version: 66.07
glider: 187
mission: 4
dive: 662
start: 8 19 111 21 13 51
data:
$ID,187
$MISSION,4
$DIVE,662
$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,-1585578.5
$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,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
$GPS1,190811,210807,4709.833,-12631.795,35,0.9,35,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-77.6
$GPS2,190811,211256,4709.838,-12631.832,11,1.6,11,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.150,0.132
$KALMAN_X,365551.2,-1293.4,1582.1,-471250.9,3115.7
$KALMAN_Y,-680452.9,2540.8,-2384.4,612411.7,-8732.7
$MHEAD_RNG_PITCHd_Wd,348.8,125964,-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,-117.3,0.0,0.0,0,90,0.00,0.00,-72.60,0.000,6,0.000,0.000,133,2178,3215,0,0,0,0,0,0
$GC,93,-0.50,-117.3,0.0,-0.0,0,109,10.68,2.38,0.00,0.000,4,0.227,0.044,2749,654,3218,0,0,0,0,0,0
$GC,121,-0.25,-117.3,24.6,-57.2,0,127,0.32,2.38,0.00,0.000,6,0.143,0.051,2834,2177,3221,0,0,0,0,0,0
$GC,396,-0.27,-117.3,45.8,-6.2,3,400,0.00,2.40,0.00,0.000,4,0.000,0.049,2834,650,3224,0,0,0,0,0,0
$GC,447,-0.32,-117.3,49.2,-6.4,3,451,0.00,2.35,0.00,0.000,6,0.000,0.046,2834,2179,3224,0,0,0,0,0,0
$GC,700,-0.37,-117.3,64.5,-6.0,6,705,0.10,2.35,0.00,0.000,4,0.099,0.048,2783,659,3226,0,0,0,0,0,0
$GC,778,-0.37,-117.3,70.5,-7.5,6,782,0.00,2.45,0.00,0.000,6,0.000,0.047,2775,2254,3225,0,0,0,0,0,0
$GC,1002,-0.37,-117.3,88.2,-7.9,9,1006,0.00,2.28,0.00,0.000,4,0.000,0.060,2766,3689,3225,0,0,0,0,0,0
$GC,1036,-0.37,-117.3,90.8,-8.3,9,1041,0.12,2.22,0.00,0.000,6,0.118,0.042,2805,2237,3225,0,0,0,0,0,0
$GC,1511,-0.39,-117.3,119.6,-6.1,12,1515,0.00,2.33,0.00,0.000,4,0.000,0.059,2805,3686,3226,0,0,0,0,0,0
$GC,1590,-0.45,-117.3,124.5,-5.6,12,1594,0.00,2.20,0.00,0.000,6,0.000,0.042,2805,2252,3226,0,0,0,0,0,0
$GC,2139,-0.50,-117.3,157.6,-6.0,14,2144,0.15,2.50,0.00,0.000,4,0.079,0.049,2734,653,3224,0,0,0,0,0,0
$GC,2225,-0.49,-117.3,163.8,-7.8,14,2230,0.12,2.53,0.00,0.000,6,0.132,0.049,2762,2281,3224,0,0,0,0,0,0
$GC,2768,-0.49,-117.3,198.4,-6.5,16,2773,0.00,2.55,0.00,0.000,4,0.000,0.050,2762,658,3223,0,0,0,0,0,0
$GC,2829,-0.49,-117.3,203.1,-7.3,16,2833,0.00,2.50,0.00,0.000,6,0.000,0.049,2756,2277,3223,0,0,0,0,0,0
$GC,3395,-0.49,-117.3,242.4,-6.7,18,3400,0.00,2.55,0.00,0.000,4,0.000,0.050,2755,656,3223,0,0,0,0,0,0
$GC,3445,-0.49,-117.3,245.7,-6.2,18,3449,0.00,2.50,0.00,0.000,6,0.000,0.050,2748,2269,3223,0,0,0,0,0,0
$GC,4021,-0.49,-117.3,284.3,-6.9,20,4025,0.00,2.55,0.00,0.000,4,0.000,0.051,2748,662,3220,0,0,0,0,0,0
$GC,4076,-0.49,-117.3,288.2,-7.3,20,4080,0.00,2.50,0.00,0.000,6,0.000,0.050,2742,2257,3221,0,0,0,0,0,0
$GC,4646,-0.49,-117.3,328.2,-7.1,22,4651,0.00,2.55,0.00,0.000,4,0.000,0.053,2741,660,3220,0,0,0,0,0,0
$GC,4707,-0.49,-117.3,332.9,-7.1,22,4711,0.00,2.47,0.00,0.000,6,0.000,0.050,2733,2256,3219,0,0,0,0,0,0
$GC,5272,-0.49,-117.3,376.1,-7.7,24,5276,0.00,2.55,0.00,0.000,4,0.000,0.053,2732,650,3218,0,0,0,0,0,0
$GC,5327,-0.49,-117.3,380.6,-8.2,24,5332,0.12,2.47,0.00,0.000,6,0.132,0.051,2761,2239,3218,0,0,0,0,0,0
$GC,5898,-0.50,-117.3,416.0,-6.0,26,5902,0.00,2.53,0.00,0.000,4,0.000,0.054,2761,653,3217,0,0,0,0,0,0
$GC,5971,-0.50,-117.3,420.8,-6.8,26,5976,0.00,2.50,0.00,0.000,6,0.000,0.052,2755,2239,3217,0,0,0,0,0,0
$GC,6525,-0.50,-117.3,450.8,-5.1,28,6530,0.00,2.53,0.00,0.000,4,0.000,0.054,2754,652,3216,0,0,0,0,0,0
$GC,6589,-0.51,-117.3,454.2,-5.5,28,6593,0.00,2.47,0.00,0.000,6,0.000,0.053,2749,2225,3216,0,0,0,0,0,0
$GC,7155,-0.51,-117.3,483.7,-5.2,30,7160,0.00,2.47,0.00,0.000,4,0.000,0.054,2749,663,3215,0,0,0,0,0,0
$GC,7205,-0.51,-117.3,486.7,-5.9,30,7210,0.00,2.42,0.00,0.000,6,0.000,0.052,2742,2216,3215,0,0,0,0,0,0
$GC,7781,-0.51,-117.3,523.3,-6.6,32,7785,0.00,2.47,0.00,0.000,4,0.000,0.055,2742,658,3214,0,0,0,0,0,0
$GC,7836,-0.51,-117.3,527.4,-7.7,32,7840,0.00,2.47,0.00,0.000,6,0.000,0.054,2733,2216,3214,0,0,0,0,0,0
$GC,8406,-0.51,-117.3,567.7,-7.0,34,8410,0.00,2.47,0.00,0.000,4,0.000,0.056,2733,662,3213,0,0,0,0,0,0
$GC,8438,-0.51,-117.3,570.1,-7.3,34,8442,0.00,2.42,0.00,0.000,6,0.000,0.053,2729,2207,3213,0,0,0,0,0,0
$GC,9037,-0.51,-117.3,611.8,-6.9,36,9041,0.00,2.45,0.00,0.000,4,0.000,0.055,2728,662,3212,0,0,0,0,0,0
$GC,9081,-0.51,-117.3,615.1,-7.7,36,9085,0.00,2.42,0.00,0.000,6,0.000,0.054,2728,2200,3212,0,0,0,0,0,0
$GC,9668,-0.51,-117.3,655.0,-6.8,38,9669,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2201,3211,0,0,0,0,0,0
$GC,9968,-0.51,-117.3,674.8,-6.7,39,9969,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2200,3211,0,0,0,0,0,0
$GC,10269,-0.51,-117.3,693.0,-6.5,40,10270,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2200,3210,0,0,0,0,0,0
$GC,10571,-0.51,-117.3,709.2,-6.2,41,10575,0.00,2.45,0.00,0.000,4,0.000,0.056,2728,659,3210,0,0,0,0,0,0
$GC,10610,-0.51,-117.3,711.5,-6.1,41,10614,0.00,2.42,0.00,0.000,6,0.000,0.055,2728,2198,3210,0,0,0,0,0,0
$GC,11204,-0.51,-117.3,742.7,-5.4,43,11205,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2198,3209,0,0,0,0,0,0
$GC,11503,-0.51,-117.3,760.4,-5.6,44,11504,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2198,3209,0,0,0,0,0,0
$GC,11804,-0.51,-117.3,778.4,-5.7,45,11805,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2198,3208,0,0,0,0,0,0
$GC,12104,-0.51,-117.3,797.3,-5.9,46,12105,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2198,3208,0,0,0,0,0,0
$GC,12405,-0.51,-117.3,816.9,-6.2,47,12409,0.00,2.47,0.00,0.000,4,0.000,0.057,2728,663,3208,0,0,0,0,0,0
$GC,12433,-0.51,-117.3,818.8,-7.1,47,12437,0.00,2.42,0.00,0.000,6,0.000,0.055,2728,2195,3207,0,0,0,0,0,0
$GC,13038,-0.51,-117.3,857.2,-6.2,49,13039,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2194,3207,0,0,0,0,0,0
$GC,13338,-0.51,-117.3,874.8,-6.1,50,13339,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2194,3207,0,0,0,0,0,0
$GC,13638,-0.51,-117.3,891.0,-5.9,51,13639,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2194,3207,0,0,0,0,0,0
$GC,13939,-0.51,-117.3,906.8,-5.7,52,13940,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2195,3207,0,0,0,0,0,0
$GC,14239,-0.51,-117.3,922.4,-5.4,53,14240,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2194,3207,0,0,0,0,0,0
$GC,14542,-0.51,-117.3,937.4,-5.2,54,14543,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2194,3206,0,0,0,0,0,0
$GC,14841,-0.51,-117.3,952.5,-5.1,55,14845,0.00,2.47,0.00,0.000,4,0.000,0.058,2728,663,3206,0,0,0,0,0,0
$GC,14874,-0.51,-117.3,954.3,-5.9,55,14878,0.00,2.42,0.00,0.000,6,0.000,0.056,2728,2194,3206,0,0,0,0,0,0
$GC,15474,-0.51,-117.3,983.7,-5.0,57,15475,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2194,3206,0,0,0,0,0,0
$STATE,15770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15770,begin apogee
$GC,15776,-0.22,0.0,1000.8,5.3,58,15885,0.38,0.00,106.25,1.234,6,0.100,0.000,2854,2059,2735,0,0,0,0,0,0
$STATE,15886,end apogee,CONTROL_FINISHED_OK
$STATE,15886,begin climb
$GC,15889,0.50,117.3,1000.8,0.0,58,16012,0.62,0.00,114.57,1.200,6,0.061,0.000,3081,2059,2255,0,0,0,0,0,0
$GC,16517,0.47,117.3,954.0,9.0,60,16522,0.00,2.50,0.00,0.000,4,0.000,0.063,3081,3580,2243,0,0,0,0,0,0
$GC,16590,0.43,117.3,945.8,10.1,60,16595,0.12,2.45,0.00,0.000,6,0.171,0.049,3060,2055,2242,0,0,0,0,0,0
$GC,17144,0.41,117.3,898.8,8.6,62,17148,0.00,2.47,0.00,0.000,4,0.000,0.063,3060,3578,2240,0,0,0,0,0,0
$GC,17177,0.39,117.3,895.5,8.8,62,17181,0.00,2.40,0.00,0.000,6,0.000,0.050,3069,2061,2240,0,0,0,0,0,0
$GC,17775,0.36,117.3,842.7,8.7,64,17780,0.12,2.50,0.00,0.000,4,0.157,0.063,3034,3580,2239,0,0,0,0,0,0
$GC,17827,0.35,117.3,838.5,8.3,64,17831,0.00,2.40,0.00,0.000,6,0.000,0.050,3042,2060,2238,0,0,0,0,0,0
$GC,18402,0.35,117.3,799.1,6.7,66,18406,0.00,2.40,0.00,0.000,4,0.000,0.059,3055,544,2238,0,0,0,0,0,0
$GC,18437,0.35,117.3,796.7,7.2,66,18441,0.00,2.40,0.00,0.000,6,0.000,0.051,3054,2071,2238,0,0,0,0,0,0
$GC,19031,0.34,117.3,752.8,7.4,68,19036,0.00,2.42,0.00,0.000,4,0.000,0.063,3054,3580,2237,0,0,0,0,0,0
$GC,19132,0.31,117.3,743.7,8.4,68,19137,0.15,2.40,0.00,0.000,6,0.146,0.049,3022,2071,2236,0,0,0,0,0,0
$GC,19657,0.32,124.4,712.1,5.9,70,19659,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2070,2236,0,0,0,0,0,0
$GC,19957,0.33,139.8,696.5,5.6,71,19978,0.00,0.00,18.23,1.001,6,0.000,0.000,3022,2069,2165,0,0,0,0,0,0
$GC,20258,0.34,159.4,681.0,5.4,72,20279,0.00,0.00,19.27,0.992,6,0.000,0.000,3022,2068,2085,0,0,0,0,0,0
$GC,20559,0.35,182.3,665.5,5.3,73,20583,0.00,0.00,21.77,0.988,6,0.000,0.000,3022,2068,1991,0,0,0,0,0,0
$GC,20861,0.37,209.7,650.2,5.1,74,20888,0.00,0.00,25.33,0.985,6,0.000,0.000,3022,2068,1880,0,0,0,0,0,0
$GC,21161,0.40,236.8,634.3,5.2,75,21188,0.00,0.00,25.05,0.970,6,0.000,0.000,3022,2068,1769,0,0,0,0,0,0
$GC,21461,0.43,260.8,617.4,5.3,76,21486,0.10,0.00,22.12,0.954,6,0.100,0.000,3075,2067,1671,0,0,0,0,0,0
$GC,21762,0.44,260.8,590.0,6.1,77,21766,0.00,2.42,0.00,0.000,4,0.000,0.060,3084,549,1665,0,0,0,0,0,0
$GC,21790,0.44,260.8,587.3,9.3,77,21794,0.00,2.40,0.00,0.000,6,0.000,0.052,3084,2077,1663,0,0,0,0,0,0
$GC,22395,0.44,260.8,523.7,10.7,79,22399,0.00,2.42,0.00,0.000,4,0.000,0.059,3095,548,1662,0,0,0,0,0,0
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$STATE,29023,end climb,SURFACE_DEPTH_REACHED
$STATE,29024,begin surface coast
$FINISH,1.1,NaN
$STATE,29126,end surface coast,CONTROL_FINISHED_OK
$STATE,29126,begin surface
$SM_CCo,29205,0.00,0.000,0,0,1073,407.69
$SM_GC,2.06,7.95,0.00,0.00,0.030,0.000,0.000,125,2189,1073,-8.62,0.37,407.69
$IRIDIUM_FIX,4654.38,-12638.89,190811,121220
$TT8_MAMPS,0.026964
$HUMID,42.43
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,20.40
$XPDR_PINGS,0
$24V_AH,22.0,74.990
$10V_AH,9.8,79.541
$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
$DEVICE_SECS,21.575,180.250,471.250,0.000,0.000,24.570,29.933,102.135,0.000,0.000,12.884,1100.347,24217.029,616.301,3107.502,438.290,33.374,2100.691,0.000,2860.365,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,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,297712
$DATA_FILE_SIZE,3642,112
$CAP_FILE_SIZE,201722,0
$CFSIZE,260165632,160579584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.200, 10.1,1
$GPS,200811,052155,4712.955,-12631.014,43,1.2,43,18.6