-0.57,-117.3,710.7,-7.3,38,10083,0.00,2.22,0.00,0.000,6,0.000,0.055,2741,2094,3211,0,0,0,0,0,0
$GC,10669,-0.57,-117.3,743.6,-5.4,40,10673,0.00,2.65,0.00,0.000,4,0.000,0.067,2741,3694,3211,0,0,0,0,0,0
$GC,10691,-0.58,-117.3,745.0,-5.6,40,10695,0.00,2.58,0.00,0.000,6,0.000,0.050,2740,2079,3210,0,0,0,0,0,0
$GC,11294,-0.58,-117.3,781.5,-6.3,42,11298,0.00,2.25,0.00,0.000,4,0.000,0.057,2740,670,3209,0,0,0,0,0,0
$GC,11334,-0.58,-117.3,784.2,-7.0,42,11338,0.00,2.22,0.00,0.000,6,0.000,0.053,2736,2091,3210,0,0,0,0,0,0
$GC,11920,-0.58,-117.3,822.9,-6.4,44,11925,0.00,2.65,0.00,0.000,4,0.000,0.065,2725,3693,3209,0,0,0,0,0,0
$GC,11976,-0.58,-117.3,826.4,-6.5,44,11980,0.00,2.55,0.00,0.000,6,0.000,0.049,2724,2089,3209,0,0,0,0,0,0
$GC,12547,-0.58,-117.3,857.9,-5.2,46,12551,0.00,2.25,0.00,0.000,4,0.000,0.057,2724,666,3209,0,0,0,0,0,0
$GC,12593,-0.58,-117.3,860.4,-6.1,46,12597,0.00,2.22,0.00,0.000,6,0.000,0.054,2719,2084,3208,0,0,0,0,0,0
$GC,13175,-0.58,-117.3,892.1,-5.4,48,13179,0.00,2.65,0.00,0.000,4,0.000,0.067,2708,3689,3208,0,0,0,0,0,0
$GC,13231,-0.58,-117.3,895.4,-6.1,48,13236,0.00,2.53,0.00,0.000,6,0.000,0.050,2708,2093,3208,0,0,0,0,0,0
$GC,13804,-0.58,-117.3,929.5,-6.0,50,13808,0.00,2.30,0.00,0.000,4,0.000,0.058,2708,667,3208,0,0,0,0,0,0
$GC,13842,-0.58,-117.3,932.4,-6.9,50,13847,0.12,2.25,0.00,0.000,6,0.141,0.054,2736,2098,3208,0,0,0,0,0,0
$GC,14431,-0.58,-117.3,964.2,-5.5,52,14436,0.00,2.62,0.00,0.000,4,0.000,0.067,2729,3689,3207,0,0,0,0,0,0
$GC,14465,-0.59,-117.3,966.4,-6.1,52,14469,0.00,2.55,0.00,0.000,6,0.000,0.050,2729,2093,3207,0,0,0,0,0,0
$STATE,15055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15055,begin apogee
$GC,15061,-0.22,0.0,995.8,4.8,54,15170,0.38,0.00,106.93,1.229,6,0.097,0.000,2855,2092,2735,0,0,0,0,0,0
$STATE,15171,end apogee,CONTROL_FINISHED_OK
$STATE,15171,begin climb
$GC,15174,0.50,117.3,995.8,0.0,54,15299,0.62,2.65,114.62,1.196,4,0.060,0.059,3082,3577,2255,0,0,0,0,0,0
$GC,15345,0.46,117.3,985.7,11.3,54,15349,0.00,2.55,0.00,0.000,6,0.000,0.047,3094,2071,2249,0,0,0,0,0,0
$GC,15796,0.42,117.3,938.0,10.6,56,15798,0.12,0.00,0.00,0.000,6,0.167,0.000,3059,2070,2243,0,0,0,0,0,0
$GC,16091,0.39,117.3,912.2,9.7,57,16095,0.00,2.45,0.00,0.000,4,0.000,0.063,3059,3578,2241,0,0,0,0,0,0
$GC,16125,0.36,117.3,909.0,10.3,57,16129,0.00,2.42,0.00,0.000,6,0.000,0.050,3069,2056,2241,0,0,0,0,0,0
$GC,16723,0.34,117.3,857.3,8.5,59,16728,0.12,2.47,0.00,0.000,4,0.158,0.063,3034,3576,2240,0,0,0,0,0,0
$GC,16752,0.33,117.3,855.0,7.7,59,16756,0.00,2.38,0.00,0.000,6,0.000,0.048,3042,2062,2239,0,0,0,0,0,0
$GC,17356,0.33,117.3,814.1,6.9,61,17357,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2060,2239,0,0,0,0,0,0
$GC,17658,0.33,117.3,793.0,6.9,62,17662,0.00,2.47,0.00,0.000,4,0.000,0.063,3042,3583,2238,0,0,0,0,0,0
$GC,17685,0.31,117.3,790.6,7.7,62,17689,0.00,2.40,0.00,0.000,6,0.000,0.050,3052,2061,2237,0,0,0,0,0,0
$GC,18291,0.30,117.3,744.0,7.9,64,18296,0.12,2.45,0.00,0.000,4,0.152,0.063,3016,3574,2237,0,0,0,0,0,0
$GC,18329,0.30,117.3,740.7,7.7,64,18333,0.00,2.38,0.00,0.000,6,0.000,0.047,3023,2060,2237,0,0,0,0,0,0
$GC,18922,0.30,117.3,698.6,7.0,66,18923,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2057,2236,0,0,0,0,0,0
$GC,19222,0.30,117.3,680.6,6.6,67,19226,0.00,2.45,0.00,0.000,4,0.000,0.063,3023,3573,2236,0,0,0,0,0,0
$GC,19243,0.30,131.6,679.3,5.6,67,19259,0.00,2.33,10.68,0.933,6,0.000,0.047,3031,2077,2198,0,0,0,0,0,0
$GC,19853,0.31,132.9,642.2,6.1,69,19854,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2076,2195,0,0,0,0,0,0
$GC,20154,0.31,134.2,623.9,6.1,70,20158,0.00,2.45,0.00,0.000,4,0.000,0.063,3031,3580,2195,0,0,0,0,0,0
$GC,20181,0.31,134.2,621.9,6.8,70,20186,0.00,2.35,0.00,0.000,6,0.000,0.050,3041,2081,2194,0,0,0,0,0,0
$GC,20788,0.31,135.7,585.7,6.1,72,20795,0.00,0.00,5.18,0.730,6,0.000,0.000,3040,2078,2181,0,0,0,0,0,0
$GC,21087,0.31,135.7,565.1,6.4,73,21088,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2077,2181,0,0,0,0,0,0
$GC,21387,0.31,135.7,545.6,6.5,74,21388,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2077,2181,0,0,0,0,0,0
$GC,21688,0.31,135.7,525.9,6.5,75,21692,0.00,2.45,0.00,0.000,4,0.000,0.063,3041,3575,2180,0,0,0,0,0,0
$GC,21728,0.31,135.7,523.0,8.3,75,21732,0.00,2.33,0.00,0.000,6,0.000,0.047,3050,2083,2179,0,0,0,0,0,0
$GC,22315,0.31,135.7,478.1,7.7,77,22316,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2080,2179,0,0,0,0,0,0
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$STATE,29078,end climb,SURFACE_DEPTH_REACHED
$STATE,29078,begin surface coast
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$STATE,29184,end surface coast,CONTROL_FINISHED_OK
$STATE,29184,begin surface
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$TT8_MAMPS,0.026964
$HUMID,41.61
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,20.30
$XPDR_PINGS,0
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$10V_AH,9.8,79.804
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,297712
$DATA_FILE_SIZE,3636,108
$CAP_FILE_SIZE,215899,0
$CFSIZE,260165632,160350208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.195,100.4,1
$GPS,210811,053331,4713.927,-12620.764,39,1.5,39,18.6