version: 66.07
glider: 187
mission: 4
dive: 677
start: 8 24 111 18 34 51
data:
$ID,187
$MISSION,4
$DIVE,677
$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,-1585597.2
$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,26
$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
$GPS1,240811,182907,4726.721,-12554.463,26,1.4,26,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-77.0
$GPS2,240811,183356,4726.717,-12554.438,16,1.5,16,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.090,0.179
$KALMAN_X,365278.0,329.9,-404.3,-424014.6,-2132.5
$KALMAN_Y,-722606.8,-1599.1,1525.6,685978.1,-5112.8
$MHEAD_RNG_PITCHd_Wd,54.8,70160,-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,-117.3,0.0,0.0,0,117,0.00,0.00,-97.43,0.000,6,0.000,0.000,119,2208,3215,0,0,0,0,0,0
$GC,120,-0.50,-117.3,9.2,-0.0,1,136,10.93,2.35,0.00,0.000,4,0.225,0.047,2741,3693,3218,0,0,0,0,0,0
$GC,182,-0.44,-117.3,35.8,-19.8,1,187,0.12,2.38,0.00,0.000,6,0.129,0.043,2778,2161,3220,0,0,0,0,0,0
$GC,423,-0.43,-117.3,57.5,-8.7,4,427,0.00,2.33,0.00,0.000,4,0.000,0.050,2778,653,3223,0,0,0,0,0,0
$GC,462,-0.43,-117.3,60.7,-7.8,4,467,0.00,2.35,0.00,0.000,6,0.000,0.048,2772,2164,3224,0,0,0,0,0,0
$GC,727,-0.42,-117.3,84.3,-9.2,7,731,0.00,2.42,0.00,0.000,4,0.000,0.059,2761,3692,3225,0,0,0,0,0,0
$GC,766,-0.42,-117.3,87.9,-8.5,7,770,0.00,2.38,0.00,0.000,6,0.000,0.041,2760,2159,3225,0,0,0,0,0,0
$GC,1234,-0.42,-117.3,126.5,-8.2,10,1238,0.00,2.30,0.00,0.000,4,0.000,0.048,2759,668,3225,0,0,0,0,0,0
$GC,1313,-0.42,-117.3,133.1,-7.8,10,1318,0.10,2.33,0.00,0.000,6,0.142,0.047,2782,2170,3225,0,0,0,0,0,0
$GC,1862,-0.44,-117.3,166.2,-6.0,12,1866,0.00,2.35,0.00,0.000,4,0.000,0.050,2782,666,3224,0,0,0,0,0,0
$GC,1903,-0.45,-117.3,168.8,-6.4,12,1907,0.00,2.30,0.00,0.000,6,0.000,0.047,2780,2161,3224,0,0,0,0,0,0
$GC,2493,-0.47,-117.3,203.3,-6.0,14,2497,0.00,2.45,0.00,0.000,4,0.000,0.061,2770,3692,3223,0,0,0,0,0,0
$GC,2526,-0.49,-117.3,205.5,-6.4,14,2530,0.00,2.40,0.00,0.000,6,0.000,0.044,2769,2144,3223,0,0,0,0,0,0
$GC,3118,-0.50,-117.3,242.8,-6.3,16,3122,0.00,2.35,0.00,0.000,4,0.000,0.052,2769,666,3220,0,0,0,0,0,0
$GC,3174,-0.51,-117.3,246.4,-6.0,16,3179,0.00,2.33,0.00,0.000,6,0.000,0.050,2769,2154,3220,0,0,0,0,0,0
$GC,3745,-0.52,-117.3,278.3,-5.4,18,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2154,3219,0,0,0,0,0,0
$GC,4046,-0.53,-117.3,293.5,-5.3,19,4050,0.00,2.33,0.00,0.000,4,0.000,0.051,2769,665,3218,0,0,0,0,0,0
$GC,4092,-0.55,-117.3,296.0,-5.6,19,4096,0.00,2.33,0.00,0.000,6,0.000,0.050,2769,2151,3218,0,0,0,0,0,0
$GC,4676,-0.56,-117.3,325.9,-5.2,21,4680,0.00,2.38,0.00,0.000,4,0.000,0.054,2769,661,3217,0,0,0,0,0,0
$GC,4709,-0.58,-117.3,328.0,-5.8,21,4714,0.10,2.30,0.00,0.000,6,0.097,0.050,2712,2142,3217,0,0,0,0,0,0
$GC,5310,-0.56,-117.3,377.2,-8.5,23,5314,0.00,2.53,0.00,0.000,4,0.000,0.062,2699,3694,3215,0,0,0,0,0,0
$GC,5359,-0.55,-117.3,381.9,-9.1,23,5364,0.15,2.42,0.00,0.000,6,0.122,0.045,2745,2135,3215,0,0,0,0,0,0
$GC,5935,-0.55,-117.3,419.5,-6.3,25,5939,0.00,2.30,0.00,0.000,4,0.000,0.054,2746,667,3214,0,0,0,0,0,0
$GC,5990,-0.55,-117.3,422.9,-6.6,25,5995,0.00,2.33,0.00,0.000,6,0.000,0.051,2740,2145,3214,0,0,0,0,0,0
$GC,6567,-0.55,-117.3,462.0,-7.0,27,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2145,3213,0,0,0,0,0,0
$GC,6867,-0.55,-117.3,481.6,-6.8,28,6871,0.00,2.35,0.00,0.000,4,0.000,0.054,2740,664,3213,0,0,0,0,0,0
$GC,6905,-0.55,-117.3,484.4,-8.0,28,6909,0.00,2.33,0.00,0.000,6,0.000,0.052,2732,2138,3212,0,0,0,0,0,0
$GC,7498,-0.55,-117.3,523.9,-6.6,30,7502,0.00,2.35,0.00,0.000,4,0.000,0.054,2731,663,3211,0,0,0,0,0,0
$GC,7527,-0.55,-117.3,525.9,-7.1,30,7531,0.00,2.30,0.00,0.000,6,0.000,0.052,2723,2133,3211,0,0,0,0,0,0
$GC,8131,-0.55,-117.3,566.9,-6.8,32,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2132,3211,0,0,0,0,0,0
$GC,8433,-0.55,-117.3,587.9,-6.9,33,8434,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2133,3210,0,0,0,0,0,0
$GC,8732,-0.55,-117.3,609.9,-7.0,34,8736,0.00,2.35,0.00,0.000,4,0.000,0.056,2723,664,3209,0,0,0,0,0,0
$GC,8776,-0.55,-117.3,613.5,-8.2,34,8780,0.00,2.33,0.00,0.000,6,0.000,0.053,2718,2140,3209,0,0,0,0,0,0
$GC,9370,-0.55,-117.3,657.0,-7.4,36,9372,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2140,3208,0,0,0,0,0,0
$GC,9669,-0.55,-117.3,678.5,-7.3,37,9670,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2141,3208,0,0,0,0,0,0
$GC,9970,-0.55,-117.3,699.1,-7.2,38,9974,0.00,2.35,0.00,0.000,4,0.000,0.056,2718,667,3208,0,0,0,0,0,0
$GC,10002,-0.55,-117.3,701.6,-7.7,38,10007,0.12,2.30,0.00,0.000,6,0.136,0.053,2746,2133,3207,0,0,0,0,0,0
$GC,10601,-0.56,-117.3,730.9,-4.7,40,10605,0.00,2.58,0.00,0.000,4,0.000,0.067,2737,3697,3207,0,0,0,0,0,0
$GC,10641,-0.57,-117.3,732.8,-4.8,40,10645,0.00,2.47,0.00,0.000,6,0.000,0.048,2736,2129,3206,0,0,0,0,0,0
$GC,11230,-0.57,-117.3,767.0,-6.2,42,11234,0.00,2.33,0.00,0.000,4,0.000,0.056,2737,660,3206,0,0,0,0,0,0
$GC,11296,-0.57,-117.3,772.1,-7.6,42,11300,0.00,2.33,0.00,0.000,6,0.000,0.054,2732,2130,3206,0,0,0,0,0,0
$GC,11857,-0.57,-117.3,812.2,-7.1,44,11861,0.00,2.55,0.00,0.000,4,0.000,0.067,2721,3697,3205,0,0,0,0,0,0
$GC,11895,-0.57,-117.3,815.1,-8.0,44,11899,0.00,2.47,0.00,0.000,6,0.000,0.049,2720,2124,3205,0,0,0,0,0,0
$GC,12490,-0.57,-117.3,856.6,-6.7,46,12494,0.00,2.33,0.00,0.000,4,0.000,0.057,2720,663,3205,0,0,0,0,0,0
$GC,12546,-0.57,-117.3,860.3,-6.5,46,12550,0.00,2.30,0.00,0.000,6,0.000,0.054,2719,2127,3205,0,0,0,0,0,0
$GC,13122,-0.57,-117.3,893.3,-5.8,48,13123,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2127,3204,0,0,0,0,0,0
$GC,13422,-0.57,-117.3,910.3,-5.7,49,13423,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2127,3204,0,0,0,0,0,0
$GC,13723,-0.57,-117.3,926.3,-5.6,50,13724,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2127,3204,0,0,0,0,0,0
$GC,14023,-0.57,-117.3,941.6,-5.5,51,14024,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2127,3204,0,0,0,0,0,0
$GC,14325,-0.57,-117.3,957.8,-5.3,52,14330,0.00,2.33,0.00,0.000,4,0.000,0.057,2719,668,3203,0,0,0,0,0,0
$GC,14370,-0.57,-117.3,960.5,-6.4,52,14374,0.00,2.33,0.00,0.000,6,0.000,0.055,2719,2130,3204,0,0,0,0,0,0
$STATE,14949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14949,begin apogee
$GC,14957,-0.22,0.0,992.9,5.6,54,15066,0.40,0.00,106.35,1.225,6,0.101,0.000,2851,2057,2735,0,0,0,0,0,0
$STATE,15067,end apogee,CONTROL_FINISHED_OK
$STATE,15067,begin climb
$GC,15070,0.50,117.3,992.9,0.0,54,15189,0.68,0.00,116.20,1.195,6,0.063,0.000,3087,2057,2256,0,0,0,0,0,0
$GC,15254,0.86,762.7,985.6,-16.6,55,15677,0.28,2.78,409.88,1.148,4,0.055,0.060,3214,552,469,0,0,0,0,0,0
$GC,15731,0.82,762.7,883.3,21.8,56,15736,0.00,2.55,0.00,0.000,6,0.000,0.050,3215,2058,466,0,0,0,0,0,0
$GC,16180,0.78,762.7,773.0,24.6,58,16185,0.15,2.45,0.00,0.000,4,0.158,0.059,3174,3581,464,0,0,0,0,0,0
$GC,16219,0.78,762.7,764.3,18.5,58,16223,0.00,2.35,0.00,0.000,6,0.000,0.050,3177,2101,463,0,0,0,0,0,0
$GC,16806,0.76,762.7,642.1,20.9,60,16810,0.00,2.47,0.00,0.000,4,0.000,0.063,3188,543,463,0,0,0,0,0,0
$GC,16896,0.76,762.7,625.8,15.2,60,16900,0.00,2.42,0.00,0.000,6,0.000,0.051,3188,2109,463,0,0,0,0,0,0
$GC,17434,0.73,762.7,515.0,20.7,62,17436,0.12,0.00,0.00,0.000,6,0.163,0.000,3154,2113,463,0,0,0,0,0,0
$GC,17734,0.70,762.7,464.4,19.0,63,17738,0.00,2.35,0.00,0.000,4,0.000,0.060,3154,3572,463,0,0,0,0,0,0
$GC,17801,0.72,762.7,454.3,14.4,63,17805,0.00,2.28,0.00,0.000,6,0.000,0.047,3161,2120,463,0,0,0,0,0,0
$GC,18360,0.71,762.7,361.0,16.6,65,18365,0.00,2.50,0.00,0.000,4,0.000,0.060,3173,539,463,0,0,0,0,0,0
$GC,18393,0.71,762.7,355.7,14.8,65,18397,0.00,2.40,0.00,0.000,6,0.000,0.051,3173,2086,462,0,0,0,0,0,0
$GC,18987,0.69,762.7,256.6,16.7,67,18991,0.00,2.40,0.00,0.000,4,0.000,0.060,3173,3582,463,0,0,0,0,0,0
$GC,19032,0.70,762.7,249.5,14.4,67,19037,0.00,2.42,0.00,0.000,6,0.000,0.049,3177,2041,462,0,0,0,0,0,0
$GC,19614,0.69,762.7,153.2,16.4,69,19619,0.12,2.47,0.00,0.000,4,0.150,0.060,3140,3573,463,0,0,0,0,0,0
$GC,19649,0.71,762.7,148.3,14.2,69,19653,0.00,2.45,0.00,0.000,6,0.000,0.046,3140,2008,462,0,0,0,0,0,0
$GC,20244,0.74,762.7,94.9,8.2,71,20248,0.00,2.55,0.00,0.000,4,0.000,0.061,3140,3581,463,0,0,0,0,0,0
$GC,20305,0.77,762.7,88.8,9.5,71,20309,0.00,2.50,0.00,0.000,6,0.000,0.046,3140,1991,463,0,0,0,0,0,0
$GC,20547,0.85,762.7,61.1,11.9,74,20548,0.15,0.00,0.00,0.000,6,0.096,0.000,3199,1987,462,0,0,0,0,0,0
$GC,20748,0.94,762.7,37.7,11.8,76,20752,0.00,2.28,0.00,0.000,4,0.000,0.057,3199,544,462,0,0,0,0,0,0
$GC,20890,1.02,762.7,21.0,10.2,77,20894,0.15,2.33,0.00,0.000,6,0.111,0.050,3251,2037,462,0,0,0,0,0,0
$STATE,21066,end climb,SURFACE_DEPTH_REACHED
$STATE,21066,begin surface coast
$FINISH,1.1,NaN
$STATE,21170,end surface coast,CONTROL_FINISHED_OK
$STATE,21170,begin surface
$SM_CCo,21249,0.00,0.000,0,0,460,558.06
$SM_GC,1.80,8.07,0.00,0.00,0.034,0.000,0.000,119,2186,460,-8.59,0.31,558.06
$IRIDIUM_FIX,4707.04,-12553.70,240811,111100
$TT8_MAMPS,0.026964
$HUMID,44.84
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,21.9,77.275
$10V_AH,9.8,80.811
$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,21.650,138.800,632.425,0.000,0.000,25.030,29.190,101.984,0.000,0.000,17.541,859.123,17067.322,703.707,2547.265,351.885,33.380,1946.679,0.000,2313.952,0.000,0.535,0.000
$DEVICE_MAMPS,224.910,103.275,1224.765,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297712
$DATA_FILE_SIZE,3682,80
$CAP_FILE_SIZE,158000,0
$CFSIZE,260165632,159531008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152, 93.4,1
$GPS,250811,003024,4726.613,-12551.862,29,0.9,46,18.6