version: 66.07
glider: 187
mission: 4
dive: 415
start: 6 15 111 19 27 6
data:
$ID,187
$MISSION,4
$DIVE,415
$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,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,-1585244
$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,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,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
$GPS1,150611,191724,4749.808,-12517.009,27,1.2,45,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-74.0
$GPS2,150611,192607,4749.750,-12516.964,11,1.7,16,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.156,0.126
$KALMAN_X,64298.5,-714.1,-274.7,-75508.6,2249.8
$KALMAN_Y,-165590.0,835.1,555.6,170175.4,-2899.7
$MHEAD_RNG_PITCHd_Wd,36.6,29091,-13.6,-6.111
$D_GRID,464
$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,-117.3,0.0,0.0,0,82,0.00,0.00,-64.60,0.000,2,0.000,0.000,129,2191,2741,0,0,0,0,0,0
$GC,86,-0.50,-117.3,3.3,-2.2,10,115,10.38,2.42,-10.23,0.000,4,0.228,0.060,2736,650,3216,0,0,0,0,0,0
$GC,195,-0.46,-117.3,24.0,-12.9,28,203,0.00,2.42,0.00,0.000,6,0.000,0.049,2727,2170,3218,0,0,0,0,0,0
$GC,334,-0.42,-117.3,42.9,-13.3,53,343,0.15,2.45,0.00,0.000,4,0.145,0.060,2760,3691,3219,0,0,0,0,0,0
$GC,383,-0.40,-117.3,48.7,-11.2,61,391,0.00,2.42,0.00,0.000,6,0.000,0.044,2759,2158,3219,0,0,0,0,0,0
$GC,521,-0.38,-117.3,62.1,-9.8,86,529,0.00,2.35,0.00,0.000,4,0.000,0.050,2759,672,3219,0,0,0,0,0,0
$GC,585,-0.36,-117.3,68.2,-9.0,97,594,0.10,2.35,0.00,0.000,6,0.111,0.049,2796,2158,3219,0,0,0,0,0,0
$GC,726,-0.36,-117.3,78.9,-7.8,122,733,0.00,2.35,0.00,0.000,4,0.000,0.050,2796,673,3220,0,0,0,0,0,0
$GC,757,-0.36,-117.3,81.3,-7.8,127,764,0.00,2.35,0.00,0.000,6,0.000,0.048,2795,2160,3220,0,0,0,0,0,0
$GC,896,-0.36,-117.3,88.3,-4.4,152,904,0.00,2.50,0.00,0.000,4,0.000,0.060,2789,3690,3220,0,0,0,0,0,0
$GC,944,-0.38,-117.3,90.6,-4.7,160,951,0.00,2.40,0.00,0.000,6,0.000,0.044,2788,2161,3220,0,0,0,0,0,0
$GC,1079,-0.38,-117.3,99.1,-6.7,185,1087,0.00,2.35,0.00,0.000,4,0.000,0.051,2788,668,3220,0,0,0,0,0,0
$GC,1130,-0.40,-117.3,102.8,-7.7,190,1134,0.00,2.33,0.00,0.000,6,0.000,0.048,2788,2162,3220,0,0,0,0,0,0
$GC,1330,-0.40,-117.3,115.2,-5.7,208,1334,0.00,2.47,0.00,0.000,4,0.000,0.060,2782,3693,3220,0,0,0,0,0,0
$GC,1362,-0.41,-117.3,116.9,-5.6,210,1366,0.00,2.38,0.00,0.000,6,0.000,0.044,2781,2147,3220,0,0,0,0,0,0
$GC,1561,-0.41,-117.3,129.3,-6.2,228,1565,0.00,2.30,0.00,0.000,4,0.000,0.050,2781,658,3220,0,0,0,0,0,0
$GC,1599,-0.42,-117.3,132.1,-7.0,231,1606,0.00,2.35,0.00,0.000,6,0.000,0.049,2781,2152,3220,0,0,0,0,0,0
$GC,1800,-0.42,-117.3,144.7,-6.1,250,1804,0.00,2.50,0.00,0.000,4,0.000,0.062,2772,3697,3220,0,0,0,0,0,0
$GC,1830,-0.44,-117.3,146.6,-6.1,252,1834,0.00,2.40,0.00,0.000,6,0.000,0.044,2771,2149,3220,0,0,0,0,0,0
$GC,2030,-0.44,-117.3,159.9,-6.9,270,2034,0.00,2.28,0.00,0.000,4,0.000,0.051,2771,668,3220,0,0,0,0,0,0
$GC,2066,-0.44,-117.3,163.0,-8.1,273,2075,0.00,2.33,0.00,0.000,6,0.000,0.049,2768,2156,3220,0,0,0,0,0,0
$GC,2266,-0.44,-117.3,176.6,-6.7,292,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2156,3220,0,0,0,0,0,0
$GC,2458,-0.44,-117.3,188.3,-6.1,310,2462,0.00,2.30,0.00,0.000,4,0.000,0.051,2769,669,3220,0,0,0,0,0,0
$GC,2488,-0.44,-117.3,190.1,-6.2,312,2492,0.00,2.30,0.00,0.000,6,0.000,0.049,2764,2152,3220,0,0,0,0,0,0
$GC,2688,-0.44,-117.3,202.8,-6.6,330,2692,0.00,2.45,0.00,0.000,4,0.000,0.062,2754,3687,3220,0,0,0,0,0,0
$GC,2731,-0.44,-117.3,205.9,-7.0,333,2740,0.00,2.42,0.00,0.000,6,0.000,0.044,2753,2138,3220,0,0,0,0,0,0
$GC,2930,-0.44,-117.3,220.1,-7.4,352,2934,0.00,2.28,0.00,0.000,4,0.000,0.053,2753,664,3220,0,0,0,0,0,0
$GC,2981,-0.44,-117.3,223.8,-7.1,356,2985,0.00,2.28,0.00,0.000,6,0.000,0.050,2745,2143,3220,0,0,0,0,0,0
$GC,3181,-0.44,-117.3,238.3,-7.1,374,3186,0.00,2.50,0.00,0.000,4,0.000,0.062,2734,3694,3219,0,0,0,0,0,0
$GC,3222,-0.44,-117.3,241.7,-8.5,377,3227,0.10,2.40,0.00,0.000,6,0.143,0.045,2763,2147,3219,0,0,0,0,0,0
$GC,3424,-0.44,-117.3,255.5,-6.9,395,3428,0.00,2.28,0.00,0.000,4,0.000,0.053,2763,666,3218,0,0,0,0,0,0
$GC,3481,-0.44,-117.3,260.0,-7.4,400,3485,0.00,2.28,0.00,0.000,6,0.000,0.050,2760,2138,3219,0,0,0,0,0,0
$GC,3680,-0.44,-117.3,274.6,-7.2,418,3684,0.00,2.47,0.00,0.000,4,0.000,0.062,2749,3690,3218,0,0,0,0,0,0
$GC,3733,-0.44,-117.3,278.4,-7.3,422,3737,0.00,2.38,0.00,0.000,6,0.000,0.045,2748,2139,3218,0,0,0,0,0,0
$GC,3932,-0.44,-117.3,293.1,-6.9,440,3936,0.00,2.28,0.00,0.000,4,0.000,0.054,2748,665,3218,0,0,0,0,0,0
$GC,3991,-0.44,-117.3,297.6,-6.7,445,4000,0.00,2.30,0.00,0.000,6,0.000,0.050,2741,2132,3218,0,0,0,0,0,0
$GC,4190,-0.44,-117.3,311.3,-6.8,464,4194,0.00,2.47,0.00,0.000,4,0.000,0.063,2730,3694,3217,0,0,0,0,0,0
$GC,4242,-0.44,-117.3,315.0,-6.8,468,4247,0.12,2.40,0.00,0.000,6,0.133,0.046,2766,2137,3218,0,0,0,0,0,0
$GC,4445,-0.44,-117.3,327.1,-6.7,486,4449,0.00,2.28,0.00,0.000,4,0.000,0.054,2767,659,3217,0,0,0,0,0,0
$GC,4507,-0.44,-117.3,331.5,-7.2,491,4511,0.00,2.30,0.00,0.000,6,0.000,0.051,2764,2137,3217,0,0,0,0,0,0
$GC,4707,-0.44,-117.3,344.5,-6.5,509,4711,0.00,2.50,0.00,0.000,4,0.000,0.063,2753,3693,3217,0,0,0,0,0,0
$GC,4744,-0.45,-117.3,347.1,-6.2,512,4751,0.00,2.47,0.00,0.000,6,0.000,0.047,2752,2117,3217,0,0,0,0,0,0
$GC,4946,-0.45,-117.3,359.4,-5.7,531,4950,0.00,2.25,0.00,0.000,4,0.000,0.054,2752,660,3216,0,0,0,0,0,0
$GC,4991,-0.45,-117.3,362.6,-6.8,534,4998,0.00,2.30,0.00,0.000,6,0.000,0.051,2745,2124,3216,0,0,0,0,0,0
$GC,5190,-0.45,-117.3,375.0,-6.0,553,5194,0.00,2.53,0.00,0.000,4,0.000,0.063,2734,3689,3216,0,0,0,0,0,0
$GC,5243,-0.45,-117.3,378.6,-6.4,557,5252,0.00,2.45,0.00,0.000,6,0.000,0.047,2733,2124,3216,0,0,0,0,0,0
$GC,5444,-0.44,-117.3,391.8,-6.9,576,5449,0.10,2.28,0.00,0.000,4,0.155,0.054,2762,664,3216,0,0,0,0,0,0
$GC,5495,-0.44,-117.3,395.0,-6.3,580,5499,0.00,2.28,0.00,0.000,6,0.000,0.051,2757,2128,3215,0,0,0,0,0,0
$GC,5696,-0.44,-117.3,405.4,-5.1,598,5701,0.00,2.50,0.00,0.000,4,0.000,0.064,2746,3689,3215,0,0,0,0,0,0
$GC,5727,-0.44,-117.3,407.2,-5.8,600,5731,0.00,2.42,0.00,0.000,6,0.000,0.047,2745,2120,3215,0,0,0,0,0,0
$GC,5928,-0.44,-117.3,419.6,-6.2,618,5932,0.00,2.25,0.00,0.000,4,0.000,0.055,2745,664,3215,0,0,0,0,0,0
$GC,5989,-0.44,-117.3,424.0,-7.3,623,5994,0.00,2.25,0.00,0.000,6,0.000,0.051,2738,2126,3215,0,0,0,0,0,0
$GC,6188,-0.44,-117.3,438.1,-7.2,641,6193,0.00,2.50,0.00,0.000,4,0.000,0.063,2727,3693,3214,0,0,0,0,0,0
$GC,6221,-0.44,-117.3,440.8,-8.5,643,6229,0.08,2.50,0.00,0.000,6,0.096,0.047,2767,2106,3214,0,0,0,0,0,0
$GC,6423,-0.44,-117.3,451.8,-4.7,662,6427,0.00,2.25,0.00,0.000,4,0.000,0.055,2766,658,3214,0,0,0,0,0,0
$GC,6460,-0.44,-117.3,454.1,-5.9,665,6468,0.00,2.30,0.00,0.000,6,0.000,0.053,2763,2115,3214,0,0,0,0,0,0
$STATE,6646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6646,begin apogee
$GC,6654,-0.22,0.0,464.0,5.7,683,6753,0.22,0.00,95.88,0.899,6,0.112,0.000,2837,2054,2735,0,0,0,0,0,0
$STATE,6753,end apogee,CONTROL_FINISHED_OK
$STATE,6753,begin climb
$GC,6756,0.50,117.3,466.6,0.0,693,6864,0.65,0.00,102.47,0.871,6,0.079,0.000,3062,2054,2255,0,0,0,0,0,0
$GC,7056,0.48,117.3,447.4,7.4,722,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2054,2247,0,0,0,0,0,0
$GC,7247,0.46,117.3,434.0,7.2,740,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2055,2245,0,0,0,0,0,0
$GC,7447,0.44,117.3,419.4,7.0,759,7451,0.00,2.45,0.00,0.000,4,0.000,0.060,3062,3576,2244,0,0,0,0,0,0
$GC,7489,0.42,117.3,415.5,8.8,762,7497,0.10,2.40,0.00,0.000,6,0.124,0.046,3023,2080,2243,0,0,0,0,0,0
$GC,7691,0.42,118.2,403.7,6.1,781,7695,0.00,2.42,0.00,0.000,4,0.000,0.056,3030,539,2242,0,0,0,0,0,0
$GC,7720,0.42,118.2,401.8,6.2,783,7725,0.00,2.38,0.00,0.000,6,0.000,0.050,3030,2062,2242,0,0,0,0,0,0
$GC,7920,0.42,118.2,388.6,6.8,801,7924,0.00,2.42,0.00,0.000,4,0.000,0.060,3030,3582,2241,0,0,0,0,0,0
$GC,7953,0.42,118.2,385.9,7.8,803,7961,0.00,2.42,0.00,0.000,6,0.000,0.046,3040,2058,2240,0,0,0,0,0,0
$GC,8154,0.42,118.2,373.0,6.8,822,8158,0.00,2.38,0.00,0.000,4,0.000,0.056,3041,549,2240,0,0,0,0,0,0
$GC,8177,0.42,118.2,371.1,7.3,823,8184,0.00,2.40,0.00,0.000,6,0.000,0.050,3041,2069,2241,0,0,0,0,0,0
$GC,8376,0.42,118.2,357.7,6.8,842,8380,0.00,2.40,0.00,0.000,4,0.000,0.060,3041,3580,2240,0,0,0,0,0,0
$GC,8418,0.40,118.2,354.3,8.9,845,8422,0.00,2.35,0.00,0.000,6,0.000,0.047,3042,2070,2239,0,0,0,0,0,0
$GC,8618,0.40,118.2,341.2,6.2,863,8619,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2069,2239,0,0,0,0,0,0
$GC,8808,0.40,118.2,328.8,6.5,881,8809,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2068,2239,0,0,0,0,0,0
$GC,9000,0.40,118.2,316.3,6.3,899,9001,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2068,2240,0,0,0,0,0,0
$GC,9189,0.40,118.2,304.5,6.3,917,9194,0.00,2.38,0.00,0.000,4,0.000,0.057,3042,546,2239,0,0,0,0,0,0
$GC,9222,0.40,118.2,302.5,6.3,919,9229,0.00,2.42,0.00,0.000,6,0.000,0.050,3042,2086,2239,0,0,0,0,0,0
$GC,9421,0.40,118.2,290.1,6.2,938,9425,0.00,2.38,0.00,0.000,4,0.000,0.061,3042,3577,2239,0,0,0,0,0,0
$GC,9474,0.38,118.2,286.1,7.1,942,9482,0.00,2.35,0.00,0.000,6,0.000,0.047,3042,2090,2238,0,0,0,0,0,0
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$STATE,13889,end climb,SURFACE_DEPTH_REACHED
$STATE,13889,begin surface coast
$FINISH,0.9,1.010583
$STATE,13983,end surface coast,CONTROL_FINISHED_OK
$STATE,13983,begin surface
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$HUMID,37.32
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.90
$XPDR_PINGS,1
$24V_AH,23.8,43.199
$10V_AH,10.2,39.548
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.575,231.025,379.075,21.200,0.000,26.347,44.603,281.239,0.250,0.000,17.185,3744.471,5419.150,626.988,4213.164,526.082,33.379,2042.821,0.000,3085.022,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297512
$DATA_FILE_SIZE,83352,1486
$CAP_FILE_SIZE,202369,0
$CFSIZE,260165632,185798656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.012,118.1,1
$GPS,150611,232231,4750.577,-12514.973,55,1.2,55,18.7