version: 66.07
glider: 187
mission: 4
dive: 210
start: 5 13 111 1 50 55
data:
$ID,187
$MISSION,4
$DIVE,210
$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,-1584085.5
$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,28
$R_STBD_OVSHOOT,28
$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
$GPS1,130511,014324,4709.097,-12640.007,67,1.1,67,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-73.5
$GPS2,130511,015032,4709.108,-12639.919,15,1.2,15,18.6
$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,239.0,30461,-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,-117.3,0.0,0.0,0,89,0.00,0.00,-70.25,0.000,2,0.000,0.000,122,2167,2852,0,0,0,0,0,0
$GC,93,-0.72,-117.3,3.4,-4.9,10,114,10.10,0.00,-7.28,0.000,6,0.234,0.000,2665,2164,3216,0,0,0,0,0,0
$GC,179,-0.67,-117.3,28.8,-23.9,25,187,0.00,2.53,0.00,0.000,4,0.000,0.060,2655,3691,3220,0,0,0,0,0,0
$GC,258,-0.63,-117.3,45.4,-21.2,39,266,0.10,2.42,0.00,0.000,6,0.129,0.044,2700,2171,3220,0,0,0,0,0,0
$GC,333,-0.61,-117.3,58.9,-17.3,52,340,0.00,2.40,0.00,0.000,4,0.000,0.053,2700,664,3221,0,0,0,0,0,0
$GC,353,-0.58,-117.3,62.8,-18.1,55,361,0.00,2.40,0.00,0.000,6,0.000,0.050,2691,2172,3220,0,0,0,0,0,0
$GC,428,-0.55,-117.3,76.2,-17.5,68,435,0.12,0.00,0.00,0.000,6,0.175,0.000,2723,2172,3221,0,0,0,0,0,0
$GC,500,-0.55,-117.3,87.3,-13.4,81,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2172,3222,0,0,0,0,0,0
$GC,573,-0.55,-117.3,95.9,-12.5,94,581,0.00,2.40,0.00,0.000,4,0.000,0.053,2723,664,3222,0,0,0,0,0,0
$GC,621,-0.55,-117.3,101.8,-12.5,101,626,0.00,2.38,0.00,0.000,6,0.000,0.049,2716,2180,3222,0,0,0,0,0,0
$GC,756,-0.55,-117.3,117.5,-11.9,113,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2180,3222,0,0,0,0,0,0
$GC,883,-0.55,-117.3,132.8,-11.7,125,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2180,3222,0,0,0,0,0,0
$GC,1011,-0.55,-117.3,147.9,-12.0,137,1015,0.00,2.40,0.00,0.000,4,0.000,0.061,2703,3690,3222,0,0,0,0,0,0
$GC,1041,-0.55,-117.3,151.5,-12.3,139,1045,0.00,2.40,0.00,0.000,6,0.000,0.044,2704,2144,3222,0,0,0,0,0,0
$GC,1176,-0.55,-117.3,168.0,-12.0,151,1180,0.00,2.30,0.00,0.000,4,0.000,0.053,2703,659,3222,0,0,0,0,0,0
$GC,1205,-0.55,-117.3,171.6,-12.9,153,1210,0.12,2.33,0.00,0.000,6,0.161,0.050,2728,2154,3222,0,0,0,0,0,0
$GC,1340,-0.57,-117.3,186.1,-10.4,165,1344,0.00,2.45,0.00,0.000,4,0.000,0.063,2719,3691,3222,0,0,0,0,0,0
$GC,1368,-0.58,-117.3,189.1,-10.6,167,1373,0.00,2.40,0.00,0.000,6,0.000,0.045,2719,2143,3222,0,0,0,0,0,0
$GC,1504,-0.58,-117.3,203.0,-10.3,179,1508,0.00,2.28,0.00,0.000,4,0.000,0.053,2718,666,3222,0,0,0,0,0,0
$GC,1549,-0.58,-117.3,208.0,-10.8,183,1553,0.00,2.30,0.00,0.000,6,0.000,0.050,2709,2150,3222,0,0,0,0,0,0
$GC,1684,-0.58,-117.3,222.3,-10.7,195,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2150,3222,0,0,0,0,0,0
$GC,1812,-0.58,-117.3,235.7,-10.6,207,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2150,3222,0,0,0,0,0,0
$GC,1938,-0.58,-117.3,249.5,-11.1,219,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2150,3222,0,0,0,0,0,0
$GC,2066,-0.58,-117.3,263.2,-10.7,231,2070,0.00,2.45,0.00,0.000,4,0.000,0.061,2697,3697,3222,0,0,0,0,0,0
$GC,2096,-0.58,-117.3,266.4,-11.6,233,2100,0.00,2.42,0.00,0.000,6,0.000,0.044,2696,2126,3222,0,0,0,0,0,0
$GC,2230,-0.58,-117.3,282.0,-12.0,245,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2121,3222,0,0,0,0,0,0
$GC,2357,-0.58,-117.3,296.9,-11.5,257,2361,0.00,2.25,0.00,0.000,4,0.000,0.052,2696,662,3222,0,0,0,0,0,0
$GC,2376,-0.58,-117.3,298.9,-12.1,258,2381,0.12,2.28,0.00,0.000,6,0.165,0.049,2721,2137,3222,0,0,0,0,0,0
$GC,2511,-0.59,-117.3,312.8,-9.5,270,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2137,3222,0,0,0,0,0,0
$GC,2639,-0.61,-117.3,325.0,-9.3,282,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2137,3222,0,0,0,0,0,0
$GC,2767,-0.62,-117.3,337.1,-9.7,294,2771,0.00,2.45,0.00,0.000,4,0.000,0.063,2712,3689,3222,0,0,0,0,0,0
$GC,2799,-0.63,-117.3,340.6,-10.1,296,2806,0.00,2.40,0.00,0.000,6,0.000,0.045,2712,2130,3222,0,0,0,0,0,0
$GC,2934,-0.63,-117.3,353.6,-9.8,309,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2126,3222,0,0,0,0,0,0
$GC,3062,-0.63,-117.3,366.0,-9.8,321,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2126,3221,0,0,0,0,0,0
$GC,3188,-0.63,-117.3,378.2,-9.5,333,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2126,3221,0,0,0,0,0,0
$GC,3315,-0.63,-117.3,390.5,-9.4,345,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2126,3221,0,0,0,0,0,0
$GC,3444,-0.64,-117.3,402.5,-9.6,357,3448,0.00,2.50,0.00,0.000,4,0.000,0.062,2700,3694,3221,0,0,0,0,0,0
$GC,3472,-0.64,-117.3,405.4,-10.1,359,3479,0.00,2.40,0.00,0.000,6,0.000,0.046,2699,2140,3221,0,0,0,0,0,0
$GC,3606,-0.64,-117.3,418.3,-9.4,372,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2134,3220,0,0,0,0,0,0
$GC,3735,-0.64,-117.3,430.2,-9.1,384,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2134,3220,0,0,0,0,0,0
$GC,3861,-0.64,-117.3,442.1,-9.3,396,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2134,3220,0,0,0,0,0,0
$GC,3988,-0.64,-117.3,453.8,-9.0,408,3993,0.00,2.47,0.00,0.000,4,0.000,0.062,2689,3697,3219,0,0,0,0,0,0
$GC,4011,-0.64,-117.3,456.1,-9.8,409,4018,0.00,2.40,0.00,0.000,6,0.000,0.046,2688,2137,3219,0,0,0,0,0,0
$GC,4145,-0.64,-117.3,469.3,-10.0,422,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2133,3219,0,0,0,0,0,0
$GC,4273,-0.64,-117.3,481.7,-9.5,434,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2133,3219,0,0,0,0,0,0
$GC,4402,-0.64,-117.3,494.0,-9.5,446,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2133,3219,0,0,0,0,0,0
$GC,4527,-0.64,-117.3,506.3,-9.7,458,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2132,3219,0,0,0,0,0,0
$GC,4654,-0.64,-117.3,519.0,-10.1,470,4656,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2133,3219,0,0,0,0,0,0
$GC,4783,-0.64,-117.3,532.2,-10.7,482,4784,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2133,3219,0,0,0,0,0,0
$GC,4909,-0.64,-117.3,545.6,-10.8,494,4913,0.00,2.28,0.00,0.000,4,0.000,0.054,2687,659,3219,0,0,0,0,0,0
$GC,4930,-0.64,-117.3,548.2,-11.6,495,4938,0.00,2.30,0.00,0.000,6,0.000,0.051,2677,2135,3218,0,0,0,0,0,0
$GC,5066,-0.64,-117.3,563.6,-11.8,508,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2135,3218,0,0,0,0,0,0
$GC,5192,-0.64,-117.3,578.4,-11.5,520,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2135,3218,0,0,0,0,0,0
$GC,5319,-0.64,-117.3,592.8,-11.6,532,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2135,3218,0,0,0,0,0,0
$GC,5455,-0.64,-117.3,607.8,-10.9,541,5459,0.00,2.47,0.00,0.000,4,0.000,0.064,2666,3692,3218,0,0,0,0,0,0
$GC,5476,-0.64,-117.3,610.6,-11.5,541,5481,0.12,2.40,0.00,0.000,6,0.156,0.048,2699,2137,3218,0,0,0,0,0,0
$GC,5790,-0.64,-117.3,639.9,-9.2,551,5794,0.00,2.47,0.00,0.000,4,0.000,0.064,2690,3695,3217,0,0,0,0,0,0
$GC,5820,-0.64,-117.3,642.6,-9.5,552,5824,0.00,2.40,0.00,0.000,6,0.000,0.047,2690,2138,3217,0,0,0,0,0,0
$GC,6155,-0.64,-117.3,675.2,-9.6,563,6157,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2134,3217,0,0,0,0,0,0
$GC,6461,-0.64,-117.3,704.3,-9.5,573,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2134,3217,0,0,0,0,0,0
$GC,6769,-0.64,-117.3,733.1,-9.3,583,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2134,3216,0,0,0,0,0,0
$GC,7074,-0.64,-117.3,760.7,-8.8,593,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2134,3216,0,0,0,0,0,0
$GC,7380,-0.64,-117.3,787.3,-8.8,603,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2134,3216,0,0,0,0,0,0
$GC,7687,-0.64,-117.3,814.9,-9.0,613,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2134,3215,0,0,0,0,0,0
$GC,7993,-0.64,-117.3,843.4,-9.3,623,7994,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2134,3215,0,0,0,0,0,0
$GC,8299,-0.64,-117.3,870.8,-8.8,633,8300,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2134,3214,0,0,0,0,0,0
$GC,8605,-0.64,-117.3,896.3,-8.4,643,8609,0.00,2.47,0.00,0.000,4,0.000,0.064,2678,3692,3214,0,0,0,0,0,0
$GC,8639,-0.64,-117.3,899.4,-9.5,644,8643,0.00,2.38,0.00,0.000,6,0.000,0.049,2678,2144,3214,0,0,0,0,0,0
$GC,8974,-0.64,-117.3,928.9,-8.7,655,8975,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2140,3214,0,0,0,0,0,0
$GC,9280,-0.64,-117.3,956.2,-9.0,665,9282,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2141,3214,0,0,0,0,0,0
$GC,9588,-0.64,-117.3,983.8,-9.1,675,9592,0.00,2.45,0.00,0.000,4,0.000,0.066,2667,3690,3213,0,0,0,0,0,0
$GC,9637,-0.64,-117.3,988.8,-9.7,676,9642,0.12,2.38,0.00,0.000,6,0.158,0.049,2700,2151,3213,0,0,0,0,0,0
$STATE,9672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9672,begin apogee
$GC,9680,-0.22,0.0,991.9,8.9,677,9784,0.40,0.00,101.30,1.242,6,0.123,0.000,2833,2053,2735,0,0,0,0,0,0
$STATE,9785,end apogee,CONTROL_FINISHED_OK
$STATE,9785,begin climb
$GC,9787,0.72,117.3,994.7,0.0,680,9901,0.90,0.00,110.38,1.210,6,0.080,0.000,3135,2052,2256,0,0,0,0,0,0
$GC,10194,0.69,117.3,944.2,14.6,694,10198,0.00,2.53,0.00,0.000,4,0.000,0.062,3135,3574,2246,0,0,0,0,0,0
$GC,10245,0.66,117.3,935.4,16.9,695,10250,0.00,2.42,0.00,0.000,6,0.000,0.048,3146,2076,2244,0,0,0,0,0,0
$GC,10565,0.63,117.3,886.1,15.5,706,10570,0.15,2.47,0.00,0.000,4,0.175,0.062,3108,3585,2242,0,0,0,0,0,0
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$STATE,18470,end climb,SURFACE_DEPTH_REACHED
$STATE,18470,begin surface coast
$FINISH,0.9,1.024129
$STATE,18505,end surface coast,CONTROL_FINISHED_OK
$STATE,18505,begin surface
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$IRIDIUM_FIX,4644.93,-12823.80,120511,202017
$TT8_MAMPS,0.027713
$HUMID,35.23
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$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,23.3,20.699
$10V_AH,10.2,14.852
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.250,201.800,352.400,51.900,0.000,27.616,36.850,213.148,0.000,0.000,16.426,3582.203,11332.541,672.541,2920.736,482.186,0.000,1966.956,0.000,2663.209,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,942.297,1136.396,1139.695,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76993,1364
$CAP_FILE_SIZE,219639,0
$CFSIZE,260165632,201981952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.054,152.3,1
$GPS,130511,070154,4708.126,-12643.158,39,1.4,39,18.6