version: 66.07
glider: 187
mission: 4
dive: 678
start: 8 25 111 0 36 9
data:
$ID,187
$MISSION,4
$DIVE,678
$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,-1585598.5
$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,28
$R_STBD_OVSHOOT,42
$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
$GPS1,250811,003024,4726.613,-12551.862,29,0.9,46,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-76.1
$GPS2,250811,003514,4726.595,-12551.881,14,1.6,14,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.057,0.192
$KALMAN_X,366397.7,-994.3,133.5,-421219.2,2225.5
$KALMAN_Y,-728527.8,2091.2,-2248.2,691808.4,-2495.8
$MHEAD_RNG_PITCHd_Wd,356.0,67927,-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,-117.3,0.0,0.0,0,117,0.00,0.00,-99.50,0.000,2,0.000,0.000,119,2187,3018,0,0,0,0,0,0
$GC,121,-0.50,-117.3,6.6,-0.0,1,140,10.85,2.40,-3.28,0.000,4,0.225,0.057,2746,652,3216,0,0,0,0,0,0
$GC,146,-0.25,-117.3,20.2,-48.3,1,152,0.35,2.35,0.00,0.000,6,0.140,0.050,2838,2159,3219,0,0,0,0,0,0
$GC,430,-0.27,-117.3,40.8,-6.0,4,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2159,3223,0,0,0,0,0,0
$GC,630,-0.29,-117.3,53.0,-6.0,6,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2159,3224,0,0,0,0,0,0
$GC,829,-0.32,-117.3,65.9,-6.2,8,833,0.00,2.42,0.00,0.000,4,0.000,0.057,2838,3700,3224,0,0,0,0,0,0
$GC,1086,-0.40,-117.3,85.5,-7.8,10,1091,0.15,2.38,0.00,0.000,6,0.088,0.040,2776,2140,3224,0,0,0,0,0,0
$GC,1357,-0.42,-117.3,105.9,-7.5,13,1361,0.00,2.28,0.00,0.000,4,0.000,0.047,2776,675,3225,0,0,0,0,0,0
$GC,1401,-0.42,-117.3,109.6,-7.8,13,1404,0.00,2.08,0.00,0.000,6,0.000,0.047,2772,2037,3224,0,0,0,0,0,0
$GC,1990,-0.44,-117.3,149.1,-6.4,15,1994,0.00,2.10,0.00,0.000,4,0.000,0.050,2773,674,3224,0,0,0,0,0,0
$GC,2023,-0.45,-117.3,151.3,-6.7,15,2027,0.00,2.17,0.00,0.000,6,0.000,0.047,2767,2097,3224,0,0,0,0,0,0
$GC,2622,-0.48,-117.3,190.9,-6.7,17,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2097,3222,0,0,0,0,0,0
$GC,2922,-0.50,-117.3,207.3,-6.1,18,2926,0.00,2.25,0.00,0.000,4,0.000,0.050,2767,669,3221,0,0,0,0,0,0
$GC,2996,-0.50,-117.3,211.2,-5.5,18,3000,0.00,2.10,0.00,0.000,6,0.000,0.047,2761,2041,3221,0,0,0,0,0,0
$GC,3556,-0.52,-117.3,242.8,-5.7,20,3560,0.00,2.62,0.00,0.000,4,0.000,0.060,2750,3693,3219,0,0,0,0,0,0
$GC,3663,-0.52,-117.3,249.4,-6.3,20,3667,0.00,2.47,0.00,0.000,6,0.000,0.044,2750,2092,3219,0,0,0,0,0,0
$GC,4182,-0.52,-117.3,286.3,-7.5,22,4186,0.00,2.25,0.00,0.000,4,0.000,0.052,2749,672,3218,0,0,0,0,0,0
$GC,4233,-0.52,-117.3,290.3,-7.9,22,4237,0.00,2.22,0.00,0.000,6,0.000,0.050,2742,2104,3218,0,0,0,0,0,0
$GC,4822,-0.52,-117.3,339.6,-8.5,24,4826,0.00,2.55,0.00,0.000,4,0.000,0.063,2729,3691,3216,0,0,0,0,0,0
$GC,4865,-0.52,-117.3,343.5,-8.3,24,4870,0.00,2.50,0.00,0.000,6,0.000,0.045,2730,2103,3216,0,0,0,0,0,0
$GC,5449,-0.52,-117.3,391.1,-8.1,26,5453,0.00,2.28,0.00,0.000,4,0.000,0.054,2730,667,3215,0,0,0,0,0,0
$GC,5504,-0.52,-117.3,396.0,-8.3,26,5509,0.10,2.22,0.00,0.000,6,0.145,0.050,2750,2104,3215,0,0,0,0,0,0
$GC,6081,-0.52,-117.3,433.0,-6.5,28,6083,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2103,3214,0,0,0,0,0,0
$GC,6380,-0.52,-117.3,451.2,-6.3,29,6384,0.00,2.25,0.00,0.000,4,0.000,0.054,2750,677,3213,0,0,0,0,0,0
$GC,6407,-0.52,-117.3,452.9,-6.6,29,6410,0.00,2.20,0.00,0.000,6,0.000,0.053,2748,2094,3212,0,0,0,0,0,0
$GC,7016,-0.52,-117.3,488.0,-5.6,31,7021,0.00,2.58,0.00,0.000,4,0.000,0.064,2736,3693,3212,0,0,0,0,0,0
$GC,7055,-0.52,-117.3,490.3,-6.0,31,7059,0.00,2.50,0.00,0.000,6,0.000,0.047,2736,2093,3212,0,0,0,0,0,0
$GC,7641,-0.52,-117.3,526.4,-6.2,33,7645,0.00,2.25,0.00,0.000,4,0.000,0.054,2736,671,3210,0,0,0,0,0,0
$GC,7696,-0.52,-117.3,529.9,-6.3,33,7700,0.00,2.22,0.00,0.000,6,0.000,0.053,2731,2098,3210,0,0,0,0,0,0
$GC,8272,-0.52,-117.3,564.5,-6.1,35,8276,0.00,2.60,0.00,0.000,4,0.000,0.065,2720,3695,3210,0,0,0,0,0,0
$GC,8311,-0.52,-117.3,567.1,-7.1,35,8317,0.12,2.53,0.00,0.000,6,0.122,0.047,2757,2095,3209,0,0,0,0,0,0
$GC,8900,-0.53,-117.3,598.4,-5.5,37,8904,0.00,2.25,0.00,0.000,4,0.000,0.055,2758,679,3209,0,0,0,0,0,0
$GC,8957,-0.54,-117.3,601.9,-6.1,37,8961,0.00,2.22,0.00,0.000,6,0.000,0.054,2754,2090,3208,0,0,0,0,0,0
$GC,9529,-0.55,-117.3,637.7,-6.3,39,9533,0.00,2.60,0.00,0.000,4,0.000,0.065,2742,3694,3207,0,0,0,0,0,0
$GC,9580,-0.57,-117.3,641.2,-7.2,39,9584,0.00,2.50,0.00,0.000,6,0.000,0.047,2742,2098,3207,0,0,0,0,0,0
$GC,10156,-0.57,-117.3,675.5,-5.7,41,10160,0.00,2.25,0.00,0.000,4,0.000,0.056,2741,673,3207,0,0,0,0,0,0
$GC,10200,-0.57,-117.3,678.3,-5.6,41,10204,0.00,2.22,0.00,0.000,6,0.000,0.054,2735,2092,3206,0,0,0,0,0,0
$GC,10782,-0.57,-117.3,710.6,-5.6,43,10786,0.00,2.60,0.00,0.000,4,0.000,0.065,2724,3696,3205,0,0,0,0,0,0
$GC,10816,-0.57,-117.3,712.5,-6.3,43,10820,0.00,2.53,0.00,0.000,6,0.000,0.049,2722,2094,3205,0,0,0,0,0,0
$GC,11408,-0.57,-117.3,748.8,-6.2,45,11412,0.00,2.28,0.00,0.000,4,0.000,0.056,2722,668,3205,0,0,0,0,0,0
$GC,11440,-0.57,-117.3,751.1,-7.4,45,11444,0.00,2.22,0.00,0.000,6,0.000,0.054,2716,2089,3205,0,0,0,0,0,0
$GC,12045,-0.57,-117.3,789.6,-6.4,47,12049,0.00,2.60,0.00,0.000,4,0.000,0.064,2705,3692,3204,0,0,0,0,0,0
$GC,12107,-0.57,-117.3,793.9,-7.8,47,12112,0.12,2.50,0.00,0.000,6,0.126,0.048,2741,2106,3204,0,0,0,0,0,0
$GC,12675,-0.57,-117.3,824.0,-5.2,49,12679,0.00,2.28,0.00,0.000,4,0.000,0.057,2741,675,3204,0,0,0,0,0,0
$GC,12719,-0.58,-117.3,826.6,-5.6,49,12723,0.00,2.25,0.00,0.000,6,0.000,0.054,2738,2098,3203,0,0,0,0,0,0
$GC,13314,-0.58,-117.3,858.6,-5.3,51,13318,0.00,2.60,0.00,0.000,4,0.000,0.067,2728,3693,3203,0,0,0,0,0,0
$GC,13347,-0.59,-117.3,860.8,-6.6,51,13351,0.00,2.53,0.00,0.000,6,0.000,0.049,2728,2097,3203,0,0,0,0,0,0
$GC,13939,-0.59,-117.3,894.6,-5.9,53,13943,0.00,2.28,0.00,0.000,4,0.000,0.057,2727,671,3203,0,0,0,0,0,0
$GC,14011,-0.59,-117.3,899.6,-6.5,53,14014,0.00,2.22,0.00,0.000,6,0.000,0.054,2722,2089,3203,0,0,0,0,0,0
$GC,14575,-0.59,-117.3,935.7,-6.5,55,14580,0.00,2.60,0.00,0.000,4,0.000,0.065,2710,3690,3202,0,0,0,0,0,0
$GC,14631,-0.59,-117.3,939.5,-6.4,55,14635,0.00,2.53,0.00,0.000,6,0.000,0.049,2710,2103,3202,0,0,0,0,0,0
$GC,15200,-0.59,-117.3,979.8,-7.0,57,15205,0.00,2.28,0.00,0.000,4,0.000,0.057,2710,679,3202,0,0,0,0,0,0
$GC,15242,-0.59,-117.3,982.7,-7.4,57,15246,0.00,2.22,0.00,0.000,6,0.000,0.054,2702,2093,3202,0,0,0,0,0,0
$STATE,15345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15345,begin apogee
$GC,15351,-0.22,0.0,990.3,6.9,57,15464,0.43,0.00,104.47,1.226,6,0.107,0.000,2846,2093,2735,0,0,0,0,0,0
$STATE,15465,end apogee,CONTROL_FINISHED_OK
$STATE,15465,begin climb
$GC,15468,0.50,117.3,992.7,0.0,57,15587,0.65,0.00,115.55,1.190,6,0.065,0.000,3079,2093,2256,0,0,0,0,0,0
$GC,15820,0.46,117.3,965.8,8.4,59,15821,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2093,2245,0,0,0,0,0,0
$GC,16120,0.42,117.3,938.1,8.8,60,16124,0.00,2.40,0.00,0.000,4,0.000,0.063,3079,3580,2243,0,0,0,0,0,0
$GC,16166,0.39,117.3,933.3,11.4,60,16171,0.15,2.38,0.00,0.000,6,0.158,0.047,3050,2078,2242,0,0,0,0,0,0
$GC,16755,0.39,117.3,888.1,7.5,62,16756,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2074,2240,0,0,0,0,0,0
$GC,17053,0.39,117.3,865.1,7.6,63,17054,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2073,2240,0,0,0,0,0,0
$GC,17354,0.39,117.3,841.4,7.6,64,17355,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2073,2239,0,0,0,0,0,0
$GC,17654,0.39,117.3,817.8,7.7,65,17656,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2073,2238,0,0,0,0,0,0
$GC,17955,0.39,117.3,795.6,7.7,66,17960,0.00,2.45,0.00,0.000,4,0.000,0.062,3050,3583,2238,0,0,0,0,0,0
$GC,17996,0.37,117.3,792.3,7.9,66,18001,0.00,2.42,0.00,0.000,6,0.000,0.048,3058,2046,2238,0,0,0,0,0,0
$GC,18584,0.36,117.3,747.2,7.4,68,18588,0.00,2.47,0.00,0.000,4,0.000,0.063,3058,3580,2237,0,0,0,0,0,0
$GC,18618,0.33,117.3,744.3,8.5,68,18623,0.15,2.42,0.00,0.000,6,0.145,0.049,3025,2056,2237,0,0,0,0,0,0
$GC,19213,0.34,133.8,710.0,5.5,70,19228,0.00,0.00,12.90,0.976,6,0.000,0.000,3025,2053,2189,0,0,0,0,0,0
$GC,19512,0.35,146.3,692.4,5.7,71,19527,0.00,0.00,12.98,0.968,6,0.000,0.000,3025,2052,2138,0,0,0,0,0,0
$GC,19813,0.36,156.7,674.7,5.7,72,19828,0.00,2.47,10.90,0.933,4,0.000,0.062,3025,3580,2095,0,0,0,0,0,0
$GC,19851,0.36,156.7,672.2,6.6,72,19855,0.00,2.40,0.00,0.000,6,0.000,0.049,3031,2063,2094,0,0,0,0,0,0
$GC,20438,0.36,156.7,635.2,6.3,74,20439,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2060,2092,0,0,0,0,0,0
$GC,20738,0.36,156.7,617.5,6.1,75,20742,0.00,2.47,0.00,0.000,4,0.000,0.064,3031,3583,2091,0,0,0,0,0,0
$GC,20766,0.36,156.7,615.8,6.7,75,20770,0.00,2.40,0.00,0.000,6,0.000,0.049,3041,2059,2090,0,0,0,0,0,0
$GC,21366,0.36,156.7,577.4,6.5,77,21367,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2055,2091,0,0,0,0,0,0
$GC,21664,0.36,156.7,558.0,6.5,78,21668,0.00,2.45,0.00,0.000,4,0.000,0.063,3041,3578,2090,0,0,0,0,0,0
$GC,21691,0.36,156.7,555.8,7.5,78,21696,0.00,2.38,0.00,0.000,6,0.000,0.049,3046,2060,2090,0,0,0,0,0,0
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$STATE,30208,end climb,SURFACE_DEPTH_REACHED
$STATE,30208,begin surface coast
$FINISH,3.5,NaN
$STATE,30214,end surface coast,CONTROL_FINISHED_OK
$STATE,30214,begin surface
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$IRIDIUM_FIX,4710.21,-12557.43,240811,181859
$TT8_MAMPS,0.026964
$HUMID,42.08
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,20.30
$XPDR_PINGS,1
$24V_AH,22.0,77.404
$10V_AH,9.8,80.902
$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,21.575,199.950,446.550,0.000,0.000,26.824,32.793,103.152,0.250,0.000,15.177,1219.392,24731.285,588.100,3578.544,460.142,33.368,2303.804,0.000,3304.334,0.000,0.535,0.000
$DEVICE_MAMPS,224.910,86.445,1225.530,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297664
$DATA_FILE_SIZE,3667,114
$CAP_FILE_SIZE,222762,0
$CFSIZE,260165632,159404032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.175, 25.8,1
$GPS,250811,090224,4729.171,-12550.039,26,1.0,43,18.7