version: 66.07
glider: 187
mission: 4
dive: 176
start: 5 5 111 19 14 34
data:
$ID,187
$MISSION,4
$DIVE,176
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$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,340
$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,-1584041.8
$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,30
$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,2200
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,45
$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
$GPS1,050511,190424,4734.868,-12518.084,27,1.5,44,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-76.5
$GPS2,050511,191344,4734.790,-12518.028,17,1.4,17,18.6
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,DOGLEG
$TGT_LATLONG,4743.500,-12528.600
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.166,0.202
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,302.1,20824,-18.6,-10.000
$D_GRID,821
$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,-0.71,-146.6,0.0,0.0,0,90,0.00,0.00,-71.18,0.000,2,0.000,0.000,130,2267,3008,0,0,0,0,0,0
$GC,94,-0.71,-146.6,3.4,-5.0,11,116,10.20,2.55,-6.50,0.000,4,0.237,0.061,2686,681,3336,0,0,0,0,0,0
$GC,165,-0.68,-146.6,24.0,-19.8,23,173,0.00,2.40,0.00,0.000,6,0.000,0.049,2677,2187,3339,0,0,0,0,0,0
$GC,238,-0.63,-146.6,38.0,-19.5,36,246,0.15,2.47,0.00,0.000,4,0.167,0.061,2707,3726,3339,0,0,0,0,0,0
$GC,295,-0.63,-146.6,48.4,-16.5,46,303,0.00,2.38,0.00,0.000,6,0.000,0.044,2707,2226,3339,0,0,0,0,0,0
$GC,367,-0.61,-146.6,60.9,-18.7,59,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2221,3340,0,0,0,0,0,0
$GC,439,-0.59,-146.6,73.9,-18.0,72,446,0.00,2.42,0.00,0.000,4,0.000,0.051,2706,684,3340,0,0,0,0,0,0
$GC,490,-0.57,-146.6,82.3,-15.0,81,498,0.15,2.45,0.00,0.000,6,0.152,0.048,2737,2237,3340,0,0,0,0,0,0
$GC,563,-0.57,-146.6,91.4,-12.1,94,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2237,3340,0,0,0,0,0,0
$GC,635,-0.57,-146.6,99.4,-11.3,107,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2237,3340,0,0,0,0,0,0
$GC,706,-0.57,-146.6,108.1,-12.0,114,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2237,3340,0,0,0,0,0,0
$GC,833,-0.57,-146.6,122.7,-10.9,126,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2237,3341,0,0,0,0,0,0
$GC,961,-0.57,-146.6,136.7,-10.9,138,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2236,3341,0,0,0,0,0,0
$GC,1089,-0.58,-146.6,149.7,-9.6,150,1093,0.00,2.40,0.00,0.000,4,0.000,0.050,2737,688,3341,0,0,0,0,0,0
$GC,1121,-0.59,-146.6,153.2,-10.3,152,1128,0.00,2.40,0.00,0.000,6,0.000,0.048,2731,2235,3341,0,0,0,0,0,0
$GC,1257,-0.59,-146.6,165.6,-9.1,165,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2235,3341,0,0,0,0,0,0
$GC,1383,-0.59,-146.6,176.9,-9.3,177,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2235,3341,0,0,0,0,0,0
$GC,1510,-0.59,-146.6,188.8,-9.7,189,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2235,3341,0,0,0,0,0,0
$GC,1639,-0.59,-146.6,201.1,-9.2,201,1642,0.00,2.40,0.00,0.000,4,0.000,0.051,2730,678,3341,0,0,0,0,0,0
$GC,1711,-0.61,-146.6,208.8,-9.9,207,1718,0.00,2.40,0.00,0.000,6,0.000,0.049,2723,2216,3341,0,0,0,0,0,0
$GC,1846,-0.61,-146.6,222.1,-10.3,220,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2216,3341,0,0,0,0,0,0
$GC,1975,-0.61,-146.6,234.8,-9.8,232,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2216,3341,0,0,0,0,0,0
$GC,2101,-0.61,-146.6,247.0,-9.3,244,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2216,3341,0,0,0,0,0,0
$GC,2228,-0.61,-146.6,258.7,-9.4,256,2232,0.00,2.35,0.00,0.000,4,0.000,0.050,2723,688,3341,0,0,0,0,0,0
$GC,2278,-0.62,-146.6,263.6,-9.5,260,2285,0.00,2.38,0.00,0.000,6,0.000,0.049,2722,2226,3341,0,0,0,0,0,0
$GC,2413,-0.62,-146.6,276.1,-9.2,273,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2226,3341,0,0,0,0,0,0
$GC,2540,-0.62,-146.6,288.5,-9.8,285,2544,0.00,2.38,0.00,0.000,4,0.000,0.051,2722,684,3341,0,0,0,0,0,0
$GC,2578,-0.62,-146.6,292.6,-10.5,288,2586,0.00,2.38,0.00,0.000,6,0.000,0.049,2717,2210,3341,0,0,0,0,0,0
$GC,2713,-0.62,-146.6,306.4,-10.4,301,2717,0.00,2.38,0.00,0.000,4,0.000,0.061,2706,3717,3340,0,0,0,0,0,0
$GC,2740,-0.62,-146.6,309.8,-11.8,303,2749,0.00,2.33,0.00,0.000,6,0.000,0.045,2705,2212,3340,0,0,0,0,0,0
$GC,2877,-0.62,-146.6,324.7,-11.3,316,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2212,3340,0,0,0,0,0,0
$GC,3003,-0.62,-146.6,339.1,-11.3,328,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2212,3340,0,0,0,0,0,0
$GC,3130,-0.62,-146.6,353.2,-11.2,340,3134,0.00,2.35,0.00,0.000,4,0.000,0.053,2705,686,3340,0,0,0,0,0,0
$GC,3171,-0.62,-146.6,357.9,-11.5,343,3176,0.00,2.38,0.00,0.000,6,0.000,0.050,2696,2230,3340,0,0,0,0,0,0
$GC,3306,-0.62,-146.6,373.5,-11.5,355,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2229,3340,0,0,0,0,0,0
$GC,3434,-0.62,-146.6,388.3,-11.4,367,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2230,3340,0,0,0,0,0,0
$GC,3562,-0.62,-146.6,402.4,-10.6,379,3566,0.00,2.38,0.00,0.000,4,0.000,0.052,2695,688,3340,0,0,0,0,0,0
$GC,3594,-0.62,-146.6,406.4,-11.6,381,3603,0.10,2.38,0.00,0.000,6,0.135,0.050,2720,2214,3340,0,0,0,0,0,0
$GC,3730,-0.63,-146.6,418.4,-9.1,394,3734,0.00,2.35,0.00,0.000,4,0.000,0.053,2720,690,3340,0,0,0,0,0,0
$GC,3759,-0.64,-146.6,421.3,-10.0,396,3767,0.00,2.35,0.00,0.000,6,0.000,0.050,2719,2198,3340,0,0,0,0,0,0
$GC,3895,-0.65,-146.6,434.4,-10.1,409,3896,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2197,3339,0,0,0,0,0,0
$GC,4022,-0.66,-146.6,447.2,-10.0,421,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2198,3339,0,0,0,0,0,0
$GC,4150,-0.67,-146.6,460.3,-10.3,433,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2197,3339,0,0,0,0,0,0
$GC,4285,-0.69,-146.6,473.3,-9.3,446,4289,0.00,2.40,0.00,0.000,4,0.000,0.063,2709,3720,3339,0,0,0,0,0,0
$GC,4316,-0.70,-146.6,476.1,-9.7,448,4320,0.00,2.33,0.00,0.000,6,0.000,0.046,2709,2201,3338,0,0,0,0,0,0
$GC,4451,-0.70,-146.6,488.8,-9.1,460,4455,0.00,2.33,0.00,0.000,4,0.000,0.054,2708,684,3339,0,0,0,0,0,0
$GC,4514,-0.70,-146.6,494.7,-9.2,465,4518,0.00,2.33,0.00,0.000,6,0.000,0.050,2701,2196,3339,0,0,0,0,0,0
$GC,4649,-0.70,-146.6,507.0,-9.1,477,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2196,3338,0,0,0,0,0,0
$GC,4776,-0.70,-146.6,518.4,-9.0,489,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2196,3338,0,0,0,0,0,0
$GC,4903,-0.70,-146.6,530.0,-9.2,501,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2196,3338,0,0,0,0,0,0
$GC,5031,-0.70,-146.6,541.6,-8.7,513,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2196,3338,0,0,0,0,0,0
$GC,5158,-0.70,-146.6,552.8,-8.6,525,5159,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2196,3338,0,0,0,0,0,0
$GC,5285,-0.70,-146.6,564.0,-8.8,537,5290,0.00,2.30,0.00,0.000,4,0.000,0.054,2700,690,3338,0,0,0,0,0,0
$GC,5315,-0.70,-146.6,566.6,-9.3,539,5319,0.00,2.30,0.00,0.000,6,0.000,0.051,2691,2185,3338,0,0,0,0,0,0
$GC,5450,-0.70,-146.6,578.9,-8.9,551,5454,0.00,2.42,0.00,0.000,4,0.000,0.063,2680,3713,3337,0,0,0,0,0,0
$GC,5479,-0.70,-146.6,581.6,-9.1,553,5484,0.00,2.35,0.00,0.000,6,0.000,0.047,2679,2183,3337,0,0,0,0,0,0
$GC,5615,-0.70,-146.6,595.3,-10.2,565,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2179,3337,0,0,0,0,0,0
$GC,5758,-0.70,-146.6,610.3,-10.5,573,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2179,3337,0,0,0,0,0,0
$GC,6064,-0.70,-146.6,642.3,-10.4,583,6068,0.00,2.30,0.00,0.000,4,0.000,0.054,2678,682,3336,0,0,0,0,0,0
$GC,6103,-0.70,-146.6,646.8,-11.1,584,6107,0.00,2.30,0.00,0.000,6,0.000,0.050,2670,2181,3337,0,0,0,0,0,0
$GC,6427,-0.70,-146.6,682.5,-10.8,595,6428,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2181,3335,0,0,0,0,0,0
$GC,6733,-0.70,-146.6,716.7,-11.3,605,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2181,3335,0,0,0,0,0,0
$GC,7040,-0.70,-146.6,749.1,-10.4,615,7044,0.00,2.28,0.00,0.000,4,0.000,0.056,2668,691,3334,0,0,0,0,0,0
$GC,7089,-0.70,-146.6,754.7,-10.5,616,7094,0.12,2.28,0.00,0.000,6,0.164,0.053,2693,2173,3334,0,0,0,0,0,0
$GC,7403,-0.70,-146.6,781.4,-8.5,626,7404,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2173,3334,0,0,0,0,0,0
$GC,7710,-0.70,-146.6,809.1,-9.3,636,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2173,3334,0,0,0,0,0,0
$STATE,7859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7859,begin apogee
$GC,7866,-0.23,0.0,823.4,9.3,641,7994,0.45,0.00,125.30,1.120,6,0.123,0.000,2842,2067,2735,0,0,0,0,0,0
$STATE,7995,end apogee,CONTROL_FINISHED_OK
$STATE,7995,begin climb
$GC,7997,0.71,146.6,827.6,0.0,645,8135,0.93,0.00,133.82,1.089,6,0.080,0.000,3150,2067,2137,0,0,0,0,0,0
$GC,8441,0.67,146.6,765.4,16.6,660,8445,0.00,2.53,0.00,0.000,4,0.000,0.061,3150,3597,2126,0,0,0,0,0,0
$GC,8491,0.63,146.6,756.0,18.2,661,8496,0.15,2.45,0.00,0.000,6,0.187,0.047,3126,2082,2124,0,0,0,0,0,0
$GC,8805,0.60,146.6,709.6,14.3,671,8809,0.00,2.42,0.00,0.000,4,0.000,0.058,3135,562,2123,0,0,0,0,0,0
$GC,8834,0.58,146.6,705.2,15.2,672,8838,0.00,2.40,0.00,0.000,6,0.000,0.050,3135,2075,2123,0,0,0,0,0,0
$GC,9169,0.55,146.6,656.5,15.0,683,9174,0.15,2.42,0.00,0.000,4,0.179,0.061,3096,3596,2122,0,0,0,0,0,0
$GC,9220,0.53,146.6,648.8,14.4,684,9224,0.00,2.40,0.00,0.000,6,0.000,0.047,3105,2072,2121,0,0,0,0,0,0
$GC,9533,0.51,146.6,608.3,12.9,694,9534,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2070,2121,0,0,0,0,0,0
$GC,9850,0.50,146.6,568.7,12.5,718,9855,0.00,2.45,0.00,0.000,4,0.000,0.061,3105,3598,2121,0,0,0,0,0,0
$GC,9868,0.48,146.6,566.3,12.6,719,9874,0.15,2.40,0.00,0.000,6,0.168,0.048,3077,2067,2120,0,0,0,0,0,0
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$STATE,14918,end climb,SURFACE_DEPTH_REACHED
$STATE,14918,begin surface coast
$FINISH,0.4,1.024887
$STATE,14945,end surface coast,CONTROL_FINISHED_OK
$STATE,14945,begin surface
$SM_CCo,14964,21.90,0.078,0,0,1347,340.23
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$IRIDIUM_FIX,4716.56,-12515.20,050511,191933
$TT8_MAMPS,0.027713
$HUMID,35.58
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,23.3,16.274
$10V_AH,10.2,10.310
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.000,215.325,389.150,21.900,0.000,55.490,116.221,182.156,0.000,0.000,18.096,3113.909,8412.829,677.241,2881.197,446.547,29.242,1912.963,0.000,2538.697,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,862.923,1018.729,1161.422,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297544
$DATA_FILE_SIZE,70182,1249
$CAP_FILE_SIZE,206408,0
$CFSIZE,260165632,205230080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050511,232536,4735.983,-12520.362,37,0.9,37,18.7