version: 66.07
glider: 187
mission: 4
dive: 218
start: 5 14 111 19 59 1
data:
$ID,187
$MISSION,4
$DIVE,218
$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,-1584095.9
$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,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,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
$GPS1,140511,195055,4701.844,-12658.475,39,1.9,39,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-75.6
$GPS2,140511,195807,4701.863,-12658.500,14,1.9,31,18.6
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.195,0.133
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,40.5,183053,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.72,-117.3,0.0,0.0,0,91,0.00,0.00,-73.20,0.000,2,0.000,0.000,126,2194,2862,0,0,0,0,0,0
$GC,95,-0.72,-117.3,3.1,-4.1,11,119,10.07,2.45,-7.80,0.000,4,0.237,0.062,2665,662,3217,0,0,0,0,0,0
$GC,243,-0.69,-117.3,38.5,-20.1,37,251,0.00,2.38,0.00,0.000,6,0.000,0.048,2656,2161,3219,0,0,0,0,0,0
$GC,318,-0.64,-117.3,53.8,-21.1,50,326,0.15,2.45,0.00,0.000,4,0.169,0.060,2685,3693,3219,0,0,0,0,0,0
$GC,341,-0.60,-117.3,58.7,-20.5,53,349,0.00,2.40,0.00,0.000,6,0.000,0.045,2684,2179,3220,0,0,0,0,0,0
$GC,414,-0.57,-117.3,72.4,-18.3,66,422,0.12,2.38,0.00,0.000,4,0.171,0.053,2717,664,3220,0,0,0,0,0,0
$GC,472,-0.57,-117.3,82.0,-15.3,76,480,0.00,2.38,0.00,0.000,6,0.000,0.050,2709,2163,3221,0,0,0,0,0,0
$GC,545,-0.57,-117.3,92.2,-12.5,89,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2163,3221,0,0,0,0,0,0
$GC,622,-0.57,-117.3,101.8,-12.4,102,626,0.00,2.47,0.00,0.000,4,0.000,0.060,2697,3698,3221,0,0,0,0,0,0
$GC,655,-0.57,-117.3,106.1,-12.2,104,662,0.00,2.40,0.00,0.000,6,0.000,0.044,2696,2143,3221,0,0,0,0,0,0
$GC,789,-0.57,-117.3,122.5,-11.9,117,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2138,3222,0,0,0,0,0,0
$GC,916,-0.57,-117.3,137.5,-11.5,129,920,0.00,2.28,0.00,0.000,4,0.000,0.051,2695,657,3222,0,0,0,0,0,0
$GC,946,-0.57,-117.3,140.8,-11.9,131,951,0.12,2.30,0.00,0.000,6,0.161,0.049,2721,2153,3222,0,0,0,0,0,0
$GC,1081,-0.58,-117.3,154.0,-9.6,143,1085,0.00,2.45,0.00,0.000,4,0.000,0.061,2712,3695,3222,0,0,0,0,0,0
$GC,1113,-0.59,-117.3,157.4,-10.1,145,1121,0.00,2.40,0.00,0.000,6,0.000,0.044,2711,2144,3222,0,0,0,0,0,0
$GC,1248,-0.59,-117.3,171.5,-10.8,158,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2141,3222,0,0,0,0,0,0
$GC,1375,-0.59,-117.3,185.2,-10.6,170,1379,0.00,2.47,0.00,0.000,4,0.000,0.060,2700,3696,3222,0,0,0,0,0,0
$GC,1404,-0.59,-117.3,188.5,-11.7,172,1408,0.00,2.35,0.00,0.000,6,0.000,0.044,2699,2162,3222,0,0,0,0,0,0
$GC,1540,-0.59,-117.3,203.6,-11.2,184,1544,0.00,2.30,0.00,0.000,4,0.000,0.051,2699,665,3222,0,0,0,0,0,0
$GC,1585,-0.59,-117.3,209.0,-11.4,188,1589,0.00,2.30,0.00,0.000,6,0.000,0.048,2690,2157,3222,0,0,0,0,0,0
$GC,1719,-0.59,-117.3,224.5,-11.0,200,1723,0.00,2.42,0.00,0.000,4,0.000,0.060,2678,3693,3222,0,0,0,0,0,0
$GC,1759,-0.59,-117.3,229.0,-11.6,203,1764,0.12,2.35,0.00,0.000,6,0.155,0.044,2712,2155,3222,0,0,0,0,0,0
$GC,1893,-0.59,-117.3,242.1,-9.1,215,1898,0.00,2.28,0.00,0.000,4,0.000,0.052,2712,664,3222,0,0,0,0,0,0
$GC,1927,-0.59,-117.3,245.5,-10.1,217,1934,0.00,2.33,0.00,0.000,6,0.000,0.049,2705,2168,3222,0,0,0,0,0,0
$GC,2062,-0.59,-117.3,258.5,-9.7,230,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2168,3222,0,0,0,0,0,0
$GC,2189,-0.59,-117.3,271.1,-10.3,242,2193,0.00,2.40,0.00,0.000,4,0.000,0.061,2693,3690,3222,0,0,0,0,0,0
$GC,2218,-0.59,-117.3,274.1,-10.9,244,2222,0.00,2.33,0.00,0.000,6,0.000,0.044,2692,2162,3222,0,0,0,0,0,0
$GC,2354,-0.59,-117.3,288.9,-11.1,256,2358,0.00,2.30,0.00,0.000,4,0.000,0.051,2692,664,3222,0,0,0,0,0,0
$GC,2397,-0.59,-117.3,294.4,-12.1,259,2404,0.12,2.33,0.00,0.000,6,0.163,0.049,2718,2179,3222,0,0,0,0,0,0
$GC,2533,-0.61,-117.3,307.4,-9.9,272,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2179,3222,0,0,0,0,0,0
$GC,2659,-0.62,-117.3,319.9,-9.7,284,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2179,3222,0,0,0,0,0,0
$GC,2786,-0.64,-117.3,332.5,-9.7,296,2791,0.00,2.40,0.00,0.000,4,0.000,0.063,2709,3695,3222,0,0,0,0,0,0
$GC,2818,-0.65,-117.3,335.5,-10.4,298,2822,0.00,2.35,0.00,0.000,6,0.000,0.045,2709,2167,3221,0,0,0,0,0,0
$GC,2954,-0.66,-117.3,349.3,-10.2,310,2958,0.00,2.33,0.00,0.000,4,0.000,0.054,2708,661,3221,0,0,0,0,0,0
$GC,2986,-0.66,-117.3,353.2,-10.9,312,2994,0.00,2.35,0.00,0.000,6,0.000,0.050,2700,2162,3221,0,0,0,0,0,0
$GC,3123,-0.66,-117.3,367.4,-10.9,325,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2162,3221,0,0,0,0,0,0
$GC,3248,-0.66,-117.3,381.0,-10.4,337,3252,0.00,2.42,0.00,0.000,4,0.000,0.062,2689,3694,3221,0,0,0,0,0,0
$GC,3297,-0.66,-117.3,386.7,-11.0,341,3305,0.00,2.35,0.00,0.000,6,0.000,0.046,2688,2162,3220,0,0,0,0,0,0
$GC,3433,-0.66,-117.3,401.0,-10.7,354,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2159,3220,0,0,0,0,0,0
$GC,3559,-0.66,-117.3,414.9,-11.1,366,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2159,3220,0,0,0,0,0,0
$GC,3686,-0.66,-117.3,428.8,-10.9,378,3690,0.00,2.30,0.00,0.000,4,0.000,0.052,2687,662,3220,0,0,0,0,0,0
$GC,3725,-0.66,-117.3,433.3,-11.3,381,3733,0.00,2.35,0.00,0.000,6,0.000,0.050,2678,2168,3220,0,0,0,0,0,0
$GC,3860,-0.66,-117.3,447.8,-11.0,394,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2168,3219,0,0,0,0,0,0
$GC,3987,-0.66,-117.3,461.7,-10.9,406,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2169,3219,0,0,0,0,0,0
$GC,4116,-0.66,-117.3,475.9,-11.2,418,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2168,3219,0,0,0,0,0,0
$GC,4252,-0.66,-117.3,491.0,-10.9,431,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2168,3219,0,0,0,0,0,0
$GC,4379,-0.66,-117.3,505.6,-11.4,443,4383,0.00,2.45,0.00,0.000,4,0.000,0.063,2666,3698,3219,0,0,0,0,0,0
$GC,4443,-0.66,-117.3,513.1,-12.0,448,4447,0.00,2.33,0.00,0.000,6,0.000,0.046,2665,2170,3219,0,0,0,0,0,0
$GC,4578,-0.66,-117.3,529.2,-11.9,460,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2168,3219,0,0,0,0,0,0
$GC,4705,-0.66,-117.3,543.9,-11.5,472,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2167,3219,0,0,0,0,0,0
$GC,4833,-0.66,-117.3,558.2,-10.9,484,4834,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2168,3219,0,0,0,0,0,0
$GC,4959,-0.66,-117.3,572.4,-11.2,496,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2168,3218,0,0,0,0,0,0
$GC,5086,-0.66,-117.3,586.5,-10.9,508,5090,0.00,2.33,0.00,0.000,4,0.000,0.053,2665,663,3218,0,0,0,0,0,0
$GC,5118,-0.66,-117.3,590.6,-12.5,510,5127,0.10,2.38,0.00,0.000,6,0.132,0.052,2689,2183,3218,0,0,0,0,0,0
$GC,5253,-0.66,-117.3,603.1,-9.0,521,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2183,3218,0,0,0,0,0,0
$GC,5558,-0.66,-117.3,631.8,-9.5,531,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2183,3218,0,0,0,0,0,0
$GC,5864,-0.66,-117.3,660.3,-9.2,541,5869,0.00,2.42,0.00,0.000,4,0.000,0.065,2680,3698,3217,0,0,0,0,0,0
$GC,5904,-0.66,-117.3,664.2,-9.6,542,5908,0.00,2.35,0.00,0.000,6,0.000,0.047,2679,2171,3217,0,0,0,0,0,0
$GC,6228,-0.66,-117.3,695.7,-9.7,553,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2169,3217,0,0,0,0,0,0
$GC,6534,-0.66,-117.3,726.3,-10.1,563,6538,0.00,2.30,0.00,0.000,4,0.000,0.054,2679,661,3216,0,0,0,0,0,0
$GC,6563,-0.66,-117.3,729.2,-11.1,564,6567,0.00,2.35,0.00,0.000,6,0.000,0.052,2669,2198,3217,0,0,0,0,0,0
$GC,6898,-0.66,-117.3,764.9,-10.7,575,6902,0.00,2.38,0.00,0.000,4,0.000,0.066,2658,3690,3216,0,0,0,0,0,0
$GC,6948,-0.66,-117.3,770.7,-11.4,576,6953,0.12,2.28,0.00,0.000,6,0.155,0.047,2692,2190,3215,0,0,0,0,0,0
$GC,7268,-0.67,-117.3,801.0,-9.4,587,7272,0.00,2.33,0.00,0.000,4,0.000,0.055,2692,667,3215,0,0,0,0,0,0
$GC,7306,-0.67,-117.3,805.2,-10.4,588,7310,0.00,2.35,0.00,0.000,6,0.000,0.054,2684,2190,3215,0,0,0,0,0,0
$GC,7637,-0.67,-117.3,836.7,-9.5,599,7638,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2189,3215,0,0,0,0,0,0
$GC,7942,-0.67,-117.3,865.7,-9.6,609,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2190,3214,0,0,0,0,0,0
$GC,8249,-0.67,-117.3,894.5,-9.3,619,8253,0.00,2.40,0.00,0.000,4,0.000,0.067,2672,3692,3214,0,0,0,0,0,0
$GC,8294,-0.67,-117.3,899.0,-10.1,620,8298,0.00,2.30,0.00,0.000,6,0.000,0.049,2671,2184,3214,0,0,0,0,0,0
$GC,8612,-0.67,-117.3,929.0,-9.1,631,8616,0.00,2.33,0.00,0.000,4,0.000,0.056,2671,664,3214,0,0,0,0,0,0
$GC,8651,-0.67,-117.3,933.2,-10.6,632,8655,0.00,2.35,0.00,0.000,6,0.000,0.054,2661,2193,3214,0,0,0,0,0,0
$GC,8982,-0.67,-117.3,963.8,-9.1,643,8983,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2193,3213,0,0,0,0,0,0
$STATE,9286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9286,begin apogee
$GC,9293,-0.22,0.0,992.3,9.4,653,9397,0.52,0.00,101.53,1.234,6,0.128,0.000,2831,2054,2735,0,0,0,0,0,0
$STATE,9398,end apogee,CONTROL_FINISHED_OK
$STATE,9398,begin climb
$GC,9401,0.72,117.3,995.1,0.0,656,9514,0.88,0.00,109.97,1.206,6,0.080,0.000,3130,2054,2256,0,0,0,0,0,0
$GC,9805,0.70,117.3,942.8,15.1,670,9810,0.00,2.53,0.00,0.000,4,0.000,0.063,3130,3581,2245,0,0,0,0,0,0
$GC,9844,0.66,117.3,935.7,18.3,671,9849,0.00,2.42,0.00,0.000,6,0.000,0.048,3141,2074,2244,0,0,0,0,0,0
$GC,10170,0.63,117.3,884.5,15.6,682,10172,0.12,0.00,0.00,0.000,6,0.185,0.000,3111,2072,2242,0,0,0,0,0,0
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$STATE,17923,end climb,SURFACE_DEPTH_REACHED
$STATE,17923,begin surface coast
$FINISH,0.6,1.020902
$STATE,17968,end surface coast,CONTROL_FINISHED_OK
$STATE,17968,begin surface
$SM_CCo,17987,69.10,0.539,1,0,1205,375.06
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$TT8_MAMPS,0.027713
$HUMID,35.62
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.3,21.669
$10V_AH,10.3,15.926
$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,21.100,227.475,309.425,69.100,0.000,28.128,46.749,194.624,0.000,0.000,32.249,3518.418,10822.888,679.954,2989.666,469.630,29.236,1994.300,0.000,2706.448,0.000,0.535,0.000
$DEVICE_MAMPS,237.150,115.515,1233.945,539.325,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,923.497,1104.640,1152.997,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76862,1338
$CAP_FILE_SIZE,218426,0
$CFSIZE,260165632,201220096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.066,153.3,1
$GPS,150511,010125,4702.579,-12654.960,43,1.4,43,18.6