version: 66.07
glider: 187
mission: 4
dive: 184
start: 5 7 111 9 12 52
data:
$ID,187
$MISSION,4
$DIVE,184
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,1
$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,320
$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,-1584052
$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,36
$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
$GPS1,070511,090500,4741.208,-12533.302,39,2.0,39,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-76.6
$GPS2,070511,091156,4741.208,-12533.237,17,1.9,17,18.7
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.250,-0.078
$KALMAN_X,4415.6,181.3,92.9,-23699.4,1179.5
$KALMAN_Y,-6797.0,-57.3,120.7,18620.0,-1105.5
$MHEAD_RNG_PITCHd_Wd,233.9,133543,-18.6,-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,-0.67,-146.6,0.0,0.0,0,96,0.00,0.00,-77.70,0.000,2,0.000,0.000,129,2190,3119,0,0,0,0,0,0
$GC,100,-0.67,-146.6,4.0,-8.0,12,122,10.20,2.40,-4.07,0.000,4,0.238,0.067,2671,3684,3335,0,0,0,0,0,0
$GC,156,-0.60,-146.6,24.7,-27.3,21,164,0.10,2.42,0.00,0.000,6,0.146,0.045,2710,2169,3336,0,0,0,0,0,0
$GC,229,-0.57,-146.6,39.7,-19.3,34,236,0.00,2.40,0.00,0.000,4,0.000,0.055,2710,664,3337,0,0,0,0,0,0
$GC,266,-0.54,-146.6,47.2,-19.6,40,273,0.00,2.38,0.00,0.000,6,0.000,0.050,2701,2153,3337,0,0,0,0,0,0
$GC,338,-0.51,-146.6,60.7,-18.7,53,346,0.15,0.00,0.00,0.000,6,0.160,0.000,2742,2153,3338,0,0,0,0,0,0
$GC,411,-0.51,-146.6,71.7,-13.5,66,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2153,3338,0,0,0,0,0,0
$GC,481,-0.51,-146.6,81.4,-13.1,79,489,0.00,2.47,0.00,0.000,4,0.000,0.062,2733,3696,3338,0,0,0,0,0,0
$GC,517,-0.51,-146.6,85.9,-12.3,85,524,0.00,2.45,0.00,0.000,6,0.000,0.046,2732,2150,3338,0,0,0,0,0,0
$GC,590,-0.51,-146.6,94.1,-11.3,98,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2144,3338,0,0,0,0,0,0
$GC,666,-0.51,-146.6,102.1,-9.7,110,670,0.00,2.50,0.00,0.000,4,0.000,0.061,2722,3698,3339,0,0,0,0,0,0
$GC,688,-0.51,-146.6,104.6,-10.2,111,696,0.00,2.45,0.00,0.000,6,0.000,0.045,2720,2140,3338,0,0,0,0,0,0
$GC,823,-0.51,-146.6,118.1,-10.4,124,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2138,3339,0,0,0,0,0,0
$GC,951,-0.51,-146.6,131.6,-10.8,136,956,0.00,2.47,0.00,0.000,4,0.000,0.061,2710,3691,3339,0,0,0,0,0,0
$GC,993,-0.51,-146.6,136.1,-10.8,139,998,0.10,2.40,0.00,0.000,6,0.153,0.045,2737,2149,3339,0,0,0,0,0,0
$GC,1130,-0.52,-146.6,149.6,-9.8,151,1134,0.00,2.30,0.00,0.000,4,0.000,0.053,2737,665,3339,0,0,0,0,0,0
$GC,1163,-0.52,-146.6,153.4,-10.4,153,1170,0.00,2.35,0.00,0.000,6,0.000,0.050,2731,2158,3339,0,0,0,0,0,0
$GC,1298,-0.52,-146.6,166.3,-9.6,166,1302,0.00,2.45,0.00,0.000,4,0.000,0.061,2719,3700,3339,0,0,0,0,0,0
$GC,1321,-0.52,-146.6,168.8,-10.4,167,1327,0.00,2.40,0.00,0.000,6,0.000,0.045,2718,2152,3339,0,0,0,0,0,0
$GC,1455,-0.52,-146.6,183.1,-11.0,180,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2147,3339,0,0,0,0,0,0
$GC,1582,-0.52,-146.6,196.8,-10.9,192,1586,0.00,2.30,0.00,0.000,4,0.000,0.053,2718,662,3339,0,0,0,0,0,0
$GC,1615,-0.52,-146.6,200.5,-11.0,194,1621,0.00,2.33,0.00,0.000,6,0.000,0.050,2709,2161,3339,0,0,0,0,0,0
$GC,1749,-0.52,-146.6,215.4,-11.2,207,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2161,3339,0,0,0,0,0,0
$GC,1876,-0.52,-146.6,230.1,-11.8,219,1880,0.00,2.45,0.00,0.000,4,0.000,0.062,2698,3695,3339,0,0,0,0,0,0
$GC,1898,-0.52,-146.6,232.8,-12.7,221,1903,0.15,2.35,0.00,0.000,6,0.140,0.045,2741,2164,3339,0,0,0,0,0,0
$GC,2037,-0.53,-146.6,246.5,-9.8,233,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2158,3339,0,0,0,0,0,0
$GC,2172,-0.55,-146.6,260.0,-9.8,246,2176,0.00,2.30,0.00,0.000,4,0.000,0.053,2742,656,3339,0,0,0,0,0,0
$GC,2225,-0.57,-146.6,265.3,-10.3,250,2229,0.00,2.33,0.00,0.000,6,0.000,0.050,2735,2166,3339,0,0,0,0,0,0
$GC,2365,-0.58,-146.6,279.4,-9.9,263,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2166,3339,0,0,0,0,0,0
$GC,2493,-0.60,-146.6,291.9,-9.8,275,2497,0.00,2.45,0.00,0.000,4,0.000,0.063,2724,3697,3339,0,0,0,0,0,0
$GC,2516,-0.61,-146.6,294.3,-10.6,276,2523,0.00,2.40,0.00,0.000,6,0.000,0.046,2722,2158,3339,0,0,0,0,0,0
$GC,2651,-0.61,-146.6,308.0,-10.2,289,2655,0.00,2.30,0.00,0.000,4,0.000,0.054,2722,664,3338,0,0,0,0,0,0
$GC,2681,-0.61,-146.6,311.1,-10.6,291,2685,0.00,2.30,0.00,0.000,6,0.000,0.050,2715,2156,3338,0,0,0,0,0,0
$GC,2816,-0.61,-146.6,325.4,-10.7,303,2820,0.00,2.42,0.00,0.000,4,0.000,0.062,2703,3692,3338,0,0,0,0,0,0
$GC,2837,-0.61,-146.6,327.9,-10.2,304,2844,0.00,2.38,0.00,0.000,6,0.000,0.046,2702,2152,3338,0,0,0,0,0,0
$GC,2971,-0.61,-146.6,342.4,-10.7,317,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2147,3338,0,0,0,0,0,0
$GC,3099,-0.61,-146.6,356.0,-10.1,329,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2147,3338,0,0,0,0,0,0
$GC,3226,-0.61,-146.6,369.4,-10.4,341,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2147,3338,0,0,0,0,0,0
$GC,3353,-0.61,-146.6,382.7,-10.4,353,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2147,3337,0,0,0,0,0,0
$GC,3482,-0.61,-146.6,395.5,-9.8,365,3486,0.00,2.45,0.00,0.000,4,0.000,0.062,2691,3694,3338,0,0,0,0,0,0
$GC,3504,-0.61,-146.6,398.1,-10.7,366,3512,0.00,2.38,0.00,0.000,6,0.000,0.046,2691,2168,3337,0,0,0,0,0,0
$GC,3639,-0.61,-146.6,412.2,-10.5,379,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2164,3337,0,0,0,0,0,0
$GC,3768,-0.61,-146.6,425.8,-10.4,391,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2164,3336,0,0,0,0,0,0
$GC,3894,-0.61,-146.6,439.1,-10.2,403,3898,0.00,2.33,0.00,0.000,4,0.000,0.054,2690,652,3336,0,0,0,0,0,0
$GC,3917,-0.61,-146.6,441.8,-11.1,405,3922,0.00,2.35,0.00,0.000,6,0.000,0.050,2681,2175,3336,0,0,0,0,0,0
$GC,4053,-0.61,-146.6,456.0,-10.3,417,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2175,3336,0,0,0,0,0,0
$GC,4179,-0.61,-146.6,469.8,-10.4,429,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2175,3336,0,0,0,0,0,0
$GC,4306,-0.61,-146.6,484.1,-11.5,441,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2175,3336,0,0,0,0,0,0
$GC,4434,-0.61,-146.6,498.5,-11.0,453,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2175,3336,0,0,0,0,0,0
$GC,4562,-0.61,-146.6,512.5,-10.9,465,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2175,3336,0,0,0,0,0,0
$GC,4689,-0.61,-146.6,526.5,-10.9,477,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2175,3336,0,0,0,0,0,0
$GC,4816,-0.61,-146.6,540.8,-11.1,489,4820,0.00,2.35,0.00,0.000,4,0.000,0.054,2681,662,3335,0,0,0,0,0,0
$GC,4844,-0.61,-146.6,544.2,-12.3,491,4851,0.12,2.35,0.00,0.000,6,0.161,0.051,2705,2182,3335,0,0,0,0,0,0
$GC,4978,-0.61,-146.6,556.7,-9.3,504,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2181,3335,0,0,0,0,0,0
$GC,5106,-0.61,-146.6,568.6,-9.1,516,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2182,3335,0,0,0,0,0,0
$GC,5234,-0.61,-146.6,580.0,-8.9,528,5238,0.00,2.40,0.00,0.000,4,0.000,0.064,2695,3700,3335,0,0,0,0,0,0
$GC,5266,-0.61,-146.6,583.3,-9.6,530,5273,0.00,2.38,0.00,0.000,6,0.000,0.047,2695,2158,3335,0,0,0,0,0,0
$GC,5401,-0.61,-146.6,596.0,-9.5,543,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2156,3335,0,0,0,0,0,0
$GC,5536,-0.61,-146.6,608.8,-9.5,550,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2156,3335,0,0,0,0,0,0
$GC,5841,-0.61,-146.6,638.7,-10.0,560,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2155,3334,0,0,0,0,0,0
$GC,6147,-0.61,-146.6,668.5,-9.7,570,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2156,3335,0,0,0,0,0,0
$GC,6454,-0.61,-146.6,697.5,-9.4,580,6456,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2155,3334,0,0,0,0,0,0
$GC,6760,-0.61,-146.6,726.5,-9.5,590,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2155,3333,0,0,0,0,0,0
$GC,7066,-0.61,-146.6,755.2,-9.4,600,7070,0.00,2.30,0.00,0.000,4,0.000,0.056,2695,663,3333,0,0,0,0,0,0
$GC,7116,-0.61,-146.6,760.6,-10.4,601,7120,0.00,2.35,0.00,0.000,6,0.000,0.053,2686,2181,3333,0,0,0,0,0,0
$GC,7435,-0.61,-146.6,791.8,-10.0,612,7436,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2181,3332,0,0,0,0,0,0
$GC,7741,-0.61,-146.6,822.4,-10.0,622,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2182,3332,0,0,0,0,0,0
$GC,8048,-0.61,-146.6,854.0,-10.4,632,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2181,3331,0,0,0,0,0,0
$GC,8353,-0.61,-146.6,886.5,-10.6,642,8354,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2181,3331,0,0,0,0,0,0
$GC,8660,-0.61,-146.6,917.4,-9.9,652,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2182,3331,0,0,0,0,0,0
$GC,8966,-0.61,-146.6,948.2,-10.2,662,8970,0.00,2.35,0.00,0.000,4,0.000,0.057,2686,659,3330,0,0,0,0,0,0
$GC,9044,-0.61,-146.6,956.6,-10.3,664,9049,0.10,2.35,0.00,0.000,6,0.171,0.055,2704,2173,3330,0,0,0,0,0,0
$GC,9368,-0.63,-146.6,985.6,-8.6,675,9370,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2173,3330,0,0,0,0,0,0
$STATE,9426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9426,begin apogee
$GC,9433,-0.22,0.0,990.7,8.6,677,9564,0.40,0.00,127.38,1.230,6,0.116,0.000,2838,2053,2735,0,0,0,0,0,0
$STATE,9565,end apogee,CONTROL_FINISHED_OK
$STATE,9565,begin climb
$GC,9567,0.67,146.6,994.0,0.0,681,9711,0.85,2.70,136.12,1.197,4,0.078,0.061,3120,3577,2137,0,0,0,0,0,0
$GC,9740,0.64,146.6,977.4,16.9,687,9745,0.00,2.58,0.00,0.000,6,0.000,0.047,3131,2061,2132,0,0,0,0,0,0
$GC,10065,0.60,146.6,926.2,16.1,698,10067,0.12,0.00,0.00,0.000,6,0.187,0.000,3102,2059,2126,0,0,0,0,0,0
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$STATE,18043,end climb,SURFACE_DEPTH_REACHED
$STATE,18043,begin surface coast
$FINISH,0.6,1.024933
$STATE,18076,end surface coast,CONTROL_FINISHED_OK
$STATE,18076,begin surface
$SM_CCo,18155,0.00,0.000,0,0,1359,337.53
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$TT8_MAMPS,0.026964
$HUMID,35.50
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,14.90
$XPDR_PINGS,1
$24V_AH,23.1,17.358
$10V_AH,10.2,11.346
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.300,235.400,431.000,0.000,0.000,26.582,47.549,191.909,0.250,0.000,18.457,3359.481,11054.331,669.549,3000.919,466.853,33.358,2046.412,0.000,2734.442,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,930.064,1105.201,1158.983,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297560
$DATA_FILE_SIZE,76810,1347
$CAP_FILE_SIZE,226099,0
$CFSIZE,260165632,204484608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070511,141637,4739.722,-12536.026,33,1.1,33,18.7