version: 66.07
glider: 187
mission: 4
dive: 640
start: 8 12 111 19 58 57
data:
$ID,187
$MISSION,4
$DIVE,640
$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,-1585551
$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,32
$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
$GPS1,120811,195231,4715.980,-12620.127,86,1.7,86,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-76.1
$GPS2,120811,195801,4715.965,-12620.062,10,1.5,16,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.200,-0.012
$KALMAN_X,339456.1,-67.5,142.6,-430281.8,3391.9
$KALMAN_Y,-609782.1,-676.3,208.5,553694.6,-1457.1
$MHEAD_RNG_PITCHd_Wd,245.5,58470,-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,-117.3,0.0,0.0,0,61,0.00,0.00,-43.38,0.000,2,0.000,0.000,108,2183,2436,0,0,0,0,0,0
$GC,65,-0.50,-117.3,3.2,-3.3,0,102,10.65,2.45,-18.48,0.000,4,0.223,0.071,2739,3681,3217,0,0,0,0,0,0
$GC,178,-0.46,-117.3,24.3,-19.1,1,184,0.12,2.38,0.00,0.000,6,0.140,0.043,2773,2166,3218,0,0,0,0,0,0
$GC,384,-0.44,-117.3,43.6,-8.9,4,388,0.00,2.35,0.00,0.000,4,0.000,0.050,2774,662,3221,0,0,0,0,0,0
$GC,430,-0.44,-117.3,47.6,-8.7,4,434,0.00,2.33,0.00,0.000,6,0.000,0.047,2767,2158,3220,0,0,0,0,0,0
$GC,657,-0.42,-117.3,67.4,-8.9,7,662,0.00,2.45,0.00,0.000,4,0.000,0.058,2755,3697,3222,0,0,0,0,0,0
$GC,696,-0.42,-117.3,70.8,-7.8,7,700,0.00,2.40,0.00,0.000,6,0.000,0.043,2754,2157,3222,0,0,0,0,0,0
$GC,931,-0.41,-117.3,94.5,-10.6,10,935,0.12,2.33,0.00,0.000,4,0.141,0.050,2793,666,3223,0,0,0,0,0,0
$GC,969,-0.42,-117.3,97.8,-7.3,10,973,0.00,2.33,0.00,0.000,6,0.000,0.047,2791,2160,3223,0,0,0,0,0,0
$GC,1221,-0.42,-117.3,113.8,-6.4,12,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2160,3223,0,0,0,0,0,0
$GC,1422,-0.43,-117.3,127.6,-6.7,13,1426,0.00,2.35,0.00,0.000,4,0.000,0.050,2791,667,3223,0,0,0,0,0,0
$GC,1445,-0.45,-117.3,129.1,-6.1,13,1449,0.00,2.30,0.00,0.000,6,0.000,0.047,2791,2150,3223,0,0,0,0,0,0
$GC,1839,-0.47,-117.3,151.7,-6.0,15,1843,0.00,2.47,0.00,0.000,4,0.000,0.061,2790,3687,3223,0,0,0,0,0,0
$GC,1863,-0.49,-117.3,153.2,-6.0,15,1867,0.00,2.40,0.00,0.000,6,0.000,0.044,2789,2137,3223,0,0,0,0,0,0
$GC,2261,-0.52,-117.3,178.1,-6.1,17,2266,0.12,2.30,0.00,0.000,4,0.088,0.050,2716,668,3223,0,0,0,0,0,0
$GC,2335,-0.50,-117.3,184.1,-8.3,17,2340,0.17,2.30,0.00,0.000,6,0.124,0.048,2761,2145,3223,0,0,0,0,0,0
$GC,2684,-0.50,-117.3,206.3,-6.1,19,2688,0.00,2.50,0.00,0.000,4,0.000,0.061,2752,3693,3222,0,0,0,0,0,0
$GC,2712,-0.50,-117.3,208.2,-6.1,19,2716,0.00,2.42,0.00,0.000,6,0.000,0.044,2751,2145,3222,0,0,0,0,0,0
$GC,3099,-0.50,-117.3,235.3,-7.2,21,3103,0.00,2.30,0.00,0.000,4,0.000,0.052,2751,667,3222,0,0,0,0,0,0
$GC,3149,-0.50,-117.3,239.2,-7.5,21,3154,0.00,2.28,0.00,0.000,6,0.000,0.049,2744,2139,3222,0,0,0,0,0,0
$GC,3515,-0.50,-117.3,266.7,-7.5,23,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2139,3221,0,0,0,0,0,0
$GC,3714,-0.50,-117.3,281.4,-7.4,24,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2139,3221,0,0,0,0,0,0
$GC,3917,-0.50,-117.3,296.6,-7.4,25,3921,0.00,2.33,0.00,0.000,4,0.000,0.053,2743,668,3220,0,0,0,0,0,0
$GC,3933,-0.50,-117.3,298.3,-7.6,25,3937,0.00,2.28,0.00,0.000,6,0.000,0.050,2735,2135,3220,0,0,0,0,0,0
$GC,4343,-0.50,-117.3,331.0,-7.8,27,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2135,3219,0,0,0,0,0,0
$GC,4545,-0.50,-117.3,345.7,-7.6,28,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2135,3219,0,0,0,0,0,0
$GC,4744,-0.50,-117.3,360.2,-7.4,29,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2136,3218,0,0,0,0,0,0
$GC,4944,-0.50,-117.3,374.8,-7.4,30,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2135,3218,0,0,0,0,0,0
$GC,5145,-0.50,-117.3,390.0,-7.3,31,5150,0.00,2.53,0.00,0.000,4,0.000,0.063,2723,3691,3218,0,0,0,0,0,0
$GC,5167,-0.50,-117.3,391.9,-7.9,31,5172,0.12,2.47,0.00,0.000,6,0.127,0.047,2760,2130,3217,0,0,0,0,0,0
$GC,5560,-0.51,-117.3,416.4,-6.1,33,5564,0.00,2.30,0.00,0.000,4,0.000,0.054,2761,657,3217,0,0,0,0,0,0
$GC,5604,-0.53,-117.3,419.4,-6.2,33,5608,0.00,2.33,0.00,0.000,6,0.000,0.052,2755,2135,3217,0,0,0,0,0,0
$GC,5974,-0.53,-117.3,443.3,-6.6,35,5976,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2135,3216,0,0,0,0,0,0
$GC,6174,-0.53,-117.3,457.0,-6.7,36,6175,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2135,3215,0,0,0,0,0,0
$GC,6375,-0.53,-117.3,469.4,-6.6,37,6379,0.00,2.33,0.00,0.000,4,0.000,0.054,2755,664,3215,0,0,0,0,0,0
$GC,6398,-0.53,-117.3,470.8,-6.4,37,6402,0.00,2.30,0.00,0.000,6,0.000,0.052,2750,2124,3215,0,0,0,0,0,0
$GC,6791,-0.53,-117.3,491.8,-5.3,39,6796,0.00,2.53,0.00,0.000,4,0.000,0.065,2739,3688,3214,0,0,0,0,0,0
$GC,6813,-0.53,-117.3,493.2,-5.6,39,6817,0.00,2.47,0.00,0.000,6,0.000,0.048,2738,2117,3214,0,0,0,0,0,0
$GC,7205,-0.53,-117.3,518.7,-6.5,41,7209,0.00,2.30,0.00,0.000,4,0.000,0.056,2738,666,3214,0,0,0,0,0,0
$GC,7249,-0.53,-117.3,522.0,-7.3,41,7253,0.00,2.25,0.00,0.000,6,0.000,0.053,2733,2115,3213,0,0,0,0,0,0
$GC,7630,-0.53,-117.3,548.2,-6.9,43,7635,0.00,2.58,0.00,0.000,4,0.000,0.065,2729,3693,3213,0,0,0,0,0,0
$GC,7652,-0.53,-117.3,549.8,-6.8,43,7656,0.00,2.50,0.00,0.000,6,0.000,0.048,2729,2114,3212,0,0,0,0,0,0
$GC,8044,-0.53,-117.3,576.2,-6.7,45,8048,0.00,2.28,0.00,0.000,4,0.000,0.056,2729,661,3213,0,0,0,0,0,0
$GC,8093,-0.53,-117.3,579.7,-7.1,45,8097,0.00,2.30,0.00,0.000,6,0.000,0.054,2729,2117,3212,0,0,0,0,0,0
$GC,8462,-0.53,-117.3,602.9,-6.3,47,8466,0.00,2.58,0.00,0.000,4,0.000,0.066,2726,3694,3212,0,0,0,0,0,0
$GC,8484,-0.53,-117.3,604.6,-6.0,47,8489,0.00,2.53,0.00,0.000,6,0.000,0.049,2725,2096,3211,0,0,0,0,0,0
$GC,9089,-0.53,-117.3,642.7,-6.2,49,9093,0.00,2.28,0.00,0.000,4,0.000,0.056,2725,665,3211,0,0,0,0,0,0
$GC,9116,-0.53,-117.3,644.7,-7.0,49,9120,0.00,2.28,0.00,0.000,6,0.000,0.054,2723,2121,3211,0,0,0,0,0,0
$GC,9721,-0.53,-117.3,682.0,-6.0,51,9726,0.00,2.58,0.00,0.000,4,0.000,0.066,2712,3693,3210,0,0,0,0,0,0
$GC,9743,-0.53,-117.3,683.3,-5.8,51,9748,0.12,2.53,0.00,0.000,6,0.123,0.049,2750,2105,3210,0,0,0,0,0,0
$GC,10349,-0.54,-117.3,711.9,-4.8,53,10353,0.00,2.65,0.00,0.000,4,0.000,0.066,2742,3694,3209,0,0,0,0,0,0
$GC,10378,-0.55,-117.3,713.6,-6.4,53,10382,0.00,2.50,0.00,0.000,6,0.000,0.050,2741,2107,3209,0,0,0,0,0,0
$GC,10978,-0.55,-117.3,751.1,-6.4,55,10979,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2106,3208,0,0,0,0,0,0
$GC,11279,-0.55,-117.3,769.5,-6.3,56,11280,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2106,3208,0,0,0,0,0,0
$GC,11578,-0.55,-117.3,786.2,-6.1,57,11582,0.00,2.30,0.00,0.000,4,0.000,0.057,2741,666,3208,0,0,0,0,0,0
$GC,11600,-0.55,-117.3,787.5,-6.3,57,11604,0.00,2.28,0.00,0.000,6,0.000,0.055,2741,2115,3208,0,0,0,0,0,0
$GC,12206,-0.55,-117.3,819.8,-5.4,59,12211,0.00,2.58,0.00,0.000,4,0.000,0.067,2739,3686,3207,0,0,0,0,0,0
$GC,12251,-0.57,-117.3,822.4,-5.2,59,12255,0.00,2.50,0.00,0.000,6,0.000,0.049,2739,2107,3207,0,0,0,0,0,0
$GC,12835,-0.57,-117.3,851.0,-4.7,61,12839,0.00,2.30,0.00,0.000,4,0.000,0.058,2738,662,3207,0,0,0,0,0,0
$GC,12858,-0.57,-117.3,852.3,-5.0,61,12862,0.00,2.30,0.00,0.000,6,0.000,0.054,2733,2113,3206,0,0,0,0,0,0
$GC,13464,-0.57,-117.3,881.7,-5.0,63,13468,0.00,2.60,0.00,0.000,4,0.000,0.067,2722,3687,3206,0,0,0,0,0,0
$GC,13526,-0.57,-117.3,885.3,-5.9,63,13531,0.00,2.47,0.00,0.000,6,0.000,0.048,2722,2117,3206,0,0,0,0,0,0
$GC,14095,-0.57,-117.3,922.3,-6.8,65,14097,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2117,3206,0,0,0,0,0,0
$GC,14393,-0.57,-117.3,942.7,-6.8,66,14394,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2116,3206,0,0,0,0,0,0
$GC,14694,-0.57,-117.3,961.5,-6.7,67,14695,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2116,3205,0,0,0,0,0,0
$GC,14994,-0.57,-117.3,978.5,-6.4,68,14995,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2116,3206,0,0,0,0,0,0
$STATE,15292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15292,begin apogee
$GC,15299,-0.22,0.0,995.1,6.0,69,15407,0.38,0.00,105.82,1.233,6,0.101,0.000,2847,2054,2735,0,0,0,0,0,0
$STATE,15408,end apogee,CONTROL_FINISHED_OK
$STATE,15408,begin climb
$GC,15412,0.50,117.3,995.1,0.0,69,15531,0.68,0.00,115.32,1.200,6,0.063,0.000,3081,2054,2256,0,0,0,0,0,0
$GC,15596,0.68,466.9,985.6,-6.2,70,15932,0.17,2.67,330.05,1.164,4,0.067,0.059,3165,557,830,0,0,0,0,0,0
$GC,15975,0.66,466.9,922.7,16.7,71,15980,0.12,2.58,0.00,0.000,6,0.144,0.050,3135,2065,826,0,0,0,0,0,0
$GC,16525,0.65,466.9,842.1,14.5,73,16529,0.00,2.42,0.00,0.000,4,0.000,0.062,3144,556,822,0,0,0,0,0,0
$GC,16632,0.65,466.9,828.7,9.9,73,16636,0.00,2.35,0.00,0.000,6,0.000,0.053,3144,2042,821,0,0,0,0,0,0
$GC,17155,0.63,466.9,748.5,15.7,75,17159,0.00,2.38,0.00,0.000,4,0.000,0.063,3154,557,821,0,0,0,0,0,0
$GC,17249,0.63,466.9,734.8,11.5,75,17253,0.00,2.30,0.00,0.000,6,0.000,0.053,3154,2022,821,0,0,0,0,0,0
$GC,17793,0.61,466.9,644.6,17.0,77,17798,0.12,2.35,0.00,0.000,4,0.155,0.062,3128,557,820,0,0,0,0,0,0
$GC,17877,0.63,466.9,634.0,10.5,77,17881,0.00,2.25,0.00,0.000,6,0.000,0.052,3128,2003,820,0,0,0,0,0,0
$GC,18326,0.63,466.9,570.0,14.5,79,18330,0.00,2.30,0.00,0.000,4,0.000,0.061,3138,554,820,0,0,0,0,0,0
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$STATE,23267,end climb,SURFACE_DEPTH_REACHED
$STATE,23268,begin surface coast
$FINISH,3.4,1.023231
$STATE,23274,end surface coast,CONTROL_FINISHED_OK
$STATE,23274,begin surface
$SM_CCo,23355,0.00,0.000,0,0,817,470.49
$SM_GC,2.01,8.10,0.00,0.00,0.043,0.000,0.000,109,2192,817,-8.62,0.48,470.49
$IRIDIUM_FIX,4700.70,-12608.41,120811,111101
$TT8_MAMPS,0.026964
$HUMID,42.55
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,21.9,72.133
$10V_AH,9.9,77.631
$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,21.400,190.750,551.200,0.000,0.000,26.818,29.847,126.026,0.000,0.000,17.077,1156.651,18677.768,722.381,2676.295,437.365,33.377,2000.382,0.000,2423.911,0.000,0.535,0.000
$DEVICE_MAMPS,222.615,123.165,1233.180,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,73.804,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,3650,107
$CAP_FILE_SIZE,186489,0
$CFSIZE,260165632,162250752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119,161.1,1
$GPS,130811,022936,4715.031,-12623.609,43,1.2,48,18.6