version: 66.07
glider: 187
mission: 4
dive: 229
start: 5 17 111 5 18 46
data:
$ID,187
$MISSION,4
$DIVE,229
$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,-1584110.2
$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,29
$R_STBD_OVSHOOT,40
$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
$GPS1,170511,051054,4717.636,-12625.170,25,1.2,42,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-77.2
$GPS2,170511,051749,4717.680,-12625.122,12,1.3,17,18.6
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.128,0.198
$KALMAN_X,4661.7,436.2,-571.6,37592.4,1233.0
$KALMAN_Y,3117.8,564.1,1123.2,24478.7,-1391.2
$MHEAD_RNG_PITCHd_Wd,27.2,132351,-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,14,begin dive
$GC,16,-0.72,-117.3,0.0,0.0,0,90,0.00,0.00,-70.82,0.000,2,0.000,0.000,131,2191,2831,0,0,0,0,0,0
$GC,94,-0.72,-117.3,3.2,-3.7,11,118,10.12,2.47,-7.88,0.000,4,0.237,0.061,2664,656,3217,0,0,0,0,0,0
$GC,235,-0.68,-117.3,41.9,-21.2,36,244,0.00,2.40,0.00,0.000,6,0.000,0.050,2655,2161,3220,0,0,0,0,0,0
$GC,310,-0.63,-117.3,58.3,-22.5,49,319,0.17,2.47,0.00,0.000,4,0.165,0.060,2692,3694,3220,0,0,0,0,0,0
$GC,349,-0.60,-117.3,66.4,-18.7,55,356,0.00,2.42,0.00,0.000,6,0.000,0.045,2691,2168,3220,0,0,0,0,0,0
$GC,420,-0.58,-117.3,79.1,-17.6,68,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2163,3220,0,0,0,0,0,0
$GC,494,-0.56,-117.3,91.6,-15.1,81,502,0.12,0.00,0.00,0.000,6,0.169,0.000,2724,2162,3221,0,0,0,0,0,0
$GC,567,-0.56,-117.3,101.7,-12.1,93,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2162,3221,0,0,0,0,0,0
$GC,694,-0.56,-117.3,117.5,-12.1,105,698,0.00,2.33,0.00,0.000,4,0.000,0.051,2724,660,3222,0,0,0,0,0,0
$GC,727,-0.56,-117.3,121.6,-11.8,107,734,0.00,2.35,0.00,0.000,6,0.000,0.050,2717,2166,3222,0,0,0,0,0,0
$GC,861,-0.56,-117.3,136.7,-11.4,120,865,0.00,2.42,0.00,0.000,4,0.000,0.060,2706,3698,3222,0,0,0,0,0,0
$GC,905,-0.56,-117.3,142.0,-11.8,123,913,0.00,2.40,0.00,0.000,6,0.000,0.044,2705,2165,3222,0,0,0,0,0,0
$GC,1041,-0.56,-117.3,158.1,-12.2,136,1046,0.00,2.30,0.00,0.000,4,0.000,0.051,2704,663,3222,0,0,0,0,0,0
$GC,1082,-0.56,-117.3,163.4,-12.7,139,1087,0.12,2.33,0.00,0.000,6,0.161,0.049,2729,2162,3222,0,0,0,0,0,0
$GC,1219,-0.57,-117.3,177.4,-10.0,151,1223,0.00,2.42,0.00,0.000,4,0.000,0.060,2720,3700,3222,0,0,0,0,0,0
$GC,1253,-0.58,-117.3,181.0,-10.6,153,1260,0.00,2.40,0.00,0.000,6,0.000,0.044,2719,2165,3222,0,0,0,0,0,0
$GC,1388,-0.58,-117.3,194.6,-10.0,166,1392,0.00,2.30,0.00,0.000,4,0.000,0.052,2719,666,3222,0,0,0,0,0,0
$GC,1439,-0.58,-117.3,200.1,-10.4,170,1444,0.00,2.33,0.00,0.000,6,0.000,0.049,2710,2166,3222,0,0,0,0,0,0
$GC,1574,-0.58,-117.3,214.7,-10.8,182,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2166,3222,0,0,0,0,0,0
$GC,1701,-0.58,-117.3,228.7,-10.7,194,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2166,3222,0,0,0,0,0,0
$GC,1829,-0.58,-117.3,242.4,-10.5,206,1834,0.00,2.42,0.00,0.000,4,0.000,0.060,2699,3695,3222,0,0,0,0,0,0
$GC,1870,-0.58,-117.3,246.9,-11.1,209,1874,0.00,2.38,0.00,0.000,6,0.000,0.044,2698,2144,3222,0,0,0,0,0,0
$GC,2004,-0.58,-117.3,262.5,-12.2,221,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2140,3222,0,0,0,0,0,0
$GC,2133,-0.58,-117.3,277.7,-11.8,233,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2140,3222,0,0,0,0,0,0
$GC,2260,-0.58,-117.3,292.7,-12.1,245,2264,0.00,2.25,0.00,0.000,4,0.000,0.052,2697,666,3222,0,0,0,0,0,0
$GC,2303,-0.58,-117.3,298.5,-12.5,248,2311,0.00,2.28,0.00,0.000,6,0.000,0.049,2688,2154,3222,0,0,0,0,0,0
$GC,2438,-0.58,-117.3,314.3,-11.5,261,2442,0.00,2.42,0.00,0.000,4,0.000,0.061,2676,3691,3222,0,0,0,0,0,0
$GC,2471,-0.58,-117.3,318.6,-12.5,263,2478,0.15,2.35,0.00,0.000,6,0.148,0.044,2719,2149,3222,0,0,0,0,0,0
$GC,2606,-0.60,-117.3,331.2,-9.1,276,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2143,3223,0,0,0,0,0,0
$GC,2734,-0.61,-117.3,342.9,-9.3,288,2738,0.00,2.28,0.00,0.000,4,0.000,0.052,2719,660,3222,0,0,0,0,0,0
$GC,2772,-0.62,-117.3,346.8,-9.9,291,2779,0.00,2.33,0.00,0.000,6,0.000,0.050,2712,2149,3222,0,0,0,0,0,0
$GC,2907,-0.62,-117.3,360.1,-9.9,304,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2149,3221,0,0,0,0,0,0
$GC,3034,-0.62,-117.3,373.1,-10.2,316,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2149,3222,0,0,0,0,0,0
$GC,3160,-0.62,-117.3,385.8,-10.0,328,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2149,3221,0,0,0,0,0,0
$GC,3288,-0.62,-117.3,398.4,-10.0,340,3292,0.00,2.47,0.00,0.000,4,0.000,0.062,2700,3697,3221,0,0,0,0,0,0
$GC,3321,-0.62,-117.3,402.0,-10.2,342,3329,0.00,2.42,0.00,0.000,6,0.000,0.046,2698,2141,3221,0,0,0,0,0,0
$GC,3456,-0.62,-117.3,416.3,-10.7,355,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2138,3221,0,0,0,0,0,0
$GC,3584,-0.62,-117.3,430.2,-10.6,367,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2138,3221,0,0,0,0,0,0
$GC,3712,-0.62,-117.3,443.7,-10.3,379,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2138,3220,0,0,0,0,0,0
$GC,3838,-0.62,-117.3,457.2,-10.7,391,3842,0.00,2.50,0.00,0.000,4,0.000,0.062,2688,3697,3220,0,0,0,0,0,0
$GC,3867,-0.62,-117.3,460.3,-11.5,393,3871,0.00,2.40,0.00,0.000,6,0.000,0.045,2687,2127,3220,0,0,0,0,0,0
$GC,4002,-0.62,-117.3,475.1,-11.0,405,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2121,3220,0,0,0,0,0,0
$GC,4129,-0.62,-117.3,488.9,-10.4,417,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2121,3219,0,0,0,0,0,0
$GC,4256,-0.62,-117.3,502.5,-10.7,429,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2121,3219,0,0,0,0,0,0
$GC,4383,-0.62,-117.3,516.2,-11.2,441,4388,0.00,2.53,0.00,0.000,4,0.000,0.062,2676,3697,3219,0,0,0,0,0,0
$GC,4413,-0.62,-117.3,519.6,-11.8,443,4418,0.00,2.38,0.00,0.000,6,0.000,0.046,2675,2141,3219,0,0,0,0,0,0
$GC,4548,-0.62,-117.3,535.2,-11.6,455,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2137,3219,0,0,0,0,0,0
$GC,4675,-0.62,-117.3,549.7,-11.6,467,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2137,3219,0,0,0,0,0,0
$GC,4803,-0.62,-117.3,563.9,-11.0,479,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2137,3218,0,0,0,0,0,0
$GC,4930,-0.62,-117.3,578.1,-11.3,491,4931,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2137,3218,0,0,0,0,0,0
$GC,5057,-0.62,-117.3,592.3,-11.0,503,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2137,3218,0,0,0,0,0,0
$GC,5194,-0.62,-117.3,607.3,-11.0,512,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2137,3218,0,0,0,0,0,0
$GC,5499,-0.62,-117.3,640.0,-10.5,522,5503,0.00,2.28,0.00,0.000,4,0.000,0.054,2675,666,3218,0,0,0,0,0,0
$GC,5526,-0.62,-117.3,643.2,-11.3,522,5533,0.12,2.28,0.00,0.000,6,0.158,0.052,2699,2152,3218,0,0,0,0,0,0
$GC,5841,-0.63,-117.3,671.7,-9.2,533,5845,0.00,2.42,0.00,0.000,4,0.000,0.065,2690,3697,3217,0,0,0,0,0,0
$GC,5880,-0.64,-117.3,675.7,-9.8,534,5884,0.00,2.40,0.00,0.000,6,0.000,0.047,2689,2141,3217,0,0,0,0,0,0
$GC,6216,-0.64,-117.3,707.4,-9.3,545,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2138,3217,0,0,0,0,0,0
$GC,6523,-0.64,-117.3,735.6,-9.1,555,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2138,3217,0,0,0,0,0,0
$GC,6828,-0.64,-117.3,764.8,-9.8,565,6830,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2138,3216,0,0,0,0,0,0
$GC,7134,-0.64,-117.3,793.4,-9.1,575,7138,0.00,2.47,0.00,0.000,4,0.000,0.065,2678,3690,3216,0,0,0,0,0,0
$GC,7173,-0.64,-117.3,797.0,-9.5,576,7177,0.00,2.38,0.00,0.000,6,0.000,0.047,2678,2144,3216,0,0,0,0,0,0
$GC,7503,-0.64,-117.3,827.3,-9.1,587,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2140,3215,0,0,0,0,0,0
$GC,7810,-0.64,-117.3,853.6,-8.5,597,7814,0.00,2.28,0.00,0.000,4,0.000,0.056,2677,667,3215,0,0,0,0,0,0
$GC,7843,-0.64,-117.3,856.8,-8.8,598,7848,0.00,2.28,0.00,0.000,6,0.000,0.054,2668,2153,3215,0,0,0,0,0,0
$GC,8174,-0.64,-117.3,886.8,-9.0,609,8178,0.00,2.47,0.00,0.000,4,0.000,0.066,2656,3698,3214,0,0,0,0,0,0
$GC,8246,-0.64,-117.3,894.1,-9.9,611,8251,0.15,2.35,0.00,0.000,6,0.150,0.048,2698,2158,3214,0,0,0,0,0,0
$GC,8572,-0.65,-117.3,918.7,-7.4,622,8576,0.00,2.28,0.00,0.000,4,0.000,0.056,2698,667,3214,0,0,0,0,0,0
$GC,8616,-0.67,-117.3,922.3,-8.1,623,8621,0.00,2.28,0.00,0.000,6,0.000,0.053,2691,2154,3214,0,0,0,0,0,0
$GC,8936,-0.67,-117.3,946.6,-7.8,634,8937,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2154,3213,0,0,0,0,0,0
$GC,9242,-0.68,-117.3,969.8,-7.6,644,9246,0.00,2.42,0.00,0.000,4,0.000,0.066,2679,3691,3213,0,0,0,0,0,0
$GC,9280,-0.68,-117.3,973.0,-8.2,645,9284,0.00,2.38,0.00,0.000,6,0.000,0.048,2678,2150,3213,0,0,0,0,0,0
$STATE,9522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9522,begin apogee
$GC,9529,-0.22,0.0,991.9,7.7,653,9633,0.47,0.00,101.30,1.233,6,0.127,0.000,2832,2050,2735,0,0,0,0,0,0
$STATE,9634,end apogee,CONTROL_FINISHED_OK
$STATE,9634,begin climb
$GC,9637,0.72,117.3,993.7,0.0,656,9750,0.88,0.00,109.65,1.204,6,0.080,0.000,3131,2050,2256,0,0,0,0,0,0
$GC,10042,0.69,117.3,939.5,15.1,670,10046,0.00,2.53,0.00,0.000,4,0.000,0.062,3131,3578,2246,0,0,0,0,0,0
$GC,10104,0.66,117.3,929.3,17.2,672,10109,0.00,2.40,0.00,0.000,6,0.000,0.048,3143,2078,2244,0,0,0,0,0,0
$GC,10440,0.63,117.3,877.8,15.0,683,10442,0.15,0.00,0.00,0.000,6,0.179,0.000,3105,2078,2243,0,0,0,0,0,0
$GC,10748,0.61,117.3,838.9,12.5,693,10752,0.00,2.42,0.00,0.000,4,0.000,0.063,3105,3574,2241,0,0,0,0,0,0
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$STATE,18210,end climb,SURFACE_DEPTH_REACHED
$STATE,18210,begin surface coast
$FINISH,0.7,1.010679
$STATE,18243,end surface coast,CONTROL_FINISHED_OK
$STATE,18244,begin surface
$SM_CCo,18261,38.45,0.490,1,0,1206,375.06
$SM_GC,1.75,0.00,0.00,38.45,0.000,0.000,0.490,128,2162,1206,-8.68,-0.37,375.06
$IRIDIUM_FIX,4700.70,-12635.70,160511,232328
$TT8_MAMPS,0.027713
$HUMID,35.62
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,16.00
$XPDR_PINGS,2
$24V_AH,23.3,23.032
$10V_AH,10.2,17.394
$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
$DEVICE_SECS,21.350,200.450,382.450,38.450,0.000,28.481,38.820,198.494,0.500,0.000,18.448,3505.389,11129.993,667.996,2932.463,470.235,33.359,1977.119,0.000,2674.118,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,923.774,1114.157,1116.580,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297460
$DATA_FILE_SIZE,76916,1339
$CAP_FILE_SIZE,216844,0
$CFSIZE,260165632,200196096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.015, 77.7,1
$GPS,170511,102507,4719.572,-12622.268,37,0.8,37,18.6