version: 66.07
glider: 187
mission: 4
dive: 236
start: 5 18 111 18 21 21
data:
$ID,187
$MISSION,4
$DIVE,236
$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,-1584119.2
$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,33
$R_STBD_OVSHOOT,34
$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
$GPS1,180511,181254,4728.729,-12603.074,32,1.3,49,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-74.4
$GPS2,180511,182025,4728.746,-12603.069,14,1.5,19,18.7
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.180,0.152
$KALMAN_X,10960.0,675.2,-531.9,58857.2,1726.4
$KALMAN_Y,12731.4,-213.4,1207.4,36057.2,424.0
$MHEAD_RNG_PITCHd_Wd,29.2,98222,-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,-117.3,0.0,0.0,0,90,0.00,0.00,-71.05,0.000,2,0.000,0.000,130,2186,2828,0,0,0,0,0,0
$GC,94,-0.72,-117.3,3.0,-3.2,11,123,10.25,2.42,-8.60,0.000,4,0.241,0.060,2668,662,3217,0,0,0,0,0,0
$GC,179,-0.69,-117.3,23.8,-21.3,25,187,0.00,2.40,0.00,0.000,6,0.000,0.050,2659,2166,3218,0,0,0,0,0,0
$GC,254,-0.64,-117.3,39.6,-21.3,38,262,0.15,2.47,0.00,0.000,4,0.168,0.060,2688,3700,3219,0,0,0,0,0,0
$GC,282,-0.61,-117.3,46.0,-21.6,42,290,0.00,2.42,0.00,0.000,6,0.000,0.044,2688,2173,3220,0,0,0,0,0,0
$GC,355,-0.57,-117.3,60.1,-21.6,55,362,0.12,0.00,0.00,0.000,6,0.175,0.000,2719,2168,3220,0,0,0,0,0,0
$GC,428,-0.56,-117.3,73.0,-16.5,68,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2168,3220,0,0,0,0,0,0
$GC,499,-0.55,-117.3,85.2,-15.8,81,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2168,3220,0,0,0,0,0,0
$GC,571,-0.55,-117.3,95.8,-15.1,94,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2168,3221,0,0,0,0,0,0
$GC,644,-0.55,-117.3,105.3,-12.5,103,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2168,3221,0,0,0,0,0,0
$GC,770,-0.55,-117.3,120.4,-11.9,115,775,0.00,2.33,0.00,0.000,4,0.000,0.050,2720,657,3221,0,0,0,0,0,0
$GC,844,-0.55,-117.3,129.7,-12.6,121,848,0.00,2.38,0.00,0.000,6,0.000,0.049,2711,2185,3222,0,0,0,0,0,0
$GC,980,-0.55,-117.3,147.0,-12.5,133,984,0.00,2.40,0.00,0.000,4,0.000,0.060,2700,3694,3221,0,0,0,0,0,0
$GC,1024,-0.55,-117.3,153.2,-12.6,136,1031,0.00,2.35,0.00,0.000,6,0.000,0.044,2699,2175,3222,0,0,0,0,0,0
$GC,1158,-0.55,-117.3,170.3,-12.5,149,1162,0.00,2.30,0.00,0.000,4,0.000,0.050,2698,667,3222,0,0,0,0,0,0
$GC,1209,-0.55,-117.3,176.8,-12.8,153,1214,0.12,2.35,0.00,0.000,6,0.163,0.047,2724,2190,3221,0,0,0,0,0,0
$GC,1350,-0.56,-117.3,191.7,-10.1,166,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2190,3221,0,0,0,0,0,0
$GC,1478,-0.58,-117.3,204.3,-9.9,178,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2190,3222,0,0,0,0,0,0
$GC,1605,-0.59,-117.3,216.8,-9.9,190,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2190,3222,0,0,0,0,0,0
$GC,1741,-0.60,-117.3,230.5,-10.0,203,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2190,3222,0,0,0,0,0,0
$GC,1869,-0.62,-117.3,242.8,-9.3,215,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2189,3222,0,0,0,0,0,0
$GC,1995,-0.63,-117.3,255.1,-9.4,227,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2190,3222,0,0,0,0,0,0
$GC,2122,-0.65,-117.3,266.9,-9.3,239,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2190,3221,0,0,0,0,0,0
$GC,2251,-0.67,-117.3,278.3,-8.5,251,2253,0.10,0.00,0.00,0.000,6,0.102,0.000,2665,2190,3221,0,0,0,0,0,0
$GC,2377,-0.65,-117.3,293.3,-12.2,263,2381,0.00,2.35,0.00,0.000,4,0.000,0.050,2664,666,3221,0,0,0,0,0,0
$GC,2409,-0.64,-117.3,297.9,-13.4,265,2417,0.15,2.35,0.00,0.000,6,0.155,0.050,2696,2188,3221,0,0,0,0,0,0
$GC,2544,-0.64,-117.3,312.0,-10.5,278,2549,0.00,2.40,0.00,0.000,4,0.000,0.063,2687,3691,3221,0,0,0,0,0,0
$GC,2577,-0.64,-117.3,316.0,-11.3,280,2584,0.00,2.30,0.00,0.000,6,0.000,0.044,2685,2188,3221,0,0,0,0,0,0
$GC,2711,-0.64,-117.3,330.5,-10.8,293,2715,0.00,2.35,0.00,0.000,4,0.000,0.052,2685,659,3221,0,0,0,0,0,0
$GC,2744,-0.64,-117.3,334.5,-11.8,295,2751,0.00,2.35,0.00,0.000,6,0.000,0.050,2675,2182,3221,0,0,0,0,0,0
$GC,2879,-0.64,-117.3,350.3,-11.8,308,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2182,3221,0,0,0,0,0,0
$GC,3006,-0.64,-117.3,365.0,-11.2,320,3010,0.00,2.40,0.00,0.000,4,0.000,0.062,2663,3700,3221,0,0,0,0,0,0
$GC,3050,-0.64,-117.3,370.8,-12.2,323,3057,0.12,2.33,0.00,0.000,6,0.155,0.044,2698,2172,3220,0,0,0,0,0,0
$GC,3184,-0.64,-117.3,384.8,-10.6,336,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2167,3220,0,0,0,0,0,0
$GC,3312,-0.64,-117.3,398.3,-10.9,348,3313,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2168,3220,0,0,0,0,0,0
$GC,3440,-0.64,-117.3,411.7,-10.9,360,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2168,3220,0,0,0,0,0,0
$GC,3566,-0.64,-117.3,424.8,-10.5,372,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2168,3220,0,0,0,0,0,0
$GC,3694,-0.64,-117.3,437.5,-10.0,384,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2168,3220,0,0,0,0,0,0
$GC,3822,-0.64,-117.3,450.3,-10.7,396,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2168,3220,0,0,0,0,0,0
$GC,3949,-0.64,-117.3,462.7,-9.6,408,3950,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2168,3219,0,0,0,0,0,0
$GC,4077,-0.64,-117.3,475.0,-10.0,420,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2168,3219,0,0,0,0,0,0
$GC,4205,-0.64,-117.3,487.4,-10.1,432,4209,0.00,2.33,0.00,0.000,4,0.000,0.053,2698,661,3219,0,0,0,0,0,0
$GC,4237,-0.64,-117.3,491.0,-10.4,434,4244,0.00,2.35,0.00,0.000,6,0.000,0.050,2690,2184,3219,0,0,0,0,0,0
$GC,4372,-0.64,-117.3,504.7,-10.3,447,4376,0.00,2.40,0.00,0.000,4,0.000,0.063,2678,3690,3219,0,0,0,0,0,0
$GC,4404,-0.64,-117.3,508.6,-11.4,449,4411,0.00,2.30,0.00,0.000,6,0.000,0.046,2677,2188,3219,0,0,0,0,0,0
$GC,4540,-0.64,-117.3,523.0,-10.7,462,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2184,3219,0,0,0,0,0,0
$GC,4668,-0.64,-117.3,536.6,-10.6,474,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2184,3218,0,0,0,0,0,0
$GC,4793,-0.64,-117.3,550.4,-11.1,486,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2184,3218,0,0,0,0,0,0
$GC,4921,-0.64,-117.3,564.6,-10.9,498,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2185,3218,0,0,0,0,0,0
$GC,5048,-0.64,-117.3,578.3,-10.7,510,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2184,3218,0,0,0,0,0,0
$GC,5175,-0.64,-117.3,591.9,-10.7,522,5180,0.00,2.35,0.00,0.000,4,0.000,0.054,2677,662,3217,0,0,0,0,0,0
$GC,5209,-0.64,-117.3,596.1,-11.7,524,5216,0.12,2.35,0.00,0.000,6,0.164,0.052,2701,2186,3218,0,0,0,0,0,0
$GC,5351,-0.65,-117.3,609.4,-9.3,532,5355,0.00,2.38,0.00,0.000,4,0.000,0.064,2693,3690,3218,0,0,0,0,0,0
$GC,5384,-0.66,-117.3,612.9,-10.1,533,5388,0.00,2.28,0.00,0.000,6,0.000,0.047,2692,2189,3218,0,0,0,0,0,0
$GC,5715,-0.66,-117.3,645.6,-10.0,544,5716,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2186,3217,0,0,0,0,0,0
$GC,6020,-0.66,-117.3,675.0,-9.8,554,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2186,3216,0,0,0,0,0,0
$GC,6326,-0.66,-117.3,704.7,-9.8,564,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2186,3216,0,0,0,0,0,0
$GC,6634,-0.66,-117.3,732.5,-9.1,574,6638,0.00,2.33,0.00,0.000,4,0.000,0.054,2692,664,3216,0,0,0,0,0,0
$GC,6677,-0.66,-117.3,737.2,-10.1,575,6681,0.00,2.35,0.00,0.000,6,0.000,0.053,2683,2197,3216,0,0,0,0,0,0
$GC,7003,-0.66,-117.3,766.7,-8.9,586,7004,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2197,3215,0,0,0,0,0,0
$GC,7310,-0.66,-117.3,793.3,-8.6,596,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2197,3214,0,0,0,0,0,0
$GC,7615,-0.66,-117.3,820.5,-9.0,606,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2197,3214,0,0,0,0,0,0
$GC,7921,-0.66,-117.3,848.6,-9.4,616,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2197,3214,0,0,0,0,0,0
$GC,8229,-0.66,-117.3,877.5,-9.2,626,8233,0.00,2.35,0.00,0.000,4,0.000,0.066,2672,3690,3213,0,0,0,0,0,0
$GC,8279,-0.66,-117.3,882.5,-9.7,627,8283,0.00,2.30,0.00,0.000,6,0.000,0.046,2671,2186,3213,0,0,0,0,0,0
$GC,8597,-0.66,-117.3,913.6,-10.0,638,8598,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2183,3213,0,0,0,0,0,0
$GC,8905,-0.66,-117.3,942.6,-9.3,648,8906,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2183,3212,0,0,0,0,0,0
$GC,9210,-0.66,-117.3,972.9,-9.9,658,9211,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2183,3212,0,0,0,0,0,0
$STATE,9391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9391,begin apogee
$GC,9397,-0.22,0.0,991.4,9.9,664,9501,0.50,0.00,101.03,1.236,6,0.126,0.000,2833,2054,2735,0,0,0,0,0,0
$STATE,9502,end apogee,CONTROL_FINISHED_OK
$STATE,9502,begin climb
$GC,9505,0.72,117.3,994.9,0.0,667,9618,0.90,0.00,109.00,1.207,6,0.079,0.000,3136,2053,2256,0,0,0,0,0,0
$GC,9911,0.69,117.3,945.1,14.4,681,9916,0.00,2.53,0.00,0.000,4,0.000,0.061,3136,3581,2245,0,0,0,0,0,0
$GC,9945,0.65,117.3,939.5,16.3,682,9951,0.12,2.45,0.00,0.000,6,0.195,0.047,3120,2060,2244,0,0,0,0,0,0
$GC,10276,0.63,117.3,892.7,14.0,693,10280,0.00,2.47,0.00,0.000,4,0.000,0.063,3120,3573,2242,0,0,0,0,0,0
$GC,10325,0.61,117.3,884.8,16.0,694,10329,0.00,2.38,0.00,0.000,6,0.000,0.046,3129,2061,2242,0,0,0,0,0,0
$GC,10639,0.58,117.3,839.1,14.4,704,10644,0.12,2.42,0.00,0.000,4,0.184,0.060,3097,3575,2242,0,0,0,0,0,0
$GC,10723,0.56,117.3,826.6,14.1,706,10727,0.00,2.35,0.00,0.000,6,0.000,0.046,3107,2078,2240,0,0,0,0,0,0
$GC,11037,0.55,117.3,786.3,12.6,716,11038,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2076,2240,0,0,0,0,0,0
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$STATE,17818,end climb,SURFACE_DEPTH_REACHED
$STATE,17818,begin surface coast
$FINISH,0.8,1.023235
$STATE,17852,end surface coast,CONTROL_FINISHED_OK
$STATE,17854,begin surface
$SM_CCo,17872,33.15,0.474,1,0,1205,375.06
$SM_GC,1.63,0.00,0.00,33.15,0.000,0.000,0.474,136,2193,1205,-8.65,0.51,375.06
$IRIDIUM_FIX,4710.21,-12604.45,180511,121220
$TT8_MAMPS,0.027713
$HUMID,36.33
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,23.3,23.917
$10V_AH,10.2,18.342
$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,21.475,181.225,369.150,33.150,0.000,27.024,45.932,220.089,0.000,0.000,20.151,3408.918,10939.327,644.476,2889.652,461.428,33.353,1918.623,0.000,2599.718,0.000,0.535,0.000
$DEVICE_MAMPS,240.975,75.735,1236.240,473.535,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,906.539,1091.304,1106.299,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297536
$DATA_FILE_SIZE,73566,1314
$CAP_FILE_SIZE,208160,0
$CFSIZE,260165632,199532544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.098, 10.2,1
$GPS,180511,232107,4731.407,-12600.122,36,1.0,36,18.7