version: 66.07
glider: 187
mission: 4
dive: 228
start: 5 16 111 23 59 8
data:
$ID,187
$MISSION,4
$DIVE,228
$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,-1584108.9
$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,29
$R_STBD_OVSHOOT,31
$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
$GPS1,160511,235106,4716.152,-12628.660,40,0.9,51,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-76.4
$GPS2,160511,235813,4716.159,-12628.619,16,1.0,21,18.6
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.229,-0.056
$KALMAN_X,2857.6,509.3,1265.2,33083.4,-2437.3
$KALMAN_Y,1760.2,229.8,-1130.3,25610.1,2521.5
$MHEAD_RNG_PITCHd_Wd,31.5,137520,-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,-117.3,0.0,0.0,0,90,0.00,0.00,-70.88,0.000,2,0.000,0.000,131,2179,2852,0,0,0,0,0,0
$GC,94,-0.72,-117.3,3.5,-4.7,11,117,10.18,2.45,-7.35,0.000,4,0.239,0.060,2664,654,3217,0,0,0,0,0,0
$GC,310,-0.68,-117.3,56.1,-20.7,50,317,0.00,2.40,0.00,0.000,6,0.000,0.050,2654,2161,3220,0,0,0,0,0,0
$GC,382,-0.63,-117.3,72.5,-22.5,63,390,0.17,0.00,0.00,0.000,6,0.165,0.000,2701,2161,3220,0,0,0,0,0,0
$GC,456,-0.61,-117.3,86.0,-15.7,76,463,0.00,2.50,0.00,0.000,4,0.000,0.060,2691,3708,3221,0,0,0,0,0,0
$GC,477,-0.59,-117.3,88.9,-14.2,79,485,0.00,2.45,0.00,0.000,6,0.000,0.044,2690,2160,3221,0,0,0,0,0,0
$GC,550,-0.58,-117.3,99.8,-14.9,92,557,0.00,2.35,0.00,0.000,4,0.000,0.051,2690,667,3221,0,0,0,0,0,0
$GC,620,-0.56,-117.3,110.0,-14.1,99,625,0.15,2.30,0.00,0.000,6,0.159,0.048,2722,2150,3222,0,0,0,0,0,0
$GC,755,-0.56,-117.3,125.7,-10.6,111,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2151,3222,0,0,0,0,0,0
$GC,881,-0.56,-117.3,139.7,-11.0,123,885,0.00,2.47,0.00,0.000,4,0.000,0.060,2713,3701,3222,0,0,0,0,0,0
$GC,922,-0.56,-117.3,144.4,-12.2,126,926,0.00,2.40,0.00,0.000,6,0.000,0.044,2712,2140,3222,0,0,0,0,0,0
$GC,1058,-0.56,-117.3,160.2,-11.8,138,1062,0.00,2.25,0.00,0.000,4,0.000,0.051,2711,667,3222,0,0,0,0,0,0
$GC,1097,-0.56,-117.3,165.1,-12.1,141,1101,0.00,2.28,0.00,0.000,6,0.000,0.048,2703,2139,3222,0,0,0,0,0,0
$GC,1238,-0.56,-117.3,181.7,-11.9,154,1243,0.00,2.45,0.00,0.000,4,0.000,0.060,2691,3695,3222,0,0,0,0,0,0
$GC,1280,-0.56,-117.3,186.9,-12.5,157,1285,0.12,2.40,0.00,0.000,6,0.151,0.044,2725,2136,3222,0,0,0,0,0,0
$GC,1416,-0.57,-117.3,200.1,-9.5,169,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2131,3222,0,0,0,0,0,0
$GC,1544,-0.58,-117.3,212.0,-9.1,181,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2131,3222,0,0,0,0,0,0
$GC,1680,-0.60,-117.3,225.0,-9.7,194,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2131,3222,0,0,0,0,0,0
$GC,1807,-0.61,-117.3,236.9,-9.2,206,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2131,3222,0,0,0,0,0,0
$GC,1935,-0.62,-117.3,249.1,-9.5,218,1939,0.00,2.47,0.00,0.000,4,0.000,0.061,2717,3689,3222,0,0,0,0,0,0
$GC,1978,-0.64,-117.3,254.0,-10.3,221,1986,0.00,2.38,0.00,0.000,6,0.000,0.044,2716,2132,3222,0,0,0,0,0,0
$GC,2113,-0.64,-117.3,267.5,-10.0,234,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2130,3222,0,0,0,0,0,0
$GC,2241,-0.64,-117.3,280.4,-10.0,246,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2130,3222,0,0,0,0,0,0
$GC,2368,-0.64,-117.3,293.0,-9.5,258,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2130,3222,0,0,0,0,0,0
$GC,2496,-0.64,-117.3,304.9,-9.2,270,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2130,3223,0,0,0,0,0,0
$GC,2624,-0.64,-117.3,316.4,-9.0,282,2628,0.00,2.25,0.00,0.000,4,0.000,0.052,2715,661,3222,0,0,0,0,0,0
$GC,2647,-0.64,-117.3,318.6,-9.6,284,2651,0.00,2.28,0.00,0.000,6,0.000,0.050,2707,2144,3222,0,0,0,0,0,0
$GC,2787,-0.64,-117.3,332.1,-9.6,297,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2144,3221,0,0,0,0,0,0
$GC,2916,-0.64,-117.3,344.5,-9.5,309,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2144,3221,0,0,0,0,0,0
$GC,3042,-0.64,-117.3,357.0,-9.6,321,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2144,3221,0,0,0,0,0,0
$GC,3169,-0.64,-117.3,369.8,-10.3,333,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2144,3221,0,0,0,0,0,0
$GC,3297,-0.64,-117.3,382.8,-10.1,345,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2144,3221,0,0,0,0,0,0
$GC,3424,-0.64,-117.3,395.7,-10.3,357,3428,0.00,2.45,0.00,0.000,4,0.000,0.062,2695,3690,3221,0,0,0,0,0,0
$GC,3463,-0.64,-117.3,399.8,-10.9,360,3467,0.00,2.38,0.00,0.000,6,0.000,0.045,2694,2139,3220,0,0,0,0,0,0
$GC,3604,-0.64,-117.3,415.0,-11.3,373,3605,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2135,3220,0,0,0,0,0,0
$GC,3730,-0.64,-117.3,428.9,-10.9,385,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2135,3220,0,0,0,0,0,0
$GC,3858,-0.64,-117.3,442.5,-10.9,397,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2135,3219,0,0,0,0,0,0
$GC,3985,-0.64,-117.3,455.6,-10.5,409,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2135,3219,0,0,0,0,0,0
$GC,4114,-0.64,-117.3,468.3,-10.2,421,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2135,3219,0,0,0,0,0,0
$GC,4240,-0.64,-117.3,480.6,-9.5,433,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2135,3219,0,0,0,0,0,0
$GC,4368,-0.64,-117.3,492.5,-9.4,445,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2136,3219,0,0,0,0,0,0
$GC,4496,-0.64,-117.3,504.8,-9.6,457,4498,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2135,3219,0,0,0,0,0,0
$GC,4622,-0.64,-117.3,516.8,-9.6,469,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2135,3219,0,0,0,0,0,0
$GC,4749,-0.64,-117.3,528.8,-9.3,481,4751,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2135,3218,0,0,0,0,0,0
$GC,4878,-0.64,-117.3,540.8,-9.2,493,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2135,3218,0,0,0,0,0,0
$GC,5004,-0.64,-117.3,552.7,-9.3,505,5008,0.00,2.47,0.00,0.000,4,0.000,0.063,2683,3691,3218,0,0,0,0,0,0
$GC,5033,-0.64,-117.3,555.5,-9.9,507,5037,0.00,2.40,0.00,0.000,6,0.000,0.047,2683,2138,3218,0,0,0,0,0,0
$GC,5168,-0.64,-117.3,569.3,-10.3,519,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2133,3218,0,0,0,0,0,0
$GC,5294,-0.64,-117.3,582.7,-10.6,531,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2133,3218,0,0,0,0,0,0
$GC,5422,-0.64,-117.3,596.5,-11.0,543,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2133,3217,0,0,0,0,0,0
$GC,5546,-0.64,-117.3,609.8,-10.8,549,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2133,3217,0,0,0,0,0,0
$GC,5852,-0.64,-117.3,642.2,-10.5,559,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2133,3217,0,0,0,0,0,0
$GC,6158,-0.64,-117.3,672.6,-9.7,569,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2133,3217,0,0,0,0,0,0
$GC,6466,-0.64,-117.3,700.7,-9.0,579,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2133,3216,0,0,0,0,0,0
$GC,6774,-0.64,-117.3,727.6,-8.9,589,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2133,3216,0,0,0,0,0,0
$GC,7077,-0.64,-117.3,753.8,-8.4,599,7078,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2133,3216,0,0,0,0,0,0
$GC,7383,-0.64,-117.3,779.3,-8.4,609,7384,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2133,3215,0,0,0,0,0,0
$GC,7690,-0.64,-117.3,805.1,-8.6,619,7695,0.00,2.47,0.00,0.000,4,0.000,0.063,2672,3689,3215,0,0,0,0,0,0
$GC,7729,-0.64,-117.3,808.9,-9.7,620,7733,0.00,2.35,0.00,0.000,6,0.000,0.047,2671,2150,3215,0,0,0,0,0,0
$GC,8054,-0.64,-117.3,839.8,-9.7,631,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2147,3214,0,0,0,0,0,0
$GC,8361,-0.64,-117.3,869.7,-9.7,641,8365,0.00,2.47,0.00,0.000,4,0.000,0.065,2660,3690,3214,0,0,0,0,0,0
$GC,8405,-0.64,-117.3,874.3,-9.7,642,8410,0.12,2.35,0.00,0.000,6,0.157,0.047,2693,2152,3214,0,0,0,0,0,0
$GC,8725,-0.65,-117.3,901.2,-8.4,653,8729,0.00,2.30,0.00,0.000,4,0.000,0.057,2693,663,3213,0,0,0,0,0,0
$GC,8769,-0.65,-117.3,905.4,-8.7,654,8773,0.00,2.30,0.00,0.000,6,0.000,0.054,2686,2150,3214,0,0,0,0,0,0
$GC,9087,-0.65,-117.3,932.5,-8.6,665,9091,0.00,2.45,0.00,0.000,4,0.000,0.067,2673,3694,3213,0,0,0,0,0,0
$GC,9143,-0.65,-117.3,937.8,-9.4,666,9150,0.00,2.35,0.00,0.000,6,0.000,0.049,2673,2157,3213,0,0,0,0,0,0
$GC,9456,-0.65,-117.3,966.4,-9.2,677,9458,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2155,3213,0,0,0,0,0,0
$STATE,9730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9730,begin apogee
$GC,9736,-0.22,0.0,991.3,9.0,686,9840,0.50,0.00,101.30,1.235,6,0.127,0.000,2836,2057,2735,0,0,0,0,0,0
$STATE,9841,end apogee,CONTROL_FINISHED_OK
$STATE,9841,begin climb
$GC,9845,0.72,117.3,993.7,0.0,689,9958,0.85,0.00,109.85,1.205,6,0.078,0.000,3129,2057,2256,0,0,0,0,0,0
$GC,10249,0.70,117.3,943.8,14.3,703,10253,0.00,2.53,0.00,0.000,4,0.000,0.063,3129,3578,2245,0,0,0,0,0,0
$GC,10322,0.66,117.3,932.3,15.9,705,10326,0.00,2.42,0.00,0.000,6,0.000,0.047,3140,2064,2243,0,0,0,0,0,0
$GC,10646,0.63,117.3,884.4,14.8,716,10651,0.12,2.47,0.00,0.000,4,0.183,0.063,3110,3584,2242,0,0,0,0,0,0
$GC,10677,0.60,117.3,880.0,15.1,717,10681,0.00,2.42,0.00,0.000,6,0.000,0.047,3120,2060,2241,0,0,0,0,0,0
$GC,11013,0.58,117.3,835.8,13.1,728,11017,0.00,2.45,0.00,0.000,4,0.000,0.063,3120,3574,2241,0,0,0,0,0,0
$GC,11046,0.55,117.3,830.7,14.8,729,11051,0.17,2.38,0.00,0.000,6,0.177,0.047,3086,2059,2240,0,0,0,0,0,0
$GC,11377,0.55,117.3,793.6,11.2,740,11381,0.00,2.42,0.00,0.000,4,0.000,0.063,3085,3576,2240,0,0,0,0,0,0
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$STATE,18519,end climb,SURFACE_DEPTH_REACHED
$STATE,18519,begin surface coast
$FINISH,0.9,1.024218
$STATE,18558,end surface coast,CONTROL_FINISHED_OK
$STATE,18558,begin surface
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$HUMID,35.46
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,23.3,22.905
$10V_AH,10.2,17.260
$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
$DEVICE_SECS,20.950,167.800,367.850,42.850,0.000,21.778,48.115,200.616,0.000,0.000,22.822,3560.011,11428.018,637.893,2932.401,475.462,33.352,1919.182,0.000,2676.181,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,943.448,1141.799,1118.943,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297488
$DATA_FILE_SIZE,76737,1366
$CAP_FILE_SIZE,209777,0
$CFSIZE,260165632,200294400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.052,107.3,1
$GPS,170511,051054,4717.636,-12625.170,25,1.2,42,18.6