version: 66.07
glider: 187
mission: 4
dive: 618
start: 8 5 111 19 52 9
data:
$ID,187
$MISSION,4
$DIVE,618
$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,325
$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,-1585523.2
$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,2920
$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,35
$R_STBD_OVSHOOT,30
$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,12
$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
$GPS1,050811,194501,4748.647,-12516.855,130,1.0,130,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-77.3
$GPS2,050811,195113,4748.617,-12516.844,10,1.2,15,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.167,-0.110
$KALMAN_X,294616.3,-401.5,-351.5,-305922.2,2920.7
$KALMAN_Y,-556722.5,438.9,-280.3,560471.5,-3537.8
$MHEAD_RNG_PITCHd_Wd,216.3,158377,-13.6,-6.111
$D_GRID,586
$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,18,-0.50,-117.3,0.0,0.0,0,70,0.00,0.00,-49.62,0.000,2,0.000,0.000,119,2167,2634,0,0,0,0,0,0
$GC,73,-0.50,-117.3,3.8,-4.4,5,101,10.60,2.45,-11.30,0.000,4,0.223,0.069,2743,3690,3216,0,0,0,0,0,0
$GC,171,-0.48,-117.3,23.2,-12.1,13,178,0.00,2.35,0.00,0.000,6,0.000,0.042,2742,2171,3219,0,0,0,0,0,0
$GC,369,-0.46,-117.3,44.8,-11.2,32,373,0.00,2.33,0.00,0.000,4,0.000,0.049,2741,668,3221,0,0,0,0,0,0
$GC,404,-0.43,-117.3,49.0,-11.2,34,412,0.15,2.35,0.00,0.000,6,0.130,0.047,2779,2176,3221,0,0,0,0,0,0
$GC,602,-0.43,-117.3,65.0,-7.5,53,606,0.00,2.40,0.00,0.000,4,0.000,0.060,2770,3689,3222,0,0,0,0,0,0
$GC,659,-0.43,-117.3,69.4,-7.8,57,666,0.00,2.33,0.00,0.000,6,0.000,0.042,2770,2175,3222,0,0,0,0,0,0
$GC,857,-0.43,-117.3,85.5,-8.5,76,862,0.00,2.45,0.00,0.000,4,0.000,0.060,2760,3694,3223,0,0,0,0,0,0
$GC,875,-0.43,-117.3,86.9,-8.6,77,879,0.00,2.30,0.00,0.000,6,0.000,0.042,2759,2197,3223,0,0,0,0,0,0
$GC,1083,-0.43,-117.3,103.7,-8.3,94,1087,0.00,2.35,0.00,0.000,4,0.000,0.049,2759,670,3223,0,0,0,0,0,0
$GC,1126,-0.43,-117.3,107.3,-7.0,96,1130,0.00,2.35,0.00,0.000,6,0.000,0.047,2754,2190,3223,0,0,0,0,0,0
$GC,1323,-0.43,-117.3,122.5,-7.9,106,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2190,3223,0,0,0,0,0,0
$GC,1510,-0.43,-117.3,137.2,-8.2,115,1514,0.00,2.40,0.00,0.000,4,0.000,0.060,2742,3692,3223,0,0,0,0,0,0
$GC,1537,-0.43,-117.3,139.9,-9.4,116,1542,0.12,2.35,0.00,0.000,6,0.123,0.043,2781,2174,3223,0,0,0,0,0,0
$GC,1731,-0.45,-117.3,153.0,-6.6,125,1735,0.00,2.33,0.00,0.000,4,0.000,0.050,2781,667,3223,0,0,0,0,0,0
$GC,1758,-0.46,-117.3,155.1,-7.0,126,1762,0.00,2.35,0.00,0.000,6,0.000,0.048,2781,2184,3222,0,0,0,0,0,0
$GC,1955,-0.49,-117.3,169.1,-7.2,136,1959,0.00,2.38,0.00,0.000,4,0.000,0.050,2781,664,3223,0,0,0,0,0,0
$GC,2027,-0.51,-117.3,174.4,-7.2,139,2031,0.00,2.20,0.00,0.000,6,0.000,0.047,2779,2087,3222,0,0,0,0,0,0
$GC,2220,-0.53,-117.3,186.7,-6.2,148,2224,0.00,2.20,0.00,0.000,4,0.000,0.050,2778,666,3223,0,0,0,0,0,0
$GC,2271,-0.55,-117.3,189.8,-5.9,150,2276,0.10,2.40,0.00,0.000,6,0.099,0.047,2719,2207,3223,0,0,0,0,0,0
$GC,2469,-0.53,-117.3,205.3,-8.1,160,2474,0.10,2.38,0.00,0.000,4,0.145,0.060,2739,3691,3222,0,0,0,0,0,0
$GC,2519,-0.53,-117.3,209.0,-6.4,162,2523,0.00,2.33,0.00,0.000,6,0.000,0.044,2738,2193,3222,0,0,0,0,0,0
$GC,2715,-0.53,-117.3,222.4,-6.8,172,2719,0.00,2.38,0.00,0.000,4,0.000,0.050,2738,671,3222,0,0,0,0,0,0
$GC,2749,-0.53,-117.3,224.7,-6.8,173,2753,0.00,2.38,0.00,0.000,6,0.000,0.049,2732,2194,3221,0,0,0,0,0,0
$GC,2940,-0.53,-117.3,238.3,-7.3,183,2944,0.00,2.42,0.00,0.000,4,0.000,0.062,2721,3691,3222,0,0,0,0,0,0
$GC,2980,-0.53,-117.3,241.5,-8.8,185,2984,0.00,2.33,0.00,0.000,6,0.000,0.044,2720,2191,3222,0,0,0,0,0,0
$GC,3184,-0.52,-117.3,257.8,-8.0,195,3189,0.10,2.38,0.00,0.000,4,0.150,0.051,2750,671,3221,0,0,0,0,0,0
$GC,3217,-0.52,-117.3,260.5,-7.5,196,3225,0.00,2.35,0.00,0.000,6,0.000,0.050,2745,2196,3221,0,0,0,0,0,0
$GC,3408,-0.52,-117.3,274.0,-7.2,206,3412,0.00,2.40,0.00,0.000,4,0.000,0.063,2734,3690,3220,0,0,0,0,0,0
$GC,3436,-0.52,-117.3,276.0,-7.5,207,3440,0.00,2.35,0.00,0.000,6,0.000,0.044,2733,2184,3220,0,0,0,0,0,0
$GC,3634,-0.52,-117.3,290.9,-7.5,217,3638,0.00,2.40,0.00,0.000,4,0.000,0.051,2733,660,3220,0,0,0,0,0,0
$GC,3673,-0.52,-117.3,294.2,-8.2,219,3677,0.00,2.38,0.00,0.000,6,0.000,0.050,2732,2179,3220,0,0,0,0,0,0
$GC,3878,-0.52,-117.3,309.7,-7.7,229,3882,0.00,2.45,0.00,0.000,4,0.000,0.062,2721,3691,3219,0,0,0,0,0,0
$GC,3901,-0.52,-117.3,311.8,-8.4,230,3906,0.10,2.38,0.00,0.000,6,0.132,0.045,2749,2178,3219,0,0,0,0,0,0
$GC,4098,-0.52,-117.3,325.3,-6.9,240,4102,0.00,2.38,0.00,0.000,4,0.000,0.052,2750,656,3219,0,0,0,0,0,0
$GC,4138,-0.52,-117.3,328.3,-7.9,242,4142,0.00,2.38,0.00,0.000,6,0.000,0.051,2744,2171,3218,0,0,0,0,0,0
$GC,4340,-0.52,-117.3,343.4,-7.8,252,4344,0.00,2.47,0.00,0.000,4,0.000,0.063,2733,3691,3218,0,0,0,0,0,0
$GC,4378,-0.52,-117.3,346.6,-8.7,254,4383,0.00,2.38,0.00,0.000,6,0.000,0.045,2732,2158,3218,0,0,0,0,0,0
$GC,4582,-0.52,-117.3,363.3,-8.5,264,4586,0.00,2.35,0.00,0.000,4,0.000,0.053,2732,669,3218,0,0,0,0,0,0
$GC,4615,-0.52,-117.3,366.4,-9.0,265,4620,0.00,2.35,0.00,0.000,6,0.000,0.051,2732,2170,3218,0,0,0,0,0,0
$GC,4806,-0.52,-117.3,382.2,-8.3,275,4811,0.00,2.47,0.00,0.000,4,0.000,0.063,2721,3691,3218,0,0,0,0,0,0
$GC,4828,-0.52,-117.3,384.1,-7.8,276,4833,0.10,2.40,0.00,0.000,6,0.133,0.045,2750,2158,3217,0,0,0,0,0,0
$GC,5026,-0.52,-117.3,397.1,-6.3,286,5030,0.00,2.35,0.00,0.000,4,0.000,0.054,2750,665,3217,0,0,0,0,0,0
$GC,5043,-0.52,-117.3,398.3,-6.5,287,5047,0.00,2.35,0.00,0.000,6,0.000,0.051,2745,2163,3217,0,0,0,0,0,0
$GC,5249,-0.52,-117.3,410.8,-6.3,297,5253,0.00,2.50,0.00,0.000,4,0.000,0.063,2733,3695,3216,0,0,0,0,0,0
$GC,5281,-0.52,-117.3,413.2,-6.7,298,5286,0.00,2.38,0.00,0.000,6,0.000,0.046,2733,2161,3216,0,0,0,0,0,0
$GC,5473,-0.52,-117.3,426.9,-7.5,308,5477,0.00,2.35,0.00,0.000,4,0.000,0.052,2732,668,3216,0,0,0,0,0,0
$GC,5507,-0.52,-117.3,429.4,-7.8,309,5512,0.00,2.35,0.00,0.000,6,0.000,0.050,2724,2166,3216,0,0,0,0,0,0
$GC,5698,-0.52,-117.3,445.2,-8.2,319,5702,0.00,2.47,0.00,0.000,4,0.000,0.063,2713,3691,3215,0,0,0,0,0,0
$GC,5720,-0.52,-117.3,447.0,-8.4,320,5725,0.12,2.40,0.00,0.000,6,0.122,0.046,2751,2163,3215,0,0,0,0,0,0
$GC,5922,-0.52,-117.3,459.4,-5.9,330,5926,0.00,2.35,0.00,0.000,4,0.000,0.053,2751,666,3215,0,0,0,0,0,0
$GC,5963,-0.52,-117.3,461.8,-6.2,332,5967,0.00,2.33,0.00,0.000,6,0.000,0.051,2745,2149,3215,0,0,0,0,0,0
$GC,6165,-0.52,-117.3,472.8,-5.5,342,6169,0.00,2.53,0.00,0.000,4,0.000,0.065,2734,3691,3214,0,0,0,0,0,0
$GC,6209,-0.52,-117.3,475.5,-6.5,344,6213,0.00,2.42,0.00,0.000,6,0.000,0.047,2734,2142,3214,0,0,0,0,0,0
$GC,6407,-0.52,-117.3,487.7,-6.3,354,6411,0.00,2.30,0.00,0.000,4,0.000,0.054,2734,668,3214,0,0,0,0,0,0
$GC,6439,-0.52,-117.3,489.9,-6.5,355,6444,0.00,2.33,0.00,0.000,6,0.000,0.052,2733,2152,3214,0,0,0,0,0,0
$GC,6633,-0.52,-117.3,502.7,-6.8,365,6636,0.00,2.53,0.00,0.000,4,0.000,0.065,2722,3697,3214,0,0,0,0,0,0
$GC,6656,-0.52,-117.3,504.3,-7.1,366,6661,0.10,2.42,0.00,0.000,6,0.132,0.047,2751,2149,3214,0,0,0,0,0,0
$GC,6859,-0.52,-117.3,516.0,-5.5,376,6863,0.00,2.35,0.00,0.000,4,0.000,0.054,2751,663,3213,0,0,0,0,0,0
$GC,6881,-0.52,-117.3,517.2,-5.7,377,6885,0.00,2.35,0.00,0.000,6,0.000,0.052,2748,2156,3213,0,0,0,0,0,0
$GC,7079,-0.52,-117.3,528.2,-5.7,387,7083,0.00,2.47,0.00,0.000,4,0.000,0.064,2736,3690,3213,0,0,0,0,0,0
$GC,7112,-0.53,-117.3,530.5,-6.4,388,7116,0.00,2.40,0.00,0.000,6,0.000,0.047,2736,2151,3213,0,0,0,0,0,0
$GC,7305,-0.53,-117.3,544.1,-7.2,397,7309,0.00,2.33,0.00,0.000,4,0.000,0.054,2736,667,3213,0,0,0,0,0,0
$GC,7345,-0.53,-117.3,547.1,-7.5,399,7349,0.00,2.35,0.00,0.000,6,0.000,0.052,2732,2157,3213,0,0,0,0,0,0
$GC,7548,-0.53,-117.3,561.6,-7.1,409,7549,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2157,3213,0,0,0,0,0,0
$GC,7732,-0.53,-117.3,575.0,-7.1,418,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2157,3212,0,0,0,0,0,0
$STATE,7894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7895,begin apogee
$GC,7903,-0.22,0.0,586.6,7.1,426,8005,0.35,0.00,99.68,0.963,6,0.105,0.000,2847,2050,2735,0,0,0,0,0,0
$STATE,8006,end apogee,CONTROL_FINISHED_OK
$STATE,8006,begin climb
$GC,8009,0.50,117.3,589.5,0.0,431,8120,0.68,0.00,105.65,0.936,6,0.068,0.000,3083,2049,2256,0,0,0,0,0,0
$GC,8304,0.47,117.3,571.2,8.3,446,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2049,2248,0,0,0,0,0,0
$GC,8489,0.45,117.3,554.8,9.1,455,8493,0.00,2.47,0.00,0.000,4,0.000,0.059,3083,3585,2246,0,0,0,0,0,0
$GC,8522,0.42,117.3,551.6,9.4,456,8530,0.15,2.42,0.00,0.000,6,0.148,0.045,3051,2064,2245,0,0,0,0,0,0
$GC,8714,0.42,117.3,538.1,6.5,466,8718,0.00,2.42,0.00,0.000,4,0.000,0.055,3061,545,2244,0,0,0,0,0,0
$GC,8753,0.42,117.3,535.6,6.2,468,8757,0.00,2.38,0.00,0.000,6,0.000,0.050,3061,2070,2244,0,0,0,0,0,0
$GC,8955,0.40,117.3,521.7,7.0,478,8959,0.00,2.42,0.00,0.000,4,0.000,0.060,3061,3575,2243,0,0,0,0,0,0
$GC,9007,0.38,117.3,517.5,8.2,480,9011,0.00,2.40,0.00,0.000,6,0.000,0.047,3072,2055,2243,0,0,0,0,0,0
$GC,9200,0.37,117.3,503.8,6.9,489,9205,0.12,2.38,0.00,0.000,4,0.145,0.055,3043,542,2242,0,0,0,0,0,0
$GC,9227,0.37,130.3,502.0,5.7,490,9243,0.00,2.40,10.10,0.815,6,0.000,0.050,3043,2071,2203,0,0,0,0,0,0
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$STATE,16666,end climb,SURFACE_DEPTH_REACHED
$STATE,16666,begin surface coast
$FINISH,0.8,1.016833
$STATE,16784,end surface coast,CONTROL_FINISHED_OK
$STATE,16784,begin surface
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$HUMID,41.88
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.90
$XPDR_PINGS,0
$24V_AH,23.2,69.053
$10V_AH,9.8,75.591
$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
$DEVICE_SECS,21.725,306.325,403.725,0.000,0.000,28.872,28.395,175.743,0.000,0.000,16.228,2049.487,11861.517,623.951,2186.337,501.240,33.368,1815.750,0.000,1925.936,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,281.334,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297704
$DATA_FILE_SIZE,46969,925
$CAP_FILE_SIZE,212413,0
$CFSIZE,260165632,164286464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,331.1,1
$GPS,060811,003454,4747.999,-12519.130,67,1.0,67,18.7