version: 66.07
glider: 187
mission: 4
dive: 223
start: 5 15 111 21 53 59
data:
$ID,187
$MISSION,4
$DIVE,223
$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,1
$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,-1584102.4
$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,44
$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
$GPS1,150511,214624,4708.786,-12643.529,26,1.4,43,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-73.9
$GPS2,150511,215302,4708.790,-12643.453,14,1.8,14,18.6
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.229,0.059
$KALMAN_X,1411.3,307.1,802.8,16463.5,-806.2
$KALMAN_Y,368.8,51.9,-730.5,13128.5,1364.0
$MHEAD_RNG_PITCHd_Wd,28.3,160410,-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,-117.3,0.0,0.0,0,91,0.00,0.00,-72.50,0.000,2,0.000,0.000,123,2204,2866,0,0,0,0,0,0
$GC,95,-0.72,-117.3,3.5,-5.6,11,119,10.18,2.50,-7.10,0.000,4,0.237,0.065,2664,660,3216,0,0,0,0,0,0
$GC,269,-0.68,-117.3,46.4,-20.7,42,277,0.00,2.38,0.00,0.000,6,0.000,0.049,2654,2154,3219,0,0,0,0,0,0
$GC,343,-0.64,-117.3,61.8,-21.5,55,351,0.15,0.00,0.00,0.000,6,0.168,0.000,2693,2154,3219,0,0,0,0,0,0
$GC,418,-0.61,-117.3,76.8,-18.0,68,425,0.00,2.45,0.00,0.000,4,0.000,0.060,2684,3690,3220,0,0,0,0,0,0
$GC,438,-0.58,-117.3,80.7,-19.3,71,447,0.08,2.45,0.00,0.000,6,0.138,0.046,2709,2147,3220,0,0,0,0,0,0
$GC,514,-0.57,-117.3,92.7,-15.1,84,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2143,3220,0,0,0,0,0,0
$GC,585,-0.57,-117.3,102.9,-13.8,95,589,0.00,2.53,0.00,0.000,4,0.000,0.061,2699,3698,3220,0,0,0,0,0,0
$GC,614,-0.57,-117.3,107.0,-14.9,97,618,0.00,2.38,0.00,0.000,6,0.000,0.045,2698,2179,3220,0,0,0,0,0,0
$GC,750,-0.57,-117.3,126.2,-13.3,109,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2173,3221,0,0,0,0,0,0
$GC,876,-0.57,-117.3,142.2,-12.0,121,880,0.00,2.33,0.00,0.000,4,0.000,0.050,2698,664,3221,0,0,0,0,0,0
$GC,917,-0.57,-117.3,147.4,-12.9,124,922,0.12,2.38,0.00,0.000,6,0.164,0.049,2723,2189,3221,0,0,0,0,0,0
$GC,1054,-0.57,-117.3,160.6,-9.3,136,1058,0.00,2.38,0.00,0.000,4,0.000,0.060,2714,3694,3221,0,0,0,0,0,0
$GC,1094,-0.57,-117.3,164.9,-10.5,139,1098,0.00,2.35,0.00,0.000,6,0.000,0.044,2714,2179,3221,0,0,0,0,0,0
$GC,1234,-0.57,-117.3,180.5,-11.3,152,1238,0.00,2.35,0.00,0.000,4,0.000,0.052,2713,660,3221,0,0,0,0,0,0
$GC,1265,-0.57,-117.3,183.8,-12.1,154,1269,0.00,2.38,0.00,0.000,6,0.000,0.049,2704,2188,3222,0,0,0,0,0,0
$GC,1400,-0.57,-117.3,200.4,-12.3,166,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2187,3221,0,0,0,0,0,0
$GC,1527,-0.57,-117.3,215.5,-12.4,178,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2188,3221,0,0,0,0,0,0
$GC,1655,-0.57,-117.3,230.9,-12.2,190,1659,0.00,2.40,0.00,0.000,4,0.000,0.061,2692,3691,3221,0,0,0,0,0,0
$GC,1720,-0.57,-117.3,239.6,-12.4,195,1728,0.00,2.33,0.00,0.000,6,0.000,0.044,2692,2188,3221,0,0,0,0,0,0
$GC,1856,-0.57,-117.3,256.4,-12.9,208,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2186,3221,0,0,0,0,0,0
$GC,1984,-0.57,-117.3,271.9,-11.9,220,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2187,3221,0,0,0,0,0,0
$GC,2110,-0.57,-117.3,286.5,-11.2,232,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2186,3221,0,0,0,0,0,0
$GC,2237,-0.57,-117.3,300.6,-11.1,244,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2186,3221,0,0,0,0,0,0
$GC,2366,-0.57,-117.3,314.6,-10.7,256,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2186,3221,0,0,0,0,0,0
$GC,2492,-0.57,-117.3,328.5,-10.9,268,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2186,3221,0,0,0,0,0,0
$GC,2620,-0.57,-117.3,342.6,-10.7,280,2624,0.00,2.40,0.00,0.000,4,0.000,0.061,2681,3691,3221,0,0,0,0,0,0
$GC,2659,-0.57,-117.3,347.3,-11.6,283,2666,0.12,2.28,0.00,0.000,6,0.155,0.045,2715,2197,3221,0,0,0,0,0,0
$GC,2794,-0.58,-117.3,359.7,-9.0,296,2798,0.00,2.33,0.00,0.000,4,0.000,0.053,2715,671,3221,0,0,0,0,0,0
$GC,2826,-0.60,-117.3,362.9,-9.9,298,2834,0.00,2.35,0.00,0.000,6,0.000,0.050,2708,2196,3221,0,0,0,0,0,0
$GC,2964,-0.60,-117.3,375.2,-9.1,311,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2196,3220,0,0,0,0,0,0
$GC,3098,-0.60,-117.3,388.2,-9.5,324,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2196,3220,0,0,0,0,0,0
$GC,3226,-0.60,-117.3,400.1,-9.5,336,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2196,3220,0,0,0,0,0,0
$GC,3354,-0.60,-117.3,412.0,-9.2,348,3358,0.00,2.35,0.00,0.000,4,0.000,0.063,2696,3697,3220,0,0,0,0,0,0
$GC,3386,-0.60,-117.3,415.1,-9.6,350,3393,0.00,2.30,0.00,0.000,6,0.000,0.045,2696,2184,3220,0,0,0,0,0,0
$GC,3521,-0.60,-117.3,427.9,-9.5,363,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2181,3220,0,0,0,0,0,0
$GC,3649,-0.60,-117.3,439.9,-9.4,375,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2180,3220,0,0,0,0,0,0
$GC,3775,-0.60,-117.3,451.8,-9.9,387,3779,0.00,2.42,0.00,0.000,4,0.000,0.062,2685,3697,3219,0,0,0,0,0,0
$GC,3823,-0.60,-117.3,456.9,-10.2,391,3830,0.00,2.30,0.00,0.000,6,0.000,0.045,2684,2192,3219,0,0,0,0,0,0
$GC,3958,-0.60,-117.3,470.3,-10.2,404,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2188,3219,0,0,0,0,0,0
$GC,4085,-0.60,-117.3,483.5,-10.5,416,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2188,3219,0,0,0,0,0,0
$GC,4212,-0.60,-117.3,496.7,-10.3,428,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2187,3218,0,0,0,0,0,0
$GC,4341,-0.60,-117.3,510.1,-10.7,440,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2188,3218,0,0,0,0,0,0
$GC,4467,-0.60,-117.3,524.0,-11.2,452,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2187,3218,0,0,0,0,0,0
$GC,4594,-0.60,-117.3,538.2,-10.9,464,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2188,3218,0,0,0,0,0,0
$GC,4722,-0.60,-117.3,552.4,-11.0,476,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2188,3218,0,0,0,0,0,0
$GC,4849,-0.60,-117.3,566.6,-10.9,488,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2187,3218,0,0,0,0,0,0
$GC,4976,-0.60,-117.3,580.3,-10.7,500,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2188,3217,0,0,0,0,0,0
$GC,5105,-0.60,-117.3,593.7,-10.6,512,5109,0.00,2.40,0.00,0.000,4,0.000,0.063,2674,3691,3217,0,0,0,0,0,0
$GC,5144,-0.60,-117.3,597.9,-10.9,515,5149,0.12,2.30,0.00,0.000,6,0.155,0.047,2707,2191,3217,0,0,0,0,0,0
$GC,5290,-0.61,-117.3,610.9,-8.7,521,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2186,3217,0,0,0,0,0,0
$GC,5596,-0.62,-117.3,635.6,-7.8,531,5600,0.00,2.35,0.00,0.000,4,0.000,0.055,2708,659,3217,0,0,0,0,0,0
$GC,5631,-0.63,-117.3,638.5,-7.9,532,5635,0.00,2.40,0.00,0.000,6,0.000,0.053,2700,2209,3217,0,0,0,0,0,0
$GC,5966,-0.65,-117.3,667.4,-8.8,543,5971,0.00,2.35,0.00,0.000,4,0.000,0.065,2689,3695,3216,0,0,0,0,0,0
$GC,6031,-0.66,-117.3,673.4,-9.6,545,6035,0.00,2.30,0.00,0.000,6,0.000,0.048,2689,2192,3216,0,0,0,0,0,0
$GC,6372,-0.66,-117.3,705.2,-9.2,556,6376,0.00,2.33,0.00,0.000,4,0.000,0.055,2688,668,3216,0,0,0,0,0,0
$GC,6409,-0.66,-117.3,709.2,-10.1,557,6413,0.00,2.35,0.00,0.000,6,0.000,0.052,2678,2205,3216,0,0,0,0,0,0
$GC,6741,-0.66,-117.3,741.8,-10.0,568,6745,0.00,2.35,0.00,0.000,4,0.000,0.065,2667,3692,3215,0,0,0,0,0,0
$GC,6807,-0.66,-117.3,748.9,-10.1,570,6811,0.00,2.30,0.00,0.000,6,0.000,0.048,2666,2212,3215,0,0,0,0,0,0
$GC,7144,-0.66,-117.3,782.1,-9.9,581,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2210,3215,0,0,0,0,0,0
$GC,7451,-0.66,-117.3,812.7,-9.9,591,7452,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2211,3214,0,0,0,0,0,0
$GC,7755,-0.66,-117.3,842.0,-9.4,601,7760,0.00,2.38,0.00,0.000,4,0.000,0.055,2666,659,3214,0,0,0,0,0,0
$GC,7786,-0.66,-117.3,845.0,-9.6,602,7791,0.12,2.40,0.00,0.000,6,0.158,0.054,2689,2212,3214,0,0,0,0,0,0
$GC,8122,-0.66,-117.3,871.2,-7.7,613,8126,0.00,2.35,0.00,0.000,4,0.000,0.065,2681,3697,3214,0,0,0,0,0,0
$GC,8172,-0.67,-117.3,875.5,-8.3,614,8176,0.00,2.28,0.00,0.000,6,0.000,0.048,2680,2204,3213,0,0,0,0,0,0
$GC,8486,-0.67,-117.3,901.0,-8.2,624,8487,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2202,3213,0,0,0,0,0,0
$GC,8791,-0.67,-117.3,926.1,-8.3,634,8793,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2202,3213,0,0,0,0,0,0
$GC,9097,-0.67,-117.3,952.0,-8.4,644,9098,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2201,3212,0,0,0,0,0,0
$GC,9405,-0.67,-117.3,978.9,-8.7,654,9406,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2202,3212,0,0,0,0,0,0
$STATE,9554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9554,begin apogee
$GC,9560,-0.22,0.0,991.9,8.4,659,9664,0.47,0.00,101.32,1.236,6,0.125,0.000,2834,2058,2735,0,0,0,0,0,0
$STATE,9665,end apogee,CONTROL_FINISHED_OK
$STATE,9665,begin climb
$GC,9668,0.72,117.3,994.4,0.0,662,9781,0.90,0.00,109.90,1.205,6,0.078,0.000,3137,2057,2255,0,0,0,0,0,0
$GC,10074,0.69,117.3,937.5,16.5,676,10078,0.00,2.50,0.00,0.000,4,0.000,0.062,3137,3574,2245,0,0,0,0,0,0
$GC,10112,0.65,117.3,930.3,19.0,677,10117,0.12,2.42,0.00,0.000,6,0.195,0.046,3121,2067,2244,0,0,0,0,0,0
$GC,10438,0.63,117.3,882.1,14.6,688,10442,0.00,2.42,0.00,0.000,4,0.000,0.057,3130,535,2242,0,0,0,0,0,0
$GC,10453,0.61,117.3,879.2,14.7,688,10458,0.00,2.42,0.00,0.000,6,0.000,0.051,3130,2073,2241,0,0,0,0,0,0
$GC,10767,0.59,117.3,831.9,15.3,698,10769,0.12,0.00,0.00,0.000,6,0.181,0.000,3099,2077,2241,0,0,0,0,0,0
$GC,11073,0.58,117.3,790.7,13.3,708,11074,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2077,2240,0,0,0,0,0,0
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$STATE,18116,end climb,SURFACE_DEPTH_REACHED
$STATE,18116,begin surface coast
$FINISH,0.7,1.012736
$STATE,18159,end surface coast,CONTROL_FINISHED_OK
$STATE,18159,begin surface
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$HUMID,35.66
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$TCM_TEMP,15.70
$XPDR_PINGS,0
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$10V_AH,10.3,16.593
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.025,171.625,360.400,44.850,0.000,26.342,37.110,189.302,0.000,0.000,15.617,3484.956,11157.147,636.048,2868.858,466.939,33.355,1900.898,0.000,2629.510,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,925.304,1115.292,1120.759,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297460
$DATA_FILE_SIZE,76854,1340
$CAP_FILE_SIZE,206085,0
$CFSIZE,260165632,200769536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.074,143.6,1
$GPS,160511,025907,4709.891,-12640.182,41,0.8,41,18.6