version: 66.07
glider: 187
mission: 4
dive: 524
start: 7 10 111 16 49 42
data:
$ID,187
$MISSION,4
$DIVE,524
$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,-1585393
$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,32
$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
$GPS1,100711,164025,4749.782,-12518.654,44,1.1,44,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-78.9
$GPS2,100711,164843,4749.735,-12518.652,14,1.1,19,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,0.081
$KALMAN_X,197334.7,487.2,2142.2,-214280.3,-7992.6
$KALMAN_Y,-344451.1,-199.7,-269.4,350890.2,-134.0
$MHEAD_RNG_PITCHd_Wd,59.5,30907,-13.6,-6.111
$D_GRID,478
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.50,-117.3,0.0,0.0,0,84,0.00,0.00,-65.05,0.000,2,0.000,0.000,122,2180,2711,0,0,0,0,0,0
$GC,88,-0.50,-117.3,3.3,-2.3,10,117,10.57,2.40,-10.45,0.000,4,0.227,0.060,2755,662,3216,0,0,0,0,0,0
$GC,222,-0.47,-117.3,27.4,-11.0,33,231,0.00,2.40,0.00,0.000,6,0.000,0.048,2746,2173,3218,0,0,0,0,0,0
$GC,360,-0.45,-117.3,41.5,-10.9,58,367,0.00,2.50,0.00,0.000,4,0.000,0.061,2735,3708,3219,0,0,0,0,0,0
$GC,413,-0.43,-117.3,47.6,-11.0,67,421,0.12,2.42,0.00,0.000,6,0.108,0.043,2778,2175,3219,0,0,0,0,0,0
$GC,553,-0.43,-117.3,60.1,-8.7,92,561,0.00,2.40,0.00,0.000,4,0.000,0.050,2778,664,3220,0,0,0,0,0,0
$GC,586,-0.43,-117.3,63.3,-9.1,97,594,0.00,2.40,0.00,0.000,6,0.000,0.048,2773,2182,3220,0,0,0,0,0,0
$GC,728,-0.43,-117.3,73.7,-6.8,122,736,0.00,2.47,0.00,0.000,4,0.000,0.061,2763,3689,3220,0,0,0,0,0,0
$GC,755,-0.43,-117.3,75.8,-7.3,126,763,0.00,2.40,0.00,0.000,6,0.000,0.044,2762,2168,3220,0,0,0,0,0,0
$GC,891,-0.43,-117.3,85.5,-7.3,151,899,0.00,2.40,0.00,0.000,4,0.000,0.050,2762,669,3220,0,0,0,0,0,0
$GC,929,-0.43,-117.3,88.5,-7.8,157,938,0.00,2.40,0.00,0.000,6,0.000,0.048,2754,2190,3220,0,0,0,0,0,0
$GC,1074,-0.43,-117.3,101.2,-9.1,181,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2190,3221,0,0,0,0,0,0
$GC,1267,-0.43,-117.3,117.4,-7.9,199,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2190,3221,0,0,0,0,0,0
$GC,1456,-0.43,-117.3,130.5,-6.5,217,1461,0.00,2.45,0.00,0.000,4,0.000,0.061,2743,3697,3220,0,0,0,0,0,0
$GC,1487,-0.43,-117.3,132.6,-7.1,219,1492,0.12,2.35,0.00,0.000,6,0.124,0.044,2782,2189,3220,0,0,0,0,0,0
$GC,1689,-0.44,-117.3,143.6,-5.7,237,1693,0.00,2.38,0.00,0.000,4,0.000,0.050,2782,666,3220,0,0,0,0,0,0
$GC,1736,-0.45,-117.3,146.7,-6.0,241,1740,0.00,2.35,0.00,0.000,6,0.000,0.048,2782,2190,3220,0,0,0,0,0,0
$GC,1936,-0.48,-117.3,159.1,-6.3,259,1941,0.00,2.40,0.00,0.000,4,0.000,0.050,2782,655,3220,0,0,0,0,0,0
$GC,2047,-0.50,-117.3,166.8,-7.0,268,2051,0.00,2.22,0.00,0.000,6,0.000,0.049,2779,2099,3220,0,0,0,0,0,0
$GC,2248,-0.52,-117.3,180.5,-6.6,286,2252,0.00,2.25,0.00,0.000,4,0.000,0.052,2778,664,3220,0,0,0,0,0,0
$GC,2287,-0.54,-117.3,183.5,-6.8,289,2295,0.00,2.40,0.00,0.000,6,0.000,0.049,2779,2219,3220,0,0,0,0,0,0
$GC,2485,-0.56,-117.3,196.3,-6.2,308,2490,0.12,2.45,0.00,0.000,4,0.084,0.050,2708,654,3220,0,0,0,0,0,0
$GC,2542,-0.54,-117.3,201.2,-9.0,312,2550,0.15,2.62,0.00,0.000,6,0.135,0.050,2741,2334,3220,0,0,0,0,0,0
$GC,2741,-0.54,-117.3,215.8,-7.2,331,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2334,3220,0,0,0,0,0,0
$GC,2934,-0.54,-117.3,229.0,-6.6,349,2938,0.00,2.65,0.00,0.000,4,0.000,0.052,2741,659,3219,0,0,0,0,0,0
$GC,2978,-0.54,-117.3,232.3,-6.8,352,2985,0.00,2.60,0.00,0.000,6,0.000,0.050,2733,2313,3219,0,0,0,0,0,0
$GC,3177,-0.54,-117.3,246.2,-7.1,371,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2313,3219,0,0,0,0,0,0
$GC,3368,-0.54,-117.3,260.7,-8.1,389,3373,0.00,2.60,0.00,0.000,4,0.000,0.051,2733,662,3218,0,0,0,0,0,0
$GC,3418,-0.54,-117.3,265.1,-8.5,393,3423,0.00,2.58,0.00,0.000,6,0.000,0.050,2724,2313,3218,0,0,0,0,0,0
$GC,3618,-0.53,-117.3,282.1,-8.6,411,3619,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2313,3218,0,0,0,0,0,0
$GC,3809,-0.52,-117.3,299.3,-8.9,429,3814,0.10,2.60,0.00,0.000,4,0.153,0.051,2751,662,3218,0,0,0,0,0,0
$GC,3853,-0.52,-117.3,303.5,-8.0,432,3862,0.00,2.58,0.00,0.000,6,0.000,0.050,2746,2290,3218,0,0,0,0,0,0
$GC,4055,-0.52,-117.3,318.9,-7.6,451,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2290,3217,0,0,0,0,0,0
$GC,4255,-0.52,-117.3,335.3,-8.5,470,4259,0.00,2.58,0.00,0.000,4,0.000,0.053,2746,658,3217,0,0,0,0,0,0
$GC,4307,-0.52,-117.3,339.8,-8.8,474,4311,0.00,2.53,0.00,0.000,6,0.000,0.052,2740,2279,3217,0,0,0,0,0,0
$GC,4507,-0.52,-117.3,356.4,-8.3,492,4511,0.00,2.30,0.00,0.000,4,0.000,0.063,2729,3696,3217,0,0,0,0,0,0
$GC,4541,-0.52,-117.3,359.4,-8.9,495,4545,0.00,2.20,0.00,0.000,6,0.000,0.046,2729,2278,3217,0,0,0,0,0,0
$GC,4741,-0.52,-117.3,376.4,-8.5,513,4745,0.00,2.55,0.00,0.000,4,0.000,0.054,2729,659,3216,0,0,0,0,0,0
$GC,4806,-0.52,-117.3,382.2,-8.4,518,4814,0.10,2.50,0.00,0.000,6,0.150,0.053,2751,2265,3216,0,0,0,0,0,0
$GC,5006,-0.52,-117.3,394.7,-6.2,537,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2265,3216,0,0,0,0,0,0
$GC,5195,-0.52,-117.3,405.9,-5.6,555,5200,0.00,2.55,0.00,0.000,4,0.000,0.054,2751,657,3215,0,0,0,0,0,0
$GC,5224,-0.52,-117.3,407.6,-6.2,557,5229,0.00,2.50,0.00,0.000,6,0.000,0.053,2747,2251,3215,0,0,0,0,0,0
$GC,5424,-0.52,-117.3,418.5,-5.5,575,5428,0.00,2.35,0.00,0.000,4,0.000,0.065,2736,3694,3215,0,0,0,0,0,0
$GC,5462,-0.52,-117.3,420.9,-5.8,578,5469,0.00,2.28,0.00,0.000,6,0.000,0.047,2736,2241,3215,0,0,0,0,0,0
$GC,5660,-0.52,-117.3,432.4,-6.1,597,5664,0.00,2.47,0.00,0.000,4,0.000,0.054,2736,668,3215,0,0,0,0,0,0
$GC,5715,-0.52,-117.3,435.9,-6.3,601,5723,0.00,2.50,0.00,0.000,6,0.000,0.053,2729,2251,3214,0,0,0,0,0,0
$GC,5914,-0.52,-117.3,448.5,-6.2,620,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2251,3214,0,0,0,0,0,0
$GC,6108,-0.52,-117.3,461.1,-6.5,638,6112,0.00,2.53,0.00,0.000,4,0.000,0.054,2729,668,3214,0,0,0,0,0,0
$GC,6143,-0.52,-117.3,463.8,-7.5,641,6147,0.00,2.47,0.00,0.000,6,0.000,0.054,2728,2232,3214,0,0,0,0,0,0
$GC,6341,-0.52,-117.3,477.7,-7.7,659,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2232,3214,0,0,0,0,0,0
$STATE,6349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6349,begin apogee
$GC,6357,-0.22,0.0,478.4,7.5,660,6456,0.35,0.00,96.43,0.899,6,0.108,0.000,2846,2059,2735,0,0,0,0,0,0
$STATE,6457,end apogee,CONTROL_FINISHED_OK
$STATE,6457,begin climb
$GC,6460,0.50,117.3,481.2,0.0,670,6572,0.65,2.55,102.65,0.871,4,0.073,0.052,3086,557,2254,0,0,0,0,0,0
$GC,6590,0.47,117.3,476.2,6.4,682,6595,0.00,2.45,0.00,0.000,6,0.000,0.047,3086,2057,2252,0,0,0,0,0,0
$GC,6790,0.45,117.3,459.5,8.3,700,6794,0.00,2.47,0.00,0.000,4,0.000,0.060,3086,3577,2247,0,0,0,0,0,0
$GC,6854,0.41,117.3,453.4,10.0,705,6859,0.17,2.40,0.00,0.000,6,0.146,0.045,3049,2064,2245,0,0,0,0,0,0
$GC,7054,0.41,117.3,439.9,6.6,723,7058,0.00,2.42,0.00,0.000,4,0.000,0.054,3058,541,2244,0,0,0,0,0,0
$GC,7073,0.41,119.7,438.8,6.0,724,7077,0.00,2.42,0.00,0.000,6,0.000,0.049,3058,2075,2244,0,0,0,0,0,0
$GC,7274,0.40,119.7,425.7,6.6,742,7278,0.00,2.42,0.00,0.000,4,0.000,0.060,3058,3574,2243,0,0,0,0,0,0
$GC,7316,0.38,119.7,422.5,7.7,745,7321,0.00,2.38,0.00,0.000,6,0.000,0.046,3068,2068,2242,0,0,0,0,0,0
$GC,7517,0.36,119.7,408.2,6.9,763,7524,0.12,0.00,0.00,0.000,6,0.144,0.000,3033,2066,2242,0,0,0,0,0,0
$GC,7716,0.36,131.8,397.1,5.7,782,7729,0.00,0.00,11.35,0.775,6,0.000,0.000,3033,2065,2197,0,0,0,0,0,0
$GC,7917,0.37,142.0,385.4,5.8,801,7934,0.00,2.50,9.98,0.757,4,0.000,0.060,3033,3574,2155,0,0,0,0,0,0
$GC,7954,0.37,142.0,383.2,6.9,804,7958,0.00,2.35,0.00,0.000,6,0.000,0.046,3039,2082,2154,0,0,0,0,0,0
$GC,8153,0.37,142.0,370.6,6.4,822,8157,0.00,2.42,0.00,0.000,4,0.000,0.056,3042,545,2153,0,0,0,0,0,0
$GC,8185,0.37,143.9,368.6,6.0,824,8192,0.00,2.42,0.00,0.000,6,0.000,0.048,3042,2093,2153,0,0,0,0,0,0
$GC,8385,0.38,155.0,357.1,5.7,843,8402,0.00,2.38,12.48,0.764,4,0.000,0.058,3041,3580,2103,0,0,0,0,0,0
$GC,8427,0.38,155.0,354.2,6.8,846,8431,0.00,2.35,0.00,0.000,6,0.000,0.047,3042,2085,2101,0,0,0,0,0,0
$GC,8626,0.38,155.0,342.0,6.2,864,8630,0.00,2.42,0.00,0.000,4,0.000,0.056,3042,545,2099,0,0,0,0,0,0
$GC,8659,0.39,161.2,339.9,5.9,866,8670,0.00,2.40,6.62,0.676,6,0.000,0.049,3042,2088,2077,0,0,0,0,0,0
$GC,8865,0.39,161.2,327.3,6.3,885,8869,0.00,2.38,0.00,0.000,4,0.000,0.060,3042,3575,2075,0,0,0,0,0,0
$GC,8886,0.39,161.2,325.5,7.1,886,8895,0.00,2.38,0.00,0.000,6,0.000,0.046,3043,2089,2074,0,0,0,0,0,0
$GC,9085,0.40,167.6,313.4,5.9,905,9099,0.00,2.50,6.78,0.671,4,0.000,0.057,3052,545,2051,0,0,0,0,0,0
$GC,9127,0.40,167.6,310.6,6.5,908,9134,0.00,2.42,0.00,0.000,6,0.000,0.049,3052,2092,2050,0,0,0,0,0,0
$GC,9325,0.40,167.6,297.8,6.6,927,9329,0.00,2.40,0.00,0.000,4,0.000,0.060,3052,3581,2049,0,0,0,0,0,0
$GC,9348,0.40,167.6,296.0,7.3,929,9353,0.00,2.38,0.00,0.000,6,0.000,0.047,3061,2080,2048,0,0,0,0,0,0
$GC,9547,0.40,167.6,281.1,7.6,947,9552,0.00,2.42,0.00,0.000,4,0.000,0.056,3072,548,2048,0,0,0,0,0,0
$GC,9592,0.40,167.6,277.3,8.1,950,9600,0.00,2.40,0.00,0.000,6,0.000,0.050,3072,2063,2048,0,0,0,0,0,0
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$GC,11529,0.39,186.4,140.2,8.1,1127,11535,0.12,2.40,0.00,0.000,6,0.145,0.046,3047,2050,1975,0,0,0,0,0,0
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$STATE,13713,end climb,SURFACE_DEPTH_REACHED
$STATE,13713,begin surface coast
$FINISH,0.9,1.010022
$STATE,13790,end surface coast,CONTROL_FINISHED_OK
$STATE,13790,begin surface
$SM_CCo,13808,15.45,0.321,1,0,1409,325.02
$SM_GC,2.42,0.00,0.00,15.45,0.000,0.000,0.321,117,2191,1409,-8.76,0.45,325.02
$IRIDIUM_FIX,4732.49,-12521.83,100711,121239
$TT8_MAMPS,0.027713
$HUMID,39.95
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,15.60
$XPDR_PINGS,1
$24V_AH,23.5,56.851
$10V_AH,9.9,59.648
$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,21.175,219.250,375.625,15.450,0.000,25.504,28.825,270.687,0.250,0.000,20.341,3685.082,5783.137,584.646,3739.617,515.472,33.364,1972.652,0.000,3010.723,0.000,0.536,0.000
$DEVICE_MAMPS,227.205,73.440,898.875,320.535,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1003.100,2803.231,1660.061,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297632
$DATA_FILE_SIZE,83562,1460
$CAP_FILE_SIZE,196996,0
$CFSIZE,260165632,174919680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.106,261.7,1
$GPS,100711,204221,4749.954,-12517.788,68,4.6,87,18.7