version: 66.07
glider: 187
mission: 4
dive: 649
start: 8 15 111 20 37 51
data:
$ID,187
$MISSION,4
$DIVE,649
$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,-1585562.2
$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,35
$R_STBD_OVSHOOT,31
$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
$GPS1,150811,203137,4704.708,-12651.296,41,1.3,41,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-77.2
$GPS2,150811,203656,4704.702,-12651.308,15,1.2,15,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.168,0.108
$KALMAN_X,354440.4,-112.5,-329.8,-483625.4,3214.3
$KALMAN_Y,-637449.0,220.7,1542.7,558256.9,-5297.4
$MHEAD_RNG_PITCHd_Wd,242.5,14013,-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,14,begin dive
$GC,16,-0.50,-117.3,0.0,0.0,0,71,0.00,0.00,-52.65,0.000,2,0.000,0.000,110,2184,2566,0,0,0,0,0,0
$GC,75,-0.50,-117.3,3.5,-4.9,0,105,10.68,2.42,-14.02,0.000,4,0.223,0.070,2745,3689,3216,0,0,0,0,0,0
$GC,250,-0.50,-117.3,32.6,-11.5,3,254,0.00,2.40,0.00,0.000,6,0.000,0.043,2744,2164,3220,0,0,0,0,0,0
$GC,514,-0.47,-117.3,63.1,-11.4,6,518,0.00,2.35,0.00,0.000,4,0.000,0.050,2744,665,3221,0,0,0,0,0,0
$GC,543,-0.45,-117.3,66.3,-10.9,6,548,0.15,2.38,0.00,0.000,6,0.133,0.047,2780,2187,3221,0,0,0,0,0,0
$GC,818,-0.45,-117.3,85.6,-6.7,9,822,0.00,2.40,0.00,0.000,4,0.000,0.049,2780,662,3222,0,0,0,0,0,0
$GC,839,-0.45,-117.3,87.5,-8.7,9,843,0.00,2.33,0.00,0.000,6,0.000,0.047,2774,2174,3223,0,0,0,0,0,0
$GC,1321,-0.45,-117.3,119.5,-6.5,12,1325,0.00,2.35,0.00,0.000,4,0.000,0.050,2774,664,3224,0,0,0,0,0,0
$GC,1371,-0.46,-117.3,122.6,-5.8,12,1375,0.00,2.30,0.00,0.000,6,0.000,0.047,2767,2162,3223,0,0,0,0,0,0
$GC,1946,-0.46,-117.3,160.9,-6.9,14,1950,0.00,2.42,0.00,0.000,4,0.000,0.060,2756,3690,3223,0,0,0,0,0,0
$GC,1978,-0.47,-117.3,163.2,-7.3,14,1983,0.00,2.40,0.00,0.000,6,0.000,0.044,2756,2153,3223,0,0,0,0,0,0
$GC,2571,-0.47,-117.3,203.9,-6.9,16,2575,0.00,2.33,0.00,0.000,4,0.000,0.051,2756,670,3222,0,0,0,0,0,0
$GC,2644,-0.47,-117.3,210.1,-9.0,16,2648,0.00,2.30,0.00,0.000,6,0.000,0.049,2749,2147,3222,0,0,0,0,0,0
$GC,3198,-0.47,-117.3,252.3,-7.0,18,3202,0.00,2.53,0.00,0.000,4,0.000,0.062,2738,3696,3221,0,0,0,0,0,0
$GC,3226,-0.47,-117.3,254.0,-6.3,18,3231,0.10,2.42,0.00,0.000,6,0.137,0.045,2768,2152,3221,0,0,0,0,0,0
$GC,3827,-0.48,-117.3,285.2,-5.4,20,3831,0.00,2.35,0.00,0.000,4,0.000,0.053,2768,660,3220,0,0,0,0,0,0
$GC,3904,-0.49,-117.3,290.4,-6.8,20,3908,0.00,2.28,0.00,0.000,6,0.000,0.050,2762,2134,3219,0,0,0,0,0,0
$GC,4454,-0.49,-117.3,325.8,-6.6,22,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2134,3218,0,0,0,0,0,0
$GC,4753,-0.49,-117.3,346.2,-6.7,23,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2134,3218,0,0,0,0,0,0
$GC,5053,-0.49,-117.3,365.8,-6.7,24,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2134,3217,0,0,0,0,0,0
$GC,5354,-0.49,-117.3,385.3,-6.6,25,5358,0.00,2.33,0.00,0.000,4,0.000,0.054,2762,666,3217,0,0,0,0,0,0
$GC,5387,-0.51,-117.3,387.7,-7.6,25,5391,0.00,2.30,0.00,0.000,6,0.000,0.052,2756,2131,3217,0,0,0,0,0,0
$GC,5985,-0.51,-117.3,423.8,-5.6,27,5989,0.00,2.33,0.00,0.000,4,0.000,0.053,2756,663,3216,0,0,0,0,0,0
$GC,6008,-0.51,-117.3,425.2,-6.1,27,6012,0.00,2.30,0.00,0.000,6,0.000,0.051,2751,2129,3215,0,0,0,0,0,0
$GC,6612,-0.51,-117.3,459.7,-5.8,29,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2130,3214,0,0,0,0,0,0
$GC,6914,-0.51,-117.3,477.4,-5.9,30,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2129,3214,0,0,0,0,0,0
$GC,7213,-0.51,-117.3,495.5,-5.9,31,7215,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2129,3214,0,0,0,0,0,0
$GC,7514,-0.51,-117.3,513.9,-6.0,32,7515,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2129,3213,0,0,0,0,0,0
$GC,7815,-0.51,-117.3,531.8,-6.0,33,7819,0.00,2.35,0.00,0.000,4,0.000,0.055,2750,656,3212,0,0,0,0,0,0
$GC,7842,-0.51,-117.3,533.6,-6.0,33,7846,0.00,2.33,0.00,0.000,6,0.000,0.054,2747,2126,3212,0,0,0,0,0,0
$GC,8446,-0.51,-117.3,570.2,-6.1,35,8450,0.00,2.55,0.00,0.000,4,0.000,0.067,2735,3685,3212,0,0,0,0,0,0
$GC,8474,-0.51,-117.3,572.0,-6.5,35,8478,0.00,2.47,0.00,0.000,6,0.000,0.049,2735,2123,3211,0,0,0,0,0,0
$GC,9073,-0.51,-117.3,608.9,-5.9,37,9077,0.00,2.33,0.00,0.000,4,0.000,0.057,2735,666,3211,0,0,0,0,0,0
$GC,9114,-0.51,-117.3,611.3,-6.2,37,9118,0.00,2.30,0.00,0.000,6,0.000,0.054,2728,2133,3210,0,0,0,0,0,0
$GC,9702,-0.51,-117.3,645.5,-5.9,39,9707,0.00,2.55,0.00,0.000,4,0.000,0.065,2716,3693,3210,0,0,0,0,0,0
$GC,9729,-0.51,-117.3,647.2,-6.6,39,9734,0.12,2.50,0.00,0.000,6,0.124,0.049,2754,2121,3209,0,0,0,0,0,0
$GC,10330,-0.52,-117.3,677.3,-5.2,41,10334,0.00,2.33,0.00,0.000,4,0.000,0.056,2754,660,3209,0,0,0,0,0,0
$GC,10365,-0.53,-117.3,679.5,-6.4,41,10369,0.00,2.30,0.00,0.000,6,0.000,0.054,2750,2126,3209,0,0,0,0,0,0
$GC,10958,-0.54,-117.3,712.5,-5.5,43,10962,0.00,2.58,0.00,0.000,4,0.000,0.067,2743,3693,3209,0,0,0,0,0,0
$GC,10996,-0.56,-117.3,714.6,-6.1,43,11000,0.00,2.50,0.00,0.000,6,0.000,0.050,2743,2119,3209,0,0,0,0,0,0
$GC,11583,-0.56,-117.3,746.6,-5.3,45,11584,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2119,3208,0,0,0,0,0,0
$GC,11883,-0.56,-117.3,761.8,-5.2,46,11884,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2118,3208,0,0,0,0,0,0
$GC,12185,-0.56,-117.3,777.1,-5.1,47,12190,0.00,2.58,0.00,0.000,4,0.000,0.066,2733,3689,3208,0,0,0,0,0,0
$GC,12216,-0.57,-117.3,778.6,-5.6,47,12220,0.00,2.50,0.00,0.000,6,0.000,0.050,2733,2124,3207,0,0,0,0,0,0
$GC,12815,-0.57,-117.3,812.0,-5.8,49,12819,0.00,2.33,0.00,0.000,4,0.000,0.057,2732,660,3207,0,0,0,0,0,0
$GC,12837,-0.57,-117.3,813.4,-5.3,49,12842,0.00,2.30,0.00,0.000,6,0.000,0.054,2732,2124,3207,0,0,0,0,0,0
$GC,13447,-0.57,-117.3,853.6,-6.7,51,13451,0.00,2.60,0.00,0.000,4,0.000,0.067,2722,3694,3206,0,0,0,0,0,0
$GC,13496,-0.57,-117.3,857.1,-6.7,51,13501,0.00,2.50,0.00,0.000,6,0.000,0.050,2721,2126,3206,0,0,0,0,0,0
$GC,14072,-0.57,-117.3,895.9,-6.5,53,14076,0.00,2.35,0.00,0.000,4,0.000,0.057,2721,663,3206,0,0,0,0,0,0
$GC,14094,-0.57,-117.3,897.5,-7.6,53,14098,0.00,2.35,0.00,0.000,6,0.000,0.054,2718,2138,3206,0,0,0,0,0,0
$GC,14698,-0.57,-117.3,933.8,-5.9,55,14702,0.00,2.53,0.00,0.000,4,0.000,0.066,2707,3689,3205,0,0,0,0,0,0
$GC,14738,-0.57,-117.3,936.3,-6.4,55,14742,0.00,2.50,0.00,0.000,6,0.000,0.050,2707,2126,3205,0,0,0,0,0,0
$GC,15326,-0.57,-117.3,975.9,-6.9,57,15327,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2125,3205,0,0,0,0,0,0
$STATE,15623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15623,begin apogee
$GC,15629,-0.22,0.0,996.4,6.9,58,15738,0.43,0.00,106.28,1.237,6,0.103,0.000,2848,2050,2735,0,0,0,0,0,0
$STATE,15739,end apogee,CONTROL_FINISHED_OK
$STATE,15739,begin climb
$GC,15741,0.50,117.3,996.4,0.0,58,15867,0.65,2.65,114.70,1.200,4,0.063,0.056,3092,549,2256,0,0,0,0,0,0
$GC,15890,0.47,117.3,991.4,8.2,58,15894,0.00,2.58,0.00,0.000,6,0.000,0.049,3092,2056,2252,0,0,0,0,0,0
$GC,16360,0.44,117.3,944.0,10.2,60,16365,0.00,2.50,0.00,0.000,4,0.000,0.064,3092,3583,2245,0,0,0,0,0,0
$GC,16444,0.39,117.3,933.9,12.3,60,16450,0.20,2.40,0.00,0.000,6,0.155,0.049,3048,2079,2243,0,0,0,0,0,0
$GC,16986,0.38,117.3,891.2,7.7,62,16988,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2078,2242,0,0,0,0,0,0
$GC,17287,0.37,117.3,867.9,7.7,63,17289,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2077,2242,0,0,0,0,0,0
$GC,17587,0.36,117.3,844.7,7.7,64,17589,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2076,2241,0,0,0,0,0,0
$GC,17888,0.35,117.3,821.1,7.8,65,17893,0.00,2.45,0.00,0.000,4,0.000,0.063,3048,3582,2241,0,0,0,0,0,0
$GC,17912,0.34,117.3,819.1,8.8,65,17916,0.00,2.40,0.00,0.000,6,0.000,0.050,3055,2064,2240,0,0,0,0,0,0
$GC,18518,0.32,117.3,768.3,8.3,67,18519,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2062,2240,0,0,0,0,0,0
$GC,18817,0.31,117.3,744.2,8.2,68,18822,0.12,2.47,0.00,0.000,4,0.152,0.063,3019,3578,2239,0,0,0,0,0,0
$GC,18866,0.31,117.3,740.6,7.1,68,18871,0.00,2.40,0.00,0.000,6,0.000,0.050,3026,2065,2238,0,0,0,0,0,0
$GC,19442,0.32,138.4,708.1,5.4,70,19467,0.00,2.50,17.23,1.009,4,0.000,0.059,3037,537,2170,0,0,0,0,0,0
$GC,19495,0.33,146.5,705.2,5.8,70,19509,0.00,2.45,9.23,0.917,6,0.000,0.053,3037,2082,2137,0,0,0,0,0,0
$GC,20075,0.33,146.5,667.3,6.7,72,20079,0.00,2.42,0.00,0.000,4,0.000,0.065,3037,3573,2132,0,0,0,0,0,0
$GC,20125,0.33,146.5,663.2,7.5,72,20130,0.00,2.38,0.00,0.000,6,0.000,0.050,3044,2072,2131,0,0,0,0,0,0
$GC,20703,0.33,146.5,619.4,7.6,74,20707,0.00,2.42,0.00,0.000,4,0.000,0.060,3054,545,2131,0,0,0,0,0,0
$GC,20735,0.33,146.5,616.9,7.5,74,20740,0.00,2.40,0.00,0.000,6,0.000,0.052,3055,2074,2130,0,0,0,0,0,0
$GC,21336,0.33,146.5,571.8,7.5,76,21340,0.00,2.42,0.00,0.000,4,0.000,0.063,3055,3577,2130,0,0,0,0,0,0
$GC,21397,0.31,146.5,566.2,8.8,76,21402,0.15,2.38,0.00,0.000,6,0.140,0.049,3023,2077,2130,0,0,0,0,0,0
$GC,21961,0.32,146.5,530.4,6.5,78,21965,0.00,2.42,0.00,0.000,4,0.000,0.059,3023,543,2129,0,0,0,0,0,0
$GC,21994,0.34,146.5,528.3,6.3,78,21998,0.00,2.42,0.00,0.000,6,0.000,0.052,3022,2085,2130,0,0,0,0,0,0
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$STATE,29651,end climb,SURFACE_DEPTH_REACHED
$STATE,29651,begin surface coast
$FINISH,3.4,NaN
$STATE,29657,end surface coast,CONTROL_FINISHED_OK
$STATE,29657,begin surface
$SM_CCo,29737,0.00,0.000,0,0,1246,365.25
$SM_GC,2.16,7.78,0.00,0.00,0.030,0.000,0.000,131,2184,1246,-8.61,0.25,365.25
$IRIDIUM_FIX,4648.08,-12650.93,150811,131316
$TT8_MAMPS,0.026964
$HUMID,41.10
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.70
$XPDR_PINGS,0
$24V_AH,22.0,73.339
$10V_AH,9.8,78.469
$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,20.850,212.625,433.100,0.000,0.000,27.455,33.626,127.395,0.000,0.000,15.901,1223.533,24169.072,533.864,3649.723,468.528,33.366,2280.252,0.000,3358.198,0.000,0.535,0.000
$DEVICE_MAMPS,223.380,107.865,1237.005,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297632
$DATA_FILE_SIZE,3665,111
$CAP_FILE_SIZE,225786,0
$CFSIZE,260165632,161492992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.184,237.8,1
$GPS,160811,045437,4703.127,-12654.975,31,0.9,31,18.6