version: 66.07
glider: 187
mission: 4
dive: 642
start: 8 13 111 11 11 46
data:
$ID,187
$MISSION,4
$DIVE,642
$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,-1585553.5
$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,32
$R_STBD_OVSHOOT,41
$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
$GPS1,130811,110525,4714.867,-12628.003,38,1.8,38,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-77.5
$GPS2,130811,111050,4714.843,-12627.988,15,1.0,15,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.182,0.083
$KALMAN_X,342924.7,-681.8,-229.2,-442592.5,3988.0
$KALMAN_Y,-614522.4,948.3,-534.2,555457.3,-4000.9
$MHEAD_RNG_PITCHd_Wd,217.7,48892,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.50,-117.3,0.0,0.0,0,97,0.00,0.00,-79.47,0.000,6,0.000,0.000,133,2189,3215,0,0,0,0,0,0
$GC,100,-0.50,-117.3,0.0,-0.0,0,115,10.62,2.35,0.00,0.000,4,0.225,0.046,2743,3686,3218,0,0,0,0,0,0
$GC,247,-0.50,-117.3,38.3,-9.1,1,251,0.00,2.33,0.00,0.000,6,0.000,0.042,2741,2168,3222,0,0,0,0,0,0
$GC,474,-0.47,-117.3,60.9,-9.9,4,478,0.00,2.33,0.00,0.000,4,0.000,0.050,2741,668,3223,0,0,0,0,0,0
$GC,526,-0.45,-117.3,66.6,-11.4,4,531,0.12,2.30,0.00,0.000,6,0.136,0.047,2771,2154,3224,0,0,0,0,0,0
$GC,755,-0.45,-117.3,86.6,-8.7,7,759,0.00,2.45,0.00,0.000,4,0.000,0.059,2762,3690,3225,0,0,0,0,0,0
$GC,799,-0.45,-117.3,90.7,-8.7,7,803,0.00,2.38,0.00,0.000,6,0.000,0.043,2761,2151,3225,0,0,0,0,0,0
$GC,1142,-0.45,-117.3,118.1,-8.1,10,1147,0.00,2.33,0.00,0.000,4,0.000,0.050,2761,660,3225,0,0,0,0,0,0
$GC,1199,-0.45,-117.3,122.8,-7.6,10,1203,0.00,2.33,0.00,0.000,6,0.000,0.047,2754,2159,3225,0,0,0,0,0,0
$GC,1566,-0.45,-117.3,149.6,-7.1,12,1570,0.00,2.45,0.00,0.000,4,0.000,0.060,2742,3691,3225,0,0,0,0,0,0
$GC,1595,-0.45,-117.3,151.8,-7.5,12,1600,0.10,2.40,0.00,0.000,6,0.134,0.044,2773,2149,3224,0,0,0,0,0,0
$GC,1983,-0.45,-117.3,177.1,-6.6,14,1987,0.00,2.30,0.00,0.000,4,0.000,0.051,2773,663,3224,0,0,0,0,0,0
$GC,2035,-0.47,-117.3,180.5,-7.0,14,2039,0.00,2.30,0.00,0.000,6,0.000,0.047,2769,2143,3224,0,0,0,0,0,0
$GC,2401,-0.47,-117.3,201.1,-5.5,16,2405,0.00,2.47,0.00,0.000,4,0.000,0.061,2758,3695,3223,0,0,0,0,0,0
$GC,2425,-0.48,-117.3,202.5,-5.3,16,2429,0.00,2.45,0.00,0.000,6,0.000,0.044,2758,2122,3223,0,0,0,0,0,0
$GC,2818,-0.48,-117.3,227.5,-6.7,18,2822,0.00,2.25,0.00,0.000,4,0.000,0.052,2758,664,3222,0,0,0,0,0,0
$GC,2856,-0.48,-117.3,230.5,-7.6,18,2860,0.00,2.30,0.00,0.000,6,0.000,0.049,2752,2143,3222,0,0,0,0,0,0
$GC,3237,-0.48,-117.3,256.3,-6.8,20,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2143,3222,0,0,0,0,0,0
$GC,3438,-0.48,-117.3,269.8,-6.8,21,3442,0.00,2.53,0.00,0.000,4,0.000,0.062,2741,3691,3221,0,0,0,0,0,0
$GC,3459,-0.48,-117.3,271.4,-7.2,21,3463,0.00,2.45,0.00,0.000,6,0.000,0.046,2741,2126,3221,0,0,0,0,0,0
$GC,3851,-0.48,-117.3,299.3,-7.2,23,3855,0.00,2.33,0.00,0.000,4,0.000,0.053,2740,656,3219,0,0,0,0,0,0
$GC,3889,-0.48,-117.3,302.1,-7.3,23,3894,0.12,2.30,0.00,0.000,6,0.132,0.050,2770,2126,3219,0,0,0,0,0,0
$GC,4265,-0.49,-117.3,319.8,-4.6,25,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2125,3219,0,0,0,0,0,0
$GC,4466,-0.51,-117.3,329.8,-4.7,26,4470,0.00,2.33,0.00,0.000,4,0.000,0.054,2770,664,3218,0,0,0,0,0,0
$GC,4495,-0.52,-117.3,331.6,-6.2,26,4499,0.00,2.25,0.00,0.000,6,0.000,0.050,2770,2115,3218,0,0,0,0,0,0
$GC,4889,-0.53,-117.3,352.8,-5.4,28,4893,0.00,2.58,0.00,0.000,4,0.000,0.063,2760,3693,3217,0,0,0,0,0,0
$GC,4917,-0.55,-117.3,354.6,-6.3,28,4921,0.00,2.50,0.00,0.000,6,0.000,0.046,2760,2106,3218,0,0,0,0,0,0
$GC,5305,-0.55,-117.3,376.8,-5.6,30,5309,0.00,2.28,0.00,0.000,4,0.000,0.054,2760,666,3217,0,0,0,0,0,0
$GC,5345,-0.56,-117.3,379.4,-6.3,30,5349,0.00,2.28,0.00,0.000,6,0.000,0.051,2759,2115,3217,0,0,0,0,0,0
$GC,5721,-0.56,-117.3,401.1,-5.8,32,5725,0.00,2.55,0.00,0.000,4,0.000,0.063,2757,3687,3216,0,0,0,0,0,0
$GC,5759,-0.59,-117.3,403.5,-6.4,32,5763,0.00,2.45,0.00,0.000,6,0.000,0.047,2757,2113,3216,0,0,0,0,0,0
$GC,6135,-0.59,-117.3,426.7,-6.2,34,6139,0.00,2.30,0.00,0.000,4,0.000,0.054,2757,666,3216,0,0,0,0,0,0
$GC,6185,-0.60,-117.3,430.2,-6.7,34,6189,0.00,2.25,0.00,0.000,6,0.000,0.052,2752,2105,3216,0,0,0,0,0,0
$GC,6553,-0.60,-117.3,452.5,-6.1,36,6557,0.00,2.58,0.00,0.000,4,0.000,0.065,2741,3687,3215,0,0,0,0,0,0
$GC,6574,-0.60,-117.3,454.0,-5.8,36,6579,0.00,2.50,0.00,0.000,6,0.000,0.047,2740,2097,3215,0,0,0,0,0,0
$GC,6968,-0.60,-117.3,479.2,-6.5,38,6972,0.00,2.22,0.00,0.000,4,0.000,0.055,2740,667,3214,0,0,0,0,0,0
$GC,6995,-0.60,-117.3,481.4,-7.7,38,6999,0.00,2.25,0.00,0.000,6,0.000,0.052,2733,2104,3214,0,0,0,0,0,0
$GC,7387,-0.60,-117.3,510.1,-7.5,40,7392,0.00,2.58,0.00,0.000,4,0.000,0.065,2721,3687,3214,0,0,0,0,0,0
$GC,7422,-0.60,-117.3,512.6,-7.7,40,7426,0.00,2.50,0.00,0.000,6,0.000,0.048,2721,2102,3214,0,0,0,0,0,0
$GC,7803,-0.60,-117.3,542.2,-7.7,42,7807,0.00,2.25,0.00,0.000,4,0.000,0.055,2720,662,3213,0,0,0,0,0,0
$GC,7830,-0.60,-117.3,544.6,-8.4,42,7834,0.00,2.28,0.00,0.000,6,0.000,0.052,2713,2109,3213,0,0,0,0,0,0
$GC,8230,-0.59,-117.3,575.3,-7.7,44,8232,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2110,3212,0,0,0,0,0,0
$GC,8429,-0.58,-117.3,589.7,-7.5,45,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2110,3212,0,0,0,0,0,0
$GC,8631,-0.57,-117.3,603.4,-7.3,46,8635,0.00,2.60,0.00,0.000,4,0.000,0.063,2702,3689,3212,0,0,0,0,0,0
$GC,8653,-0.57,-117.3,605.2,-7.0,46,8658,0.12,2.50,0.00,0.000,6,0.131,0.048,2739,2109,3211,0,0,0,0,0,0
$GC,9258,-0.57,-117.3,639.8,-6.0,48,9262,0.00,2.25,0.00,0.000,4,0.000,0.057,2739,669,3211,0,0,0,0,0,0
$GC,9292,-0.57,-117.3,642.1,-6.9,48,9296,0.00,2.28,0.00,0.000,6,0.000,0.053,2734,2110,3210,0,0,0,0,0,0
$GC,9888,-0.57,-117.3,682.3,-6.7,50,9892,0.00,2.58,0.00,0.000,4,0.000,0.065,2722,3687,3210,0,0,0,0,0,0
$GC,9950,-0.57,-117.3,686.8,-6.9,50,9954,0.00,2.47,0.00,0.000,6,0.000,0.049,2721,2109,3209,0,0,0,0,0,0
$GC,10515,-0.57,-117.3,723.8,-6.5,52,10519,0.00,2.30,0.00,0.000,4,0.000,0.057,2721,668,3209,0,0,0,0,0,0
$GC,10560,-0.57,-117.3,726.9,-7.6,52,10564,0.00,2.28,0.00,0.000,6,0.000,0.054,2714,2111,3208,0,0,0,0,0,0
$GC,11157,-0.57,-117.3,765.5,-6.5,54,11161,0.00,2.58,0.00,0.000,4,0.000,0.065,2702,3687,3208,0,0,0,0,0,0
$GC,11211,-0.57,-117.3,769.3,-6.7,54,11216,0.12,2.50,0.00,0.000,6,0.129,0.048,2740,2112,3208,0,0,0,0,0,0
$GC,11785,-0.57,-117.3,797.2,-4.9,56,11786,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2108,3208,0,0,0,0,0,0
$GC,12083,-0.57,-117.3,811.6,-4.8,57,12085,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2108,3207,0,0,0,0,0,0
$GC,12385,-0.57,-117.3,826.2,-4.8,58,12386,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2107,3207,0,0,0,0,0,0
$GC,12685,-0.57,-117.3,840.9,-4.8,59,12689,0.00,2.33,0.00,0.000,4,0.000,0.059,2740,668,3206,0,0,0,0,0,0
$GC,12708,-0.57,-117.3,842.2,-5.7,59,12712,0.00,2.30,0.00,0.000,6,0.000,0.055,2734,2118,3207,0,0,0,0,0,0
$GC,13320,-0.57,-117.3,874.9,-5.3,61,13322,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2118,3207,0,0,0,0,0,0
$GC,13621,-0.57,-117.3,890.5,-5.3,62,13622,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2118,3206,0,0,0,0,0,0
$GC,13920,-0.57,-117.3,905.4,-5.2,63,13924,0.00,2.62,0.00,0.000,4,0.000,0.067,2722,3694,3206,0,0,0,0,0,0
$GC,13941,-0.57,-117.3,906.7,-5.9,63,13945,0.00,2.50,0.00,0.000,6,0.000,0.050,2722,2115,3206,0,0,0,0,0,0
$GC,14547,-0.57,-117.3,939.5,-5.5,65,14552,0.00,2.30,0.00,0.000,4,0.000,0.057,2722,660,3205,0,0,0,0,0,0
$GC,14575,-0.57,-117.3,941.4,-5.6,65,14579,0.00,2.30,0.00,0.000,6,0.000,0.054,2715,2114,3205,0,0,0,0,0,0
$GC,15179,-0.57,-117.3,980.0,-6.5,67,15184,0.00,2.58,0.00,0.000,4,0.000,0.067,2703,3687,3205,0,0,0,0,0,0
$GC,15241,-0.57,-117.3,984.4,-6.8,67,15246,0.12,2.50,0.00,0.000,6,0.128,0.050,2741,2116,3205,0,0,0,0,0,0
$STATE,15339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15339,begin apogee
$GC,15346,-0.22,0.0,990.1,5.0,67,15459,0.30,0.00,104.55,1.226,6,0.100,0.000,2849,2055,2735,0,0,0,0,0,0
$STATE,15460,end apogee,CONTROL_FINISHED_OK
$STATE,15460,begin climb
$GC,15462,0.50,117.3,993.4,0.0,67,15585,0.65,0.00,114.00,1.196,6,0.064,0.000,3081,2055,2256,0,0,0,0,0,0
$GC,16129,0.47,117.3,937.4,9.5,70,16133,0.00,2.47,0.00,0.000,4,0.000,0.063,3081,3572,2243,0,0,0,0,0,0
$GC,16191,0.43,117.3,930.5,11.1,70,16197,0.12,2.40,0.00,0.000,6,0.169,0.048,3059,2064,2242,0,0,0,0,0,0
$GC,16758,0.41,117.3,882.5,8.5,72,16759,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2064,2241,0,0,0,0,0,0
$GC,17061,0.40,117.3,858.8,8.2,73,17065,0.00,2.47,0.00,0.000,4,0.000,0.063,3059,3577,2241,0,0,0,0,0,0
$GC,17089,0.37,117.3,856.0,8.3,73,17093,0.00,2.38,0.00,0.000,6,0.000,0.050,3069,2066,2240,0,0,0,0,0,0
$GC,17696,0.35,117.3,806.8,8.0,75,17698,0.12,0.00,0.00,0.000,6,0.155,0.000,3033,2064,2239,0,0,0,0,0,0
$GC,17995,0.33,117.3,788.4,7.2,76,17996,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2062,2238,0,0,0,0,0,0
$GC,18296,0.32,117.3,769.2,6.9,77,18297,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2062,2238,0,0,0,0,0,0
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$STATE,29379,end climb,SURFACE_DEPTH_REACHED
$STATE,29379,begin surface coast
$FINISH,0.9,1.006231
$STATE,29471,end surface coast,CONTROL_FINISHED_OK
$STATE,29471,begin surface
$SM_CCo,29550,0.00,0.000,0,0,1191,378.74
$SM_GC,1.83,7.95,0.00,0.00,0.035,0.000,0.000,122,2183,1191,-8.61,0.23,378.74
$IRIDIUM_FIX,4657.54,-12626.82,130811,020232
$TT8_MAMPS,0.026964
$HUMID,41.29
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,20.20
$XPDR_PINGS,2
$24V_AH,22.0,72.401
$10V_AH,9.9,77.820
$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,21.225,259.600,442.550,0.000,0.000,25.665,31.828,130.804,0.500,0.000,16.646,1521.066,23540.549,582.388,3669.752,544.345,33.383,2390.636,0.000,3387.049,0.000,0.537,0.000
$DEVICE_MAMPS,224.910,123.165,1226.295,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,93.987,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297664
$DATA_FILE_SIZE,7002,136
$CAP_FILE_SIZE,248386,0
$CFSIZE,260165632,162033664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097,151.8,1
$GPS,130811,192536,4712.370,-12630.604,39,1.8,44,18.6