version: 66.07
glider: 187
mission: 4
dive: 634
start: 8 10 111 20 38 22
data:
$ID,187
$MISSION,4
$DIVE,634
$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,-1585543.5
$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,29
$R_STBD_OVSHOOT,28
$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
$GPS1,100811,203037,4726.103,-12603.045,31,1.7,31,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-77.8
$GPS2,100811,203725,4726.095,-12603.082,16,1.7,21,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.173,-0.100
$KALMAN_X,325625.4,-342.9,-358.0,-394530.2,3729.5
$KALMAN_Y,-598860.1,-69.9,-425.8,561550.7,-5374.9
$MHEAD_RNG_PITCHd_Wd,235.0,86625,-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,-117.3,0.0,0.0,0,80,0.00,0.00,-61.95,0.000,2,0.000,0.000,131,2184,2942,0,0,0,0,0,0
$GC,84,-0.50,-117.3,4.9,-8.4,2,105,10.65,2.42,-4.70,0.000,4,0.226,0.066,2742,3692,3217,0,0,0,0,0,0
$GC,168,-0.48,-117.3,31.1,-14.3,4,173,0.00,2.40,0.00,0.000,6,0.000,0.043,2741,2168,3221,0,0,0,0,0,0
$GC,359,-0.45,-117.3,52.9,-11.0,10,364,0.12,2.38,0.00,0.000,4,0.151,0.050,2777,660,3223,0,0,0,0,0,0
$GC,417,-0.45,-117.3,58.2,-7.9,11,425,0.00,2.35,0.00,0.000,6,0.000,0.048,2771,2159,3224,0,0,0,0,0,0
$GC,608,-0.45,-117.3,74.4,-8.6,18,612,0.00,2.45,0.00,0.000,4,0.000,0.059,2759,3697,3225,0,0,0,0,0,0
$GC,657,-0.45,-117.3,78.6,-8.6,19,661,0.00,2.40,0.00,0.000,6,0.000,0.043,2759,2161,3225,0,0,0,0,0,0
$GC,850,-0.44,-117.3,96.2,-9.6,25,854,0.00,2.33,0.00,0.000,4,0.000,0.049,2759,659,3226,0,0,0,0,0,0
$GC,882,-0.44,-117.3,100.2,-11.0,26,886,0.00,2.35,0.00,0.000,6,0.000,0.047,2751,2167,3225,0,0,0,0,0,0
$GC,1107,-0.44,-117.3,122.3,-9.9,28,1112,0.00,2.45,0.00,0.000,4,0.000,0.060,2739,3690,3225,0,0,0,0,0,0
$GC,1143,-0.44,-117.3,125.5,-9.4,28,1148,0.12,2.38,0.00,0.000,6,0.129,0.042,2777,2159,3225,0,0,0,0,0,0
$GC,1527,-0.47,-117.3,147.8,-5.3,30,1531,0.00,2.30,0.00,0.000,4,0.000,0.048,2777,668,3225,0,0,0,0,0,0
$GC,1613,-0.48,-117.3,153.0,-5.8,30,1617,0.00,2.33,0.00,0.000,6,0.000,0.047,2776,2163,3225,0,0,0,0,0,0
$GC,1947,-0.50,-117.3,170.1,-5.3,32,1951,0.00,2.45,0.00,0.000,4,0.000,0.060,2773,3691,3225,0,0,0,0,0,0
$GC,1959,-0.53,-117.3,170.8,-5.3,32,1963,0.00,2.38,0.00,0.000,6,0.000,0.043,2773,2166,3225,0,0,0,0,0,0
$GC,2363,-0.56,-117.3,193.2,-5.4,34,2367,0.00,2.45,0.00,0.000,4,0.000,0.060,2773,3692,3223,0,0,0,0,0,0
$GC,2449,-0.58,-117.3,197.8,-5.6,34,2454,0.12,2.40,0.00,0.000,6,0.081,0.042,2705,2149,3223,0,0,0,0,0,0
$GC,2789,-0.56,-117.3,226.7,-9.0,36,2793,0.12,2.33,0.00,0.000,4,0.143,0.050,2742,667,3222,0,0,0,0,0,0
$GC,2839,-0.56,-117.3,230.9,-6.7,36,2844,0.00,2.33,0.00,0.000,6,0.000,0.048,2736,2161,3222,0,0,0,0,0,0
$GC,3204,-0.56,-117.3,255.4,-6.8,38,3208,0.00,2.47,0.00,0.000,4,0.000,0.060,2724,3689,3222,0,0,0,0,0,0
$GC,3231,-0.56,-117.3,257.5,-7.6,38,3235,0.00,2.38,0.00,0.000,6,0.000,0.044,2724,2159,3221,0,0,0,0,0,0
$GC,3624,-0.55,-117.3,290.1,-8.6,40,3628,0.00,2.35,0.00,0.000,4,0.000,0.051,2724,661,3221,0,0,0,0,0,0
$GC,3679,-0.55,-117.3,295.2,-9.1,40,3683,0.00,2.30,0.00,0.000,6,0.000,0.049,2717,2151,3221,0,0,0,0,0,0
$GC,4047,-0.54,-117.3,327.0,-8.8,42,4051,0.00,2.47,0.00,0.000,4,0.000,0.062,2705,3689,3220,0,0,0,0,0,0
$GC,4085,-0.54,-117.3,330.9,-9.5,42,4090,0.15,2.42,0.00,0.000,6,0.122,0.044,2751,2145,3220,0,0,0,0,0,0
$GC,4461,-0.54,-117.3,356.7,-6.8,44,4465,0.00,2.33,0.00,0.000,4,0.000,0.051,2751,667,3219,0,0,0,0,0,0
$GC,4504,-0.54,-117.3,360.0,-7.1,44,4509,0.00,2.30,0.00,0.000,6,0.000,0.050,2746,2152,3219,0,0,0,0,0,0
$GC,4875,-0.54,-117.3,385.6,-6.9,46,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2152,3219,0,0,0,0,0,0
$GC,5076,-0.54,-117.3,399.3,-6.9,47,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2152,3218,0,0,0,0,0,0
$GC,5277,-0.54,-117.3,412.5,-6.8,48,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2152,3218,0,0,0,0,0,0
$GC,5477,-0.54,-117.3,425.0,-6.6,49,5481,0.00,2.35,0.00,0.000,4,0.000,0.053,2746,667,3217,0,0,0,0,0,0
$GC,5499,-0.54,-117.3,426.3,-6.4,49,5503,0.00,2.30,0.00,0.000,6,0.000,0.052,2742,2141,3217,0,0,0,0,0,0
$GC,5898,-0.54,-117.3,451.1,-6.2,51,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2141,3216,0,0,0,0,0,0
$GC,6099,-0.54,-117.3,463.2,-6.1,52,6100,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2141,3216,0,0,0,0,0,0
$GC,6300,-0.54,-117.3,475.9,-6.2,53,6304,0.00,2.35,0.00,0.000,4,0.000,0.054,2742,663,3216,0,0,0,0,0,0
$GC,6327,-0.54,-117.3,478.0,-6.9,53,6331,0.00,2.33,0.00,0.000,6,0.000,0.051,2736,2141,3216,0,0,0,0,0,0
$GC,6726,-0.54,-117.3,503.8,-6.4,55,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2142,3215,0,0,0,0,0,0
$GC,6929,-0.54,-117.3,517.0,-6.5,56,6933,0.00,2.35,0.00,0.000,4,0.000,0.054,2736,666,3214,0,0,0,0,0,0
$GC,6955,-0.54,-117.3,519.1,-6.9,56,6960,0.00,2.35,0.00,0.000,6,0.000,0.053,2732,2159,3215,0,0,0,0,0,0
$GC,7348,-0.54,-117.3,546.8,-7.1,58,7352,0.00,2.53,0.00,0.000,4,0.000,0.063,2720,3700,3214,0,0,0,0,0,0
$GC,7377,-0.54,-117.3,548.9,-7.1,58,7381,0.00,2.47,0.00,0.000,6,0.000,0.047,2719,2137,3214,0,0,0,0,0,0
$GC,7770,-0.54,-117.3,576.3,-7.0,60,7774,0.00,2.33,0.00,0.000,4,0.000,0.054,2719,663,3213,0,0,0,0,0,0
$GC,7826,-0.54,-117.3,580.4,-6.7,60,7831,0.12,2.33,0.00,0.000,6,0.135,0.052,2748,2135,3213,0,0,0,0,0,0
$GC,8191,-0.54,-117.3,601.8,-5.9,62,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2135,3213,0,0,0,0,0,0
$GC,8494,-0.54,-117.3,618.7,-5.7,63,8495,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2135,3212,0,0,0,0,0,0
$GC,8795,-0.54,-117.3,636.0,-5.7,64,8796,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2135,3212,0,0,0,0,0,0
$GC,9093,-0.54,-117.3,653.4,-5.7,65,9094,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2135,3211,0,0,0,0,0,0
$GC,9393,-0.54,-117.3,670.4,-5.7,66,9398,0.00,2.58,0.00,0.000,4,0.000,0.066,2740,3690,3211,0,0,0,0,0,0
$GC,9421,-0.55,-117.3,672.1,-6.0,66,9425,0.00,2.47,0.00,0.000,6,0.000,0.049,2739,2124,3211,0,0,0,0,0,0
$GC,10021,-0.55,-117.3,706.5,-5.6,68,10025,0.00,2.30,0.00,0.000,4,0.000,0.055,2739,667,3211,0,0,0,0,0,0
$GC,10055,-0.55,-117.3,708.7,-6.3,68,10059,0.00,2.33,0.00,0.000,6,0.000,0.053,2732,2134,3210,0,0,0,0,0,0
$GC,10654,-0.55,-117.3,739.4,-5.0,70,10659,0.00,2.58,0.00,0.000,4,0.000,0.065,2721,3695,3210,0,0,0,0,0,0
$GC,10689,-0.55,-117.3,741.4,-5.1,70,10694,0.00,2.50,0.00,0.000,6,0.000,0.048,2721,2119,3210,0,0,0,0,0,0
$GC,11286,-0.55,-117.3,773.3,-5.5,72,11290,0.00,2.33,0.00,0.000,4,0.000,0.055,2720,660,3209,0,0,0,0,0,0
$GC,11342,-0.55,-117.3,777.0,-6.2,72,11346,0.00,2.33,0.00,0.000,6,0.000,0.054,2714,2126,3209,0,0,0,0,0,0
$GC,11920,-0.55,-117.3,814.4,-6.6,74,11924,0.00,2.58,0.00,0.000,4,0.000,0.065,2702,3690,3209,0,0,0,0,0,0
$GC,11958,-0.55,-117.3,817.1,-7.2,74,11963,0.15,2.50,0.00,0.000,6,0.122,0.048,2747,2118,3208,0,0,0,0,0,0
$GC,12547,-0.56,-117.3,847.6,-5.4,76,12551,0.00,2.28,0.00,0.000,4,0.000,0.055,2748,668,3208,0,0,0,0,0,0
$GC,12582,-0.57,-117.3,850.0,-6.5,76,12586,0.00,2.30,0.00,0.000,6,0.000,0.054,2746,2117,3207,0,0,0,0,0,0
$GC,13176,-0.58,-117.3,883.8,-5.6,78,13180,0.00,2.58,0.00,0.000,4,0.000,0.067,2734,3689,3207,0,0,0,0,0,0
$GC,13221,-0.60,-117.3,886.6,-6.3,78,13226,0.00,2.50,0.00,0.000,6,0.000,0.048,2734,2111,3207,0,0,0,0,0,0
$GC,13806,-0.60,-117.3,920.4,-5.9,80,13810,0.00,2.33,0.00,0.000,4,0.000,0.057,2734,668,3206,0,0,0,0,0,0
$GC,13842,-0.60,-117.3,922.8,-7.0,80,13846,0.00,2.30,0.00,0.000,6,0.000,0.055,2733,2114,3206,0,0,0,0,0,0
$GC,14438,-0.60,-117.3,957.6,-5.9,82,14442,0.00,2.60,0.00,0.000,4,0.000,0.067,2722,3693,3206,0,0,0,0,0,0
$GC,14470,-0.60,-117.3,959.7,-7.0,82,14474,0.00,2.53,0.00,0.000,6,0.000,0.049,2721,2104,3205,0,0,0,0,0,0
$STATE,15062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15062,begin apogee
$GC,15070,-0.22,0.0,996.2,6.2,84,15178,0.38,0.00,105.50,1.232,6,0.101,0.000,2846,2103,2735,0,0,0,0,0,0
$STATE,15179,end apogee,CONTROL_FINISHED_OK
$STATE,15179,begin climb
$GC,15181,0.50,117.3,996.2,0.0,84,15306,0.65,2.67,113.70,1.198,4,0.066,0.061,3077,3581,2256,0,0,0,0,0,0
$GC,15329,0.46,117.3,989.6,10.2,84,15333,0.00,2.60,0.00,0.000,6,0.000,0.046,3089,2068,2251,0,0,0,0,0,0
$GC,15800,0.43,117.3,941.1,10.2,86,15805,0.12,2.47,0.00,0.000,4,0.166,0.062,3055,3574,2244,0,0,0,0,0,0
$GC,15839,0.41,117.3,937.2,9.0,86,15844,0.00,2.42,0.00,0.000,6,0.000,0.047,3064,2063,2243,0,0,0,0,0,0
$GC,16428,0.38,117.3,889.2,8.2,88,16432,0.00,2.45,0.00,0.000,4,0.000,0.063,3064,3577,2242,0,0,0,0,0,0
$GC,16455,0.36,117.3,886.5,9.7,88,16460,0.15,2.40,0.00,0.000,6,0.154,0.048,3034,2069,2241,0,0,0,0,0,0
$GC,17054,0.36,117.3,845.5,7.0,90,17058,0.00,2.42,0.00,0.000,4,0.000,0.063,3034,3575,2240,0,0,0,0,0,0
$GC,17111,0.35,117.3,840.9,8.6,90,17115,0.00,2.35,0.00,0.000,6,0.000,0.047,3042,2079,2239,0,0,0,0,0,0
$GC,17683,0.35,117.3,799.0,7.2,92,17684,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2077,2239,0,0,0,0,0,0
$GC,17984,0.35,117.3,777.9,7.1,93,17988,0.00,2.42,0.00,0.000,4,0.000,0.063,3042,3576,2239,0,0,0,0,0,0
$GC,18017,0.33,117.3,775.1,7.6,93,18021,0.00,2.38,0.00,0.000,6,0.000,0.048,3050,2078,2238,0,0,0,0,0,0
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$STATE,28229,end climb,SURFACE_DEPTH_REACHED
$STATE,28229,begin surface coast
$FINISH,2.8,1.023111
$STATE,28245,end surface coast,CONTROL_FINISHED_OK
$STATE,28245,begin surface
$SM_CCo,28325,0.00,0.000,0,0,1247,365.01
$SM_GC,1.95,7.80,0.00,0.00,0.029,0.000,0.000,112,2187,1247,-8.60,0.37,365.01
$IRIDIUM_FIX,4710.21,-12552.98,100811,121254
$TT8_MAMPS,0.026964
$HUMID,40.86
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,22.1,71.249
$10V_AH,9.8,77.104
$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,21.525,260.925,439.375,0.000,0.000,25.609,29.281,190.727,0.000,0.000,22.563,1566.898,22298.830,584.620,3698.819,561.864,33.380,2367.076,0.000,3359.047,0.000,0.535,0.000
$DEVICE_MAMPS,225.675,66.555,1231.650,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,119.407,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297684
$DATA_FILE_SIZE,10350,174
$CAP_FILE_SIZE,246042,0
$CFSIZE,260165632,162656256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.059, 49.0,1
$GPS,110811,043137,4724.699,-12606.080,32,0.9,32,18.6