version: 66.07
glider: 187
mission: 4
dive: 636
start: 8 11 111 11 34 59
data:
$ID,187
$MISSION,4
$DIVE,636
$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,-1585546
$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,28
$R_STBD_OVSHOOT,29
$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
$GPS1,110811,112707,4722.651,-12608.582,47,1.0,47,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-78.1
$GPS2,110811,113402,4722.682,-12608.602,15,1.8,15,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.178,-0.092
$KALMAN_X,329165.3,196.8,119.0,-405946.1,2347.9
$KALMAN_Y,-605287.2,653.2,-329.1,560857.9,-7695.5
$MHEAD_RNG_PITCHd_Wd,238.7,77325,-13.6,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.50,-117.3,0.0,0.0,0,89,0.00,0.00,-70.15,0.000,6,0.000,0.000,114,2188,3215,0,0,0,0,0,0
$GC,92,-0.50,-117.3,7.9,-8.6,3,108,10.77,2.40,0.00,0.000,4,0.226,0.051,2738,3693,3218,0,0,0,0,0,0
$GC,248,-0.48,-117.3,43.1,-10.1,7,256,0.00,2.40,0.00,0.000,6,0.000,0.042,2737,2152,3222,0,0,0,0,0,0
$GC,439,-0.46,-117.3,63.3,-10.8,14,444,0.12,2.30,0.00,0.000,4,0.145,0.050,2773,672,3224,0,0,0,0,0,0
$GC,480,-0.46,-117.3,67.2,-8.3,15,484,0.00,2.35,0.00,0.000,6,0.000,0.049,2768,2171,3224,0,0,0,0,0,0
$GC,681,-0.46,-117.3,85.3,-9.1,22,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2171,3225,0,0,0,0,0,0
$GC,865,-0.46,-117.3,99.2,-7.6,28,869,0.00,2.35,0.00,0.000,4,0.000,0.050,2767,672,3226,0,0,0,0,0,0
$GC,895,-0.46,-117.3,101.7,-9.2,29,899,0.00,2.33,0.00,0.000,6,0.000,0.049,2760,2169,3226,0,0,0,0,0,0
$GC,1287,-0.46,-117.3,133.9,-7.7,31,1291,0.00,2.45,0.00,0.000,4,0.000,0.061,2748,3694,3226,0,0,0,0,0,0
$GC,1326,-0.46,-117.3,136.6,-7.1,31,1330,0.00,2.40,0.00,0.000,6,0.000,0.043,2748,2154,3225,0,0,0,0,0,0
$GC,1707,-0.46,-117.3,164.7,-7.5,33,1711,0.00,2.30,0.00,0.000,4,0.000,0.050,2748,668,3225,0,0,0,0,0,0
$GC,1734,-0.46,-117.3,167.1,-8.6,33,1738,0.00,2.35,0.00,0.000,6,0.000,0.048,2742,2183,3225,0,0,0,0,0,0
$GC,2126,-0.46,-117.3,196.8,-7.5,35,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2182,3224,0,0,0,0,0,0
$GC,2327,-0.46,-117.3,212.3,-7.6,36,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2182,3224,0,0,0,0,0,0
$GC,2527,-0.46,-117.3,228.0,-7.7,37,2531,0.00,2.40,0.00,0.000,4,0.000,0.050,2742,665,3224,0,0,0,0,0,0
$GC,2555,-0.46,-117.3,230.3,-8.4,37,2560,0.12,2.33,0.00,0.000,6,0.135,0.049,2772,2157,3224,0,0,0,0,0,0
$GC,2942,-0.47,-117.3,253.9,-6.2,39,2946,0.00,2.33,0.00,0.000,4,0.000,0.051,2773,667,3224,0,0,0,0,0,0
$GC,2971,-0.50,-117.3,255.9,-7.1,39,2976,0.00,2.40,0.00,0.000,6,0.000,0.050,2773,2203,3224,0,0,0,0,0,0
$GC,3365,-0.52,-117.3,279.5,-5.9,41,3369,0.00,2.38,0.00,0.000,4,0.000,0.063,2771,3692,3222,0,0,0,0,0,0
$GC,3423,-0.55,-117.3,283.0,-6.2,41,3427,0.00,2.33,0.00,0.000,6,0.000,0.045,2771,2206,3222,0,0,0,0,0,0
$GC,3789,-0.58,-117.3,303.8,-5.7,43,3794,0.12,2.42,0.00,0.000,4,0.083,0.051,2698,660,3221,0,0,0,0,0,0
$GC,3910,-0.56,-117.3,313.1,-7.8,43,3915,0.17,2.45,0.00,0.000,6,0.131,0.050,2741,2228,3221,0,0,0,0,0,0
$GC,4207,-0.56,-117.3,331.5,-6.1,45,4211,0.00,2.47,0.00,0.000,4,0.000,0.053,2741,669,3220,0,0,0,0,0,0
$GC,4275,-0.56,-117.3,336.1,-7.1,45,4280,0.00,2.42,0.00,0.000,6,0.000,0.050,2735,2210,3220,0,0,0,0,0,0
$GC,4625,-0.56,-117.3,358.5,-6.4,47,4629,0.00,2.47,0.00,0.000,4,0.000,0.052,2734,663,3219,0,0,0,0,0,0
$GC,4697,-0.56,-117.3,363.9,-6.9,47,4701,0.00,2.38,0.00,0.000,6,0.000,0.050,2724,2183,3219,0,0,0,0,0,0
$GC,5043,-0.56,-117.3,388.4,-7.3,49,5047,0.00,2.40,0.00,0.000,4,0.000,0.053,2724,668,3218,0,0,0,0,0,0
$GC,5092,-0.56,-117.3,392.8,-7.8,49,5096,0.00,2.35,0.00,0.000,6,0.000,0.051,2714,2164,3219,0,0,0,0,0,0
$GC,5463,-0.54,-117.3,421.9,-7.9,51,5468,0.10,2.38,0.00,0.000,4,0.154,0.054,2743,667,3218,0,0,0,0,0,0
$GC,5540,-0.54,-117.3,427.9,-6.8,51,5544,0.00,2.33,0.00,0.000,6,0.000,0.051,2738,2146,3217,0,0,0,0,0,0
$GC,5880,-0.54,-117.3,448.9,-6.3,53,5885,0.00,2.38,0.00,0.000,4,0.000,0.054,2737,666,3217,0,0,0,0,0,0
$GC,5941,-0.54,-117.3,453.3,-6.5,53,5946,0.00,2.30,0.00,0.000,6,0.000,0.052,2730,2131,3217,0,0,0,0,0,0
$GC,6304,-0.54,-117.3,477.2,-6.7,55,6308,0.00,2.33,0.00,0.000,4,0.000,0.054,2730,670,3216,0,0,0,0,0,0
$GC,6371,-0.54,-117.3,482.5,-7.4,55,6375,0.00,2.25,0.00,0.000,6,0.000,0.051,2722,2102,3216,0,0,0,0,0,0
$GC,6730,-0.54,-117.3,505.1,-6.3,57,6734,0.00,2.30,0.00,0.000,4,0.000,0.054,2722,670,3216,0,0,0,0,0,0
$GC,6774,-0.54,-117.3,508.4,-6.6,57,6779,0.12,2.25,0.00,0.000,6,0.135,0.051,2749,2098,3216,0,0,0,0,0,0
$GC,7146,-0.54,-117.3,524.9,-4.4,59,7150,0.00,2.28,0.00,0.000,4,0.000,0.054,2750,666,3215,0,0,0,0,0,0
$GC,7184,-0.54,-117.3,526.9,-5.0,59,7188,0.00,2.22,0.00,0.000,6,0.000,0.053,2745,2077,3215,0,0,0,0,0,0
$GC,7563,-0.56,-117.3,547.2,-5.5,61,7567,0.00,2.60,0.00,0.000,4,0.000,0.065,2734,3690,3214,0,0,0,0,0,0
$GC,7606,-0.56,-117.3,550.1,-6.2,61,7610,0.00,2.53,0.00,0.000,6,0.000,0.047,2733,2086,3214,0,0,0,0,0,0
$GC,7977,-0.56,-117.3,572.5,-6.1,63,7981,0.00,2.25,0.00,0.000,4,0.000,0.055,2733,667,3214,0,0,0,0,0,0
$GC,8005,-0.56,-117.3,574.4,-6.9,63,8009,0.00,2.25,0.00,0.000,6,0.000,0.054,2732,2088,3214,0,0,0,0,0,0
$GC,8398,-0.56,-117.3,598.2,-6.1,65,8402,0.00,2.62,0.00,0.000,4,0.000,0.065,2720,3694,3213,0,0,0,0,0,0
$GC,8443,-0.56,-117.3,601.1,-6.9,65,8447,0.00,2.53,0.00,0.000,6,0.000,0.047,2720,2097,3213,0,0,0,0,0,0
$GC,8914,-0.56,-117.3,632.7,-6.7,67,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2096,3212,0,0,0,0,0,0
$GC,9215,-0.56,-117.3,652.9,-6.7,68,9216,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2096,3212,0,0,0,0,0,0
$GC,9516,-0.56,-117.3,673.4,-6.7,69,9521,0.00,2.62,0.00,0.000,4,0.000,0.063,2709,3696,3212,0,0,0,0,0,0
$GC,9538,-0.56,-117.3,675.1,-6.7,69,9542,0.00,2.53,0.00,0.000,6,0.000,0.049,2709,2096,3211,0,0,0,0,0,0
$GC,10151,-0.56,-117.3,717.9,-6.8,71,10155,0.00,2.62,0.00,0.000,4,0.000,0.063,2698,3693,3211,0,0,0,0,0,0
$GC,10189,-0.56,-117.3,720.8,-7.7,71,10194,0.12,2.53,0.00,0.000,6,0.134,0.048,2736,2100,3211,0,0,0,0,0,0
$GC,10779,-0.56,-117.3,751.3,-5.1,73,10780,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2096,3211,0,0,0,0,0,0
$GC,11078,-0.56,-117.3,767.2,-5.2,74,11082,0.00,2.62,0.00,0.000,4,0.000,0.065,2727,3693,3210,0,0,0,0,0,0
$GC,11105,-0.56,-117.3,768.9,-5.6,74,11109,0.00,2.53,0.00,0.000,6,0.000,0.049,2726,2099,3210,0,0,0,0,0,0
$GC,11704,-0.56,-117.3,805.6,-6.3,76,11705,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2098,3210,0,0,0,0,0,0
$GC,12004,-0.56,-117.3,824.1,-6.2,77,12005,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2097,3209,0,0,0,0,0,0
$GC,12307,-0.56,-117.3,840.9,-6.1,78,12308,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2098,3209,0,0,0,0,0,0
$GC,12606,-0.56,-117.3,856.4,-5.8,79,12610,0.00,2.62,0.00,0.000,4,0.000,0.066,2718,3689,3209,0,0,0,0,0,0
$GC,12649,-0.56,-117.3,858.9,-6.3,79,12654,0.00,2.50,0.00,0.000,6,0.000,0.047,2717,2107,3208,0,0,0,0,0,0
$GC,13234,-0.56,-117.3,893.0,-6.0,81,13235,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2105,3208,0,0,0,0,0,0
$GC,13533,-0.56,-117.3,911.4,-6.1,82,13534,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2105,3208,0,0,0,0,0,0
$GC,13834,-0.56,-117.3,929.0,-6.0,83,13838,0.00,2.65,0.00,0.000,4,0.000,0.066,2707,3694,3207,0,0,0,0,0,0
$GC,13873,-0.56,-117.3,931.6,-6.2,83,13878,0.10,2.55,0.00,0.000,6,0.138,0.049,2736,2099,3208,0,0,0,0,0,0
$GC,14465,-0.56,-117.3,962.5,-5.4,85,14466,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2095,3207,0,0,0,0,0,0
$GC,14762,-0.56,-117.3,978.9,-5.4,86,14766,0.00,2.62,0.00,0.000,4,0.000,0.066,2728,3686,3207,0,0,0,0,0,0
$GC,14801,-0.57,-117.3,981.1,-5.0,86,14805,0.00,2.53,0.00,0.000,6,0.000,0.048,2727,2096,3207,0,0,0,0,0,0
$STATE,14958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14958,begin apogee
$GC,14963,-0.22,0.0,990.1,5.6,86,15075,0.35,0.00,105.43,1.231,6,0.100,0.000,2848,2095,2735,0,0,0,0,0,0
$STATE,15076,end apogee,CONTROL_FINISHED_OK
$STATE,15076,begin climb
$GC,15078,0.50,117.3,992.8,0.0,86,15196,0.65,0.00,115.18,1.196,6,0.063,0.000,3081,2094,2256,0,0,0,0,0,0
$GC,15388,0.52,117.3,970.3,7.5,88,15389,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2094,2248,0,0,0,0,0,0
$GC,15686,0.52,117.3,941.6,8.5,89,15690,0.00,2.47,0.00,0.000,4,0.000,0.058,3092,555,2245,0,0,0,0,0,0
$GC,15713,0.49,117.3,938.8,9.4,89,15718,0.00,2.40,0.00,0.000,6,0.000,0.052,3093,2066,2244,0,0,0,0,0,0
$GC,16313,0.46,117.3,877.3,10.3,91,16317,0.00,2.42,0.00,0.000,4,0.000,0.063,3092,3575,2242,0,0,0,0,0,0
$GC,16364,0.42,117.3,871.5,11.3,91,16369,0.17,2.40,0.00,0.000,6,0.161,0.049,3055,2070,2241,0,0,0,0,0,0
$GC,16941,0.40,117.3,826.1,7.6,93,16942,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2069,2241,0,0,0,0,0,0
$GC,17243,0.39,117.3,804.6,7.4,94,17244,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2068,2240,0,0,0,0,0,0
$GC,17542,0.37,117.3,783.4,7.3,95,17544,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2068,2240,0,0,0,0,0,0
$GC,17843,0.36,117.3,760.4,7.3,96,17844,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2068,2239,0,0,0,0,0,0
$GC,18143,0.35,117.3,735.9,7.5,97,18144,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2068,2239,0,0,0,0,0,0
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$STATE,28654,end climb,SURFACE_DEPTH_REACHED
$STATE,28654,begin surface coast
$FINISH,1.0,1.012729
$STATE,28717,end surface coast,CONTROL_FINISHED_OK
$STATE,28718,begin surface
$SM_CCo,28796,0.00,0.000,0,0,1221,371.38
$SM_GC,2.07,7.85,0.00,0.00,0.029,0.000,0.000,132,2187,1221,-8.60,0.31,371.38
$IRIDIUM_FIX,4707.04,-12602.58,110811,040440
$TT8_MAMPS,0.026964
$HUMID,41.92
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,20.00
$XPDR_PINGS,2
$24V_AH,22.0,71.543
$10V_AH,9.8,77.277
$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,21.500,222.900,443.350,0.000,0.000,25.297,28.766,227.977,0.500,0.000,15.823,1448.520,23468.949,583.900,3133.219,565.521,33.379,2127.341,0.000,2828.124,0.000,0.535,0.000
$DEVICE_MAMPS,225.675,123.165,1230.885,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,123.205,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297784
$DATA_FILE_SIZE,10313,180
$CAP_FILE_SIZE,225314,0
$CFSIZE,260165632,162516992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096,138.2,1
$GPS,110811,193624,4720.983,-12611.665,34,1.9,51,18.6