version: 66.07
glider: 187
mission: 4
dive: 207
start: 5 12 111 10 7 27
data:
$ID,187
$MISSION,4
$DIVE,207
$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,-1584081.6
$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,29
$R_STBD_OVSHOOT,37
$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
$GPS1,120511,100007,4713.195,-12631.241,29,1.3,29,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.7
$GPS2,120511,100702,4713.193,-12631.219,15,1.3,15,18.6
$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,238.9,43801,-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,15,-0.72,-117.3,0.0,0.0,0,84,0.00,0.00,-66.32,0.000,2,0.000,0.000,131,2183,2742,0,0,0,0,0,0
$GC,88,-0.72,-117.3,3.3,-5.0,10,118,10.20,2.45,-9.77,0.000,4,0.239,0.063,2665,659,3217,0,0,0,0,0,0
$GC,181,-0.67,-117.3,30.8,-25.7,25,189,0.05,2.40,0.00,0.000,6,0.168,0.050,2685,2157,3219,0,0,0,0,0,0
$GC,256,-0.63,-117.3,46.5,-20.1,38,264,0.00,2.45,0.00,0.000,4,0.000,0.060,2676,3691,3219,0,0,0,0,0,0
$GC,299,-0.60,-117.3,55.1,-20.2,45,307,0.08,2.40,0.00,0.000,6,0.145,0.046,2711,2187,3219,0,0,0,0,0,0
$GC,373,-0.59,-117.3,68.1,-15.8,58,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2184,3220,0,0,0,0,0,0
$GC,447,-0.58,-117.3,79.4,-14.7,71,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2184,3221,0,0,0,0,0,0
$GC,517,-0.58,-117.3,89.9,-14.6,84,526,0.00,2.42,0.00,0.000,4,0.000,0.054,2711,661,3220,0,0,0,0,0,0
$GC,554,-0.58,-117.3,95.3,-15.1,90,561,0.00,2.42,0.00,0.000,6,0.000,0.050,2703,2187,3221,0,0,0,0,0,0
$GC,633,-0.58,-117.3,105.9,-13.7,100,637,0.00,2.40,0.00,0.000,4,0.000,0.060,2691,3693,3221,0,0,0,0,0,0
$GC,673,-0.58,-117.3,111.8,-14.2,103,677,0.00,2.30,0.00,0.000,6,0.000,0.045,2690,2216,3221,0,0,0,0,0,0
$GC,813,-0.58,-117.3,130.9,-13.6,116,817,0.00,2.40,0.00,0.000,4,0.000,0.052,2690,659,3222,0,0,0,0,0,0
$GC,846,-0.57,-117.3,135.7,-14.7,118,853,0.15,2.45,0.00,0.000,6,0.154,0.050,2723,2226,3222,0,0,0,0,0,0
$GC,980,-0.57,-117.3,149.9,-10.1,131,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2226,3221,0,0,0,0,0,0
$GC,1108,-0.58,-117.3,161.7,-9.1,143,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2226,3222,0,0,0,0,0,0
$GC,1237,-0.59,-117.3,172.9,-9.1,155,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2226,3221,0,0,0,0,0,0
$GC,1363,-0.60,-117.3,184.3,-9.3,167,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2226,3222,0,0,0,0,0,0
$GC,1490,-0.61,-117.3,196.1,-9.4,179,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2226,3222,0,0,0,0,0,0
$GC,1619,-0.63,-117.3,208.6,-9.9,191,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2226,3221,0,0,0,0,0,0
$GC,1745,-0.64,-117.3,221.5,-10.0,203,1749,0.00,2.45,0.00,0.000,4,0.000,0.052,2723,663,3221,0,0,0,0,0,0
$GC,1777,-0.65,-117.3,225.2,-10.4,205,1784,0.00,2.42,0.00,0.000,6,0.000,0.050,2717,2226,3221,0,0,0,0,0,0
$GC,1912,-0.65,-117.3,239.1,-10.5,218,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2226,3222,0,0,0,0,0,0
$GC,2038,-0.65,-117.3,252.4,-10.3,230,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2226,3221,0,0,0,0,0,0
$GC,2166,-0.65,-117.3,265.0,-9.8,242,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2226,3222,0,0,0,0,0,0
$GC,2295,-0.66,-117.3,277.1,-9.3,254,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2226,3221,0,0,0,0,0,0
$GC,2421,-0.67,-117.3,288.7,-9.2,266,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2226,3221,0,0,0,0,0,0
$GC,2549,-0.68,-117.3,299.7,-8.5,278,2551,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2226,3221,0,0,0,0,0,0
$GC,2675,-0.70,-117.3,310.7,-8.4,290,2677,0.10,0.00,0.00,0.000,6,0.106,0.000,2656,2226,3221,0,0,0,0,0,0
$GC,2802,-0.68,-117.3,325.9,-12.6,302,2804,0.10,0.00,0.00,0.000,6,0.164,0.000,2681,2226,3221,0,0,0,0,0,0
$GC,2930,-0.68,-117.3,340.5,-11.5,314,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2226,3221,0,0,0,0,0,0
$GC,3056,-0.68,-117.3,355.0,-11.2,326,3061,0.00,2.42,0.00,0.000,4,0.000,0.052,2681,664,3221,0,0,0,0,0,0
$GC,3086,-0.68,-117.3,358.5,-11.9,328,3090,0.00,2.40,0.00,0.000,6,0.000,0.050,2672,2220,3221,0,0,0,0,0,0
$GC,3222,-0.68,-117.3,374.8,-12.0,340,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2220,3221,0,0,0,0,0,0
$GC,3348,-0.68,-117.3,390.6,-12.9,352,3352,0.00,2.42,0.00,0.000,4,0.000,0.053,2672,666,3220,0,0,0,0,0,0
$GC,3384,-0.67,-117.3,395.4,-13.9,355,3389,0.00,2.38,0.00,0.000,6,0.000,0.051,2662,2201,3220,0,0,0,0,0,0
$GC,3521,-0.66,-117.3,413.2,-13.0,367,3528,0.12,0.00,0.00,0.000,6,0.160,0.000,2695,2201,3220,0,0,0,0,0,0
$GC,3655,-0.66,-117.3,428.9,-11.3,380,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2201,3220,0,0,0,0,0,0
$GC,3783,-0.66,-117.3,443.2,-11.2,392,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2201,3220,0,0,0,0,0,0
$GC,3911,-0.66,-117.3,457.3,-11.2,404,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2201,3219,0,0,0,0,0,0
$GC,4038,-0.66,-117.3,471.0,-10.6,416,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2201,3219,0,0,0,0,0,0
$GC,4165,-0.66,-117.3,484.1,-10.4,428,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2201,3219,0,0,0,0,0,0
$GC,4294,-0.66,-117.3,496.9,-10.0,440,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2201,3219,0,0,0,0,0,0
$GC,4420,-0.66,-117.3,509.6,-9.9,452,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2201,3219,0,0,0,0,0,0
$GC,4547,-0.66,-117.3,522.4,-9.8,464,4551,0.00,2.35,0.00,0.000,4,0.000,0.054,2695,667,3219,0,0,0,0,0,0
$GC,4580,-0.66,-117.3,526.0,-11.0,466,4587,0.00,2.38,0.00,0.000,6,0.000,0.053,2687,2201,3219,0,0,0,0,0,0
$GC,4716,-0.66,-117.3,539.7,-10.2,479,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2201,3219,0,0,0,0,0,0
$GC,4843,-0.66,-117.3,552.9,-10.1,491,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2201,3218,0,0,0,0,0,0
$GC,4971,-0.66,-117.3,565.4,-9.8,503,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2201,3218,0,0,0,0,0,0
$GC,5106,-0.66,-117.3,578.3,-8.9,516,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2201,3218,0,0,0,0,0,0
$GC,5233,-0.66,-117.3,590.0,-8.9,528,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2201,3218,0,0,0,0,0,0
$GC,5381,-0.66,-117.3,602.9,-8.7,540,5383,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2201,3218,0,0,0,0,0,0
$GC,5687,-0.66,-117.3,629.9,-8.9,550,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2201,3217,0,0,0,0,0,0
$GC,5993,-0.66,-117.3,657.4,-9.1,560,5994,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2201,3217,0,0,0,0,0,0
$GC,6299,-0.66,-117.3,686.3,-9.4,570,6303,0.00,2.40,0.00,0.000,4,0.000,0.056,2686,660,3217,0,0,0,0,0,0
$GC,6316,-0.66,-117.3,688.3,-9.7,570,6321,0.00,2.40,0.00,0.000,6,0.000,0.053,2676,2207,3217,0,0,0,0,0,0
$GC,6629,-0.66,-117.3,720.0,-10.2,580,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2207,3216,0,0,0,0,0,0
$GC,6935,-0.66,-117.3,752.1,-10.7,590,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2207,3216,0,0,0,0,0,0
$GC,7243,-0.66,-117.3,783.3,-10.2,600,7244,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2207,3215,0,0,0,0,0,0
$GC,7548,-0.66,-117.3,812.2,-9.3,610,7549,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2207,3215,0,0,0,0,0,0
$GC,7854,-0.66,-117.3,839.1,-8.6,620,7858,0.00,2.42,0.00,0.000,4,0.000,0.056,2676,656,3215,0,0,0,0,0,0
$GC,7891,-0.66,-117.3,842.2,-8.7,621,7895,0.00,2.40,0.00,0.000,6,0.000,0.054,2665,2204,3215,0,0,0,0,0,0
$GC,8226,-0.66,-117.3,871.7,-8.8,632,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2204,3214,0,0,0,0,0,0
$GC,8532,-0.66,-117.3,899.0,-9.0,642,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2204,3214,0,0,0,0,0,0
$GC,8840,-0.66,-117.3,926.4,-8.9,652,8841,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2204,3213,0,0,0,0,0,0
$GC,9145,-0.66,-117.3,954.2,-9.3,662,9149,0.00,2.38,0.00,0.000,4,0.000,0.067,2653,3695,3213,0,0,0,0,0,0
$GC,9166,-0.66,-117.3,956.5,-10.3,662,9170,0.12,2.33,0.00,0.000,6,0.154,0.050,2687,2189,3213,0,0,0,0,0,0
$GC,9486,-0.66,-117.3,980.9,-7.6,673,9487,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2186,3213,0,0,0,0,0,0
$STATE,9605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9605,begin apogee
$GC,9611,-0.22,0.0,990.2,7.6,677,9715,0.45,0.00,101.45,1.235,6,0.125,0.000,2836,2060,2735,0,0,0,0,0,0
$STATE,9716,end apogee,CONTROL_FINISHED_OK
$STATE,9716,begin climb
$GC,9719,0.72,117.3,992.1,0.0,680,9840,0.90,2.67,109.40,1.206,4,0.078,0.060,3138,3570,2255,0,0,0,0,0,0
$GC,9862,0.68,117.3,977.8,16.8,685,9866,0.00,2.53,0.00,0.000,6,0.000,0.047,3150,2068,2251,0,0,0,0,0,0
$GC,10186,0.65,117.3,925.9,15.8,696,10191,0.12,2.50,0.00,0.000,4,0.182,0.062,3120,3584,2245,0,0,0,0,0,0
$GC,10242,0.63,117.3,916.6,16.5,697,10249,0.00,2.45,0.00,0.000,6,0.000,0.048,3129,2064,2243,0,0,0,0,0,0
$GC,10556,0.60,117.3,872.2,13.8,708,10560,0.00,2.47,0.00,0.000,4,0.000,0.062,3129,3579,2242,0,0,0,0,0,0
$GC,10595,0.57,117.3,866.3,15.2,709,10600,0.20,2.40,0.00,0.000,6,0.180,0.048,3089,2073,2241,0,0,0,0,0,0
$GC,10919,0.57,117.3,830.2,10.7,720,10923,0.00,2.45,0.00,0.000,4,0.000,0.063,3089,3583,2241,0,0,0,0,0,0
$GC,10957,0.56,117.3,825.7,12.2,721,10961,0.00,2.38,0.00,0.000,6,0.000,0.049,3097,2083,2240,0,0,0,0,0,0
$GC,11281,0.56,117.3,788.4,11.6,732,11285,0.00,2.42,0.00,0.000,4,0.000,0.059,3109,538,2240,0,0,0,0,0,0
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$STATE,18326,end climb,SURFACE_DEPTH_REACHED
$STATE,18326,begin surface coast
$FINISH,0.8,1.023882
$STATE,18348,end surface coast,CONTROL_FINISHED_OK
$STATE,18348,begin surface
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$TCM_TEMP,15.70
$XPDR_PINGS,1
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$10V_AH,10.2,14.450
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.500,187.500,353.425,53.175,0.000,27.341,39.450,200.091,0.250,0.000,16.798,3566.863,11208.739,635.339,2955.045,464.126,0.000,1944.900,0.000,2691.463,0.000,0.536,0.000
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$MEM,297468
$DATA_FILE_SIZE,76952,1359
$CAP_FILE_SIZE,216322,0
$CFSIZE,260165632,202276864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.071,158.9,1
$GPS,120511,151600,4711.900,-12634.343,41,1.1,46,18.6