version: 66.07
glider: 187
mission: 4
dive: 523
start: 7 10 111 12 15 42
data:
$ID,187
$MISSION,4
$DIVE,523
$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,-1585391.8
$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,30
$R_STBD_OVSHOOT,29
$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
$GPS1,100711,120554,4748.788,-12519.860,36,2.0,36,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-78.0
$GPS2,100711,121443,4748.758,-12519.850,13,1.5,30,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.084,0.182
$KALMAN_X,198992.5,1597.8,-603.8,-215754.8,-1005.2
$KALMAN_Y,-343695.9,-504.5,651.0,347697.9,-2908.5
$MHEAD_RNG_PITCHd_Wd,42.6,33103,-13.6,-6.111
$D_GRID,537
$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,-0.50,-117.3,0.0,0.0,0,84,0.00,0.00,-66.50,0.000,2,0.000,0.000,122,2175,2769,0,0,0,0,0,0
$GC,88,-0.50,-117.3,3.5,-2.5,10,117,10.57,2.42,-8.98,0.000,4,0.226,0.065,2756,665,3217,0,0,0,0,0,0
$GC,267,-0.48,-117.3,37.9,-13.0,42,274,0.00,2.40,0.00,0.000,6,0.000,0.048,2747,2176,3220,0,0,0,0,0,0
$GC,403,-0.45,-117.3,55.2,-12.5,67,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2177,3221,0,0,0,0,0,0
$GC,540,-0.43,-117.3,72.6,-12.0,92,548,0.12,2.42,0.00,0.000,4,0.145,0.050,2784,652,3221,0,0,0,0,0,0
$GC,581,-0.43,-117.3,77.2,-10.6,99,589,0.00,2.35,0.00,0.000,6,0.000,0.048,2781,2139,3222,0,0,0,0,0,0
$GC,719,-0.43,-117.3,88.1,-8.1,124,727,0.00,2.50,0.00,0.000,4,0.000,0.060,2769,3697,3222,0,0,0,0,0,0
$GC,786,-0.43,-117.3,93.4,-8.0,136,794,0.00,2.42,0.00,0.000,6,0.000,0.044,2769,2160,3222,0,0,0,0,0,0
$GC,928,-0.43,-117.3,104.9,-8.6,157,932,0.00,2.33,0.00,0.000,4,0.000,0.050,2769,669,3222,0,0,0,0,0,0
$GC,980,-0.43,-117.3,109.4,-8.4,161,985,0.00,2.28,0.00,0.000,6,0.000,0.048,2761,2150,3222,0,0,0,0,0,0
$GC,1181,-0.43,-117.3,124.9,-6.9,179,1186,0.00,2.47,0.00,0.000,4,0.000,0.060,2750,3690,3222,0,0,0,0,0,0
$GC,1211,-0.43,-117.3,127.1,-6.7,181,1216,0.10,2.40,0.00,0.000,6,0.136,0.044,2779,2147,3222,0,0,0,0,0,0
$GC,1413,-0.43,-117.3,136.7,-4.8,199,1417,0.00,2.28,0.00,0.000,4,0.000,0.051,2779,668,3222,0,0,0,0,0,0
$GC,1476,-0.44,-117.3,140.2,-5.6,204,1480,0.00,2.28,0.00,0.000,6,0.000,0.048,2779,2134,3222,0,0,0,0,0,0
$GC,1679,-0.45,-117.3,151.0,-5.6,222,1683,0.00,2.50,0.00,0.000,4,0.000,0.061,2772,3691,3222,0,0,0,0,0,0
$GC,1709,-0.47,-117.3,152.9,-5.6,224,1714,0.00,2.42,0.00,0.000,6,0.000,0.044,2772,2127,3222,0,0,0,0,0,0
$GC,1912,-0.47,-117.3,164.3,-5.9,242,1916,0.00,2.25,0.00,0.000,4,0.000,0.051,2772,664,3222,0,0,0,0,0,0
$GC,1965,-0.48,-117.3,168.1,-7.5,246,1969,0.00,2.25,0.00,0.000,6,0.000,0.048,2772,2127,3222,0,0,0,0,0,0
$GC,2163,-0.48,-117.3,180.0,-5.8,264,2168,0.00,2.53,0.00,0.000,4,0.000,0.062,2769,3694,3222,0,0,0,0,0,0
$GC,2198,-0.50,-117.3,182.0,-5.7,266,2205,0.00,2.42,0.00,0.000,6,0.000,0.044,2768,2122,3222,0,0,0,0,0,0
$GC,2396,-0.50,-117.3,193.2,-5.7,285,2400,0.00,2.28,0.00,0.000,4,0.000,0.052,2768,662,3222,0,0,0,0,0,0
$GC,2443,-0.52,-117.3,196.1,-5.9,288,2451,0.00,2.30,0.00,0.000,6,0.000,0.049,2764,2125,3221,0,0,0,0,0,0
$GC,2642,-0.52,-117.3,207.4,-5.5,307,2646,0.00,2.55,0.00,0.000,4,0.000,0.063,2753,3693,3222,0,0,0,0,0,0
$GC,2685,-0.53,-117.3,209.9,-5.9,310,2689,0.00,2.42,0.00,0.000,6,0.000,0.044,2753,2121,3221,0,0,0,0,0,0
$GC,2885,-0.53,-117.3,222.4,-6.4,328,2889,0.00,2.25,0.00,0.000,4,0.000,0.052,2752,664,3221,0,0,0,0,0,0
$GC,2929,-0.53,-117.3,225.8,-7.4,331,2936,0.00,2.28,0.00,0.000,6,0.000,0.050,2745,2124,3221,0,0,0,0,0,0
$GC,3130,-0.53,-117.3,240.1,-7.5,350,3134,0.00,2.53,0.00,0.000,4,0.000,0.063,2734,3690,3220,0,0,0,0,0,0
$GC,3170,-0.53,-117.3,243.5,-7.9,353,3174,0.00,2.42,0.00,0.000,6,0.000,0.045,2733,2124,3220,0,0,0,0,0,0
$GC,3375,-0.53,-117.3,260.3,-8.2,372,3379,0.00,2.28,0.00,0.000,4,0.000,0.052,2733,668,3220,0,0,0,0,0,0
$GC,3428,-0.53,-117.3,264.5,-8.0,376,3432,0.00,2.28,0.00,0.000,6,0.000,0.050,2725,2129,3220,0,0,0,0,0,0
$GC,3627,-0.51,-117.3,281.1,-8.2,394,3631,0.00,2.53,0.00,0.000,4,0.000,0.062,2713,3687,3220,0,0,0,0,0,0
$GC,3660,-0.51,-117.3,284.2,-8.5,396,3669,0.10,2.47,0.00,0.000,6,0.099,0.045,2750,2118,3219,0,0,0,0,0,0
$GC,3860,-0.51,-117.3,298.5,-7.4,415,3864,0.00,2.30,0.00,0.000,4,0.000,0.053,2750,666,3219,0,0,0,0,0,0
$GC,3890,-0.51,-117.3,300.7,-7.1,417,3894,0.00,2.28,0.00,0.000,6,0.000,0.050,2745,2123,3219,0,0,0,0,0,0
$GC,4090,-0.51,-117.3,315.1,-7.4,435,4094,0.00,2.55,0.00,0.000,4,0.000,0.063,2734,3688,3219,0,0,0,0,0,0
$GC,4134,-0.51,-117.3,318.1,-7.5,438,4138,0.00,2.42,0.00,0.000,6,0.000,0.045,2732,2119,3219,0,0,0,0,0,0
$GC,4332,-0.51,-117.3,332.8,-7.0,456,4336,0.00,2.28,0.00,0.000,4,0.000,0.053,2732,667,3218,0,0,0,0,0,0
$GC,4366,-0.51,-117.3,335.4,-7.8,458,4373,0.00,2.30,0.00,0.000,6,0.000,0.050,2725,2137,3218,0,0,0,0,0,0
$GC,4566,-0.50,-117.3,350.3,-7.8,477,4571,0.12,2.53,0.00,0.000,4,0.140,0.063,2753,3685,3218,0,0,0,0,0,0
$GC,4595,-0.50,-117.3,352.3,-6.6,479,4600,0.00,2.42,0.00,0.000,6,0.000,0.046,2753,2121,3218,0,0,0,0,0,0
$GC,4794,-0.50,-117.3,364.3,-6.0,497,4798,0.00,2.30,0.00,0.000,4,0.000,0.054,2752,664,3217,0,0,0,0,0,0
$GC,4832,-0.50,-117.3,367.1,-6.3,500,4839,0.00,2.28,0.00,0.000,6,0.000,0.050,2745,2138,3217,0,0,0,0,0,0
$GC,5032,-0.50,-117.3,378.9,-6.1,519,5037,0.00,2.53,0.00,0.000,4,0.000,0.062,2733,3688,3217,0,0,0,0,0,0
$GC,5062,-0.50,-117.3,380.7,-5.6,521,5066,0.00,2.45,0.00,0.000,6,0.000,0.046,2733,2123,3217,0,0,0,0,0,0
$GC,5260,-0.50,-117.3,392.9,-5.9,539,5264,0.00,2.30,0.00,0.000,4,0.000,0.054,2733,661,3217,0,0,0,0,0,0
$GC,5294,-0.50,-117.3,395.3,-6.5,541,5302,0.00,2.28,0.00,0.000,6,0.000,0.051,2731,2118,3216,0,0,0,0,0,0
$GC,5492,-0.50,-117.3,406.8,-5.7,560,5497,0.00,2.55,0.00,0.000,4,0.000,0.063,2718,3694,3216,0,0,0,0,0,0
$GC,5526,-0.50,-117.3,409.0,-6.3,562,5533,0.12,2.45,0.00,0.000,6,0.124,0.046,2756,2114,3216,0,0,0,0,0,0
$GC,5724,-0.50,-117.3,417.3,-4.3,581,5728,0.00,2.25,0.00,0.000,4,0.000,0.054,2756,666,3216,0,0,0,0,0,0
$GC,5769,-0.51,-117.3,419.2,-5.0,584,5773,0.00,2.28,0.00,0.000,6,0.000,0.052,2751,2118,3216,0,0,0,0,0,0
$GC,5969,-0.51,-117.3,428.7,-4.7,602,5973,0.00,2.55,0.00,0.000,4,0.000,0.064,2740,3690,3216,0,0,0,0,0,0
$GC,6014,-0.52,-117.3,431.2,-5.1,605,6022,0.00,2.45,0.00,0.000,6,0.000,0.047,2740,2111,3216,0,0,0,0,0,0
$GC,6216,-0.52,-117.3,442.1,-5.4,624,6220,0.00,2.28,0.00,0.000,4,0.000,0.054,2740,666,3215,0,0,0,0,0,0
$GC,6261,-0.52,-117.3,445.4,-6.9,627,6270,0.00,2.30,0.00,0.000,6,0.000,0.051,2732,2115,3215,0,0,0,0,0,0
$GC,6461,-0.52,-117.3,457.5,-6.5,646,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2115,3214,0,0,0,0,0,0
$GC,6653,-0.52,-117.3,469.9,-6.4,664,6659,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2115,3214,0,0,0,0,0,0
$GC,6851,-0.52,-117.3,483.5,-6.9,683,6852,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2115,3214,0,0,0,0,0,0
$GC,7043,-0.52,-117.3,497.1,-7.2,701,7047,0.00,2.28,0.00,0.000,4,0.000,0.054,2732,673,3214,0,0,0,0,0,0
$GC,7076,-0.52,-117.3,499.8,-7.6,703,7082,0.00,2.25,0.00,0.000,6,0.000,0.053,2724,2116,3214,0,0,0,0,0,0
$GC,7274,-0.52,-117.3,514.4,-7.7,722,7278,0.00,2.55,0.00,0.000,4,0.000,0.063,2713,3689,3214,0,0,0,0,0,0
$GC,7305,-0.52,-117.3,516.8,-8.0,724,7310,0.12,2.50,0.00,0.000,6,0.126,0.047,2750,2108,3213,0,0,0,0,0,0
$GC,7505,-0.52,-117.3,530.1,-6.7,742,7509,0.00,2.25,0.00,0.000,4,0.000,0.054,2750,671,3213,0,0,0,0,0,0
$GC,7546,-0.53,-117.3,533.0,-7.3,745,7550,0.00,2.22,0.00,0.000,6,0.000,0.053,2745,2100,3213,0,0,0,0,0,0
$STATE,7610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7610,begin apogee
$GC,7617,-0.22,0.0,537.6,6.5,751,7718,0.28,0.00,97.62,0.934,6,0.108,0.000,2842,2100,2735,0,0,0,0,0,0
$STATE,7719,end apogee,CONTROL_FINISHED_OK
$STATE,7719,begin climb
$GC,7721,0.50,117.3,541.1,0.0,761,7839,0.68,2.65,103.22,0.908,4,0.074,0.054,3092,559,2254,0,0,0,0,0,0
$GC,7855,0.47,117.3,536.2,6.7,772,7862,0.00,2.47,0.00,0.000,6,0.000,0.048,3092,2056,2251,0,0,0,0,0,0
$GC,8053,0.44,117.3,520.5,8.0,791,8058,0.00,2.50,0.00,0.000,4,0.000,0.060,3092,3576,2247,0,0,0,0,0,0
$GC,8099,0.40,117.3,516.2,10.4,794,8106,0.20,2.42,0.00,0.000,6,0.145,0.045,3047,2069,2245,0,0,0,0,0,0
$GC,8297,0.40,117.3,501.5,7.6,813,8298,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2067,2245,0,0,0,0,0,0
$GC,8489,0.40,117.3,487.7,7.3,831,8490,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2067,2243,0,0,0,0,0,0
$GC,8678,0.40,117.3,474.9,6.4,849,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2066,2243,0,0,0,0,0,0
$GC,8870,0.40,117.3,462.3,6.9,867,8874,0.00,2.45,0.00,0.000,4,0.000,0.060,3046,3577,2243,0,0,0,0,0,0
$GC,8900,0.38,117.3,460.1,7.9,869,8904,0.00,2.38,0.00,0.000,6,0.000,0.046,3054,2064,2241,0,0,0,0,0,0
$GC,9100,0.37,117.3,445.0,7.4,887,9104,0.00,2.38,0.00,0.000,4,0.000,0.055,3065,547,2242,0,0,0,0,0,0
$GC,9121,0.36,117.3,443.0,7.7,888,9129,0.00,2.42,0.00,0.000,6,0.000,0.050,3065,2075,2242,0,0,0,0,0,0
$GC,9322,0.34,117.3,427.7,7.9,907,9326,0.12,2.40,0.00,0.000,4,0.148,0.061,3029,3577,2242,0,0,0,0,0,0
$GC,9350,0.34,117.3,425.3,7.4,909,9355,0.00,2.38,0.00,0.000,6,0.000,0.047,3036,2072,2241,0,0,0,0,0,0
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$STATE,15677,end climb,SURFACE_DEPTH_REACHED
$STATE,15677,begin surface coast
$FINISH,1.0,1.011845
$STATE,15722,end surface coast,CONTROL_FINISHED_OK
$STATE,15722,begin surface
$SM_CCo,15803,0.00,0.000,0,0,1166,384.88
$SM_GC,1.79,8.00,0.00,0.00,0.035,0.000,0.000,126,2180,1166,-8.60,0.11,384.88
$IRIDIUM_FIX,4729.30,-12522.59,100711,070741
$TT8_MAMPS,0.026964
$HUMID,39.36
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.40
$XPDR_PINGS,2
$24V_AH,23.4,56.746
$10V_AH,9.9,59.482
$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
$DEVICE_SECS,21.275,287.575,427.700,0.000,0.000,25.638,36.851,277.135,0.500,0.000,31.461,4048.335,7102.479,655.039,3916.016,583.347,33.365,2201.949,0.000,3291.698,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1090.654,2821.707,1643.778,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297616
$DATA_FILE_SIZE,93673,1587
$CAP_FILE_SIZE,230117,0
$CFSIZE,260165632,174985216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,285.7,1
$GPS,100711,164025,4749.782,-12518.654,44,1.1,44,18.7