version: 66.07
glider: 187
mission: 4
dive: 658
start: 8 18 111 12 9 44
data:
$ID,187
$MISSION,4
$DIVE,658
$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,-1585573.5
$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,31
$R_STBD_OVSHOOT,43
$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
$GPS1,180811,120337,4705.393,-12644.264,30,1.3,30,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-77.8
$GPS2,180811,120849,4705.404,-12644.267,14,1.6,19,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.036,0.197
$KALMAN_X,359881.1,1392.7,-912.2,-481248.0,-224.8
$KALMAN_Y,-665626.7,-1521.0,1702.9,589337.8,-5671.5
$MHEAD_RNG_PITCHd_Wd,0.9,143250,-13.6,-6.111
$D_GRID,1000
$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,-117.3,0.0,0.0,0,89,0.00,0.00,-71.20,0.000,6,0.000,0.000,123,2195,3216,0,0,0,0,0,0
$GC,92,-0.50,-117.3,0.0,-0.0,0,107,10.68,2.40,0.00,0.000,4,0.226,0.044,2747,653,3219,0,0,0,0,0,0
$GC,182,-0.47,-117.3,34.0,-11.7,0,186,0.00,2.35,0.00,0.000,6,0.000,0.047,2737,2170,3222,0,0,0,0,0,0
$GC,394,-0.45,-117.3,57.5,-11.1,3,396,0.12,0.00,0.00,0.000,6,0.148,0.000,2774,2170,3224,0,0,0,0,0,0
$GC,595,-0.43,-117.3,76.7,-10.3,5,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2170,3226,0,0,0,0,0,0
$GC,796,-0.43,-117.3,96.2,-9.6,7,800,0.00,2.42,0.00,0.000,4,0.000,0.059,2765,3696,3227,0,0,0,0,0,0
$GC,835,-0.43,-117.3,99.4,-8.0,7,840,0.00,2.38,0.00,0.000,6,0.000,0.042,2764,2157,3227,0,0,0,0,0,0
$GC,1197,-0.43,-117.3,124.6,-6.9,9,1201,0.00,2.30,0.00,0.000,4,0.000,0.050,2764,671,3227,0,0,0,0,0,0
$GC,1258,-0.43,-117.3,129.1,-7.2,9,1262,0.00,2.30,0.00,0.000,6,0.000,0.047,2757,2176,3227,0,0,0,0,0,0
$GC,1823,-0.43,-117.3,173.5,-7.9,11,1827,0.00,2.35,0.00,0.000,4,0.000,0.050,2756,669,3226,0,0,0,0,0,0
$GC,1849,-0.43,-117.3,175.4,-7.5,11,1854,0.10,2.30,0.00,0.000,6,0.142,0.048,2781,2163,3226,0,0,0,0,0,0
$GC,2449,-0.45,-117.3,208.0,-5.3,13,2453,0.00,2.33,0.00,0.000,4,0.000,0.050,2781,671,3224,0,0,0,0,0,0
$GC,2489,-0.47,-117.3,210.2,-5.9,13,2494,0.00,2.30,0.00,0.000,6,0.000,0.048,2778,2160,3224,0,0,0,0,0,0
$GC,3079,-0.50,-117.3,243.4,-5.6,15,3083,0.00,2.45,0.00,0.000,4,0.000,0.062,2778,3690,3223,0,0,0,0,0,0
$GC,3168,-0.53,-117.3,248.6,-5.1,15,3173,0.00,2.42,0.00,0.000,6,0.000,0.044,2778,2122,3223,0,0,0,0,0,0
$GC,3713,-0.56,-117.3,283.2,-6.7,17,3718,0.12,2.53,0.00,0.000,4,0.089,0.060,2701,3690,3222,0,0,0,0,0,0
$GC,3729,-0.58,-117.3,284.7,-6.7,17,3734,0.12,2.47,0.00,0.000,6,0.134,0.044,2739,2100,3222,0,0,0,0,0,0
$GC,4338,-0.58,-117.3,331.0,-7.5,19,4342,0.00,2.25,0.00,0.000,4,0.000,0.053,2739,671,3220,0,0,0,0,0,0
$GC,4407,-0.58,-117.3,336.2,-7.7,19,4411,0.00,2.22,0.00,0.000,6,0.000,0.050,2733,2099,3220,0,0,0,0,0,0
$GC,4965,-0.58,-117.3,377.9,-7.3,21,4970,0.00,2.60,0.00,0.000,4,0.000,0.063,2721,3692,3219,0,0,0,0,0,0
$GC,5015,-0.58,-117.3,381.6,-7.2,21,5019,0.00,2.47,0.00,0.000,6,0.000,0.046,2721,2102,3219,0,0,0,0,0,0
$GC,5591,-0.57,-117.3,426.4,-7.8,23,5595,0.00,2.25,0.00,0.000,4,0.000,0.054,2720,664,3218,0,0,0,0,0,0
$GC,5643,-0.57,-117.3,430.6,-8.6,23,5647,0.00,2.22,0.00,0.000,6,0.000,0.050,2713,2099,3218,0,0,0,0,0,0
$GC,6231,-0.55,-117.3,480.3,-8.6,25,6235,0.00,2.58,0.00,0.000,4,0.000,0.063,2700,3689,3217,0,0,0,0,0,0
$GC,6259,-0.54,-117.3,482.7,-9.4,25,6264,0.15,2.50,0.00,0.000,6,0.122,0.047,2746,2097,3217,0,0,0,0,0,0
$GC,6859,-0.54,-117.3,520.7,-6.2,27,6863,0.00,2.25,0.00,0.000,4,0.000,0.054,2746,666,3216,0,0,0,0,0,0
$GC,6903,-0.54,-117.3,523.8,-6.8,27,6907,0.00,2.28,0.00,0.000,6,0.000,0.052,2742,2097,3216,0,0,0,0,0,0
$GC,7498,-0.54,-117.3,560.7,-6.2,29,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2097,3215,0,0,0,0,0,0
$GC,7797,-0.54,-117.3,579.0,-6.2,30,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2097,3214,0,0,0,0,0,0
$GC,8098,-0.54,-117.3,597.0,-6.1,31,8099,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2097,3214,0,0,0,0,0,0
$GC,8398,-0.54,-117.3,614.5,-6.0,32,8403,0.00,2.60,0.00,0.000,4,0.000,0.065,2730,3687,3214,0,0,0,0,0,0
$GC,8431,-0.54,-117.3,616.5,-6.5,32,8436,0.00,2.50,0.00,0.000,6,0.000,0.048,2730,2098,3213,0,0,0,0,0,0
$GC,9025,-0.54,-117.3,655.5,-6.7,34,9029,0.00,2.30,0.00,0.000,4,0.000,0.057,2729,664,3213,0,0,0,0,0,0
$GC,9081,-0.54,-117.3,659.6,-7.1,34,9086,0.00,2.22,0.00,0.000,6,0.000,0.052,2722,2090,3213,0,0,0,0,0,0
$GC,9652,-0.54,-117.3,700.0,-7.0,36,9656,0.00,2.62,0.00,0.000,4,0.000,0.064,2710,3696,3212,0,0,0,0,0,0
$GC,9691,-0.54,-117.3,702.8,-8.0,36,9696,0.12,2.53,0.00,0.000,6,0.123,0.048,2748,2095,3212,0,0,0,0,0,0
$GC,10281,-0.55,-117.3,734.2,-5.3,38,10285,0.00,2.25,0.00,0.000,4,0.000,0.057,2748,666,3211,0,0,0,0,0,0
$GC,10320,-0.56,-117.3,736.5,-5.8,38,10324,0.00,2.22,0.00,0.000,6,0.000,0.054,2745,2090,3211,0,0,0,0,0,0
$GC,10909,-0.56,-117.3,765.7,-4.8,40,10913,0.00,2.62,0.00,0.000,4,0.000,0.065,2733,3687,3210,0,0,0,0,0,0
$GC,10936,-0.57,-117.3,767.1,-4.6,40,10941,0.00,2.53,0.00,0.000,6,0.000,0.048,2732,2086,3210,0,0,0,0,0,0
$GC,11535,-0.57,-117.3,797.2,-5.2,42,11539,0.00,2.25,0.00,0.000,4,0.000,0.058,2732,664,3210,0,0,0,0,0,0
$GC,11579,-0.57,-117.3,799.9,-6.1,42,11583,0.00,2.28,0.00,0.000,6,0.000,0.054,2733,2084,3209,0,0,0,0,0,0
$GC,12172,-0.57,-117.3,834.3,-5.9,44,12176,0.00,2.62,0.00,0.000,4,0.000,0.067,2725,3686,3209,0,0,0,0,0,0
$GC,12230,-0.57,-117.3,837.7,-5.9,44,12234,0.00,2.50,0.00,0.000,6,0.000,0.047,2725,2094,3209,0,0,0,0,0,0
$GC,12800,-0.57,-117.3,872.9,-6.1,46,12804,0.00,2.28,0.00,0.000,4,0.000,0.056,2725,663,3208,0,0,0,0,0,0
$GC,12845,-0.57,-117.3,875.7,-6.6,46,12849,0.00,2.25,0.00,0.000,6,0.000,0.054,2721,2094,3208,0,0,0,0,0,0
$GC,13438,-0.57,-117.3,911.8,-6.0,48,13442,0.00,2.62,0.00,0.000,4,0.000,0.066,2709,3696,3208,0,0,0,0,0,0
$GC,13478,-0.57,-117.3,914.3,-6.8,48,13482,0.00,2.53,0.00,0.000,6,0.000,0.050,2709,2096,3207,0,0,0,0,0,0
$GC,14066,-0.57,-117.3,953.9,-6.8,50,14070,0.00,2.28,0.00,0.000,4,0.000,0.057,2709,673,3208,0,0,0,0,0,0
$GC,14105,-0.57,-117.3,956.7,-7.5,50,14109,0.12,2.25,0.00,0.000,6,0.139,0.054,2740,2100,3207,0,0,0,0,0,0
$GC,14700,-0.58,-117.3,986.8,-4.9,52,14705,0.00,2.62,0.00,0.000,4,0.000,0.069,2732,3691,3207,0,0,0,0,0,0
$GC,14751,-0.60,-117.3,989.4,-5.2,52,14755,0.00,2.53,0.00,0.000,6,0.000,0.050,2731,2099,3207,0,0,0,0,0,0
$STATE,14758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14758,begin apogee
$GC,14766,-0.22,0.0,990.0,5.3,52,14877,0.32,0.00,105.32,1.226,6,0.101,0.000,2846,2097,2735,0,0,0,0,0,0
$STATE,14878,end apogee,CONTROL_FINISHED_OK
$STATE,14878,begin climb
$GC,14880,0.50,117.3,992.8,0.0,52,15006,0.65,2.62,114.35,1.190,4,0.064,0.060,3079,3569,2255,0,0,0,0,0,0
$GC,15045,0.46,117.3,982.2,11.0,52,15050,0.00,2.55,0.00,0.000,6,0.000,0.047,3091,2067,2250,0,0,0,0,0,0
$GC,15638,0.43,117.3,920.2,10.6,54,15643,0.12,2.47,0.00,0.000,4,0.165,0.063,3056,3579,2243,0,0,0,0,0,0
$GC,15712,0.40,117.3,912.6,10.0,54,15716,0.00,2.40,0.00,0.000,6,0.000,0.049,3065,2062,2242,0,0,0,0,0,0
$GC,16265,0.38,117.3,861.5,9.2,56,16269,0.00,2.45,0.00,0.000,4,0.000,0.063,3065,3582,2241,0,0,0,0,0,0
$GC,16293,0.35,117.3,858.7,10.4,56,16299,0.15,2.40,0.00,0.000,6,0.153,0.049,3035,2061,2240,0,0,0,0,0,0
$GC,16894,0.35,117.3,814.2,7.3,58,16895,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2058,2239,0,0,0,0,0,0
$GC,17192,0.35,117.3,792.2,7.3,59,17193,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2058,2239,0,0,0,0,0,0
$GC,17493,0.35,117.3,772.4,7.1,60,17497,0.00,2.45,0.00,0.000,4,0.000,0.063,3035,3577,2239,0,0,0,0,0,0
$GC,17532,0.34,117.3,769.6,7.0,60,17536,0.00,2.40,0.00,0.000,6,0.000,0.050,3042,2060,2238,0,0,0,0,0,0
$GC,18118,0.34,117.3,732.0,6.2,62,18122,0.00,2.45,0.00,0.000,4,0.000,0.063,3042,3577,2238,0,0,0,0,0,0
$GC,18146,0.33,117.3,730.0,7.4,62,18150,0.00,2.38,0.00,0.000,6,0.000,0.049,3052,2071,2237,0,0,0,0,0,0
$GC,18744,0.32,117.3,688.2,7.1,64,18745,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2068,2237,0,0,0,0,0,0
$GC,19044,0.31,117.3,665.3,7.3,65,19049,0.12,2.42,0.00,0.000,4,0.151,0.063,3016,3578,2237,0,0,0,0,0,0
$GC,19072,0.31,117.3,663.2,6.4,65,19077,0.00,2.38,0.00,0.000,6,0.000,0.050,3022,2068,2237,0,0,0,0,0,0
$GC,19672,0.31,117.3,623.5,6.6,67,19676,0.00,2.45,0.00,0.000,4,0.000,0.063,3022,3581,2237,0,0,0,0,0,0
$GC,19699,0.31,117.3,621.3,8.4,67,19703,0.00,2.38,0.00,0.000,6,0.000,0.049,3030,2078,2236,0,0,0,0,0,0
$GC,20304,0.31,117.3,578.5,7.1,69,20305,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2075,2236,0,0,0,0,0,0
$GC,20603,0.31,117.3,558.9,6.8,70,20604,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2073,2236,0,0,0,0,0,0
$GC,20903,0.31,117.3,541.3,6.5,71,20907,0.00,2.42,0.00,0.000,4,0.000,0.062,3030,3572,2237,0,0,0,0,0,0
$GC,20936,0.31,117.3,539.2,6.1,71,20941,0.00,2.35,0.00,0.000,6,0.000,0.049,3039,2076,2236,0,0,0,0,0,0
$GC,21535,0.31,117.3,503.1,6.1,73,21539,0.00,2.42,0.00,0.000,4,0.000,0.062,3039,3581,2237,0,0,0,0,0,0
$GC,21561,0.31,117.3,501.1,7.9,73,21566,0.00,2.38,0.00,0.000,6,0.000,0.049,3045,2078,2235,0,0,0,0,0,0
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$STATE,28830,end climb,SURFACE_DEPTH_REACHED
$STATE,28830,begin surface coast
$FINISH,1.1,NaN
$STATE,28933,end surface coast,CONTROL_FINISHED_OK
$STATE,28933,begin surface
$SM_CCo,29012,0.00,0.000,0,0,1247,365.01
$SM_GC,1.94,7.80,0.00,0.00,0.028,0.000,0.000,127,2191,1247,-8.61,0.45,365.01
$IRIDIUM_FIX,4648.08,-12649.03,180811,030335
$TT8_MAMPS,0.026964
$HUMID,42.47
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,20.50
$XPDR_PINGS,1
$24V_AH,22.0,74.458
$10V_AH,9.8,79.184
$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,21.450,197.725,427.125,0.000,0.000,26.889,36.491,107.648,0.250,0.000,20.436,1169.734,23685.049,536.385,3468.820,449.896,33.366,2196.281,0.000,3186.560,0.000,0.535,0.000
$DEVICE_MAMPS,226.440,82.620,1226.295,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297632
$DATA_FILE_SIZE,3636,107
$CAP_FILE_SIZE,215140,0
$CFSIZE,260165632,160878592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.174, 28.1,1
$GPS,180811,201431,4707.820,-12642.374,39,1.8,39,18.6