version: 66.07
glider: 187
mission: 4
dive: 689
start: 8 28 111 17 24 32
data:
$ID,187
$MISSION,4
$DIVE,689
$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,-1585612.2
$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,31
$R_STBD_OVSHOOT,38
$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
$GPS1,280811,171815,4741.375,-12527.578,38,3.9,57,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-78.0
$GPS2,280811,172336,4741.374,-12527.572,17,1.6,33,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.158,0.123
$KALMAN_X,364789.2,355.9,-107.5,-390439.9,-3520.4
$KALMAN_Y,-760890.5,-361.4,754.7,750945.7,-2528.9
$MHEAD_RNG_PITCHd_Wd,73.7,27164,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.50,-117.3,0.0,0.0,0,85,0.00,0.00,-68.00,0.000,6,0.000,0.000,123,2189,3216,0,0,0,0,0,0
$GC,88,-0.50,-117.3,0.0,-0.0,0,104,10.73,2.38,0.00,0.000,4,0.226,0.045,2746,654,3219,0,0,0,0,0,0
$GC,261,-0.47,-117.3,45.5,-11.9,1,265,0.00,2.35,0.00,0.000,6,0.000,0.048,2737,2168,3223,0,0,0,0,0,0
$GC,502,-0.44,-117.3,74.6,-12.2,4,506,0.15,2.42,0.00,0.000,4,0.141,0.059,2773,3693,3225,0,0,0,0,0,0
$GC,543,-0.44,-117.3,78.7,-9.0,4,547,0.00,2.33,0.00,0.000,6,0.000,0.042,2773,2170,3225,0,0,0,0,0,0
$GC,806,-0.44,-117.3,102.3,-9.0,7,810,0.00,2.33,0.00,0.000,4,0.000,0.049,2772,664,3226,0,0,0,0,0,0
$GC,872,-0.44,-117.3,108.0,-7.9,7,877,0.00,2.30,0.00,0.000,6,0.000,0.047,2765,2171,3226,0,0,0,0,0,0
$GC,1431,-0.44,-117.3,147.2,-6.6,9,1436,0.00,2.42,0.00,0.000,4,0.000,0.060,2754,3694,3225,0,0,0,0,0,0
$GC,1459,-0.44,-117.3,149.3,-7.3,9,1463,0.00,2.35,0.00,0.000,6,0.000,0.043,2754,2162,3225,0,0,0,0,0,0
$GC,2057,-0.44,-117.3,191.7,-7.0,11,2062,0.00,2.28,0.00,0.000,4,0.000,0.050,2753,671,3224,0,0,0,0,0,0
$GC,2135,-0.44,-117.3,197.3,-6.7,11,2140,0.12,2.30,0.00,0.000,6,0.132,0.049,2784,2165,3224,0,0,0,0,0,0
$GC,2683,-0.46,-117.3,224.9,-5.0,13,2687,0.00,2.33,0.00,0.000,4,0.000,0.051,2785,668,3223,0,0,0,0,0,0
$GC,2713,-0.48,-117.3,226.3,-5.3,13,2717,0.00,2.30,0.00,0.000,6,0.000,0.048,2781,2163,3223,0,0,0,0,0,0
$GC,3314,-0.51,-117.3,258.0,-5.2,15,3318,0.00,2.42,0.00,0.000,4,0.000,0.061,2779,3693,3223,0,0,0,0,0,0
$GC,3347,-0.55,-117.3,260.1,-6.4,15,3352,0.10,2.42,0.00,0.000,6,0.097,0.045,2718,2120,3223,0,0,0,0,0,0
$GC,3942,-0.53,-117.3,306.5,-8.0,17,3946,0.00,2.28,0.00,0.000,4,0.000,0.053,2717,664,3221,0,0,0,0,0,0
$GC,4037,-0.52,-117.3,314.4,-8.1,17,4042,0.15,2.25,0.00,0.000,6,0.127,0.049,2754,2126,3221,0,0,0,0,0,0
$GC,4573,-0.52,-117.3,346.2,-6.1,19,4578,0.00,2.55,0.00,0.000,4,0.000,0.063,2745,3697,3219,0,0,0,0,0,0
$GC,4600,-0.52,-117.3,348.0,-6.7,19,4605,0.00,2.45,0.00,0.000,6,0.000,0.046,2744,2116,3219,0,0,0,0,0,0
$GC,5205,-0.52,-117.3,389.4,-7.0,21,5209,0.00,2.25,0.00,0.000,4,0.000,0.054,2744,664,3219,0,0,0,0,0,0
$GC,5260,-0.52,-117.3,393.6,-7.3,21,5265,0.00,2.25,0.00,0.000,6,0.000,0.050,2738,2120,3218,0,0,0,0,0,0
$GC,5837,-0.52,-117.3,435.0,-7.1,23,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2119,3218,0,0,0,0,0,0
$GC,6137,-0.52,-117.3,456.2,-7.1,24,6141,0.00,2.30,0.00,0.000,4,0.000,0.054,2737,665,3217,0,0,0,0,0,0
$GC,6171,-0.52,-117.3,458.5,-7.2,24,6175,0.00,2.25,0.00,0.000,6,0.000,0.051,2731,2114,3217,0,0,0,0,0,0
$GC,6769,-0.52,-117.3,501.2,-7.2,26,6774,0.00,2.58,0.00,0.000,4,0.000,0.063,2719,3694,3216,0,0,0,0,0,0
$GC,6809,-0.52,-117.3,504.0,-7.4,26,6814,0.10,2.47,0.00,0.000,6,0.132,0.047,2748,2112,3216,0,0,0,0,0,0
$GC,7398,-0.52,-117.3,537.1,-5.1,28,7402,0.00,2.25,0.00,0.000,4,0.000,0.056,2748,670,3215,0,0,0,0,0,0
$GC,7454,-0.52,-117.3,540.1,-5.2,28,7459,0.00,2.25,0.00,0.000,6,0.000,0.053,2743,2111,3215,0,0,0,0,0,0
$GC,8033,-0.52,-117.3,568.7,-5.0,30,8037,0.00,2.55,0.00,0.000,4,0.000,0.063,2732,3690,3214,0,0,0,0,0,0
$GC,8066,-0.52,-117.3,570.7,-5.9,30,8070,0.00,2.47,0.00,0.000,6,0.000,0.047,2731,2107,3214,0,0,0,0,0,0
$GC,8658,-0.52,-117.3,604.8,-5.8,32,8662,0.00,2.25,0.00,0.000,4,0.000,0.056,2731,669,3214,0,0,0,0,0,0
$GC,8696,-0.52,-117.3,607.2,-6.7,32,8700,0.00,2.25,0.00,0.000,6,0.000,0.052,2724,2114,3214,0,0,0,0,0,0
$GC,9295,-0.52,-117.3,642.2,-6.0,34,9299,0.00,2.55,0.00,0.000,4,0.000,0.065,2713,3689,3213,0,0,0,0,0,0
$GC,9350,-0.52,-117.3,645.9,-7.2,34,9355,0.12,2.47,0.00,0.000,6,0.123,0.048,2749,2107,3213,0,0,0,0,0,0
$GC,9920,-0.52,-117.3,677.5,-5.7,36,9924,0.00,2.22,0.00,0.000,4,0.000,0.056,2750,673,3213,0,0,0,0,0,0
$GC,9954,-0.53,-117.3,679.5,-6.0,36,9958,0.00,2.25,0.00,0.000,6,0.000,0.054,2745,2110,3212,0,0,0,0,0,0
$GC,10552,-0.53,-117.3,713.6,-5.8,38,10556,0.00,2.55,0.00,0.000,4,0.000,0.065,2734,3689,3212,0,0,0,0,0,0
$GC,10592,-0.55,-117.3,716.1,-6.7,38,10597,0.00,2.47,0.00,0.000,6,0.000,0.048,2733,2109,3211,0,0,0,0,0,0
$GC,11181,-0.55,-117.3,753.9,-6.4,40,11185,0.00,2.30,0.00,0.000,4,0.000,0.057,2733,664,3211,0,0,0,0,0,0
$GC,11233,-0.55,-117.3,757.3,-6.7,40,11237,0.00,2.28,0.00,0.000,6,0.000,0.054,2725,2118,3211,0,0,0,0,0,0
$GC,11817,-0.55,-117.3,792.9,-5.9,42,11821,0.00,2.58,0.00,0.000,4,0.000,0.066,2713,3690,3211,0,0,0,0,0,0
$GC,11866,-0.55,-117.3,796.0,-6.0,42,11870,0.00,2.47,0.00,0.000,6,0.000,0.049,2713,2117,3210,0,0,0,0,0,0
$GC,12441,-0.55,-117.3,831.8,-6.2,44,12445,0.00,2.30,0.00,0.000,4,0.000,0.057,2713,667,3210,0,0,0,0,0,0
$GC,12474,-0.55,-117.3,834.1,-6.1,44,12479,0.12,2.28,0.00,0.000,6,0.135,0.054,2742,2118,3210,0,0,0,0,0,0
$GC,13073,-0.56,-117.3,864.4,-5.1,46,13075,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2118,3209,0,0,0,0,0,0
$GC,13373,-0.57,-117.3,880.0,-5.2,47,13374,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2118,3209,0,0,0,0,0,0
$GC,13676,-0.58,-117.3,895.4,-5.2,48,13677,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2118,3209,0,0,0,0,0,0
$GC,13974,-0.59,-117.3,911.3,-5.2,49,13978,0.00,2.28,0.00,0.000,4,0.000,0.057,2742,673,3209,0,0,0,0,0,0
$GC,14002,-0.60,-117.3,912.8,-6.2,49,14006,0.00,2.28,0.00,0.000,6,0.000,0.055,2742,2119,3208,0,0,0,0,0,0
$GC,14606,-0.61,-117.3,942.0,-4.9,51,14611,0.00,2.60,0.00,0.000,4,0.000,0.068,2742,3691,3208,0,0,0,0,0,0
$GC,14628,-0.63,-117.3,943.0,-4.9,51,14633,0.00,2.50,0.00,0.000,6,0.000,0.050,2742,2109,3208,0,0,0,0,0,0
$GC,15233,-0.64,-117.3,973.2,-5.0,53,15237,0.00,2.30,0.00,0.000,4,0.000,0.059,2741,664,3208,0,0,0,0,0,0
$GC,15284,-0.65,-117.3,976.2,-6.2,53,15288,0.00,2.28,0.00,0.000,6,0.000,0.055,2741,2111,3207,0,0,0,0,0,0
$STATE,15858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15858,begin apogee
$GC,15866,-0.22,0.0,1003.7,4.7,55,15976,0.32,0.00,106.95,1.232,6,0.100,0.000,2851,2055,2735,0,0,0,0,0,0
$STATE,15977,end apogee,CONTROL_FINISHED_OK
$STATE,15977,begin climb
$GC,15979,0.50,117.3,1003.7,0.0,55,16106,0.65,2.65,115.18,1.193,4,0.063,0.055,3095,548,2254,0,0,0,0,0,0
$GC,16130,0.47,117.3,997.4,9.8,55,16135,0.00,2.58,0.00,0.000,6,0.000,0.049,3095,2064,2251,0,0,0,0,0,0
$GC,16599,0.43,117.3,947.7,10.5,57,16604,0.12,2.45,0.00,0.000,4,0.163,0.063,3061,3586,2244,0,0,0,0,0,0
$GC,16690,0.41,117.3,938.4,9.4,57,16695,0.00,2.40,0.00,0.000,6,0.000,0.049,3070,2069,2242,0,0,0,0,0,0
$GC,17229,0.39,117.3,889.0,9.1,59,17233,0.00,2.42,0.00,0.000,4,0.000,0.060,3082,538,2241,0,0,0,0,0,0
$GC,17262,0.36,117.3,885.7,8.2,59,17267,0.15,2.42,0.00,0.000,6,0.146,0.054,3041,2072,2241,0,0,0,0,0,0
$GC,17856,0.36,117.3,841.1,7.4,61,17860,0.00,2.42,0.00,0.000,4,0.000,0.063,3040,3581,2240,0,0,0,0,0,0
$GC,17883,0.35,117.3,838.7,7.6,61,17887,0.00,2.40,0.00,0.000,6,0.000,0.049,3048,2055,2239,0,0,0,0,0,0
$GC,18481,0.34,117.3,793.5,7.6,63,18482,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2054,2239,0,0,0,0,0,0
$GC,18781,0.33,117.3,772.5,7.3,64,18786,0.00,2.45,0.00,0.000,4,0.000,0.062,3048,3581,2239,0,0,0,0,0,0
$GC,18815,0.31,117.3,769.9,9.0,64,18820,0.12,2.38,0.00,0.000,6,0.153,0.049,3024,2057,2238,0,0,0,0,0,0
$GC,19407,0.32,126.8,735.5,5.8,66,19415,0.00,0.00,6.55,0.864,6,0.000,0.000,3024,2052,2218,0,0,0,0,0,0
$GC,19709,0.33,140.1,719.1,5.6,67,19725,0.00,0.00,14.38,0.988,6,0.000,0.000,3024,2053,2163,0,0,0,0,0,0
$GC,20008,0.33,148.5,699.9,5.8,68,20022,0.00,2.50,9.05,0.913,4,0.000,0.063,3024,3582,2129,0,0,0,0,0,0
$GC,20045,0.33,148.5,697.1,7.9,68,20050,0.00,2.38,0.00,0.000,6,0.000,0.049,3029,2063,2127,0,0,0,0,0,0
$GC,20638,0.33,148.5,653.3,7.5,70,20643,0.00,2.38,0.00,0.000,4,0.000,0.058,3039,547,2126,0,0,0,0,0,0
$GC,20660,0.33,148.5,651.5,7.6,70,20664,0.00,2.38,0.00,0.000,6,0.000,0.051,3039,2076,2126,0,0,0,0,0,0
$GC,21264,0.33,148.5,607.0,7.1,72,21268,0.00,2.42,0.00,0.000,4,0.000,0.063,3039,3581,2125,0,0,0,0,0,0
$GC,21308,0.33,148.5,603.5,8.2,72,21313,0.00,2.38,0.00,0.000,6,0.000,0.049,3048,2058,2125,0,0,0,0,0,0
$GC,21890,0.33,148.5,560.2,7.3,74,21891,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2055,2125,0,0,0,0,0,0
$GC,22191,0.33,148.5,538.6,7.2,75,22195,0.00,2.45,0.00,0.000,4,0.000,0.063,3048,3574,2125,0,0,0,0,0,0
$GC,22231,0.33,148.5,535.4,8.3,75,22235,0.00,2.38,0.00,0.000,6,0.000,0.047,3058,2057,2124,0,0,0,0,0,0
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$STATE,29679,end climb,SURFACE_DEPTH_REACHED
$STATE,29679,begin surface coast
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$STATE,29783,end surface coast,CONTROL_FINISHED_OK
$STATE,29784,begin surface
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$HUMID,42.51
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.80
$XPDR_PINGS,2
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$10V_AH,9.8,81.860
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,297712
$DATA_FILE_SIZE,3673,110
$CAP_FILE_SIZE,227428,0
$CFSIZE,260165632,158584832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.177,106.8,1
$GPS,290811,014331,4740.544,-12523.501,41,1.4,41,18.7