version: 66.07
glider: 187
mission: 4
dive: 648
start: 8 15 111 13 18 27
data:
$ID,187
$MISSION,4
$DIVE,648
$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,-1585561
$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,36
$R_STBD_OVSHOOT,36
$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
$GPS1,150811,131207,4705.686,-12647.921,35,1.0,35,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-77.4
$GPS2,150811,131732,4705.693,-12647.918,12,1.4,12,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.180,-0.086
$KALMAN_X,353193.9,-448.6,-350.8,-477797.1,2610.9
$KALMAN_Y,-634279.9,-1429.0,-943.7,561062.9,533.1
$MHEAD_RNG_PITCHd_Wd,244.9,18549,-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,-117.3,0.0,0.0,0,91,0.00,0.00,-73.43,0.000,6,0.000,0.000,122,2181,3216,0,0,0,0,0,0
$GC,94,-0.50,-117.3,0.0,-0.0,0,109,10.73,2.38,0.00,0.000,4,0.227,0.045,2741,3691,3219,0,0,0,0,0,0
$GC,254,-0.50,-117.3,44.6,-9.2,1,258,0.00,2.38,0.00,0.000,6,0.000,0.043,2740,2172,3222,0,0,0,0,0,0
$GC,472,-0.47,-117.3,68.9,-11.5,4,476,0.00,2.35,0.00,0.000,4,0.000,0.049,2739,667,3225,0,0,0,0,0,0
$GC,495,-0.44,-117.3,72.1,-12.3,4,500,0.15,2.35,0.00,0.000,6,0.130,0.047,2774,2175,3225,0,0,0,0,0,0
$GC,746,-0.44,-117.3,91.2,-7.5,7,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2175,3226,0,0,0,0,0,0
$GC,926,-0.44,-117.3,107.4,-8.3,9,930,0.00,2.42,0.00,0.000,4,0.000,0.060,2766,3691,3226,0,0,0,0,0,0
$GC,948,-0.44,-117.3,109.5,-8.2,9,952,0.00,2.38,0.00,0.000,6,0.000,0.043,2765,2155,3226,0,0,0,0,0,0
$GC,1341,-0.44,-117.3,132.8,-5.5,11,1345,0.00,2.30,0.00,0.000,4,0.000,0.050,2765,670,3227,0,0,0,0,0,0
$GC,1396,-0.44,-117.3,136.5,-6.4,11,1400,0.00,2.33,0.00,0.000,6,0.000,0.047,2757,2166,3226,0,0,0,0,0,0
$GC,1764,-0.44,-117.3,162.2,-7.4,13,1769,0.00,2.45,0.00,0.000,4,0.000,0.060,2746,3693,3226,0,0,0,0,0,0
$GC,1792,-0.44,-117.3,165.0,-8.0,13,1797,0.10,2.40,0.00,0.000,6,0.132,0.044,2777,2159,3226,0,0,0,0,0,0
$GC,2179,-0.46,-117.3,189.2,-5.8,15,2184,0.00,2.50,0.00,0.000,4,0.000,0.061,2777,3694,3225,0,0,0,0,0,0
$GC,2305,-0.48,-117.3,196.0,-5.8,15,2309,0.00,2.47,0.00,0.000,6,0.000,0.043,2777,2099,3224,0,0,0,0,0,0
$GC,2599,-0.52,-117.3,212.2,-5.7,17,2603,0.00,2.25,0.00,0.000,4,0.000,0.051,2777,659,3224,0,0,0,0,0,0
$GC,2632,-0.54,-117.3,214.7,-6.7,17,2636,0.00,2.35,0.00,0.000,6,0.000,0.049,2776,2171,3224,0,0,0,0,0,0
$GC,3018,-0.57,-117.3,239.8,-6.6,19,3023,0.12,2.45,0.00,0.000,4,0.083,0.060,2702,3697,3223,0,0,0,0,0,0
$GC,3045,-0.57,-117.3,242.0,-8.0,19,3051,0.12,2.35,0.00,0.000,6,0.133,0.044,2739,2167,3223,0,0,0,0,0,0
$GC,3433,-0.57,-117.3,270.7,-7.4,21,3437,0.00,2.45,0.00,0.000,4,0.000,0.060,2730,3695,3222,0,0,0,0,0,0
$GC,3566,-0.57,-117.3,281.3,-8.1,21,3571,0.00,2.38,0.00,0.000,6,0.000,0.044,2730,2173,3222,0,0,0,0,0,0
$GC,3849,-0.57,-117.3,302.7,-7.7,23,3853,0.00,2.38,0.00,0.000,4,0.000,0.052,2730,663,3221,0,0,0,0,0,0
$GC,3893,-0.57,-117.3,306.4,-8.4,23,3897,0.00,2.35,0.00,0.000,6,0.000,0.048,2721,2174,3221,0,0,0,0,0,0
$GC,4266,-0.56,-117.3,335.8,-8.3,25,4270,0.00,2.47,0.00,0.000,4,0.000,0.062,2710,3690,3220,0,0,0,0,0,0
$GC,4309,-0.56,-117.3,340.0,-8.4,25,4314,0.10,2.38,0.00,0.000,6,0.135,0.045,2740,2173,3220,0,0,0,0,0,0
$GC,4680,-0.56,-117.3,365.9,-7.0,27,4684,0.00,2.40,0.00,0.000,4,0.000,0.054,2740,663,3220,0,0,0,0,0,0
$GC,4725,-0.56,-117.3,369.4,-7.3,27,4729,0.00,2.35,0.00,0.000,6,0.000,0.050,2734,2174,3220,0,0,0,0,0,0
$GC,5107,-0.56,-117.3,396.9,-7.1,29,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2174,3219,0,0,0,0,0,0
$GC,5307,-0.56,-117.3,410.4,-7.0,30,5311,0.00,2.40,0.00,0.000,4,0.000,0.054,2734,668,3218,0,0,0,0,0,0
$GC,5336,-0.56,-117.3,412.4,-7.0,30,5340,0.00,2.35,0.00,0.000,6,0.000,0.051,2729,2177,3218,0,0,0,0,0,0
$GC,5728,-0.56,-117.3,439.4,-7.0,32,5732,0.00,2.47,0.00,0.000,4,0.000,0.063,2719,3695,3218,0,0,0,0,0,0
$GC,5751,-0.56,-117.3,441.1,-7.3,32,5755,0.00,2.42,0.00,0.000,6,0.000,0.047,2718,2158,3218,0,0,0,0,0,0
$GC,6143,-0.56,-117.3,472.8,-8.3,34,6147,0.00,2.38,0.00,0.000,4,0.000,0.054,2718,663,3217,0,0,0,0,0,0
$GC,6199,-0.56,-117.3,477.8,-8.7,34,6203,0.00,2.35,0.00,0.000,6,0.000,0.051,2710,2167,3217,0,0,0,0,0,0
$GC,6566,-0.54,-117.3,511.8,-9.5,36,6571,0.12,2.47,0.00,0.000,4,0.143,0.064,2738,3691,3216,0,0,0,0,0,0
$GC,6588,-0.54,-117.3,514.0,-8.7,36,6592,0.00,2.42,0.00,0.000,6,0.000,0.048,2738,2156,3216,0,0,0,0,0,0
$GC,6986,-0.54,-117.3,544.5,-7.4,38,6990,0.00,2.35,0.00,0.000,4,0.000,0.055,2737,668,3215,0,0,0,0,0,0
$GC,7037,-0.54,-117.3,548.4,-8.0,38,7041,0.00,2.35,0.00,0.000,6,0.000,0.052,2730,2157,3215,0,0,0,0,0,0
$GC,7407,-0.54,-117.3,572.8,-6.3,40,7411,0.00,2.50,0.00,0.000,4,0.000,0.063,2720,3694,3214,0,0,0,0,0,0
$GC,7428,-0.54,-117.3,574.3,-6.6,40,7432,0.00,2.45,0.00,0.000,6,0.000,0.047,2719,2143,3214,0,0,0,0,0,0
$GC,7821,-0.54,-117.3,597.6,-5.8,42,7825,0.00,2.35,0.00,0.000,4,0.000,0.056,2719,666,3214,0,0,0,0,0,0
$GC,7877,-0.54,-117.3,601.2,-6.2,42,7882,0.12,2.33,0.00,0.000,6,0.137,0.053,2749,2154,3214,0,0,0,0,0,0
$GC,8337,-0.54,-117.3,623.2,-4.9,44,8338,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2154,3213,0,0,0,0,0,0
$GC,8636,-0.54,-117.3,639.9,-5.2,45,8638,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2154,3213,0,0,0,0,0,0
$GC,8936,-0.54,-117.3,656.0,-5.3,46,8937,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2154,3212,0,0,0,0,0,0
$GC,9237,-0.54,-117.3,671.3,-5.3,47,9238,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2154,3212,0,0,0,0,0,0
$GC,9540,-0.55,-117.3,688.0,-5.4,48,9543,0.00,2.35,0.00,0.000,4,0.000,0.055,2749,668,3211,0,0,0,0,0,0
$GC,9567,-0.56,-117.3,689.9,-6.7,48,9571,0.00,2.35,0.00,0.000,6,0.000,0.053,2747,2153,3211,0,0,0,0,0,0
$GC,10173,-0.56,-117.3,730.5,-7.0,50,10178,0.00,2.50,0.00,0.000,4,0.000,0.067,2736,3694,3211,0,0,0,0,0,0
$GC,10195,-0.57,-117.3,732.2,-7.2,50,10200,0.00,2.45,0.00,0.000,6,0.000,0.048,2735,2140,3211,0,0,0,0,0,0
$GC,10802,-0.57,-117.3,768.2,-5.5,52,10806,0.00,2.33,0.00,0.000,4,0.000,0.057,2736,666,3210,0,0,0,0,0,0
$GC,10847,-0.57,-117.3,770.8,-5.5,52,10851,0.00,2.35,0.00,0.000,6,0.000,0.054,2732,2145,3210,0,0,0,0,0,0
$GC,11429,-0.57,-117.3,800.6,-5.1,54,11433,0.00,2.55,0.00,0.000,4,0.000,0.067,2720,3690,3209,0,0,0,0,0,0
$GC,11461,-0.57,-117.3,802.8,-6.5,54,11466,0.00,2.47,0.00,0.000,6,0.000,0.050,2720,2141,3209,0,0,0,0,0,0
$GC,12055,-0.57,-117.3,840.2,-6.5,56,12059,0.00,2.38,0.00,0.000,4,0.000,0.057,2720,660,3208,0,0,0,0,0,0
$GC,12084,-0.57,-117.3,842.1,-7.3,56,12088,0.00,2.35,0.00,0.000,6,0.000,0.054,2718,2149,3208,0,0,0,0,0,0
$GC,12691,-0.57,-117.3,880.0,-6.1,58,12692,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2149,3208,0,0,0,0,0,0
$GC,12990,-0.57,-117.3,897.6,-6.0,59,12994,0.00,2.55,0.00,0.000,4,0.000,0.067,2707,3696,3208,0,0,0,0,0,0
$GC,13017,-0.57,-117.3,899.1,-5.8,59,13021,0.00,2.50,0.00,0.000,6,0.000,0.050,2707,2132,3208,0,0,0,0,0,0
$GC,13618,-0.57,-117.3,935.3,-6.2,61,13622,0.00,2.35,0.00,0.000,4,0.000,0.058,2707,667,3207,0,0,0,0,0,0
$GC,13650,-0.57,-117.3,937.9,-7.3,61,13655,0.12,2.35,0.00,0.000,6,0.141,0.054,2736,2149,3207,0,0,0,0,0,0
$GC,14249,-0.57,-117.3,967.4,-4.7,63,14251,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2149,3207,0,0,0,0,0,0
$GC,14550,-0.57,-117.3,980.2,-4.5,64,14551,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2149,3207,0,0,0,0,0,0
$STATE,14849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14849,begin apogee
$GC,14857,-0.22,0.0,993.3,4.4,65,14965,0.32,0.00,105.75,1.233,6,0.099,0.000,2847,2056,2735,0,0,0,0,0,0
$STATE,14966,end apogee,CONTROL_FINISHED_OK
$STATE,14966,begin climb
$GC,14968,0.50,117.3,993.3,0.0,65,15087,0.68,0.00,115.22,1.198,6,0.063,0.000,3082,2056,2256,0,0,0,0,0,0
$GC,15151,0.53,226.8,982.9,2.3,66,15264,0.00,2.67,103.38,1.174,4,0.000,0.058,3094,556,1809,0,0,0,0,0,0
$GC,15287,0.52,226.8,967.3,12.0,66,15291,0.00,2.60,0.00,0.000,6,0.000,0.050,3094,2067,1805,0,0,0,0,0,0
$GC,15776,0.50,226.8,902.5,13.4,68,15780,0.00,2.47,0.00,0.000,4,0.000,0.062,3094,3581,1797,0,0,0,0,0,0
$GC,15797,0.48,226.8,899.0,13.9,68,15801,0.00,2.42,0.00,0.000,6,0.000,0.050,3104,2064,1796,0,0,0,0,0,0
$GC,16404,0.45,226.8,817.9,13.2,70,16409,0.15,2.42,0.00,0.000,4,0.153,0.059,3070,539,1795,0,0,0,0,0,0
$GC,16465,0.45,226.8,811.3,8.8,70,16469,0.00,2.40,0.00,0.000,6,0.000,0.053,3070,2065,1794,0,0,0,0,0,0
$GC,17030,0.45,226.8,756.3,9.8,72,17034,0.00,2.45,0.00,0.000,4,0.000,0.063,3070,3578,1793,0,0,0,0,0,0
$GC,17056,0.45,226.8,753.3,10.0,72,17061,0.00,2.42,0.00,0.000,6,0.000,0.050,3080,2056,1793,0,0,0,0,0,0
$GC,17662,0.44,226.8,687.1,11.1,74,17666,0.00,2.42,0.00,0.000,4,0.000,0.060,3091,538,1792,0,0,0,0,0,0
$GC,17717,0.44,226.8,681.0,10.2,74,17722,0.00,2.40,0.00,0.000,6,0.000,0.054,3091,2056,1792,0,0,0,0,0,0
$GC,18294,0.43,226.8,614.3,11.6,76,18299,0.12,2.47,0.00,0.000,4,0.152,0.063,3054,3579,1792,0,0,0,0,0,0
$GC,18323,0.43,226.8,611.0,11.8,76,18327,0.00,2.42,0.00,0.000,6,0.000,0.050,3061,2052,1792,0,0,0,0,0,0
$GC,18824,0.43,226.8,566.7,8.5,78,18828,0.00,2.40,0.00,0.000,4,0.000,0.060,3073,536,1792,0,0,0,0,0,0
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$STATE,25826,end climb,SURFACE_DEPTH_REACHED
$STATE,25826,begin surface coast
$FINISH,3.4,1.023156
$STATE,25830,end surface coast,CONTROL_FINISHED_OK
$STATE,25830,begin surface
$SM_CCo,25911,0.00,0.000,0,0,1315,348.33
$SM_GC,2.47,8.02,0.00,0.00,0.041,0.000,0.000,110,2183,1315,-8.60,0.23,348.33
$IRIDIUM_FIX,4648.08,-12650.93,150811,040440
$TT8_MAMPS,0.026964
$HUMID,42.83
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,21.9,73.207
$10V_AH,9.9,78.377
$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,21.725,244.400,428.550,0.000,0.000,27.866,35.567,124.982,0.000,0.000,13.531,1375.274,20463.514,608.228,3277.154,493.849,33.369,2190.534,0.000,3010.872,0.000,0.536,0.000
$DEVICE_MAMPS,227.205,95.625,1233.180,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,83.015,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,6969,120
$CAP_FILE_SIZE,222106,0
$CFSIZE,260165632,161566720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105,161.3,1
$GPS,150811,203137,4704.708,-12651.296,41,1.3,41,18.6