version: 66.07
glider: 187
mission: 4
dive: 205
start: 5 11 111 23 45 7
data:
$ID,187
$MISSION,4
$DIVE,205
$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,-1584079
$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,34
$R_STBD_OVSHOOT,26
$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
$GPS1,110511,233754,4715.998,-12626.105,42,0.9,42,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-75.3
$GPS2,110511,234444,4716.019,-12626.085,16,1.3,16,18.6
$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,234.3,52107,-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,-66.00,0.000,2,0.000,0.000,131,2170,2738,0,0,0,0,0,0
$GC,88,-0.72,-117.3,3.3,-4.6,10,118,10.12,2.50,-9.75,0.000,4,0.236,0.069,2655,3694,3217,0,0,0,0,0,0
$GC,148,-0.66,-117.3,22.4,-26.4,19,156,0.12,2.45,0.00,0.000,6,0.177,0.045,2685,2170,3219,0,0,0,0,0,0
$GC,222,-0.63,-117.3,37.1,-19.3,32,230,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2166,3220,0,0,0,0,0,0
$GC,295,-0.60,-117.3,50.9,-18.6,45,303,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2165,3220,0,0,0,0,0,0
$GC,367,-0.58,-117.3,63.9,-18.0,58,374,0.12,0.00,0.00,0.000,6,0.174,0.000,2719,2164,3220,0,0,0,0,0,0
$GC,441,-0.58,-117.3,75.5,-13.5,71,449,0.00,2.40,0.00,0.000,4,0.000,0.053,2719,660,3221,0,0,0,0,0,0
$GC,477,-0.58,-117.3,80.6,-14.6,77,484,0.00,2.40,0.00,0.000,6,0.000,0.049,2711,2173,3221,0,0,0,0,0,0
$GC,550,-0.58,-117.3,90.9,-14.2,90,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2173,3221,0,0,0,0,0,0
$GC,622,-0.58,-117.3,100.6,-13.0,103,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2173,3222,0,0,0,0,0,0
$GC,748,-0.58,-117.3,116.7,-12.3,115,752,0.00,2.42,0.00,0.000,4,0.000,0.061,2699,3693,3222,0,0,0,0,0,0
$GC,778,-0.58,-117.3,120.2,-12.4,117,782,0.00,2.40,0.00,0.000,6,0.000,0.044,2698,2158,3222,0,0,0,0,0,0
$GC,912,-0.58,-117.3,137.0,-12.2,129,916,0.00,2.47,0.00,0.000,4,0.000,0.060,2688,3697,3222,0,0,0,0,0,0
$GC,932,-0.58,-117.3,139.2,-12.5,130,937,0.12,2.40,0.00,0.000,6,0.153,0.044,2721,2157,3222,0,0,0,0,0,0
$GC,1067,-0.58,-117.3,152.6,-8.9,142,1071,0.00,2.33,0.00,0.000,4,0.000,0.052,2721,659,3222,0,0,0,0,0,0
$GC,1096,-0.58,-117.3,155.5,-9.9,144,1100,0.00,2.33,0.00,0.000,6,0.000,0.050,2714,2156,3222,0,0,0,0,0,0
$GC,1231,-0.58,-117.3,168.7,-10.1,156,1235,0.00,2.45,0.00,0.000,4,0.000,0.062,2702,3694,3222,0,0,0,0,0,0
$GC,1259,-0.58,-117.3,171.7,-10.6,158,1263,0.00,2.40,0.00,0.000,6,0.000,0.045,2701,2148,3222,0,0,0,0,0,0
$GC,1394,-0.58,-117.3,186.3,-11.0,170,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2143,3222,0,0,0,0,0,0
$GC,1520,-0.58,-117.3,200.7,-11.2,182,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2143,3222,0,0,0,0,0,0
$GC,1648,-0.58,-117.3,215.1,-11.2,194,1652,0.00,2.28,0.00,0.000,4,0.000,0.052,2701,659,3222,0,0,0,0,0,0
$GC,1669,-0.58,-117.3,217.9,-12.0,195,1677,0.00,2.35,0.00,0.000,6,0.000,0.050,2691,2159,3222,0,0,0,0,0,0
$GC,1805,-0.58,-117.3,234.0,-12.4,208,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2159,3222,0,0,0,0,0,0
$GC,1931,-0.58,-117.3,249.1,-11.8,220,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2159,3222,0,0,0,0,0,0
$GC,2059,-0.58,-117.3,263.8,-11.5,232,2063,0.00,2.42,0.00,0.000,4,0.000,0.060,2680,3701,3222,0,0,0,0,0,0
$GC,2078,-0.58,-117.3,266.1,-11.5,233,2083,0.15,2.38,0.00,0.000,6,0.148,0.045,2721,2161,3222,0,0,0,0,0,0
$GC,2214,-0.59,-117.3,279.9,-9.7,245,2218,0.00,2.30,0.00,0.000,4,0.000,0.054,2721,656,3222,0,0,0,0,0,0
$GC,2244,-0.60,-117.3,283.1,-10.9,247,2248,0.00,2.33,0.00,0.000,6,0.000,0.050,2714,2157,3222,0,0,0,0,0,0
$GC,2380,-0.61,-117.3,297.0,-10.4,259,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2158,3222,0,0,0,0,0,0
$GC,2516,-0.62,-117.3,310.7,-10.1,272,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2157,3223,0,0,0,0,0,0
$GC,2644,-0.64,-117.3,322.9,-9.7,284,2649,0.00,2.42,0.00,0.000,4,0.000,0.062,2702,3691,3222,0,0,0,0,0,0
$GC,2664,-0.65,-117.3,325.0,-9.9,285,2668,0.00,2.38,0.00,0.000,6,0.000,0.046,2701,2151,3222,0,0,0,0,0,0
$GC,2800,-0.65,-117.3,338.6,-10.0,297,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2145,3222,0,0,0,0,0,0
$GC,2936,-0.65,-117.3,352.1,-10.0,310,2940,0.00,2.30,0.00,0.000,4,0.000,0.053,2701,655,3222,0,0,0,0,0,0
$GC,2965,-0.65,-117.3,355.4,-10.5,312,2970,0.00,2.33,0.00,0.000,6,0.000,0.050,2693,2159,3222,0,0,0,0,0,0
$GC,3100,-0.65,-117.3,369.4,-10.5,324,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2159,3222,0,0,0,0,0,0
$GC,3228,-0.65,-117.3,382.9,-10.6,336,3232,0.00,2.45,0.00,0.000,4,0.000,0.061,2680,3698,3221,0,0,0,0,0,0
$GC,3259,-0.65,-117.3,386.8,-11.1,338,3267,0.00,2.38,0.00,0.000,6,0.000,0.045,2679,2155,3221,0,0,0,0,0,0
$GC,3394,-0.65,-117.3,401.7,-11.5,351,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2150,3221,0,0,0,0,0,0
$GC,3523,-0.65,-117.3,415.8,-11.2,363,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2150,3221,0,0,0,0,0,0
$GC,3649,-0.65,-117.3,429.8,-10.8,375,3653,0.00,2.28,0.00,0.000,4,0.000,0.053,2679,663,3221,0,0,0,0,0,0
$GC,3672,-0.65,-117.3,432.5,-12.1,377,3676,0.00,2.30,0.00,0.000,6,0.000,0.050,2670,2161,3221,0,0,0,0,0,0
$GC,3812,-0.65,-117.3,449.1,-12.0,390,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2161,3220,0,0,0,0,0,0
$GC,3938,-0.65,-117.3,464.2,-11.9,402,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2161,3220,0,0,0,0,0,0
$GC,4066,-0.65,-117.3,479.2,-11.9,414,4070,0.00,2.45,0.00,0.000,4,0.000,0.063,2658,3697,3220,0,0,0,0,0,0
$GC,4084,-0.65,-117.3,481.3,-12.2,415,4089,0.15,2.38,0.00,0.000,6,0.151,0.046,2700,2154,3220,0,0,0,0,0,0
$GC,4221,-0.65,-117.3,494.7,-9.9,427,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2150,3219,0,0,0,0,0,0
$GC,4355,-0.65,-117.3,507.3,-9.0,440,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2150,3219,0,0,0,0,0,0
$GC,4484,-0.65,-117.3,518.6,-9.1,452,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2150,3219,0,0,0,0,0,0
$GC,4610,-0.65,-117.3,530.0,-9.2,464,4614,0.00,2.45,0.00,0.000,4,0.000,0.063,2691,3694,3219,0,0,0,0,0,0
$GC,4632,-0.65,-117.3,532.1,-9.1,465,4639,0.00,2.40,0.00,0.000,6,0.000,0.047,2690,2154,3219,0,0,0,0,0,0
$GC,4768,-0.65,-117.3,545.0,-9.6,478,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2151,3219,0,0,0,0,0,0
$GC,4894,-0.65,-117.3,557.4,-9.8,490,4895,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2151,3219,0,0,0,0,0,0
$GC,5021,-0.65,-117.3,569.6,-9.6,502,5025,0.00,2.28,0.00,0.000,4,0.000,0.054,2689,666,3219,0,0,0,0,0,0
$GC,5047,-0.65,-117.3,572.6,-10.6,504,5056,0.00,2.30,0.00,0.000,6,0.000,0.051,2680,2142,3218,0,0,0,0,0,0
$GC,5184,-0.65,-117.3,586.6,-10.6,517,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2142,3218,0,0,0,0,0,0
$GC,5319,-0.65,-117.3,600.7,-10.1,530,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2142,3218,0,0,0,0,0,0
$GC,5625,-0.65,-117.3,632.6,-10.2,540,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2142,3218,0,0,0,0,0,0
$GC,5932,-0.65,-117.3,663.1,-10.0,550,5933,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2142,3217,0,0,0,0,0,0
$GC,6238,-0.65,-117.3,692.2,-9.4,560,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2142,3217,0,0,0,0,0,0
$GC,6544,-0.65,-117.3,720.2,-8.9,570,6548,0.00,2.47,0.00,0.000,4,0.000,0.064,2668,3693,3217,0,0,0,0,0,0
$GC,6566,-0.65,-117.3,722.4,-9.6,570,6570,0.00,2.40,0.00,0.000,6,0.000,0.048,2667,2140,3217,0,0,0,0,0,0
$GC,6879,-0.65,-117.3,753.2,-9.9,580,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2137,3216,0,0,0,0,0,0
$GC,7186,-0.65,-117.3,783.6,-10.0,590,7187,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2136,3216,0,0,0,0,0,0
$GC,7492,-0.65,-117.3,814.1,-10.1,600,7496,0.00,2.30,0.00,0.000,4,0.000,0.056,2667,662,3216,0,0,0,0,0,0
$GC,7508,-0.65,-117.3,816.2,-10.3,600,7513,0.12,2.33,0.00,0.000,6,0.159,0.053,2692,2165,3216,0,0,0,0,0,0
$GC,7828,-0.66,-117.3,843.4,-8.5,611,7832,0.00,2.42,0.00,0.000,4,0.000,0.066,2682,3691,3215,0,0,0,0,0,0
$GC,7867,-0.66,-117.3,847.3,-9.0,612,7871,0.00,2.35,0.00,0.000,6,0.000,0.050,2681,2158,3215,0,0,0,0,0,0
$GC,8203,-0.66,-117.3,877.5,-8.9,623,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2156,3215,0,0,0,0,0,0
$GC,8510,-0.66,-117.3,905.1,-8.9,633,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2157,3214,0,0,0,0,0,0
$GC,8816,-0.66,-117.3,932.1,-8.8,643,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2156,3214,0,0,0,0,0,0
$GC,9125,-0.66,-117.3,958.1,-8.2,653,9126,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2157,3214,0,0,0,0,0,0
$GC,9428,-0.66,-117.3,984.0,-8.5,663,9429,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2157,3213,0,0,0,0,0,0
$STATE,9517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9517,begin apogee
$GC,9524,-0.22,0.0,991.6,8.3,666,9629,0.47,0.00,101.88,1.235,6,0.125,0.000,2836,2047,2734,0,0,0,0,0,0
$STATE,9630,end apogee,CONTROL_FINISHED_OK
$STATE,9630,begin climb
$GC,9632,0.72,117.3,994.1,0.0,669,9746,0.88,0.00,110.60,1.203,6,0.078,0.000,3133,2046,2256,0,0,0,0,0,0
$GC,10036,0.70,117.3,941.5,15.1,683,10040,0.00,2.53,0.00,0.000,4,0.000,0.063,3133,3574,2246,0,0,0,0,0,0
$GC,10103,0.66,117.3,930.0,17.5,685,10108,0.00,2.45,0.00,0.000,6,0.000,0.049,3146,2066,2244,0,0,0,0,0,0
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$STATE,18152,end climb,SURFACE_DEPTH_REACHED
$STATE,18153,begin surface coast
$FINISH,0.9,1.014278
$STATE,18191,end surface coast,CONTROL_FINISHED_OK
$STATE,18191,begin surface
$SM_CCo,18210,49.78,0.516,1,0,1205,375.06
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$IRIDIUM_FIX,4657.54,-12622.39,110511,181815
$TT8_MAMPS,0.027713
$HUMID,35.50
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,23.3,20.060
$10V_AH,10.2,14.183
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.450,219.400,350.050,49.775,0.000,25.715,35.593,198.551,0.000,0.000,17.277,3527.910,11036.391,682.354,2926.109,485.140,0.000,2000.936,0.000,2684.403,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,925.207,1112.841,1146.291,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297488
$DATA_FILE_SIZE,76994,1340
$CAP_FILE_SIZE,220412,0
$CFSIZE,260165632,202457088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$CURRENT,0.035,136.0,1
$GPS,120511,045036,4714.969,-12629.194,24,1.7,24,18.6