version: 66.07
glider: 187
mission: 4
dive: 685
start: 8 27 111 9 36 5
data:
$ID,187
$MISSION,4
$DIVE,685
$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,-1585607.2
$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,32
$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
$GPS1,270811,092937,4737.004,-12534.811,33,2.0,33,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-76.1
$GPS2,270811,093510,4736.989,-12534.785,15,3.5,34,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.169,0.106
$KALMAN_X,371301.7,917.8,-889.9,-405671.5,-3042.1
$KALMAN_Y,-749368.0,-1055.1,1463.0,731266.8,-1197.3
$MHEAD_RNG_PITCHd_Wd,65.4,39258,-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,-117.3,0.0,0.0,0,92,0.00,0.00,-73.90,0.000,6,0.000,0.000,110,2194,3215,0,0,0,0,0,0
$GC,95,-0.50,-117.3,2.0,-0.0,1,110,10.68,2.40,0.00,0.000,4,0.223,0.041,2748,656,3218,0,0,0,0,0,0
$GC,239,-0.48,-117.3,39.6,-11.0,2,243,0.00,2.35,0.00,0.000,6,0.000,0.049,2739,2171,3222,0,0,0,0,0,0
$GC,513,-0.45,-117.3,72.2,-11.8,5,518,0.12,2.45,0.00,0.000,4,0.149,0.059,2766,3695,3224,0,0,0,0,0,0
$GC,548,-0.45,-117.3,75.9,-9.6,5,552,0.00,2.40,0.00,0.000,6,0.000,0.043,2765,2163,3224,0,0,0,0,0,0
$GC,819,-0.44,-117.3,98.7,-8.5,8,823,0.00,2.33,0.00,0.000,4,0.000,0.050,2764,668,3226,0,0,0,0,0,0
$GC,892,-0.44,-117.3,105.5,-8.5,8,896,0.00,2.33,0.00,0.000,6,0.000,0.047,2758,2170,3226,0,0,0,0,0,0
$GC,1222,-0.44,-117.3,132.5,-8.2,10,1227,0.00,2.45,0.00,0.000,4,0.000,0.060,2747,3694,3225,0,0,0,0,0,0
$GC,1278,-0.44,-117.3,136.9,-7.5,10,1283,0.12,2.35,0.00,0.000,6,0.123,0.043,2785,2169,3226,0,0,0,0,0,0
$GC,1850,-0.45,-117.3,167.8,-5.2,12,1854,0.00,2.33,0.00,0.000,4,0.000,0.050,2785,671,3225,0,0,0,0,0,0
$GC,1957,-0.47,-117.3,174.3,-5.8,12,1961,0.00,2.30,0.00,0.000,6,0.000,0.048,2785,2162,3224,0,0,0,0,0,0
$GC,2488,-0.51,-117.3,206.2,-6.1,14,2492,0.00,2.47,0.00,0.000,4,0.000,0.061,2785,3696,3223,0,0,0,0,0,0
$GC,2572,-0.54,-117.3,211.3,-6.1,14,2577,0.12,2.45,0.00,0.000,6,0.081,0.043,2718,2125,3223,0,0,0,0,0,0
$GC,3114,-0.54,-117.3,253.0,-7.6,16,3118,0.00,2.55,0.00,0.000,4,0.000,0.061,2707,3697,3223,0,0,0,0,0,0
$GC,3215,-0.54,-117.3,261.5,-8.8,16,3220,0.12,2.47,0.00,0.000,6,0.125,0.044,2745,2121,3222,0,0,0,0,0,0
$GC,3740,-0.54,-117.3,300.5,-7.3,18,3744,0.00,2.28,0.00,0.000,4,0.000,0.052,2745,671,3221,0,0,0,0,0,0
$GC,3820,-0.54,-117.3,306.6,-7.3,18,3824,0.00,2.25,0.00,0.000,6,0.000,0.050,2739,2112,3221,0,0,0,0,0,0
$GC,4374,-0.54,-117.3,348.8,-7.6,20,4378,0.00,2.58,0.00,0.000,4,0.000,0.062,2727,3689,3220,0,0,0,0,0,0
$GC,4419,-0.54,-117.3,352.3,-7.2,20,4423,0.00,2.47,0.00,0.000,6,0.000,0.045,2727,2117,3219,0,0,0,0,0,0
$GC,5001,-0.54,-117.3,396.0,-7.5,22,5005,0.00,2.30,0.00,0.000,4,0.000,0.053,2726,670,3219,0,0,0,0,0,0
$GC,5068,-0.54,-117.3,401.6,-8.3,22,5072,0.00,2.25,0.00,0.000,6,0.000,0.050,2722,2112,3218,0,0,0,0,0,0
$GC,5641,-0.53,-117.3,445.1,-7.5,24,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2113,3217,0,0,0,0,0,0
$GC,5939,-0.53,-117.3,467.3,-7.5,25,5943,0.00,2.33,0.00,0.000,4,0.000,0.053,2721,665,3217,0,0,0,0,0,0
$GC,5971,-0.53,-117.3,469.9,-8.0,25,5976,0.12,2.28,0.00,0.000,6,0.135,0.051,2750,2119,3217,0,0,0,0,0,0
$GC,6570,-0.53,-117.3,502.3,-5.4,27,6574,0.00,2.28,0.00,0.000,4,0.000,0.054,2750,676,3216,0,0,0,0,0,0
$GC,6614,-0.54,-117.3,505.0,-6.6,27,6618,0.00,2.25,0.00,0.000,6,0.000,0.053,2746,2103,3216,0,0,0,0,0,0
$GC,7195,-0.54,-117.3,540.5,-6.3,29,7200,0.00,2.60,0.00,0.000,4,0.000,0.065,2734,3693,3215,0,0,0,0,0,0
$GC,7234,-0.55,-117.3,543.1,-7.0,29,7239,0.00,2.53,0.00,0.000,6,0.000,0.047,2733,2099,3215,0,0,0,0,0,0
$GC,7821,-0.55,-117.3,581.4,-6.6,31,7825,0.00,2.28,0.00,0.000,4,0.000,0.055,2733,669,3214,0,0,0,0,0,0
$GC,7844,-0.55,-117.3,582.8,-6.3,31,7849,0.00,2.25,0.00,0.000,6,0.000,0.052,2729,2101,3214,0,0,0,0,0,0
$GC,8449,-0.55,-117.3,623.6,-6.7,33,8453,0.00,2.60,0.00,0.000,4,0.000,0.065,2718,3691,3213,0,0,0,0,0,0
$GC,8489,-0.55,-117.3,626.3,-6.9,33,8493,0.00,2.53,0.00,0.000,6,0.000,0.048,2717,2100,3213,0,0,0,0,0,0
$GC,9075,-0.55,-117.3,668.0,-7.2,35,9079,0.00,2.25,0.00,0.000,4,0.000,0.055,2716,677,3213,0,0,0,0,0,0
$GC,9126,-0.55,-117.3,671.8,-8.1,35,9131,0.12,2.22,0.00,0.000,6,0.135,0.054,2745,2104,3213,0,0,0,0,0,0
$GC,9715,-0.55,-117.3,703.4,-5.1,37,9716,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2104,3212,0,0,0,0,0,0
$GC,10014,-0.55,-117.3,718.4,-5.1,38,10018,0.00,2.60,0.00,0.000,4,0.000,0.067,2736,3688,3212,0,0,0,0,0,0
$GC,10041,-0.56,-117.3,719.6,-5.3,38,10046,0.00,2.50,0.00,0.000,6,0.000,0.049,2736,2104,3211,0,0,0,0,0,0
$GC,10640,-0.56,-117.3,751.5,-5.4,40,10644,0.00,2.28,0.00,0.000,4,0.000,0.056,2735,675,3211,0,0,0,0,0,0
$GC,10706,-0.56,-117.3,755.6,-6.2,40,10710,0.00,2.25,0.00,0.000,6,0.000,0.054,2732,2109,3211,0,0,0,0,0,0
$GC,11265,-0.56,-117.3,788.0,-5.8,42,11270,0.00,2.60,0.00,0.000,4,0.000,0.065,2720,3695,3210,0,0,0,0,0,0
$GC,11298,-0.56,-117.3,790.2,-6.2,42,11302,0.00,2.53,0.00,0.000,6,0.000,0.049,2719,2107,3210,0,0,0,0,0,0
$GC,11891,-0.56,-117.3,828.3,-6.7,44,11895,0.00,2.33,0.00,0.000,4,0.000,0.057,2720,666,3210,0,0,0,0,0,0
$GC,11932,-0.56,-117.3,831.1,-7.8,44,11936,0.00,2.28,0.00,0.000,6,0.000,0.054,2712,2100,3209,0,0,0,0,0,0
$GC,12520,-0.56,-117.3,876.5,-7.7,46,12524,0.00,2.62,0.00,0.000,4,0.000,0.067,2700,3691,3209,0,0,0,0,0,0
$GC,12576,-0.56,-117.3,881.2,-8.8,46,12581,0.12,2.50,0.00,0.000,6,0.130,0.049,2737,2108,3209,0,0,0,0,0,0
$GC,13148,-0.56,-117.3,917.6,-6.1,48,13152,0.00,2.25,0.00,0.000,4,0.000,0.057,2738,676,3208,0,0,0,0,0,0
$GC,13214,-0.56,-117.3,922.1,-6.8,48,13218,0.00,2.22,0.00,0.000,6,0.000,0.055,2733,2094,3209,0,0,0,0,0,0
$GC,13776,-0.56,-117.3,953.1,-5.3,50,13780,0.00,2.62,0.00,0.000,4,0.000,0.067,2725,3690,3208,0,0,0,0,0,0
$GC,13826,-0.57,-117.3,955.6,-4.9,50,13830,0.00,2.50,0.00,0.000,6,0.000,0.050,2724,2102,3207,0,0,0,0,0,0
$GC,14401,-0.57,-117.3,982.5,-4.8,52,14405,0.00,2.28,0.00,0.000,4,0.000,0.057,2724,676,3207,0,0,0,0,0,0
$GC,14463,-0.57,-117.3,986.0,-5.7,52,14467,0.00,2.25,0.00,0.000,6,0.000,0.054,2718,2106,3207,0,0,0,0,0,0
$STATE,14540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14540,begin apogee
$GC,14547,-0.22,0.0,990.1,5.4,52,14659,0.38,0.00,105.15,1.225,6,0.101,0.000,2847,2106,2736,0,0,0,0,0,0
$STATE,14659,end apogee,CONTROL_FINISHED_OK
$STATE,14660,begin climb
$GC,14662,0.50,117.3,991.5,0.0,52,14781,0.65,0.00,115.43,1.192,6,0.063,0.000,3082,2106,2256,0,0,0,0,0,0
$GC,15020,0.46,117.3,959.5,9.8,54,15022,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2106,2247,0,0,0,0,0,0
$GC,15319,0.42,117.3,929.2,9.9,55,15323,0.00,2.38,0.00,0.000,4,0.000,0.063,3082,3576,2244,0,0,0,0,0,0
$GC,15347,0.38,117.3,926.1,10.2,55,15352,0.17,2.40,0.00,0.000,6,0.154,0.049,3045,2073,2243,0,0,0,0,0,0
$GC,15951,0.38,117.3,882.0,7.1,57,15955,0.00,2.45,0.00,0.000,4,0.000,0.059,3054,542,2241,0,0,0,0,0,0
$GC,15979,0.38,117.3,879.9,7.4,57,15983,0.00,2.38,0.00,0.000,6,0.000,0.053,3054,2059,2241,0,0,0,0,0,0
$GC,16585,0.37,117.3,834.9,7.4,59,16589,0.00,2.42,0.00,0.000,4,0.000,0.063,3054,3575,2240,0,0,0,0,0,0
$GC,16642,0.35,117.3,829.7,8.6,59,16647,0.12,2.40,0.00,0.000,6,0.154,0.049,3031,2060,2239,0,0,0,0,0,0
$GC,17220,0.35,118.3,793.8,6.1,61,17224,0.00,2.38,0.00,0.000,4,0.000,0.058,3040,548,2238,0,0,0,0,0,0
$GC,17246,0.35,118.3,791.9,6.5,61,17251,0.00,2.38,0.00,0.000,6,0.000,0.052,3040,2071,2239,0,0,0,0,0,0
$GC,17850,0.35,118.3,749.2,7.0,63,17854,0.00,2.40,0.00,0.000,4,0.000,0.063,3040,3575,2238,0,0,0,0,0,0
$GC,17883,0.33,118.3,746.4,8.4,63,17887,0.00,2.38,0.00,0.000,6,0.000,0.047,3049,2054,2237,0,0,0,0,0,0
$GC,18475,0.33,118.3,703.5,7.1,65,18476,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2053,2237,0,0,0,0,0,0
$GC,18775,0.33,118.3,682.8,7.0,66,18776,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2052,2237,0,0,0,0,0,0
$GC,19076,0.33,118.3,661.8,7.0,67,19077,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2051,2237,0,0,0,0,0,0
$GC,19378,0.33,118.3,641.0,7.0,68,19382,0.00,2.45,0.00,0.000,4,0.000,0.061,3049,3577,2237,0,0,0,0,0,0
$GC,19405,0.32,118.3,638.8,7.5,68,19410,0.12,2.38,0.00,0.000,6,0.151,0.048,3025,2062,2236,0,0,0,0,0,0
$GC,20005,0.34,145.7,606.3,5.1,70,20034,0.00,2.47,23.58,0.960,4,0.000,0.058,3034,542,2139,0,0,0,0,0,0
$GC,20069,0.35,145.7,602.6,6.4,70,20074,0.00,2.42,0.00,0.000,6,0.000,0.051,3034,2071,2138,0,0,0,0,0,0
$GC,20634,0.35,145.7,566.5,6.5,72,20635,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2071,2135,0,0,0,0,0,0
$GC,20934,0.35,145.7,547.4,6.5,73,20938,0.00,2.42,0.00,0.000,4,0.000,0.062,3034,3575,2135,0,0,0,0,0,0
$GC,20973,0.35,145.7,544.6,7.3,73,20977,0.00,2.40,0.00,0.000,6,0.000,0.049,3042,2061,2134,0,0,0,0,0,0
$GC,21560,0.35,154.9,510.1,5.8,75,21572,0.00,0.00,9.00,0.820,6,0.000,0.000,3042,2058,2103,0,0,0,0,0,0
$GC,22195,0.35,154.9,466.6,7.1,77,22200,0.00,2.40,0.00,0.000,4,0.000,0.057,3052,540,2101,0,0,0,0,0,0
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$STATE,29092,end climb,SURFACE_DEPTH_REACHED
$STATE,29092,begin surface coast
$FINISH,1.1,NaN
$STATE,29193,end surface coast,CONTROL_FINISHED_OK
$STATE,29193,begin surface
$SM_CCo,29271,0.00,0.000,0,0,1239,366.97
$SM_GC,1.86,8.02,0.00,0.00,0.036,0.000,0.000,122,2200,1239,-8.61,0.71,366.97
$IRIDIUM_FIX,4716.56,-12533.74,270811,010125
$TT8_MAMPS,0.026964
$HUMID,42.16
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,20.00
$XPDR_PINGS,1
$24V_AH,22.0,78.342
$10V_AH,9.8,81.523
$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
$DEVICE_SECS,21.825,201.275,440.325,0.000,0.000,28.842,34.168,114.382,0.250,0.000,36.125,1209.059,23759.252,562.136,3598.579,460.617,33.369,2262.663,0.000,3298.435,0.000,0.536,0.000
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$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,297636
$DATA_FILE_SIZE,3647,111
$CAP_FILE_SIZE,220565,0
$CFSIZE,260165632,158879744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.178,102.0,1
$GPS,270811,174507,4736.404,-12530.698,35,0.9,35,18.7