version: 66.07
glider: 187
mission: 4
dive: 660
start: 8 19 111 4 26 51
data:
$ID,187
$MISSION,4
$DIVE,660
$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,-1585576
$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,37
$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
$GPS1,190811,042101,4707.618,-12637.933,51,2.0,51,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-76.9
$GPS2,190811,042556,4707.587,-12637.938,12,1.4,12,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.058,0.191
$KALMAN_X,362606.0,244.6,-118.9,-475746.2,731.3
$KALMAN_Y,-672048.9,-634.7,337.6,600284.1,-4224.7
$MHEAD_RNG_PITCHd_Wd,355.0,134526,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.50,-117.3,0.0,0.0,0,85,0.00,0.00,-67.78,0.000,6,0.000,0.000,131,2187,3216,0,0,0,0,0,0
$GC,88,-0.50,-117.3,0.0,-0.0,0,103,10.60,2.40,0.00,0.000,4,0.225,0.043,2749,648,3220,0,0,0,0,0,0
$GC,144,-0.45,-117.3,29.6,-17.4,0,149,0.12,2.35,0.00,0.000,6,0.142,0.048,2774,2170,3222,0,0,0,0,0,0
$GC,391,-0.44,-117.3,55.2,-10.1,3,395,0.00,2.42,0.00,0.000,4,0.000,0.059,2765,3693,3225,0,0,0,0,0,0
$GC,413,-0.44,-117.3,57.5,-9.9,3,417,0.00,2.38,0.00,0.000,6,0.000,0.042,2764,2168,3225,0,0,0,0,0,0
$GC,695,-0.43,-117.3,81.5,-8.2,6,699,0.00,2.33,0.00,0.000,4,0.000,0.049,2764,668,3227,0,0,0,0,0,0
$GC,749,-0.43,-117.3,86.2,-7.8,6,753,0.00,2.30,0.00,0.000,6,0.000,0.046,2757,2168,3227,0,0,0,0,0,0
$GC,996,-0.42,-117.3,107.4,-8.7,9,1001,0.00,2.45,0.00,0.000,4,0.000,0.059,2746,3695,3227,0,0,0,0,0,0
$GC,1031,-0.42,-117.3,110.3,-8.9,9,1036,0.12,2.38,0.00,0.000,6,0.122,0.042,2784,2167,3227,0,0,0,0,0,0
$GC,1626,-0.43,-117.3,143.5,-5.8,11,1631,0.00,2.35,0.00,0.000,4,0.000,0.050,2785,663,3226,0,0,0,0,0,0
$GC,1705,-0.44,-117.3,149.1,-6.8,11,1709,0.00,2.30,0.00,0.000,6,0.000,0.047,2782,2162,3226,0,0,0,0,0,0
$GC,2255,-0.47,-117.3,179.4,-5.7,13,2259,0.00,2.42,0.00,0.000,4,0.000,0.060,2781,3691,3224,0,0,0,0,0,0
$GC,2294,-0.51,-117.3,182.2,-6.7,13,2298,0.00,2.45,0.00,0.000,6,0.000,0.044,2780,2107,3224,0,0,0,0,0,0
$GC,2881,-0.54,-117.3,216.0,-5.3,15,2886,0.10,2.28,0.00,0.000,4,0.103,0.050,2716,662,3223,0,0,0,0,0,0
$GC,2914,-0.52,-117.3,218.2,-6.5,15,2919,0.15,2.20,0.00,0.000,6,0.129,0.047,2751,2095,3223,0,0,0,0,0,0
$GC,3512,-0.52,-117.3,257.9,-6.8,17,3516,0.00,2.55,0.00,0.000,4,0.000,0.060,2742,3693,3222,0,0,0,0,0,0
$GC,3569,-0.53,-117.3,261.7,-6.7,17,3573,0.00,2.50,0.00,0.000,6,0.000,0.045,2741,2084,3222,0,0,0,0,0,0
$GC,4139,-0.53,-117.3,298.2,-6.0,19,4143,0.00,2.25,0.00,0.000,4,0.000,0.053,2741,658,3219,0,0,0,0,0,0
$GC,4196,-0.53,-117.3,301.6,-5.8,19,4200,0.00,2.22,0.00,0.000,6,0.000,0.050,2734,2096,3220,0,0,0,0,0,0
$GC,4772,-0.53,-117.3,339.8,-6.9,21,4776,0.00,2.55,0.00,0.000,4,0.000,0.062,2722,3690,3219,0,0,0,0,0,0
$GC,4839,-0.53,-117.3,344.7,-7.1,21,4844,0.00,2.50,0.00,0.000,6,0.000,0.045,2721,2092,3218,0,0,0,0,0,0
$GC,5400,-0.52,-117.3,389.1,-8.0,23,5405,0.10,2.28,0.00,0.000,4,0.151,0.054,2751,662,3218,0,0,0,0,0,0
$GC,5438,-0.52,-117.3,392.1,-7.3,23,5442,0.00,2.22,0.00,0.000,6,0.000,0.050,2748,2094,3218,0,0,0,0,0,0
$GC,6039,-0.52,-117.3,432.9,-6.7,25,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2094,3217,0,0,0,0,0,0
$GC,6337,-0.52,-117.3,451.0,-6.4,26,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2095,3216,0,0,0,0,0,0
$GC,6638,-0.52,-117.3,468.5,-6.2,27,6642,0.00,2.25,0.00,0.000,4,0.000,0.054,2747,667,3215,0,0,0,0,0,0
$GC,6666,-0.52,-117.3,470.1,-6.0,27,6670,0.00,2.22,0.00,0.000,6,0.000,0.051,2743,2096,3215,0,0,0,0,0,0
$GC,7264,-0.52,-117.3,506.3,-6.3,29,7268,0.00,2.58,0.00,0.000,4,0.000,0.064,2732,3693,3214,0,0,0,0,0,0
$GC,7320,-0.52,-117.3,510.1,-7.6,29,7324,0.00,2.53,0.00,0.000,6,0.000,0.048,2732,2097,3214,0,0,0,0,0,0
$GC,7890,-0.52,-117.3,550.1,-7.0,31,7894,0.00,2.30,0.00,0.000,4,0.000,0.055,2731,664,3214,0,0,0,0,0,0
$GC,7947,-0.52,-117.3,554.3,-7.5,31,7951,0.00,2.25,0.00,0.000,6,0.000,0.052,2723,2108,3214,0,0,0,0,0,0
$GC,8523,-0.52,-117.3,598.8,-7.7,33,8527,0.00,2.55,0.00,0.000,4,0.000,0.064,2713,3690,3212,0,0,0,0,0,0
$GC,8563,-0.52,-117.3,601.9,-8.2,33,8568,0.12,2.50,0.00,0.000,6,0.122,0.047,2750,2101,3212,0,0,0,0,0,0
$GC,9152,-0.52,-117.3,636.1,-5.6,35,9156,0.00,2.28,0.00,0.000,4,0.000,0.057,2750,662,3212,0,0,0,0,0,0
$GC,9208,-0.53,-117.3,639.7,-6.1,35,9212,0.00,2.25,0.00,0.000,6,0.000,0.054,2746,2101,3211,0,0,0,0,0,0
$GC,9786,-0.53,-117.3,671.2,-5.4,37,9790,0.00,2.58,0.00,0.000,4,0.000,0.066,2735,3692,3211,0,0,0,0,0,0
$GC,9836,-0.54,-117.3,674.1,-6.0,37,9840,0.00,2.53,0.00,0.000,6,0.000,0.050,2734,2090,3211,0,0,0,0,0,0
$GC,10411,-0.54,-117.3,706.1,-5.5,39,10415,0.00,2.28,0.00,0.000,4,0.000,0.057,2734,670,3210,0,0,0,0,0,0
$GC,10466,-0.54,-117.3,709.4,-5.8,39,10470,0.00,2.25,0.00,0.000,6,0.000,0.054,2729,2106,3210,0,0,0,0,0,0
$GC,11043,-0.54,-117.3,741.1,-5.5,41,11047,0.00,2.58,0.00,0.000,4,0.000,0.066,2718,3692,3209,0,0,0,0,0,0
$GC,11077,-0.54,-117.3,743.0,-6.4,41,11081,0.00,2.55,0.00,0.000,6,0.000,0.050,2717,2093,3208,0,0,0,0,0,0
$GC,11668,-0.54,-117.3,783.0,-6.9,43,11672,0.00,2.30,0.00,0.000,4,0.000,0.057,2718,663,3208,0,0,0,0,0,0
$GC,11703,-0.54,-117.3,785.6,-8.7,43,11708,0.12,2.25,0.00,0.000,6,0.135,0.054,2747,2100,3208,0,0,0,0,0,0
$GC,12302,-0.56,-117.3,818.9,-5.5,45,12306,0.00,2.58,0.00,0.000,4,0.000,0.067,2738,3689,3208,0,0,0,0,0,0
$GC,12343,-0.57,-117.3,821.2,-6.3,45,12347,0.00,2.50,0.00,0.000,6,0.000,0.048,2737,2096,3207,0,0,0,0,0,0
$GC,12932,-0.57,-117.3,853.3,-5.4,47,12936,0.00,2.28,0.00,0.000,4,0.000,0.057,2737,659,3207,0,0,0,0,0,0
$GC,12970,-0.57,-117.3,855.8,-6.2,47,12974,0.00,2.25,0.00,0.000,6,0.000,0.055,2732,2095,3207,0,0,0,0,0,0
$GC,13566,-0.57,-117.3,888.6,-5.5,49,13570,0.00,2.60,0.00,0.000,4,0.000,0.067,2720,3694,3207,0,0,0,0,0,0
$GC,13615,-0.57,-117.3,891.8,-6.2,49,13619,0.00,2.53,0.00,0.000,6,0.000,0.050,2720,2096,3207,0,0,0,0,0,0
$GC,14190,-0.57,-117.3,928.2,-6.4,51,14194,0.00,2.30,0.00,0.000,4,0.000,0.057,2720,670,3206,0,0,0,0,0,0
$GC,14233,-0.57,-117.3,931.3,-7.4,51,14237,0.00,2.28,0.00,0.000,6,0.000,0.054,2712,2107,3206,0,0,0,0,0,0
$GC,14827,-0.57,-117.3,965.5,-5.5,53,14831,0.00,2.58,0.00,0.000,4,0.000,0.067,2701,3693,3206,0,0,0,0,0,0
$GC,14870,-0.57,-117.3,968.1,-5.6,53,14876,0.12,2.53,0.00,0.000,6,0.130,0.050,2738,2097,3206,0,0,0,0,0,0
$STATE,15449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15449,begin apogee
$GC,15455,-0.22,0.0,993.2,4.4,55,15564,0.32,0.00,105.88,1.229,6,0.100,0.000,2850,2095,2736,0,0,0,0,0,0
$STATE,15564,end apogee,CONTROL_FINISHED_OK
$STATE,15564,begin climb
$GC,15569,0.50,117.3,993.2,0.0,55,15687,0.68,0.00,115.60,1.194,6,0.062,0.000,3088,2095,2256,0,0,0,0,0,0
$GC,15752,0.46,117.3,982.7,6.3,56,15754,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2095,2250,0,0,0,0,0,0
$GC,16053,0.43,117.3,951.0,10.5,57,16057,0.00,2.42,0.00,0.000,4,0.000,0.062,3088,3577,2245,0,0,0,0,0,0
$GC,16085,0.39,117.3,947.2,12.1,57,16091,0.17,2.42,0.00,0.000,6,0.155,0.050,3052,2058,2244,0,0,0,0,0,0
$GC,16679,0.38,117.3,897.1,8.3,59,16683,0.00,2.45,0.00,0.000,4,0.000,0.063,3052,3578,2242,0,0,0,0,0,0
$GC,16708,0.36,117.3,894.4,8.8,59,16712,0.00,2.40,0.00,0.000,6,0.000,0.050,3060,2058,2241,0,0,0,0,0,0
$GC,17308,0.34,117.3,845.6,7.7,61,17313,0.12,2.40,0.00,0.000,4,0.158,0.059,3035,538,2240,0,0,0,0,0,0
$GC,17335,0.34,117.3,843.6,7.9,61,17339,0.00,2.40,0.00,0.000,6,0.000,0.053,3034,2065,2240,0,0,0,0,0,0
$GC,17935,0.34,117.3,804.6,6.8,63,17939,0.00,2.45,0.00,0.000,4,0.000,0.063,3035,3584,2239,0,0,0,0,0,0
$GC,18007,0.32,117.3,798.6,7.6,63,18011,0.00,2.40,0.00,0.000,6,0.000,0.050,3043,2060,2238,0,0,0,0,0,0
$GC,18560,0.32,117.3,753.5,8.3,65,18564,0.00,2.45,0.00,0.000,4,0.000,0.063,3043,3573,2238,0,0,0,0,0,0
$GC,18603,0.30,117.3,749.4,9.2,65,18609,0.12,2.38,0.00,0.000,6,0.155,0.047,3019,2064,2237,0,0,0,0,0,0
$GC,19185,0.31,127.3,713.3,5.8,67,19194,0.00,0.00,6.88,0.872,6,0.000,0.000,3019,2063,2216,0,0,0,0,0,0
$GC,19485,0.32,139.8,696.6,5.7,68,19501,0.00,0.00,13.25,0.976,6,0.000,0.000,3019,2063,2165,0,0,0,0,0,0
$GC,19788,0.33,155.1,680.5,5.6,69,19808,0.00,2.42,15.73,0.985,4,0.000,0.057,3024,540,2101,0,0,0,0,0,0
$GC,19837,0.35,169.5,677.8,5.6,69,19856,0.00,2.42,14.40,0.956,6,0.000,0.052,3024,2071,2044,0,0,0,0,0,0
$GC,20417,0.36,170.1,642.9,6.1,71,20421,0.00,2.47,0.00,0.000,4,0.000,0.063,3024,3583,2035,0,0,0,0,0,0
$GC,20460,0.36,170.1,639.5,7.7,71,20465,0.00,2.38,0.00,0.000,6,0.000,0.049,3030,2077,2034,0,0,0,0,0,0
$GC,21042,0.36,170.1,599.1,7.0,73,21046,0.00,2.42,0.00,0.000,4,0.000,0.059,3040,547,2034,0,0,0,0,0,0
$GC,21070,0.37,170.1,597.1,6.8,73,21074,0.00,2.40,0.00,0.000,6,0.000,0.051,3040,2087,2033,0,0,0,0,0,0
$GC,21675,0.37,170.1,554.5,6.9,75,21679,0.00,2.40,0.00,0.000,4,0.000,0.063,3040,3582,2033,0,0,0,0,0,0
$GC,21715,0.37,170.1,551.5,8.3,75,21719,0.00,2.38,0.00,0.000,6,0.000,0.050,3043,2072,2032,0,0,0,0,0,0
$GC,22309,0.37,170.1,514.1,6.1,77,22313,0.00,2.42,0.00,0.000,4,0.000,0.058,3053,545,2033,0,0,0,0,0,0
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$STATE,29759,end climb,SURFACE_DEPTH_REACHED
$STATE,29759,begin surface coast
$FINISH,1.1,NaN
$STATE,29860,end surface coast,CONTROL_FINISHED_OK
$STATE,29860,begin surface
$SM_CCo,29939,0.00,0.000,0,0,1186,379.97
$SM_GC,1.81,7.97,0.00,0.00,0.035,0.000,0.000,127,2197,1186,-8.61,0.62,379.97
$IRIDIUM_FIX,4654.38,-12643.33,180811,202030
$TT8_MAMPS,0.027713
$HUMID,41.69
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,20.30
$XPDR_PINGS,3
$24V_AH,22.0,74.720
$10V_AH,9.8,79.367
$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,21.750,211.325,457.925,0.000,0.000,26.786,31.648,104.322,0.750,0.000,13.483,1272.106,24124.889,619.338,3743.591,462.131,33.377,2374.000,0.000,3469.157,0.000,0.536,0.000
$DEVICE_MAMPS,224.910,78.795,1229.355,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,3638,111
$CAP_FILE_SIZE,229725,0
$CFSIZE,260165632,160710656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.179, 20.4,1
$GPS,190811,124707,4710.306,-12636.450,39,1.0,39,18.6