version: 66.07
glider: 187
mission: 4
dive: 639
start: 8 12 111 12 0 34
data:
$ID,187
$MISSION,4
$DIVE,639
$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,-1585549.8
$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,31
$R_STBD_OVSHOOT,38
$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
$GPS1,120811,115400,4718.127,-12617.595,40,1.3,45,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-75.5
$GPS2,120811,115938,4718.101,-12617.602,17,1.6,17,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.199,-0.024
$KALMAN_X,336141.2,1.2,19.1,-423829.8,2684.2
$KALMAN_Y,-607186.0,720.8,-640.7,554439.4,-1586.6
$MHEAD_RNG_PITCHd_Wd,224.3,63179,-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,-117.3,0.0,0.0,0,97,0.00,0.00,-78.97,0.000,6,0.000,0.000,114,2183,3216,0,0,0,0,0,0
$GC,100,-0.50,-117.3,2.4,-2.1,1,116,10.73,2.38,0.00,0.000,4,0.226,0.044,2738,3691,3219,0,0,0,0,0,0
$GC,168,-0.48,-117.3,32.1,-13.4,1,172,0.00,2.40,0.00,0.000,6,0.000,0.042,2737,2162,3222,0,0,0,0,0,0
$GC,373,-0.45,-117.3,53.4,-10.4,4,378,0.12,2.33,0.00,0.000,4,0.147,0.050,2774,664,3223,0,0,0,0,0,0
$GC,413,-0.45,-117.3,57.3,-8.3,4,417,0.00,2.33,0.00,0.000,6,0.000,0.047,2772,2156,3224,0,0,0,0,0,0
$GC,647,-0.45,-117.3,77.2,-8.7,7,651,0.00,2.47,0.00,0.000,4,0.000,0.060,2761,3697,3226,0,0,0,0,0,0
$GC,685,-0.45,-117.3,80.7,-8.8,7,689,0.00,2.42,0.00,0.000,6,0.000,0.043,2760,2145,3226,0,0,0,0,0,0
$GC,918,-0.45,-117.3,100.1,-8.4,10,922,0.00,2.30,0.00,0.000,4,0.000,0.050,2760,665,3226,0,0,0,0,0,0
$GC,958,-0.45,-117.3,103.7,-9.2,10,962,0.00,2.33,0.00,0.000,6,0.000,0.047,2753,2163,3226,0,0,0,0,0,0
$GC,1335,-0.45,-117.3,133.0,-7.7,12,1339,0.00,2.42,0.00,0.000,4,0.000,0.059,2741,3693,3226,0,0,0,0,0,0
$GC,1375,-0.45,-117.3,136.7,-9.6,12,1380,0.12,2.42,0.00,0.000,6,0.123,0.043,2780,2142,3226,0,0,0,0,0,0
$GC,1752,-0.46,-117.3,160.9,-5.5,14,1755,0.00,2.30,0.00,0.000,4,0.000,0.050,2781,662,3226,0,0,0,0,0,0
$GC,1804,-0.47,-117.3,163.8,-5.9,14,1808,0.00,2.28,0.00,0.000,6,0.000,0.048,2779,2138,3226,0,0,0,0,0,0
$GC,2181,-0.50,-117.3,186.6,-6.2,16,2185,0.00,2.50,0.00,0.000,4,0.000,0.060,2779,3693,3225,0,0,0,0,0,0
$GC,2215,-0.54,-117.3,188.8,-6.3,16,2220,0.00,2.45,0.00,0.000,6,0.000,0.044,2778,2125,3224,0,0,0,0,0,0
$GC,2597,-0.57,-117.3,212.4,-6.1,18,2602,0.12,2.53,0.00,0.000,4,0.085,0.060,2704,3690,3224,0,0,0,0,0,0
$GC,2740,-0.57,-117.3,224.0,-8.9,18,2745,0.12,2.42,0.00,0.000,6,0.127,0.044,2742,2141,3223,0,0,0,0,0,0
$GC,3016,-0.57,-117.3,243.5,-7.0,20,3020,0.00,2.30,0.00,0.000,4,0.000,0.052,2742,662,3223,0,0,0,0,0,0
$GC,3054,-0.57,-117.3,246.5,-7.2,20,3058,0.00,2.30,0.00,0.000,6,0.000,0.049,2739,2136,3223,0,0,0,0,0,0
$GC,3430,-0.57,-117.3,273.2,-7.1,22,3434,0.00,2.50,0.00,0.000,4,0.000,0.061,2727,3689,3223,0,0,0,0,0,0
$GC,3451,-0.57,-117.3,274.9,-7.4,22,3455,0.00,2.45,0.00,0.000,6,0.000,0.046,2726,2129,3223,0,0,0,0,0,0
$GC,3843,-0.57,-117.3,304.7,-7.7,24,3847,0.00,2.30,0.00,0.000,4,0.000,0.052,2726,665,3222,0,0,0,0,0,0
$GC,3865,-0.56,-117.3,306.6,-8.0,24,3869,0.00,2.30,0.00,0.000,6,0.000,0.050,2720,2137,3221,0,0,0,0,0,0
$GC,4258,-0.54,-117.3,339.4,-8.5,26,4262,0.00,2.53,0.00,0.000,4,0.000,0.061,2709,3689,3220,0,0,0,0,0,0
$GC,4274,-0.53,-117.3,340.8,-8.5,26,4279,0.12,2.47,0.00,0.000,6,0.128,0.047,2746,2126,3220,0,0,0,0,0,0
$GC,4673,-0.53,-117.3,367.8,-6.5,28,4677,0.00,2.30,0.00,0.000,4,0.000,0.054,2747,659,3219,0,0,0,0,0,0
$GC,4724,-0.53,-117.3,371.3,-6.8,28,4728,0.00,2.30,0.00,0.000,6,0.000,0.051,2742,2126,3220,0,0,0,0,0,0
$GC,5094,-0.53,-117.3,395.3,-6.5,30,5098,0.00,2.58,0.00,0.000,4,0.000,0.064,2731,3695,3219,0,0,0,0,0,0
$GC,5109,-0.53,-117.3,396.4,-6.5,30,5113,0.00,2.50,0.00,0.000,6,0.000,0.047,2730,2113,3218,0,0,0,0,0,0
$GC,5510,-0.53,-117.3,424.6,-7.0,32,5514,0.00,2.33,0.00,0.000,4,0.000,0.056,2730,661,3218,0,0,0,0,0,0
$GC,5537,-0.53,-117.3,426.9,-7.8,32,5541,0.00,2.30,0.00,0.000,6,0.000,0.052,2722,2133,3218,0,0,0,0,0,0
$GC,5930,-0.53,-117.3,456.1,-7.6,34,5934,0.00,2.55,0.00,0.000,4,0.000,0.063,2711,3693,3217,0,0,0,0,0,0
$GC,5952,-0.53,-117.3,457.8,-7.4,34,5957,0.12,2.50,0.00,0.000,6,0.125,0.047,2748,2118,3217,0,0,0,0,0,0
$GC,6346,-0.53,-117.3,480.2,-5.6,36,6350,0.00,2.30,0.00,0.000,4,0.000,0.054,2748,665,3217,0,0,0,0,0,0
$GC,6369,-0.53,-117.3,481.7,-6.2,36,6373,0.00,2.28,0.00,0.000,6,0.000,0.053,2746,2116,3217,0,0,0,0,0,0
$GC,6767,-0.53,-117.3,507.5,-6.7,38,6771,0.00,2.58,0.00,0.000,4,0.000,0.064,2734,3694,3216,0,0,0,0,0,0
$GC,6807,-0.54,-117.3,510.4,-7.9,38,6811,0.00,2.50,0.00,0.000,6,0.000,0.047,2733,2111,3216,0,0,0,0,0,0
$GC,7189,-0.54,-117.3,538.2,-7.2,40,7193,0.00,2.33,0.00,0.000,4,0.000,0.057,2733,667,3215,0,0,0,0,0,0
$GC,7211,-0.54,-117.3,539.9,-7.1,40,7216,0.00,2.30,0.00,0.000,6,0.000,0.054,2728,2124,3215,0,0,0,0,0,0
$GC,7604,-0.54,-117.3,565.1,-6.1,42,7609,0.00,2.58,0.00,0.000,4,0.000,0.066,2716,3687,3214,0,0,0,0,0,0
$GC,7632,-0.54,-117.3,566.8,-5.6,42,7636,0.00,2.50,0.00,0.000,6,0.000,0.047,2716,2106,3214,0,0,0,0,0,0
$GC,8019,-0.54,-117.3,592.1,-6.7,44,8023,0.00,2.30,0.00,0.000,4,0.000,0.056,2715,663,3214,0,0,0,0,0,0
$GC,8051,-0.54,-117.3,594.6,-7.0,44,8056,0.12,2.28,0.00,0.000,6,0.132,0.053,2745,2112,3214,0,0,0,0,0,0
$GC,8537,-0.54,-117.3,624.3,-6.3,46,8542,0.00,2.55,0.00,0.000,4,0.000,0.064,2736,3690,3213,0,0,0,0,0,0
$GC,8571,-0.55,-117.3,626.8,-7.3,46,8576,0.00,2.50,0.00,0.000,6,0.000,0.049,2736,2114,3213,0,0,0,0,0,0
$GC,9166,-0.55,-117.3,665.6,-6.4,48,9167,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2113,3213,0,0,0,0,0,0
$GC,9467,-0.55,-117.3,685.2,-6.4,49,9471,0.00,2.30,0.00,0.000,4,0.000,0.057,2735,661,3212,0,0,0,0,0,0
$GC,9495,-0.55,-117.3,687.4,-7.7,49,9499,0.00,2.30,0.00,0.000,6,0.000,0.054,2731,2117,3212,0,0,0,0,0,0
$GC,10101,-0.55,-117.3,729.5,-7.0,51,10105,0.00,2.60,0.00,0.000,4,0.000,0.066,2719,3693,3211,0,0,0,0,0,0
$GC,10157,-0.55,-117.3,733.8,-7.7,51,10161,0.00,2.53,0.00,0.000,6,0.000,0.049,2719,2110,3211,0,0,0,0,0,0
$GC,10730,-0.55,-117.3,772.5,-6.6,53,10734,0.00,2.62,0.00,0.000,4,0.000,0.066,2709,3687,3211,0,0,0,0,0,0
$GC,10751,-0.55,-117.3,774.3,-7.3,53,10756,0.12,2.50,0.00,0.000,6,0.125,0.049,2746,2127,3210,0,0,0,0,0,0
$GC,11366,-0.56,-117.3,803.0,-4.7,55,11370,0.00,2.62,0.00,0.000,4,0.000,0.066,2738,3694,3210,0,0,0,0,0,0
$GC,11388,-0.58,-117.3,804.3,-4.8,55,11392,0.00,2.50,0.00,0.000,6,0.000,0.050,2737,2122,3210,0,0,0,0,0,0
$GC,11994,-0.58,-117.3,834.6,-5.0,57,11998,0.00,2.62,0.00,0.000,4,0.000,0.066,2729,3693,3209,0,0,0,0,0,0
$GC,12021,-0.58,-117.3,836.2,-5.6,57,12026,0.00,2.50,0.00,0.000,6,0.000,0.050,2729,2126,3209,0,0,0,0,0,0
$GC,12620,-0.58,-117.3,867.0,-5.1,59,12622,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2124,3208,0,0,0,0,0,0
$GC,12921,-0.58,-117.3,882.7,-5.1,60,12922,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2124,3208,0,0,0,0,0,0
$GC,13224,-0.58,-117.3,898.9,-5.2,61,13226,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2125,3208,0,0,0,0,0,0
$GC,13523,-0.58,-117.3,914.7,-5.2,62,13525,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2124,3208,0,0,0,0,0,0
$GC,13822,-0.58,-117.3,930.4,-5.3,63,13824,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2124,3208,0,0,0,0,0,0
$GC,14124,-0.58,-117.3,946.1,-5.3,64,14128,0.00,2.62,0.00,0.000,4,0.000,0.068,2720,3691,3208,0,0,0,0,0,0
$GC,14157,-0.58,-117.3,948.0,-6.0,64,14161,0.00,2.53,0.00,0.000,6,0.000,0.050,2719,2121,3207,0,0,0,0,0,0
$GC,14750,-0.58,-117.3,979.9,-5.4,66,14751,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2119,3207,0,0,0,0,0,0
$STATE,15048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15048,begin apogee
$GC,15056,-0.22,0.0,997.0,5.5,67,15165,0.40,0.00,105.78,1.236,6,0.100,0.000,2852,2058,2735,0,0,0,0,0,0
$STATE,15165,end apogee,CONTROL_FINISHED_OK
$STATE,15165,begin climb
$GC,15168,0.50,117.3,997.0,0.0,67,15291,0.65,2.65,113.72,1.203,4,0.063,0.057,3095,557,2256,0,0,0,0,0,0
$GC,15332,0.47,117.3,990.4,10.0,67,15337,0.00,2.55,0.00,0.000,6,0.000,0.051,3096,2055,2251,0,0,0,0,0,0
$GC,15786,0.44,117.3,943.7,10.3,69,15791,0.12,2.47,0.00,0.000,4,0.168,0.064,3062,3578,2244,0,0,0,0,0,0
$GC,15860,0.41,117.3,936.1,10.0,69,15865,0.00,2.42,0.00,0.000,6,0.000,0.050,3072,2073,2243,0,0,0,0,0,0
$GC,16417,0.39,117.3,885.4,9.1,71,16421,0.00,2.45,0.00,0.000,4,0.000,0.060,3083,538,2241,0,0,0,0,0,0
$GC,16449,0.36,117.3,882.1,10.3,71,16454,0.15,2.42,0.00,0.000,6,0.145,0.054,3042,2070,2241,0,0,0,0,0,0
$GC,17049,0.36,117.3,841.5,6.7,73,17053,0.00,2.45,0.00,0.000,4,0.000,0.063,3042,3584,2240,0,0,0,0,0,0
$GC,17145,0.35,117.3,833.7,9.5,73,17149,0.00,2.40,0.00,0.000,6,0.000,0.050,3050,2078,2239,0,0,0,0,0,0
$GC,17678,0.33,117.3,793.5,7.7,75,17679,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2076,2239,0,0,0,0,0,0
$GC,17977,0.32,117.3,770.0,7.8,76,17979,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2075,2239,0,0,0,0,0,0
$GC,18279,0.31,117.3,748.0,7.6,77,18283,0.00,2.42,0.00,0.000,4,0.000,0.062,3050,3584,2239,0,0,0,0,0,0
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$STATE,28166,end climb,SURFACE_DEPTH_REACHED
$STATE,28166,begin surface coast
$FINISH,3.2,1.023168
$STATE,28170,end surface coast,CONTROL_FINISHED_OK
$STATE,28170,begin surface
$SM_CCo,28189,2.92,0.312,0,0,1410,325.02
$SM_GC,3.77,0.00,0.00,2.92,0.000,0.000,0.312,109,2182,1410,-8.79,0.20,325.02
$IRIDIUM_FIX,4700.70,-12617.28,120811,030336
$TT8_MAMPS,0.026964
$HUMID,43.18
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,22.0,71.938
$10V_AH,9.9,77.555
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.150,266.775,393.850,2.925,0.000,26.207,35.313,137.676,0.000,0.000,17.885,1494.953,22252.811,553.808,3669.812,545.996,33.384,2342.134,0.000,3376.155,0.000,0.535,0.000
$DEVICE_MAMPS,225.675,126.225,1236.240,312.120,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,89.024,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297664
$DATA_FILE_SIZE,7001,129
$CAP_FILE_SIZE,244722,0
$CFSIZE,260165632,162267136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,126.5,1
$GPS,120811,195231,4715.980,-12620.127,86,1.7,86,18.6