version: 66.07
glider: 187
mission: 4
dive: 681
start: 8 26 111 0 23 58
data:
$ID,187
$MISSION,4
$DIVE,681
$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,-1585602.2
$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,36
$R_STBD_OVSHOOT,44
$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
$GPS1,260811,001807,4731.833,-12544.528,37,1.2,37,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-76.2
$GPS2,260811,002302,4731.832,-12544.503,17,1.3,17,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.061,0.190
$KALMAN_X,369501.8,-753.6,1231.0,-416488.4,796.4
$KALMAN_Y,-736554.4,1950.1,-1037.0,708402.4,-3737.1
$MHEAD_RNG_PITCHd_Wd,67.6,54626,-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,15,-0.50,-117.3,0.0,0.0,0,89,0.00,0.00,-71.68,0.000,6,0.000,0.000,120,2190,3215,0,0,0,0,0,0
$GC,92,-0.50,-117.3,0.0,-0.0,0,108,10.77,2.38,0.00,0.000,4,0.221,0.040,2749,654,3219,0,0,0,0,0,0
$GC,293,-0.48,-117.3,48.9,-11.2,1,297,0.00,2.33,0.00,0.000,6,0.000,0.047,2740,2168,3223,0,0,0,0,0,0
$GC,506,-0.45,-117.3,74.2,-11.9,4,510,0.12,2.33,0.00,0.000,4,0.150,0.047,2776,665,3225,0,0,0,0,0,0
$GC,546,-0.45,-117.3,78.7,-10.1,4,550,0.00,2.28,0.00,0.000,6,0.000,0.046,2770,2153,3225,0,0,0,0,0,0
$GC,811,-0.44,-117.3,104.1,-9.7,7,815,0.00,2.42,0.00,0.000,4,0.000,0.057,2758,3691,3226,0,0,0,0,0,0
$GC,844,-0.44,-117.3,107.0,-8.1,7,848,0.00,2.40,0.00,0.000,6,0.000,0.041,2757,2139,3226,0,0,0,0,0,0
$GC,1442,-0.44,-117.3,154.6,-7.9,9,1446,0.00,2.28,0.00,0.000,4,0.000,0.048,2757,663,3226,0,0,0,0,0,0
$GC,1513,-0.44,-117.3,160.8,-8.5,9,1518,0.00,2.28,0.00,0.000,6,0.000,0.046,2750,2152,3226,0,0,0,0,0,0
$GC,2072,-0.44,-117.3,202.4,-6.9,11,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2152,3224,0,0,0,0,0,0
$GC,2373,-0.44,-117.3,220.4,-6.5,12,2377,0.00,2.33,0.00,0.000,4,0.000,0.050,2749,668,3223,0,0,0,0,0,0
$GC,2405,-0.44,-117.3,222.5,-6.6,12,2410,0.12,2.30,0.00,0.000,6,0.131,0.049,2780,2159,3223,0,0,0,0,0,0
$GC,3004,-0.46,-117.3,252.2,-5.4,14,3008,0.00,2.35,0.00,0.000,4,0.000,0.051,2781,664,3222,0,0,0,0,0,0
$GC,3038,-0.48,-117.3,254.2,-6.1,14,3042,0.00,2.30,0.00,0.000,6,0.000,0.049,2779,2140,3222,0,0,0,0,0,0
$GC,3640,-0.51,-117.3,289.9,-6.1,16,3644,0.00,2.50,0.00,0.000,4,0.000,0.062,2777,3690,3220,0,0,0,0,0,0
$GC,3712,-0.54,-117.3,294.3,-5.8,16,3716,0.00,2.50,0.00,0.000,6,0.000,0.044,2777,2095,3220,0,0,0,0,0,0
$GC,4265,-0.57,-117.3,327.5,-6.0,18,4271,0.12,2.60,0.00,0.000,4,0.086,0.060,2703,3697,3219,0,0,0,0,0,0
$GC,4293,-0.57,-117.3,329.6,-7.2,18,4298,0.12,2.53,0.00,0.000,6,0.132,0.045,2740,2075,3219,0,0,0,0,0,0
$GC,4891,-0.57,-117.3,372.8,-7.1,20,4895,0.00,2.20,0.00,0.000,4,0.000,0.053,2740,663,3217,0,0,0,0,0,0
$GC,4946,-0.57,-117.3,376.8,-6.8,20,4950,0.00,2.22,0.00,0.000,6,0.000,0.050,2735,2086,3218,0,0,0,0,0,0
$GC,5522,-0.57,-117.3,413.1,-6.3,22,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2087,3217,0,0,0,0,0,0
$GC,5822,-0.57,-117.3,431.6,-6.2,23,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2086,3216,0,0,0,0,0,0
$GC,6122,-0.57,-117.3,450.7,-6.3,24,6127,0.00,2.60,0.00,0.000,4,0.000,0.063,2722,3688,3215,0,0,0,0,0,0
$GC,6145,-0.57,-117.3,452.3,-6.7,24,6150,0.00,2.55,0.00,0.000,6,0.000,0.047,2722,2077,3215,0,0,0,0,0,0
$GC,6751,-0.57,-117.3,499.8,-8.1,26,6755,0.00,2.20,0.00,0.000,4,0.000,0.054,2722,670,3214,0,0,0,0,0,0
$GC,6818,-0.57,-117.3,505.6,-8.2,26,6822,0.00,2.17,0.00,0.000,6,0.000,0.050,2715,2071,3214,0,0,0,0,0,0
$GC,7385,-0.56,-117.3,552.1,-8.1,28,7389,0.00,2.62,0.00,0.000,4,0.000,0.063,2702,3690,3214,0,0,0,0,0,0
$GC,7423,-0.56,-117.3,555.3,-7.9,28,7428,0.12,2.55,0.00,0.000,6,0.130,0.047,2740,2067,3213,0,0,0,0,0,0
$GC,8017,-0.56,-117.3,592.4,-6.2,30,8021,0.00,2.20,0.00,0.000,4,0.000,0.056,2740,666,3212,0,0,0,0,0,0
$GC,8067,-0.56,-117.3,595.7,-6.7,30,8071,0.00,2.20,0.00,0.000,6,0.000,0.053,2735,2066,3212,0,0,0,0,0,0
$GC,8649,-0.56,-117.3,632.6,-6.3,32,8653,0.00,2.65,0.00,0.000,4,0.000,0.064,2723,3690,3212,0,0,0,0,0,0
$GC,8698,-0.56,-117.3,635.9,-7.4,32,8702,0.00,2.55,0.00,0.000,6,0.000,0.047,2722,2067,3211,0,0,0,0,0,0
$GC,9274,-0.56,-117.3,674.6,-6.6,34,9278,0.00,2.22,0.00,0.000,4,0.000,0.056,2722,672,3210,0,0,0,0,0,0
$GC,9314,-0.56,-117.3,677.3,-8.0,34,9318,0.00,2.20,0.00,0.000,6,0.000,0.053,2715,2068,3210,0,0,0,0,0,0
$GC,9901,-0.56,-117.3,716.3,-6.5,36,9905,0.00,2.65,0.00,0.000,4,0.000,0.064,2702,3692,3210,0,0,0,0,0,0
$GC,9951,-0.56,-117.3,719.7,-6.7,36,9956,0.12,2.53,0.00,0.000,6,0.131,0.046,2740,2081,3209,0,0,0,0,0,0
$GC,10527,-0.56,-117.3,748.2,-5.0,38,10531,0.00,2.22,0.00,0.000,4,0.000,0.056,2740,665,3208,0,0,0,0,0,0
$GC,10573,-0.56,-117.3,750.7,-5.6,38,10577,0.00,2.20,0.00,0.000,6,0.000,0.053,2735,2073,3208,0,0,0,0,0,0
$GC,11154,-0.56,-117.3,784.9,-6.1,40,11159,0.00,2.67,0.00,0.000,4,0.000,0.066,2723,3692,3208,0,0,0,0,0,0
$GC,11190,-0.56,-117.3,786.9,-6.4,40,11194,0.00,2.58,0.00,0.000,6,0.000,0.049,2721,2074,3208,0,0,0,0,0,0
$GC,11784,-0.56,-117.3,825.7,-6.6,42,11788,0.00,2.25,0.00,0.000,4,0.000,0.056,2722,664,3207,0,0,0,0,0,0
$GC,11839,-0.56,-117.3,829.7,-6.9,42,11843,0.00,2.20,0.00,0.000,6,0.000,0.054,2716,2073,3207,0,0,0,0,0,0
$GC,12416,-0.56,-117.3,867.5,-6.4,44,12421,0.00,2.65,0.00,0.000,4,0.000,0.066,2705,3690,3207,0,0,0,0,0,0
$GC,12446,-0.56,-117.3,869.6,-7.0,44,12451,0.12,2.58,0.00,0.000,6,0.125,0.049,2742,2077,3207,0,0,0,0,0,0
$GC,13047,-0.57,-117.3,899.6,-4.9,46,13051,0.00,2.22,0.00,0.000,4,0.000,0.057,2743,668,3207,0,0,0,0,0,0
$GC,13086,-0.58,-117.3,902.0,-5.7,46,13090,0.00,2.22,0.00,0.000,6,0.000,0.054,2738,2072,3207,0,0,0,0,0,0
$GC,13673,-0.58,-117.3,931.6,-5.0,48,13677,0.00,2.70,0.00,0.000,4,0.000,0.067,2729,3692,3206,0,0,0,0,0,0
$GC,13714,-0.60,-117.3,933.7,-5.3,48,13718,0.00,2.58,0.00,0.000,6,0.000,0.049,2729,2080,3206,0,0,0,0,0,0
$GC,14301,-0.60,-117.3,966.8,-5.7,50,14305,0.00,2.25,0.00,0.000,4,0.000,0.057,2728,673,3205,0,0,0,0,0,0
$GC,14369,-0.60,-117.3,971.0,-5.7,50,14373,0.00,2.22,0.00,0.000,6,0.000,0.055,2722,2073,3205,0,0,0,0,0,0
$STATE,14931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14932,begin apogee
$GC,14939,-0.22,0.0,1006.1,6.1,52,15048,0.38,0.00,106.72,1.234,6,0.102,0.000,2847,2073,2735,0,0,0,0,0,0
$STATE,15049,end apogee,CONTROL_FINISHED_OK
$STATE,15049,begin climb
$GC,15052,0.50,117.3,1006.1,0.0,52,15179,0.65,2.75,115.20,1.200,4,0.064,0.056,3091,555,2255,0,0,0,0,0,0
$GC,15220,0.47,117.3,1000.3,8.9,52,15225,0.00,2.55,0.00,0.000,6,0.000,0.050,3091,2059,2251,0,0,0,0,0,0
$GC,15674,0.44,117.3,956.9,9.6,54,15679,0.00,2.45,0.00,0.000,4,0.000,0.063,3091,3578,2244,0,0,0,0,0,0
$GC,15767,0.40,117.3,946.6,12.5,54,15772,0.20,2.40,0.00,0.000,6,0.153,0.049,3047,2075,2243,0,0,0,0,0,0
$GC,16306,0.39,117.3,906.5,7.4,56,16311,0.00,2.45,0.00,0.000,4,0.000,0.062,3047,3584,2241,0,0,0,0,0,0
$GC,16328,0.37,117.3,904.3,8.8,56,16333,0.00,2.40,0.00,0.000,6,0.000,0.048,3055,2063,2241,0,0,0,0,0,0
$GC,16940,0.36,117.3,857.2,7.3,58,16941,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2061,2241,0,0,0,0,0,0
$GC,17239,0.35,117.3,835.8,7.2,59,17243,0.00,2.47,0.00,0.000,4,0.000,0.063,3055,3579,2240,0,0,0,0,0,0
$GC,17272,0.33,117.3,833.0,9.9,59,17277,0.15,2.40,0.00,0.000,6,0.147,0.049,3024,2064,2239,0,0,0,0,0,0
$GC,17864,0.33,128.3,799.5,5.7,61,17879,0.00,2.53,7.97,0.946,4,0.000,0.064,3023,3580,2212,0,0,0,0,0,0
$GC,17915,0.33,128.3,796.1,7.5,61,17919,0.00,2.38,0.00,0.000,6,0.000,0.049,3028,2075,2211,0,0,0,0,0,0
$GC,18497,0.33,128.3,756.1,7.0,63,18499,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2072,2210,0,0,0,0,0,0
$GC,18796,0.33,128.3,735.3,7.0,64,18797,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2070,2210,0,0,0,0,0,0
$GC,19097,0.33,128.3,716.1,6.8,65,19098,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2070,2210,0,0,0,0,0,0
$GC,19397,0.33,128.3,697.9,6.6,66,19401,0.00,2.45,0.00,0.000,4,0.000,0.063,3029,3583,2210,0,0,0,0,0,0
$GC,19424,0.33,128.3,696.0,6.8,66,19429,0.00,2.38,0.00,0.000,6,0.000,0.049,3037,2075,2208,0,0,0,0,0,0
$GC,20029,0.33,130.3,658.8,6.0,68,20030,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2070,2208,0,0,0,0,0,0
$GC,20329,0.33,132.2,640.6,6.0,69,20339,0.00,2.47,5.07,0.747,4,0.000,0.062,3038,3582,2195,0,0,0,0,0,0
$GC,20363,0.33,132.2,638.3,7.1,69,20367,0.00,2.38,0.00,0.000,6,0.000,0.049,3046,2075,2195,0,0,0,0,0,0
$GC,20955,0.33,132.2,600.1,6.6,71,20959,0.00,2.42,0.00,0.000,4,0.000,0.063,3046,3577,2195,0,0,0,0,0,0
$GC,20984,0.33,132.2,598.0,7.1,71,20988,0.00,2.38,0.00,0.000,6,0.000,0.048,3056,2076,2194,0,0,0,0,0,0
$GC,21584,0.33,132.2,556.2,7.0,73,21588,0.00,2.45,0.00,0.000,4,0.000,0.062,3056,3577,2194,0,0,0,0,0,0
$GC,21639,0.32,132.2,551.6,9.6,73,21644,0.15,2.35,0.00,0.000,6,0.142,0.048,3023,2083,2194,0,0,0,0,0,0
$GC,22209,0.32,140.2,519.1,5.8,75,22220,0.00,0.00,8.95,0.827,6,0.000,0.000,3023,2081,2163,0,0,0,0,0,0
$GC,22510,0.32,143.2,500.4,6.0,76,22519,0.00,2.42,4.38,0.637,4,0.000,0.063,3023,3577,2151,0,0,0,0,0,0
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$STATE,29911,end climb,SURFACE_DEPTH_REACHED
$STATE,29911,begin surface coast
$FINISH,3.5,NaN
$STATE,29914,end surface coast,CONTROL_FINISHED_OK
$STATE,29914,begin surface
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$HUMID,42.16
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$TCM_TEMP,19.90
$XPDR_PINGS,0
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$10V_AH,9.8,81.157
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,297664
$DATA_FILE_SIZE,3650,108
$CAP_FILE_SIZE,229974,0
$CFSIZE,260165632,159182848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.200, 95.6,1
$GPS,260811,084507,4731.518,-12539.719,39,2.0,39,18.7