version: 66.07
glider: 187
mission: 4
dive: 661
start: 8 19 111 12 53 33
data:
$ID,187
$MISSION,4
$DIVE,661
$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,-1585577.2
$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,30
$R_STBD_OVSHOOT,43
$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
$GPS1,190811,124707,4710.306,-12636.450,39,1.0,39,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-76.7
$GPS2,190811,125238,4710.303,-12636.431,14,1.3,14,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.081,0.183
$KALMAN_X,363194.8,1097.0,-1569.7,-473833.5,995.1
$KALMAN_Y,-674370.6,-1526.3,2419.3,606398.9,-3307.5
$MHEAD_RNG_PITCHd_Wd,65.6,130037,-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,-117.3,0.0,0.0,0,94,0.00,0.00,-75.85,0.000,6,0.000,0.000,126,2198,3216,0,0,0,0,0,0
$GC,97,-0.50,-117.3,0.0,-0.0,0,112,10.60,2.40,0.00,0.000,4,0.224,0.041,2747,646,3219,0,0,0,0,0,0
$GC,247,-0.48,-117.3,41.6,-10.6,1,251,0.00,2.33,0.00,0.000,6,0.000,0.046,2738,2162,3223,0,0,0,0,0,0
$GC,510,-0.45,-117.3,71.7,-11.6,4,515,0.12,2.40,0.00,0.000,4,0.147,0.057,2765,3690,3225,0,0,0,0,0,0
$GC,566,-0.45,-117.3,76.6,-6.8,4,571,0.00,2.33,0.00,0.000,6,0.000,0.041,2764,2180,3225,0,0,0,0,0,0
$GC,817,-0.44,-117.3,97.1,-8.5,7,821,0.00,2.35,0.00,0.000,4,0.000,0.049,2764,670,3226,0,0,0,0,0,0
$GC,861,-0.44,-117.3,101.1,-7.6,7,865,0.00,2.33,0.00,0.000,6,0.000,0.046,2757,2186,3226,0,0,0,0,0,0
$GC,1218,-0.44,-117.3,130.5,-8.3,9,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2186,3226,0,0,0,0,0,0
$GC,1520,-0.44,-117.3,154.1,-8.1,10,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2186,3225,0,0,0,0,0,0
$GC,1819,-0.44,-117.3,174.7,-7.8,11,1823,0.00,2.35,0.00,0.000,4,0.000,0.049,2756,671,3224,0,0,0,0,0,0
$GC,1874,-0.44,-117.3,178.5,-7.0,11,1878,0.00,2.33,0.00,0.000,6,0.000,0.047,2749,2184,3224,0,0,0,0,0,0
$GC,2443,-0.44,-117.3,219.2,-7.3,13,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2184,3223,0,0,0,0,0,0
$GC,2744,-0.44,-117.3,241.0,-7.3,14,2748,0.00,2.38,0.00,0.000,4,0.000,0.050,2749,664,3223,0,0,0,0,0,0
$GC,2776,-0.44,-117.3,243.7,-7.8,14,2781,0.12,2.35,0.00,0.000,6,0.132,0.048,2783,2185,3222,0,0,0,0,0,0
$GC,3375,-0.46,-117.3,275.0,-5.1,16,3379,0.00,2.40,0.00,0.000,4,0.000,0.051,2784,663,3221,0,0,0,0,0,0
$GC,3404,-0.49,-117.3,276.7,-6.7,16,3408,0.00,2.33,0.00,0.000,6,0.000,0.049,2783,2170,3221,0,0,0,0,0,0
$GC,4008,-0.52,-117.3,317.4,-7.1,18,4013,0.00,2.45,0.00,0.000,4,0.000,0.063,2783,3691,3219,0,0,0,0,0,0
$GC,4094,-0.56,-117.3,323.1,-6.7,18,4099,0.15,2.30,0.00,0.000,6,0.073,0.045,2707,2202,3219,0,0,0,0,0,0
$GC,4638,-0.55,-117.3,370.7,-8.7,20,4643,0.12,2.42,0.00,0.000,4,0.141,0.054,2745,667,3217,0,0,0,0,0,0
$GC,4743,-0.55,-117.3,378.0,-6.5,20,4748,0.00,2.40,0.00,0.000,6,0.000,0.050,2737,2203,3217,0,0,0,0,0,0
$GC,5269,-0.55,-117.3,410.8,-6.3,22,5273,0.00,2.40,0.00,0.000,4,0.000,0.053,2737,673,3216,0,0,0,0,0,0
$GC,5319,-0.55,-117.3,414.3,-6.5,22,5323,0.00,2.38,0.00,0.000,6,0.000,0.052,2731,2195,3216,0,0,0,0,0,0
$GC,5895,-0.55,-117.3,456.3,-7.3,24,5899,0.00,2.40,0.00,0.000,4,0.000,0.054,2731,673,3215,0,0,0,0,0,0
$GC,5922,-0.55,-117.3,458.5,-8.1,24,5926,0.00,2.38,0.00,0.000,6,0.000,0.053,2723,2193,3214,0,0,0,0,0,0
$GC,6520,-0.55,-117.3,507.7,-8.3,26,6525,0.00,2.40,0.00,0.000,4,0.000,0.054,2722,671,3214,0,0,0,0,0,0
$GC,6559,-0.55,-117.3,511.3,-9.1,26,6563,0.00,2.40,0.00,0.000,6,0.000,0.053,2714,2190,3213,0,0,0,0,0,0
$GC,7146,-0.53,-117.3,558.6,-7.7,28,7151,0.12,2.42,0.00,0.000,4,0.140,0.055,2752,674,3213,0,0,0,0,0,0
$GC,7187,-0.55,-117.3,561.2,-6.5,28,7191,0.00,2.35,0.00,0.000,6,0.000,0.054,2749,2176,3212,0,0,0,0,0,0
$GC,7774,-0.55,-117.3,591.8,-5.1,30,7778,0.00,2.38,0.00,0.000,4,0.000,0.055,2749,674,3211,0,0,0,0,0,0
$GC,7808,-0.55,-117.3,593.6,-5.5,30,7812,0.00,2.35,0.00,0.000,6,0.000,0.054,2744,2171,3211,0,0,0,0,0,0
$GC,8407,-0.55,-117.3,627.1,-5.8,32,8408,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2171,3210,0,0,0,0,0,0
$GC,8708,-0.55,-117.3,647.0,-6.1,33,8712,0.00,2.40,0.00,0.000,4,0.000,0.056,2743,667,3209,0,0,0,0,0,0
$GC,8729,-0.55,-117.3,648.7,-7.0,33,8733,0.00,2.38,0.00,0.000,6,0.000,0.054,2740,2176,3209,0,0,0,0,0,0
$GC,9341,-0.55,-117.3,689.2,-6.5,35,9345,0.00,2.42,0.00,0.000,4,0.000,0.056,2739,665,3208,0,0,0,0,0,0
$GC,9368,-0.55,-117.3,691.3,-8.0,35,9372,0.00,2.38,0.00,0.000,6,0.000,0.054,2732,2173,3208,0,0,0,0,0,0
$GC,9971,-0.55,-117.3,733.0,-6.8,37,9975,0.00,2.38,0.00,0.000,4,0.000,0.057,2732,675,3208,0,0,0,0,0,0
$GC,9999,-0.55,-117.3,735.0,-7.6,37,10003,0.00,2.35,0.00,0.000,6,0.000,0.054,2724,2168,3207,0,0,0,0,0,0
$GC,10603,-0.55,-117.3,771.7,-5.7,39,10607,0.00,2.50,0.00,0.000,4,0.000,0.067,2713,3693,3207,0,0,0,0,0,0
$GC,10638,-0.55,-117.3,773.6,-6.1,39,10643,0.10,2.42,0.00,0.000,6,0.134,0.050,2743,2167,3207,0,0,0,0,0,0
$GC,11231,-0.55,-117.3,797.7,-3.9,41,11235,0.00,2.38,0.00,0.000,4,0.000,0.057,2743,667,3207,0,0,0,0,0,0
$GC,11265,-0.55,-117.3,799.2,-4.6,41,11269,0.00,2.38,0.00,0.000,6,0.000,0.054,2739,2168,3206,0,0,0,0,0,0
$GC,11863,-0.55,-117.3,827.1,-5.0,43,11868,0.00,2.50,0.00,0.000,4,0.000,0.067,2729,3691,3206,0,0,0,0,0,0
$GC,11893,-0.55,-117.3,828.6,-5.2,43,11897,0.00,2.42,0.00,0.000,6,0.000,0.050,2729,2158,3206,0,0,0,0,0,0
$GC,12493,-0.55,-117.3,865.3,-6.3,45,12497,0.00,2.38,0.00,0.000,4,0.000,0.058,2729,663,3205,0,0,0,0,0,0
$GC,12549,-0.55,-117.3,869.3,-6.6,45,12553,0.00,2.35,0.00,0.000,6,0.000,0.054,2721,2158,3205,0,0,0,0,0,0
$GC,13126,-0.55,-117.3,905.6,-6.3,47,13131,0.00,2.50,0.00,0.000,4,0.000,0.067,2710,3691,3205,0,0,0,0,0,0
$GC,13170,-0.55,-117.3,908.6,-6.3,47,13175,0.12,2.45,0.00,0.000,6,0.125,0.050,2747,2149,3205,0,0,0,0,0,0
$GC,13754,-0.56,-117.3,937.2,-4.8,49,13758,0.00,2.35,0.00,0.000,4,0.000,0.057,2748,667,3204,0,0,0,0,0,0
$GC,13806,-0.57,-117.3,939.9,-4.9,49,13811,0.00,2.35,0.00,0.000,6,0.000,0.055,2746,2154,3204,0,0,0,0,0,0
$GC,14389,-0.59,-117.3,965.3,-4.1,51,14393,0.00,2.50,0.00,0.000,4,0.000,0.067,2743,3691,3204,0,0,0,0,0,0
$GC,14416,-0.60,-117.3,966.4,-3.9,51,14421,0.00,2.45,0.00,0.000,6,0.000,0.050,2742,2151,3204,0,0,0,0,0,0
$STATE,15012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15012,begin apogee
$GC,15020,-0.22,0.0,990.5,4.1,53,15128,0.32,0.00,105.55,1.225,6,0.099,0.000,2852,2054,2735,0,0,0,0,0,0
$STATE,15129,end apogee,CONTROL_FINISHED_OK
$STATE,15129,begin climb
$GC,15131,0.50,117.3,990.5,0.0,53,15255,0.62,2.70,114.32,1.192,4,0.063,0.060,3078,3575,2255,0,0,0,0,0,0
$GC,15268,0.47,117.3,986.1,7.3,53,15273,0.00,2.58,0.00,0.000,6,0.000,0.047,3090,2071,2252,0,0,0,0,0,0
$GC,15749,0.44,117.3,937.2,10.2,55,15750,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2070,2244,0,0,0,0,0,0
$GC,16049,0.40,117.3,906.4,10.2,56,16054,0.15,2.45,0.00,0.000,4,0.158,0.062,3047,3581,2242,0,0,0,0,0,0
$GC,16078,0.38,117.3,903.7,9.5,56,16082,0.00,2.45,0.00,0.000,6,0.000,0.049,3057,2049,2242,0,0,0,0,0,0
$GC,16678,0.36,117.3,855.5,7.8,58,16682,0.00,2.47,0.00,0.000,4,0.000,0.063,3057,3578,2240,0,0,0,0,0,0
$GC,16706,0.34,117.3,852.9,8.3,58,16711,0.12,2.40,0.00,0.000,6,0.158,0.049,3034,2062,2240,0,0,0,0,0,0
$GC,17303,0.34,117.3,813.7,6.6,60,17307,0.00,2.40,0.00,0.000,4,0.000,0.059,3043,545,2239,0,0,0,0,0,0
$GC,17331,0.34,117.3,811.8,6.7,60,17335,0.00,2.40,0.00,0.000,6,0.000,0.052,3043,2069,2239,0,0,0,0,0,0
$GC,17935,0.34,117.3,768.5,7.1,62,17939,0.00,2.42,0.00,0.000,4,0.000,0.063,3043,3577,2239,0,0,0,0,0,0
$GC,17990,0.32,117.3,763.9,8.2,62,17995,0.00,2.38,0.00,0.000,6,0.000,0.050,3053,2060,2237,0,0,0,0,0,0
$GC,18561,0.31,117.3,722.1,7.3,64,18566,0.12,2.47,0.00,0.000,4,0.151,0.063,3017,3581,2237,0,0,0,0,0,0
$GC,18606,0.31,117.3,718.7,7.4,64,18610,0.00,2.38,0.00,0.000,6,0.000,0.049,3023,2067,2236,0,0,0,0,0,0
$GC,19194,0.32,124.0,683.2,5.9,66,19198,0.00,2.40,0.00,0.000,4,0.000,0.060,3032,546,2236,0,0,0,0,0,0
$GC,19223,0.32,126.6,681.6,6.0,66,19234,0.00,2.40,6.03,0.819,6,0.000,0.052,3033,2080,2219,0,0,0,0,0,0
$GC,19824,0.33,140.7,647.7,5.6,68,19844,0.00,2.42,15.00,0.955,4,0.000,0.063,3033,3581,2161,0,0,0,0,0,0
$GC,19894,0.33,140.7,642.9,7.0,68,19898,0.00,2.38,0.00,0.000,6,0.000,0.049,3042,2077,2159,0,0,0,0,0,0
$GC,20447,0.33,140.7,606.8,6.6,70,20448,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2074,2157,0,0,0,0,0,0
$GC,20747,0.33,140.7,586.5,6.6,71,20748,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2072,2157,0,0,0,0,0,0
$GC,21047,0.33,140.7,565.9,6.7,72,21051,0.00,2.45,0.00,0.000,4,0.000,0.063,3042,3583,2156,0,0,0,0,0,0
$GC,21069,0.33,140.7,564.1,7.9,72,21073,0.00,2.38,0.00,0.000,6,0.000,0.049,3050,2069,2156,0,0,0,0,0,0
$GC,21679,0.33,140.7,521.0,6.9,74,21680,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2067,2156,0,0,0,0,0,0
$GC,21981,0.33,140.7,502.1,6.6,75,21985,0.00,2.47,0.00,0.000,4,0.000,0.063,3050,3581,2156,0,0,0,0,0,0
$GC,22008,0.32,140.7,500.0,6.7,75,22013,0.12,2.38,0.00,0.000,6,0.151,0.049,3025,2068,2155,0,0,0,0,0,0
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$STATE,29423,end climb,SURFACE_DEPTH_REACHED
$STATE,29423,begin surface coast
$FINISH,1.1,NaN
$STATE,29524,end surface coast,CONTROL_FINISHED_OK
$STATE,29524,begin surface
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$TT8_MAMPS,0.026964
$HUMID,42.24
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.60
$XPDR_PINGS,3
$24V_AH,22.0,74.848
$10V_AH,9.8,79.458
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.125,197.050,433.875,0.000,0.000,28.201,61.858,99.046,0.750,0.000,15.732,1204.686,24077.561,563.551,3611.185,461.934,33.375,2256.305,0.000,3299.522,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297632
$DATA_FILE_SIZE,3687,110
$CAP_FILE_SIZE,217959,0
$CFSIZE,260165632,160636928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.199, 98.5,1
$GPS,190811,210807,4709.833,-12631.795,35,0.9,35,18.6