version: 66.07
glider: 187
mission: 4
dive: 704
start: 9 1 111 6 40 50
data:
$ID,187
$MISSION,4
$DIVE,704
$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,1
$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,-1585631
$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,32
$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,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
$GPS1,010911,063454,4745.743,-12526.495,73,1.1,90,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-76.0
$GPS2,010911,063956,4745.715,-12526.511,12,1.6,12,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,INSHORE
$TGT_LATLONG,4742.000,-12530.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.168,-0.108
$KALMAN_X,372160.0,96.6,-193.2,-396137.5,2309.8
$KALMAN_Y,-781604.2,67.5,-342.7,780420.2,-1463.0
$MHEAD_RNG_PITCHd_Wd,218.6,8139,-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,-117.3,0.0,0.0,0,86,0.00,0.00,-68.22,0.000,6,0.000,0.000,111,2194,3215,0,0,0,0,0,0
$GC,89,-0.50,-117.3,2.2,-2.8,1,105,10.65,2.35,0.00,0.000,4,0.224,0.048,2742,3688,3218,0,0,0,0,0,0
$GC,185,-0.48,-117.3,35.5,-10.4,1,189,0.00,2.33,0.00,0.000,6,0.000,0.041,2741,2169,3221,0,0,0,0,0,0
$GC,392,-0.47,-117.3,59.1,-11.4,3,396,0.00,2.33,0.00,0.000,4,0.000,0.050,2741,662,3223,0,0,0,0,0,0
$GC,521,-0.45,-117.3,73.4,-10.4,4,526,0.15,2.33,0.00,0.000,6,0.132,0.047,2777,2157,3224,0,0,0,0,0,0
$GC,808,-0.45,-117.3,95.5,-7.8,7,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2158,3225,0,0,0,0,0,0
$GC,1208,-0.45,-117.3,122.0,-7.0,9,1212,0.00,2.45,0.00,0.000,4,0.000,0.060,2769,3690,3225,0,0,0,0,0,0
$GC,1229,-0.46,-117.3,123.6,-7.4,9,1233,0.00,2.40,0.00,0.000,6,0.000,0.044,2769,2155,3225,0,0,0,0,0,0
$GC,1832,-0.46,-117.3,162.7,-6.4,11,1836,0.00,2.30,0.00,0.000,4,0.000,0.051,2768,669,3225,0,0,0,0,0,0
$GC,1946,-0.46,-117.3,170.0,-5.9,11,1950,0.00,2.30,0.00,0.000,6,0.000,0.049,2769,2147,3225,0,0,0,0,0,0
$GC,2460,-0.46,-117.3,199.6,-5.7,13,2464,0.00,2.33,0.00,0.000,4,0.000,0.051,2769,658,3223,0,0,0,0,0,0
$GC,2494,-0.47,-117.3,201.7,-6.4,13,2498,0.00,2.30,0.00,0.000,6,0.000,0.050,2768,2132,3224,0,0,0,0,0,0
$GC,3089,-0.47,-117.3,235.2,-5.6,15,3094,0.00,2.30,0.00,0.000,4,0.000,0.052,2768,660,3223,0,0,0,0,0,0
$GC,3125,-0.48,-117.3,237.3,-5.8,15,3129,0.00,2.30,0.00,0.000,6,0.000,0.050,2768,2131,3223,0,0,0,0,0,0
$GC,3720,-0.49,-117.3,269.5,-5.6,17,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2131,3222,0,0,0,0,0,0
$GC,4018,-0.50,-117.3,287.0,-5.7,18,4023,0.00,2.30,0.00,0.000,4,0.000,0.052,2768,667,3222,0,0,0,0,0,0
$GC,4052,-0.52,-117.3,289.3,-6.4,18,4056,0.00,2.28,0.00,0.000,6,0.000,0.050,2768,2130,3222,0,0,0,0,0,0
$GC,4651,-0.53,-117.3,323.4,-5.5,20,4655,0.00,2.30,0.00,0.000,4,0.000,0.053,2768,666,3220,0,0,0,0,0,0
$GC,4680,-0.54,-117.3,325.0,-5.2,20,4684,0.00,2.25,0.00,0.000,6,0.000,0.051,2768,2112,3220,0,0,0,0,0,0
$GC,5285,-0.55,-117.3,356.2,-5.3,22,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2112,3219,0,0,0,0,0,0
$GC,5587,-0.56,-117.3,373.7,-5.5,23,5592,0.00,2.33,0.00,0.000,4,0.000,0.054,2768,657,3219,0,0,0,0,0,0
$GC,5610,-0.57,-117.3,375.1,-5.8,23,5614,0.00,2.30,0.00,0.000,6,0.000,0.052,2768,2119,3220,0,0,0,0,0,0
$GC,6214,-0.59,-117.3,409.2,-5.7,25,6219,0.12,2.33,0.00,0.000,4,0.086,0.053,2700,660,3218,0,0,0,0,0,0
$GC,6230,-0.59,-117.3,410.5,-5.7,25,6235,0.15,2.28,0.00,0.000,6,0.136,0.050,2735,2111,3218,0,0,0,0,0,0
$GC,6839,-0.59,-117.3,457.5,-7.9,27,6843,0.00,2.30,0.00,0.000,4,0.000,0.054,2735,660,3218,0,0,0,0,0,0
$GC,6867,-0.59,-117.3,459.7,-7.9,27,6870,0.00,2.25,0.00,0.000,6,0.000,0.051,2731,2099,3218,0,0,0,0,0,0
$GC,7471,-0.59,-117.3,501.2,-6.6,29,7472,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2100,3217,0,0,0,0,0,0
$GC,7771,-0.59,-117.3,520.8,-6.6,30,7775,0.00,2.25,0.00,0.000,4,0.000,0.054,2730,669,3216,0,0,0,0,0,0
$GC,7805,-0.59,-117.3,523.0,-7.2,30,7809,0.00,2.25,0.00,0.000,6,0.000,0.052,2722,2099,3217,0,0,0,0,0,0
$GC,8405,-0.59,-117.3,568.4,-7.9,32,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2099,3215,0,0,0,0,0,0
$GC,8703,-0.59,-117.3,591.0,-7.8,33,8708,0.00,2.60,0.00,0.000,4,0.000,0.063,2710,3692,3216,0,0,0,0,0,0
$GC,8755,-0.59,-117.3,594.7,-7.1,33,8759,0.00,2.53,0.00,0.000,6,0.000,0.047,2709,2102,3215,0,0,0,0,0,0
$GC,9331,-0.58,-117.3,637.7,-7.6,35,9335,0.00,2.28,0.00,0.000,4,0.000,0.056,2709,667,3215,0,0,0,0,0,0
$GC,9392,-0.57,-117.3,642.8,-8.4,35,9397,0.12,2.25,0.00,0.000,6,0.140,0.053,2740,2107,3215,0,0,0,0,0,0
$GC,9956,-0.57,-117.3,679.5,-6.5,37,9957,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2106,3214,0,0,0,0,0,0
$GC,10257,-0.57,-117.3,697.5,-6.3,38,10258,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2107,3214,0,0,0,0,0,0
$GC,10557,-0.57,-117.3,713.6,-6.0,39,10558,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2107,3214,0,0,0,0,0,0
$GC,10860,-0.57,-117.3,730.0,-5.8,40,10864,0.00,2.30,0.00,0.000,4,0.000,0.057,2740,664,3213,0,0,0,0,0,0
$GC,10886,-0.57,-117.3,731.7,-6.5,40,10891,0.00,2.28,0.00,0.000,6,0.000,0.054,2735,2111,3213,0,0,0,0,0,0
$GC,11493,-0.57,-117.3,763.7,-5.0,42,11494,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2111,3213,0,0,0,0,0,0
$GC,11792,-0.57,-117.3,778.6,-5.0,43,11796,0.00,2.28,0.00,0.000,4,0.000,0.057,2734,668,3213,0,0,0,0,0,0
$GC,11825,-0.57,-117.3,780.4,-5.7,43,11829,0.00,2.25,0.00,0.000,6,0.000,0.054,2732,2095,3212,0,0,0,0,0,0
$GC,12423,-0.57,-117.3,813.5,-5.6,45,12424,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2095,3212,0,0,0,0,0,0
$GC,12724,-0.57,-117.3,831.4,-5.8,46,12728,0.00,2.30,0.00,0.000,4,0.000,0.057,2732,662,3212,0,0,0,0,0,0
$GC,12746,-0.57,-117.3,833.0,-7.3,46,12751,0.00,2.28,0.00,0.000,6,0.000,0.054,2731,2093,3212,0,0,0,0,0,0
$GC,13351,-0.57,-117.3,870.3,-6.2,48,13355,0.00,2.62,0.00,0.000,4,0.000,0.066,2721,3687,3211,0,0,0,0,0,0
$GC,13374,-0.57,-117.3,871.8,-6.7,48,13378,0.00,2.53,0.00,0.000,6,0.000,0.049,2720,2094,3211,0,0,0,0,0,0
$GC,13979,-0.57,-117.3,910.6,-6.4,50,13983,0.00,2.62,0.00,0.000,4,0.000,0.066,2710,3686,3211,0,0,0,0,0,0
$GC,14011,-0.57,-117.3,912.8,-6.4,50,14015,0.00,2.53,0.00,0.000,6,0.000,0.049,2709,2096,3211,0,0,0,0,0,0
$STATE,14284,end dive,NO_VERTICAL_VELOCITY
$STATE,14284,begin apogee
$GC,14291,-0.22,0.0,921.9,0.0,50,14400,0.38,0.00,106.00,1.181,6,0.076,0.000,2854,2095,2735,0,0,0,0,0,0
$STATE,14401,end apogee,CONTROL_FINISHED_OK
$STATE,14401,begin climb
$GC,14404,0.50,117.3,921.7,0.0,51,14528,0.62,2.72,112.65,1.150,4,0.062,0.056,3093,543,2255,0,0,0,0,0,0
$GC,14556,0.47,117.3,914.4,8.1,51,14560,0.00,2.55,0.00,0.000,6,0.000,0.050,3094,2055,2252,0,0,0,0,0,0
$GC,15027,0.44,117.3,871.1,9.3,53,15032,0.12,2.45,0.00,0.000,4,0.164,0.063,3059,3580,2245,0,0,0,0,0,0
$GC,15157,0.41,117.3,858.6,9.5,53,15162,0.00,2.38,0.00,0.000,6,0.000,0.048,3067,2079,2242,0,0,0,0,0,0
$GC,15655,0.39,117.3,815.3,8.7,55,15656,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2078,2242,0,0,0,0,0,0
$GC,15956,0.37,117.3,789.4,8.7,56,15960,0.00,2.42,0.00,0.000,4,0.000,0.062,3067,3581,2241,0,0,0,0,0,0
$GC,15983,0.35,117.3,786.7,9.5,56,15988,0.15,2.35,0.00,0.000,6,0.150,0.047,3036,2073,2240,0,0,0,0,0,0
$GC,16581,0.35,117.3,743.6,7.2,58,16585,0.00,2.40,0.00,0.000,4,0.000,0.058,3045,545,2240,0,0,0,0,0,0
$GC,16634,0.35,117.3,740.0,6.3,58,16638,0.00,2.42,0.00,0.000,6,0.000,0.052,3045,2087,2240,0,0,0,0,0,0
$GC,17215,0.35,117.3,698.3,7.1,60,17219,0.00,2.38,0.00,0.000,4,0.000,0.063,3045,3579,2239,0,0,0,0,0,0
$GC,17272,0.33,117.3,694.0,8.4,60,17276,0.00,2.35,0.00,0.000,6,0.000,0.048,3054,2079,2238,0,0,0,0,0,0
$GC,17850,0.32,117.3,652.9,6.9,62,17854,0.00,2.42,0.00,0.000,4,0.000,0.057,3065,545,2238,0,0,0,0,0,0
$GC,17872,0.32,117.3,651.1,6.7,62,17877,0.15,2.40,0.00,0.000,6,0.133,0.051,3022,2086,2238,0,0,0,0,0,0
$GC,18483,0.34,150.6,620.1,4.9,64,18518,0.00,2.47,28.05,0.973,4,0.000,0.063,3021,3570,2121,0,0,0,0,0,0
$GC,18568,0.34,150.6,614.7,7.1,64,18573,0.00,2.38,0.00,0.000,6,0.000,0.048,3026,2084,2119,0,0,0,0,0,0
$GC,19111,0.34,151.5,582.1,6.1,66,19115,0.00,2.45,0.00,0.000,4,0.000,0.057,3037,545,2116,0,0,0,0,0,0
$GC,19174,0.35,151.5,578.0,6.5,66,19179,0.00,2.42,0.00,0.000,6,0.000,0.051,3037,2084,2115,0,0,0,0,0,0
$GC,19739,0.35,151.5,539.1,6.7,68,19743,0.00,2.40,0.00,0.000,4,0.000,0.064,3037,3582,2115,0,0,0,0,0,0
$GC,19802,0.35,151.5,534.7,8.6,68,19806,0.00,2.35,0.00,0.000,6,0.000,0.048,3045,2089,2114,0,0,0,0,0,0
$GC,20372,0.35,151.5,499.7,6.2,70,20376,0.00,2.42,0.00,0.000,4,0.000,0.057,3055,543,2114,0,0,0,0,0,0
$GC,20428,0.35,151.5,495.8,6.9,70,20433,0.00,2.45,0.00,0.000,6,0.000,0.051,3055,2104,2114,0,0,0,0,0,0
$GC,21000,0.35,151.5,455.3,7.1,72,21005,0.00,2.40,0.00,0.000,4,0.000,0.064,3055,3582,2114,0,0,0,0,0,0
$GC,21078,0.35,151.5,448.5,8.7,72,21083,0.00,2.33,0.00,0.000,6,0.000,0.047,3065,2100,2113,0,0,0,0,0,0
$GC,21632,0.35,151.5,402.7,8.4,74,21633,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2098,2113,0,0,0,0,0,0
$GC,21932,0.35,151.5,380.5,8.0,75,21936,0.00,2.47,0.00,0.000,4,0.000,0.057,3077,537,2113,0,0,0,0,0,0
$GC,21953,0.35,151.5,378.9,6.6,75,21958,0.15,2.45,0.00,0.000,6,0.132,0.051,3033,2100,2113,0,0,0,0,0,0
$GC,22563,0.39,195.9,350.6,4.6,77,22608,0.00,2.42,39.53,0.818,4,0.000,0.064,3033,3570,1935,0,0,0,0,0,0
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$STATE,27880,end climb,SURFACE_DEPTH_REACHED
$STATE,27880,begin surface coast
$FINISH,1.0,NaN
$STATE,27973,end surface coast,CONTROL_FINISHED_OK
$STATE,27973,begin surface
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$IRIDIUM_FIX,4729.30,-12519.98,010911,000000
$TT8_MAMPS,0.026964
$HUMID,42.36
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.90
$XPDR_PINGS,0
$24V_AH,22.1,80.684
$10V_AH,9.8,82.821
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.150,200.175,445.025,0.000,0.000,25.435,31.080,116.365,0.000,0.000,13.497,1189.224,22601.324,539.579,3541.184,474.372,33.375,2238.775,0.000,3268.675,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297664
$DATA_FILE_SIZE,3634,104
$CAP_FILE_SIZE,218035,0
$CFSIZE,260165632,157724672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010911,142937,4743.673,-12528.463,38,1.0,38,18.7