version: 66.07
glider: 187
mission: 4
dive: 646
start: 8 14 111 20 26 16
data:
$ID,187
$MISSION,4
$DIVE,646
$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,-1585558.5
$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,34
$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
$GPS1,140811,202000,4708.859,-12641.378,42,1.2,42,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-76.9
$GPS2,140811,202520,4708.842,-12641.358,16,1.2,16,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.197,-0.032
$KALMAN_X,349878.1,41.4,-193.7,-466963.5,2459.4
$KALMAN_Y,-627601.3,-959.4,1370.9,557380.1,-1721.0
$MHEAD_RNG_PITCHd_Wd,222.7,28680,-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,-117.3,0.0,0.0,0,94,0.00,0.00,-76.78,0.000,6,0.000,0.000,119,2192,3216,0,0,0,0,0,0
$GC,97,-0.50,-117.3,0.0,-0.0,0,113,10.68,2.38,0.00,0.000,4,0.225,0.047,2742,3692,3219,0,0,0,0,0,0
$GC,195,-0.48,-117.3,34.8,-9.9,1,199,0.00,2.40,0.00,0.000,6,0.000,0.042,2741,2166,3222,0,0,0,0,0,0
$GC,473,-0.45,-117.3,66.4,-11.4,4,477,0.10,2.35,0.00,0.000,4,0.164,0.050,2770,664,3225,0,0,0,0,0,0
$GC,501,-0.44,-117.3,69.7,-10.0,4,505,0.00,2.33,0.00,0.000,6,0.000,0.047,2763,2157,3225,0,0,0,0,0,0
$GC,752,-0.43,-117.3,90.7,-8.4,7,757,0.00,2.35,0.00,0.000,4,0.000,0.050,2762,664,3226,0,0,0,0,0,0
$GC,774,-0.43,-117.3,93.1,-9.2,7,778,0.00,2.33,0.00,0.000,6,0.000,0.047,2754,2160,3226,0,0,0,0,0,0
$GC,1050,-0.43,-117.3,118.5,-9.2,9,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2160,3226,0,0,0,0,0,0
$GC,1251,-0.43,-117.3,134.2,-8.6,10,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2160,3226,0,0,0,0,0,0
$GC,1450,-0.43,-117.3,148.2,-8.1,11,1454,0.00,2.35,0.00,0.000,4,0.000,0.050,2754,664,3225,0,0,0,0,0,0
$GC,1471,-0.43,-117.3,149.9,-7.6,11,1476,0.12,2.33,0.00,0.000,6,0.132,0.048,2786,2160,3226,0,0,0,0,0,0
$GC,1865,-0.45,-117.3,170.9,-5.2,13,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2160,3225,0,0,0,0,0,0
$GC,2064,-0.46,-117.3,181.0,-5.1,14,2069,0.00,2.35,0.00,0.000,4,0.000,0.051,2786,660,3224,0,0,0,0,0,0
$GC,2092,-0.48,-117.3,182.7,-6.2,14,2096,0.00,2.33,0.00,0.000,6,0.000,0.049,2786,2160,3225,0,0,0,0,0,0
$GC,2485,-0.50,-117.3,203.7,-5.6,16,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2160,3224,0,0,0,0,0,0
$GC,2686,-0.52,-117.3,215.3,-5.7,17,2690,0.10,2.38,0.00,0.000,4,0.099,0.051,2724,667,3223,0,0,0,0,0,0
$GC,2709,-0.52,-117.3,217.0,-7.0,17,2713,0.12,2.30,0.00,0.000,6,0.134,0.049,2754,2152,3223,0,0,0,0,0,0
$GC,3108,-0.52,-117.3,244.9,-7.0,19,3112,0.00,2.50,0.00,0.000,4,0.000,0.063,2745,3696,3223,0,0,0,0,0,0
$GC,3135,-0.52,-117.3,247.1,-7.4,19,3139,0.00,2.42,0.00,0.000,6,0.000,0.046,2744,2142,3223,0,0,0,0,0,0
$GC,3527,-0.52,-117.3,276.6,-7.5,21,3531,0.00,2.30,0.00,0.000,4,0.000,0.053,2744,667,3221,0,0,0,0,0,0
$GC,3560,-0.52,-117.3,279.5,-8.3,21,3564,0.00,2.33,0.00,0.000,6,0.000,0.050,2737,2155,3222,0,0,0,0,0,0
$GC,3947,-0.52,-117.3,309.7,-7.9,23,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2155,3220,0,0,0,0,0,0
$GC,4148,-0.52,-117.3,325.1,-7.8,24,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2154,3220,0,0,0,0,0,0
$GC,4349,-0.52,-117.3,340.0,-7.7,25,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2155,3219,0,0,0,0,0,0
$GC,4549,-0.52,-117.3,354.2,-7.5,26,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2155,3219,0,0,0,0,0,0
$GC,4751,-0.52,-117.3,368.3,-7.3,27,4755,0.00,2.35,0.00,0.000,4,0.000,0.053,2736,657,3218,0,0,0,0,0,0
$GC,4778,-0.52,-117.3,370.5,-7.4,27,4783,0.00,2.35,0.00,0.000,6,0.000,0.051,2732,2150,3218,0,0,0,0,0,0
$GC,5172,-0.52,-117.3,398.4,-7.0,29,5173,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2150,3217,0,0,0,0,0,0
$GC,5374,-0.52,-117.3,411.9,-6.9,30,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2150,3217,0,0,0,0,0,0
$GC,5573,-0.52,-117.3,425.2,-6.8,31,5577,0.00,2.35,0.00,0.000,4,0.000,0.054,2732,662,3217,0,0,0,0,0,0
$GC,5594,-0.52,-117.3,427.0,-7.7,31,5598,0.00,2.33,0.00,0.000,6,0.000,0.052,2724,2144,3217,0,0,0,0,0,0
$GC,5999,-0.52,-117.3,455.7,-7.2,33,6003,0.00,2.35,0.00,0.000,4,0.000,0.055,2723,667,3216,0,0,0,0,0,0
$GC,6025,-0.52,-117.3,458.1,-8.0,33,6030,0.12,2.33,0.00,0.000,6,0.135,0.052,2752,2142,3216,0,0,0,0,0,0
$GC,6420,-0.52,-117.3,481.5,-5.9,35,6424,0.00,2.35,0.00,0.000,4,0.000,0.055,2752,663,3215,0,0,0,0,0,0
$GC,6441,-0.52,-117.3,483.2,-6.7,35,6445,0.00,2.33,0.00,0.000,6,0.000,0.052,2749,2142,3215,0,0,0,0,0,0
$GC,6835,-0.52,-117.3,507.8,-6.5,37,6836,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2143,3214,0,0,0,0,0,0
$GC,7036,-0.52,-117.3,520.4,-6.4,38,7040,0.00,2.35,0.00,0.000,4,0.000,0.055,2749,663,3214,0,0,0,0,0,0
$GC,7058,-0.52,-117.3,522.2,-7.3,38,7062,0.00,2.33,0.00,0.000,6,0.000,0.053,2743,2136,3214,0,0,0,0,0,0
$GC,7464,-0.52,-117.3,547.1,-6.2,40,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2137,3214,0,0,0,0,0,0
$GC,7663,-0.52,-117.3,559.7,-6.2,41,7664,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2137,3213,0,0,0,0,0,0
$GC,7863,-0.52,-117.3,572.7,-6.3,42,7864,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2137,3213,0,0,0,0,0,0
$GC,8064,-0.52,-117.3,586.1,-6.4,43,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2137,3213,0,0,0,0,0,0
$GC,8264,-0.52,-117.3,599.6,-6.5,44,8266,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2137,3212,0,0,0,0,0,0
$GC,8466,-0.52,-117.3,612.3,-6.6,45,8470,0.00,2.35,0.00,0.000,4,0.000,0.056,2743,664,3212,0,0,0,0,0,0
$GC,8488,-0.52,-117.3,613.9,-6.5,45,8492,0.00,2.30,0.00,0.000,6,0.000,0.054,2738,2129,3212,0,0,0,0,0,0
$GC,9098,-0.52,-117.3,652.4,-6.5,47,9099,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2129,3211,0,0,0,0,0,0
$GC,9400,-0.52,-117.3,672.0,-6.5,48,9401,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2129,3211,0,0,0,0,0,0
$GC,9700,-0.52,-117.3,690.5,-6.4,49,9701,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2129,3210,0,0,0,0,0,0
$GC,10000,-0.52,-117.3,709.1,-6.3,50,10001,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2129,3210,0,0,0,0,0,0
$GC,10301,-0.52,-117.3,727.7,-6.2,51,10302,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2129,3209,0,0,0,0,0,0
$GC,10601,-0.52,-117.3,746.7,-6.2,52,10602,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2129,3209,0,0,0,0,0,0
$GC,10902,-0.52,-117.3,765.7,-6.3,53,10903,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2129,3209,0,0,0,0,0,0
$GC,11202,-0.52,-117.3,783.5,-6.2,54,11206,0.00,2.38,0.00,0.000,4,0.000,0.057,2738,670,3208,0,0,0,0,0,0
$GC,11232,-0.52,-117.3,785.3,-6.0,54,11236,0.00,2.33,0.00,0.000,6,0.000,0.054,2733,2131,3208,0,0,0,0,0,0
$GC,11839,-0.52,-117.3,819.2,-5.4,56,11843,0.00,2.58,0.00,0.000,4,0.000,0.066,2721,3689,3208,0,0,0,0,0,0
$GC,11860,-0.52,-117.3,820.5,-5.3,56,11865,0.10,2.50,0.00,0.000,6,0.133,0.050,2750,2124,3208,0,0,0,0,0,0
$GC,12468,-0.53,-117.3,846.3,-4.3,58,12472,0.00,2.33,0.00,0.000,4,0.000,0.058,2750,665,3207,0,0,0,0,0,0
$GC,12501,-0.55,-117.3,848.1,-5.4,58,12505,0.00,2.33,0.00,0.000,6,0.000,0.055,2749,2126,3207,0,0,0,0,0,0
$GC,13100,-0.56,-117.3,874.4,-4.5,60,13102,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2126,3207,0,0,0,0,0,0
$GC,13403,-0.57,-117.3,888.0,-4.5,61,13407,0.00,2.60,0.00,0.000,4,0.000,0.069,2743,3687,3207,0,0,0,0,0,0
$GC,13420,-0.58,-117.3,888.9,-4.5,61,13425,0.00,2.50,0.00,0.000,6,0.000,0.050,2742,2128,3207,0,0,0,0,0,0
$GC,14033,-0.59,-117.3,917.6,-4.8,63,14037,0.00,2.33,0.00,0.000,4,0.000,0.057,2741,659,3207,0,0,0,0,0,0
$GC,14060,-0.59,-117.3,919.3,-5.8,63,14064,0.00,2.33,0.00,0.000,6,0.000,0.056,2742,2128,3206,0,0,0,0,0,0
$GC,14666,-0.60,-117.3,949.7,-5.1,65,14670,0.00,2.58,0.00,0.000,4,0.000,0.070,2741,3686,3206,0,0,0,0,0,0
$GC,14704,-0.62,-117.3,951.8,-4.7,65,14709,0.00,2.47,0.00,0.000,6,0.000,0.050,2742,2122,3206,0,0,0,0,0,0
$GC,15293,-0.64,-117.3,980.4,-4.8,67,15297,0.00,2.30,0.00,0.000,4,0.000,0.058,2741,667,3205,0,0,0,0,0,0
$GC,15339,-0.65,-117.3,982.9,-5.5,67,15343,0.00,2.33,0.00,0.000,6,0.000,0.056,2742,2124,3205,0,0,0,0,0,0
$STATE,15495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15495,begin apogee
$GC,15501,-0.22,0.0,990.1,3.9,67,15617,0.30,0.00,104.45,1.233,6,0.103,0.000,2847,2054,2734,0,0,0,0,0,0
$STATE,15618,end apogee,CONTROL_FINISHED_OK
$STATE,15618,begin climb
$GC,15621,0.50,117.3,992.3,0.0,68,15744,0.65,2.62,113.93,1.199,4,0.063,0.056,3091,556,2256,0,0,0,0,0,0
$GC,15813,0.47,117.3,979.1,9.5,68,15818,0.00,2.53,0.00,0.000,6,0.000,0.050,3091,2056,2250,0,0,0,0,0,0
$GC,16241,0.44,117.3,933.8,10.7,70,16245,0.00,2.50,0.00,0.000,4,0.000,0.064,3091,3580,2244,0,0,0,0,0,0
$GC,16325,0.40,117.3,923.3,13.3,70,16331,0.20,2.40,0.00,0.000,6,0.153,0.049,3047,2074,2243,0,0,0,0,0,0
$GC,16871,0.39,117.3,881.2,7.6,72,16875,0.00,2.42,0.00,0.000,4,0.000,0.063,3047,3578,2241,0,0,0,0,0,0
$GC,16904,0.37,117.3,878.1,9.9,72,16908,0.00,2.42,0.00,0.000,6,0.000,0.050,3055,2058,2241,0,0,0,0,0,0
$GC,17497,0.35,117.3,830.1,8.2,74,17501,0.00,2.42,0.00,0.000,4,0.000,0.060,3067,538,2240,0,0,0,0,0,0
$GC,17524,0.34,117.3,827.8,8.4,74,17529,0.12,2.42,0.00,0.000,6,0.146,0.054,3032,2078,2240,0,0,0,0,0,0
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$STATE,30017,end climb,SURFACE_DEPTH_REACHED
$STATE,30020,begin surface coast
$FINISH,1.0,1.011092
$STATE,30108,end surface coast,CONTROL_FINISHED_OK
$STATE,30108,begin surface
$SM_CCo,30186,0.00,0.000,0,0,1301,351.76
$SM_GC,2.26,7.88,0.00,0.00,0.034,0.000,0.000,114,2197,1301,-8.61,0.62,351.76
$IRIDIUM_FIX,4651.23,-12639.54,140811,111154
$TT8_MAMPS,0.026964
$HUMID,41.69
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,20.60
$XPDR_PINGS,2
$24V_AH,22.0,72.937
$10V_AH,9.9,78.193
$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,21.375,235.650,432.175,0.000,0.000,26.534,32.542,122.372,0.500,0.000,17.540,1464.636,24503.285,558.228,3416.899,545.377,33.374,2262.806,0.000,3151.073,0.000,0.536,0.000
$DEVICE_MAMPS,224.910,106.335,1233.180,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,95.955,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297632
$DATA_FILE_SIZE,7036,139
$CAP_FILE_SIZE,240813,0
$CFSIZE,260165632,161718272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,142.5,1
$GPS,150811,045037,4706.661,-12644.300,39,0.8,39,18.6