version: 66.07
glider: 187
mission: 4
dive: 708
start: 9 2 111 10 13 38
data:
$ID,187
$MISSION,4
$DIVE,708
$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,-1585636
$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
$GPS1,020911,100736,4748.843,-12521.036,39,1.4,39,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-74.6
$GPS2,020911,101244,4748.815,-12521.036,12,1.5,12,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.137,0.146
$KALMAN_X,376255.4,-58.2,-301.9,-393161.6,1906.1
$KALMAN_Y,-785999.7,-91.0,187.1,790178.8,-889.2
$MHEAD_RNG_PITCHd_Wd,24.6,12736,-13.6,-6.111
$D_GRID,537
$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,15,-0.50,-117.3,0.0,0.0,0,103,0.00,0.00,-85.10,0.000,6,0.000,0.000,122,2201,3215,0,0,0,0,0,0
$GC,106,-0.50,-117.3,2.1,-1.0,1,122,10.70,2.42,0.00,0.000,4,0.226,0.042,2749,646,3218,0,0,0,0,0,0
$GC,231,-0.48,-117.3,37.2,-9.7,2,236,0.00,2.38,0.00,0.000,6,0.000,0.048,2741,2165,3222,0,0,0,0,0,0
$GC,523,-0.45,-117.3,69.9,-11.1,5,525,0.12,0.00,0.00,0.000,6,0.148,0.000,2777,2165,3224,0,0,0,0,0,0
$GC,724,-0.44,-117.3,86.1,-9.6,7,728,0.00,2.35,0.00,0.000,4,0.000,0.050,2776,658,3225,0,0,0,0,0,0
$GC,746,-0.44,-117.3,87.7,-7.3,7,751,0.00,2.35,0.00,0.000,6,0.000,0.048,2773,2163,3225,0,0,0,0,0,0
$GC,1232,-0.44,-117.3,121.3,-6.9,10,1236,0.00,2.35,0.00,0.000,4,0.000,0.050,2772,655,3225,0,0,0,0,0,0
$GC,1277,-0.44,-117.3,124.5,-7.1,10,1281,0.00,2.35,0.00,0.000,6,0.000,0.049,2769,2160,3225,0,0,0,0,0,0
$GC,1857,-0.44,-117.3,162.8,-6.3,12,1862,0.00,2.35,0.00,0.000,4,0.000,0.050,2768,655,3224,0,0,0,0,0,0
$GC,1904,-0.45,-117.3,165.8,-6.9,12,1908,0.00,2.33,0.00,0.000,6,0.000,0.049,2768,2146,3224,0,0,0,0,0,0
$GC,2485,-0.45,-117.3,201.8,-6.2,14,2490,0.00,2.33,0.00,0.000,4,0.000,0.051,2768,663,3223,0,0,0,0,0,0
$GC,2509,-0.45,-117.3,203.2,-6.2,14,2513,0.00,2.33,0.00,0.000,6,0.000,0.049,2765,2150,3223,0,0,0,0,0,0
$GC,3113,-0.45,-117.3,241.6,-6.1,16,3117,0.00,2.35,0.00,0.000,4,0.000,0.052,2765,652,3222,0,0,0,0,0,0
$GC,3147,-0.45,-117.3,243.7,-6.2,16,3151,0.00,2.33,0.00,0.000,6,0.000,0.051,2764,2144,3222,0,0,0,0,0,0
$GC,3747,-0.45,-117.3,279.5,-6.1,18,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2144,3221,0,0,0,0,0,0
$GC,4046,-0.45,-117.3,297.5,-6.0,19,4050,0.00,2.35,0.00,0.000,4,0.000,0.053,2764,654,3221,0,0,0,0,0,0
$GC,4090,-0.46,-117.3,300.3,-6.7,19,4094,0.00,2.30,0.00,0.000,6,0.000,0.051,2760,2132,3221,0,0,0,0,0,0
$GC,4672,-0.46,-117.3,338.1,-6.4,21,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2132,3220,0,0,0,0,0,0
$GC,4972,-0.46,-117.3,357.7,-6.5,22,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2132,3219,0,0,0,0,0,0
$GC,5272,-0.46,-117.3,377.7,-6.5,23,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2132,3218,0,0,0,0,0,0
$GC,5573,-0.46,-117.3,396.5,-6.5,24,5577,0.00,2.33,0.00,0.000,4,0.000,0.053,2760,653,3218,0,0,0,0,0,0
$GC,5603,-0.47,-117.3,398.3,-6.6,24,5607,0.00,2.33,0.00,0.000,6,0.000,0.052,2760,2130,3218,0,0,0,0,0,0
$GC,6209,-0.47,-117.3,434.1,-6.0,26,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2130,3217,0,0,0,0,0,0
$GC,6508,-0.47,-117.3,452.1,-6.0,27,6512,0.00,2.30,0.00,0.000,4,0.000,0.053,2760,663,3217,0,0,0,0,0,0
$GC,6535,-0.47,-117.3,453.9,-6.1,27,6539,0.00,2.28,0.00,0.000,6,0.000,0.051,2759,2127,3216,0,0,0,0,0,0
$GC,7139,-0.47,-117.3,485.7,-5.0,29,7143,0.00,2.55,0.00,0.000,4,0.000,0.066,2749,3692,3216,0,0,0,0,0,0
$GC,7172,-0.49,-117.3,487.4,-5.3,29,7176,0.00,2.45,0.00,0.000,6,0.000,0.047,2748,2119,3216,0,0,0,0,0,0
$GC,7764,-0.49,-117.3,521.2,-5.8,31,7768,0.00,2.28,0.00,0.000,4,0.000,0.055,2748,664,3215,0,0,0,0,0,0
$GC,7854,-0.49,-117.3,526.4,-5.9,31,7858,0.00,2.28,0.00,0.000,6,0.000,0.052,2742,2121,3215,0,0,0,0,0,0
$STATE,8028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8028,begin apogee
$GC,8034,-0.22,0.0,537.1,6.4,31,8139,0.30,0.00,101.18,0.927,6,0.106,0.000,2846,2048,2735,0,0,0,0,0,0
$STATE,8140,end apogee,CONTROL_FINISHED_OK
$STATE,8140,begin climb
$GC,8144,0.50,117.3,539.1,0.0,32,8260,0.65,2.58,105.40,0.900,4,0.070,0.054,3090,548,2255,0,0,0,0,0,0
$GC,8283,0.48,117.3,534.2,7.2,32,8287,0.00,2.45,0.00,0.000,6,0.000,0.047,3090,2063,2252,0,0,0,0,0,0
$GC,8763,0.45,117.3,490.8,9.3,34,8767,0.00,2.40,0.00,0.000,4,0.000,0.060,3091,3577,2245,0,0,0,0,0,0
$GC,8802,0.42,117.3,486.9,10.7,34,8807,0.15,2.40,0.00,0.000,6,0.150,0.046,3059,2055,2243,0,0,0,0,0,0
$GC,9388,0.42,117.3,442.8,7.5,36,9393,0.00,2.45,0.00,0.000,4,0.000,0.060,3058,3580,2242,0,0,0,0,0,0
$GC,9442,0.40,117.3,438.4,9.1,36,9446,0.00,2.38,0.00,0.000,6,0.000,0.046,3067,2055,2241,0,0,0,0,0,0
$GC,10018,0.39,117.3,395.3,7.0,38,10019,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2054,2241,0,0,0,0,0,0
$GC,10319,0.38,117.3,378.6,6.4,39,10321,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2054,2241,0,0,0,0,0,0
$GC,10619,0.37,118.5,361.8,6.1,40,10620,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2054,2240,0,0,0,0,0,0
$GC,10919,0.36,125.2,344.7,5.9,41,10930,0.00,2.45,5.32,0.626,4,0.000,0.059,3067,3575,2224,0,0,0,0,0,0
$GC,10969,0.35,125.2,341.5,7.1,41,10974,0.15,2.38,0.00,0.000,6,0.139,0.044,3033,2055,2223,0,0,0,0,0,0
$GC,11546,0.38,187.6,317.4,3.9,43,11606,0.00,2.50,55.05,0.795,4,0.000,0.059,3033,3579,1968,0,0,0,0,0,0
$GC,11632,0.42,221.1,313.5,4.9,43,11667,0.00,2.40,29.58,0.765,6,0.000,0.046,3037,2070,1833,0,0,0,0,0,0
$GC,12169,0.45,234.4,284.1,5.6,45,12185,0.00,2.42,11.10,0.705,4,0.000,0.056,3041,549,1778,0,0,0,0,0,0
$GC,12224,0.50,258.1,280.9,5.3,45,12254,0.12,2.38,21.67,0.743,6,0.083,0.048,3109,2081,1681,0,0,0,0,0,0
$GC,12797,0.48,258.1,224.7,10.2,47,12802,0.12,2.42,0.00,0.000,4,0.143,0.055,3081,549,1673,0,0,0,0,0,0
$GC,12826,0.48,258.1,222.1,8.7,47,12830,0.00,2.38,0.00,0.000,6,0.000,0.049,3081,2068,1672,0,0,0,0,0,0
$GC,13424,0.48,258.1,171.3,8.8,49,13425,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2068,1671,0,0,0,0,0,0
$GC,13725,0.48,258.1,145.2,8.7,50,13729,0.00,2.40,0.00,0.000,4,0.000,0.055,3090,545,1671,0,0,0,0,0,0
$GC,13748,0.50,258.1,143.1,8.7,50,13752,0.00,2.35,0.00,0.000,6,0.000,0.048,3091,2067,1670,0,0,0,0,0,0
$GC,14359,0.50,258.1,93.8,8.2,52,14360,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2067,1670,0,0,0,0,0,0
$GC,14558,0.50,258.1,80.2,7.8,54,14559,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2067,1670,0,0,0,0,0,0
$GC,14760,0.51,258.1,68.8,6.2,56,14764,0.00,2.38,0.00,0.000,4,0.000,0.054,3096,550,1670,0,0,0,0,0,0
$GC,14793,0.55,289.1,67.0,5.0,56,14823,0.00,2.33,25.38,0.623,6,0.000,0.047,3096,2066,1555,0,0,0,0,0,0
$GC,15063,0.58,293.3,51.1,6.0,59,15072,0.00,2.42,4.25,0.444,4,0.000,0.059,3096,3573,1539,0,0,0,0,0,0
$GC,15091,0.62,329.6,49.6,4.8,59,15129,0.00,2.35,31.77,0.613,6,0.000,0.044,3095,2060,1390,0,0,0,0,0,0
$GC,15376,0.67,350.5,34.8,5.4,62,15401,0.10,2.45,17.90,0.587,4,0.100,0.054,3165,546,1304,0,0,0,0,0,0
$GC,15459,0.68,350.5,27.8,9.4,62,15463,0.00,2.35,0.00,0.000,6,0.000,0.047,3164,2054,1302,0,0,0,0,0,0
$GC,15691,0.68,350.5,10.4,7.6,65,15695,0.00,2.40,0.00,0.000,4,0.000,0.054,3164,541,1300,0,0,0,0,0,0
$GC,15730,0.73,372.1,8.3,5.4,65,15754,0.00,2.30,18.35,0.571,6,0.000,0.048,3164,2027,1216,0,0,0,0,0,0
$STATE,15892,end climb,SURFACE_DEPTH_REACHED
$STATE,15892,begin surface coast
$FINISH,1.2,NaN
$STATE,15994,end surface coast,CONTROL_FINISHED_OK
$STATE,15997,begin surface
$SM_CCo,16076,0.00,0.000,0,0,1208,374.57
$SM_GC,1.92,7.80,0.00,0.00,0.029,0.000,0.000,122,2197,1208,-8.59,0.62,374.57
$IRIDIUM_FIX,4729.30,-12524.44,020911,040417
$TT8_MAMPS,0.026964
$HUMID,42.91
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.70
$XPDR_PINGS,0
$24V_AH,23.1,81.157
$10V_AH,9.8,83.091
$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,20.225,109.650,426.950,0.000,0.000,27.412,33.624,118.451,0.000,0.000,13.569,657.470,13030.992,478.609,1905.961,303.308,33.371,1412.372,0.000,1679.111,0.000,0.535,0.000
$DEVICE_MAMPS,226.440,102.510,927.180,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,3654,68
$CAP_FILE_SIZE,124392,0
$CFSIZE,260165632,157548544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020911,144307,4750.098,-12518.425,57,1.4,57,18.7