version: 66.07
glider: 187
mission: 4
dive: 348
start: 5 25 111 17 4 9
data:
$ID,187
$MISSION,4
$DIVE,348
$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,2
$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,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,-1584223.2
$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,30
$R_STBD_OVSHOOT,42
$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
$GPS1,250511,165554,4747.586,-12510.271,27,1.2,45,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-74.8
$GPS2,250511,170314,4747.598,-12510.238,13,1.5,13,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,DOGLEG
$TGT_LATLONG,4749.500,-12515.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.162,0.118
$KALMAN_X,1162.5,177.4,268.9,-5455.5,222.8
$KALMAN_Y,-930.0,-286.0,319.9,2915.4,-502.4
$MHEAD_RNG_PITCHd_Wd,286.3,7213,-13.6,-6.111
$D_GRID,427
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.50,-117.3,0.0,0.0,0,90,0.00,0.00,-70.20,0.000,2,0.000,0.000,130,2187,2790,0,0,0,0,0,0
$GC,94,-0.50,-117.3,3.1,-2.8,11,124,10.55,2.45,-8.35,0.000,4,0.242,0.072,2725,3682,3218,0,0,0,0,0,0
$GC,313,-0.46,-117.3,42.8,-13.6,50,321,0.00,2.38,0.00,0.000,6,0.000,0.042,2725,2170,3222,0,0,0,0,0,0
$GC,388,-0.42,-117.3,53.4,-14.5,63,396,0.15,2.35,0.00,0.000,4,0.154,0.051,2767,674,3222,0,0,0,0,0,0
$GC,433,-0.38,-117.3,59.1,-12.5,70,442,0.00,2.33,0.00,0.000,6,0.000,0.049,2759,2150,3222,0,0,0,0,0,0
$GC,508,-0.36,-117.3,67.7,-12.1,83,516,0.10,2.45,0.00,0.000,4,0.157,0.060,2776,3693,3222,0,0,0,0,0,0
$GC,524,-0.33,-117.3,69.7,-12.0,85,532,0.00,2.42,0.00,0.000,6,0.000,0.044,2776,2155,3223,0,0,0,0,0,0
$GC,597,-0.32,-117.3,76.4,-9.0,98,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2151,3223,0,0,0,0,0,0
$GC,673,-0.32,-117.3,83.0,-9.0,111,681,0.00,2.33,0.00,0.000,4,0.000,0.050,2776,668,3223,0,0,0,0,0,0
$GC,704,-0.32,-117.3,86.1,-9.7,116,711,0.00,2.30,0.00,0.000,6,0.000,0.048,2772,2138,3222,0,0,0,0,0,0
$GC,776,-0.32,-117.3,93.3,-9.4,129,783,0.00,2.47,0.00,0.000,4,0.000,0.059,2761,3698,3223,0,0,0,0,0,0
$GC,803,-0.32,-117.3,95.6,-9.1,133,811,0.08,2.42,0.00,0.000,6,0.091,0.044,2802,2146,3223,0,0,0,0,0,0
$GC,879,-0.33,-117.3,100.2,-5.1,146,883,0.00,2.28,0.00,0.000,4,0.000,0.050,2803,666,3223,0,0,0,0,0,0
$GC,909,-0.35,-117.3,101.7,-5.2,148,914,0.00,2.28,0.00,0.000,6,0.000,0.047,2803,2139,3223,0,0,0,0,0,0
$GC,1046,-0.36,-117.3,108.2,-5.0,160,1051,0.00,2.45,0.00,0.000,4,0.000,0.059,2802,3688,3223,0,0,0,0,0,0
$GC,1091,-0.38,-117.3,110.6,-5.0,163,1098,0.00,2.42,0.00,0.000,6,0.000,0.042,2801,2110,3223,0,0,0,0,0,0
$GC,1227,-0.40,-117.3,117.5,-5.6,176,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2109,3223,0,0,0,0,0,0
$GC,1353,-0.41,-117.3,124.4,-5.3,188,1357,0.00,2.22,0.00,0.000,4,0.000,0.050,2801,664,3224,0,0,0,0,0,0
$GC,1383,-0.43,-117.3,125.9,-5.5,190,1388,0.10,2.28,0.00,0.000,6,0.099,0.047,2749,2148,3223,0,0,0,0,0,0
$GC,1520,-0.41,-117.3,135.8,-7.6,202,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2148,3223,0,0,0,0,0,0
$GC,1655,-0.40,-117.3,147.1,-8.5,215,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2148,3223,0,0,0,0,0,0
$GC,1782,-0.39,-117.3,158.4,-9.3,227,1784,0.10,0.00,0.00,0.000,6,0.152,0.000,2776,2148,3223,0,0,0,0,0,0
$GC,1910,-0.39,-117.3,168.2,-7.5,239,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2148,3223,0,0,0,0,0,0
$GC,2036,-0.39,-117.3,177.8,-7.3,251,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2148,3223,0,0,0,0,0,0
$GC,2163,-0.39,-117.3,186.5,-6.5,263,2167,0.00,2.42,0.00,0.000,4,0.000,0.061,2767,3687,3223,0,0,0,0,0,0
$GC,2196,-0.39,-117.3,188.9,-6.8,265,2203,0.00,2.40,0.00,0.000,6,0.000,0.044,2767,2122,3223,0,0,0,0,0,0
$GC,2331,-0.39,-117.3,198.1,-7.3,278,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2119,3223,0,0,0,0,0,0
$GC,2458,-0.39,-117.3,206.7,-6.5,290,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2119,3223,0,0,0,0,0,0
$GC,2587,-0.39,-117.3,214.9,-6.1,302,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2119,3222,0,0,0,0,0,0
$GC,2713,-0.39,-117.3,222.9,-6.3,314,2717,0.00,2.22,0.00,0.000,4,0.000,0.051,2767,657,3222,0,0,0,0,0,0
$GC,2742,-0.39,-117.3,224.8,-6.7,316,2746,0.00,2.28,0.00,0.000,6,0.000,0.050,2760,2151,3222,0,0,0,0,0,0
$GC,2878,-0.39,-117.3,233.4,-6.4,328,2882,0.00,2.42,0.00,0.000,4,0.000,0.062,2748,3687,3222,0,0,0,0,0,0
$GC,2907,-0.39,-117.3,235.5,-6.7,330,2912,0.10,2.35,0.00,0.000,6,0.145,0.044,2777,2141,3223,0,0,0,0,0,0
$GC,3042,-0.39,-117.3,242.7,-5.2,342,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2137,3222,0,0,0,0,0,0
$GC,3170,-0.39,-117.3,249.4,-5.0,354,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2137,3221,0,0,0,0,0,0
$GC,3296,-0.39,-117.3,255.8,-5.2,366,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2137,3221,0,0,0,0,0,0
$GC,3423,-0.39,-117.3,262.1,-4.6,378,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2137,3221,0,0,0,0,0,0
$GC,3552,-0.39,-117.3,268.3,-4.8,390,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2137,3221,0,0,0,0,0,0
$GC,3678,-0.39,-117.3,274.6,-5.1,402,3682,0.00,2.30,0.00,0.000,4,0.000,0.052,2777,657,3220,0,0,0,0,0,0
$GC,3717,-0.39,-117.3,276.7,-5.2,405,3721,0.00,2.28,0.00,0.000,6,0.000,0.050,2777,2141,3220,0,0,0,0,0,0
$GC,3859,-0.39,-117.3,284.5,-5.7,418,3864,0.00,2.47,0.00,0.000,4,0.000,0.063,2773,3689,3220,0,0,0,0,0,0
$GC,3889,-0.40,-117.3,286.4,-5.5,420,3894,0.00,2.38,0.00,0.000,6,0.000,0.045,2772,2139,3220,0,0,0,0,0,0
$GC,4025,-0.40,-117.3,294.2,-6.0,432,4029,0.00,2.28,0.00,0.000,4,0.000,0.053,2772,660,3220,0,0,0,0,0,0
$GC,4074,-0.40,-117.3,297.7,-6.7,436,4081,0.00,2.28,0.00,0.000,6,0.000,0.051,2772,2143,3220,0,0,0,0,0,0
$GC,4208,-0.40,-117.3,306.5,-7.1,449,4213,0.00,2.47,0.00,0.000,4,0.000,0.063,2763,3691,3220,0,0,0,0,0,0
$GC,4242,-0.40,-117.3,309.1,-7.8,451,4249,0.00,2.40,0.00,0.000,6,0.000,0.046,2762,2130,3220,0,0,0,0,0,0
$GC,4376,-0.40,-117.3,319.0,-7.2,464,4380,0.00,2.25,0.00,0.000,4,0.000,0.053,2762,668,3219,0,0,0,0,0,0
$GC,4419,-0.40,-117.3,322.6,-7.7,467,4426,0.00,2.25,0.00,0.000,6,0.000,0.050,2755,2142,3220,0,0,0,0,0,0
$GC,4554,-0.40,-117.3,333.3,-8.5,480,4558,0.00,2.45,0.00,0.000,4,0.000,0.063,2744,3690,3220,0,0,0,0,0,0
$GC,4582,-0.40,-117.3,335.8,-8.0,482,4591,0.10,2.38,0.00,0.000,6,0.147,0.045,2772,2140,3219,0,0,0,0,0,0
$GC,4717,-0.40,-117.3,345.1,-6.9,495,4721,0.00,2.28,0.00,0.000,4,0.000,0.054,2772,666,3219,0,0,0,0,0,0
$GC,4757,-0.40,-117.3,348.0,-7.3,498,4761,0.00,2.25,0.00,0.000,6,0.000,0.050,2772,2134,3219,0,0,0,0,0,0
$GC,4899,-0.40,-117.3,357.4,-6.6,511,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2133,3219,0,0,0,0,0,0
$GC,5026,-0.40,-117.3,365.4,-6.0,523,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2134,3219,0,0,0,0,0,0
$GC,5154,-0.40,-117.3,373.3,-5.9,535,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2134,3219,0,0,0,0,0,0
$GC,5290,-0.40,-117.3,381.2,-6.0,548,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2134,3218,0,0,0,0,0,0
$GC,5417,-0.40,-117.3,388.4,-5.6,560,5418,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2134,3218,0,0,0,0,0,0
$GC,5545,-0.40,-117.3,395.7,-5.6,572,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2134,3218,0,0,0,0,0,0
$GC,5680,-0.40,-117.3,403.6,-5.9,585,5684,0.00,2.50,0.00,0.000,4,0.000,0.064,2769,3695,3218,0,0,0,0,0,0
$GC,5713,-0.42,-117.3,405.7,-5.8,587,5720,0.00,2.42,0.00,0.000,6,0.000,0.047,2768,2119,3218,0,0,0,0,0,0
$GC,5847,-0.42,-117.3,413.7,-6.6,600,5851,0.00,2.22,0.00,0.000,4,0.000,0.055,2768,663,3218,0,0,0,0,0,0
$GC,5879,-0.42,-117.3,415.9,-6.2,602,5887,0.00,2.25,0.00,0.000,6,0.000,0.051,2764,2133,3218,0,0,0,0,0,0
$GC,6014,-0.42,-117.3,424.0,-6.3,615,6018,0.00,2.47,0.00,0.000,4,0.000,0.065,2753,3689,3218,0,0,0,0,0,0
$GC,6052,-0.42,-117.3,426.7,-6.7,618,6061,0.00,2.40,0.00,0.000,6,0.000,0.045,2753,2139,3218,0,0,0,0,0,0
$STATE,6067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6067,begin apogee
$GC,6073,-0.22,0.0,427.6,6.6,620,6172,0.25,0.00,95.82,0.866,6,0.118,0.000,2839,2058,2735,0,0,0,0,0,0
$STATE,6173,end apogee,CONTROL_FINISHED_OK
$STATE,6173,begin climb
$GC,6176,0.50,117.3,430.8,0.0,630,6286,0.62,2.55,101.38,0.839,4,0.083,0.057,3057,3570,2254,0,0,0,0,0,0
$GC,6313,0.47,117.3,423.9,8.7,643,6320,0.00,2.42,0.00,0.000,6,0.000,0.044,3067,2069,2251,0,0,0,0,0,0
$GC,6448,0.45,117.3,412.5,8.2,656,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2069,2247,0,0,0,0,0,0
$GC,6576,0.43,117.3,401.8,8.2,668,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2069,2246,0,0,0,0,0,0
$GC,6702,0.41,117.3,391.1,8.5,680,6706,0.00,2.42,0.00,0.000,4,0.000,0.059,3067,3577,2245,0,0,0,0,0,0
$GC,6732,0.38,117.3,388.3,9.8,682,6736,0.17,2.38,0.00,0.000,6,0.145,0.044,3028,2056,2244,0,0,0,0,0,0
$GC,6868,0.38,117.3,378.2,7.1,694,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2055,2243,0,0,0,0,0,0
$GC,6993,0.38,117.3,369.0,7.7,706,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2055,2243,0,0,0,0,0,0
$GC,7121,0.38,117.3,359.3,7.7,718,7125,0.00,2.38,0.00,0.000,4,0.000,0.055,3037,543,2242,0,0,0,0,0,0
$GC,7150,0.38,117.3,357.2,7.6,720,7154,0.00,2.35,0.00,0.000,6,0.000,0.049,3036,2065,2241,0,0,0,0,0,0
$GC,7284,0.38,117.3,346.4,8.2,732,7289,0.00,2.38,0.00,0.000,4,0.000,0.060,3037,3572,2242,0,0,0,0,0,0
$GC,7339,0.37,117.3,341.3,9.7,736,7346,0.00,2.30,0.00,0.000,6,0.000,0.044,3041,2081,2240,0,0,0,0,0,0
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$STATE,12139,end climb,SURFACE_DEPTH_REACHED
$STATE,12139,begin surface coast
$FINISH,0.5,1.012781
$STATE,12247,end surface coast,CONTROL_FINISHED_OK
$STATE,12247,begin surface
$SM_CCo,12266,33.65,0.464,1,0,1206,375.06
$SM_GC,1.61,0.00,0.00,33.65,0.000,0.000,0.464,136,2187,1206,-8.65,0.34,375.06
$IRIDIUM_FIX,4729.30,-12512.90,250511,131348
$TT8_MAMPS,0.027713
$HUMID,37.16
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.30
$XPDR_PINGS,2
$24V_AH,23.9,33.986
$10V_AH,10.2,25.515
$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,21.275,233.025,361.350,33.650,0.000,28.253,44.886,226.310,0.500,0.000,14.283,3331.683,5262.890,698.933,2932.492,508.653,32.340,1985.155,0.000,2691.168,0.000,0.535,0.000
$DEVICE_MAMPS,241.740,101.745,865.980,464.355,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,890.136,1020.120,1472.122,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297580
$DATA_FILE_SIZE,73335,1295
$CAP_FILE_SIZE,210099,0
$CFSIZE,260165632,194560000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.099,177.3,1
$GPS,250511,203036,4747.777,-12511.982,37,1.5,43,18.7