version: 66.07
glider: 187
mission: 4
dive: 226
start: 5 16 111 13 26 27
data:
$ID,187
$MISSION,4
$DIVE,226
$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,-1584106.4
$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,30
$R_STBD_OVSHOOT,25
$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
$GPS1,160511,131607,4712.552,-12634.152,37,1.0,37,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-75.4
$GPS2,160511,132531,4712.531,-12634.029,14,1.9,14,18.6
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.235,0.022
$KALMAN_X,2694.4,-476.6,750.6,27916.1,-389.8
$KALMAN_Y,582.5,-140.5,-1234.2,20561.4,2504.7
$MHEAD_RNG_PITCHd_Wd,13.4,146860,-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,17,-0.72,-117.3,0.0,0.0,0,91,0.00,0.00,-72.15,0.000,2,0.000,0.000,130,2178,2836,0,0,0,0,0,0
$GC,95,-0.72,-117.3,3.0,-3.3,11,118,10.15,2.45,-8.25,0.000,4,0.236,0.062,2664,658,3217,0,0,0,0,0,0
$GC,316,-0.68,-117.3,54.4,-20.4,51,323,0.00,2.42,0.00,0.000,6,0.000,0.049,2655,2181,3220,0,0,0,0,0,0
$GC,388,-0.63,-117.3,70.2,-20.8,64,396,0.17,0.00,0.00,0.000,6,0.169,0.000,2701,2182,3220,0,0,0,0,0,0
$GC,463,-0.61,-117.3,84.6,-17.9,77,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2182,3220,0,0,0,0,0,0
$GC,537,-0.59,-117.3,97.0,-16.6,90,545,0.00,2.45,0.00,0.000,4,0.000,0.060,2693,3687,3221,0,0,0,0,0,0
$GC,567,-0.58,-117.3,102.1,-13.8,94,574,0.00,2.35,0.00,0.000,6,0.000,0.043,2692,2162,3221,0,0,0,0,0,0
$GC,702,-0.56,-117.3,120.4,-15.1,107,707,0.12,2.45,0.00,0.000,4,0.168,0.059,2716,3702,3222,0,0,0,0,0,0
$GC,735,-0.56,-117.3,125.0,-12.4,109,743,0.00,2.35,0.00,0.000,6,0.000,0.044,2715,2182,3222,0,0,0,0,0,0
$GC,869,-0.56,-117.3,141.2,-11.8,122,873,0.00,2.33,0.00,0.000,4,0.000,0.050,2715,667,3222,0,0,0,0,0,0
$GC,932,-0.56,-117.3,149.0,-12.4,127,937,0.00,2.35,0.00,0.000,6,0.000,0.048,2706,2192,3222,0,0,0,0,0,0
$GC,1068,-0.56,-117.3,164.5,-11.3,139,1072,0.00,2.38,0.00,0.000,4,0.000,0.060,2694,3691,3222,0,0,0,0,0,0
$GC,1101,-0.56,-117.3,168.7,-11.3,141,1109,0.00,2.35,0.00,0.000,6,0.000,0.044,2693,2187,3222,0,0,0,0,0,0
$GC,1237,-0.56,-117.3,184.1,-11.7,154,1239,0.10,0.00,0.00,0.000,6,0.181,0.000,2719,2186,3222,0,0,0,0,0,0
$GC,1365,-0.56,-117.3,197.4,-10.1,166,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2185,3222,0,0,0,0,0,0
$GC,1499,-0.56,-117.3,210.8,-9.9,179,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2185,3222,0,0,0,0,0,0
$GC,1627,-0.56,-117.3,223.6,-9.9,191,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2186,3222,0,0,0,0,0,0
$GC,1755,-0.56,-117.3,236.7,-10.3,203,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2185,3222,0,0,0,0,0,0
$GC,1881,-0.56,-117.3,250.2,-10.6,215,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2185,3222,0,0,0,0,0,0
$GC,2009,-0.57,-117.3,263.6,-10.6,227,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2186,3222,0,0,0,0,0,0
$GC,2138,-0.58,-117.3,276.9,-10.7,239,2142,0.00,2.33,0.00,0.000,4,0.000,0.052,2719,667,3222,0,0,0,0,0,0
$GC,2181,-0.59,-117.3,282.1,-10.7,242,2188,0.00,2.35,0.00,0.000,6,0.000,0.050,2711,2184,3222,0,0,0,0,0,0
$GC,2316,-0.59,-117.3,296.6,-11.0,255,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2184,3222,0,0,0,0,0,0
$GC,2444,-0.59,-117.3,310.9,-11.5,267,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2184,3222,0,0,0,0,0,0
$GC,2570,-0.59,-117.3,325.1,-11.3,279,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2184,3222,0,0,0,0,0,0
$GC,2699,-0.59,-117.3,338.9,-10.5,291,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2184,3221,0,0,0,0,0,0
$GC,2826,-0.59,-117.3,352.1,-10.2,303,2830,0.00,2.40,0.00,0.000,4,0.000,0.061,2700,3696,3221,0,0,0,0,0,0
$GC,2861,-0.59,-117.3,355.6,-10.3,306,2865,0.00,2.33,0.00,0.000,6,0.000,0.045,2699,2169,3221,0,0,0,0,0,0
$GC,2996,-0.59,-117.3,368.9,-9.5,318,2997,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2165,3221,0,0,0,0,0,0
$GC,3124,-0.59,-117.3,381.5,-9.5,330,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2165,3221,0,0,0,0,0,0
$GC,3250,-0.59,-117.3,393.8,-9.6,342,3254,0.00,2.30,0.00,0.000,4,0.000,0.053,2699,656,3221,0,0,0,0,0,0
$GC,3303,-0.59,-117.3,399.2,-10.2,346,3307,0.00,2.33,0.00,0.000,6,0.000,0.050,2689,2179,3221,0,0,0,0,0,0
$GC,3439,-0.59,-117.3,413.0,-10.3,358,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2178,3221,0,0,0,0,0,0
$GC,3574,-0.59,-117.3,426.5,-9.6,371,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2178,3220,0,0,0,0,0,0
$GC,3701,-0.59,-117.3,438.9,-9.5,383,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2179,3221,0,0,0,0,0,0
$GC,3830,-0.59,-117.3,451.2,-9.7,395,3834,0.00,2.40,0.00,0.000,4,0.000,0.063,2678,3689,3220,0,0,0,0,0,0
$GC,3881,-0.59,-117.3,456.1,-9.6,399,3885,0.12,2.33,0.00,0.000,6,0.156,0.044,2712,2157,3220,0,0,0,0,0,0
$GC,4017,-0.60,-117.3,467.3,-7.9,411,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2152,3220,0,0,0,0,0,0
$GC,4142,-0.62,-117.3,477.7,-8.2,423,4143,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2152,3219,0,0,0,0,0,0
$GC,4270,-0.63,-117.3,488.1,-8.3,435,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2152,3219,0,0,0,0,0,0
$GC,4398,-0.64,-117.3,498.6,-8.3,447,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2152,3218,0,0,0,0,0,0
$GC,4524,-0.65,-117.3,509.4,-8.4,459,4528,0.00,2.28,0.00,0.000,4,0.000,0.053,2712,658,3219,0,0,0,0,0,0
$GC,4565,-0.66,-117.3,513.2,-9.4,462,4569,0.00,2.33,0.00,0.000,6,0.000,0.051,2704,2166,3219,0,0,0,0,0,0
$GC,4706,-0.66,-117.3,526.1,-9.2,475,4707,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2166,3218,0,0,0,0,0,0
$GC,4832,-0.66,-117.3,537.9,-9.3,487,4837,0.00,2.42,0.00,0.000,4,0.000,0.064,2693,3700,3218,0,0,0,0,0,0
$GC,4874,-0.66,-117.3,541.9,-9.8,490,4878,0.00,2.35,0.00,0.000,6,0.000,0.046,2692,2161,3218,0,0,0,0,0,0
$GC,5011,-0.66,-117.3,555.3,-9.9,502,5015,0.00,2.28,0.00,0.000,4,0.000,0.054,2691,666,3218,0,0,0,0,0,0
$GC,5055,-0.66,-117.3,560.4,-10.6,505,5063,0.00,2.30,0.00,0.000,6,0.000,0.051,2682,2177,3218,0,0,0,0,0,0
$GC,5190,-0.66,-117.3,574.5,-10.6,518,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2177,3217,0,0,0,0,0,0
$GC,5318,-0.66,-117.3,587.4,-9.9,530,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2177,3217,0,0,0,0,0,0
$GC,5444,-0.66,-117.3,600.0,-9.7,542,5449,0.00,2.42,0.00,0.000,4,0.000,0.064,2670,3694,3218,0,0,0,0,0,0
$GC,5477,-0.66,-117.3,603.5,-10.6,543,5481,0.00,2.33,0.00,0.000,6,0.000,0.047,2669,2168,3217,0,0,0,0,0,0
$GC,5815,-0.66,-117.3,636.4,-9.6,554,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2165,3217,0,0,0,0,0,0
$GC,6119,-0.66,-117.3,665.7,-9.7,564,6124,0.00,2.33,0.00,0.000,4,0.000,0.054,2669,657,3216,0,0,0,0,0,0
$GC,6152,-0.66,-117.3,669.4,-11.3,565,6157,0.12,2.33,0.00,0.000,6,0.165,0.053,2693,2175,3217,0,0,0,0,0,0
$GC,6483,-0.66,-117.3,696.4,-8.3,576,6487,0.00,2.38,0.00,0.000,4,0.000,0.065,2684,3691,3216,0,0,0,0,0,0
$GC,6521,-0.66,-117.3,700.1,-9.2,577,6525,0.00,2.33,0.00,0.000,6,0.000,0.047,2683,2165,3216,0,0,0,0,0,0
$GC,6847,-0.66,-117.3,730.3,-9.6,588,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2163,3216,0,0,0,0,0,0
$GC,7152,-0.66,-117.3,760.1,-9.8,598,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2164,3215,0,0,0,0,0,0
$GC,7458,-0.66,-117.3,788.6,-9.3,608,7462,0.00,2.30,0.00,0.000,4,0.000,0.056,2683,662,3215,0,0,0,0,0,0
$GC,7547,-0.66,-117.3,797.7,-10.8,610,7552,0.00,2.33,0.00,0.000,6,0.000,0.054,2673,2176,3215,0,0,0,0,0,0
$GC,7861,-0.66,-117.3,828.7,-10.0,620,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2176,3214,0,0,0,0,0,0
$GC,8167,-0.66,-117.3,859.7,-10.1,630,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2176,3214,0,0,0,0,0,0
$GC,8474,-0.66,-117.3,890.4,-9.7,640,8475,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2176,3214,0,0,0,0,0,0
$GC,8780,-0.66,-117.3,920.1,-9.5,650,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2176,3213,0,0,0,0,0,0
$GC,9086,-0.66,-117.3,948.4,-9.1,660,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2176,3213,0,0,0,0,0,0
$GC,9392,-0.66,-117.3,976.9,-9.3,670,9393,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2176,3213,0,0,0,0,0,0
$STATE,9542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9542,begin apogee
$GC,9549,-0.22,0.0,991.2,9.4,675,9654,0.50,0.00,101.47,1.231,6,0.128,0.000,2834,2053,2735,0,0,0,0,0,0
$STATE,9655,end apogee,CONTROL_FINISHED_OK
$STATE,9655,begin climb
$GC,9657,0.72,117.3,994.3,0.0,678,9770,0.90,0.00,109.38,1.205,6,0.080,0.000,3135,2053,2256,0,0,0,0,0,0
$GC,10063,0.69,117.3,943.2,14.8,692,10067,0.00,2.50,0.00,0.000,4,0.000,0.062,3135,3573,2245,0,0,0,0,0,0
$GC,10129,0.66,117.3,931.6,17.5,694,10134,0.00,2.42,0.00,0.000,6,0.000,0.047,3147,2061,2244,0,0,0,0,0,0
$GC,10460,0.62,117.3,878.3,16.4,705,10462,0.15,0.00,0.00,0.000,6,0.173,0.000,3109,2058,2242,0,0,0,0,0,0
$GC,10765,0.61,117.3,834.6,14.0,715,10769,0.00,2.45,0.00,0.000,4,0.000,0.063,3108,3578,2240,0,0,0,0,0,0
$GC,10829,0.58,117.3,824.9,16.6,717,10833,0.00,2.38,0.00,0.000,6,0.000,0.048,3118,2064,2240,0,0,0,0,0,0
$GC,11165,0.57,117.3,776.3,13.9,728,11167,0.12,0.00,0.00,0.000,6,0.175,0.000,3085,2062,2240,0,0,0,0,0,0
$GC,11470,0.57,117.3,741.3,11.0,738,11475,0.00,2.45,0.00,0.000,4,0.000,0.064,3085,3581,2239,0,0,0,0,0,0
$GC,11504,0.55,117.3,737.0,12.9,739,11508,0.00,2.35,0.00,0.000,6,0.000,0.048,3094,2070,2238,0,0,0,0,0,0
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$STATE,18185,end climb,SURFACE_DEPTH_REACHED
$STATE,18185,begin surface coast
$FINISH,0.9,1.017661
$STATE,18236,end surface coast,CONTROL_FINISHED_OK
$STATE,18236,begin surface
$SM_CCo,18254,62.50,0.534,1,0,1206,375.06
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$IRIDIUM_FIX,4654.38,-12634.46,160511,131320
$TT8_MAMPS,0.027713
$HUMID,35.54
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,23.3,22.654
$10V_AH,10.2,16.990
$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
$DEVICE_SECS,21.000,171.375,327.600,62.500,0.000,51.821,115.376,191.745,0.000,0.000,14.938,3525.395,11244.911,631.170,3016.702,452.130,33.352,1911.608,0.000,2667.856,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297532
$DATA_FILE_SIZE,76897,1357
$CAP_FILE_SIZE,209285,0
$CFSIZE,260165632,200482816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.041,123.3,1
$GPS,160511,183324,4714.428,-12631.758,37,1.1,55,18.6