version: 66.07
glider: 187
mission: 4
dive: 522
start: 7 10 111 7 21 24
data:
$ID,187
$MISSION,4
$DIVE,522
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,2.5
$T_BOOST,0
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,540
$T_MISSION,600
$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,0
$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,325
$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,-1585390.5
$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,2920
$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,28
$R_STBD_OVSHOOT,30
$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,12
$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
$GPS1,100711,071154,4748.148,-12521.166,44,0.8,44,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-78.0
$GPS2,100711,072025,4748.076,-12521.169,10,1.1,16,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.154,0.127
$KALMAN_X,202906.6,118.2,-1683.0,-218760.4,3457.1
$KALMAN_Y,-343336.8,369.5,586.1,345264.8,-3599.8
$MHEAD_RNG_PITCHd_Wd,39.9,35157,-13.6,-6.111
$D_GRID,588
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.50,-117.3,0.0,0.0,0,78,0.00,0.00,-58.12,0.000,2,0.000,0.000,115,2179,2736,0,0,0,0,0,0
$GC,81,-0.50,-117.3,3.3,-2.3,9,111,10.57,2.45,-9.98,0.000,4,0.226,0.063,2750,661,3217,0,0,0,0,0,0
$GC,167,-0.46,-117.3,21.8,-14.4,23,176,0.00,2.42,0.00,0.000,6,0.000,0.050,2742,2176,3219,0,0,0,0,0,0
$GC,305,-0.44,-117.3,37.1,-10.3,48,313,0.12,2.42,0.00,0.000,4,0.145,0.051,2778,659,3220,0,0,0,0,0,0
$GC,329,-0.42,-117.3,39.6,-10.2,51,338,0.00,2.40,0.00,0.000,6,0.000,0.050,2773,2163,3220,0,0,0,0,0,0
$GC,466,-0.42,-117.3,51.0,-8.5,76,474,0.00,2.50,0.00,0.000,4,0.000,0.061,2762,3697,3221,0,0,0,0,0,0
$GC,509,-0.42,-117.3,54.7,-8.8,83,518,0.00,2.45,0.00,0.000,6,0.000,0.044,2761,2152,3221,0,0,0,0,0,0
$GC,648,-0.40,-117.3,67.4,-9.6,108,655,0.00,2.35,0.00,0.000,4,0.000,0.051,2761,672,3222,0,0,0,0,0,0
$GC,697,-0.40,-117.3,72.4,-9.7,116,705,0.08,2.35,0.00,0.000,6,0.106,0.050,2785,2153,3222,0,0,0,0,0,0
$GC,838,-0.40,-117.3,84.6,-8.3,141,846,0.00,2.50,0.00,0.000,4,0.000,0.061,2776,3689,3223,0,0,0,0,0,0
$GC,873,-0.40,-117.3,87.4,-8.1,146,881,0.00,2.47,0.00,0.000,6,0.000,0.044,2775,2097,3223,0,0,0,0,0,0
$GC,1019,-0.40,-117.3,99.2,-8.2,171,1028,0.00,2.28,0.00,0.000,4,0.000,0.051,2775,663,3223,0,0,0,0,0,0
$GC,1062,-0.40,-117.3,102.9,-7.8,175,1070,0.00,2.25,0.00,0.000,6,0.000,0.048,2773,2111,3223,0,0,0,0,0,0
$GC,1263,-0.40,-117.3,116.7,-6.5,194,1267,0.00,2.53,0.00,0.000,4,0.000,0.060,2768,3694,3223,0,0,0,0,0,0
$GC,1307,-0.42,-117.3,119.5,-5.9,197,1315,0.00,2.47,0.00,0.000,6,0.000,0.044,2767,2120,3223,0,0,0,0,0,0
$GC,1509,-0.42,-117.3,131.6,-6.3,216,1513,0.00,2.25,0.00,0.000,4,0.000,0.051,2767,668,3223,0,0,0,0,0,0
$GC,1539,-0.42,-117.3,133.7,-6.7,218,1543,0.00,2.28,0.00,0.000,6,0.000,0.048,2763,2129,3223,0,0,0,0,0,0
$GC,1738,-0.42,-117.3,148.3,-7.5,236,1743,0.00,2.50,0.00,0.000,4,0.000,0.061,2752,3695,3223,0,0,0,0,0,0
$GC,1783,-0.42,-117.3,151.9,-8.3,239,1792,0.12,2.42,0.00,0.000,6,0.125,0.044,2790,2129,3223,0,0,0,0,0,0
$GC,1984,-0.45,-117.3,164.4,-6.1,258,1988,0.00,2.30,0.00,0.000,4,0.000,0.050,2790,661,3223,0,0,0,0,0,0
$GC,2111,-0.47,-117.3,172.2,-5.9,268,2119,0.00,2.20,0.00,0.000,6,0.000,0.049,2790,2062,3222,0,0,0,0,0,0
$GC,2310,-0.51,-117.3,182.7,-5.3,287,2314,0.00,2.17,0.00,0.000,4,0.000,0.051,2790,662,3222,0,0,0,0,0,0
$GC,2335,-0.54,-117.3,184.2,-5.6,288,2343,0.10,2.38,0.00,0.000,6,0.048,0.050,2724,2170,3222,0,0,0,0,0,0
$GC,2536,-0.52,-117.3,198.8,-7.8,307,2540,0.00,2.42,0.00,0.000,4,0.000,0.061,2713,3697,3222,0,0,0,0,0,0
$GC,2581,-0.52,-117.3,202.7,-8.5,310,2588,0.12,2.33,0.00,0.000,6,0.128,0.044,2749,2175,3222,0,0,0,0,0,0
$GC,2779,-0.52,-117.3,214.9,-6.2,329,2783,0.00,2.35,0.00,0.000,4,0.000,0.053,2749,664,3222,0,0,0,0,0,0
$GC,2829,-0.52,-117.3,218.1,-6.5,333,2834,0.00,2.35,0.00,0.000,6,0.000,0.049,2746,2174,3221,0,0,0,0,0,0
$GC,3029,-0.52,-117.3,231.1,-7.0,351,3033,0.00,2.47,0.00,0.000,4,0.000,0.063,2734,3695,3222,0,0,0,0,0,0
$GC,3057,-0.52,-117.3,233.2,-6.8,353,3061,0.00,2.38,0.00,0.000,6,0.000,0.045,2734,2164,3221,0,0,0,0,0,0
$GC,3256,-0.52,-117.3,248.8,-7.7,371,3260,0.00,2.35,0.00,0.000,4,0.000,0.053,2733,657,3221,0,0,0,0,0,0
$GC,3299,-0.52,-117.3,252.7,-8.2,374,3306,0.00,2.33,0.00,0.000,6,0.000,0.051,2727,2156,3221,0,0,0,0,0,0
$GC,3497,-0.51,-117.3,268.0,-7.8,393,3502,0.00,2.50,0.00,0.000,4,0.000,0.062,2715,3695,3221,0,0,0,0,0,0
$GC,3527,-0.51,-117.3,270.4,-8.5,395,3532,0.12,2.38,0.00,0.000,6,0.126,0.045,2752,2156,3221,0,0,0,0,0,0
$GC,3727,-0.51,-117.3,283.4,-6.5,413,3731,0.00,2.30,0.00,0.000,4,0.000,0.053,2752,663,3220,0,0,0,0,0,0
$GC,3767,-0.51,-117.3,286.2,-7.0,416,3771,0.00,2.33,0.00,0.000,6,0.000,0.050,2747,2162,3220,0,0,0,0,0,0
$GC,3972,-0.51,-117.3,300.2,-7.0,435,3976,0.00,2.50,0.00,0.000,4,0.000,0.063,2736,3697,3220,0,0,0,0,0,0
$GC,4011,-0.51,-117.3,303.2,-7.2,438,4015,0.00,2.40,0.00,0.000,6,0.000,0.046,2735,2149,3220,0,0,0,0,0,0
$GC,4211,-0.51,-117.3,317.5,-7.1,456,4215,0.00,2.33,0.00,0.000,4,0.000,0.053,2734,659,3219,0,0,0,0,0,0
$GC,4254,-0.51,-117.3,320.6,-7.8,459,4258,0.00,2.33,0.00,0.000,6,0.000,0.050,2728,2161,3219,0,0,0,0,0,0
$GC,4452,-0.51,-117.3,335.9,-7.9,477,4456,0.00,2.50,0.00,0.000,4,0.000,0.062,2716,3698,3219,0,0,0,0,0,0
$GC,4495,-0.51,-117.3,338.9,-8.1,480,4500,0.12,2.40,0.00,0.000,6,0.124,0.046,2754,2156,3219,0,0,0,0,0,0
$GC,4695,-0.51,-117.3,351.3,-5.9,498,4699,0.00,2.30,0.00,0.000,4,0.000,0.053,2754,664,3219,0,0,0,0,0,0
$GC,4727,-0.51,-117.3,353.5,-6.3,500,4734,0.00,2.35,0.00,0.000,6,0.000,0.051,2750,2167,3219,0,0,0,0,0,0
$GC,4927,-0.51,-117.3,365.5,-6.0,519,4931,0.00,2.47,0.00,0.000,4,0.000,0.063,2739,3694,3218,0,0,0,0,0,0
$GC,4967,-0.51,-117.3,368.1,-6.7,522,4971,0.00,2.40,0.00,0.000,6,0.000,0.046,2738,2151,3219,0,0,0,0,0,0
$GC,5167,-0.51,-117.3,380.4,-6.0,540,5171,0.00,2.35,0.00,0.000,4,0.000,0.054,2737,660,3218,0,0,0,0,0,0
$GC,5213,-0.51,-117.3,383.5,-6.5,544,5217,0.00,2.33,0.00,0.000,6,0.000,0.051,2731,2158,3218,0,0,0,0,0,0
$GC,5412,-0.51,-117.3,396.0,-6.3,562,5416,0.00,2.50,0.00,0.000,4,0.000,0.062,2719,3694,3218,0,0,0,0,0,0
$GC,5455,-0.51,-117.3,398.8,-6.8,565,5460,0.12,2.42,0.00,0.000,6,0.125,0.046,2757,2143,3217,0,0,0,0,0,0
$GC,5656,-0.51,-117.3,408.9,-5.1,583,5660,0.00,2.30,0.00,0.000,4,0.000,0.054,2757,660,3217,0,0,0,0,0,0
$GC,5711,-0.52,-117.3,411.7,-5.4,587,5715,0.00,2.33,0.00,0.000,6,0.000,0.052,2751,2150,3217,0,0,0,0,0,0
$GC,5914,-0.52,-117.3,423.6,-6.3,606,5918,0.00,2.50,0.00,0.000,4,0.000,0.065,2740,3690,3216,0,0,0,0,0,0
$GC,5958,-0.53,-117.3,426.4,-6.0,609,5965,0.00,2.45,0.00,0.000,6,0.000,0.047,2740,2140,3216,0,0,0,0,0,0
$GC,6159,-0.53,-117.3,439.4,-7.1,628,6163,0.00,2.33,0.00,0.000,4,0.000,0.055,2739,662,3216,0,0,0,0,0,0
$GC,6210,-0.53,-117.3,443.0,-6.6,632,6214,0.00,2.30,0.00,0.000,6,0.000,0.053,2732,2138,3216,0,0,0,0,0,0
$GC,6415,-0.53,-117.3,458.3,-7.6,651,6419,0.00,2.53,0.00,0.000,4,0.000,0.063,2721,3696,3216,0,0,0,0,0,0
$GC,6458,-0.53,-117.3,462.1,-7.9,654,6466,0.00,2.45,0.00,0.000,6,0.000,0.047,2721,2142,3216,0,0,0,0,0,0
$GC,6658,-0.52,-117.3,477.7,-7.5,673,6663,0.10,2.33,0.00,0.000,4,0.151,0.056,2750,667,3215,0,0,0,0,0,0
$GC,6700,-0.52,-117.3,480.9,-6.7,676,6704,0.00,2.30,0.00,0.000,6,0.000,0.052,2745,2144,3215,0,0,0,0,0,0
$GC,6899,-0.52,-117.3,494.4,-6.7,694,6903,0.00,2.53,0.00,0.000,4,0.000,0.064,2734,3691,3215,0,0,0,0,0,0
$GC,6940,-0.52,-117.3,497.2,-7.3,697,6945,0.00,2.42,0.00,0.000,6,0.000,0.047,2733,2134,3215,0,0,0,0,0,0
$GC,7142,-0.52,-117.3,511.1,-7.3,715,7146,0.00,2.33,0.00,0.000,4,0.000,0.056,2733,657,3215,0,0,0,0,0,0
$GC,7175,-0.52,-117.3,514.1,-8.1,717,7184,0.00,2.35,0.00,0.000,6,0.000,0.054,2732,2133,3214,0,0,0,0,0,0
$GC,7379,-0.52,-117.3,527.6,-7.2,736,7384,0.00,2.55,0.00,0.000,4,0.000,0.065,2722,3691,3215,0,0,0,0,0,0
$GC,7411,-0.52,-117.3,530.1,-7.2,738,7416,0.10,2.45,0.00,0.000,6,0.133,0.047,2751,2130,3214,0,0,0,0,0,0
$GC,7613,-0.52,-117.3,542.0,-5.9,756,7617,0.00,2.30,0.00,0.000,4,0.000,0.055,2751,655,3214,0,0,0,0,0,0
$GC,7643,-0.52,-117.3,544.0,-6.8,758,7652,0.00,2.35,0.00,0.000,6,0.000,0.054,2749,2130,3214,0,0,0,0,0,0
$GC,7843,-0.52,-117.3,555.8,-6.1,777,7848,0.00,2.55,0.00,0.000,4,0.000,0.065,2737,3690,3214,0,0,0,0,0,0
$GC,7876,-0.52,-117.3,558.2,-6.9,779,7886,0.00,2.47,0.00,0.000,6,0.000,0.047,2737,2127,3214,0,0,0,0,0,0
$GC,8079,-0.52,-117.3,571.9,-7.0,798,8083,0.00,2.28,0.00,0.000,4,0.000,0.055,2736,670,3214,0,0,0,0,0,0
$GC,8125,-0.52,-117.3,575.7,-7.7,801,8133,0.00,2.33,0.00,0.000,6,0.000,0.054,2732,2131,3214,0,0,0,0,0,0
$STATE,8301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8301,begin apogee
$GC,8309,-0.22,0.0,588.5,7.4,818,8410,0.32,0.00,98.22,0.969,6,0.109,0.000,2844,2056,2735,0,0,0,0,0,0
$STATE,8411,end apogee,CONTROL_FINISHED_OK
$STATE,8411,begin climb
$GC,8414,0.50,117.3,592.3,0.0,828,8528,0.65,2.53,104.38,0.939,4,0.072,0.053,3086,553,2255,0,0,0,0,0,0
$GC,8555,0.47,117.3,586.7,7.2,838,8559,0.00,2.50,0.00,0.000,6,0.000,0.048,3086,2065,2250,0,0,0,0,0,0
$GC,8756,0.44,117.3,570.5,8.2,856,8760,0.00,2.47,0.00,0.000,4,0.000,0.060,3086,3580,2246,0,0,0,0,0,0
$GC,8837,0.41,117.3,562.3,9.7,862,8847,0.12,2.42,0.00,0.000,6,0.131,0.046,3056,2081,2245,0,0,0,0,0,0
$GC,9040,0.39,117.3,547.9,7.5,881,9044,0.00,2.45,0.00,0.000,4,0.000,0.056,3066,545,2243,0,0,0,0,0,0
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$STATE,16850,end climb,SURFACE_DEPTH_REACHED
$STATE,16850,begin surface coast
$FINISH,1.0,1.006574
$STATE,16919,end surface coast,CONTROL_FINISHED_OK
$STATE,16919,begin surface
$SM_CCo,16998,0.00,0.000,0,0,1185,380.46
$SM_GC,1.90,8.02,0.00,0.00,0.039,0.000,0.000,125,2175,1185,-8.61,0.00,380.46
$IRIDIUM_FIX,4732.49,-12539.72,100711,010115
$TT8_MAMPS,0.026964
$HUMID,38.97
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,23.3,56.630
$10V_AH,9.9,59.307
$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,21.500,335.500,425.175,0.000,0.000,26.925,29.637,273.814,0.000,0.000,17.013,4380.137,7278.188,676.651,4495.041,647.516,33.351,2394.403,0.000,3588.325,0.000,0.535,0.000
$DEVICE_MAMPS,225.675,125.460,969.255,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1174.288,3160.409,1794.602,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297640
$DATA_FILE_SIZE,96926,1707
$CAP_FILE_SIZE,251125,0
$CFSIZE,260165632,175071232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077,245.4,1
$GPS,100711,120554,4748.788,-12519.860,36,2.0,36,18.7