version: 66.07
glider: 187
mission: 4
dive: 679
start: 8 25 111 9 8 33
data:
$ID,187
$MISSION,4
$DIVE,679
$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,-1585599.8
$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,33
$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
$GPS1,250811,090224,4729.171,-12550.039,26,1.0,43,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-74.8
$GPS2,250811,090737,4729.167,-12550.015,15,1.0,20,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.126,0.156
$KALMAN_X,366180.1,241.8,-455.9,-419309.9,320.2
$KALMAN_Y,-736505.3,92.8,6308.9,697985.6,-18100.8
$MHEAD_RNG_PITCHd_Wd,51.1,63034,-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,12,begin dive
$GC,15,-0.50,-117.3,0.0,0.0,0,92,0.00,0.00,-74.65,0.000,6,0.000,0.000,124,2191,3215,0,0,0,0,0,0
$GC,95,-0.50,-117.3,2.0,-0.5,1,110,10.57,2.38,0.00,0.000,4,0.223,0.039,2747,650,3218,0,0,0,0,0,0
$GC,278,-0.48,-117.3,48.5,-10.5,2,282,0.00,2.33,0.00,0.000,6,0.000,0.047,2738,2160,3223,0,0,0,0,0,0
$GC,508,-0.45,-117.3,74.1,-11.3,5,513,0.12,2.35,0.00,0.000,4,0.150,0.048,2774,654,3225,0,0,0,0,0,0
$GC,542,-0.45,-117.3,77.8,-10.0,5,546,0.00,2.33,0.00,0.000,6,0.000,0.047,2767,2160,3225,0,0,0,0,0,0
$GC,818,-0.45,-117.3,100.3,-8.2,8,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2160,3226,0,0,0,0,0,0
$GC,1117,-0.45,-117.3,126.0,-8.4,9,1121,0.00,2.42,0.00,0.000,4,0.000,0.059,2755,3695,3226,0,0,0,0,0,0
$GC,1143,-0.45,-117.3,128.2,-7.6,9,1148,0.00,2.38,0.00,0.000,6,0.000,0.042,2754,2144,3226,0,0,0,0,0,0
$GC,1747,-0.45,-117.3,172.9,-7.4,11,1751,0.00,2.28,0.00,0.000,4,0.000,0.050,2754,670,3225,0,0,0,0,0,0
$GC,1803,-0.45,-117.3,177.2,-7.6,11,1807,0.00,2.30,0.00,0.000,6,0.000,0.048,2749,2164,3225,0,0,0,0,0,0
$GC,2372,-0.45,-117.3,214.5,-6.4,13,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2164,3224,0,0,0,0,0,0
$GC,2672,-0.45,-117.3,234.5,-6.5,14,2676,0.00,2.35,0.00,0.000,4,0.000,0.050,2749,668,3223,0,0,0,0,0,0
$GC,2712,-0.45,-117.3,237.3,-7.4,14,2717,0.12,2.30,0.00,0.000,6,0.131,0.049,2779,2155,3223,0,0,0,0,0,0
$GC,3308,-0.46,-117.3,268.8,-5.2,16,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2155,3222,0,0,0,0,0,0
$GC,3606,-0.48,-117.3,283.4,-5.0,17,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2155,3221,0,0,0,0,0,0
$GC,3907,-0.50,-117.3,297.1,-4.9,18,3911,0.00,2.35,0.00,0.000,4,0.000,0.052,2779,670,3219,0,0,0,0,0,0
$GC,3940,-0.52,-117.3,298.8,-5.4,18,3944,0.00,2.30,0.00,0.000,6,0.000,0.050,2779,2151,3219,0,0,0,0,0,0
$GC,4539,-0.53,-117.3,331.1,-5.7,20,4543,0.00,2.50,0.00,0.000,4,0.000,0.063,2773,3688,3219,0,0,0,0,0,0
$GC,4568,-0.55,-117.3,332.8,-5.7,20,4572,0.00,2.40,0.00,0.000,6,0.000,0.045,2772,2143,3218,0,0,0,0,0,0
$GC,5167,-0.58,-117.3,367.0,-5.5,22,5169,0.12,0.00,0.00,0.000,6,0.086,0.000,2700,2142,3217,0,0,0,0,0,0
$GC,5468,-0.61,-117.3,390.7,-6.5,23,5472,0.00,2.33,0.00,0.000,4,0.000,0.053,2699,660,3217,0,0,0,0,0,0
$GC,5591,-0.59,-117.3,402.4,-9.4,23,5595,0.15,2.25,0.00,0.000,6,0.135,0.050,2735,2099,3217,0,0,0,0,0,0
$GC,6098,-0.59,-117.3,436.7,-6.5,25,6100,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2099,3216,0,0,0,0,0,0
$GC,6398,-0.59,-117.3,454.7,-6.3,26,6400,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2099,3215,0,0,0,0,0,0
$GC,6699,-0.59,-117.3,472.7,-6.2,27,6703,0.00,2.28,0.00,0.000,4,0.000,0.054,2735,662,3215,0,0,0,0,0,0
$GC,6727,-0.59,-117.3,474.6,-6.8,27,6730,0.00,2.25,0.00,0.000,6,0.000,0.051,2730,2094,3215,0,0,0,0,0,0
$GC,7331,-0.59,-117.3,515.9,-7.0,29,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2094,3214,0,0,0,0,0,0
$GC,7631,-0.59,-117.3,537.0,-7.0,30,7632,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2094,3214,0,0,0,0,0,0
$GC,7933,-0.59,-117.3,557.9,-7.0,31,7934,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2094,3214,0,0,0,0,0,0
$GC,8232,-0.59,-117.3,579.2,-7.0,32,8236,0.00,2.58,0.00,0.000,4,0.000,0.063,2718,3686,3213,0,0,0,0,0,0
$GC,8276,-0.59,-117.3,582.6,-7.2,32,8280,0.00,2.50,0.00,0.000,6,0.000,0.045,2718,2094,3213,0,0,0,0,0,0
$GC,8863,-0.59,-117.3,629.1,-8.0,34,8867,0.00,2.28,0.00,0.000,4,0.000,0.055,2717,662,3212,0,0,0,0,0,0
$GC,8918,-0.59,-117.3,633.8,-8.5,34,8922,0.00,2.28,0.00,0.000,6,0.000,0.052,2712,2105,3212,0,0,0,0,0,0
$GC,9487,-0.59,-117.3,679.3,-8.0,36,9492,0.00,2.60,0.00,0.000,4,0.000,0.065,2700,3694,3211,0,0,0,0,0,0
$GC,9537,-0.59,-117.3,683.4,-8.5,36,9542,0.10,2.55,0.00,0.000,6,0.144,0.047,2729,2089,3210,0,0,0,0,0,0
$GC,10113,-0.59,-117.3,722.4,-6.7,38,10114,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2083,3210,0,0,0,0,0,0
$GC,10413,-0.59,-117.3,741.6,-6.6,39,10417,0.00,2.25,0.00,0.000,4,0.000,0.057,2729,671,3209,0,0,0,0,0,0
$GC,10451,-0.59,-117.3,744.3,-6.9,39,10455,0.00,2.25,0.00,0.000,6,0.000,0.054,2723,2106,3209,0,0,0,0,0,0
$GC,11050,-0.59,-117.3,781.8,-6.3,41,11054,0.00,2.58,0.00,0.000,4,0.000,0.066,2712,3686,3209,0,0,0,0,0,0
$GC,11095,-0.59,-117.3,784.6,-7.5,41,11099,0.00,2.50,0.00,0.000,6,0.000,0.048,2712,2097,3208,0,0,0,0,0,0
$GC,11678,-0.59,-117.3,819.5,-5.9,43,11682,0.00,2.30,0.00,0.000,4,0.000,0.057,2711,662,3208,0,0,0,0,0,0
$GC,11733,-0.59,-117.3,823.3,-6.7,43,11737,0.00,2.25,0.00,0.000,6,0.000,0.053,2704,2099,3208,0,0,0,0,0,0
$GC,12311,-0.58,-117.3,860.0,-6.5,45,12316,0.10,2.60,0.00,0.000,4,0.161,0.067,2723,3686,3207,0,0,0,0,0,0
$GC,12368,-0.58,-117.3,863.9,-6.2,45,12372,0.00,2.50,0.00,0.000,6,0.000,0.047,2723,2094,3207,0,0,0,0,0,0
$GC,12938,-0.58,-117.3,898.3,-6.2,47,12942,0.00,2.28,0.00,0.000,4,0.000,0.056,2723,666,3207,0,0,0,0,0,0
$GC,12982,-0.58,-117.3,901.3,-7.0,47,12986,0.00,2.28,0.00,0.000,6,0.000,0.054,2719,2098,3207,0,0,0,0,0,0
$GC,13563,-0.58,-117.3,937.0,-6.0,49,13564,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2098,3207,0,0,0,0,0,0
$GC,13863,-0.58,-117.3,955.4,-6.1,50,13864,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2098,3207,0,0,0,0,0,0
$GC,14164,-0.58,-117.3,974.0,-6.1,51,14166,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2098,3206,0,0,0,0,0,0
$STATE,14462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14462,begin apogee
$GC,14469,-0.22,0.0,993.0,6.2,52,14578,0.40,0.00,106.18,1.232,6,0.102,0.000,2851,2098,2735,0,0,0,0,0,0
$STATE,14579,end apogee,CONTROL_FINISHED_OK
$STATE,14579,begin climb
$GC,14582,0.50,117.3,993.0,0.0,52,14703,0.65,0.00,114.20,1.198,6,0.065,0.000,3081,2098,2255,0,0,0,0,0,0
$GC,15207,0.47,117.3,945.6,8.8,54,15211,0.00,2.38,0.00,0.000,4,0.000,0.063,3081,3570,2243,0,0,0,0,0,0
$GC,15251,0.43,117.3,941.0,10.6,54,15256,0.12,2.40,0.00,0.000,6,0.168,0.049,3060,2071,2242,0,0,0,0,0,0
$GC,15833,0.42,117.3,894.9,7.9,56,15834,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2072,2241,0,0,0,0,0,0
$GC,16135,0.40,117.3,870.7,8.0,57,16139,0.00,2.42,0.00,0.000,4,0.000,0.059,3070,541,2240,0,0,0,0,0,0
$GC,16162,0.39,117.3,868.3,8.4,57,16166,0.00,2.40,0.00,0.000,6,0.000,0.053,3070,2069,2240,0,0,0,0,0,0
$GC,16768,0.36,117.3,814.3,9.0,59,16773,0.12,2.42,0.00,0.000,4,0.153,0.063,3034,3582,2239,0,0,0,0,0,0
$GC,16851,0.35,117.3,806.9,8.1,59,16856,0.00,2.40,0.00,0.000,6,0.000,0.049,3043,2060,2238,0,0,0,0,0,0
$GC,17394,0.35,117.3,766.9,7.3,61,17395,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2057,2237,0,0,0,0,0,0
$GC,17694,0.35,117.3,745.8,7.2,62,17695,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2055,2237,0,0,0,0,0,0
$GC,17995,0.35,117.3,725.2,7.1,63,17999,0.00,2.47,0.00,0.000,4,0.000,0.063,3042,3575,2237,0,0,0,0,0,0
$GC,18023,0.34,117.3,723.0,7.6,63,18027,0.00,2.38,0.00,0.000,6,0.000,0.048,3052,2075,2237,0,0,0,0,0,0
$GC,18628,0.33,117.3,676.7,7.8,65,18632,0.00,2.42,0.00,0.000,4,0.000,0.058,3064,548,2237,0,0,0,0,0,0
$GC,18662,0.33,117.3,674.0,7.9,65,18667,0.12,2.40,0.00,0.000,6,0.142,0.051,3029,2087,2237,0,0,0,0,0,0
$GC,19256,0.33,117.3,636.2,6.3,67,19260,0.00,2.40,0.00,0.000,4,0.000,0.063,3029,3577,2236,0,0,0,0,0,0
$GC,19306,0.33,117.3,632.5,7.3,67,19310,0.00,2.40,0.00,0.000,6,0.000,0.048,3036,2072,2236,0,0,0,0,0,0
$GC,19884,0.33,126.4,597.9,5.8,69,19895,0.00,2.47,5.72,0.764,4,0.000,0.061,3036,3584,2219,0,0,0,0,0,0
$GC,19923,0.33,127.2,595.1,6.1,69,19927,0.00,2.38,0.00,0.000,6,0.000,0.048,3045,2079,2219,0,0,0,0,0,0
$GC,20510,0.33,127.2,558.5,6.1,71,20514,0.00,2.47,0.00,0.000,4,0.000,0.058,3056,535,2219,0,0,0,0,0,0
$GC,20531,0.33,127.2,557.2,6.1,71,20535,0.00,2.42,0.00,0.000,6,0.000,0.052,3056,2086,2219,0,0,0,0,0,0
$GC,21134,0.33,127.2,519.0,6.3,73,21139,0.00,2.42,0.00,0.000,4,0.000,0.063,3056,3581,2218,0,0,0,0,0,0
$GC,21197,0.32,127.2,514.2,7.6,73,21202,0.15,2.40,0.00,0.000,6,0.142,0.047,3025,2073,2218,0,0,0,0,0,0
$GC,21762,0.33,145.0,482.8,5.5,75,21786,0.00,2.50,18.65,0.874,4,0.000,0.062,3024,3578,2143,0,0,0,0,0,0
$GC,21822,0.33,145.0,479.2,7.5,75,21827,0.00,2.40,0.00,0.000,6,0.000,0.048,3024,2077,2141,0,0,0,0,0,0
$GC,22396,0.34,155.0,445.5,5.8,77,22408,0.00,0.00,10.27,0.805,6,0.000,0.000,3025,2073,2102,0,0,0,0,0,0
$GC,22694,0.36,167.2,428.7,5.7,78,22713,0.00,2.50,12.05,0.811,4,0.000,0.062,3025,3575,2053,0,0,0,0,0,0
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$GC,28855,0.71,365.1,24.4,5.2,105,28884,0.00,2.50,21.95,0.586,4,0.000,0.056,3130,545,1245,0,0,0,0,0,0
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$STATE,29135,end climb,SURFACE_DEPTH_REACHED
$STATE,29135,begin surface coast
$FINISH,3.5,NaN
$STATE,29141,end surface coast,CONTROL_FINISHED_OK
$STATE,29141,begin surface
$SM_CCo,29221,0.00,0.000,0,0,1235,368.20
$SM_GC,2.19,7.88,0.00,0.00,0.031,0.000,0.000,140,2186,1235,-8.61,0.31,368.20
$IRIDIUM_FIX,4707.04,-12553.70,250811,000018
$TT8_MAMPS,0.026964
$HUMID,41.10
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,22.0,77.533
$10V_AH,9.8,80.991
$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,21.150,186.875,437.975,0.000,0.000,26.426,30.446,115.639,0.000,0.000,21.371,1157.042,23919.129,545.774,3446.963,451.945,33.360,2187.539,0.000,3163.292,0.000,0.535,0.000
$DEVICE_MAMPS,222.615,85.680,1232.415,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297632
$DATA_FILE_SIZE,3635,107
$CAP_FILE_SIZE,211658,0
$CFSIZE,260165632,159342592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.192, 91.9,1
$GPS,250811,171637,4729.067,-12545.530,27,1.6,27,18.6