version: 66.07
glider: 187
mission: 4
dive: 221
start: 5 15 111 11 35 39
data:
$ID,187
$MISSION,4
$DIVE,221
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$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,375
$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,-1584099.8
$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,2905
$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,31
$R_STBD_OVSHOOT,38
$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
$GPS1,150511,112755,4705.578,-12649.487,43,1.0,43,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-75.2
$GPS2,150511,113444,4705.534,-12649.473,15,1.0,15,18.6
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.236,0.011
$KALMAN_X,122.0,-45.1,757.2,10558.1,-1381.9
$KALMAN_Y,-598.2,190.1,-1207.0,8416.2,2040.6
$MHEAD_RNG_PITCHd_Wd,22.8,169981,-20.8,-10.000
$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,-0.72,-117.3,0.0,0.0,0,91,0.00,0.00,-73.07,0.000,2,0.000,0.000,130,2190,2891,0,0,0,0,0,0
$GC,95,-0.72,-117.3,3.6,-6.3,11,118,10.15,2.47,-6.62,0.000,4,0.238,0.061,2665,653,3217,0,0,0,0,0,0
$GC,241,-0.69,-117.3,40.7,-22.5,37,248,0.00,2.42,0.00,0.000,6,0.000,0.049,2655,2173,3220,0,0,0,0,0,0
$GC,315,-0.64,-117.3,57.3,-23.4,50,323,0.15,0.00,0.00,0.000,6,0.169,0.000,2694,2174,3220,0,0,0,0,0,0
$GC,389,-0.62,-117.3,72.0,-18.6,63,396,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2173,3221,0,0,0,0,0,0
$GC,461,-0.60,-117.3,83.7,-15.5,76,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2173,3221,0,0,0,0,0,0
$GC,534,-0.58,-117.3,94.7,-15.8,89,541,0.00,2.47,0.00,0.000,4,0.000,0.061,2685,3691,3221,0,0,0,0,0,0
$GC,601,-0.57,-117.3,106.0,-17.3,98,606,0.12,2.40,0.00,0.000,6,0.153,0.044,2719,2140,3221,0,0,0,0,0,0
$GC,736,-0.57,-117.3,124.2,-12.4,110,741,0.00,2.28,0.00,0.000,4,0.000,0.052,2719,663,3222,0,0,0,0,0,0
$GC,780,-0.57,-117.3,129.9,-12.1,113,787,0.00,2.33,0.00,0.000,6,0.000,0.049,2711,2156,3222,0,0,0,0,0,0
$GC,914,-0.57,-117.3,145.1,-11.7,126,919,0.00,2.42,0.00,0.000,4,0.000,0.060,2699,3692,3222,0,0,0,0,0,0
$GC,988,-0.57,-117.3,153.9,-12.1,132,992,0.00,2.38,0.00,0.000,6,0.000,0.044,2698,2156,3222,0,0,0,0,0,0
$GC,1122,-0.57,-117.3,170.1,-11.7,144,1126,0.00,2.28,0.00,0.000,4,0.000,0.051,2698,666,3223,0,0,0,0,0,0
$GC,1174,-0.57,-117.3,176.3,-11.9,148,1179,0.12,2.33,0.00,0.000,6,0.161,0.049,2724,2166,3223,0,0,0,0,0,0
$GC,1311,-0.59,-117.3,189.7,-9.8,160,1315,0.00,2.40,0.00,0.000,4,0.000,0.060,2715,3693,3223,0,0,0,0,0,0
$GC,1352,-0.60,-117.3,194.0,-10.3,163,1356,0.00,2.35,0.00,0.000,6,0.000,0.044,2714,2156,3223,0,0,0,0,0,0
$GC,1488,-0.60,-117.3,208.6,-10.9,175,1492,0.00,2.30,0.00,0.000,4,0.000,0.051,2714,663,3223,0,0,0,0,0,0
$GC,1534,-0.60,-117.3,213.9,-11.3,179,1538,0.00,2.30,0.00,0.000,6,0.000,0.048,2704,2163,3223,0,0,0,0,0,0
$GC,1669,-0.60,-117.3,229.5,-11.8,191,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2163,3223,0,0,0,0,0,0
$GC,1796,-0.60,-117.3,244.1,-11.5,203,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2163,3223,0,0,0,0,0,0
$GC,1925,-0.60,-117.3,258.0,-10.7,215,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2163,3223,0,0,0,0,0,0
$GC,2051,-0.60,-117.3,271.5,-10.3,227,2055,0.00,2.30,0.00,0.000,4,0.000,0.051,2704,662,3223,0,0,0,0,0,0
$GC,2091,-0.60,-117.3,275.8,-11.0,230,2095,0.00,2.30,0.00,0.000,6,0.000,0.048,2694,2167,3223,0,0,0,0,0,0
$GC,2227,-0.60,-117.3,290.3,-10.6,242,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2167,3223,0,0,0,0,0,0
$GC,2362,-0.60,-117.3,304.7,-10.5,255,2366,0.00,2.40,0.00,0.000,4,0.000,0.061,2682,3698,3223,0,0,0,0,0,0
$GC,2395,-0.60,-117.3,308.7,-11.3,257,2403,0.10,2.35,0.00,0.000,6,0.162,0.044,2708,2155,3223,0,0,0,0,0,0
$GC,2531,-0.60,-117.3,321.4,-9.4,270,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2152,3222,0,0,0,0,0,0
$GC,2657,-0.61,-117.3,333.7,-9.6,282,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2152,3223,0,0,0,0,0,0
$GC,2784,-0.61,-117.3,346.3,-9.8,294,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2152,3223,0,0,0,0,0,0
$GC,2912,-0.61,-117.3,358.8,-9.9,306,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2153,3222,0,0,0,0,0,0
$GC,3039,-0.61,-117.3,371.3,-9.6,318,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2152,3222,0,0,0,0,0,0
$GC,3166,-0.61,-117.3,383.3,-9.4,330,3171,0.00,2.45,0.00,0.000,4,0.000,0.062,2699,3693,3222,0,0,0,0,0,0
$GC,3200,-0.61,-117.3,386.7,-10.1,332,3206,0.00,2.35,0.00,0.000,6,0.000,0.046,2698,2154,3222,0,0,0,0,0,0
$GC,3334,-0.61,-117.3,399.4,-9.3,345,3338,0.00,2.28,0.00,0.000,4,0.000,0.053,2698,660,3222,0,0,0,0,0,0
$GC,3372,-0.61,-117.3,403.8,-10.1,348,3380,0.00,2.33,0.00,0.000,6,0.000,0.050,2689,2151,3221,0,0,0,0,0,0
$GC,3508,-0.61,-117.3,417.6,-10.8,361,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2151,3221,0,0,0,0,0,0
$GC,3634,-0.61,-117.3,431.1,-10.7,373,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2151,3221,0,0,0,0,0,0
$GC,3762,-0.61,-117.3,444.8,-10.5,385,3766,0.00,2.45,0.00,0.000,4,0.000,0.063,2677,3690,3221,0,0,0,0,0,0
$GC,3795,-0.61,-117.3,448.5,-11.0,387,3803,0.05,2.40,0.00,0.000,6,0.140,0.046,2706,2147,3221,0,0,0,0,0,0
$GC,3930,-0.62,-117.3,461.4,-9.5,400,3932,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2144,3221,0,0,0,0,0,0
$GC,4058,-0.63,-117.3,473.2,-9.2,412,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2144,3220,0,0,0,0,0,0
$GC,4193,-0.64,-117.3,486.0,-9.5,425,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2144,3220,0,0,0,0,0,0
$GC,4321,-0.65,-117.3,497.9,-9.5,437,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2144,3220,0,0,0,0,0,0
$GC,4448,-0.67,-117.3,509.8,-9.5,449,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2145,3219,0,0,0,0,0,0
$GC,4574,-0.68,-117.3,521.5,-9.4,461,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2144,3219,0,0,0,0,0,0
$GC,4702,-0.69,-117.3,533.1,-8.9,473,4703,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2144,3219,0,0,0,0,0,0
$GC,4830,-0.70,-117.3,544.6,-8.9,485,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2144,3219,0,0,0,0,0,0
$GC,4956,-0.72,-117.3,555.3,-8.5,497,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2144,3219,0,0,0,0,0,0
$GC,5084,-0.73,-117.3,566.0,-8.3,509,5088,0.12,2.28,0.00,0.000,4,0.090,0.054,2642,666,3219,0,0,0,0,0,0
$GC,5124,-0.71,-117.3,570.5,-12.5,512,5129,0.15,2.28,0.00,0.000,6,0.164,0.051,2673,2154,3219,0,0,0,0,0,0
$GC,5260,-0.71,-117.3,584.4,-10.0,524,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2154,3218,0,0,0,0,0,0
$GC,5388,-0.71,-117.3,597.1,-10.2,536,5392,0.00,2.42,0.00,0.000,4,0.000,0.064,2664,3690,3218,0,0,0,0,0,0
$GC,5450,-0.71,-117.3,603.7,-10.7,539,5454,0.00,2.33,0.00,0.000,6,0.000,0.046,2663,2161,3218,0,0,0,0,0,0
$GC,5785,-0.71,-117.3,639.6,-11.0,550,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2158,3217,0,0,0,0,0,0
$GC,6092,-0.71,-117.3,672.1,-10.8,560,6096,0.00,2.30,0.00,0.000,4,0.000,0.054,2663,667,3217,0,0,0,0,0,0
$GC,6124,-0.71,-117.3,676.0,-11.6,561,6128,0.00,2.28,0.00,0.000,6,0.000,0.052,2653,2158,3218,0,0,0,0,0,0
$GC,6460,-0.71,-117.3,714.3,-11.8,572,6461,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2158,3217,0,0,0,0,0,0
$GC,6767,-0.71,-117.3,751.2,-12.2,582,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2158,3217,0,0,0,0,0,0
$GC,7072,-0.71,-117.3,787.2,-11.5,592,7077,0.00,2.42,0.00,0.000,4,0.000,0.064,2641,3693,3217,0,0,0,0,0,0
$GC,7111,-0.70,-117.3,792.0,-11.7,593,7116,0.15,2.35,0.00,0.000,6,0.155,0.048,2683,2156,3216,0,0,0,0,0,0
$GC,7436,-0.70,-117.3,821.1,-8.5,604,7438,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2153,3215,0,0,0,0,0,0
$GC,7742,-0.70,-117.3,845.0,-7.5,614,7743,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2153,3215,0,0,0,0,0,0
$GC,8048,-0.70,-117.3,868.0,-7.6,624,8052,0.00,2.42,0.00,0.000,4,0.000,0.066,2674,3690,3215,0,0,0,0,0,0
$GC,8081,-0.70,-117.3,870.9,-8.5,625,8086,0.00,2.35,0.00,0.000,6,0.000,0.047,2673,2146,3214,0,0,0,0,0,0
$GC,8411,-0.70,-117.3,899.7,-9.1,636,8415,0.00,2.25,0.00,0.000,4,0.000,0.055,2672,668,3214,0,0,0,0,0,0
$GC,8450,-0.70,-117.3,903.8,-9.4,637,8454,0.00,2.33,0.00,0.000,6,0.000,0.053,2663,2169,3214,0,0,0,0,0,0
$GC,8775,-0.70,-117.3,935.5,-9.8,648,8779,0.00,2.42,0.00,0.000,4,0.000,0.066,2651,3698,3214,0,0,0,0,0,0
$GC,8806,-0.70,-117.3,939.1,-10.0,649,8811,0.10,2.35,0.00,0.000,6,0.165,0.049,2676,2158,3214,0,0,0,0,0,0
$GC,9136,-0.70,-117.3,966.6,-8.1,660,9140,0.00,2.30,0.00,0.000,4,0.000,0.056,2676,668,3214,0,0,0,0,0,0
$GC,9176,-0.70,-117.3,970.2,-8.9,661,9180,0.00,2.30,0.00,0.000,6,0.000,0.054,2669,2156,3213,0,0,0,0,0,0
$STATE,9406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9406,begin apogee
$GC,9412,-0.22,0.0,990.1,8.7,669,9517,0.50,0.00,101.57,1.232,6,0.127,0.000,2830,2049,2735,0,0,0,0,0,0
$STATE,9518,end apogee,CONTROL_FINISHED_OK
$STATE,9518,begin climb
$GC,9521,0.72,117.3,992.3,0.0,672,9635,0.88,0.00,109.07,1.206,6,0.083,0.000,3129,2049,2256,0,0,0,0,0,0
$GC,9922,0.70,117.3,941.4,14.6,685,9923,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2049,2246,0,0,0,0,0,0
$GC,10229,0.68,117.3,897.4,14.3,695,10234,0.00,2.50,0.00,0.000,4,0.000,0.063,3128,3583,2243,0,0,0,0,0,0
$GC,10292,0.64,117.3,887.3,16.6,697,10296,0.00,2.40,0.00,0.000,6,0.000,0.048,3140,2068,2242,0,0,0,0,0,0
$GC,10627,0.62,117.3,836.8,14.9,708,10629,0.12,0.00,0.00,0.000,6,0.183,0.000,3109,2067,2242,0,0,0,0,0,0
$GC,10934,0.60,117.3,795.8,13.3,718,10939,0.00,2.42,0.00,0.000,4,0.000,0.063,3109,3580,2240,0,0,0,0,0,0
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$STATE,18237,end climb,SURFACE_DEPTH_REACHED
$STATE,18237,begin surface coast
$FINISH,0.7,1.011221
$STATE,18320,end surface coast,CONTROL_FINISHED_OK
$STATE,18320,begin surface
$SM_CCo,18338,57.70,0.525,1,0,1205,375.06
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$IRIDIUM_FIX,4700.70,-12702.98,150511,060623
$TT8_MAMPS,0.027713
$HUMID,36.10
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,23.3,22.035
$10V_AH,10.2,16.332
$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
$DEVICE_SECS,21.175,194.925,333.150,57.700,0.000,27.093,36.388,196.671,0.000,0.000,16.303,3624.476,11013.328,636.460,3051.775,467.282,32.338,1985.388,0.000,2797.920,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,954.738,1137.438,1180.083,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297520
$DATA_FILE_SIZE,76866,1380
$CAP_FILE_SIZE,220386,0
$CFSIZE,260165632,200937472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.052,143.1,1
$GPS,150511,164356,4707.039,-12646.628,37,2.6,56,18.6