version: 66.07
glider: 187
mission: 4
dive: 233
start: 5 18 111 2 52 5
data:
$ID,187
$MISSION,4
$DIVE,233
$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,-1584115.4
$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,43
$R_STBD_OVSHOOT,28
$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
$GPS1,180511,024407,4723.731,-12613.641,30,1.7,30,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-77.1
$GPS2,180511,025108,4723.714,-12613.659,17,1.7,17,18.7
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.193,-0.137
$KALMAN_X,5268.4,-112.6,493.4,50971.3,-1173.2
$KALMAN_Y,5928.2,307.5,-1812.0,36053.5,4440.2
$MHEAD_RNG_PITCHd_Wd,28.1,114317,-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,-71.10,0.000,2,0.000,0.000,129,2179,2843,0,0,0,0,0,0
$GC,94,-0.72,-117.3,3.4,-5.2,11,117,10.12,2.42,-7.53,0.000,4,0.236,0.060,2666,661,3217,0,0,0,0,0,0
$GC,190,-0.68,-117.3,29.6,-19.4,27,198,0.05,2.40,0.00,0.000,6,0.161,0.049,2686,2171,3220,0,0,0,0,0,0
$GC,265,-0.64,-117.3,44.6,-19.5,40,272,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2170,3220,0,0,0,0,0,0
$GC,337,-0.61,-117.3,59.2,-19.0,53,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2171,3221,0,0,0,0,0,0
$GC,410,-0.59,-117.3,73.5,-20.2,66,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2171,3222,0,0,0,0,0,0
$GC,484,-0.56,-117.3,86.7,-18.3,79,492,0.12,0.00,0.00,0.000,6,0.174,0.000,2721,2170,3222,0,0,0,0,0,0
$GC,557,-0.56,-117.3,98.0,-13.3,92,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2170,3222,0,0,0,0,0,0
$GC,629,-0.56,-117.3,106.4,-11.6,100,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2170,3222,0,0,0,0,0,0
$GC,758,-0.56,-117.3,121.1,-11.5,112,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2170,3223,0,0,0,0,0,0
$GC,892,-0.56,-117.3,137.3,-11.9,125,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2170,3223,0,0,0,0,0,0
$GC,1020,-0.56,-117.3,151.8,-11.3,137,1024,0.00,2.42,0.00,0.000,4,0.000,0.060,2712,3694,3223,0,0,0,0,0,0
$GC,1051,-0.56,-117.3,155.9,-12.8,139,1058,0.00,2.38,0.00,0.000,6,0.000,0.044,2711,2159,3222,0,0,0,0,0,0
$GC,1187,-0.56,-117.3,172.0,-12.0,152,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2155,3223,0,0,0,0,0,0
$GC,1313,-0.56,-117.3,187.3,-11.7,164,1317,0.00,2.28,0.00,0.000,4,0.000,0.050,2711,666,3223,0,0,0,0,0,0
$GC,1346,-0.56,-117.3,191.3,-11.8,166,1353,0.00,2.30,0.00,0.000,6,0.000,0.048,2701,2170,3223,0,0,0,0,0,0
$GC,1480,-0.56,-117.3,206.4,-10.9,179,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2170,3223,0,0,0,0,0,0
$GC,1607,-0.56,-117.3,220.6,-11.3,191,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2170,3223,0,0,0,0,0,0
$GC,1735,-0.56,-117.3,235.2,-11.3,203,1739,0.00,2.40,0.00,0.000,4,0.000,0.061,2690,3691,3223,0,0,0,0,0,0
$GC,1776,-0.56,-117.3,239.8,-11.7,206,1781,0.12,2.35,0.00,0.000,6,0.150,0.044,2725,2161,3223,0,0,0,0,0,0
$GC,1913,-0.58,-117.3,253.6,-9.7,218,1917,0.00,2.28,0.00,0.000,4,0.000,0.051,2725,666,3223,0,0,0,0,0,0
$GC,1945,-0.59,-117.3,257.3,-10.2,220,1952,0.00,2.30,0.00,0.000,6,0.000,0.048,2718,2161,3223,0,0,0,0,0,0
$GC,2081,-0.60,-117.3,270.7,-10.4,233,2085,0.00,2.40,0.00,0.000,4,0.000,0.060,2706,3695,3223,0,0,0,0,0,0
$GC,2112,-0.62,-117.3,274.0,-11.0,235,2116,0.00,2.35,0.00,0.000,6,0.000,0.044,2706,2155,3223,0,0,0,0,0,0
$GC,2248,-0.62,-117.3,288.5,-10.3,247,2252,0.00,2.28,0.00,0.000,4,0.000,0.051,2705,658,3223,0,0,0,0,0,0
$GC,2291,-0.62,-117.3,293.6,-11.3,250,2298,0.00,2.33,0.00,0.000,6,0.000,0.049,2696,2168,3223,0,0,0,0,0,0
$GC,2425,-0.62,-117.3,307.5,-10.7,263,2429,0.00,2.40,0.00,0.000,4,0.000,0.061,2684,3690,3222,0,0,0,0,0,0
$GC,2458,-0.62,-117.3,311.3,-11.2,265,2466,0.00,2.33,0.00,0.000,6,0.000,0.042,2683,2154,3223,0,0,0,0,0,0
$GC,2593,-0.62,-117.3,325.8,-10.9,278,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2149,3223,0,0,0,0,0,0
$GC,2721,-0.62,-117.3,340.3,-11.4,290,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2148,3222,0,0,0,0,0,0
$GC,2849,-0.62,-117.3,354.5,-11.1,302,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2148,3222,0,0,0,0,0,0
$GC,2975,-0.62,-117.3,368.3,-10.9,314,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2149,3222,0,0,0,0,0,0
$GC,3102,-0.62,-117.3,382.2,-10.8,326,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2148,3222,0,0,0,0,0,0
$GC,3230,-0.62,-117.3,396.3,-11.2,338,3234,0.00,2.25,0.00,0.000,4,0.000,0.050,2683,666,3221,0,0,0,0,0,0
$GC,3260,-0.62,-117.3,399.6,-12.2,340,3265,0.12,2.30,0.00,0.000,6,0.158,0.050,2707,2176,3222,0,0,0,0,0,0
$GC,3396,-0.63,-117.3,413.2,-9.8,352,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2175,3222,0,0,0,0,0,0
$GC,3524,-0.64,-117.3,425.5,-9.2,364,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2176,3221,0,0,0,0,0,0
$GC,3661,-0.65,-117.3,438.0,-8.9,377,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2176,3221,0,0,0,0,0,0
$GC,3796,-0.66,-117.3,449.6,-8.4,390,3800,0.00,2.42,0.00,0.000,4,0.000,0.063,2698,3695,3220,0,0,0,0,0,0
$GC,3831,-0.67,-117.3,452.7,-8.3,392,3838,0.00,2.33,0.00,0.000,6,0.000,0.045,2698,2181,3220,0,0,0,0,0,0
$GC,3966,-0.67,-117.3,464.8,-9.3,405,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2178,3220,0,0,0,0,0,0
$GC,4093,-0.67,-117.3,476.5,-9.0,417,4097,0.00,2.33,0.00,0.000,4,0.000,0.053,2697,668,3220,0,0,0,0,0,0
$GC,4133,-0.67,-117.3,480.5,-9.7,420,4137,0.00,2.33,0.00,0.000,6,0.000,0.050,2687,2183,3220,0,0,0,0,0,0
$GC,4274,-0.67,-117.3,495.0,-10.2,433,4278,0.00,2.38,0.00,0.000,4,0.000,0.063,2676,3690,3219,0,0,0,0,0,0
$GC,4314,-0.67,-117.3,499.3,-11.0,436,4318,0.00,2.30,0.00,0.000,6,0.000,0.044,2675,2179,3219,0,0,0,0,0,0
$GC,4455,-0.67,-117.3,514.7,-10.8,449,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2173,3219,0,0,0,0,0,0
$GC,4581,-0.67,-117.3,528.6,-10.9,461,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2173,3219,0,0,0,0,0,0
$GC,4709,-0.67,-117.3,542.4,-11.0,473,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2173,3219,0,0,0,0,0,0
$GC,4837,-0.67,-117.3,556.2,-10.9,485,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2173,3219,0,0,0,0,0,0
$GC,4964,-0.67,-117.3,570.0,-10.9,497,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2173,3219,0,0,0,0,0,0
$GC,5091,-0.67,-117.3,583.8,-11.1,509,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2173,3218,0,0,0,0,0,0
$GC,5220,-0.67,-117.3,597.2,-10.8,521,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2173,3218,0,0,0,0,0,0
$GC,5342,-0.67,-117.3,611.0,-11.0,527,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2173,3218,0,0,0,0,0,0
$GC,5649,-0.67,-117.3,645.2,-11.3,537,5653,0.00,2.35,0.00,0.000,4,0.000,0.053,2675,659,3218,0,0,0,0,0,0
$GC,5699,-0.67,-117.3,651.5,-12.1,538,5703,0.00,2.35,0.00,0.000,6,0.000,0.051,2665,2197,3218,0,0,0,0,0,0
$GC,6018,-0.67,-117.3,687.5,-11.2,549,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2197,3217,0,0,0,0,0,0
$GC,6323,-0.67,-117.3,719.7,-10.4,559,6327,0.00,2.38,0.00,0.000,4,0.000,0.066,2653,3697,3217,0,0,0,0,0,0
$GC,6361,-0.67,-117.3,724.1,-11.6,560,6366,0.12,2.30,0.00,0.000,6,0.154,0.047,2688,2194,3217,0,0,0,0,0,0
$GC,6686,-0.67,-117.3,752.5,-8.7,571,6690,0.00,2.35,0.00,0.000,4,0.000,0.054,2688,667,3217,0,0,0,0,0,0
$GC,6716,-0.67,-117.3,755.2,-9.4,572,6721,0.00,2.35,0.00,0.000,6,0.000,0.052,2679,2203,3216,0,0,0,0,0,0
$GC,7052,-0.67,-117.3,785.9,-9.1,583,7056,0.00,2.38,0.00,0.000,4,0.000,0.066,2668,3695,3215,0,0,0,0,0,0
$GC,7087,-0.67,-117.3,789.2,-10.5,584,7091,0.00,2.30,0.00,0.000,6,0.000,0.048,2667,2183,3216,0,0,0,0,0,0
$GC,7422,-0.67,-117.3,823.2,-10.1,595,7426,0.00,2.33,0.00,0.000,4,0.000,0.055,2667,670,3215,0,0,0,0,0,0
$GC,7500,-0.67,-117.3,831.6,-11.0,597,7505,0.10,2.35,0.00,0.000,6,0.169,0.053,2683,2190,3215,0,0,0,0,0,0
$GC,7819,-0.67,-117.3,860.4,-9.0,608,7820,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2190,3215,0,0,0,0,0,0
$GC,8126,-0.67,-117.3,887.8,-8.9,618,8130,0.00,2.38,0.00,0.000,4,0.000,0.066,2674,3691,3215,0,0,0,0,0,0
$GC,8182,-0.67,-117.3,893.3,-9.5,619,8186,0.00,2.30,0.00,0.000,6,0.000,0.046,2674,2175,3214,0,0,0,0,0,0
$GC,8495,-0.67,-117.3,922.9,-9.5,629,8496,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2170,3214,0,0,0,0,0,0
$GC,8802,-0.67,-117.3,951.6,-9.3,639,8803,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2170,3214,0,0,0,0,0,0
$GC,9109,-0.67,-117.3,979.0,-8.7,649,9113,0.00,2.30,0.00,0.000,4,0.000,0.053,2674,664,3214,0,0,0,0,0,0
$GC,9153,-0.67,-117.3,983.5,-9.6,650,9157,0.00,2.35,0.00,0.000,6,0.000,0.054,2664,2197,3213,0,0,0,0,0,0
$STATE,9237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9237,begin apogee
$GC,9243,-0.22,0.0,991.1,9.3,653,9348,0.52,0.00,101.53,1.235,6,0.127,0.000,2834,2058,2735,0,0,0,0,0,0
$STATE,9349,end apogee,CONTROL_FINISHED_OK
$STATE,9349,begin climb
$GC,9353,0.72,117.3,993.8,0.0,656,9467,0.88,0.00,109.57,1.206,6,0.080,0.000,3132,2058,2255,0,0,0,0,0,0
$GC,9790,0.69,117.3,935.6,15.4,671,9791,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2058,2245,0,0,0,0,0,0
$GC,10095,0.67,117.3,889.4,15.0,681,10099,0.00,2.45,0.00,0.000,4,0.000,0.063,3132,3574,2243,0,0,0,0,0,0
$GC,10158,0.63,117.3,878.9,18.0,683,10163,0.15,2.38,0.00,0.000,6,0.186,0.046,3106,2065,2242,0,0,0,0,0,0
$GC,10494,0.62,117.3,834.5,13.0,694,10498,0.00,2.42,0.00,0.000,4,0.000,0.062,3107,3579,2241,0,0,0,0,0,0
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$STATE,17655,end climb,SURFACE_DEPTH_REACHED
$STATE,17655,begin surface coast
$FINISH,1.6,1.024103
$STATE,17673,end surface coast,CONTROL_FINISHED_OK
$STATE,17673,begin surface
$SM_CCo,17694,48.38,0.516,1,0,1206,375.06
$SM_GC,1.83,0.00,0.00,48.38,0.000,0.000,0.516,121,2180,1206,-8.70,0.14,375.06
$IRIDIUM_FIX,4707.04,-12616.60,170511,212111
$TT8_MAMPS,0.027713
$HUMID,35.74
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,23.3,23.541
$10V_AH,10.3,17.944
$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,21.475,180.500,353.075,48.375,0.000,28.011,37.038,201.075,0.000,0.000,19.549,3401.395,10762.426,668.554,2835.236,480.324,33.364,1931.717,0.000,2593.030,0.000,0.536,0.000
$DEVICE_MAMPS,236.385,73.440,1234.710,516.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,899.820,1093.695,1080.810,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73467,1304
$CAP_FILE_SIZE,207784,0
$CFSIZE,260165632,199815168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.047, 53.6,1
$GPS,180511,074906,4725.723,-12610.507,34,1.1,34,18.7