version: 66.07
glider: 187
mission: 4
dive: 224
start: 5 16 111 3 6 53
data:
$ID,187
$MISSION,4
$DIVE,224
$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,-1584103.8
$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
$GPS1,160511,025907,4709.891,-12640.182,41,0.8,41,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-77.4
$GPS2,160511,030556,4709.858,-12640.160,16,0.9,16,18.6
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.188,0.144
$KALMAN_X,2283.2,265.3,-383.9,20983.2,813.2
$KALMAN_Y,380.8,-49.5,176.3,14302.1,257.0
$MHEAD_RNG_PITCHd_Wd,18.2,155927,-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,-117.3,0.0,0.0,0,89,0.00,0.00,-70.65,0.000,2,0.000,0.000,128,2188,2825,0,0,0,0,0,0
$GC,93,-0.72,-117.3,3.3,-4.5,10,123,10.12,2.45,-8.05,0.000,4,0.236,0.060,2666,650,3217,0,0,0,0,0,0
$GC,232,-0.68,-117.3,38.1,-22.0,34,240,0.00,2.42,0.00,0.000,6,0.000,0.050,2657,2170,3219,0,0,0,0,0,0
$GC,306,-0.63,-117.3,54.5,-23.8,47,314,0.15,2.47,0.00,0.000,4,0.169,0.061,2686,3700,3220,0,0,0,0,0,0
$GC,340,-0.60,-117.3,61.5,-19.1,52,347,0.00,2.40,0.00,0.000,6,0.000,0.044,2685,2192,3220,0,0,0,0,0,0
$GC,413,-0.57,-117.3,74.5,-17.6,65,422,0.12,2.45,0.00,0.000,4,0.174,0.054,2718,664,3220,0,0,0,0,0,0
$GC,443,-0.55,-117.3,79.2,-16.6,69,451,0.00,2.45,0.00,0.000,6,0.000,0.050,2709,2205,3220,0,0,0,0,0,0
$GC,517,-0.54,-117.3,90.4,-15.2,82,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2205,3221,0,0,0,0,0,0
$GC,590,-0.54,-117.3,101.9,-14.9,94,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2204,3221,0,0,0,0,0,0
$GC,719,-0.54,-117.3,120.4,-14.2,106,723,0.00,2.42,0.00,0.000,4,0.000,0.051,2708,652,3221,0,0,0,0,0,0
$GC,747,-0.54,-117.3,125.1,-15.2,108,752,0.12,2.40,0.00,0.000,6,0.162,0.049,2732,2201,3221,0,0,0,0,0,0
$GC,881,-0.54,-117.3,140.6,-10.8,120,885,0.00,2.38,0.00,0.000,4,0.000,0.061,2723,3694,3222,0,0,0,0,0,0
$GC,931,-0.55,-117.3,146.1,-10.8,124,938,0.00,2.33,0.00,0.000,6,0.000,0.044,2722,2186,3221,0,0,0,0,0,0
$GC,1065,-0.55,-117.3,159.5,-10.1,137,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2181,3222,0,0,0,0,0,0
$GC,1193,-0.55,-117.3,172.6,-9.9,149,1197,0.00,2.42,0.00,0.000,4,0.000,0.060,2713,3699,3221,0,0,0,0,0,0
$GC,1244,-0.55,-117.3,177.8,-10.5,153,1249,0.00,2.30,0.00,0.000,6,0.000,0.044,2712,2198,3222,0,0,0,0,0,0
$GC,1378,-0.55,-117.3,192.2,-10.9,165,1382,0.00,2.38,0.00,0.000,4,0.000,0.052,2711,664,3221,0,0,0,0,0,0
$GC,1418,-0.55,-117.3,196.5,-10.8,168,1422,0.00,2.38,0.00,0.000,6,0.000,0.049,2702,2208,3221,0,0,0,0,0,0
$GC,1553,-0.55,-117.3,211.0,-11.0,180,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2208,3221,0,0,0,0,0,0
$GC,1679,-0.55,-117.3,225.4,-11.6,192,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2208,3222,0,0,0,0,0,0
$GC,1807,-0.55,-117.3,240.7,-12.2,204,1811,0.00,2.38,0.00,0.000,4,0.000,0.060,2690,3693,3221,0,0,0,0,0,0
$GC,1840,-0.55,-117.3,245.0,-12.7,206,1847,0.12,2.28,0.00,0.000,6,0.151,0.044,2725,2202,3221,0,0,0,0,0,0
$GC,1975,-0.57,-117.3,260.0,-10.7,219,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2197,3221,0,0,0,0,0,0
$GC,2103,-0.58,-117.3,273.3,-10.3,231,2107,0.00,2.35,0.00,0.000,4,0.000,0.052,2725,663,3222,0,0,0,0,0,0
$GC,2144,-0.59,-117.3,277.6,-10.4,234,2148,0.00,2.38,0.00,0.000,6,0.000,0.050,2719,2207,3221,0,0,0,0,0,0
$GC,2285,-0.61,-117.3,292.3,-10.6,247,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2208,3221,0,0,0,0,0,0
$GC,2413,-0.62,-117.3,305.1,-9.7,259,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2208,3221,0,0,0,0,0,0
$GC,2548,-0.63,-117.3,318.8,-10.0,272,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2208,3221,0,0,0,0,0,0
$GC,2675,-0.64,-117.3,331.2,-9.4,284,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2208,3221,0,0,0,0,0,0
$GC,2804,-0.65,-117.3,342.8,-8.8,296,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2208,3222,0,0,0,0,0,0
$GC,2930,-0.67,-117.3,354.3,-8.9,308,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2208,3221,0,0,0,0,0,0
$GC,3058,-0.68,-117.3,365.9,-9.2,320,3062,0.00,2.35,0.00,0.000,4,0.000,0.062,2709,3693,3221,0,0,0,0,0,0
$GC,3089,-0.69,-117.3,368.7,-9.6,322,3093,0.00,2.28,0.00,0.000,6,0.000,0.045,2708,2200,3220,0,0,0,0,0,0
$GC,3225,-0.69,-117.3,382.5,-10.5,334,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2195,3220,0,0,0,0,0,0
$GC,3352,-0.69,-117.3,395.7,-10.5,346,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2195,3220,0,0,0,0,0,0
$GC,3480,-0.69,-117.3,409.3,-10.9,358,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2195,3219,0,0,0,0,0,0
$GC,3606,-0.69,-117.3,422.8,-10.6,370,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2195,3219,0,0,0,0,0,0
$GC,3733,-0.69,-117.3,435.9,-10.0,382,3737,0.00,2.38,0.00,0.000,4,0.000,0.053,2708,667,3219,0,0,0,0,0,0
$GC,3770,-0.69,-117.3,439.8,-10.8,385,3774,0.00,2.35,0.00,0.000,6,0.000,0.050,2699,2206,3219,0,0,0,0,0,0
$GC,3905,-0.69,-117.3,454.1,-10.2,397,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2206,3219,0,0,0,0,0,0
$GC,4034,-0.69,-117.3,467.5,-10.4,409,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2206,3219,0,0,0,0,0,0
$GC,4170,-0.69,-117.3,481.4,-9.9,422,4174,0.00,2.38,0.00,0.000,4,0.000,0.063,2688,3693,3219,0,0,0,0,0,0
$GC,4209,-0.69,-117.3,485.8,-10.8,425,4213,0.00,2.28,0.00,0.000,6,0.000,0.046,2687,2200,3219,0,0,0,0,0,0
$GC,4343,-0.69,-117.3,499.9,-10.7,437,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2194,3219,0,0,0,0,0,0
$GC,4472,-0.69,-117.3,513.1,-10.3,449,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2194,3219,0,0,0,0,0,0
$GC,4598,-0.69,-117.3,526.8,-10.6,461,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2194,3219,0,0,0,0,0,0
$GC,4725,-0.69,-117.3,540.6,-10.9,473,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2194,3218,0,0,0,0,0,0
$GC,4854,-0.69,-117.3,554.5,-11.2,485,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2194,3219,0,0,0,0,0,0
$GC,4980,-0.69,-117.3,568.5,-11.2,497,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2194,3218,0,0,0,0,0,0
$GC,5108,-0.69,-117.3,582.2,-10.4,509,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2194,3218,0,0,0,0,0,0
$GC,5235,-0.69,-117.3,595.3,-10.5,521,5239,0.00,2.33,0.00,0.000,4,0.000,0.053,2686,668,3218,0,0,0,0,0,0
$GC,5269,-0.69,-117.3,598.9,-10.6,523,5275,0.00,2.38,0.00,0.000,6,0.000,0.051,2676,2219,3218,0,0,0,0,0,0
$GC,5410,-0.69,-117.3,613.8,-10.7,529,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2219,3217,0,0,0,0,0,0
$GC,5714,-0.69,-117.3,645.7,-10.5,539,5719,0.00,2.35,0.00,0.000,4,0.000,0.064,2665,3691,3217,0,0,0,0,0,0
$GC,5771,-0.69,-117.3,652.0,-11.4,540,5777,0.00,2.25,0.00,0.000,6,0.000,0.047,2664,2213,3217,0,0,0,0,0,0
$GC,6084,-0.69,-117.3,687.0,-11.3,551,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2211,3217,0,0,0,0,0,0
$GC,6390,-0.69,-117.3,721.7,-11.4,561,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2211,3216,0,0,0,0,0,0
$GC,6697,-0.69,-117.3,757.2,-11.5,571,6701,0.00,2.38,0.00,0.000,4,0.000,0.055,2664,668,3216,0,0,0,0,0,0
$GC,6729,-0.69,-117.3,761.4,-11.9,572,6733,0.00,2.38,0.00,0.000,6,0.000,0.052,2653,2224,3216,0,0,0,0,0,0
$GC,7065,-0.69,-117.3,800.6,-11.7,583,7069,0.00,2.33,0.00,0.000,4,0.000,0.065,2642,3694,3215,0,0,0,0,0,0
$GC,7110,-0.68,-117.3,806.1,-12.1,584,7115,0.15,2.28,0.00,0.000,6,0.155,0.048,2684,2216,3215,0,0,0,0,0,0
$GC,7428,-0.68,-117.3,836.8,-9.5,595,7430,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2215,3215,0,0,0,0,0,0
$GC,7735,-0.68,-117.3,866.2,-9.7,605,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2215,3215,0,0,0,0,0,0
$GC,8042,-0.68,-117.3,896.1,-9.9,615,8046,0.00,2.38,0.00,0.000,4,0.000,0.055,2684,664,3214,0,0,0,0,0,0
$GC,8080,-0.68,-117.3,900.3,-10.6,616,8084,0.00,2.40,0.00,0.000,6,0.000,0.054,2676,2225,3214,0,0,0,0,0,0
$GC,8404,-0.68,-117.3,931.7,-9.7,627,8408,0.00,2.33,0.00,0.000,4,0.000,0.066,2665,3693,3214,0,0,0,0,0,0
$GC,8460,-0.68,-117.3,937.2,-9.8,628,8467,0.00,2.28,0.00,0.000,6,0.000,0.049,2664,2215,3214,0,0,0,0,0,0
$GC,8773,-0.68,-117.3,968.5,-9.9,639,8777,0.00,2.38,0.00,0.000,4,0.000,0.056,2664,663,3214,0,0,0,0,0,0
$GC,8808,-0.68,-117.3,972.2,-9.9,640,8813,0.12,2.40,0.00,0.000,6,0.161,0.054,2687,2225,3214,0,0,0,0,0,0
$STATE,9019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9019,begin apogee
$GC,9026,-0.22,0.0,990.5,8.3,647,9131,0.45,0.00,101.62,1.232,6,0.122,0.000,2837,2053,2735,0,0,0,0,0,0
$STATE,9131,end apogee,CONTROL_FINISHED_OK
$STATE,9131,begin climb
$GC,9134,0.72,117.3,993.1,0.0,650,9255,0.88,2.62,108.82,1.204,4,0.079,0.056,3148,555,2254,0,0,0,0,0,0
$GC,9272,0.69,117.3,980.6,13.9,654,9276,0.00,2.50,0.00,0.000,6,0.000,0.049,3147,2061,2251,0,0,0,0,0,0
$GC,9595,0.66,117.3,929.6,16.0,665,9600,0.00,2.50,0.00,0.000,4,0.000,0.062,3148,3582,2244,0,0,0,0,0,0
$GC,9630,0.61,117.3,923.6,17.1,666,9635,0.20,2.45,0.00,0.000,6,0.184,0.048,3108,2061,2243,0,0,0,0,0,0
$GC,9960,0.60,117.3,880.6,12.4,677,9964,0.00,2.47,0.00,0.000,4,0.000,0.063,3109,3576,2241,0,0,0,0,0,0
$GC,9998,0.57,117.3,875.2,13.9,678,10002,0.00,2.40,0.00,0.000,6,0.000,0.048,3118,2051,2241,0,0,0,0,0,0
$GC,10323,0.55,117.3,832.1,13.5,689,10325,0.12,0.00,0.00,0.000,6,0.181,0.000,3087,2050,2241,0,0,0,0,0,0
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$STATE,17498,end climb,SURFACE_DEPTH_REACHED
$STATE,17498,begin surface coast
$FINISH,0.8,1.024637
$STATE,17535,end surface coast,CONTROL_FINISHED_OK
$STATE,17535,begin surface
$SM_CCo,17554,42.00,0.500,1,0,1205,375.06
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$IRIDIUM_FIX,4651.23,-12648.40,150511,212135
$TT8_MAMPS,0.027713
$HUMID,35.54
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,15.00
$XPDR_PINGS,1
$24V_AH,23.3,22.405
$10V_AH,10.3,16.722
$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
$DEVICE_SECS,21.575,177.225,354.775,42.000,0.000,27.832,36.418,194.992,0.250,0.000,17.394,3382.874,10691.437,622.430,2845.989,455.320,33.349,1889.980,0.000,2595.851,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,899.448,1082.553,1081.187,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73561,1301
$CAP_FILE_SIZE,204502,0
$CFSIZE,260165632,200683520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.027,  4.1,1
$GPS,160511,080130,4712.093,-12638.006,36,2.0,36,18.6