version: 66.07
glider: 187
mission: 4
dive: 637
start: 8 11 111 19 42 45
data:
$ID,187
$MISSION,4
$DIVE,637
$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,-1585547.2
$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,31
$R_STBD_OVSHOOT,33
$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
$GPS1,110811,193624,4720.983,-12611.665,34,1.9,51,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-75.1
$GPS2,110811,194149,4720.957,-12611.670,13,1.9,30,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.200,0.004
$KALMAN_X,331873.4,-235.8,-252.7,-411680.9,3539.9
$KALMAN_Y,-605263.6,-632.6,990.2,557522.0,-2017.0
$MHEAD_RNG_PITCHd_Wd,247.3,72338,-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,13,begin dive
$GC,16,-0.50,-117.3,0.0,0.0,0,80,0.00,0.00,-62.05,0.000,2,0.000,0.000,131,2184,2721,0,0,0,0,0,0
$GC,83,-0.50,-117.3,3.7,-4.4,2,109,10.60,2.42,-9.77,0.000,4,0.225,0.067,2735,3686,3215,0,0,0,0,0,0
$GC,199,-0.48,-117.3,28.8,-12.7,4,204,0.10,2.40,0.00,0.000,6,0.144,0.042,2762,2163,3218,0,0,0,0,0,0
$GC,390,-0.46,-117.3,47.8,-9.8,10,394,0.00,2.35,0.00,0.000,4,0.000,0.050,2763,664,3220,0,0,0,0,0,0
$GC,455,-0.46,-117.3,53.9,-9.7,12,459,0.00,2.30,0.00,0.000,6,0.000,0.047,2756,2145,3220,0,0,0,0,0,0
$GC,668,-0.44,-117.3,75.2,-9.9,19,672,0.00,2.35,0.00,0.000,4,0.000,0.049,2755,655,3222,0,0,0,0,0,0
$GC,697,-0.43,-117.3,78.1,-9.6,20,702,0.12,2.28,0.00,0.000,6,0.137,0.047,2784,2132,3222,0,0,0,0,0,0
$GC,911,-0.43,-117.3,94.9,-7.5,27,916,0.00,2.30,0.00,0.000,4,0.000,0.048,2785,663,3223,0,0,0,0,0,0
$GC,944,-0.44,-117.3,97.3,-6.5,28,948,0.00,2.25,0.00,0.000,6,0.000,0.047,2782,2113,3223,0,0,0,0,0,0
$GC,1199,-0.44,-117.3,111.7,-5.7,31,1203,0.00,2.25,0.00,0.000,4,0.000,0.050,2781,663,3223,0,0,0,0,0,0
$GC,1250,-0.45,-117.3,115.4,-7.4,31,1254,0.00,2.15,0.00,0.000,6,0.000,0.047,2775,2052,3223,0,0,0,0,0,0
$GC,1616,-0.47,-117.3,142.0,-7.2,33,1620,0.00,2.17,0.00,0.000,4,0.000,0.050,2774,662,3223,0,0,0,0,0,0
$GC,1696,-0.48,-117.3,147.8,-7.0,33,1700,0.00,2.17,0.00,0.000,6,0.000,0.047,2769,2073,3223,0,0,0,0,0,0
$GC,2042,-0.50,-117.3,168.8,-6.1,35,2046,0.00,2.58,0.00,0.000,4,0.000,0.060,2767,3694,3223,0,0,0,0,0,0
$GC,2069,-0.51,-117.3,170.8,-5.7,35,2074,0.00,2.53,0.00,0.000,6,0.000,0.044,2767,2068,3222,0,0,0,0,0,0
$GC,2457,-0.54,-117.3,193.5,-5.8,37,2461,0.00,2.60,0.00,0.000,4,0.000,0.060,2766,3693,3222,0,0,0,0,0,0
$GC,2468,-0.56,-117.3,194.3,-5.8,37,2472,0.00,2.58,0.00,0.000,6,0.000,0.044,2766,2051,3223,0,0,0,0,0,0
$GC,2871,-0.58,-117.3,223.2,-7.5,39,2876,0.10,2.62,0.00,0.000,4,0.099,0.058,2701,3689,3221,0,0,0,0,0,0
$GC,2981,-0.57,-117.3,233.6,-9.9,39,2986,0.12,2.58,0.00,0.000,6,0.132,0.044,2739,2048,3221,0,0,0,0,0,0
$GC,3289,-0.57,-117.3,257.7,-7.5,41,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2042,3221,0,0,0,0,0,0
$GC,3489,-0.57,-117.3,270.1,-6.9,42,3494,0.00,2.70,0.00,0.000,4,0.000,0.061,2729,3694,3220,0,0,0,0,0,0
$GC,3518,-0.57,-117.3,271.8,-6.4,42,3522,0.00,2.60,0.00,0.000,6,0.000,0.045,2728,2044,3220,0,0,0,0,0,0
$GC,3905,-0.57,-117.3,297.8,-7.1,44,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2039,3219,0,0,0,0,0,0
$GC,4105,-0.57,-117.3,312.6,-7.2,45,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2040,3218,0,0,0,0,0,0
$GC,4305,-0.57,-117.3,327.3,-7.3,46,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2039,3218,0,0,0,0,0,0
$GC,4507,-0.57,-117.3,342.8,-7.4,47,4512,0.00,2.67,0.00,0.000,4,0.000,0.062,2719,3687,3217,0,0,0,0,0,0
$GC,4528,-0.57,-117.3,344.7,-7.9,47,4533,0.00,2.58,0.00,0.000,6,0.000,0.046,2719,2054,3218,0,0,0,0,0,0
$GC,4924,-0.56,-117.3,376.7,-8.2,49,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2052,3217,0,0,0,0,0,0
$GC,5122,-0.55,-117.3,393.7,-8.3,50,5127,0.00,2.67,0.00,0.000,4,0.000,0.060,2708,3689,3217,0,0,0,0,0,0
$GC,5144,-0.54,-117.3,395.8,-9.0,50,5150,0.12,2.58,0.00,0.000,6,0.127,0.047,2746,2056,3216,0,0,0,0,0,0
$GC,5539,-0.54,-117.3,422.3,-6.5,52,5543,0.00,2.20,0.00,0.000,4,0.000,0.054,2746,659,3216,0,0,0,0,0,0
$GC,5566,-0.54,-117.3,424.3,-6.2,52,5569,0.00,2.17,0.00,0.000,6,0.000,0.051,2744,2060,3216,0,0,0,0,0,0
$GC,5958,-0.54,-117.3,448.8,-6.2,54,5963,0.00,2.67,0.00,0.000,4,0.000,0.064,2732,3693,3215,0,0,0,0,0,0
$GC,6019,-0.54,-117.3,453.0,-7.0,54,6023,0.00,2.58,0.00,0.000,6,0.000,0.047,2731,2062,3215,0,0,0,0,0,0
$GC,6381,-0.54,-117.3,476.9,-6.7,56,6385,0.00,2.20,0.00,0.000,4,0.000,0.054,2731,665,3214,0,0,0,0,0,0
$GC,6415,-0.54,-117.3,479.6,-7.3,56,6419,0.00,2.20,0.00,0.000,6,0.000,0.051,2723,2067,3214,0,0,0,0,0,0
$GC,6796,-0.54,-117.3,507.1,-7.2,58,6801,0.00,2.65,0.00,0.000,4,0.000,0.062,2713,3690,3213,0,0,0,0,0,0
$GC,6853,-0.54,-117.3,511.2,-7.1,58,6858,0.12,2.58,0.00,0.000,6,0.124,0.047,2750,2067,3213,0,0,0,0,0,0
$GC,7213,-0.54,-117.3,531.9,-5.8,60,7217,0.00,2.22,0.00,0.000,4,0.000,0.056,2750,664,3212,0,0,0,0,0,0
$GC,7235,-0.54,-117.3,533.4,-6.4,60,7239,0.00,2.20,0.00,0.000,6,0.000,0.052,2747,2061,3212,0,0,0,0,0,0
$GC,7628,-0.54,-117.3,559.0,-6.6,62,7633,0.00,2.65,0.00,0.000,4,0.000,0.065,2735,3687,3212,0,0,0,0,0,0
$GC,7680,-0.55,-117.3,562.4,-6.9,62,7684,0.00,2.58,0.00,0.000,6,0.000,0.048,2735,2064,3212,0,0,0,0,0,0
$GC,8048,-0.55,-117.3,585.8,-6.3,64,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2061,3211,0,0,0,0,0,0
$GC,8245,-0.55,-117.3,597.1,-6.0,65,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2061,3211,0,0,0,0,0,0
$GC,8445,-0.55,-117.3,607.8,-5.8,66,8447,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2061,3210,0,0,0,0,0,0
$GC,8748,-0.55,-117.3,625.1,-5.7,67,8749,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2060,3210,0,0,0,0,0,0
$GC,9047,-0.55,-117.3,642.5,-5.6,68,9048,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2061,3209,0,0,0,0,0,0
$GC,9349,-0.55,-117.3,660.6,-5.8,69,9350,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2061,3209,0,0,0,0,0,0
$GC,9648,-0.55,-117.3,680.2,-6.0,70,9652,0.00,2.70,0.00,0.000,4,0.000,0.067,2724,3690,3209,0,0,0,0,0,0
$GC,9680,-0.55,-117.3,682.4,-6.4,70,9685,0.00,2.58,0.00,0.000,6,0.000,0.050,2723,2070,3209,0,0,0,0,0,0
$GC,10275,-0.55,-117.3,724.4,-7.0,72,10276,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2068,3208,0,0,0,0,0,0
$GC,10576,-0.55,-117.3,743.8,-6.7,73,10577,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2068,3208,0,0,0,0,0,0
$GC,10876,-0.55,-117.3,762.9,-6.6,74,10881,0.00,2.67,0.00,0.000,4,0.000,0.065,2712,3689,3207,0,0,0,0,0,0
$GC,10914,-0.55,-117.3,765.7,-7.6,74,10919,0.00,2.58,0.00,0.000,6,0.000,0.050,2712,2074,3207,0,0,0,0,0,0
$GC,11511,-0.55,-117.3,806.2,-6.8,76,11515,0.00,2.28,0.00,0.000,4,0.000,0.057,2712,667,3207,0,0,0,0,0,0
$GC,11532,-0.55,-117.3,808.0,-7.3,76,11537,0.12,2.22,0.00,0.000,6,0.135,0.054,2741,2060,3207,0,0,0,0,0,0
$GC,12143,-0.55,-117.3,839.4,-5.0,78,12148,0.00,2.70,0.00,0.000,4,0.000,0.067,2732,3683,3206,0,0,0,0,0,0
$GC,12227,-0.56,-117.3,844.2,-5.7,78,12231,0.00,2.55,0.00,0.000,6,0.000,0.048,2732,2073,3206,0,0,0,0,0,0
$GC,12772,-0.56,-117.3,874.8,-5.7,80,12773,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2070,3206,0,0,0,0,0,0
$GC,13070,-0.56,-117.3,890.9,-5.5,81,13075,0.00,2.65,0.00,0.000,4,0.000,0.066,2731,3684,3205,0,0,0,0,0,0
$GC,13099,-0.56,-117.3,892.5,-6.0,81,13104,0.00,2.58,0.00,0.000,6,0.000,0.050,2730,2075,3205,0,0,0,0,0,0
$GC,13701,-0.56,-117.3,923.4,-5.1,83,13705,0.00,2.62,0.00,0.000,4,0.000,0.065,2721,3685,3205,0,0,0,0,0,0
$GC,13744,-0.56,-117.3,926.2,-6.2,83,13748,0.00,2.55,0.00,0.000,6,0.000,0.048,2720,2082,3205,0,0,0,0,0,0
$GC,14329,-0.56,-117.3,960.2,-6.0,85,14334,0.00,2.65,0.00,0.000,4,0.000,0.067,2717,3694,3204,0,0,0,0,0,0
$GC,14379,-0.56,-117.3,963.5,-6.3,85,14384,0.00,2.58,0.00,0.000,6,0.000,0.050,2716,2083,3204,0,0,0,0,0,0
$STATE,14954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14954,begin apogee
$GC,14960,-0.22,0.0,996.3,5.5,87,15067,0.40,0.00,104.93,1.236,6,0.103,0.000,2849,2081,2735,0,0,0,0,0,0
$STATE,15068,end apogee,CONTROL_FINISHED_OK
$STATE,15068,begin climb
$GC,15071,0.50,117.3,996.3,0.0,87,15195,0.65,2.70,113.60,1.200,4,0.065,0.057,3092,552,2255,0,0,0,0,0,0
$GC,15229,0.47,117.3,987.6,10.2,87,15234,0.00,2.55,0.00,0.000,6,0.000,0.050,3092,2054,2251,0,0,0,0,0,0
$GC,15688,0.44,117.3,939.3,10.6,89,15692,0.00,2.47,0.00,0.000,4,0.000,0.063,3092,3581,2244,0,0,0,0,0,0
$GC,15766,0.40,117.3,929.7,12.1,89,15771,0.20,2.42,0.00,0.000,6,0.158,0.050,3048,2072,2243,0,0,0,0,0,0
$GC,16315,0.38,117.3,885.8,7.9,91,16316,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2071,2242,0,0,0,0,0,0
$GC,16617,0.37,117.3,861.4,8.0,92,16621,0.00,2.45,0.00,0.000,4,0.000,0.063,3048,3579,2241,0,0,0,0,0,0
$GC,16640,0.36,117.3,859.1,8.9,92,16644,0.00,2.40,0.00,0.000,6,0.000,0.050,3056,2064,2240,0,0,0,0,0,0
$GC,17254,0.34,117.3,806.4,8.6,94,17255,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2061,2240,0,0,0,0,0,0
$GC,17553,0.33,117.3,781.7,8.4,95,17554,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2061,2239,0,0,0,0,0,0
$GC,17853,0.31,117.3,757.7,8.3,96,17858,0.12,2.50,0.00,0.000,4,0.154,0.064,3021,3581,2239,0,0,0,0,0,0
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$GC,25010,0.49,199.4,304.1,5.9,126,25025,0.10,2.47,7.97,0.698,4,0.100,0.058,3105,549,1921,0,0,0,0,0,0
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$STATE,29208,end climb,SURFACE_DEPTH_REACHED
$STATE,29208,begin surface coast
$FINISH,1.4,1.023131
$STATE,29239,end surface coast,CONTROL_FINISHED_OK
$STATE,29239,begin surface
$SM_CCo,29320,0.00,0.000,0,0,1315,348.08
$SM_GC,2.47,8.02,0.00,0.00,0.035,0.000,0.000,114,2186,1315,-8.61,0.31,348.08
$IRIDIUM_FIX,4703.87,-12558.84,110811,111106
$TT8_MAMPS,0.026964
$HUMID,41.14
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.80
$XPDR_PINGS,2
$24V_AH,22.0,71.672
$10V_AH,9.8,77.369
$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,21.675,250.000,428.225,0.000,0.000,24.757,30.544,122.433,0.500,0.000,31.646,1565.443,23564.029,597.147,3368.397,536.938,33.381,2259.018,0.000,3096.878,0.000,0.536,0.000
$DEVICE_MAMPS,224.910,92.565,1236.240,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,132.274,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297680
$DATA_FILE_SIZE,10326,193
$CAP_FILE_SIZE,240300,0
$CFSIZE,260165632,162430976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054, 83.1,1
$GPS,120811,035237,4720.059,-12614.917,36,0.9,36,18.6