version: 66.07
glider: 187
mission: 4
dive: 174
start: 5 5 111 12 20 18
data:
$ID,187
$MISSION,4
$DIVE,174
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,380
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,340
$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,-1584039.1
$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,2948
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,2250
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,29
$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,0
$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
$GPS1,050511,121337,4734.114,-12514.127,46,1.0,47,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-75.9
$GPS2,050511,121955,4734.130,-12513.969,16,1.0,16,18.6
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,DOGLEG
$TGT_LATLONG,4743.500,-12528.600
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.176,-0.114
$KALMAN_X,14438.9,303.9,-305.7,-13432.8,797.0
$KALMAN_Y,-14155.7,856.3,103.6,-14859.7,-275.4
$MHEAD_RNG_PITCHd_Wd,295.0,25166,-18.6,-10.000
$D_GRID,583
$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,15,-0.71,-146.6,0.0,0.0,0,83,0.00,0.00,-64.95,0.000,2,0.000,0.000,133,2252,2921,0,0,0,0,0,0
$GC,87,-0.71,-146.6,4.1,-9.0,10,115,10.32,2.42,-7.50,0.000,4,0.238,0.059,2713,726,3337,0,0,0,0,0,0
$GC,253,-0.69,-146.6,41.9,-16.5,40,260,0.00,2.42,0.00,0.000,6,0.000,0.049,2704,2248,3339,0,0,0,0,0,0
$GC,326,-0.66,-146.6,54.1,-17.6,53,333,0.12,0.00,0.00,0.000,6,0.167,0.000,2737,2248,3340,0,0,0,0,0,0
$GC,398,-0.66,-146.6,64.5,-13.4,66,406,0.00,2.40,0.00,0.000,4,0.000,0.052,2737,738,3340,0,0,0,0,0,0
$GC,445,-0.66,-146.6,70.5,-12.4,74,452,0.00,2.35,0.00,0.000,6,0.000,0.049,2730,2223,3340,0,0,0,0,0,0
$GC,517,-0.66,-146.6,80.3,-13.9,87,525,0.00,2.47,0.00,0.000,4,0.000,0.061,2718,3775,3341,0,0,0,0,0,0
$GC,543,-0.66,-146.6,84.0,-13.8,91,551,0.00,2.40,0.00,0.000,6,0.000,0.044,2718,2250,3341,0,0,0,0,0,0
$GC,615,-0.66,-146.6,93.7,-12.7,104,623,0.00,2.45,0.00,0.000,4,0.000,0.060,2707,3784,3341,0,0,0,0,0,0
$GC,646,-0.66,-146.6,97.8,-13.1,109,653,0.00,2.35,0.00,0.000,6,0.000,0.044,2706,2286,3341,0,0,0,0,0,0
$GC,719,-0.66,-146.6,106.9,-12.2,117,724,0.00,2.40,0.00,0.000,4,0.000,0.051,2706,732,3341,0,0,0,0,0,0
$GC,752,-0.66,-146.6,111.7,-14.3,119,760,0.15,2.40,0.00,0.000,6,0.154,0.048,2739,2273,3341,0,0,0,0,0,0
$GC,887,-0.66,-146.6,125.4,-9.4,132,891,0.00,2.40,0.00,0.000,4,0.000,0.051,2738,733,3342,0,0,0,0,0,0
$GC,940,-0.67,-146.6,130.9,-10.5,136,944,0.00,2.35,0.00,0.000,6,0.000,0.049,2731,2245,3342,0,0,0,0,0,0
$GC,1075,-0.67,-146.6,144.2,-9.6,148,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2245,3342,0,0,0,0,0,0
$GC,1204,-0.67,-146.6,156.5,-9.4,160,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2245,3342,0,0,0,0,0,0
$GC,1330,-0.67,-146.6,168.8,-9.7,172,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2245,3342,0,0,0,0,0,0
$GC,1458,-0.68,-146.6,181.0,-9.6,184,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2245,3342,0,0,0,0,0,0
$GC,1585,-0.68,-146.6,193.1,-9.6,196,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2245,3342,0,0,0,0,0,0
$GC,1711,-0.68,-146.6,205.1,-9.6,208,1716,0.00,2.33,0.00,0.000,4,0.000,0.051,2731,734,3342,0,0,0,0,0,0
$GC,1790,-0.69,-146.6,212.9,-9.0,214,1796,0.00,2.33,0.00,0.000,6,0.000,0.049,2723,2237,3342,0,0,0,0,0,0
$GC,1925,-0.69,-146.6,225.7,-9.9,227,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2237,3342,0,0,0,0,0,0
$GC,2051,-0.69,-146.6,239.1,-10.4,239,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2238,3342,0,0,0,0,0,0
$GC,2178,-0.69,-146.6,252.4,-10.2,251,2182,0.00,2.33,0.00,0.000,4,0.000,0.051,2722,732,3342,0,0,0,0,0,0
$GC,2222,-0.69,-146.6,257.0,-10.0,254,2228,0.00,2.33,0.00,0.000,6,0.000,0.050,2714,2238,3342,0,0,0,0,0,0
$GC,2356,-0.69,-146.6,269.8,-9.4,267,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2238,3341,0,0,0,0,0,0
$GC,2484,-0.69,-146.6,282.1,-9.9,279,2488,0.00,2.40,0.00,0.000,4,0.000,0.062,2702,3771,3342,0,0,0,0,0,0
$GC,2517,-0.69,-146.6,285.7,-10.9,281,2524,0.00,2.38,0.00,0.000,6,0.000,0.044,2702,2222,3341,0,0,0,0,0,0
$GC,2652,-0.69,-146.6,299.7,-10.9,294,2656,0.00,2.28,0.00,0.000,4,0.000,0.052,2701,735,3341,0,0,0,0,0,0
$GC,2692,-0.69,-146.6,304.5,-11.4,297,2697,0.12,2.30,0.00,0.000,6,0.159,0.049,2729,2229,3341,0,0,0,0,0,0
$GC,2828,-0.71,-146.6,316.4,-8.4,309,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2230,3342,0,0,0,0,0,0
$GC,2954,-0.72,-146.6,327.2,-8.4,321,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2230,3341,0,0,0,0,0,0
$GC,3082,-0.74,-146.6,338.4,-8.9,333,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2229,3341,0,0,0,0,0,0
$GC,3208,-0.75,-146.6,349.4,-8.6,345,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2230,3341,0,0,0,0,0,0
$GC,3336,-0.77,-146.6,359.6,-7.7,357,3340,0.00,2.28,0.00,0.000,4,0.000,0.053,2729,738,3341,0,0,0,0,0,0
$GC,3381,-0.78,-146.6,363.3,-7.9,360,3388,0.00,2.30,0.00,0.000,6,0.000,0.050,2723,2214,3341,0,0,0,0,0,0
$GC,3517,-0.79,-146.6,373.8,-8.1,373,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2214,3341,0,0,0,0,0,0
$GC,3645,-0.81,-146.6,384.9,-8.9,385,3651,0.10,0.00,0.00,0.000,6,0.109,0.000,2667,2214,3341,0,0,0,0,0,0
$GC,3779,-0.79,-146.6,401.0,-12.3,398,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2214,3341,0,0,0,0,0,0
$GC,3907,-0.78,-146.6,416.9,-12.4,410,3912,0.10,2.28,0.00,0.000,4,0.165,0.053,2692,732,3341,0,0,0,0,0,0
$GC,3949,-0.78,-146.6,422.2,-11.4,413,3956,0.00,2.30,0.00,0.000,6,0.000,0.050,2685,2227,3341,0,0,0,0,0,0
$GC,4084,-0.78,-146.6,436.2,-10.3,426,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2228,3340,0,0,0,0,0,0
$GC,4212,-0.78,-146.6,449.1,-9.9,438,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2228,3340,0,0,0,0,0,0
$GC,4340,-0.78,-146.6,462.2,-10.5,450,4344,0.00,2.28,0.00,0.000,4,0.000,0.053,2684,734,3340,0,0,0,0,0,0
$GC,4379,-0.78,-146.6,466.8,-11.4,453,4383,0.00,2.28,0.00,0.000,6,0.000,0.050,2675,2212,3340,0,0,0,0,0,0
$GC,4513,-0.78,-146.6,482.4,-12.0,465,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2212,3340,0,0,0,0,0,0
$GC,4642,-0.78,-146.6,497.8,-12.3,477,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2212,3340,0,0,0,0,0,0
$GC,4768,-0.78,-146.6,513.1,-12.0,489,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2212,3340,0,0,0,0,0,0
$GC,4896,-0.78,-146.6,528.5,-12.0,501,4900,0.00,2.25,0.00,0.000,4,0.000,0.054,2674,734,3340,0,0,0,0,0,0
$GC,4924,-0.78,-146.6,532.0,-12.6,503,4929,0.12,2.30,0.00,0.000,6,0.164,0.051,2698,2226,3340,0,0,0,0,0,0
$GC,5059,-0.78,-146.6,546.3,-10.7,515,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2226,3339,0,0,0,0,0,0
$GC,5185,-0.78,-146.6,560.4,-10.5,527,5189,0.00,2.30,0.00,0.000,4,0.000,0.054,2698,735,3339,0,0,0,0,0,0
$GC,5215,-0.78,-146.6,563.6,-11.5,529,5219,0.00,2.28,0.00,0.000,6,0.000,0.051,2691,2212,3339,0,0,0,0,0,0
$GC,5351,-0.78,-146.6,579.0,-11.5,541,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2212,3339,0,0,0,0,0,0
$STATE,5389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5389,begin apogee
$GC,5395,-0.23,0.0,583.6,10.9,545,5523,0.52,0.00,122.57,0.960,6,0.122,0.000,2867,2086,2735,0,0,0,0,0,0
$STATE,5523,end apogee,CONTROL_FINISHED_OK
$STATE,5523,begin climb
$GC,5527,0.71,146.6,588.0,0.0,558,5668,0.88,2.62,129.07,0.929,4,0.071,0.058,3172,3612,2136,0,0,0,0,0,0
$GC,5697,0.65,146.6,569.6,19.3,573,5705,0.00,2.53,0.00,0.000,6,0.000,0.044,3184,2104,2132,0,0,0,0,0,0
$GC,5833,0.61,146.6,544.7,18.4,586,5835,0.15,0.00,0.00,0.000,6,0.184,0.000,3149,2099,2128,0,0,0,0,0,0
$GC,5960,0.57,146.6,524.6,15.1,598,5964,0.00,2.42,0.00,0.000,4,0.000,0.055,3158,581,2127,0,0,0,0,0,0
$GC,5992,0.54,146.6,519.8,16.1,600,5997,0.15,2.40,0.00,0.000,6,0.171,0.048,3121,2097,2126,0,0,0,0,0,0
$GC,6127,0.52,146.6,501.1,13.4,612,6131,0.00,2.47,0.00,0.000,4,0.000,0.060,3120,3620,2126,0,0,0,0,0,0
$GC,6155,0.49,146.6,496.9,14.6,614,6160,0.00,2.42,0.00,0.000,6,0.000,0.046,3128,2098,2125,0,0,0,0,0,0
$GC,6291,0.47,146.6,478.0,13.4,626,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2096,2125,0,0,0,0,0,0
$GC,6418,0.44,146.6,460.6,13.9,638,6422,0.15,2.40,0.00,0.000,4,0.173,0.056,3098,576,2124,0,0,0,0,0,0
$GC,6440,0.43,146.6,457.7,12.5,639,6447,0.00,2.42,0.00,0.000,6,0.000,0.048,3098,2100,2124,0,0,0,0,0,0
$GC,6575,0.42,146.6,442.8,11.1,652,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2099,2123,0,0,0,0,0,0
$GC,6703,0.42,146.6,428.5,11.3,664,6704,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2100,2123,0,0,0,0,0,0
$GC,6831,0.42,146.6,414.5,11.0,676,6832,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2100,2123,0,0,0,0,0,0
$GC,6957,0.42,146.6,400.2,11.2,688,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2100,2123,0,0,0,0,0,0
$GC,7085,0.42,146.6,386.0,11.3,700,7089,0.00,2.40,0.00,0.000,4,0.000,0.057,3109,581,2123,0,0,0,0,0,0
$GC,7108,0.41,146.6,383.4,11.1,702,7113,0.00,2.35,0.00,0.000,6,0.000,0.050,3109,2102,2122,0,0,0,0,0,0
$GC,7244,0.39,146.6,366.8,12.6,714,7249,0.12,2.40,0.00,0.000,4,0.171,0.060,3076,3623,2122,0,0,0,0,0,0
$GC,7273,0.39,146.6,363.3,12.0,716,7278,0.00,2.38,0.00,0.000,6,0.000,0.045,3084,2099,2121,0,0,0,0,0,0
$GC,7409,0.39,146.6,348.7,10.3,728,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2098,2121,0,0,0,0,0,0
$GC,7535,0.39,146.6,335.2,11.0,740,7539,0.00,2.42,0.00,0.000,4,0.000,0.060,3083,3617,2121,0,0,0,0,0,0
$GC,7567,0.39,146.6,331.3,12.2,742,7574,0.00,2.35,0.00,0.000,6,0.000,0.045,3094,2102,2120,0,0,0,0,0,0
$GC,7702,0.39,146.6,317.1,10.8,755,7703,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2101,2121,0,0,0,0,0,0
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$STATE,10554,end climb,SURFACE_DEPTH_REACHED
$STATE,10554,begin surface coast
$FINISH,1.9,1.024273
$STATE,10576,end surface coast,CONTROL_FINISHED_OK
$STATE,10576,begin surface
$SM_CCo,10597,7.95,0.086,1,0,1348,340.23
$SM_GC,1.81,0.00,0.00,7.95,0.000,0.000,0.086,134,2262,1348,-8.80,0.34,340.23
$IRIDIUM_FIX,4716.56,-12519.65,050511,090952
$TT8_MAMPS,0.026964
$HUMID,36.41
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,23.5,16.030
$10V_AH,10.2,10.058
$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
$DEVICE_SECS,21.600,167.150,401.975,7.950,0.000,27.324,41.259,172.340,0.000,0.000,17.061,2618.967,4978.430,575.670,2442.191,366.566,0.000,1655.480,0.000,2203.713,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,744.448,872.786,1123.786,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297568
$DATA_FILE_SIZE,60386,1084
$CAP_FILE_SIZE,169803,0
$CFSIZE,260165632,205443072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050511,151816,4734.216,-12516.026,8,6.3,28,18.6