version: 66.07
glider: 187
mission: 4
dive: 539
start: 7 12 111 14 1 34
data:
$ID,187
$MISSION,4
$DIVE,539
$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,-1585411.8
$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,33
$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,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
$GPS1,120711,135337,4749.341,-12517.604,36,0.9,36,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-77.5
$GPS2,120711,140038,4749.332,-12517.591,15,1.1,15,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.182,-0.083
$KALMAN_X,195178.6,330.8,-282.2,-208214.2,367.1
$KALMAN_Y,-365248.7,-307.0,-494.3,371275.1,-567.5
$MHEAD_RNG_PITCHd_Wd,189.7,158361,-13.6,-6.111
$D_GRID,539
$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,-117.3,0.0,0.0,0,77,0.00,0.00,-59.28,0.000,2,0.000,0.000,118,2161,2759,0,0,0,0,0,0
$GC,82,-0.50,-117.3,3.5,-2.7,9,112,10.62,2.40,-8.90,0.000,4,0.227,0.063,2750,669,3217,0,0,0,0,0,0
$GC,151,-0.44,-117.3,19.9,-15.8,20,160,0.08,2.40,0.00,0.000,6,0.124,0.050,2777,2172,3219,0,0,0,0,0,0
$GC,292,-0.45,-117.3,32.0,-8.3,45,299,0.00,2.45,0.00,0.000,4,0.000,0.060,2769,3696,3220,0,0,0,0,0,0
$GC,425,-0.45,-117.3,43.7,-8.5,69,432,0.00,2.30,0.00,0.000,6,0.000,0.043,2769,2239,3221,0,0,0,0,0,0
$GC,563,-0.44,-117.3,55.4,-8.8,94,572,0.00,2.53,0.00,0.000,4,0.000,0.050,2768,664,3222,0,0,0,0,0,0
$GC,598,-0.44,-117.3,58.6,-8.6,99,607,0.00,2.50,0.00,0.000,6,0.000,0.048,2760,2245,3221,0,0,0,0,0,0
$GC,740,-0.43,-117.3,70.0,-7.2,124,748,0.00,2.35,0.00,0.000,4,0.000,0.060,2750,3693,3222,0,0,0,0,0,0
$GC,762,-0.42,-117.3,71.8,-7.4,127,770,0.08,2.33,0.00,0.000,6,0.106,0.043,2779,2215,3222,0,0,0,0,0,0
$GC,900,-0.42,-117.3,79.6,-6.4,152,908,0.00,2.45,0.00,0.000,4,0.000,0.050,2779,645,3223,0,0,0,0,0,0
$GC,938,-0.42,-117.3,82.6,-7.5,158,945,0.00,2.45,0.00,0.000,6,0.000,0.047,2773,2202,3223,0,0,0,0,0,0
$GC,1078,-0.42,-117.3,93.5,-7.5,183,1086,0.00,2.40,0.00,0.000,4,0.000,0.060,2763,3684,3223,0,0,0,0,0,0
$GC,1118,-0.42,-117.3,96.4,-7.1,189,1127,0.00,2.33,0.00,0.000,6,0.000,0.041,2763,2195,3224,0,0,0,0,0,0
$GC,1265,-0.42,-117.3,106.3,-7.2,207,1269,0.00,2.38,0.00,0.000,4,0.000,0.048,2762,665,3224,0,0,0,0,0,0
$GC,1312,-0.42,-117.3,110.4,-8.4,211,1317,0.10,2.35,0.00,0.000,6,0.150,0.047,2782,2192,3223,0,0,0,0,0,0
$GC,1515,-0.44,-117.3,128.2,-8.0,229,1519,0.00,2.38,0.00,0.000,4,0.000,0.060,2782,3690,3224,0,0,0,0,0,0
$GC,1624,-0.47,-117.3,136.4,-6.1,238,1631,0.00,2.55,0.00,0.000,6,0.000,0.042,2781,2047,3224,0,0,0,0,0,0
$GC,1825,-0.49,-117.3,144.8,-3.3,257,1829,0.00,2.65,0.00,0.000,4,0.000,0.060,2779,3693,3224,0,0,0,0,0,0
$GC,1902,-0.52,-117.3,147.3,-3.3,263,1908,0.00,2.67,0.00,0.000,6,0.000,0.043,2779,1962,3224,0,0,0,0,0,0
$GC,2102,-0.55,-117.3,155.7,-5.0,282,2108,0.10,2.78,0.00,0.000,4,0.101,0.058,2714,3694,3224,0,0,0,0,0,0
$GC,2200,-0.54,-117.3,163.3,-8.5,290,2206,0.12,2.80,0.00,0.000,6,0.131,0.043,2750,1889,3223,0,0,0,0,0,0
$GC,2400,-0.54,-117.3,177.9,-6.6,308,2405,0.00,2.90,0.00,0.000,4,0.000,0.059,2740,3693,3223,0,0,0,0,0,0
$GC,2463,-0.54,-117.3,182.7,-7.8,313,2468,0.00,2.75,0.00,0.000,6,0.000,0.044,2739,1923,3223,0,0,0,0,0,0
$GC,2663,-0.54,-117.3,199.3,-8.9,331,2668,0.00,2.85,0.00,0.000,4,0.000,0.060,2728,3689,3223,0,0,0,0,0,0
$GC,2707,-0.54,-117.3,203.1,-9.0,334,2712,0.00,2.67,0.00,0.000,6,0.000,0.044,2728,1966,3223,0,0,0,0,0,0
$GC,2908,-0.52,-117.3,222.6,-9.3,352,2913,0.00,2.75,0.00,0.000,4,0.000,0.059,2716,3689,3223,0,0,0,0,0,0
$GC,2942,-0.52,-117.3,226.4,-10.2,354,2951,0.12,2.67,0.00,0.000,6,0.129,0.044,2753,1965,3222,0,0,0,0,0,0
$GC,3142,-0.52,-117.3,240.7,-7.0,373,3147,0.00,2.75,0.00,0.000,4,0.000,0.060,2744,3688,3222,0,0,0,0,0,0
$GC,3171,-0.52,-117.3,242.8,-6.7,375,3175,0.00,2.65,0.00,0.000,6,0.000,0.044,2743,1995,3223,0,0,0,0,0,0
$GC,3371,-0.52,-117.3,257.5,-7.2,393,3376,0.00,2.72,0.00,0.000,4,0.000,0.060,2733,3693,3222,0,0,0,0,0,0
$GC,3403,-0.52,-117.3,260.4,-7.8,395,3410,0.00,2.60,0.00,0.000,6,0.000,0.044,2732,2020,3222,0,0,0,0,0,0
$GC,3602,-0.52,-117.3,273.7,-6.2,414,3606,0.00,2.70,0.00,0.000,4,0.000,0.060,2721,3692,3222,0,0,0,0,0,0
$GC,3624,-0.52,-117.3,275.3,-7.0,415,3632,0.10,2.58,0.00,0.000,6,0.138,0.044,2750,2040,3222,0,0,0,0,0,0
$GC,3824,-0.52,-117.3,286.1,-5.6,434,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2038,3221,0,0,0,0,0,0
$GC,4026,-0.52,-117.3,297.2,-5.6,453,4030,0.00,2.65,0.00,0.000,4,0.000,0.063,2743,3689,3221,0,0,0,0,0,0
$GC,4058,-0.52,-117.3,299.3,-5.9,455,4066,0.00,2.58,0.00,0.000,6,0.000,0.045,2743,2044,3221,0,0,0,0,0,0
$GC,4257,-0.52,-117.3,312.3,-6.8,474,4261,0.00,2.17,0.00,0.000,4,0.000,0.054,2742,673,3221,0,0,0,0,0,0
$GC,4281,-0.52,-117.3,313.9,-7.1,476,4285,0.00,2.15,0.00,0.000,6,0.000,0.051,2742,2063,3220,0,0,0,0,0,0
$GC,4484,-0.52,-117.3,328.4,-6.9,495,4489,0.00,2.65,0.00,0.000,4,0.000,0.063,2732,3689,3220,0,0,0,0,0,0
$GC,4550,-0.52,-117.3,333.4,-7.3,500,4558,0.00,2.50,0.00,0.000,6,0.000,0.043,2732,2073,3220,0,0,0,0,0,0
$GC,4750,-0.52,-117.3,347.6,-7.1,519,4754,0.00,2.20,0.00,0.000,4,0.000,0.052,2731,674,3220,0,0,0,0,0,0
$GC,4771,-0.52,-117.3,349.5,-8.0,520,4778,0.00,2.20,0.00,0.000,6,0.000,0.050,2723,2083,3220,0,0,0,0,0,0
$GC,4971,-0.51,-117.3,363.4,-6.9,539,4976,0.10,2.62,0.00,0.000,4,0.151,0.063,2742,3692,3219,0,0,0,0,0,0
$GC,5015,-0.52,-117.3,365.9,-5.7,542,5019,0.00,2.50,0.00,0.000,6,0.000,0.046,2742,2089,3219,0,0,0,0,0,0
$GC,5214,-0.52,-117.3,377.8,-6.3,560,5218,0.00,2.22,0.00,0.000,4,0.000,0.054,2741,676,3219,0,0,0,0,0,0
$GC,5235,-0.52,-117.3,379.5,-6.6,561,5243,0.00,2.22,0.00,0.000,6,0.000,0.052,2735,2084,3219,0,0,0,0,0,0
$GC,5434,-0.52,-117.3,393.4,-7.6,580,5439,0.00,2.60,0.00,0.000,4,0.000,0.063,2723,3689,3218,0,0,0,0,0,0
$GC,5486,-0.52,-117.3,397.4,-8.0,584,5490,0.00,2.47,0.00,0.000,6,0.000,0.046,2722,2096,3218,0,0,0,0,0,0
$GC,5685,-0.51,-117.3,413.6,-8.2,602,5690,0.10,2.25,0.00,0.000,4,0.153,0.054,2751,675,3218,0,0,0,0,0,0
$GC,5702,-0.51,-117.3,415.0,-7.6,603,5707,0.00,2.28,0.00,0.000,6,0.000,0.053,2747,2125,3218,0,0,0,0,0,0
$GC,5902,-0.51,-117.3,428.5,-6.9,621,5907,0.00,2.55,0.00,0.000,4,0.000,0.064,2736,3692,3217,0,0,0,0,0,0
$GC,5933,-0.51,-117.3,430.6,-7.3,623,5937,0.00,2.45,0.00,0.000,6,0.000,0.047,2736,2120,3217,0,0,0,0,0,0
$GC,6133,-0.51,-117.3,444.4,-6.9,641,6137,0.00,2.30,0.00,0.000,4,0.000,0.054,2735,665,3217,0,0,0,0,0,0
$GC,6152,-0.51,-117.3,445.9,-7.1,642,6155,0.00,2.30,0.00,0.000,6,0.000,0.051,2732,2137,3217,0,0,0,0,0,0
$GC,6356,-0.51,-117.3,459.0,-6.4,661,6361,0.00,2.53,0.00,0.000,4,0.000,0.063,2722,3693,3217,0,0,0,0,0,0
$GC,6400,-0.51,-117.3,461.7,-6.1,664,6405,0.12,2.42,0.00,0.000,6,0.129,0.046,2759,2142,3216,0,0,0,0,0,0
$GC,6600,-0.51,-117.3,472.8,-5.7,682,6605,0.00,2.33,0.00,0.000,4,0.000,0.054,2758,667,3216,0,0,0,0,0,0
$GC,6644,-0.52,-117.3,475.1,-6.3,685,6649,0.00,2.33,0.00,0.000,6,0.000,0.053,2755,2141,3216,0,0,0,0,0,0
$GC,6847,-0.54,-117.3,485.7,-5.3,703,6851,0.00,2.35,0.00,0.000,4,0.000,0.053,2755,656,3216,0,0,0,0,0,0
$GC,6932,-0.54,-117.3,490.8,-6.2,710,6936,0.00,2.15,0.00,0.000,6,0.000,0.053,2748,2024,3215,0,0,0,0,0,0
$GC,7134,-0.55,-117.3,501.9,-5.4,728,7138,0.00,2.12,0.00,0.000,4,0.000,0.054,2748,664,3215,0,0,0,0,0,0
$GC,7185,-0.55,-117.3,505.2,-6.0,732,7189,0.00,2.33,0.00,0.000,6,0.000,0.052,2742,2142,3215,0,0,0,0,0,0
$GC,7387,-0.57,-117.3,517.1,-5.8,750,7392,0.00,2.35,0.00,0.000,4,0.000,0.054,2741,663,3215,0,0,0,0,0,0
$GC,7464,-0.57,-117.3,522.5,-6.7,756,7472,0.00,2.15,0.00,0.000,6,0.000,0.052,2734,2019,3215,0,0,0,0,0,0
$GC,7665,-0.57,-117.3,535.1,-6.1,775,7669,0.00,2.75,0.00,0.000,4,0.000,0.064,2721,3696,3215,0,0,0,0,0,0
$STATE,7718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7718,begin apogee
$GC,7727,-0.22,0.0,539.0,6.2,779,7828,0.38,0.00,98.10,0.940,6,0.110,0.000,2848,2053,2735,0,0,0,0,0,0
$STATE,7829,end apogee,CONTROL_FINISHED_OK
$STATE,7829,begin climb
$GC,7832,0.50,117.3,542.1,0.0,789,7945,0.65,2.53,103.25,0.912,4,0.071,0.053,3088,549,2255,0,0,0,0,0,0
$GC,7982,0.47,117.3,535.7,7.8,801,7987,0.00,2.47,0.00,0.000,6,0.000,0.047,3088,2070,2250,0,0,0,0,0,0
$GC,8182,0.44,117.3,518.6,8.9,819,8187,0.00,2.45,0.00,0.000,4,0.000,0.060,3088,3576,2246,0,0,0,0,0,0
$GC,8215,0.41,117.3,515.2,10.0,821,8223,0.17,2.42,0.00,0.000,6,0.148,0.045,3050,2060,2245,0,0,0,0,0,0
$GC,8416,0.41,117.3,501.2,6.7,840,8420,0.00,2.42,0.00,0.000,4,0.000,0.056,3059,546,2244,0,0,0,0,0,0
$GC,8448,0.41,117.3,498.9,6.4,842,8454,0.00,2.38,0.00,0.000,6,0.000,0.049,3060,2062,2243,0,0,0,0,0,0
$GC,8647,0.39,117.3,485.9,7.0,861,8651,0.00,2.45,0.00,0.000,4,0.000,0.061,3059,3573,2243,0,0,0,0,0,0
$GC,8703,0.37,117.3,481.5,7.6,865,8710,0.00,2.40,0.00,0.000,6,0.000,0.044,3070,2055,2242,0,0,0,0,0,0
$GC,8902,0.35,117.3,468.3,6.6,884,8904,0.12,0.00,0.00,0.000,6,0.147,0.000,3035,2053,2242,0,0,0,0,0,0
$GC,9094,0.36,126.9,457.5,5.8,902,9107,0.00,2.53,7.10,0.740,4,0.000,0.060,3035,3581,2217,0,0,0,0,0,0
$GC,9124,0.36,126.9,455.5,6.5,904,9132,0.00,2.38,0.00,0.000,6,0.000,0.047,3041,2067,2215,0,0,0,0,0,0
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$STATE,15644,end climb,SURFACE_DEPTH_REACHED
$STATE,15644,begin surface coast
$FINISH,0.8,1.010519
$STATE,15760,end surface coast,CONTROL_FINISHED_OK
$STATE,15760,begin surface
$SM_CCo,15778,32.92,0.451,2,0,1409,325.02
$SM_GC,2.41,0.00,0.00,32.92,0.000,0.000,0.451,118,2201,1409,-8.76,0.74,325.02
$IRIDIUM_FIX,4732.49,-12523.69,120711,101011
$TT8_MAMPS,0.027713
$HUMID,39.68
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,17.00
$XPDR_PINGS,0
$24V_AH,23.4,58.319
$10V_AH,9.9,61.729
$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
$DEVICE_SECS,21.325,313.125,340.000,32.925,0.000,25.062,29.910,209.358,0.000,0.000,16.572,4217.077,6470.623,679.626,4287.114,572.536,33.357,2273.920,0.000,3456.312,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1123.628,3599.951,1819.260,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297572
$DATA_FILE_SIZE,96859,1634
$CAP_FILE_SIZE,237922,0
$CFSIZE,260165632,173686784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.179,309.6,1
$GPS,120711,182636,4749.037,-12520.426,40,1.4,40,18.7