version: 66.07
glider: 187
mission: 4
dive: 380
start: 6 4 111 11 8 29
data:
$ID,187
$MISSION,4
$DIVE,380
$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,-1584277.4
$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,27
$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
$GPS1,040611,105407,4700.951,-12658.177,42,0.9,42,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-74.0
$GPS2,040611,110731,4701.010,-12658.310,13,1.6,18,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.140,0.044
$KALMAN_X,43259.0,-94.6,-313.1,-181190.9,2438.9
$KALMAN_Y,-85374.8,20.1,571.5,519.3,-3290.0
$MHEAD_RNG_PITCHd_Wd,235.1,2838,-27.7,-6.111
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.88,-30.0,0.0,0.0,0,88,0.00,0.00,-69.05,0.000,2,0.000,0.000,131,2180,2818,0,0,0,0,0,0
$GC,91,-0.90,-60.2,3.0,-2.0,10,114,9.80,2.42,-3.92,0.000,4,0.227,0.064,2600,3705,2983,0,0,0,0,0,0
$GC,354,-0.86,-60.2,61.2,-20.1,58,362,0.00,2.42,0.00,0.000,6,0.000,0.041,2599,2160,2985,0,0,0,0,0,0
$GC,494,-0.83,-60.2,86.4,-17.9,83,502,0.15,2.47,0.00,0.000,4,0.179,0.057,2628,3697,2986,0,0,0,0,0,0
$GC,749,-0.82,-60.2,125.5,-13.3,114,753,0.00,2.28,0.00,0.000,6,0.000,0.041,2627,2219,2987,0,0,0,0,0,0
$GC,948,-0.81,-60.2,151.0,-12.0,132,953,0.00,2.38,0.00,0.000,4,0.000,0.057,2616,3693,2987,0,0,0,0,0,0
$GC,1204,-0.79,-60.2,184.7,-12.7,154,1211,0.12,2.25,0.00,0.000,6,0.173,0.041,2647,2219,2987,0,0,0,0,0,0
$GC,1402,-0.79,-60.2,206.7,-10.8,173,1406,0.00,2.33,0.00,0.000,4,0.000,0.058,2638,3697,2987,0,0,0,0,0,0
$GC,1656,-0.79,-60.2,235.0,-10.8,195,1664,0.00,2.20,0.00,0.000,6,0.000,0.042,2637,2263,2988,0,0,0,0,0,0
$GC,1856,-0.79,-60.2,256.0,-11.2,214,1860,0.00,2.28,0.00,0.000,4,0.000,0.059,2626,3697,2987,0,0,0,0,0,0
$GC,2014,-0.79,-60.2,274.9,-11.6,227,2020,0.00,2.17,0.00,0.000,6,0.000,0.043,2626,2274,2987,0,0,0,0,0,0
$GC,2212,-0.79,-60.2,297.7,-11.5,246,2216,0.00,2.28,0.00,0.000,4,0.000,0.059,2615,3697,2988,0,0,0,0,0,0
$GC,2414,-0.79,-60.2,322.8,-12.7,264,2419,0.12,2.12,0.00,0.000,6,0.175,0.043,2647,2303,2987,0,0,0,0,0,0
$GC,2613,-0.79,-60.2,343.4,-10.4,282,2617,0.00,2.50,0.00,0.000,4,0.000,0.051,2646,674,2986,0,0,0,0,0,0
$GC,2636,-0.79,-60.2,346.2,-11.6,284,2640,0.00,2.50,0.00,0.000,6,0.000,0.049,2637,2299,2986,0,0,0,0,0,0
$GC,2834,-0.79,-60.2,368.3,-11.2,302,2838,0.00,2.53,0.00,0.000,4,0.000,0.051,2636,668,2986,0,0,0,0,0,0
$GC,2856,-0.79,-60.2,371.1,-12.2,303,2864,0.00,2.50,0.00,0.000,6,0.000,0.048,2624,2295,2985,0,0,0,0,0,0
$GC,3055,-0.79,-60.2,394.3,-12.0,322,3059,0.00,2.22,0.00,0.000,4,0.000,0.060,2613,3693,2985,0,0,0,0,0,0
$GC,3106,-0.79,-60.2,400.9,-12.6,326,3111,0.12,2.12,0.00,0.000,6,0.174,0.046,2644,2307,2985,0,0,0,0,0,0
$GC,3307,-0.79,-60.2,422.8,-11.0,344,3311,0.00,2.20,0.00,0.000,4,0.000,0.062,2635,3691,2985,0,0,0,0,0,0
$GC,3350,-0.79,-60.2,428.2,-12.2,347,3357,0.00,2.12,0.00,0.000,6,0.000,0.045,2635,2308,2985,0,0,0,0,0,0
$GC,3550,-0.79,-60.2,450.0,-11.1,366,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2308,2985,0,0,0,0,0,0
$GC,3739,-0.79,-60.2,471.4,-11.1,384,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2308,2984,0,0,0,0,0,0
$GC,3931,-0.79,-60.2,491.7,-10.7,402,3935,0.00,2.22,0.00,0.000,4,0.000,0.062,2625,3698,2983,0,0,0,0,0,0
$GC,4000,-0.79,-60.2,499.4,-11.7,408,4004,0.00,2.12,0.00,0.000,6,0.000,0.046,2623,2315,2983,0,0,0,0,0,0
$GC,4198,-0.79,-60.2,520.5,-9.9,426,4202,0.00,2.20,0.00,0.000,4,0.000,0.061,2614,3693,2983,0,0,0,0,0,0
$GC,4233,-0.79,-60.2,524.3,-10.9,429,4238,0.12,2.10,0.00,0.000,6,0.177,0.046,2645,2326,2983,0,0,0,0,0,0
$GC,4432,-0.79,-60.2,542.8,-9.1,447,4436,0.00,2.55,0.00,0.000,4,0.000,0.053,2645,670,2983,0,0,0,0,0,0
$GC,4450,-0.79,-60.2,544.6,-9.5,448,4454,0.00,2.58,0.00,0.000,6,0.000,0.051,2634,2330,2982,0,0,0,0,0,0
$GC,4650,-0.79,-60.2,563.1,-9.2,466,4651,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2330,2982,0,0,0,0,0,0
$GC,4839,-0.79,-60.2,580.8,-9.2,484,4843,0.00,2.17,0.00,0.000,4,0.000,0.063,2624,3691,2981,0,0,0,0,0,0
$GC,4890,-0.79,-60.2,586.0,-10.2,488,4894,0.00,2.12,0.00,0.000,6,0.000,0.047,2623,2312,2981,0,0,0,0,0,0
$GC,5108,-0.79,-60.2,606.2,-9.3,504,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2310,2980,0,0,0,0,0,0
$GC,5413,-0.79,-60.2,635.6,-10.0,514,5417,0.00,2.22,0.00,0.000,4,0.000,0.063,2614,3691,2980,0,0,0,0,0,0
$GC,5457,-0.79,-60.2,640.5,-10.8,515,5461,0.12,2.10,0.00,0.000,6,0.176,0.048,2644,2327,2979,0,0,0,0,0,0
$GC,5782,-0.79,-60.2,670.4,-9.1,526,5786,0.00,2.53,0.00,0.000,4,0.000,0.054,2644,677,2979,0,0,0,0,0,0
$GC,5825,-0.79,-60.2,674.8,-9.6,527,5829,0.00,2.55,0.00,0.000,6,0.000,0.052,2633,2324,2979,0,0,0,0,0,0
$GC,6144,-0.79,-60.2,703.2,-8.8,538,6148,0.00,2.55,0.00,0.000,4,0.000,0.054,2633,670,2979,0,0,0,0,0,0
$GC,6174,-0.79,-60.2,705.8,-9.8,539,6178,0.00,2.55,0.00,0.000,6,0.000,0.052,2621,2313,2978,0,0,0,0,0,0
$GC,6508,-0.79,-60.2,735.4,-8.8,550,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2313,2978,0,0,0,0,0,0
$GC,6815,-0.79,-60.2,762.1,-8.9,560,6819,0.00,2.55,0.00,0.000,4,0.000,0.054,2621,674,2977,0,0,0,0,0,0
$GC,6837,-0.79,-60.2,764.2,-9.6,560,6845,0.15,2.55,0.00,0.000,6,0.171,0.052,2649,2313,2977,0,0,0,0,0,0
$GC,7150,-0.81,-60.2,788.6,-7.7,571,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2313,2977,0,0,0,0,0,0
$GC,7457,-0.82,-60.2,811.9,-7.5,581,7458,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2313,2976,0,0,0,0,0,0
$GC,7764,-0.84,-60.2,834.6,-7.2,591,7765,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2313,2976,0,0,0,0,0,0
$GC,8069,-0.85,-60.2,856.8,-7.2,601,8073,0.00,2.58,0.00,0.000,4,0.000,0.054,2649,665,2975,0,0,0,0,0,0
$GC,8132,-0.85,-60.2,861.9,-8.5,603,8136,0.00,2.58,0.00,0.000,6,0.000,0.053,2639,2317,2975,0,0,0,0,0,0
$GC,8468,-0.85,-60.2,887.8,-7.7,614,8469,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2317,2975,0,0,0,0,0,0
$GC,8773,-0.85,-60.2,911.1,-7.5,624,8774,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2317,2974,0,0,0,0,0,0
$GC,9079,-0.85,-60.2,933.0,-7.3,634,9083,0.00,2.22,0.00,0.000,4,0.000,0.066,2628,3696,2974,0,0,0,0,0,0
$GC,9112,-0.85,-60.2,935.8,-8.4,635,9116,0.00,2.15,0.00,0.000,6,0.000,0.050,2627,2312,2974,0,0,0,0,0,0
$GC,9442,-0.85,-60.2,959.8,-7.2,646,9447,0.00,2.53,0.00,0.000,4,0.000,0.055,2627,672,2974,0,0,0,0,0,0
$GC,9464,-0.85,-60.2,961.8,-8.3,646,9471,0.00,2.55,0.00,0.000,6,0.000,0.054,2616,2305,2974,0,0,0,0,0,0
$GC,9779,-0.85,-60.2,986.6,-8.3,657,9783,0.00,2.22,0.00,0.000,4,0.000,0.065,2605,3691,2973,0,0,0,0,0,0
$GC,9808,-0.85,-60.2,989.2,-8.8,658,9812,0.00,2.15,0.00,0.000,6,0.000,0.050,2605,2308,2973,0,0,0,0,0,0
$STATE,9816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9816,begin apogee
$GC,9822,-0.22,0.0,990.3,8.4,658,9877,0.70,0.00,51.78,1.235,6,0.145,0.000,2825,2068,2735,0,0,0,0,0,0
$STATE,9878,end apogee,CONTROL_FINISHED_OK
$STATE,9878,begin climb
$GC,9881,0.90,60.2,991.9,0.0,660,9944,1.05,0.00,56.53,1.209,6,0.081,0.000,3191,2068,2489,0,0,0,0,0,0
$GC,10252,0.88,60.2,949.3,13.0,672,10253,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2068,2481,0,0,0,0,0,0
$GC,10556,0.85,60.2,910.4,12.4,682,10557,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2068,2479,0,0,0,0,0,0
$GC,10864,0.83,60.2,873.9,11.8,692,10868,0.00,2.42,0.00,0.000,4,0.000,0.062,3191,3580,2478,0,0,0,0,0,0
$GC,10880,0.80,60.2,871.5,11.7,692,10885,0.15,2.40,0.00,0.000,6,0.201,0.048,3168,2059,2477,0,0,0,0,0,0
$GC,11199,0.78,60.2,836.5,11.0,703,11203,0.00,2.40,0.00,0.000,4,0.000,0.057,3177,541,2477,0,0,0,0,0,0
$GC,11244,0.77,60.2,831.2,12.1,704,11248,0.00,2.35,0.00,0.000,6,0.000,0.052,3177,2050,2477,0,0,0,0,0,0
$GC,11574,0.75,60.2,792.7,12.2,715,11578,0.00,2.35,0.00,0.000,4,0.000,0.057,3189,545,2477,0,0,0,0,0,0
$GC,11604,0.73,60.2,789.3,11.5,716,11609,0.17,2.30,0.00,0.000,6,0.189,0.051,3146,2036,2476,0,0,0,0,0,0
$GC,11939,0.73,60.2,754.4,10.2,727,11943,0.00,2.47,0.00,0.000,4,0.000,0.062,3146,3581,2475,0,0,0,0,0,0
$GC,12046,0.72,60.2,741.8,11.7,730,12050,0.00,2.42,0.00,0.000,6,0.000,0.047,3156,2030,2474,0,0,0,0,0,0
$GC,12370,0.72,60.2,708.1,9.9,741,12371,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2029,2475,0,0,0,0,0,0
$GC,12676,0.72,60.2,677.8,9.7,751,12680,0.00,2.47,0.00,0.000,4,0.000,0.061,3156,3576,2474,0,0,0,0,0,0
$GC,12740,0.70,60.2,671.1,11.9,753,12745,0.15,2.38,0.00,0.000,6,0.192,0.047,3131,2041,2474,0,0,0,0,0,0
$GC,13077,0.70,60.2,640.3,8.8,764,13078,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2041,2474,0,0,0,0,0,0
$GC,13382,0.70,60.2,614.0,8.6,774,13383,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2040,2474,0,0,0,0,0,0
$GC,13694,0.70,60.2,589.0,7.4,792,13698,0.00,2.47,0.00,0.000,4,0.000,0.063,3131,3583,2474,0,0,0,0,0,0
$GC,13788,0.70,60.2,580.5,9.6,800,13796,0.00,2.38,0.00,0.000,6,0.000,0.048,3140,2055,2473,0,0,0,0,0,0
$GC,13988,0.70,60.2,564.1,8.2,819,13992,0.00,2.35,0.00,0.000,4,0.000,0.058,3151,545,2474,0,0,0,0,0,0
$GC,14013,0.70,60.2,562.1,7.9,821,14017,0.00,2.33,0.00,0.000,6,0.000,0.050,3152,2053,2474,0,0,0,0,0,0
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$STATE,22280,end climb,SURFACE_DEPTH_REACHED
$STATE,22281,begin surface coast
$FINISH,1.3,1.024545
$STATE,22313,end surface coast,CONTROL_FINISHED_OK
$STATE,22313,begin surface
$SM_CCo,22335,121.55,0.554,2,0,1205,375.06
$SM_GC,1.78,0.00,0.00,121.55,0.000,0.000,0.554,119,2171,1205,-8.71,-0.14,375.06
$IRIDIUM_FIX,4641.78,-12656.61,040611,101050
$TT8_MAMPS,0.027713
$HUMID,35.27
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.70
$XPDR_PINGS,0
$24V_AH,23.7,38.293
$10V_AH,10.1,31.765
$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,21.825,258.550,201.750,121.550,0.000,50.404,76.309,426.887,0.000,0.000,19.476,4517.078,13259.586,615.474,4214.513,632.053,33.362,2276.166,0.000,3707.792,0.000,0.536,0.000
$DEVICE_MAMPS,227.205,65.790,1234.710,553.860,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1192.220,1418.581,1592.003,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297492
$DATA_FILE_SIZE,96832,1724
$CAP_FILE_SIZE,252039,0
$CFSIZE,260165632,190222336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.071,175.6,1
$GPS,040611,172407,4659.792,-12700.434,32,1.7,32,18.6