version: 66.07
glider: 187
mission: 4
dive: 694
start: 8 30 111 7 15 55
data:
$ID,187
$MISSION,4
$DIVE,694
$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,1
$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,-1585618.5
$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,35
$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
$GPS1,300811,070937,4747.284,-12519.474,54,1.5,54,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-76.7
$GPS2,300811,071501,4747.249,-12519.417,13,1.6,30,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.133,0.149
$KALMAN_X,360431.2,-399.5,1358.8,-376661.3,-4282.1
$KALMAN_Y,-777295.7,1367.8,199.4,777071.0,-4358.5
$MHEAD_RNG_PITCHd_Wd,23.1,12392,-13.6,-6.111
$D_GRID,705
$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,-117.3,0.0,0.0,0,61,0.00,0.00,-43.38,0.000,2,0.000,0.000,110,2187,2421,0,0,0,0,0,0
$GC,65,-0.50,-117.3,3.3,-3.4,0,100,10.55,2.42,-19.00,0.000,4,0.219,0.063,2751,656,3217,0,0,0,0,0,0
$GC,212,-0.48,-117.3,24.9,-11.7,2,216,0.00,2.35,0.00,0.000,6,0.000,0.049,2743,2175,3219,0,0,0,0,0,0
$GC,493,-0.45,-117.3,58.2,-12.1,5,495,0.12,0.00,0.00,0.000,6,0.148,0.000,2779,2175,3221,0,0,0,0,0,0
$GC,693,-0.43,-117.3,75.4,-10.5,7,696,0.00,2.42,0.00,0.000,4,0.000,0.060,2770,3699,3222,0,0,0,0,0,0
$GC,714,-0.43,-117.3,77.1,-7.6,7,719,0.00,2.38,0.00,0.000,6,0.000,0.044,2769,2154,3223,0,0,0,0,0,0
$GC,1000,-0.43,-117.3,97.9,-7.3,10,1004,0.00,2.30,0.00,0.000,4,0.000,0.050,2769,662,3223,0,0,0,0,0,0
$GC,1056,-0.43,-117.3,102.5,-8.2,10,1060,0.00,2.33,0.00,0.000,6,0.000,0.047,2761,2166,3223,0,0,0,0,0,0
$GC,1408,-0.43,-117.3,129.1,-7.4,12,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2165,3223,0,0,0,0,0,0
$GC,1708,-0.43,-117.3,152.1,-7.5,13,1712,0.00,2.33,0.00,0.000,4,0.000,0.050,2761,665,3223,0,0,0,0,0,0
$GC,1746,-0.43,-117.3,155.4,-8.2,13,1750,0.00,2.30,0.00,0.000,6,0.000,0.048,2755,2162,3223,0,0,0,0,0,0
$GC,2339,-0.43,-117.3,200.1,-7.4,15,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2162,3223,0,0,0,0,0,0
$GC,2639,-0.43,-117.3,221.2,-7.3,16,2643,0.00,2.33,0.00,0.000,4,0.000,0.051,2755,665,3222,0,0,0,0,0,0
$GC,2685,-0.43,-117.3,224.4,-7.2,16,2690,0.10,2.33,0.00,0.000,6,0.145,0.050,2779,2167,3222,0,0,0,0,0,0
$GC,3273,-0.45,-117.3,255.1,-5.2,18,3277,0.00,2.42,0.00,0.000,4,0.000,0.063,2771,3692,3222,0,0,0,0,0,0
$GC,3296,-0.47,-117.3,256.3,-5.5,18,3301,0.00,2.38,0.00,0.000,6,0.000,0.045,2771,2161,3222,0,0,0,0,0,0
$GC,3908,-0.49,-117.3,294.6,-6.3,20,3912,0.00,2.47,0.00,0.000,4,0.000,0.062,2769,3690,3221,0,0,0,0,0,0
$GC,3942,-0.52,-117.3,296.8,-6.5,20,3946,0.00,2.45,0.00,0.000,6,0.000,0.045,2769,2106,3220,0,0,0,0,0,0
$GC,4541,-0.55,-117.3,331.6,-5.8,22,4545,0.00,2.25,0.00,0.000,4,0.000,0.052,2768,665,3220,0,0,0,0,0,0
$GC,4637,-0.56,-117.3,337.8,-6.1,22,4641,0.00,2.17,0.00,0.000,6,0.000,0.050,2768,2073,3219,0,0,0,0,0,0
$GC,5169,-0.59,-117.3,372.2,-6.4,24,5174,0.10,2.60,0.00,0.000,4,0.096,0.062,2705,3690,3218,0,0,0,0,0,0
$GC,5295,-0.59,-117.3,382.3,-8.1,24,5299,0.00,2.45,0.00,0.000,6,0.000,0.045,2704,2114,3218,0,0,0,0,0,0
$GC,5798,-0.57,-117.3,426.4,-8.7,26,5802,0.12,2.28,0.00,0.000,4,0.145,0.054,2742,668,3218,0,0,0,0,0,0
$GC,5854,-0.57,-117.3,430.4,-6.9,26,5858,0.00,2.28,0.00,0.000,6,0.000,0.051,2737,2125,3217,0,0,0,0,0,0
$GC,6430,-0.57,-117.3,471.1,-7.3,28,6432,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2125,3216,0,0,0,0,0,0
$GC,6732,-0.57,-117.3,493.9,-7.4,29,6736,0.00,2.55,0.00,0.000,4,0.000,0.065,2725,3689,3216,0,0,0,0,0,0
$GC,6764,-0.57,-117.3,496.4,-7.6,29,6769,0.00,2.47,0.00,0.000,6,0.000,0.047,2724,2108,3215,0,0,0,0,0,0
$GC,7359,-0.57,-117.3,542.6,-7.4,31,7364,0.00,2.25,0.00,0.000,4,0.000,0.054,2724,668,3215,0,0,0,0,0,0
$GC,7404,-0.57,-117.3,546.0,-7.9,31,7407,0.00,2.30,0.00,0.000,6,0.000,0.052,2717,2127,3215,0,0,0,0,0,0
$GC,7993,-0.57,-117.3,588.0,-7.3,33,7994,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2127,3214,0,0,0,0,0,0
$GC,8292,-0.57,-117.3,609.7,-7.3,34,8293,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2127,3214,0,0,0,0,0,0
$GC,8592,-0.57,-117.3,632.4,-7.3,35,8593,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2127,3214,0,0,0,0,0,0
$GC,8893,-0.57,-117.3,654.7,-7.4,36,8894,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2127,3213,0,0,0,0,0,0
$GC,9193,-0.57,-117.3,675.8,-7.3,37,9198,0.00,2.55,0.00,0.000,4,0.000,0.066,2706,3689,3213,0,0,0,0,0,0
$GC,9228,-0.57,-117.3,678.1,-8.1,37,9233,0.10,2.47,0.00,0.000,6,0.139,0.048,2735,2115,3213,0,0,0,0,0,0
$STATE,9818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9818,begin apogee
$GC,9826,-0.22,0.0,707.4,3.4,39,9932,0.32,0.00,102.90,1.038,6,0.064,0.000,2867,2052,2735,0,0,0,0,0,0
$STATE,9933,end apogee,CONTROL_FINISHED_OK
$STATE,9933,begin climb
$GC,9935,0.50,117.3,707.4,0.0,39,10053,0.57,2.65,108.10,1.009,4,0.047,0.059,3096,3572,2255,0,0,0,0,0,0
$GC,10139,0.45,117.3,693.5,11.1,39,10144,0.15,2.47,0.00,0.000,6,0.155,0.046,3067,2060,2248,0,0,0,0,0,0
$GC,10560,0.44,117.3,660.6,7.8,41,10561,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2059,2243,0,0,0,0,0,0
$GC,10859,0.42,117.3,637.2,7.8,42,10864,0.00,2.42,0.00,0.000,4,0.000,0.061,3066,3573,2242,0,0,0,0,0,0
$GC,10887,0.40,117.3,634.8,8.8,42,10891,0.00,2.40,0.00,0.000,6,0.000,0.047,3075,2054,2241,0,0,0,0,0,0
$GC,11487,0.38,117.3,583.3,8.5,44,11492,0.12,2.42,0.00,0.000,4,0.149,0.060,3039,3574,2241,0,0,0,0,0,0
$GC,11550,0.37,117.3,577.8,8.2,44,11555,0.00,2.35,0.00,0.000,6,0.000,0.047,3046,2067,2239,0,0,0,0,0,0
$GC,12114,0.37,117.3,536.4,7.3,46,12115,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2065,2239,0,0,0,0,0,0
$GC,12415,0.37,117.3,518.4,6.7,47,12419,0.00,2.42,0.00,0.000,4,0.000,0.062,3046,3579,2239,0,0,0,0,0,0
$GC,12466,0.35,117.3,514.7,7.6,47,12471,0.00,2.35,0.00,0.000,6,0.000,0.047,3054,2076,2238,0,0,0,0,0,0
$GC,13042,0.37,136.3,480.6,5.4,49,13059,0.00,0.00,14.95,0.852,6,0.000,0.000,3054,2072,2179,0,0,0,0,0,0
$GC,13345,0.37,151.2,463.2,5.6,50,13361,0.00,0.00,14.93,0.842,6,0.000,0.000,3054,2071,2118,0,0,0,0,0,0
$GC,13644,0.38,156.0,442.5,5.9,51,13651,0.00,0.00,5.30,0.666,6,0.000,0.000,3055,2070,2099,0,0,0,0,0,0
$GC,13944,0.38,156.0,421.3,6.3,52,13948,0.00,2.40,0.00,0.000,4,0.000,0.060,3054,3575,2096,0,0,0,0,0,0
$GC,13982,0.38,156.0,418.0,8.5,52,13987,0.00,2.35,0.00,0.000,6,0.000,0.045,3062,2064,2097,0,0,0,0,0,0
$GC,14569,0.38,156.0,373.6,7.6,54,14570,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2063,2096,0,0,0,0,0,0
$GC,14870,0.38,156.0,350.8,7.6,55,14871,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2062,2096,0,0,0,0,0,0
$GC,15172,0.38,156.0,329.3,7.5,56,15173,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2062,2096,0,0,0,0,0,0
$GC,15471,0.38,156.0,308.5,7.3,57,15472,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2062,2096,0,0,0,0,0,0
$GC,15771,0.38,156.0,289.2,7.0,58,15772,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2062,2096,0,0,0,0,0,0
$GC,16072,0.38,156.0,267.5,6.9,59,16076,0.00,2.45,0.00,0.000,4,0.000,0.061,3062,3577,2096,0,0,0,0,0,0
$GC,16104,0.38,156.0,264.9,7.9,59,16109,0.00,2.38,0.00,0.000,6,0.000,0.047,3072,2065,2095,0,0,0,0,0,0
$GC,16703,0.39,173.5,228.9,5.5,61,16721,0.00,0.00,16.40,0.711,6,0.000,0.000,3072,2063,2027,0,0,0,0,0,0
$GC,17004,0.39,175.5,208.6,6.0,62,17008,0.00,2.38,0.00,0.000,4,0.000,0.055,3082,543,2023,0,0,0,0,0,0
$GC,17032,0.39,175.5,206.7,6.5,62,17037,0.12,2.38,0.00,0.000,6,0.133,0.049,3046,2073,2023,0,0,0,0,0,0
$GC,17633,0.41,192.4,174.4,5.5,64,17657,0.00,2.45,17.12,0.679,4,0.000,0.059,3046,3574,1950,0,0,0,0,0,0
$GC,17685,0.42,192.4,170.8,7.3,64,17690,0.00,2.35,0.00,0.000,6,0.000,0.046,3046,2066,1948,0,0,0,0,0,0
$GC,18262,0.45,217.4,139.2,5.2,66,18291,0.00,2.45,22.30,0.667,4,0.000,0.055,3048,550,1847,0,0,0,0,0,0
$GC,18327,0.51,258.7,136.3,4.7,66,18368,0.10,2.38,35.47,0.666,6,0.098,0.047,3106,2084,1679,0,0,0,0,0,0
$GC,18888,0.51,258.7,84.0,9.9,68,18893,0.00,2.42,0.00,0.000,4,0.000,0.056,3111,546,1669,0,0,0,0,0,0
$GC,18912,0.51,258.7,82.1,7.9,68,18916,0.00,2.35,0.00,0.000,6,0.000,0.047,3111,2069,1669,0,0,0,0,0,0
$GC,19191,0.51,258.7,63.1,6.3,71,19195,0.00,2.40,0.00,0.000,4,0.000,0.055,3112,544,1668,0,0,0,0,0,0
$GC,19235,0.53,264.1,60.4,5.9,71,19244,0.00,2.33,3.95,0.433,6,0.000,0.047,3112,2054,1657,0,0,0,0,0,0
$GC,19500,0.55,264.1,44.3,6.2,74,19504,0.00,2.40,0.00,0.000,4,0.000,0.059,3112,3575,1657,0,0,0,0,0,0
$GC,19526,0.55,264.1,41.7,8.9,74,19531,0.00,2.38,0.00,0.000,6,0.000,0.046,3121,2045,1657,0,0,0,0,0,0
$GC,19803,0.56,284.5,26.2,5.4,77,19828,0.00,2.40,18.42,0.584,4,0.000,0.055,3121,549,1574,0,0,0,0,0,0
$GC,19845,0.62,336.1,24.3,4.3,77,19895,0.00,2.33,43.45,0.593,6,0.000,0.047,3121,2046,1363,0,0,0,0,0,0
$GC,20110,0.68,382.2,11.7,4.5,80,20154,0.00,2.47,36.92,0.575,4,0.000,0.054,3120,541,1175,0,0,0,0,0,0
$GC,20193,0.75,400.6,7.4,5.5,80,20215,0.12,2.30,16.08,0.548,6,0.095,0.047,3170,2022,1100,0,0,0,0,0,0
$STATE,20312,end climb,SURFACE_DEPTH_REACHED
$STATE,20312,begin surface coast
$FINISH,1.2,NaN
$STATE,20412,end surface coast,CONTROL_FINISHED_OK
$STATE,20413,begin surface
$SM_CCo,20493,0.00,0.000,0,0,1090,403.27
$SM_GC,2.12,7.93,0.00,0.00,0.034,0.000,0.000,126,2188,1090,-8.61,0.40,403.27
$IRIDIUM_FIX,4729.30,-12432.00,290811,232328
$TT8_MAMPS,0.026964
$HUMID,41.73
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,20.00
$XPDR_PINGS,2
$24V_AH,22.7,79.566
$10V_AH,9.8,82.236
$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,20.550,129.350,456.300,0.000,0.000,28.715,30.919,116.599,0.500,0.000,31.291,767.220,17011.666,511.334,2172.347,343.323,33.385,1571.062,0.000,1924.204,0.000,0.535,0.000
$DEVICE_MAMPS,218.790,119.340,1038.105,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297636
$DATA_FILE_SIZE,3667,82
$CAP_FILE_SIZE,144585,0
$CFSIZE,260165632,158310400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300811,125836,4748.703,-12516.825,30,1.4,30,18.7