version: 66.07
glider: 187
mission: 4
dive: 203
start: 5 11 111 13 15 13
data:
$ID,187
$MISSION,4
$DIVE,203
$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,-1584076.5
$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,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,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
$GPS1,110511,130800,4718.890,-12620.968,42,1.0,47,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-76.6
$GPS2,110511,131449,4718.872,-12620.979,11,1.3,22,18.6
$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,227.8,60420,-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,16,-0.72,-117.3,0.0,0.0,0,90,0.00,0.00,-71.90,0.000,2,0.000,0.000,131,2185,2892,0,0,0,0,0,0
$GC,94,-0.72,-117.3,4.0,-7.0,11,118,10.15,2.47,-6.07,0.000,4,0.236,0.070,2655,3683,3217,0,0,0,0,0,0
$GC,274,-0.69,-117.3,51.3,-20.7,43,281,0.00,2.40,0.00,0.000,6,0.000,0.041,2655,2168,3220,0,0,0,0,0,0
$GC,348,-0.65,-117.3,66.5,-20.8,56,355,0.15,0.00,0.00,0.000,6,0.167,0.000,2694,2162,3220,0,0,0,0,0,0
$GC,423,-0.64,-117.3,79.4,-16.4,69,430,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2162,3221,0,0,0,0,0,0
$GC,497,-0.62,-117.3,90.4,-14.5,82,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2162,3221,0,0,0,0,0,0
$GC,568,-0.62,-117.3,100.4,-13.3,95,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2162,3221,0,0,0,0,0,0
$GC,695,-0.62,-117.3,116.9,-12.7,107,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2162,3221,0,0,0,0,0,0
$GC,823,-0.62,-117.3,133.2,-12.6,119,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2162,3221,0,0,0,0,0,0
$GC,951,-0.62,-117.3,149.5,-12.6,131,955,0.00,2.45,0.00,0.000,4,0.000,0.060,2685,3682,3221,0,0,0,0,0,0
$GC,968,-0.62,-117.3,151.7,-12.3,132,972,0.00,2.35,0.00,0.000,6,0.000,0.044,2684,2163,3221,0,0,0,0,0,0
$GC,1108,-0.62,-117.3,169.2,-12.4,145,1112,0.00,2.33,0.00,0.000,4,0.000,0.051,2684,661,3221,0,0,0,0,0,0
$GC,1150,-0.62,-117.3,174.5,-12.4,148,1154,0.00,2.30,0.00,0.000,6,0.000,0.049,2674,2147,3221,0,0,0,0,0,0
$GC,1289,-0.62,-117.3,192.4,-12.7,161,1294,0.00,2.47,0.00,0.000,4,0.000,0.061,2662,3691,3222,0,0,0,0,0,0
$GC,1320,-0.61,-117.3,196.2,-12.8,163,1325,0.15,2.40,0.00,0.000,6,0.154,0.044,2704,2141,3221,0,0,0,0,0,0
$GC,1455,-0.61,-117.3,210.8,-10.4,175,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2137,3222,0,0,0,0,0,0
$GC,1581,-0.61,-117.3,224.0,-10.4,187,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2137,3222,0,0,0,0,0,0
$GC,1709,-0.61,-117.3,237.1,-10.3,199,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2137,3222,0,0,0,0,0,0
$GC,1837,-0.61,-117.3,250.2,-10.1,211,1841,0.00,2.47,0.00,0.000,4,0.000,0.060,2695,3695,3222,0,0,0,0,0,0
$GC,1855,-0.61,-117.3,252.2,-10.7,212,1859,0.00,2.40,0.00,0.000,6,0.000,0.045,2694,2146,3222,0,0,0,0,0,0
$GC,1989,-0.61,-117.3,266.7,-10.6,224,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2140,3222,0,0,0,0,0,0
$GC,2117,-0.61,-117.3,280.5,-10.6,236,2121,0.00,2.28,0.00,0.000,4,0.000,0.053,2693,655,3222,0,0,0,0,0,0
$GC,2148,-0.61,-117.3,284.0,-11.5,238,2152,0.00,2.33,0.00,0.000,6,0.000,0.049,2684,2160,3222,0,0,0,0,0,0
$GC,2283,-0.61,-117.3,299.3,-11.4,250,2287,0.00,2.45,0.00,0.000,4,0.000,0.061,2672,3692,3221,0,0,0,0,0,0
$GC,2328,-0.61,-117.3,305.0,-12.5,253,2336,0.12,2.38,0.00,0.000,6,0.158,0.046,2706,2154,3221,0,0,0,0,0,0
$GC,2463,-0.61,-117.3,319.2,-10.5,266,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2151,3221,0,0,0,0,0,0
$GC,2590,-0.61,-117.3,332.4,-10.1,278,2594,0.00,2.28,0.00,0.000,4,0.000,0.053,2705,660,3221,0,0,0,0,0,0
$GC,2613,-0.61,-117.3,335.0,-10.7,279,2621,0.00,2.35,0.00,0.000,6,0.000,0.050,2698,2162,3221,0,0,0,0,0,0
$GC,2748,-0.61,-117.3,349.5,-11.0,292,2753,0.00,2.45,0.00,0.000,4,0.000,0.062,2686,3695,3221,0,0,0,0,0,0
$GC,2770,-0.61,-117.3,352.3,-11.1,293,2778,0.00,2.38,0.00,0.000,6,0.000,0.046,2685,2153,3221,0,0,0,0,0,0
$GC,2906,-0.61,-117.3,367.4,-11.4,306,2910,0.00,2.30,0.00,0.000,4,0.000,0.053,2685,659,3221,0,0,0,0,0,0
$GC,2924,-0.61,-117.3,369.7,-11.9,307,2929,0.12,2.33,0.00,0.000,6,0.164,0.050,2710,2164,3221,0,0,0,0,0,0
$GC,3060,-0.62,-117.3,383.7,-10.0,319,3064,0.00,2.45,0.00,0.000,4,0.000,0.063,2700,3695,3221,0,0,0,0,0,0
$GC,3082,-0.62,-117.3,386.4,-10.7,320,3088,0.00,2.38,0.00,0.000,6,0.000,0.046,2699,2158,3221,0,0,0,0,0,0
$GC,3216,-0.62,-117.3,400.6,-10.8,333,3217,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2156,3221,0,0,0,0,0,0
$GC,3343,-0.62,-117.3,414.2,-10.5,345,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2156,3221,0,0,0,0,0,0
$GC,3471,-0.62,-117.3,427.3,-10.2,357,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2156,3221,0,0,0,0,0,0
$GC,3598,-0.62,-117.3,440.0,-9.7,369,3602,0.00,2.28,0.00,0.000,4,0.000,0.053,2699,667,3221,0,0,0,0,0,0
$GC,3619,-0.62,-117.3,442.4,-10.4,370,3626,0.00,2.33,0.00,0.000,6,0.000,0.050,2690,2177,3221,0,0,0,0,0,0
$GC,3755,-0.62,-117.3,455.7,-9.8,383,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2177,3220,0,0,0,0,0,0
$GC,3881,-0.62,-117.3,468.0,-9.5,395,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2177,3220,0,0,0,0,0,0
$GC,4010,-0.62,-117.3,480.6,-9.5,407,4014,0.00,2.42,0.00,0.000,4,0.000,0.063,2678,3695,3221,0,0,0,0,0,0
$GC,4040,-0.62,-117.3,483.7,-9.8,409,4044,0.00,2.35,0.00,0.000,6,0.000,0.047,2678,2169,3220,0,0,0,0,0,0
$GC,4175,-0.62,-117.3,497.7,-10.2,421,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2166,3220,0,0,0,0,0,0
$GC,4303,-0.62,-117.3,510.6,-10.2,433,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2166,3220,0,0,0,0,0,0
$GC,4431,-0.62,-117.3,523.5,-10.1,445,4435,0.00,2.35,0.00,0.000,4,0.000,0.054,2678,656,3219,0,0,0,0,0,0
$GC,4467,-0.62,-117.3,527.4,-10.8,448,4472,0.12,2.35,0.00,0.000,6,0.162,0.051,2701,2176,3219,0,0,0,0,0,0
$GC,4603,-0.63,-117.3,539.3,-8.3,460,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2176,3219,0,0,0,0,0,0
$GC,4731,-0.64,-117.3,550.2,-8.6,472,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2176,3219,0,0,0,0,0,0
$GC,4866,-0.66,-117.3,562.0,-8.7,485,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2176,3219,0,0,0,0,0,0
$GC,4994,-0.67,-117.3,573.4,-9.1,497,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2176,3218,0,0,0,0,0,0
$GC,5122,-0.68,-117.3,584.7,-9.2,509,5123,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2176,3218,0,0,0,0,0,0
$GC,5248,-0.69,-117.3,596.3,-9.2,521,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2176,3218,0,0,0,0,0,0
$GC,5382,-0.70,-117.3,608.6,-9.0,528,5386,0.00,2.42,0.00,0.000,4,0.000,0.065,2692,3695,3218,0,0,0,0,0,0
$GC,5419,-0.71,-117.3,612.0,-9.8,529,5423,0.00,2.35,0.00,0.000,6,0.000,0.047,2691,2166,3217,0,0,0,0,0,0
$GC,5760,-0.71,-117.3,645.0,-9.7,540,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2164,3217,0,0,0,0,0,0
$GC,6068,-0.71,-117.3,674.5,-9.6,550,6069,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2163,3217,0,0,0,0,0,0
$GC,6372,-0.71,-117.3,703.2,-9.3,560,6376,0.00,2.30,0.00,0.000,4,0.000,0.055,2691,666,3216,0,0,0,0,0,0
$GC,6400,-0.71,-117.3,706.0,-9.9,560,6407,0.00,2.33,0.00,0.000,6,0.000,0.054,2682,2167,3216,0,0,0,0,0,0
$GC,6713,-0.71,-117.3,735.6,-9.5,571,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2167,3216,0,0,0,0,0,0
$GC,7020,-0.71,-117.3,764.1,-9.2,581,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2167,3216,0,0,0,0,0,0
$GC,7327,-0.71,-117.3,792.3,-9.2,591,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2167,3215,0,0,0,0,0,0
$GC,7632,-0.71,-117.3,821.0,-9.4,601,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2167,3215,0,0,0,0,0,0
$GC,7939,-0.71,-117.3,850.1,-9.4,611,7943,0.00,2.42,0.00,0.000,4,0.000,0.067,2671,3695,3214,0,0,0,0,0,0
$GC,7988,-0.71,-117.3,855.4,-10.5,612,7992,0.00,2.35,0.00,0.000,6,0.000,0.048,2669,2170,3214,0,0,0,0,0,0
$GC,8307,-0.71,-117.3,887.4,-10.2,623,8311,0.00,2.33,0.00,0.000,4,0.000,0.056,2669,663,3214,0,0,0,0,0,0
$GC,8336,-0.71,-117.3,890.3,-11.3,624,8340,0.00,2.35,0.00,0.000,6,0.000,0.054,2661,2184,3214,0,0,0,0,0,0
$GC,8677,-0.71,-117.3,926.3,-10.4,635,8681,0.00,2.40,0.00,0.000,4,0.000,0.065,2649,3692,3213,0,0,0,0,0,0
$GC,8706,-0.71,-117.3,929.4,-11.5,636,8710,0.00,2.35,0.00,0.000,6,0.000,0.049,2648,2166,3214,0,0,0,0,0,0
$GC,9042,-0.71,-117.3,966.5,-10.9,647,9046,0.00,2.42,0.00,0.000,4,0.000,0.066,2637,3692,3213,0,0,0,0,0,0
$GC,9072,-0.70,-117.3,969.9,-11.7,648,9077,0.15,2.35,0.00,0.000,6,0.158,0.050,2678,2169,3213,0,0,0,0,0,0
$STATE,9313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9313,begin apogee
$GC,9320,-0.22,0.0,992.2,8.9,656,9425,0.47,0.00,101.85,1.235,6,0.126,0.000,2835,2055,2735,0,0,0,0,0,0
$STATE,9426,end apogee,CONTROL_FINISHED_OK
$STATE,9426,begin climb
$GC,9429,0.72,117.3,995.0,0.0,659,9550,0.88,2.72,109.62,1.206,4,0.080,0.062,3131,3580,2254,0,0,0,0,0,0
$GC,9579,0.69,117.3,980.7,16.2,664,9583,0.00,2.53,0.00,0.000,6,0.000,0.047,3143,2075,2251,0,0,0,0,0,0
$GC,9897,0.66,117.3,930.5,15.9,675,9901,0.00,2.47,0.00,0.000,4,0.000,0.063,3143,3578,2245,0,0,0,0,0,0
$GC,9941,0.62,117.3,922.7,18.3,676,9946,0.20,2.45,0.00,0.000,6,0.186,0.048,3105,2064,2244,0,0,0,0,0,0
$GC,10261,0.61,117.3,880.7,12.8,687,10265,0.00,2.47,0.00,0.000,4,0.000,0.063,3105,3584,2242,0,0,0,0,0,0
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$STATE,18170,end climb,SURFACE_DEPTH_REACHED
$STATE,18170,begin surface coast
$FINISH,0.9,1.023810
$STATE,18202,end surface coast,CONTROL_FINISHED_OK
$STATE,18202,begin surface
$SM_CCo,18221,41.50,0.496,1,0,1205,375.06
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$IRIDIUM_FIX,4707.04,-12616.60,110511,070750
$TT8_MAMPS,0.027713
$HUMID,35.15
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,15.10
$XPDR_PINGS,1
$24V_AH,23.3,19.810
$10V_AH,10.2,13.915
$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
$DEVICE_SECS,22.000,263.075,376.575,41.500,0.000,27.978,35.515,190.184,0.250,0.000,24.699,3542.881,10947.640,677.522,2995.095,497.758,0.000,2065.016,0.000,2745.829,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,919.104,1107.564,1116.668,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297532
$DATA_FILE_SIZE,76880,1332
$CAP_FILE_SIZE,231989,0
$CFSIZE,260165632,202637312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.060,124.3,1
$GPS,110511,182101,4717.503,-12623.534,40,1.7,40,18.6