version: 66.07
glider: 187
mission: 4
dive: 643
start: 8 13 111 19 32 14
data:
$ID,187
$MISSION,4
$DIVE,643
$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,-1585554.8
$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,34
$R_STBD_OVSHOOT,41
$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
$GPS1,130811,192536,4712.370,-12630.604,39,1.8,44,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-77.1
$GPS2,130811,193119,4712.389,-12630.592,17,1.9,34,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.200,-0.014
$KALMAN_X,344565.8,-38.6,65.4,-448432.4,2694.2
$KALMAN_Y,-619865.9,-1736.6,156.9,558280.2,-1904.0
$MHEAD_RNG_PITCHd_Wd,248.5,43659,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.50,-117.3,0.0,0.0,0,95,0.00,0.00,-77.22,0.000,6,0.000,0.000,120,2184,3215,0,0,0,0,0,0
$GC,99,-0.50,-117.3,0.0,-0.0,0,114,10.68,2.40,0.00,0.000,4,0.225,0.044,2747,648,3218,0,0,0,0,0,0
$GC,179,-0.47,-117.3,33.1,-11.9,0,183,0.00,2.38,0.00,0.000,6,0.000,0.048,2738,2167,3221,0,0,0,0,0,0
$GC,372,-0.45,-117.3,56.6,-12.1,3,377,0.12,2.45,0.00,0.000,4,0.148,0.058,2763,3697,3223,0,0,0,0,0,0
$GC,403,-0.43,-117.3,59.8,-9.9,3,407,0.00,2.38,0.00,0.000,6,0.000,0.042,2763,2173,3223,0,0,0,0,0,0
$GC,651,-0.42,-117.3,82.7,-9.5,6,655,0.00,2.33,0.00,0.000,4,0.000,0.049,2764,664,3225,0,0,0,0,0,0
$GC,700,-0.42,-117.3,88.2,-10.0,6,704,0.00,2.33,0.00,0.000,6,0.000,0.047,2756,2168,3225,0,0,0,0,0,0
$GC,1038,-0.41,-117.3,116.2,-8.3,9,1040,0.10,0.00,0.00,0.000,6,0.146,0.000,2786,2167,3225,0,0,0,0,0,0
$GC,1240,-0.41,-117.3,129.3,-7.6,10,1244,0.00,2.42,0.00,0.000,4,0.000,0.060,2779,3691,3225,0,0,0,0,0,0
$GC,1262,-0.43,-117.3,131.0,-6.9,10,1266,0.00,2.40,0.00,0.000,6,0.000,0.043,2778,2145,3225,0,0,0,0,0,0
$GC,1662,-0.44,-117.3,155.1,-5.9,12,1666,0.00,2.28,0.00,0.000,4,0.000,0.050,2778,668,3224,0,0,0,0,0,0
$GC,1706,-0.46,-117.3,158.0,-5.9,12,1711,0.00,2.30,0.00,0.000,6,0.000,0.047,2773,2152,3225,0,0,0,0,0,0
$GC,2079,-0.46,-117.3,181.5,-6.3,14,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2152,3224,0,0,0,0,0,0
$GC,2277,-0.46,-117.3,192.9,-6.0,15,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2152,3223,0,0,0,0,0,0
$GC,2479,-0.47,-117.3,205.4,-6.0,16,2483,0.00,2.33,0.00,0.000,4,0.000,0.051,2773,669,3223,0,0,0,0,0,0
$GC,2501,-0.48,-117.3,207.0,-6.7,16,2505,0.00,2.28,0.00,0.000,6,0.000,0.049,2772,2144,3223,0,0,0,0,0,0
$GC,2894,-0.49,-117.3,232.5,-6.3,18,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2144,3223,0,0,0,0,0,0
$GC,3094,-0.50,-117.3,243.8,-6.0,19,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2144,3222,0,0,0,0,0,0
$GC,3295,-0.51,-117.3,255.8,-6.0,20,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2144,3222,0,0,0,0,0,0
$GC,3497,-0.52,-117.3,268.0,-6.0,21,3501,0.00,2.33,0.00,0.000,4,0.000,0.052,2773,666,3221,0,0,0,0,0,0
$GC,3518,-0.54,-117.3,269.6,-6.4,21,3522,0.00,2.30,0.00,0.000,6,0.000,0.050,2772,2147,3221,0,0,0,0,0,0
$GC,3918,-0.55,-117.3,294.1,-6.1,23,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2148,3220,0,0,0,0,0,0
$GC,4120,-0.56,-117.3,305.7,-6.0,24,4124,0.10,2.35,0.00,0.000,4,0.099,0.052,2711,668,3219,0,0,0,0,0,0
$GC,4141,-0.56,-117.3,307.6,-7.5,24,4146,0.12,2.30,0.00,0.000,6,0.139,0.050,2740,2145,3219,0,0,0,0,0,0
$GC,4540,-0.56,-117.3,334.5,-6.6,26,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2145,3219,0,0,0,0,0,0
$GC,4740,-0.56,-117.3,346.8,-6.4,27,4741,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2145,3218,0,0,0,0,0,0
$GC,4940,-0.56,-117.3,358.1,-6.1,28,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2145,3218,0,0,0,0,0,0
$GC,5141,-0.56,-117.3,369.7,-6.0,29,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2145,3217,0,0,0,0,0,0
$GC,5342,-0.56,-117.3,382.7,-5.9,30,5347,0.00,2.33,0.00,0.000,4,0.000,0.054,2740,661,3217,0,0,0,0,0,0
$GC,5378,-0.56,-117.3,385.2,-7.2,30,5383,0.00,2.33,0.00,0.000,6,0.000,0.051,2740,2140,3217,0,0,0,0,0,0
$GC,5760,-0.56,-117.3,413.2,-7.5,32,5764,0.00,2.50,0.00,0.000,4,0.000,0.063,2732,3693,3217,0,0,0,0,0,0
$GC,5799,-0.56,-117.3,416.3,-7.9,32,5804,0.00,2.45,0.00,0.000,6,0.000,0.047,2731,2132,3217,0,0,0,0,0,0
$GC,6182,-0.56,-117.3,448.5,-8.5,34,6186,0.00,2.30,0.00,0.000,4,0.000,0.054,2731,667,3215,0,0,0,0,0,0
$GC,6236,-0.56,-117.3,453.5,-8.3,34,6241,0.00,2.28,0.00,0.000,6,0.000,0.052,2723,2132,3215,0,0,0,0,0,0
$GC,6601,-0.56,-117.3,481.6,-7.6,36,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2131,3215,0,0,0,0,0,0
$GC,6796,-0.56,-117.3,495.6,-7.3,37,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2131,3214,0,0,0,0,0,0
$GC,6997,-0.56,-117.3,508.8,-7.1,38,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2131,3214,0,0,0,0,0,0
$GC,7197,-0.56,-117.3,521.5,-6.8,39,7202,0.00,2.33,0.00,0.000,4,0.000,0.054,2723,666,3214,0,0,0,0,0,0
$GC,7221,-0.56,-117.3,523.1,-7.3,39,7225,0.00,2.30,0.00,0.000,6,0.000,0.052,2718,2137,3214,0,0,0,0,0,0
$GC,7613,-0.56,-117.3,551.0,-7.3,41,7618,0.00,2.53,0.00,0.000,4,0.000,0.063,2707,3689,3213,0,0,0,0,0,0
$GC,7642,-0.56,-117.3,553.4,-8.2,41,7647,0.10,2.45,0.00,0.000,6,0.139,0.048,2737,2134,3213,0,0,0,0,0,0
$GC,8029,-0.56,-117.3,578.8,-6.5,43,8033,0.00,2.33,0.00,0.000,4,0.000,0.056,2737,654,3213,0,0,0,0,0,0
$GC,8087,-0.56,-117.3,582.8,-7.7,43,8091,0.00,2.33,0.00,0.000,6,0.000,0.054,2732,2123,3213,0,0,0,0,0,0
$GC,8453,-0.56,-117.3,607.2,-6.7,45,8457,0.00,2.53,0.00,0.000,4,0.000,0.066,2721,3687,3212,0,0,0,0,0,0
$GC,8481,-0.56,-117.3,609.4,-6.8,45,8485,0.00,2.47,0.00,0.000,6,0.000,0.048,2720,2119,3212,0,0,0,0,0,0
$GC,9081,-0.56,-117.3,651.2,-7.1,47,9085,0.00,2.35,0.00,0.000,4,0.000,0.055,2721,659,3211,0,0,0,0,0,0
$GC,9126,-0.56,-117.3,654.7,-8.3,47,9130,0.00,2.28,0.00,0.000,6,0.000,0.053,2712,2118,3211,0,0,0,0,0,0
$GC,9708,-0.56,-117.3,699.4,-7.7,49,9709,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2118,3211,0,0,0,0,0,0
$GC,10010,-0.56,-117.3,721.3,-7.5,50,10012,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2117,3210,0,0,0,0,0,0
$GC,10309,-0.56,-117.3,742.8,-7.4,51,10314,0.00,2.58,0.00,0.000,4,0.000,0.064,2701,3693,3209,0,0,0,0,0,0
$GC,10348,-0.56,-117.3,745.9,-7.3,51,10353,0.12,2.53,0.00,0.000,6,0.129,0.048,2739,2112,3209,0,0,0,0,0,0
$GC,10938,-0.56,-117.3,780.0,-5.8,53,10942,0.00,2.33,0.00,0.000,4,0.000,0.058,2739,654,3209,0,0,0,0,0,0
$GC,10965,-0.56,-117.3,781.9,-6.7,53,10969,0.00,2.33,0.00,0.000,6,0.000,0.055,2734,2125,3209,0,0,0,0,0,0
$GC,11570,-0.56,-117.3,817.6,-5.9,55,11574,0.00,2.55,0.00,0.000,4,0.000,0.067,2723,3687,3208,0,0,0,0,0,0
$GC,11602,-0.56,-117.3,819.9,-6.3,55,11606,0.00,2.50,0.00,0.000,6,0.000,0.050,2722,2117,3208,0,0,0,0,0,0
$GC,12196,-0.56,-117.3,856.4,-6.1,57,12200,0.00,2.33,0.00,0.000,4,0.000,0.057,2722,663,3207,0,0,0,0,0,0
$GC,12217,-0.56,-117.3,857.9,-6.5,57,12221,0.00,2.30,0.00,0.000,6,0.000,0.054,2714,2116,3207,0,0,0,0,0,0
$GC,12828,-0.56,-117.3,896.6,-6.3,59,12832,0.00,2.60,0.00,0.000,4,0.000,0.066,2702,3694,3207,0,0,0,0,0,0
$GC,12873,-0.56,-117.3,899.6,-6.3,59,12878,0.12,2.50,0.00,0.000,6,0.125,0.050,2741,2117,3207,0,0,0,0,0,0
$GC,13458,-0.57,-117.3,929.3,-5.0,61,13459,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2113,3207,0,0,0,0,0,0
$GC,13758,-0.59,-117.3,944.1,-5.0,62,13759,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2113,3206,0,0,0,0,0,0
$GC,14057,-0.60,-117.3,958.7,-4.9,63,14062,0.00,2.60,0.00,0.000,4,0.000,0.067,2733,3690,3206,0,0,0,0,0,0
$GC,14085,-0.61,-117.3,960.4,-6.4,63,14089,0.00,2.50,0.00,0.000,6,0.000,0.050,2732,2122,3206,0,0,0,0,0,0
$STATE,14681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14681,begin apogee
$GC,14687,-0.22,0.0,993.6,5.7,65,14796,0.35,0.00,105.62,1.233,6,0.099,0.000,2850,2047,2735,0,0,0,0,0,0
$STATE,14797,end apogee,CONTROL_FINISHED_OK
$STATE,14797,begin climb
$GC,14801,0.50,117.3,993.6,0.0,65,14919,0.68,0.00,115.10,1.198,6,0.063,0.000,3085,2047,2256,0,0,0,0,0,0
$GC,14985,0.47,117.3,986.8,8.8,66,14986,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2046,2249,0,0,0,0,0,0
$GC,15286,0.44,117.3,959.6,9.1,67,15291,0.00,2.50,0.00,0.000,4,0.000,0.062,3085,3571,2245,0,0,0,0,0,0
$GC,15326,0.40,117.3,955.1,12.3,67,15331,0.17,2.42,0.00,0.000,6,0.153,0.049,3049,2065,2244,0,0,0,0,0,0
$GC,15916,0.39,117.3,908.8,8.1,69,15917,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2064,2242,0,0,0,0,0,0
$GC,16217,0.38,117.3,884.0,8.1,70,16221,0.00,2.42,0.00,0.000,4,0.000,0.064,3049,3571,2241,0,0,0,0,0,0
$GC,16250,0.36,117.3,880.6,10.0,70,16254,0.00,2.40,0.00,0.000,6,0.000,0.049,3057,2058,2241,0,0,0,0,0,0
$GC,16851,0.34,117.3,829.0,8.6,72,16855,0.00,2.47,0.00,0.000,4,0.000,0.063,3057,3576,2240,0,0,0,0,0,0
$GC,16873,0.32,117.3,826.7,10.0,72,16878,0.15,2.42,0.00,0.000,6,0.148,0.050,3026,2054,2239,0,0,0,0,0,0
$GC,17480,0.32,117.3,787.0,6.5,74,17484,0.00,2.47,0.00,0.000,4,0.000,0.063,3025,3571,2239,0,0,0,0,0,0
$GC,17518,0.32,117.3,784.0,7.7,74,17523,0.00,2.40,0.00,0.000,6,0.000,0.050,3033,2064,2238,0,0,0,0,0,0
$GC,18106,0.32,117.3,747.0,6.2,76,18107,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2062,2238,0,0,0,0,0,0
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$STATE,28876,end climb,SURFACE_DEPTH_REACHED
$STATE,28876,begin surface coast
$FINISH,1.0,1.011213
$STATE,28967,end surface coast,CONTROL_FINISHED_OK
$STATE,28967,begin surface
$SM_CCo,29047,0.00,0.000,0,0,1184,380.46
$SM_GC,1.84,8.02,0.00,0.00,0.037,0.000,0.000,141,2189,1184,-8.59,0.40,380.46
$IRIDIUM_FIX,4654.38,-12620.51,130811,111127
$TT8_MAMPS,0.026964
$HUMID,41.61
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,22.1,72.535
$10V_AH,9.9,77.910
$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,21.850,231.400,446.825,0.000,0.000,26.859,32.350,124.898,0.000,0.000,34.935,1435.231,23462.672,622.734,3323.809,530.004,33.371,2232.991,0.000,3036.812,0.000,0.535,0.000
$DEVICE_MAMPS,224.910,107.865,1233.180,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,91.888,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,6994,133
$CAP_FILE_SIZE,231650,0
$CFSIZE,260165632,161968128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,142.7,1
$GPS,140811,033737,4711.451,-12634.102,40,0.8,40,18.6