version: 66.07
glider: 187
mission: 4
dive: 234
start: 5 18 111 7 57 3
data:
$ID,187
$MISSION,4
$DIVE,234
$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,-1584116.6
$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,30
$R_STBD_OVSHOOT,27
$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
$GPS1,180511,074906,4725.723,-12610.507,34,1.1,34,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-75.6
$GPS2,180511,075607,4725.738,-12610.485,10,1.4,15,18.7
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.007,0.236
$KALMAN_X,5938.9,214.4,-328.7,54776.6,777.8
$KALMAN_Y,7690.3,729.3,2447.9,33335.1,-4258.1
$MHEAD_RNG_PITCHd_Wd,38.8,108966,-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,-117.3,0.0,0.0,0,86,0.00,0.00,-67.80,0.000,2,0.000,0.000,121,2181,2765,0,0,0,0,0,0
$GC,90,-0.72,-117.3,3.2,-4.3,10,120,10.18,2.45,-9.55,0.000,4,0.238,0.063,2664,653,3217,0,0,0,0,0,0
$GC,223,-0.68,-117.3,37.6,-20.7,33,231,0.05,2.42,0.00,0.000,6,0.130,0.049,2683,2174,3219,0,0,0,0,0,0
$GC,297,-0.64,-117.3,51.8,-19.3,46,305,0.00,2.50,0.00,0.000,4,0.000,0.061,2673,3722,3220,0,0,0,0,0,0
$GC,335,-0.61,-117.3,59.5,-19.5,52,344,0.08,2.42,0.00,0.000,6,0.129,0.044,2709,2189,3220,0,0,0,0,0,0
$GC,411,-0.59,-117.3,72.8,-17.2,65,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2186,3221,0,0,0,0,0,0
$GC,482,-0.58,-117.3,85.3,-17.3,78,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2186,3221,0,0,0,0,0,0
$GC,553,-0.56,-117.3,96.5,-14.3,91,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2185,3222,0,0,0,0,0,0
$GC,625,-0.56,-117.3,106.3,-14.3,100,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2186,3222,0,0,0,0,0,0
$GC,753,-0.56,-117.3,123.2,-13.0,112,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2185,3222,0,0,0,0,0,0
$GC,879,-0.56,-117.3,139.5,-12.2,124,883,0.00,2.42,0.00,0.000,4,0.000,0.060,2700,3704,3222,0,0,0,0,0,0
$GC,908,-0.56,-117.3,143.0,-11.6,126,913,0.00,2.38,0.00,0.000,6,0.000,0.044,2699,2171,3222,0,0,0,0,0,0
$GC,1043,-0.56,-117.3,159.4,-12.4,138,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2166,3222,0,0,0,0,0,0
$GC,1170,-0.56,-117.3,174.8,-12.2,150,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2166,3222,0,0,0,0,0,0
$GC,1297,-0.56,-117.3,190.6,-12.6,162,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2166,3222,0,0,0,0,0,0
$GC,1426,-0.56,-117.3,205.7,-11.5,174,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2166,3222,0,0,0,0,0,0
$GC,1552,-0.56,-117.3,220.3,-11.3,186,1556,0.00,2.42,0.00,0.000,4,0.000,0.060,2688,3695,3222,0,0,0,0,0,0
$GC,1580,-0.56,-117.3,223.4,-11.4,188,1585,0.12,2.33,0.00,0.000,6,0.151,0.044,2722,2186,3222,0,0,0,0,0,0
$GC,1716,-0.58,-117.3,236.5,-9.2,200,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2181,3222,0,0,0,0,0,0
$GC,1842,-0.59,-117.3,249.0,-9.6,212,1846,0.00,2.33,0.00,0.000,4,0.000,0.051,2722,660,3222,0,0,0,0,0,0
$GC,1893,-0.60,-117.3,254.4,-10.6,216,1897,0.00,2.35,0.00,0.000,6,0.000,0.049,2715,2198,3222,0,0,0,0,0,0
$GC,2029,-0.62,-117.3,268.2,-10.5,228,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2198,3222,0,0,0,0,0,0
$GC,2155,-0.62,-117.3,281.1,-10.0,240,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2198,3222,0,0,0,0,0,0
$GC,2282,-0.63,-117.3,294.3,-10.2,252,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2198,3222,0,0,0,0,0,0
$GC,2411,-0.64,-117.3,307.2,-10.4,264,2415,0.00,2.35,0.00,0.000,4,0.000,0.051,2715,664,3222,0,0,0,0,0,0
$GC,2456,-0.65,-117.3,312.1,-10.4,267,2463,0.00,2.40,0.00,0.000,6,0.000,0.050,2705,2201,3222,0,0,0,0,0,0
$GC,2591,-0.65,-117.3,326.1,-10.5,280,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2201,3222,0,0,0,0,0,0
$GC,2719,-0.65,-117.3,339.6,-10.8,292,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2201,3222,0,0,0,0,0,0
$GC,2845,-0.65,-117.3,353.4,-10.8,304,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2201,3222,0,0,0,0,0,0
$GC,2972,-0.65,-117.3,366.8,-10.5,316,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2201,3222,0,0,0,0,0,0
$GC,3101,-0.65,-117.3,379.8,-10.0,328,3105,0.00,2.38,0.00,0.000,4,0.000,0.063,2694,3690,3221,0,0,0,0,0,0
$GC,3133,-0.65,-117.3,383.4,-9.7,330,3141,0.00,2.30,0.00,0.000,6,0.000,0.044,2693,2201,3221,0,0,0,0,0,0
$GC,3268,-0.65,-117.3,397.4,-10.4,343,3272,0.00,2.35,0.00,0.000,4,0.000,0.052,2693,660,3221,0,0,0,0,0,0
$GC,3318,-0.65,-117.3,402.8,-10.5,347,3325,0.00,2.38,0.00,0.000,6,0.000,0.050,2683,2198,3221,0,0,0,0,0,0
$GC,3452,-0.65,-117.3,416.8,-10.5,360,3456,0.00,2.38,0.00,0.000,4,0.000,0.063,2671,3690,3220,0,0,0,0,0,0
$GC,3480,-0.65,-117.3,420.1,-11.7,362,3487,0.00,2.30,0.00,0.000,6,0.000,0.044,2670,2190,3220,0,0,0,0,0,0
$GC,3616,-0.65,-117.3,435.1,-11.4,375,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2187,3219,0,0,0,0,0,0
$GC,3742,-0.65,-117.3,449.5,-11.7,387,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2187,3219,0,0,0,0,0,0
$GC,3869,-0.65,-117.3,463.8,-11.2,399,3874,0.00,2.35,0.00,0.000,4,0.000,0.052,2670,661,3219,0,0,0,0,0,0
$GC,3922,-0.65,-117.3,469.9,-12.1,403,3927,0.12,2.33,0.00,0.000,6,0.160,0.050,2694,2186,3220,0,0,0,0,0,0
$GC,4057,-0.65,-117.3,483.6,-10.0,415,4061,0.00,2.40,0.00,0.000,4,0.000,0.063,2685,3691,3220,0,0,0,0,0,0
$GC,4098,-0.65,-117.3,487.8,-10.4,418,4102,0.00,2.30,0.00,0.000,6,0.000,0.044,2684,2191,3219,0,0,0,0,0,0
$GC,4239,-0.65,-117.3,502.4,-10.3,431,4243,0.00,2.35,0.00,0.000,4,0.000,0.054,2684,664,3219,0,0,0,0,0,0
$GC,4290,-0.65,-117.3,508.3,-11.4,435,4294,0.00,2.35,0.00,0.000,6,0.000,0.052,2674,2194,3219,0,0,0,0,0,0
$GC,4430,-0.65,-117.3,523.8,-11.0,448,4435,0.00,2.40,0.00,0.000,4,0.000,0.063,2662,3697,3219,0,0,0,0,0,0
$GC,4472,-0.65,-117.3,528.5,-11.6,451,4477,0.12,2.30,0.00,0.000,6,0.155,0.046,2696,2192,3219,0,0,0,0,0,0
$GC,4608,-0.65,-117.3,541.6,-9.4,463,4609,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2187,3218,0,0,0,0,0,0
$GC,4735,-0.65,-117.3,553.9,-9.8,475,4739,0.00,2.33,0.00,0.000,4,0.000,0.054,2696,665,3219,0,0,0,0,0,0
$GC,4777,-0.65,-117.3,557.9,-9.6,478,4781,0.00,2.38,0.00,0.000,6,0.000,0.052,2689,2201,3218,0,0,0,0,0,0
$GC,4912,-0.65,-117.3,571.8,-9.8,490,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2201,3218,0,0,0,0,0,0
$GC,5040,-0.65,-117.3,585.1,-10.7,502,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2201,3218,0,0,0,0,0,0
$GC,5166,-0.65,-117.3,597.7,-9.8,514,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2201,3218,0,0,0,0,0,0
$GC,5291,-0.65,-117.3,610.0,-10.0,520,5295,0.00,2.38,0.00,0.000,4,0.000,0.064,2677,3691,3217,0,0,0,0,0,0
$GC,5324,-0.65,-117.3,613.8,-11.5,521,5329,0.00,2.28,0.00,0.000,6,0.000,0.046,2677,2192,3217,0,0,0,0,0,0
$GC,5654,-0.65,-117.3,649.0,-10.5,532,5658,0.00,2.35,0.00,0.000,4,0.000,0.054,2676,664,3218,0,0,0,0,0,0
$GC,5704,-0.65,-117.3,654.9,-11.2,533,5708,0.00,2.38,0.00,0.000,6,0.000,0.052,2666,2199,3218,0,0,0,0,0,0
$GC,6017,-0.65,-117.3,689.6,-11.3,543,6021,0.00,2.38,0.00,0.000,4,0.000,0.064,2654,3696,3217,0,0,0,0,0,0
$GC,6090,-0.65,-117.3,698.5,-12.5,545,6095,0.15,2.30,0.00,0.000,6,0.150,0.047,2697,2186,3217,0,0,0,0,0,0
$GC,6421,-0.66,-117.3,728.9,-8.7,556,6425,0.00,2.35,0.00,0.000,4,0.000,0.055,2697,663,3216,0,0,0,0,0,0
$GC,6484,-0.67,-117.3,734.8,-9.5,558,6488,0.00,2.38,0.00,0.000,6,0.000,0.053,2689,2203,3216,0,0,0,0,0,0
$GC,6826,-0.67,-117.3,767.1,-9.2,569,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2203,3215,0,0,0,0,0,0
$GC,7132,-0.67,-117.3,794.1,-8.6,579,7133,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2203,3215,0,0,0,0,0,0
$GC,7440,-0.67,-117.3,820.4,-9.0,589,7441,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2203,3215,0,0,0,0,0,0
$GC,7744,-0.67,-117.3,848.8,-9.6,599,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2203,3214,0,0,0,0,0,0
$GC,8051,-0.67,-117.3,879.0,-10.0,609,8052,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2203,3214,0,0,0,0,0,0
$GC,8358,-0.67,-117.3,909.8,-9.9,619,8359,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2203,3214,0,0,0,0,0,0
$GC,8664,-0.67,-117.3,939.0,-9.2,629,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2203,3214,0,0,0,0,0,0
$GC,8969,-0.67,-117.3,965.1,-8.3,639,8970,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2203,3213,0,0,0,0,0,0
$GC,9277,-0.67,-117.3,989.2,-7.7,649,9281,0.00,2.40,0.00,0.000,4,0.000,0.056,2689,657,3213,0,0,0,0,0,0
$STATE,9284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9285,begin apogee
$GC,9292,-0.22,0.0,990.4,7.8,649,9397,0.45,0.00,101.30,1.232,6,0.127,0.000,2829,2071,2735,0,0,0,0,0,0
$STATE,9397,end apogee,CONTROL_FINISHED_OK
$STATE,9397,begin climb
$GC,9400,0.72,117.3,992.4,0.0,652,9519,0.90,2.60,108.78,1.204,4,0.082,0.060,3135,3573,2254,0,0,0,0,0,0
$GC,9553,0.68,117.3,976.9,16.9,656,9561,0.00,2.50,0.00,0.000,6,0.000,0.047,3147,2068,2250,0,0,0,0,0,0
$GC,9866,0.65,117.3,927.3,15.8,667,9871,0.12,2.47,0.00,0.000,4,0.182,0.061,3117,3575,2245,0,0,0,0,0,0
$GC,9889,0.61,117.3,923.4,15.4,667,9896,0.00,2.42,0.00,0.000,6,0.000,0.047,3126,2058,2244,0,0,0,0,0,0
$GC,10202,0.59,117.3,879.4,13.8,678,10207,0.12,2.47,0.00,0.000,4,0.182,0.061,3096,3574,2242,0,0,0,0,0,0
$GC,10231,0.57,117.3,875.4,13.9,679,10236,0.00,2.40,0.00,0.000,6,0.000,0.047,3105,2065,2241,0,0,0,0,0,0
$GC,10568,0.55,117.3,831.7,12.9,690,10569,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2064,2241,0,0,0,0,0,0
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$STATE,17753,end climb,SURFACE_DEPTH_REACHED
$STATE,17753,begin surface coast
$FINISH,0.9,1.012093
$STATE,17797,end surface coast,CONTROL_FINISHED_OK
$STATE,17797,begin surface
$SM_CCo,17815,44.72,0.509,1,0,1205,375.06
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$IRIDIUM_FIX,4707.04,-12609.59,180511,020228
$TT8_MAMPS,0.027713
$HUMID,35.78
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,23.3,23.667
$10V_AH,10.2,18.074
$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
$DEVICE_SECS,21.100,190.525,355.850,44.725,0.000,27.072,43.793,202.335,0.000,0.000,18.057,3416.390,10875.748,611.585,2918.092,449.060,33.367,1910.649,0.000,2642.693,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,899.714,1077.989,1085.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73597,1301
$CAP_FILE_SIZE,208658,0
$CFSIZE,260165632,199725056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.043, 73.6,1
$GPS,180511,125607,4727.270,-12606.940,40,1.0,40,18.7