version: 66.07
glider: 187
mission: 4
dive: 607
start: 8 4 111 0 3 18
data:
$ID,187
$MISSION,4
$DIVE,607
$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,-1585509.5
$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,30
$R_STBD_OVSHOOT,44
$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
$GPS1,030811,235531,4747.095,-12523.705,45,1.2,45,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-76.5
$GPS2,040811,000220,4747.078,-12523.633,18,1.2,18,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.093,0.177
$KALMAN_X,285569.9,-364.8,99.5,-305812.7,536.9
$KALMAN_Y,-533853.4,794.1,-108.0,534211.2,-2828.9
$MHEAD_RNG_PITCHd_Wd,53.2,17007,-13.6,-6.111
$D_GRID,735
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
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$GC,3400,-0.58,-117.3,240.4,-6.0,203,3404,0.00,2.42,0.00,0.000,4,0.000,0.061,2736,3695,3219,0,0,0,0,0,0
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$GC,4757,-0.55,-117.3,347.8,-7.6,267,4761,0.00,2.47,0.00,0.000,4,0.000,0.062,2718,3694,3215,0,0,0,0,0,0
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$GC,9588,-0.55,-117.3,676.0,-6.7,481,9593,0.00,2.50,0.00,0.000,6,0.000,0.048,2731,2117,3207,0,0,0,0,0,0
$GC,9902,-0.55,-117.3,696.0,-6.4,491,9906,0.00,2.33,0.00,0.000,4,0.000,0.056,2730,661,3207,0,0,0,0,0,0
$GC,9940,-0.55,-117.3,698.8,-7.3,492,9944,0.00,2.30,0.00,0.000,6,0.000,0.053,2725,2131,3206,0,0,0,0,0,0
$GC,10262,-0.55,-117.3,720.1,-6.6,503,10267,0.00,2.55,0.00,0.000,4,0.000,0.064,2713,3694,3206,0,0,0,0,0,0
$GC,10292,-0.55,-117.3,721.8,-6.7,504,10296,0.00,2.47,0.00,0.000,6,0.000,0.047,2713,2120,3205,0,0,0,0,0,0
$STATE,10623,end dive,NO_VERTICAL_VELOCITY
$STATE,10624,begin apogee
$GC,10630,-0.22,0.0,729.8,0.0,515,10734,0.40,0.00,100.90,1.052,6,0.072,0.000,2862,2053,2735,0,0,0,0,0,0
$STATE,10736,end apogee,CONTROL_FINISHED_OK
$STATE,10736,begin climb
$GC,10739,0.50,117.3,729.6,0.0,518,10858,0.62,2.72,107.45,1.023,4,0.059,0.059,3088,3580,2255,0,0,0,0,0,0
$GC,10931,0.46,117.3,716.6,11.2,524,10936,0.12,2.53,0.00,0.000,6,0.158,0.045,3068,2064,2249,0,0,0,0,0,0
$GC,11246,0.44,117.3,690.8,8.0,535,11247,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2061,2245,0,0,0,0,0,0
$GC,11550,0.42,117.3,665.3,8.4,545,11554,0.00,2.45,0.00,0.000,4,0.000,0.062,3068,3576,2243,0,0,0,0,0,0
$GC,11607,0.40,117.3,659.9,9.9,546,11615,0.00,2.40,0.00,0.000,6,0.000,0.047,3077,2067,2242,0,0,0,0,0,0
$GC,11919,0.37,117.3,631.7,8.9,557,11924,0.12,2.42,0.00,0.000,4,0.151,0.056,3050,545,2242,0,0,0,0,0,0
$GC,11951,0.37,117.3,629.0,7.3,558,11956,0.00,2.38,0.00,0.000,6,0.000,0.050,3050,2072,2242,0,0,0,0,0,0
$GC,12282,0.37,117.3,604.0,7.6,569,12286,0.00,2.42,0.00,0.000,4,0.000,0.060,3050,3585,2241,0,0,0,0,0,0
$GC,12337,0.35,117.3,599.1,8.8,570,12342,0.00,2.40,0.00,0.000,6,0.000,0.047,3060,2067,2239,0,0,0,0,0,0
$GC,12656,0.34,117.3,575.5,7.4,585,12660,0.00,2.42,0.00,0.000,4,0.000,0.062,3060,3576,2240,0,0,0,0,0,0
$GC,12695,0.32,117.3,572.1,8.5,587,12699,0.15,2.35,0.00,0.000,6,0.145,0.045,3027,2082,2239,0,0,0,0,0,0
$GC,12899,0.32,125.7,560.3,5.8,597,12906,0.00,0.00,5.88,0.746,6,0.000,0.000,3026,2081,2222,0,0,0,0,0,0
$GC,13084,0.32,126.4,549.0,6.1,606,13085,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2081,2221,0,0,0,0,0,0
$GC,13268,0.33,136.1,538.1,5.8,615,13281,0.00,0.00,10.93,0.854,6,0.000,0.000,3027,2080,2180,0,0,0,0,0,0
$GC,13453,0.34,146.1,527.3,5.8,624,13466,0.00,0.00,10.43,0.842,6,0.000,0.000,3026,2080,2139,0,0,0,0,0,0
$GC,13642,0.34,149.0,516.1,6.0,633,13648,0.00,0.00,4.07,0.605,6,0.000,0.000,3027,2079,2127,0,0,0,0,0,0
$GC,13824,0.34,149.0,504.5,6.5,642,13825,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2079,2126,0,0,0,0,0,0
$GC,14010,0.34,149.0,491.9,6.8,651,14011,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2079,2126,0,0,0,0,0,0
$GC,14197,0.34,149.0,479.5,6.8,660,14199,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2078,2126,0,0,0,0,0,0
$GC,14383,0.34,149.0,467.7,6.4,669,14384,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2078,2125,0,0,0,0,0,0
$GC,14567,0.34,149.0,456.2,6.3,678,14568,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2078,2125,0,0,0,0,0,0
$GC,14752,0.34,149.0,444.1,6.6,687,14753,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2078,2125,0,0,0,0,0,0
$GC,14939,0.34,149.0,432.1,6.5,696,14940,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2078,2125,0,0,0,0,0,0
$GC,15125,0.34,149.0,420.1,6.2,705,15126,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2078,2125,0,0,0,0,0,0
$GC,15310,0.35,149.5,408.8,6.1,714,15311,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2078,2125,0,0,0,0,0,0
$GC,15497,0.36,156.3,397.6,5.9,723,15507,0.00,0.00,7.95,0.743,6,0.000,0.000,3027,2078,2097,0,0,0,0,0,0
$GC,15681,0.38,162.8,387.1,5.9,732,15690,0.00,0.00,7.28,0.718,6,0.000,0.000,3027,2078,2071,0,0,0,0,0,0
$GC,15868,0.41,194.3,377.2,5.0,741,15899,0.00,0.00,28.75,0.826,6,0.000,0.000,3026,2077,1942,0,0,0,0,0,0
$GC,16073,0.45,225.2,366.7,5.0,751,16103,0.12,0.00,27.40,0.809,6,0.086,0.000,3090,2078,1817,0,0,0,0,0,0
$GC,16279,0.45,225.2,349.4,8.8,761,16280,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2077,1810,0,0,0,0,0,0
$GC,16462,0.45,225.2,333.1,8.7,770,16464,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2078,1809,0,0,0,0,0,0
$GC,16650,0.45,225.2,317.4,8.3,779,16651,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2077,1808,0,0,0,0,0,0
$GC,16834,0.45,225.2,302.5,8.0,788,16838,0.00,2.45,0.00,0.000,4,0.000,0.060,3090,3583,1808,0,0,0,0,0,0
$GC,16851,0.45,225.2,301.0,8.7,789,16856,0.12,2.38,0.00,0.000,6,0.147,0.046,3063,2080,1806,0,0,0,0,0,0
$GC,17056,0.45,225.2,286.4,7.2,799,17060,0.00,2.45,0.00,0.000,4,0.000,0.056,3073,538,1806,0,0,0,0,0,0
$GC,17096,0.46,225.2,283.4,7.2,801,17101,0.00,2.40,0.00,0.000,6,0.000,0.050,3073,2082,1806,0,0,0,0,0,0
$GC,17299,0.46,225.2,267.5,8.0,811,17303,0.00,2.40,0.00,0.000,4,0.000,0.062,3073,3572,1806,0,0,0,0,0,0
$GC,17327,0.46,225.2,265.0,9.8,812,17332,0.00,2.38,0.00,0.000,6,0.000,0.047,3082,2076,1806,0,0,0,0,0,0
$GC,17524,0.46,225.2,247.8,8.7,822,17528,0.00,2.42,0.00,0.000,4,0.000,0.057,3092,544,1806,0,0,0,0,0,0
$GC,17552,0.46,225.2,245.5,8.0,823,17556,0.00,2.38,0.00,0.000,6,0.000,0.050,3092,2079,1805,0,0,0,0,0,0
$GC,17746,0.46,225.2,228.1,9.3,832,17750,0.00,2.40,0.00,0.000,4,0.000,0.061,3092,3582,1806,0,0,0,0,0,0
$GC,17767,0.46,225.2,225.6,10.6,833,17772,0.12,2.38,0.00,0.000,6,0.149,0.047,3064,2074,1805,0,0,0,0,0,0
$GC,17969,0.46,225.2,211.1,6.8,843,17970,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2073,1805,0,0,0,0,0,0
$GC,18156,0.46,225.2,198.0,7.1,852,18161,0.00,2.42,0.00,0.000,4,0.000,0.057,3074,546,1805,0,0,0,0,0,0
$GC,18178,0.47,225.2,196.3,7.2,853,18182,0.00,2.38,0.00,0.000,6,0.000,0.050,3074,2080,1805,0,0,0,0,0,0
$GC,18381,0.47,225.2,181.6,7.2,863,18385,0.00,2.38,0.00,0.000,4,0.000,0.060,3074,3573,1805,0,0,0,0,0,0
$GC,18407,0.47,225.2,179.5,8.6,864,18412,0.00,2.38,0.00,0.000,6,0.000,0.047,3082,2066,1805,0,0,0,0,0,0
$GC,18602,0.47,225.2,164.1,8.0,873,18606,0.00,2.40,0.00,0.000,4,0.000,0.056,3082,538,1805,0,0,0,0,0,0
$GC,18641,0.47,225.2,160.8,7.3,875,18645,0.00,2.38,0.00,0.000,6,0.000,0.050,3082,2076,1805,0,0,0,0,0,0
$GC,18845,0.47,225.2,146.1,7.2,885,18849,0.00,2.38,0.00,0.000,4,0.000,0.060,3083,3577,1805,0,0,0,0,0,0
$GC,18862,0.47,225.2,144.7,7.4,886,18866,0.00,2.38,0.00,0.000,6,0.000,0.046,3083,2068,1805,0,0,0,0,0,0
$GC,19064,0.47,225.2,131.2,6.4,896,19068,0.00,2.40,0.00,0.000,4,0.000,0.056,3083,546,1805,0,0,0,0,0,0
$GC,19102,0.47,228.6,128.9,6.0,898,19107,0.00,2.38,0.00,0.000,6,0.000,0.048,3083,2074,1804,0,0,0,0,0,0
$GC,19307,0.48,249.0,117.3,5.4,908,19333,0.00,2.45,19.77,0.653,4,0.000,0.059,3083,3576,1718,0,0,0,0,0,0
$GC,19361,0.48,249.0,113.9,7.0,910,19366,0.00,2.35,0.00,0.000,6,0.000,0.046,3083,2086,1716,0,0,0,0,0,0
$GC,19555,0.51,249.0,101.0,6.8,919,19559,0.00,2.42,0.00,0.000,4,0.000,0.061,3083,3579,1714,0,0,0,0,0,0
$GC,19651,0.51,249.0,93.9,7.1,927,19655,0.00,2.58,0.00,0.000,6,0.000,0.045,3090,1948,1713,0,0,0,0,0,0
$GC,19851,0.54,249.0,80.1,6.9,945,19856,0.00,2.67,0.00,0.000,4,0.000,0.060,3090,3581,1713,0,0,0,0,0,0
$GC,19903,0.55,249.0,76.2,7.4,949,19908,0.00,2.42,0.00,0.000,6,0.000,0.045,3093,2027,1712,0,0,0,0,0,0
$GC,20102,0.59,249.0,62.5,6.7,967,20106,0.00,2.50,0.00,0.000,4,0.000,0.060,3093,3575,1712,0,0,0,0,0,0
$GC,20192,0.60,249.0,55.4,7.6,974,20199,0.00,2.60,0.00,0.000,6,0.000,0.044,3096,1913,1712,0,0,0,0,0,0
$GC,20391,0.63,254.5,41.9,5.9,993,20404,0.00,2.65,5.18,0.493,4,0.000,0.057,3096,3574,1696,0,0,0,0,0,0
$GC,20487,0.65,275.2,36.6,5.4,1001,20513,0.10,2.47,18.62,0.595,6,0.099,0.043,3151,1979,1613,0,0,0,0,0,0
$GC,20711,0.65,275.2,22.3,7.5,1022,20715,0.00,2.25,0.00,0.000,4,0.000,0.055,3160,550,1608,0,0,0,0,0,0
$GC,20796,0.68,304.4,17.5,5.1,1029,20828,0.00,2.20,24.60,0.588,6,0.000,0.046,3160,1985,1493,0,0,0,0,0,0
$GC,21029,0.75,369.1,6.5,3.8,1051,21088,0.00,2.62,52.47,0.579,4,0.000,0.058,3160,3567,1228,0,0,0,0,0,0
$STATE,21093,end climb,SURFACE_DEPTH_REACHED
$STATE,21093,begin surface coast
$FINISH,1.5,1.022776
$STATE,21119,end surface coast,CONTROL_FINISHED_OK
$STATE,21120,begin surface
$SM_CCo,21200,0.00,0.000,0,0,1220,371.38
$SM_GC,2.25,7.97,0.00,0.00,0.031,0.000,0.000,114,2170,1220,-8.62,-0.14,371.38
$IRIDIUM_FIX,4729.30,-12524.44,030811,171724
$TT8_MAMPS,0.026964
$HUMID,41.17
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.90
$XPDR_PINGS,1
$24V_AH,22.8,67.925
$10V_AH,9.8,74.943
$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,21.400,288.625,431.675,0.000,0.000,25.554,29.848,198.989,0.250,0.000,20.812,2239.260,15746.838,649.848,2426.973,527.200,33.375,1933.541,0.000,2132.479,0.000,0.536,0.000
$DEVICE_MAMPS,226.440,121.635,1051.875,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,301.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297616
$DATA_FILE_SIZE,53616,1059
$CAP_FILE_SIZE,225048,0
$CFSIZE,260165632,165011456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093,252.6,1
$GPS,040811,055754,4747.479,-12521.828,38,1.8,38,18.7