version: 66.07
glider: 187
mission: 4
dive: 613
start: 8 5 111 4 2 4
data:
$ID,187
$MISSION,4
$DIVE,613
$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,-1585517
$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,39
$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
$GPS1,050811,035158,4750.153,-12514.307,15,3.3,35,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-77.4
$GPS2,050811,040106,4750.120,-12514.301,15,1.7,31,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.092,0.178
$KALMAN_X,289113.4,115.5,-49.7,-298087.6,907.8
$KALMAN_Y,-548056.8,-24.0,240.8,554529.2,-2862.8
$MHEAD_RNG_PITCHd_Wd,38.3,4130,-13.6,-6.111
$D_GRID,344
$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,-117.3,0.0,0.0,0,79,0.00,0.00,-61.10,0.000,2,0.000,0.000,118,2190,2843,0,0,0,0,0,0
$GC,83,-0.50,-117.3,4.8,-5.9,6,108,10.73,2.42,-6.40,0.000,4,0.227,0.056,2752,645,3216,0,0,0,0,0,0
$GC,223,-0.48,-117.3,33.9,-10.5,18,227,0.00,2.35,0.00,0.000,6,0.000,0.046,2744,2166,3220,0,0,0,0,0,0
$GC,423,-0.46,-117.3,54.5,-9.3,36,427,0.00,2.42,0.00,0.000,4,0.000,0.057,2732,3690,3221,0,0,0,0,0,0
$GC,476,-0.45,-117.3,59.7,-9.1,40,481,0.15,2.35,0.00,0.000,6,0.125,0.041,2778,2161,3222,0,0,0,0,0,0
$GC,675,-0.45,-117.3,74.0,-7.2,58,679,0.00,2.30,0.00,0.000,4,0.000,0.049,2778,667,3222,0,0,0,0,0,0
$GC,735,-0.46,-117.3,78.8,-7.5,63,743,0.00,2.35,0.00,0.000,6,0.000,0.046,2778,2182,3223,0,0,0,0,0,0
$GC,933,-0.46,-117.3,94.4,-8.7,82,937,0.00,2.38,0.00,0.000,4,0.000,0.058,2769,3689,3223,0,0,0,0,0,0
$GC,964,-0.46,-117.3,97.0,-8.6,84,969,0.00,2.33,0.00,0.000,6,0.000,0.042,2768,2174,3223,0,0,0,0,0,0
$GC,1167,-0.46,-117.3,112.9,-7.2,95,1171,0.00,2.33,0.00,0.000,4,0.000,0.049,2769,666,3223,0,0,0,0,0,0
$GC,1215,-0.46,-117.3,116.8,-7.5,97,1219,0.00,2.35,0.00,0.000,6,0.000,0.046,2762,2184,3223,0,0,0,0,0,0
$GC,1408,-0.46,-117.3,132.3,-8.3,106,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2184,3223,0,0,0,0,0,0
$GC,1592,-0.46,-117.3,147.6,-7.9,115,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2184,3223,0,0,0,0,0,0
$GC,1778,-0.46,-117.3,159.8,-5.9,124,1782,0.00,2.35,0.00,0.000,4,0.000,0.049,2761,667,3223,0,0,0,0,0,0
$GC,1806,-0.46,-117.3,161.5,-6.5,125,1810,0.00,2.35,0.00,0.000,6,0.000,0.048,2754,2181,3223,0,0,0,0,0,0
$GC,1999,-0.46,-117.3,172.8,-6.2,134,2003,0.00,2.40,0.00,0.000,4,0.000,0.060,2744,3690,3222,0,0,0,0,0,0
$GC,2043,-0.46,-117.3,175.8,-6.7,136,2047,0.00,2.35,0.00,0.000,6,0.000,0.044,2744,2171,3222,0,0,0,0,0,0
$GC,2250,-0.46,-117.3,191.6,-8.4,146,2254,0.00,2.33,0.00,0.000,4,0.000,0.050,2743,673,3222,0,0,0,0,0,0
$GC,2313,-0.46,-117.3,197.0,-8.9,148,2321,0.12,2.33,0.00,0.000,6,0.136,0.049,2773,2167,3222,0,0,0,0,0,0
$GC,2504,-0.47,-117.3,210.1,-6.7,158,2508,0.00,2.45,0.00,0.000,4,0.000,0.061,2765,3689,3221,0,0,0,0,0,0
$GC,2538,-0.49,-117.3,212.2,-6.8,159,2542,0.00,2.35,0.00,0.000,6,0.000,0.044,2764,2166,3221,0,0,0,0,0,0
$GC,2730,-0.49,-117.3,224.9,-6.7,168,2734,0.00,2.35,0.00,0.000,4,0.000,0.051,2764,665,3221,0,0,0,0,0,0
$GC,2775,-0.50,-117.3,228.0,-7.2,170,2779,0.00,2.30,0.00,0.000,6,0.000,0.048,2759,2160,3220,0,0,0,0,0,0
$GC,2971,-0.50,-117.3,241.1,-6.9,180,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2159,3220,0,0,0,0,0,0
$GC,3160,-0.50,-117.3,253.8,-6.8,189,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2159,3220,0,0,0,0,0,0
$GC,3342,-0.50,-117.3,266.9,-7.0,198,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2159,3219,0,0,0,0,0,0
$GC,3528,-0.50,-117.3,280.4,-7.4,207,3532,0.00,2.33,0.00,0.000,4,0.000,0.051,2759,667,3219,0,0,0,0,0,0
$GC,3562,-0.50,-117.3,282.7,-7.6,208,3569,0.00,2.30,0.00,0.000,6,0.000,0.050,2752,2142,3219,0,0,0,0,0,0
$GC,3753,-0.50,-117.3,296.7,-7.2,218,3757,0.00,2.50,0.00,0.000,4,0.000,0.062,2741,3693,3218,0,0,0,0,0,0
$GC,3803,-0.51,-117.3,300.3,-7.0,220,3807,0.00,2.40,0.00,0.000,6,0.000,0.045,2741,2151,3218,0,0,0,0,0,0
$GC,3997,-0.51,-117.3,313.6,-7.0,229,4001,0.00,2.33,0.00,0.000,4,0.000,0.052,2741,664,3218,0,0,0,0,0,0
$GC,4029,-0.51,-117.3,316.2,-7.6,230,4033,0.00,2.33,0.00,0.000,6,0.000,0.050,2732,2155,3218,0,0,0,0,0,0
$GC,4221,-0.51,-117.3,330.0,-7.1,239,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2155,3217,0,0,0,0,0,0
$GC,4406,-0.51,-117.3,342.7,-6.7,248,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2155,3217,0,0,0,0,0,0
$STATE,4426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4426,begin apogee
$GC,4434,-0.22,0.0,344.1,6.9,249,4534,0.35,0.00,96.93,0.794,6,0.106,0.000,2847,2044,2735,0,0,0,0,0,0
$STATE,4535,end apogee,CONTROL_FINISHED_OK
$STATE,4535,begin climb
$GC,4538,0.50,117.3,346.9,0.0,254,4642,0.68,0.00,101.28,0.770,6,0.072,0.000,3083,2043,2256,0,0,0,0,0,0
$GC,4815,0.48,117.3,330.8,7.6,268,4819,0.00,2.47,0.00,0.000,4,0.000,0.057,3083,3578,2248,0,0,0,0,0,0
$GC,4842,0.45,117.3,328.3,8.9,269,4846,0.00,2.40,0.00,0.000,6,0.000,0.044,3094,2073,2247,0,0,0,0,0,0
$GC,5034,0.43,117.3,312.6,8.4,278,5039,0.12,2.40,0.00,0.000,4,0.151,0.053,3067,546,2246,0,0,0,0,0,0
$GC,5057,0.41,117.3,310.9,7.5,279,5061,0.00,2.38,0.00,0.000,6,0.000,0.047,3067,2076,2246,0,0,0,0,0,0
$GC,5255,0.40,117.3,298.0,6.4,289,5259,0.00,2.40,0.00,0.000,4,0.000,0.059,3067,3574,2244,0,0,0,0,0,0
$GC,5277,0.39,117.3,296.3,6.6,290,5282,0.12,2.38,0.00,0.000,6,0.146,0.044,3043,2059,2244,0,0,0,0,0,0
$GC,5477,0.39,117.3,284.3,6.5,300,5481,0.00,2.38,0.00,0.000,4,0.000,0.054,3051,549,2243,0,0,0,0,0,0
$GC,5503,0.39,117.3,282.5,6.8,301,5508,0.00,2.33,0.00,0.000,6,0.000,0.047,3051,2065,2243,0,0,0,0,0,0
$GC,5695,0.39,117.3,269.7,6.3,310,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2065,2243,0,0,0,0,0,0
$GC,5882,0.39,117.3,257.7,6.4,319,5886,0.00,2.40,0.00,0.000,4,0.000,0.059,3051,3580,2243,0,0,0,0,0,0
$GC,5909,0.39,117.3,255.6,7.8,320,5913,0.00,2.40,0.00,0.000,6,0.000,0.044,3061,2053,2241,0,0,0,0,0,0
$GC,6102,0.39,117.3,241.3,7.5,329,6106,0.00,2.35,0.00,0.000,4,0.000,0.054,3072,544,2241,0,0,0,0,0,0
$GC,6152,0.39,117.3,237.5,7.0,331,6157,0.00,2.33,0.00,0.000,6,0.000,0.048,3072,2055,2241,0,0,0,0,0,0
$GC,6344,0.38,117.3,223.7,6.9,340,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2056,2241,0,0,0,0,0,0
$GC,6531,0.37,117.3,210.9,6.8,349,6536,0.12,2.40,0.00,0.000,4,0.144,0.059,3035,3574,2241,0,0,0,0,0,0
$GC,6560,0.37,120.1,209.2,6.0,350,6564,0.00,2.40,0.00,0.000,6,0.000,0.045,3041,2034,2240,0,0,0,0,0,0
$GC,6751,0.39,152.9,199.5,5.0,359,6786,0.00,2.40,28.58,0.704,4,0.000,0.054,3041,549,2111,0,0,0,0,0,0
$GC,6815,0.42,189.2,196.4,4.8,362,6851,0.00,2.33,31.05,0.692,6,0.000,0.048,3042,2047,1963,0,0,0,0,0,0
$GC,7040,0.46,219.9,185.0,5.0,372,7072,0.00,2.50,25.95,0.681,4,0.000,0.058,3042,3578,1838,0,0,0,0,0,0
$GC,7089,0.49,241.0,182.3,5.4,374,7114,0.10,2.47,18.83,0.657,6,0.097,0.045,3095,2032,1751,0,0,0,0,0,0
$GC,7310,0.49,241.0,165.2,8.5,385,7314,0.00,2.38,0.00,0.000,4,0.000,0.055,3102,539,1744,0,0,0,0,0,0
$GC,7337,0.49,241.0,162.2,9.1,386,7342,0.00,2.33,0.00,0.000,6,0.000,0.048,3101,2039,1743,0,0,0,0,0,0
$GC,7530,0.49,241.0,145.5,8.5,395,7534,0.00,2.45,0.00,0.000,4,0.000,0.060,3101,3573,1742,0,0,0,0,0,0
$GC,7558,0.49,241.0,142.7,9.8,396,7562,0.12,2.40,0.00,0.000,6,0.144,0.045,3075,2039,1742,0,0,0,0,0,0
$GC,7754,0.51,241.0,128.7,6.5,406,7759,0.00,2.35,0.00,0.000,4,0.000,0.054,3080,539,1741,0,0,0,0,0,0
$GC,7784,0.52,241.0,127.0,6.5,407,7788,0.00,2.33,0.00,0.000,6,0.000,0.048,3081,2047,1741,0,0,0,0,0,0
$GC,7975,0.54,260.6,115.7,5.4,416,7997,0.00,0.00,15.85,0.630,6,0.000,0.000,3081,2047,1672,0,0,0,0,0,0
$GC,8181,0.57,273.9,104.5,5.6,426,8201,0.00,2.45,11.93,0.609,4,0.000,0.054,3082,546,1617,0,0,0,0,0,0
$GC,8214,0.61,311.4,102.7,4.8,427,8252,0.10,2.33,32.12,0.635,6,0.096,0.047,3141,2037,1464,0,0,0,0,0,0
$GC,8445,0.61,311.4,80.5,10.5,447,8449,0.00,2.47,0.00,0.000,4,0.000,0.060,3142,3582,1457,0,0,0,0,0,0
$GC,8476,0.61,311.4,77.2,11.8,449,8481,0.12,2.45,0.00,0.000,6,0.142,0.045,3116,2039,1456,0,0,0,0,0,0
$GC,8676,0.63,311.4,59.6,8.5,467,8681,0.00,2.35,0.00,0.000,4,0.000,0.054,3121,545,1454,0,0,0,0,0,0
$GC,8722,0.65,311.4,55.7,8.8,470,8729,0.00,2.30,0.00,0.000,6,0.000,0.047,3121,2031,1454,0,0,0,0,0,0
$GC,8921,0.66,311.4,39.9,7.0,489,8925,0.00,2.45,0.00,0.000,4,0.000,0.059,3121,3577,1453,0,0,0,0,0,0
$GC,8953,0.66,311.4,37.4,7.7,491,8960,0.00,2.42,0.00,0.000,6,0.000,0.044,3121,2036,1453,0,0,0,0,0,0
$GC,9153,0.69,330.0,25.9,5.5,510,9175,0.00,0.00,15.25,0.577,6,0.000,0.000,3121,2035,1388,0,0,0,0,0,0
$GC,9369,0.75,330.0,12.0,6.5,530,9374,0.12,2.50,0.00,0.000,4,0.091,0.060,3182,3581,1384,0,0,0,0,0,0
$GC,9393,0.79,346.3,10.6,5.5,531,9414,0.00,2.40,14.55,0.564,6,0.000,0.045,3186,2054,1322,0,0,0,0,0,0
$STATE,9525,end climb,SURFACE_DEPTH_REACHED
$STATE,9525,begin surface coast
$FINISH,1.0,1.023073
$STATE,9591,end surface coast,CONTROL_FINISHED_OK
$STATE,9591,begin surface
$SM_CCo,9669,0.00,0.000,0,0,1313,348.82
$SM_GC,1.96,7.93,0.00,0.00,0.034,0.000,0.000,122,2196,1313,-8.60,0.59,348.82
$IRIDIUM_FIX,4735.69,-12402.76,050811,030323
$TT8_MAMPS,0.026964
$HUMID,42.12
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.30
$XPDR_PINGS,1
$24V_AH,23.7,68.570
$10V_AH,9.8,75.312
$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,20.900,143.100,392.300,0.000,0.000,56.955,109.292,170.162,0.250,0.000,34.149,1242.695,6700.506,512.692,1438.201,318.699,33.372,1195.364,0.000,1078.511,0.000,0.535,0.000
$DEVICE_MAMPS,227.205,80.325,794.070,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,198.953,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26892,550
$CAP_FILE_SIZE,118965,0
$CFSIZE,260165632,164696064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125,212.2,1
$GPS,050811,064431,4750.210,-12513.319,39,1.9,40,18.7