version: 66.07
glider: 187
mission: 4
dive: 688
start: 8 28 111 9 29 44
data:
$ID,187
$MISSION,4
$DIVE,688
$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,-1585611
$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,35
$R_STBD_OVSHOOT,42
$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
$GPS1,280811,092337,4738.457,-12526.972,53,1.5,53,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-77.8
$GPS2,280811,092849,4738.424,-12526.984,9,2.0,14,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.057,0.192
$KALMAN_X,367387.2,-648.6,883.3,-392324.6,-1133.9
$KALMAN_Y,-759857.3,180.1,-169.5,744898.8,-5354.4
$MHEAD_RNG_PITCHd_Wd,335.2,30657,-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,-117.3,0.0,0.0,0,85,0.00,0.00,-67.43,0.000,6,0.000,0.000,110,2196,3214,0,0,0,0,0,0
$GC,88,-0.50,-117.3,2.1,-0.0,1,102,10.57,0.00,0.00,0.000,6,0.220,0.000,2749,2193,3217,0,0,0,0,0,0
$GC,302,-0.47,-117.3,49.4,-11.5,3,303,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2193,3222,0,0,0,0,0,0
$GC,502,-0.44,-117.3,71.2,-11.1,5,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2193,3224,0,0,0,0,0,0
$GC,703,-0.42,-117.3,89.9,-10.0,7,708,0.12,2.35,0.00,0.000,4,0.142,0.050,2788,664,3225,0,0,0,0,0,0
$GC,747,-0.44,-117.3,93.2,-6.5,7,752,0.00,2.28,0.00,0.000,6,0.000,0.047,2785,2153,3225,0,0,0,0,0,0
$GC,1207,-0.44,-117.3,120.1,-5.9,10,1211,0.00,2.33,0.00,0.000,4,0.000,0.050,2785,654,3225,0,0,0,0,0,0
$GC,1246,-0.45,-117.3,122.9,-6.6,10,1250,0.00,2.33,0.00,0.000,6,0.000,0.048,2780,2164,3225,0,0,0,0,0,0
$GC,1832,-0.46,-117.3,158.7,-6.1,12,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2164,3224,0,0,0,0,0,0
$GC,2133,-0.47,-117.3,177.5,-6.2,13,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2164,3224,0,0,0,0,0,0
$GC,2434,-0.49,-117.3,195.3,-6.1,14,2438,0.00,2.33,0.00,0.000,4,0.000,0.051,2780,661,3223,0,0,0,0,0,0
$GC,2476,-0.50,-117.3,197.8,-6.6,14,2480,0.00,2.30,0.00,0.000,6,0.000,0.049,2776,2156,3223,0,0,0,0,0,0
$GC,3064,-0.53,-117.3,235.1,-6.3,16,3069,0.00,2.42,0.00,0.000,4,0.000,0.062,2777,3688,3222,0,0,0,0,0,0
$GC,3092,-0.57,-117.3,236.9,-6.1,16,3097,0.12,2.47,0.00,0.000,6,0.080,0.045,2707,2092,3222,0,0,0,0,0,0
$GC,3692,-0.54,-117.3,290.7,-9.1,18,3697,0.12,2.25,0.00,0.000,4,0.142,0.053,2745,664,3222,0,0,0,0,0,0
$GC,3742,-0.54,-117.3,294.8,-6.6,18,3746,0.00,2.22,0.00,0.000,6,0.000,0.050,2740,2112,3221,0,0,0,0,0,0
$GC,4323,-0.54,-117.3,336.3,-7.3,20,4327,0.00,2.55,0.00,0.000,4,0.000,0.062,2727,3693,3220,0,0,0,0,0,0
$GC,4355,-0.54,-117.3,338.9,-7.2,20,4360,0.00,2.47,0.00,0.000,6,0.000,0.046,2726,2095,3220,0,0,0,0,0,0
$GC,4948,-0.54,-117.3,386.5,-8.0,22,4952,0.00,2.22,0.00,0.000,4,0.000,0.054,2726,664,3219,0,0,0,0,0,0
$GC,5021,-0.54,-117.3,392.2,-7.6,22,5024,0.00,2.22,0.00,0.000,6,0.000,0.050,2719,2109,3219,0,0,0,0,0,0
$GC,5580,-0.53,-117.3,434.1,-7.6,24,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2109,3218,0,0,0,0,0,0
$GC,5881,-0.52,-117.3,457.0,-7.6,25,5882,0.12,0.00,0.00,0.000,6,0.138,0.000,2756,2109,3217,0,0,0,0,0,0
$GC,6182,-0.52,-117.3,473.9,-7.1,26,6186,0.00,2.25,0.00,0.000,4,0.000,0.054,2756,661,3217,0,0,0,0,0,0
$GC,6215,-0.53,-117.3,476.1,-5.9,26,6219,0.00,2.22,0.00,0.000,6,0.000,0.052,2751,2099,3217,0,0,0,0,0,0
$GC,6815,-0.53,-117.3,512.8,-6.2,28,6819,0.00,2.60,0.00,0.000,4,0.000,0.065,2740,3692,3216,0,0,0,0,0,0
$GC,6853,-0.54,-117.3,515.5,-6.6,28,6858,0.00,2.50,0.00,0.000,6,0.000,0.048,2739,2096,3216,0,0,0,0,0,0
$GC,7440,-0.54,-117.3,553.6,-6.2,30,7444,0.00,2.22,0.00,0.000,4,0.000,0.055,2739,666,3215,0,0,0,0,0,0
$GC,7489,-0.54,-117.3,556.8,-6.8,30,7493,0.00,2.25,0.00,0.000,6,0.000,0.053,2732,2109,3215,0,0,0,0,0,0
$GC,8076,-0.54,-117.3,592.4,-6.2,32,8081,0.00,2.58,0.00,0.000,4,0.000,0.065,2721,3687,3214,0,0,0,0,0,0
$GC,8120,-0.54,-117.3,595.4,-7.0,32,8124,0.00,2.47,0.00,0.000,6,0.000,0.046,2720,2093,3214,0,0,0,0,0,0
$GC,8701,-0.54,-117.3,638.3,-7.6,34,8705,0.00,2.22,0.00,0.000,4,0.000,0.055,2720,666,3213,0,0,0,0,0,0
$GC,8757,-0.54,-117.3,643.0,-8.5,34,8761,0.00,2.25,0.00,0.000,6,0.000,0.054,2719,2108,3213,0,0,0,0,0,0
$GC,9332,-0.54,-117.3,685.5,-7.2,36,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2109,3213,0,0,0,0,0,0
$GC,9633,-0.54,-117.3,706.2,-7.1,37,9637,0.00,2.58,0.00,0.000,4,0.000,0.066,2708,3690,3212,0,0,0,0,0,0
$GC,9672,-0.54,-117.3,709.0,-7.2,37,9677,0.12,2.47,0.00,0.000,6,0.124,0.048,2746,2100,3212,0,0,0,0,0,0
$GC,10262,-0.55,-117.3,738.8,-4.9,39,10266,0.00,2.25,0.00,0.000,4,0.000,0.057,2746,666,3212,0,0,0,0,0,0
$GC,10290,-0.57,-117.3,740.3,-5.3,39,10294,0.00,2.28,0.00,0.000,6,0.000,0.054,2745,2109,3212,0,0,0,0,0,0
$GC,10896,-0.57,-117.3,769.3,-4.9,41,10900,0.00,2.58,0.00,0.000,4,0.000,0.066,2734,3693,3211,0,0,0,0,0,0
$GC,10934,-0.58,-117.3,771.6,-6.3,41,10938,0.00,2.50,0.00,0.000,6,0.000,0.049,2734,2093,3211,0,0,0,0,0,0
$GC,11521,-0.58,-117.3,803.6,-5.4,43,11522,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2091,3210,0,0,0,0,0,0
$GC,11821,-0.58,-117.3,819.8,-5.4,44,11822,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2091,3210,0,0,0,0,0,0
$GC,12122,-0.58,-117.3,836.1,-5.4,45,12123,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2092,3210,0,0,0,0,0,0
$GC,12424,-0.58,-117.3,852.4,-5.4,46,12425,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2092,3210,0,0,0,0,0,0
$GC,12723,-0.58,-117.3,867.7,-5.3,47,12724,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2091,3209,0,0,0,0,0,0
$GC,13023,-0.58,-117.3,882.5,-5.2,48,13025,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2091,3209,0,0,0,0,0,0
$GC,13324,-0.58,-117.3,897.1,-5.1,49,13326,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2091,3209,0,0,0,0,0,0
$GC,13625,-0.58,-117.3,912.1,-5.0,50,13626,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2091,3208,0,0,0,0,0,0
$GC,13927,-0.58,-117.3,928.4,-5.0,51,13928,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2091,3208,0,0,0,0,0,0
$GC,14226,-0.58,-117.3,945.1,-5.2,52,14227,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2091,3208,0,0,0,0,0,0
$GC,14527,-0.58,-117.3,962.3,-5.4,53,14528,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2091,3208,0,0,0,0,0,0
$GC,14827,-0.58,-117.3,978.9,-5.6,54,14828,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2091,3208,0,0,0,0,0,0
$STATE,15126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15126,begin apogee
$GC,15131,-0.22,0.0,994.9,5.6,55,15241,0.35,0.00,106.88,1.229,6,0.099,0.000,2850,2091,2735,0,0,0,0,0,0
$STATE,15242,end apogee,CONTROL_FINISHED_OK
$STATE,15242,begin climb
$GC,15246,0.50,117.3,994.9,0.0,55,15365,0.68,0.00,116.25,1.193,6,0.064,0.000,3085,2091,2256,0,0,0,0,0,0
$GC,15429,0.47,117.3,987.0,25.2,56,15433,0.00,2.55,0.00,0.000,4,0.000,0.061,3085,3577,2250,0,0,0,0,0,0
$GC,15478,0.43,117.3,981.4,12.1,56,15484,0.15,2.50,0.00,0.000,6,0.158,0.048,3058,2065,2248,0,0,0,0,0,0
$GC,16054,0.41,117.3,934.1,8.2,58,16056,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2065,2243,0,0,0,0,0,0
$GC,16355,0.40,117.3,909.1,8.3,59,16356,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2064,2241,0,0,0,0,0,0
$GC,16657,0.38,117.3,883.8,8.3,60,16658,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2064,2241,0,0,0,0,0,0
$GC,16956,0.36,117.3,857.6,8.4,61,16957,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2064,2241,0,0,0,0,0,0
$GC,17257,0.35,117.3,831.3,8.6,62,17258,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2064,2240,0,0,0,0,0,0
$GC,17558,0.33,117.3,805.5,8.6,63,17559,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2064,2240,0,0,0,0,0,0
$GC,17858,0.32,117.3,781.7,8.5,64,17860,0.12,0.00,0.00,0.000,6,0.152,0.000,3020,2062,2239,0,0,0,0,0,0
$GC,18160,0.31,117.3,764.8,7.8,65,18165,0.00,2.45,0.00,0.000,4,0.000,0.064,3019,3581,2239,0,0,0,0,0,0
$GC,18199,0.31,117.3,762.4,6.9,65,18203,0.00,2.40,0.00,0.000,6,0.000,0.050,3026,2058,2238,0,0,0,0,0,0
$GC,18788,0.33,157.1,733.6,4.7,67,18825,0.00,0.00,34.58,1.050,6,0.000,0.000,3026,2056,2094,0,0,0,0,0,0
$GC,19087,0.35,185.7,716.7,5.1,68,19116,0.00,0.00,26.73,1.023,6,0.000,0.000,3027,2056,1976,0,0,0,0,0,0
$GC,19388,0.36,206.1,698.7,5.4,69,19413,0.00,2.45,18.73,0.987,4,0.000,0.060,3027,554,1894,0,0,0,0,0,0
$GC,19443,0.40,236.5,695.9,5.0,69,19477,0.00,2.38,28.27,1.001,6,0.000,0.051,3027,2065,1771,0,0,0,0,0,0
$GC,20023,0.43,244.9,662.7,5.8,71,20032,0.00,0.00,7.85,0.857,6,0.000,0.000,3027,2065,1736,0,0,0,0,0,0
$GC,20322,0.45,253.4,645.3,5.8,72,20336,0.12,2.42,9.20,0.881,4,0.086,0.060,3102,543,1701,0,0,0,0,0,0
$GC,20353,0.45,253.4,642.6,8.3,72,20358,0.12,2.38,0.00,0.000,6,0.134,0.051,3065,2055,1699,0,0,0,0,0,0
$GC,20951,0.45,253.4,588.0,9.4,74,20952,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2056,1696,0,0,0,0,0,0
$GC,21251,0.45,253.4,559.5,9.5,75,21252,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2056,1696,0,0,0,0,0,0
$GC,21552,0.45,253.4,530.1,9.5,76,21556,0.00,2.40,0.00,0.000,4,0.000,0.060,3073,546,1695,0,0,0,0,0,0
$GC,21580,0.45,253.4,527.6,9.0,76,21584,0.00,2.35,0.00,0.000,6,0.000,0.052,3073,2062,1695,0,0,0,0,0,0
$GC,22185,0.45,253.4,467.7,9.8,78,22186,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2062,1694,0,0,0,0,0,0
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$STATE,27838,end climb,SURFACE_DEPTH_REACHED
$STATE,27839,begin surface coast
$FINISH,1.1,NaN
$STATE,27939,end surface coast,CONTROL_FINISHED_OK
$STATE,27939,begin surface
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$IRIDIUM_FIX,4719.74,-12533.00,280811,010122
$TT8_MAMPS,0.027713
$HUMID,42.43
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,20.10
$XPDR_PINGS,1
$24V_AH,22.0,78.743
$10V_AH,9.8,81.765
$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,21.100,133.725,413.675,0.000,0.000,26.356,34.142,115.617,0.250,0.000,15.813,933.230,23977.047,556.691,2459.611,388.892,33.378,1726.789,0.000,2218.896,0.000,0.535,0.000
$DEVICE_MAMPS,219.555,65.790,1228.590,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,3650,106
$CAP_FILE_SIZE,171748,0
$CFSIZE,260165632,158703616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.196,352.3,1
$GPS,280811,171815,4741.375,-12527.578,38,3.9,57,18.7