version: 66.07
glider: 187
mission: 4
dive: 614
start: 8 5 111 6 51 9
data:
$ID,187
$MISSION,4
$DIVE,614
$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,-1585518.2
$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,37
$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
$GPS1,050811,064431,4750.210,-12513.319,39,1.9,40,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-78.4
$GPS2,050811,065013,4750.166,-12513.317,10,1.5,15,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.112,0.166
$KALMAN_X,289392.0,348.3,-341.3,-297065.1,942.6
$KALMAN_Y,-549350.6,-297.2,-135.0,556546.4,-1877.6
$MHEAD_RNG_PITCHd_Wd,19.3,3102,-13.6,-6.111
$D_GRID,312
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.50,-117.3,0.0,0.0,0,70,0.00,0.00,-50.03,0.000,2,0.000,0.000,121,2198,2532,0,0,0,0,0,0
$GC,73,-0.50,-117.3,3.5,-3.9,5,108,10.62,2.47,-13.88,0.000,4,0.226,0.062,2752,666,3217,0,0,0,0,0,0
$GC,184,-0.48,-117.3,24.7,-10.7,14,192,0.00,2.33,0.00,0.000,6,0.000,0.047,2745,2169,3219,0,0,0,0,0,0
$GC,382,-0.46,-117.3,46.8,-10.7,33,387,0.00,2.40,0.00,0.000,4,0.000,0.059,2733,3691,3221,0,0,0,0,0,0
$GC,429,-0.44,-117.3,51.9,-11.0,36,437,0.15,2.38,0.00,0.000,6,0.129,0.042,2778,2155,3221,0,0,0,0,0,0
$GC,629,-0.44,-117.3,68.3,-8.3,55,633,0.00,2.30,0.00,0.000,4,0.000,0.050,2778,662,3223,0,0,0,0,0,0
$GC,672,-0.44,-117.3,72.2,-8.1,58,681,0.00,2.30,0.00,0.000,6,0.000,0.047,2772,2164,3223,0,0,0,0,0,0
$GC,872,-0.44,-117.3,87.4,-7.3,77,877,0.00,2.42,0.00,0.000,4,0.000,0.058,2761,3697,3223,0,0,0,0,0,0
$GC,902,-0.44,-117.3,89.5,-7.3,79,906,0.00,2.38,0.00,0.000,6,0.000,0.042,2760,2152,3224,0,0,0,0,0,0
$GC,1111,-0.44,-117.3,103.5,-6.9,96,1115,0.00,2.33,0.00,0.000,4,0.000,0.050,2760,660,3223,0,0,0,0,0,0
$GC,1144,-0.44,-117.3,105.9,-7.2,97,1149,0.00,2.33,0.00,0.000,6,0.000,0.047,2753,2173,3223,0,0,0,0,0,0
$GC,1336,-0.44,-117.3,119.1,-6.8,107,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2173,3223,0,0,0,0,0,0
$GC,1521,-0.44,-117.3,132.4,-7.5,116,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2173,3224,0,0,0,0,0,0
$GC,1710,-0.44,-117.3,146.9,-7.6,125,1714,0.00,2.35,0.00,0.000,4,0.000,0.050,2753,662,3223,0,0,0,0,0,0
$GC,1737,-0.44,-117.3,149.2,-7.5,126,1741,0.12,2.33,0.00,0.000,6,0.135,0.048,2784,2156,3223,0,0,0,0,0,0
$GC,1929,-0.46,-117.3,160.0,-5.8,135,1933,0.00,2.45,0.00,0.000,4,0.000,0.060,2775,3692,3223,0,0,0,0,0,0
$GC,1973,-0.48,-117.3,162.2,-5.2,137,1977,0.00,2.35,0.00,0.000,6,0.000,0.044,2775,2165,3223,0,0,0,0,0,0
$GC,2175,-0.50,-117.3,175.3,-6.3,147,2180,0.00,2.45,0.00,0.000,4,0.000,0.060,2774,3692,3223,0,0,0,0,0,0
$GC,2255,-0.53,-117.3,180.3,-6.0,150,2260,0.00,2.55,0.00,0.000,6,0.000,0.044,2774,2039,3223,0,0,0,0,0,0
$GC,2446,-0.56,-117.3,192.3,-6.3,160,2451,0.00,2.67,0.00,0.000,4,0.000,0.062,2774,3693,3223,0,0,0,0,0,0
$GC,2518,-0.58,-117.3,196.9,-6.7,163,2523,0.12,2.75,0.00,0.000,6,0.082,0.044,2706,1919,3223,0,0,0,0,0,0
$GC,2711,-0.55,-117.3,214.8,-10.1,172,2716,0.12,1.98,0.00,0.000,4,0.148,0.052,2744,657,3222,0,0,0,0,0,0
$GC,2749,-0.55,-117.3,218.7,-8.6,173,2754,0.00,1.98,0.00,0.000,6,0.000,0.049,2739,1921,3222,0,0,0,0,0,0
$GC,2940,-0.55,-117.3,234.5,-8.3,183,2945,0.00,2.80,0.00,0.000,4,0.000,0.060,2725,3689,3222,0,0,0,0,0,0
$GC,3014,-0.55,-117.3,240.8,-8.7,186,3018,0.00,2.70,0.00,0.000,6,0.000,0.043,2725,1942,3221,0,0,0,0,0,0
$GC,3205,-0.54,-117.3,257.9,-9.0,195,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1937,3221,0,0,0,0,0,0
$GC,3391,-0.53,-117.3,274.8,-9.1,204,3395,0.00,2.83,0.00,0.000,4,0.000,0.059,2712,3693,3221,0,0,0,0,0,0
$GC,3441,-0.53,-117.3,279.5,-9.1,206,3447,0.12,2.70,0.00,0.000,6,0.128,0.044,2749,1960,3221,0,0,0,0,0,0
$GC,3632,-0.53,-117.3,292.9,-6.5,215,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1956,3221,0,0,0,0,0,0
$GC,3818,-0.53,-117.3,305.5,-6.9,224,3822,0.00,2.83,0.00,0.000,4,0.000,0.060,2740,3693,3220,0,0,0,0,0,0
$GC,3868,-0.53,-117.3,308.9,-6.7,226,3873,0.00,2.70,0.00,0.000,6,0.000,0.045,2739,1967,3220,0,0,0,0,0,0
$STATE,3913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3913,begin apogee
$GC,3919,-0.22,0.0,312.2,7.1,228,4019,0.32,0.00,97.05,0.774,6,0.104,0.000,2848,2073,2735,0,0,0,0,0,0
$STATE,4020,end apogee,CONTROL_FINISHED_OK
$STATE,4020,begin climb
$GC,4024,0.50,117.3,315.6,0.0,233,4131,0.68,2.50,100.65,0.751,4,0.070,0.055,3085,3570,2255,0,0,0,0,0,0
$GC,4156,0.47,117.3,311.5,6.8,239,4161,0.00,2.45,0.00,0.000,6,0.000,0.043,3096,2065,2251,0,0,0,0,0,0
$GC,4360,0.44,117.3,296.2,7.7,249,4365,0.12,2.42,0.00,0.000,4,0.149,0.052,3070,541,2248,0,0,0,0,0,0
$GC,4385,0.43,117.3,294.5,6.9,250,4389,0.00,2.38,0.00,0.000,6,0.000,0.047,3070,2066,2248,0,0,0,0,0,0
$GC,4582,0.42,117.3,282.3,6.3,260,4586,0.00,2.40,0.00,0.000,4,0.000,0.058,3070,3571,2245,0,0,0,0,0,0
$GC,4622,0.40,117.3,279.5,7.7,261,4628,0.12,2.35,0.00,0.000,6,0.148,0.044,3045,2072,2244,0,0,0,0,0,0
$GC,4813,0.41,143.7,269.5,5.2,271,4840,0.00,2.42,21.23,0.718,4,0.000,0.052,3053,542,2149,0,0,0,0,0,0
$GC,4862,0.42,155.5,266.8,5.7,273,4881,0.00,2.38,11.75,0.675,6,0.000,0.048,3052,2072,2101,0,0,0,0,0,0
$GC,5080,0.42,156.4,253.7,6.1,284,5084,0.00,2.42,0.00,0.000,4,0.000,0.057,3052,3583,2095,0,0,0,0,0,0
$GC,5123,0.42,156.4,250.6,7.6,286,5128,0.00,2.35,0.00,0.000,6,0.000,0.044,3058,2080,2095,0,0,0,0,0,0
$GC,5321,0.42,158.7,238.5,6.0,296,5325,0.00,2.45,0.00,0.000,4,0.000,0.054,3070,550,2094,0,0,0,0,0,0
$GC,5366,0.42,158.7,235.6,6.8,298,5370,0.00,2.38,0.00,0.000,6,0.000,0.047,3070,2088,2094,0,0,0,0,0,0
$GC,5562,0.42,158.7,221.9,7.2,308,5566,0.00,2.35,0.00,0.000,4,0.000,0.060,3070,3572,2093,0,0,0,0,0,0
$GC,5597,0.42,158.7,219.1,8.9,309,5601,0.00,2.35,0.00,0.000,6,0.000,0.044,3079,2076,2092,0,0,0,0,0,0
$GC,5789,0.42,158.7,203.4,8.2,319,5794,0.00,2.45,0.00,0.000,4,0.000,0.054,3087,542,2092,0,0,0,0,0,0
$GC,5844,0.42,158.7,198.6,8.5,321,5850,0.12,2.38,0.00,0.000,6,0.138,0.048,3051,2079,2092,0,0,0,0,0,0
$GC,6036,0.42,158.7,184.7,7.4,331,6040,0.00,2.40,0.00,0.000,4,0.000,0.053,3057,549,2092,0,0,0,0,0,0
$GC,6064,0.42,158.7,182.8,6.9,332,6068,0.00,2.33,0.00,0.000,6,0.000,0.047,3056,2063,2092,0,0,0,0,0,0
$GC,6257,0.42,158.7,168.7,7.1,341,6260,0.00,2.38,0.00,0.000,4,0.000,0.054,3066,549,2091,0,0,0,0,0,0
$GC,6279,0.42,158.7,166.9,7.1,342,6283,0.00,2.30,0.00,0.000,6,0.000,0.047,3066,2049,2091,0,0,0,0,0,0
$GC,6482,0.42,158.7,151.5,7.5,352,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2049,2091,0,0,0,0,0,0
$GC,6668,0.42,158.7,138.0,7.0,361,6672,0.00,2.38,0.00,0.000,4,0.000,0.054,3076,548,2090,0,0,0,0,0,0
$GC,6706,0.42,158.7,135.3,7.4,362,6711,0.00,2.30,0.00,0.000,6,0.000,0.047,3076,2045,2090,0,0,0,0,0,0
$GC,6899,0.42,158.7,122.7,6.7,372,6903,0.00,2.42,0.00,0.000,4,0.000,0.057,3076,3570,2090,0,0,0,0,0,0
$GC,6988,0.41,158.7,116.4,6.6,376,6993,0.12,2.38,0.00,0.000,6,0.150,0.044,3048,2054,2089,0,0,0,0,0,0
$GC,7185,0.44,192.1,106.4,4.9,386,7220,0.00,2.40,29.88,0.649,4,0.000,0.054,3048,542,1951,0,0,0,0,0,0
$GC,7281,0.49,235.0,102.0,4.6,390,7322,0.00,2.33,36.05,0.641,6,0.000,0.047,3048,2044,1777,0,0,0,0,0,0
$GC,7516,0.56,271.1,91.8,4.8,410,7552,0.15,2.47,29.73,0.627,4,0.078,0.053,3138,549,1628,0,0,0,0,0,0
$GC,7599,0.56,271.1,85.6,9.0,417,7604,0.12,2.28,0.00,0.000,6,0.130,0.046,3101,2004,1624,0,0,0,0,0,0
$GC,7808,0.57,271.1,69.5,7.6,436,7812,0.00,2.33,0.00,0.000,4,0.000,0.054,3108,549,1621,0,0,0,0,0,0
$GC,7837,0.59,271.1,66.8,7.3,438,7842,0.00,2.25,0.00,0.000,6,0.000,0.046,3107,1994,1620,0,0,0,0,0,0
$GC,8036,0.60,271.1,53.5,6.4,456,8040,0.00,2.50,0.00,0.000,4,0.000,0.058,3108,3570,1620,0,0,0,0,0,0
$GC,8078,0.61,271.1,50.6,7.3,459,8082,0.00,2.47,0.00,0.000,6,0.000,0.044,3111,1983,1619,0,0,0,0,0,0
$GC,8277,0.62,271.1,37.1,6.2,477,8281,0.00,2.25,0.00,0.000,4,0.000,0.055,3121,546,1619,0,0,0,0,0,0
$GC,8331,0.65,292.0,34.2,5.4,481,8354,0.00,2.22,17.02,0.585,6,0.000,0.047,3120,1997,1544,0,0,0,0,0,0
$GC,8548,0.69,319.5,24.5,5.1,501,8576,0.00,2.55,23.15,0.587,4,0.000,0.057,3120,3578,1431,0,0,0,0,0,0
$GC,8617,0.71,319.5,19.7,7.1,506,8624,0.00,2.47,0.00,0.000,6,0.000,0.044,3121,2004,1429,0,0,0,0,0,0
$GC,8816,0.79,347.7,8.4,5.1,525,8851,0.15,2.38,23.77,0.575,4,0.083,0.054,3183,550,1314,0,0,0,0,0,0
$STATE,8903,end climb,SURFACE_DEPTH_REACHED
$STATE,8903,begin surface coast
$FINISH,1.1,1.011486
$STATE,8979,end surface coast,CONTROL_FINISHED_OK
$STATE,8979,begin surface
$SM_CCo,9059,0.00,0.000,0,0,1307,350.29
$SM_GC,2.39,7.95,0.00,0.00,0.032,0.000,0.000,116,2181,1307,-8.62,0.17,350.29
$IRIDIUM_FIX,4732.49,-12444.55,050811,030351
$TT8_MAMPS,0.026964
$HUMID,42.00
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,23.7,68.660
$10V_AH,9.8,75.357
$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,21.150,154.950,390.275,0.000,0.000,25.992,35.790,153.869,0.000,0.000,16.781,1267.441,5959.055,509.676,1352.369,308.991,33.366,1212.353,0.000,1127.478,0.000,0.535,0.000
$DEVICE_MAMPS,225.675,89.505,774.180,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,213.654,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297584
$DATA_FILE_SIZE,26973,539
$CAP_FILE_SIZE,117459,0
$CFSIZE,260165632,164646912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,239.5,1
$GPS,050811,092316,4750.623,-12512.840,10,3.3,30,18.7