version: 66.07
glider: 187
mission: 4
dive: 201
start: 5 11 111 2 45 25
data:
$ID,187
$MISSION,4
$DIVE,201
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,380
$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,2
$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,-1584074
$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,36
$R_STBD_OVSHOOT,25
$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
$GPS1,110511,023754,4721.519,-12615.867,28,1.3,45,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-73.8
$GPS2,110511,024502,4721.504,-12615.854,16,1.3,16,18.6
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.256,-0.052
$KALMAN_X,10711.6,-206.9,-75.4,-48769.7,1425.1
$KALMAN_Y,-11625.3,187.7,296.2,12586.6,-1661.0
$MHEAD_RNG_PITCHd_Wd,226.6,68521,-20.8,-10.000
$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,-0.72,-117.3,0.0,0.0,0,84,0.00,0.00,-66.10,0.000,2,0.000,0.000,130,2166,2731,0,0,0,0,0,0
$GC,89,-0.72,-117.3,3.1,-4.1,10,118,10.10,2.53,-10.00,0.000,4,0.235,0.074,2656,3687,3218,0,0,0,0,0,0
$GC,206,-0.68,-117.3,34.0,-22.0,30,214,0.00,2.40,0.00,0.000,6,0.000,0.044,2656,2183,3220,0,0,0,0,0,0
$GC,281,-0.64,-117.3,50.8,-22.9,43,288,0.15,0.00,0.00,0.000,6,0.171,0.000,2695,2177,3221,0,0,0,0,0,0
$GC,354,-0.62,-117.3,65.2,-17.4,56,363,0.00,2.42,0.00,0.000,4,0.000,0.052,2695,654,3222,0,0,0,0,0,0
$GC,387,-0.60,-117.3,71.2,-18.9,61,394,0.00,2.45,0.00,0.000,6,0.000,0.050,2687,2193,3222,0,0,0,0,0,0
$GC,461,-0.58,-117.3,83.6,-15.6,74,469,0.12,2.40,0.00,0.000,4,0.169,0.061,2710,3697,3222,0,0,0,0,0,0
$GC,519,-0.58,-117.3,92.6,-12.7,84,528,0.00,2.38,0.00,0.000,6,0.000,0.044,2709,2194,3223,0,0,0,0,0,0
$GC,592,-0.58,-117.3,101.9,-12.2,96,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2192,3222,0,0,0,0,0,0
$GC,721,-0.58,-117.3,117.0,-12.0,108,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2191,3223,0,0,0,0,0,0
$GC,847,-0.58,-117.3,132.7,-12.3,120,851,0.00,2.35,0.00,0.000,4,0.000,0.051,2709,667,3222,0,0,0,0,0,0
$GC,899,-0.58,-117.3,139.1,-12.2,124,903,0.00,2.42,0.00,0.000,6,0.000,0.048,2699,2225,3222,0,0,0,0,0,0
$GC,1035,-0.58,-117.3,155.9,-12.3,136,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2225,3223,0,0,0,0,0,0
$GC,1161,-0.58,-117.3,170.7,-11.4,148,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2225,3222,0,0,0,0,0,0
$GC,1289,-0.58,-117.3,185.5,-11.5,160,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2225,3223,0,0,0,0,0,0
$GC,1417,-0.58,-117.3,200.0,-11.3,172,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2225,3223,0,0,0,0,0,0
$GC,1543,-0.58,-117.3,214.2,-11.3,184,1547,0.00,2.42,0.00,0.000,4,0.000,0.051,2698,669,3223,0,0,0,0,0,0
$GC,1576,-0.58,-117.3,218.3,-12.3,186,1583,0.00,2.42,0.00,0.000,6,0.000,0.050,2689,2213,3223,0,0,0,0,0,0
$GC,1712,-0.58,-117.3,233.5,-11.5,199,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2213,3223,0,0,0,0,0,0
$GC,1838,-0.58,-117.3,248.2,-11.6,211,1843,0.10,2.38,0.00,0.000,4,0.179,0.062,2705,3697,3223,0,0,0,0,0,0
$GC,1856,-0.58,-117.3,250.2,-11.2,212,1860,0.00,2.28,0.00,0.000,6,0.000,0.045,2704,2221,3222,0,0,0,0,0,0
$GC,1991,-0.58,-117.3,264.3,-10.3,224,1995,0.00,2.38,0.00,0.000,4,0.000,0.051,2704,668,3223,0,0,0,0,0,0
$GC,2022,-0.58,-117.3,268.4,-12.0,226,2030,0.00,2.40,0.00,0.000,6,0.000,0.050,2694,2220,3223,0,0,0,0,0,0
$GC,2157,-0.58,-117.3,283.1,-11.0,239,2161,0.00,2.33,0.00,0.000,4,0.000,0.062,2683,3695,3223,0,0,0,0,0,0
$GC,2185,-0.58,-117.3,286.4,-11.7,241,2193,0.12,2.28,0.00,0.000,6,0.155,0.045,2717,2218,3222,0,0,0,0,0,0
$GC,2320,-0.59,-117.3,299.4,-9.4,254,2325,0.00,2.38,0.00,0.000,4,0.000,0.053,2717,664,3222,0,0,0,0,0,0
$GC,2351,-0.60,-117.3,302.3,-10.4,256,2355,0.00,2.40,0.00,0.000,6,0.000,0.049,2709,2219,3223,0,0,0,0,0,0
$GC,2487,-0.60,-117.3,315.5,-9.6,268,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2219,3222,0,0,0,0,0,0
$GC,2613,-0.60,-117.3,328.0,-9.7,280,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2219,3222,0,0,0,0,0,0
$GC,2739,-0.60,-117.3,340.5,-10.1,292,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2219,3222,0,0,0,0,0,0
$GC,2868,-0.61,-117.3,353.6,-10.2,304,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2219,3222,0,0,0,0,0,0
$GC,2994,-0.62,-117.3,366.6,-10.2,316,2999,0.00,2.40,0.00,0.000,4,0.000,0.052,2709,667,3222,0,0,0,0,0,0
$GC,3027,-0.62,-117.3,370.5,-11.0,318,3035,0.00,2.42,0.00,0.000,6,0.000,0.050,2699,2225,3222,0,0,0,0,0,0
$GC,3164,-0.62,-117.3,385.0,-11.3,331,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2225,3222,0,0,0,0,0,0
$GC,3289,-0.62,-117.3,398.6,-10.7,343,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2225,3222,0,0,0,0,0,0
$GC,3417,-0.62,-117.3,412.1,-10.6,355,3421,0.00,2.40,0.00,0.000,4,0.000,0.053,2698,664,3222,0,0,0,0,0,0
$GC,3441,-0.62,-117.3,414.6,-10.9,357,3445,0.00,2.42,0.00,0.000,6,0.000,0.050,2688,2237,3222,0,0,0,0,0,0
$GC,3576,-0.62,-117.3,429.8,-10.9,369,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2237,3221,0,0,0,0,0,0
$GC,3703,-0.62,-117.3,443.7,-11.0,381,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2237,3221,0,0,0,0,0,0
$GC,3831,-0.62,-117.3,457.1,-10.3,393,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2237,3220,0,0,0,0,0,0
$GC,3958,-0.62,-117.3,470.9,-10.9,405,3962,0.00,2.45,0.00,0.000,4,0.000,0.053,2687,665,3220,0,0,0,0,0,0
$GC,3993,-0.62,-117.3,474.4,-10.8,408,3997,0.00,2.42,0.00,0.000,6,0.000,0.050,2677,2234,3220,0,0,0,0,0,0
$GC,4128,-0.62,-117.3,490.1,-11.3,420,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2234,3219,0,0,0,0,0,0
$GC,4254,-0.62,-117.3,504.4,-10.9,432,4255,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2234,3219,0,0,0,0,0,0
$GC,4381,-0.62,-117.3,518.4,-11.0,444,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2234,3219,0,0,0,0,0,0
$GC,4510,-0.62,-117.3,532.6,-11.2,456,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2234,3219,0,0,0,0,0,0
$GC,4636,-0.62,-117.3,547.0,-11.2,468,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2234,3219,0,0,0,0,0,0
$GC,4763,-0.62,-117.3,561.6,-11.2,480,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2234,3219,0,0,0,0,0,0
$GC,4891,-0.62,-117.3,575.8,-11.1,492,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2234,3219,0,0,0,0,0,0
$GC,5019,-0.62,-117.3,590.0,-11.1,504,5024,0.00,2.42,0.00,0.000,4,0.000,0.054,2676,666,3219,0,0,0,0,0,0
$GC,5052,-0.62,-117.3,594.2,-12.2,506,5059,0.12,2.42,0.00,0.000,6,0.159,0.051,2700,2232,3219,0,0,0,0,0,0
$GC,5184,-0.63,-117.3,606.6,-9.4,515,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2232,3218,0,0,0,0,0,0
$GC,5492,-0.64,-117.3,633.8,-8.8,525,5496,0.00,2.42,0.00,0.000,4,0.000,0.054,2700,663,3218,0,0,0,0,0,0
$GC,5530,-0.64,-117.3,637.6,-9.1,526,5534,0.00,2.40,0.00,0.000,6,0.000,0.052,2692,2226,3218,0,0,0,0,0,0
$GC,5867,-0.64,-117.3,668.0,-9.1,537,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2226,3218,0,0,0,0,0,0
$GC,6172,-0.64,-117.3,697.1,-9.7,547,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2226,3217,0,0,0,0,0,0
$GC,6478,-0.64,-117.3,726.7,-9.5,557,6482,0.00,2.40,0.00,0.000,4,0.000,0.054,2691,669,3217,0,0,0,0,0,0
$GC,6505,-0.64,-117.3,729.9,-11.3,557,6512,0.00,2.40,0.00,0.000,6,0.000,0.052,2681,2226,3217,0,0,0,0,0,0
$GC,6820,-0.64,-117.3,761.3,-10.2,568,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2226,3216,0,0,0,0,0,0
$GC,7125,-0.64,-117.3,792.0,-9.9,578,7129,0.00,2.33,0.00,0.000,4,0.000,0.065,2670,3692,3216,0,0,0,0,0,0
$GC,7141,-0.64,-117.3,793.6,-9.7,578,7145,0.00,2.28,0.00,0.000,6,0.000,0.048,2669,2213,3216,0,0,0,0,0,0
$GC,7462,-0.64,-117.3,825.8,-9.9,589,7466,0.00,2.40,0.00,0.000,4,0.000,0.056,2668,670,3215,0,0,0,0,0,0
$GC,7495,-0.64,-117.3,829.9,-10.5,590,7500,0.12,2.38,0.00,0.000,6,0.160,0.054,2693,2218,3215,0,0,0,0,0,0
$GC,7826,-0.66,-117.3,857.1,-8.0,601,7830,0.00,2.38,0.00,0.000,4,0.000,0.054,2693,665,3215,0,0,0,0,0,0
$GC,7849,-0.66,-117.3,859.5,-9.7,601,7856,0.00,2.40,0.00,0.000,6,0.000,0.054,2684,2213,3215,0,0,0,0,0,0
$GC,8162,-0.66,-117.3,887.4,-8.8,612,8164,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2213,3215,0,0,0,0,0,0
$GC,8469,-0.66,-117.3,915.1,-9.2,622,8473,0.00,2.38,0.00,0.000,4,0.000,0.056,2684,670,3214,0,0,0,0,0,0
$GC,8520,-0.66,-117.3,920.4,-9.9,623,8524,0.00,2.38,0.00,0.000,6,0.000,0.054,2674,2199,3214,0,0,0,0,0,0
$GC,8838,-0.66,-117.3,951.8,-9.7,634,8842,0.00,2.38,0.00,0.000,4,0.000,0.067,2663,3691,3214,0,0,0,0,0,0
$GC,8871,-0.66,-117.3,955.3,-10.0,635,8876,0.10,2.30,0.00,0.000,6,0.165,0.049,2688,2194,3214,0,0,0,0,0,0
$GC,9209,-0.67,-117.3,983.7,-8.5,646,9213,0.00,2.35,0.00,0.000,4,0.000,0.057,2689,670,3214,0,0,0,0,0,0
$GC,9273,-0.68,-117.3,989.6,-9.3,648,9277,0.00,2.35,0.00,0.000,6,0.000,0.054,2680,2201,3213,0,0,0,0,0,0
$STATE,9280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9280,begin apogee
$GC,9288,-0.22,0.0,990.8,9.5,648,9393,0.45,0.00,101.93,1.230,6,0.126,0.000,2830,2066,2735,0,0,0,0,0,0
$STATE,9393,end apogee,CONTROL_FINISHED_OK
$STATE,9393,begin climb
$GC,9396,0.72,117.3,993.6,0.0,651,9510,0.90,0.00,110.43,1.202,6,0.083,0.000,3133,2065,2256,0,0,0,0,0,0
$GC,9799,0.69,117.3,944.8,14.6,664,9803,0.00,2.47,0.00,0.000,4,0.000,0.063,3134,3573,2246,0,0,0,0,0,0
$GC,9842,0.66,117.3,937.2,15.6,665,9847,0.00,2.45,0.00,0.000,6,0.000,0.046,3145,2056,2245,0,0,0,0,0,0
$GC,10161,0.63,117.3,886.8,15.9,676,10167,0.15,2.50,0.00,0.000,4,0.175,0.062,3107,3581,2242,0,0,0,0,0,0
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$STATE,18268,end climb,SURFACE_DEPTH_REACHED
$STATE,18268,begin surface coast
$FINISH,0.6,1.023411
$STATE,18302,end surface coast,CONTROL_FINISHED_OK
$STATE,18302,begin surface
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$HUMID,35.31
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,23.3,19.557
$10V_AH,10.3,13.645
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.350,220.450,401.575,26.275,0.000,28.000,35.311,212.539,0.000,0.000,17.146,3532.917,11093.893,687.974,2958.475,488.501,0.000,2025.924,0.000,2695.787,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297536
$DATA_FILE_SIZE,77006,1349
$CAP_FILE_SIZE,221775,0
$CFSIZE,260165632,202838016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.066,118.4,1
$GPS,110511,075237,4720.055,-12618.289,40,0.9,40,18.6