version: 66.07
glider: 187
mission: 4
dive: 227
start: 5 16 111 18 41 10
data:
$ID,187
$MISSION,4
$DIVE,227
$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,-1584107.6
$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
$GPS1,160511,183324,4714.428,-12631.758,37,1.1,55,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-73.5
$GPS2,160511,184014,4714.429,-12631.760,17,2.0,17,18.6
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.025,0.235
$KALMAN_X,2311.2,60.4,-1205.8,32598.4,2838.1
$KALMAN_Y,966.0,-130.3,1453.4,20979.1,-2399.5
$MHEAD_RNG_PITCHd_Wd,27.8,142544,-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,-72.20,0.000,2,0.000,0.000,128,2188,2871,0,0,0,0,0,0
$GC,94,-0.72,-117.3,3.4,-4.4,11,118,10.15,2.47,-7.05,0.000,4,0.237,0.060,2664,648,3216,0,0,0,0,0,0
$GC,353,-0.68,-117.3,66.5,-21.8,58,361,0.05,2.40,0.00,0.000,6,0.166,0.049,2682,2159,3220,0,0,0,0,0,0
$GC,426,-0.64,-117.3,81.8,-20.9,71,434,0.00,2.50,0.00,0.000,4,0.000,0.060,2673,3712,3220,0,0,0,0,0,0
$GC,464,-0.61,-117.3,89.9,-22.2,77,472,0.08,2.40,0.00,0.000,6,0.139,0.044,2708,2192,3220,0,0,0,0,0,0
$GC,544,-0.60,-117.3,101.8,-13.9,90,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2188,3221,0,0,0,0,0,0
$GC,670,-0.60,-117.3,118.5,-11.8,102,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2188,3222,0,0,0,0,0,0
$GC,797,-0.60,-117.3,134.3,-12.2,114,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2188,3222,0,0,0,0,0,0
$GC,925,-0.60,-117.3,150.0,-12.2,126,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2188,3222,0,0,0,0,0,0
$GC,1052,-0.60,-117.3,164.8,-11.4,138,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2188,3222,0,0,0,0,0,0
$GC,1179,-0.60,-117.3,178.9,-11.0,150,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2188,3223,0,0,0,0,0,0
$GC,1308,-0.60,-117.3,192.9,-11.1,162,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2188,3223,0,0,0,0,0,0
$GC,1434,-0.60,-117.3,207.2,-11.1,174,1438,0.00,2.35,0.00,0.000,4,0.000,0.051,2708,661,3222,0,0,0,0,0,0
$GC,1486,-0.60,-117.3,213.0,-11.1,178,1490,0.00,2.45,0.00,0.000,6,0.000,0.050,2700,2245,3222,0,0,0,0,0,0
$GC,1623,-0.60,-117.3,228.8,-11.4,190,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2245,3222,0,0,0,0,0,0
$GC,1757,-0.60,-117.3,243.9,-11.0,203,1761,0.00,2.45,0.00,0.000,4,0.000,0.051,2698,652,3223,0,0,0,0,0,0
$GC,1787,-0.60,-117.3,247.3,-11.8,205,1791,0.00,2.42,0.00,0.000,6,0.000,0.049,2689,2231,3222,0,0,0,0,0,0
$GC,1923,-0.60,-117.3,263.2,-12.1,217,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2231,3223,0,0,0,0,0,0
$GC,2049,-0.60,-117.3,278.7,-12.0,229,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2231,3222,0,0,0,0,0,0
$GC,2176,-0.60,-117.3,294.2,-12.2,241,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2231,3222,0,0,0,0,0,0
$GC,2304,-0.60,-117.3,309.2,-11.9,253,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2231,3222,0,0,0,0,0,0
$GC,2432,-0.60,-117.3,323.8,-11.7,265,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2231,3222,0,0,0,0,0,0
$GC,2558,-0.60,-117.3,338.1,-11.4,277,2562,0.00,2.30,0.00,0.000,4,0.000,0.061,2677,3696,3222,0,0,0,0,0,0
$GC,2591,-0.60,-117.3,342.3,-11.5,279,2599,0.08,2.30,0.00,0.000,6,0.135,0.044,2703,2215,3222,0,0,0,0,0,0
$GC,2728,-0.60,-117.3,356.2,-10.1,292,2732,0.00,2.40,0.00,0.000,4,0.000,0.053,2703,661,3222,0,0,0,0,0,0
$GC,2773,-0.60,-117.3,360.9,-9.8,296,2777,0.00,2.42,0.00,0.000,6,0.000,0.050,2695,2225,3222,0,0,0,0,0,0
$GC,2907,-0.60,-117.3,374.9,-10.4,308,2911,0.00,2.33,0.00,0.000,4,0.000,0.063,2684,3694,3222,0,0,0,0,0,0
$GC,2938,-0.60,-117.3,378.0,-10.5,310,2942,0.00,2.25,0.00,0.000,6,0.000,0.046,2683,2219,3222,0,0,0,0,0,0
$GC,3073,-0.60,-117.3,392.5,-10.7,322,3077,0.00,2.38,0.00,0.000,4,0.000,0.053,2682,671,3221,0,0,0,0,0,0
$GC,3111,-0.60,-117.3,397.3,-11.6,325,3119,0.12,2.38,0.00,0.000,6,0.163,0.050,2706,2210,3222,0,0,0,0,0,0
$GC,3248,-0.60,-117.3,409.7,-9.1,338,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2210,3222,0,0,0,0,0,0
$GC,3373,-0.60,-117.3,421.6,-9.6,350,3378,0.00,2.40,0.00,0.000,4,0.000,0.053,2706,659,3222,0,0,0,0,0,0
$GC,3413,-0.60,-117.3,425.6,-10.2,353,3417,0.00,2.38,0.00,0.000,6,0.000,0.051,2698,2203,3221,0,0,0,0,0,0
$GC,3554,-0.60,-117.3,439.6,-10.1,366,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2203,3221,0,0,0,0,0,0
$GC,3680,-0.60,-117.3,452.5,-10.1,378,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2203,3221,0,0,0,0,0,0
$GC,3807,-0.60,-117.3,465.3,-9.9,390,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2203,3220,0,0,0,0,0,0
$GC,3936,-0.60,-117.3,477.6,-9.9,402,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2202,3220,0,0,0,0,0,0
$GC,4062,-0.60,-117.3,489.9,-9.6,414,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2203,3220,0,0,0,0,0,0
$GC,4189,-0.60,-117.3,501.8,-9.7,426,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2202,3220,0,0,0,0,0,0
$GC,4318,-0.60,-117.3,513.8,-9.4,438,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2202,3219,0,0,0,0,0,0
$GC,4444,-0.60,-117.3,525.6,-9.4,450,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2202,3219,0,0,0,0,0,0
$GC,4572,-0.60,-117.3,537.1,-9.0,462,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2202,3219,0,0,0,0,0,0
$GC,4700,-0.60,-117.3,548.7,-9.0,474,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2202,3219,0,0,0,0,0,0
$GC,4827,-0.60,-117.3,560.5,-9.3,486,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2202,3219,0,0,0,0,0,0
$GC,4954,-0.60,-117.3,572.7,-9.6,498,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2203,3218,0,0,0,0,0,0
$GC,5083,-0.60,-117.3,585.2,-9.8,510,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2202,3219,0,0,0,0,0,0
$GC,5209,-0.60,-117.3,597.8,-9.9,522,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2202,3218,0,0,0,0,0,0
$GC,5332,-0.60,-117.3,610.0,-9.8,528,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2202,3218,0,0,0,0,0,0
$GC,5640,-0.60,-117.3,639.1,-9.4,538,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2202,3218,0,0,0,0,0,0
$GC,5944,-0.60,-117.3,668.8,-9.8,548,5948,0.00,2.38,0.00,0.000,4,0.000,0.065,2686,3690,3217,0,0,0,0,0,0
$GC,5983,-0.60,-117.3,673.0,-10.1,549,5987,0.00,2.33,0.00,0.000,6,0.000,0.047,2685,2200,3217,0,0,0,0,0,0
$GC,6319,-0.60,-117.3,707.1,-10.4,560,6323,0.00,2.38,0.00,0.000,4,0.000,0.054,2685,660,3217,0,0,0,0,0,0
$GC,6368,-0.60,-117.3,712.8,-11.0,561,6373,0.12,2.38,0.00,0.000,6,0.162,0.053,2710,2199,3216,0,0,0,0,0,0
$GC,6682,-0.62,-117.3,741.1,-9.0,571,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2199,3216,0,0,0,0,0,0
$GC,6989,-0.63,-117.3,768.1,-8.7,581,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2200,3217,0,0,0,0,0,0
$GC,7294,-0.65,-117.3,794.0,-8.3,591,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2199,3216,0,0,0,0,0,0
$GC,7600,-0.67,-117.3,818.7,-7.9,601,7604,0.00,2.38,0.00,0.000,4,0.000,0.056,2710,665,3216,0,0,0,0,0,0
$GC,7641,-0.68,-117.3,822.2,-8.4,602,7645,0.00,2.35,0.00,0.000,6,0.000,0.054,2703,2195,3216,0,0,0,0,0,0
$GC,7977,-0.70,-117.3,848.8,-8.2,613,7981,0.00,2.40,0.00,0.000,4,0.000,0.066,2691,3694,3215,0,0,0,0,0,0
$GC,8017,-0.71,-117.3,852.3,-8.8,614,8021,0.00,2.30,0.00,0.000,6,0.000,0.049,2691,2188,3215,0,0,0,0,0,0
$GC,8340,-0.71,-117.3,880.1,-8.7,625,8345,0.00,2.33,0.00,0.000,4,0.000,0.056,2690,670,3215,0,0,0,0,0,0
$GC,8384,-0.71,-117.3,884.6,-10.8,626,8388,0.00,2.38,0.00,0.000,6,0.000,0.054,2681,2200,3214,0,0,0,0,0,0
$GC,8710,-0.71,-117.3,913.8,-9.0,637,8711,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2200,3214,0,0,0,0,0,0
$GC,9016,-0.71,-117.3,940.7,-8.7,647,9017,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2200,3214,0,0,0,0,0,0
$GC,9323,-0.71,-117.3,965.9,-8.2,657,9327,0.00,2.38,0.00,0.000,4,0.000,0.067,2669,3697,3213,0,0,0,0,0,0
$GC,9380,-0.71,-117.3,971.0,-8.5,658,9387,0.00,2.30,0.00,0.000,6,0.000,0.049,2668,2191,3213,0,0,0,0,0,0
$STATE,9599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9599,begin apogee
$GC,9605,-0.22,0.0,990.1,8.6,666,9710,0.50,0.00,101.32,1.232,6,0.128,0.000,2830,2062,2735,0,0,0,0,0,0
$STATE,9711,end apogee,CONTROL_FINISHED_OK
$STATE,9711,begin climb
$GC,9713,0.72,117.3,992.2,0.0,669,9827,0.93,0.00,109.95,1.204,6,0.080,0.000,3139,2062,2255,0,0,0,0,0,0
$GC,10119,0.69,117.3,936.1,15.8,683,10124,0.00,2.50,0.00,0.000,4,0.000,0.061,3139,3574,2245,0,0,0,0,0,0
$GC,10186,0.65,117.3,923.7,17.4,685,10192,0.15,2.40,0.00,0.000,6,0.189,0.047,3115,2073,2244,0,0,0,0,0,0
$GC,10517,0.63,117.3,877.5,13.6,696,10519,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2073,2242,0,0,0,0,0,0
$GC,10823,0.62,117.3,836.3,13.1,706,10827,0.00,2.42,0.00,0.000,4,0.000,0.062,3115,3579,2241,0,0,0,0,0,0
$GC,10861,0.59,117.3,830.5,16.1,707,10865,0.00,2.40,0.00,0.000,6,0.000,0.049,3124,2064,2240,0,0,0,0,0,0
$GC,11186,0.57,117.3,785.5,14.1,718,11188,0.15,0.00,0.00,0.000,6,0.171,0.000,3084,2064,2240,0,0,0,0,0,0
$GC,11491,0.57,117.3,750.2,11.3,728,11495,0.00,2.45,0.00,0.000,4,0.000,0.064,3084,3584,2239,0,0,0,0,0,0
$GC,11547,0.55,117.3,743.0,12.9,729,11553,0.00,2.38,0.00,0.000,6,0.000,0.048,3093,2070,2238,0,0,0,0,0,0
$GC,11860,0.55,117.3,705.4,12.0,740,11864,0.00,2.40,0.00,0.000,4,0.000,0.063,3093,3580,2239,0,0,0,0,0,0
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$STATE,18394,end climb,SURFACE_DEPTH_REACHED
$STATE,18394,begin surface coast
$FINISH,0.8,1.015982
$STATE,18453,end surface coast,CONTROL_FINISHED_OK
$STATE,18453,begin surface
$SM_CCo,18471,28.60,0.445,1,0,1205,375.06
$SM_GC,1.49,0.00,0.00,28.60,0.000,0.000,0.445,131,2178,1205,-8.67,0.08,375.06
$IRIDIUM_FIX,4654.38,-12625.61,160511,131307
$TT8_MAMPS,0.027713
$HUMID,35.43
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,15.10
$XPDR_PINGS,1
$24V_AH,23.3,22.780
$10V_AH,10.2,17.126
$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,21.175,181.775,391.625,28.600,0.000,24.763,35.850,200.037,0.250,0.000,18.415,3564.175,11276.456,639.913,2950.395,468.530,33.351,1934.823,0.000,2702.104,0.000,0.535,0.000
$DEVICE_MAMPS,237.150,122.400,1232.415,445.230,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,947.205,1138.683,1159.274,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297520
$DATA_FILE_SIZE,77034,1372
$CAP_FILE_SIZE,212923,0
$CFSIZE,260165632,200388608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$CURRENT,0.038, 93.7,1
$GPS,160511,235106,4716.152,-12628.660,40,0.9,51,18.6