version: 66.07
glider: 187
mission: 4
dive: 644
start: 8 14 111 3 43 46
data:
$ID,187
$MISSION,4
$DIVE,644
$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,-1585556
$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,38
$R_STBD_OVSHOOT,39
$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
$GPS1,140811,033737,4711.451,-12634.102,40,0.8,40,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-76.9
$GPS2,140811,034250,4711.440,-12634.055,16,0.8,16,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.189,0.066
$KALMAN_X,346566.2,263.2,-111.9,-454873.3,1749.5
$KALMAN_Y,-623753.1,906.7,100.2,557794.6,-5010.7
$MHEAD_RNG_PITCHd_Wd,239.3,39023,-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,-117.3,0.0,0.0,0,94,0.00,0.00,-77.07,0.000,6,0.000,0.000,133,2187,3216,0,0,0,0,0,0
$GC,98,-0.50,-117.3,0.0,-0.0,0,113,10.68,2.38,0.00,0.000,4,0.227,0.045,2738,3694,3219,0,0,0,0,0,0
$GC,178,-0.47,-117.3,33.3,-11.8,0,183,0.10,2.38,0.00,0.000,6,0.150,0.043,2764,2167,3222,0,0,0,0,0,0
$GC,372,-0.45,-117.3,51.0,-9.1,3,376,0.00,2.35,0.00,0.000,4,0.000,0.050,2765,661,3224,0,0,0,0,0,0
$GC,399,-0.45,-117.3,53.8,-9.4,3,404,0.00,2.35,0.00,0.000,6,0.000,0.048,2757,2175,3224,0,0,0,0,0,0
$GC,651,-0.44,-117.3,78.4,-10.1,6,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2175,3225,0,0,0,0,0,0
$GC,831,-0.42,-117.3,94.5,-9.5,8,835,0.00,2.35,0.00,0.000,4,0.000,0.050,2757,662,3226,0,0,0,0,0,0
$GC,863,-0.42,-117.3,97.6,-8.7,8,868,0.12,2.30,0.00,0.000,6,0.133,0.047,2788,2161,3226,0,0,0,0,0,0
$GC,1124,-0.42,-117.3,114.0,-6.3,10,1128,0.00,2.45,0.00,0.000,4,0.000,0.059,2780,3694,3226,0,0,0,0,0,0
$GC,1158,-0.44,-117.3,116.5,-7.0,10,1163,0.00,2.40,0.00,0.000,6,0.000,0.043,2779,2146,3226,0,0,0,0,0,0
$GC,1540,-0.44,-117.3,141.6,-6.2,12,1544,0.00,2.30,0.00,0.000,4,0.000,0.050,2779,667,3226,0,0,0,0,0,0
$GC,1580,-0.46,-117.3,143.8,-5.3,12,1584,0.00,2.33,0.00,0.000,6,0.000,0.047,2779,2162,3227,0,0,0,0,0,0
$GC,1956,-0.47,-117.3,166.6,-6.5,14,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2162,3225,0,0,0,0,0,0
$GC,2158,-0.48,-117.3,180.1,-6.6,15,2162,0.00,2.33,0.00,0.000,4,0.000,0.050,2778,667,3225,0,0,0,0,0,0
$GC,2179,-0.50,-117.3,181.9,-7.0,15,2184,0.00,2.33,0.00,0.000,6,0.000,0.047,2778,2159,3225,0,0,0,0,0,0
$GC,2581,-0.51,-117.3,206.7,-6.0,17,2585,0.00,2.35,0.00,0.000,4,0.000,0.050,2778,668,3224,0,0,0,0,0,0
$GC,2603,-0.52,-117.3,208.3,-6.1,17,2607,0.00,2.33,0.00,0.000,6,0.000,0.048,2778,2158,3224,0,0,0,0,0,0
$GC,2998,-0.54,-117.3,228.6,-5.0,19,2999,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2158,3224,0,0,0,0,0,0
$GC,3196,-0.55,-117.3,238.8,-5.0,20,3198,0.10,0.00,0.00,0.000,6,0.100,0.000,2717,2158,3224,0,0,0,0,0,0
$GC,3397,-0.55,-117.3,255.5,-5.9,21,3401,0.00,2.35,0.00,0.000,4,0.000,0.052,2717,665,3223,0,0,0,0,0,0
$GC,3425,-0.54,-117.3,258.2,-9.0,21,3430,0.12,2.30,0.00,0.000,6,0.135,0.049,2746,2147,3223,0,0,0,0,0,0
$GC,3819,-0.54,-117.3,283.8,-6.3,23,3823,0.00,2.35,0.00,0.000,4,0.000,0.053,2746,666,3222,0,0,0,0,0,0
$GC,3835,-0.54,-117.3,285.0,-6.3,23,3838,0.00,2.30,0.00,0.000,6,0.000,0.050,2741,2139,3222,0,0,0,0,0,0
$GC,4239,-0.54,-117.3,310.2,-6.2,25,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2139,3221,0,0,0,0,0,0
$GC,4439,-0.54,-117.3,323.8,-6.5,26,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2139,3220,0,0,0,0,0,0
$GC,4640,-0.54,-117.3,338.6,-6.7,27,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2139,3220,0,0,0,0,0,0
$GC,4840,-0.54,-117.3,353.1,-6.9,28,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2139,3219,0,0,0,0,0,0
$GC,5043,-0.54,-117.3,367.8,-7.2,29,5047,0.00,2.53,0.00,0.000,4,0.000,0.063,2729,3686,3219,0,0,0,0,0,0
$GC,5064,-0.54,-117.3,369.7,-7.6,29,5068,0.00,2.42,0.00,0.000,6,0.000,0.047,2729,2140,3219,0,0,0,0,0,0
$GC,5463,-0.54,-117.3,399.5,-7.4,31,5467,0.00,2.35,0.00,0.000,4,0.000,0.054,2728,663,3218,0,0,0,0,0,0
$GC,5485,-0.54,-117.3,401.4,-7.9,31,5490,0.00,2.33,0.00,0.000,6,0.000,0.051,2721,2142,3218,0,0,0,0,0,0
$GC,5879,-0.54,-117.3,430.4,-7.3,33,5883,0.00,2.53,0.00,0.000,4,0.000,0.063,2709,3698,3218,0,0,0,0,0,0
$GC,5907,-0.54,-117.3,432.7,-7.6,33,5912,0.12,2.45,0.00,0.000,6,0.125,0.047,2747,2130,3218,0,0,0,0,0,0
$GC,6294,-0.54,-117.3,455.2,-5.7,35,6298,0.00,2.30,0.00,0.000,4,0.000,0.054,2747,659,3217,0,0,0,0,0,0
$GC,6316,-0.54,-117.3,456.6,-6.2,35,6320,0.00,2.33,0.00,0.000,6,0.000,0.052,2743,2139,3217,0,0,0,0,0,0
$GC,6721,-0.54,-117.3,480.0,-5.8,37,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2139,3216,0,0,0,0,0,0
$GC,6921,-0.54,-117.3,492.2,-5.9,38,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2139,3216,0,0,0,0,0,0
$GC,7123,-0.54,-117.3,505.2,-6.1,39,7127,0.00,2.33,0.00,0.000,4,0.000,0.055,2741,665,3216,0,0,0,0,0,0
$GC,7150,-0.54,-117.3,507.5,-7.7,39,7154,0.00,2.33,0.00,0.000,6,0.000,0.052,2735,2141,3216,0,0,0,0,0,0
$GC,7544,-0.54,-117.3,535.4,-7.0,41,7548,0.00,2.35,0.00,0.000,4,0.000,0.054,2734,661,3215,0,0,0,0,0,0
$GC,7566,-0.54,-117.3,537.2,-7.4,41,7570,0.00,2.33,0.00,0.000,6,0.000,0.052,2729,2134,3214,0,0,0,0,0,0
$GC,7959,-0.54,-117.3,563.7,-6.7,43,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2133,3214,0,0,0,0,0,0
$GC,8160,-0.54,-117.3,577.2,-6.7,44,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2134,3214,0,0,0,0,0,0
$GC,8362,-0.54,-117.3,589.8,-6.6,45,8366,0.00,2.33,0.00,0.000,4,0.000,0.056,2729,662,3214,0,0,0,0,0,0
$GC,8384,-0.54,-117.3,591.5,-6.7,45,8389,0.00,2.30,0.00,0.000,6,0.000,0.053,2725,2129,3213,0,0,0,0,0,0
$GC,8883,-0.54,-117.3,622.3,-6.3,47,8887,0.00,2.33,0.00,0.000,4,0.000,0.056,2725,667,3213,0,0,0,0,0,0
$GC,8906,-0.54,-117.3,623.9,-6.4,47,8911,0.00,2.30,0.00,0.000,6,0.000,0.054,2723,2127,3213,0,0,0,0,0,0
$GC,9521,-0.54,-117.3,666.2,-6.9,49,9522,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2127,3212,0,0,0,0,0,0
$GC,9818,-0.54,-117.3,686.5,-6.8,50,9819,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2127,3212,0,0,0,0,0,0
$GC,10118,-0.54,-117.3,703.4,-6.5,51,10119,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2127,3211,0,0,0,0,0,0
$GC,10419,-0.54,-117.3,719.7,-6.2,52,10423,0.00,2.60,0.00,0.000,4,0.000,0.067,2714,3697,3211,0,0,0,0,0,0
$GC,10445,-0.54,-117.3,721.4,-6.4,52,10451,0.12,2.47,0.00,0.000,6,0.123,0.050,2751,2125,3211,0,0,0,0,0,0
$GC,11046,-0.55,-117.3,751.9,-5.5,54,11050,0.00,2.30,0.00,0.000,4,0.000,0.057,2751,661,3210,0,0,0,0,0,0
$GC,11097,-0.56,-117.3,755.3,-7.3,54,11101,0.00,2.33,0.00,0.000,6,0.000,0.054,2749,2125,3210,0,0,0,0,0,0
$GC,11677,-0.58,-117.3,787.5,-5.4,56,11678,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2125,3210,0,0,0,0,0,0
$GC,11976,-0.59,-117.3,803.6,-5.4,57,11977,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2125,3209,0,0,0,0,0,0
$GC,12278,-0.60,-117.3,819.5,-5.4,58,12279,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2125,3209,0,0,0,0,0,0
$GC,12577,-0.61,-117.3,834.9,-5.3,59,12581,0.00,2.35,0.00,0.000,4,0.000,0.058,2749,659,3209,0,0,0,0,0,0
$GC,12623,-0.62,-117.3,837.4,-5.2,59,12627,0.00,2.33,0.00,0.000,6,0.000,0.056,2749,2121,3208,0,0,0,0,0,0
$GC,13219,-0.63,-117.3,866.5,-4.8,61,13224,0.00,2.60,0.00,0.000,4,0.000,0.068,2738,3696,3208,0,0,0,0,0,0
$GC,13248,-0.65,-117.3,868.3,-5.4,61,13252,0.00,2.53,0.00,0.000,6,0.000,0.050,2737,2111,3208,0,0,0,0,0,0
$GC,13851,-0.65,-117.3,900.1,-5.5,63,13855,0.00,2.33,0.00,0.000,4,0.000,0.059,2737,666,3207,0,0,0,0,0,0
$GC,13905,-0.65,-117.3,903.9,-6.2,63,13909,0.00,2.30,0.00,0.000,6,0.000,0.055,2733,2112,3207,0,0,0,0,0,0
$GC,14485,-0.65,-117.3,938.2,-5.9,65,14490,0.00,2.62,0.00,0.000,4,0.000,0.067,2730,3690,3208,0,0,0,0,0,0
$GC,14507,-0.65,-117.3,939.7,-6.0,65,14512,0.00,2.53,0.00,0.000,6,0.000,0.051,2730,2110,3207,0,0,0,0,0,0
$GC,15112,-0.65,-117.3,976.6,-6.2,67,15116,0.00,2.33,0.00,0.000,4,0.000,0.059,2730,666,3207,0,0,0,0,0,0
$GC,15146,-0.65,-117.3,978.8,-7.0,67,15150,0.00,2.30,0.00,0.000,6,0.000,0.055,2722,2118,3207,0,0,0,0,0,0
$STATE,15310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15310,begin apogee
$GC,15317,-0.22,0.0,990.0,6.2,67,15433,0.35,0.00,104.88,1.230,6,0.102,0.000,2845,2048,2735,0,0,0,0,0,0
$STATE,15433,end apogee,CONTROL_FINISHED_OK
$STATE,15433,begin climb
$GC,15436,0.50,117.3,993.5,0.0,68,15559,0.65,2.65,113.95,1.199,4,0.064,0.057,3090,546,2255,0,0,0,0,0,0
$GC,15600,0.47,117.3,986.4,8.1,68,15605,0.00,2.58,0.00,0.000,6,0.000,0.051,3090,2056,2250,0,0,0,0,0,0
$GC,16054,0.44,117.3,945.5,9.2,70,16058,0.00,2.47,0.00,0.000,4,0.000,0.065,3090,3580,2243,0,0,0,0,0,0
$GC,16152,0.40,117.3,934.7,11.6,70,16157,0.17,2.42,0.00,0.000,6,0.158,0.049,3053,2064,2242,0,0,0,0,0,0
$GC,16686,0.38,117.3,891.0,8.2,72,16690,0.00,2.50,0.00,0.000,4,0.000,0.064,3052,3584,2241,0,0,0,0,0,0
$GC,16724,0.36,117.3,887.0,9.6,72,16728,0.00,2.40,0.00,0.000,6,0.000,0.050,3061,2073,2240,0,0,0,0,0,0
$GC,17315,0.34,117.3,835.0,8.7,74,17316,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2073,2239,0,0,0,0,0,0
$GC,17613,0.32,117.3,809.9,8.6,75,17618,0.12,2.47,0.00,0.000,4,0.157,0.063,3026,3582,2239,0,0,0,0,0,0
$GC,17640,0.32,117.3,807.7,7.5,75,17645,0.00,2.40,0.00,0.000,6,0.000,0.050,3034,2071,2238,0,0,0,0,0,0
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$STATE,28797,end climb,SURFACE_DEPTH_REACHED
$STATE,28797,begin surface coast
$FINISH,0.9,1.010289
$STATE,28888,end surface coast,CONTROL_FINISHED_OK
$STATE,28888,begin surface
$SM_CCo,28967,0.00,0.000,0,0,1046,414.31
$SM_GC,1.99,8.05,0.00,0.00,0.036,0.000,0.000,121,2186,1046,-8.59,0.31,414.31
$IRIDIUM_FIX,4654.38,-12627.49,130811,191937
$TT8_MAMPS,0.026964
$HUMID,41.69
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,20.20
$XPDR_PINGS,0
$24V_AH,22.0,72.677
$10V_AH,9.9,78.001
$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,21.700,240.350,476.000,0.000,0.000,26.989,31.989,117.444,0.000,0.000,16.838,1442.715,23309.688,602.593,3372.628,538.918,33.382,2285.370,0.000,3111.617,0.000,0.535,0.000
$DEVICE_MAMPS,227.205,107.100,1230.120,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,91.102,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297712
$DATA_FILE_SIZE,7032,132
$CAP_FILE_SIZE,237322,0
$CFSIZE,260165632,161886208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,147.3,1
$GPS,140811,114754,4710.448,-12638.050,28,1.3,45,18.6