version: 66.07
glider: 187
mission: 4
dive: 706
start: 9 1 111 22 24 14
data:
$ID,187
$MISSION,4
$DIVE,706
$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,1
$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,-1585633.5
$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,47
$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
$GPS1,010911,221755,4746.026,-12525.625,40,1.8,40,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-77.5
$GPS2,010911,222320,4746.016,-12525.590,16,1.7,16,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.051,0.193
$KALMAN_X,376179.4,-377.0,-567.2,-398168.7,3331.7
$KALMAN_Y,-783699.9,-117.4,508.1,782394.8,-2353.1
$MHEAD_RNG_PITCHd_Wd,356.2,20080,-13.6,-6.111
$D_GRID,782
$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,-117.3,0.0,0.0,0,98,0.00,0.00,-80.53,0.000,6,0.000,0.000,114,2194,3215,0,0,0,0,0,0
$GC,101,-0.50,-117.3,0.0,-0.0,0,117,10.75,2.40,0.00,0.000,4,0.226,0.042,2748,650,3218,0,0,0,0,0,0
$GC,239,-0.48,-117.3,38.8,-10.6,1,244,0.00,2.33,0.00,0.000,6,0.000,0.048,2739,2157,3222,0,0,0,0,0,0
$GC,520,-0.45,-117.3,70.1,-11.2,4,522,0.12,0.00,0.00,0.000,6,0.149,0.000,2775,2157,3224,0,0,0,0,0,0
$GC,721,-0.43,-117.3,85.6,-9.6,6,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2157,3225,0,0,0,0,0,0
$GC,923,-0.43,-117.3,99.2,-7.2,8,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2157,3225,0,0,0,0,0,0
$GC,1323,-0.43,-117.3,130.8,-7.5,10,1327,0.00,2.35,0.00,0.000,4,0.000,0.050,2775,663,3225,0,0,0,0,0,0
$GC,1367,-0.45,-117.3,134.0,-6.6,10,1372,0.00,2.35,0.00,0.000,6,0.000,0.047,2773,2173,3224,0,0,0,0,0,0
$GC,1949,-0.45,-117.3,169.9,-6.6,12,1953,0.00,2.35,0.00,0.000,4,0.000,0.050,2772,662,3223,0,0,0,0,0,0
$GC,1981,-0.46,-117.3,172.5,-7.8,12,1986,0.00,2.33,0.00,0.000,6,0.000,0.048,2772,2168,3224,0,0,0,0,0,0
$GC,2574,-0.46,-117.3,210.3,-6.1,14,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2168,3222,0,0,0,0,0,0
$GC,2874,-0.46,-117.3,230.1,-6.3,15,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2168,3222,0,0,0,0,0,0
$GC,3176,-0.47,-117.3,248.9,-6.3,16,3180,0.00,2.38,0.00,0.000,4,0.000,0.052,2772,659,3221,0,0,0,0,0,0
$GC,3232,-0.49,-117.3,252.5,-6.5,16,3237,0.00,2.35,0.00,0.000,6,0.000,0.050,2769,2170,3222,0,0,0,0,0,0
$GC,3805,-0.49,-117.3,290.9,-6.9,18,3809,0.00,2.35,0.00,0.000,4,0.000,0.053,2769,664,3220,0,0,0,0,0,0
$GC,3832,-0.50,-117.3,293.0,-7.5,18,3836,0.00,2.35,0.00,0.000,6,0.000,0.050,2769,2159,3220,0,0,0,0,0,0
$GC,4439,-0.51,-117.3,330.8,-6.1,20,4443,0.00,2.35,0.00,0.000,4,0.000,0.053,2768,654,3218,0,0,0,0,0,0
$GC,4467,-0.52,-117.3,332.8,-6.7,20,4471,0.00,2.35,0.00,0.000,6,0.000,0.052,2769,2158,3219,0,0,0,0,0,0
$GC,5072,-0.53,-117.3,368.3,-5.5,22,5076,0.00,2.38,0.00,0.000,4,0.000,0.054,2768,655,3217,0,0,0,0,0,0
$GC,5110,-0.55,-117.3,370.6,-5.9,22,5115,0.00,2.35,0.00,0.000,6,0.000,0.052,2768,2155,3217,0,0,0,0,0,0
$GC,5704,-0.56,-117.3,405.3,-6.0,24,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2155,3216,0,0,0,0,0,0
$GC,6004,-0.57,-117.3,421.5,-5.7,25,6008,0.00,2.38,0.00,0.000,4,0.000,0.054,2768,663,3216,0,0,0,0,0,0
$GC,6056,-0.59,-117.3,424.4,-5.9,25,6061,0.12,2.33,0.00,0.000,6,0.085,0.052,2704,2148,3216,0,0,0,0,0,0
$GC,6639,-0.57,-117.3,475.5,-9.1,27,6644,0.12,2.55,0.00,0.000,4,0.143,0.065,2731,3698,3214,0,0,0,0,0,0
$GC,6695,-0.57,-117.3,480.2,-8.2,27,6699,0.00,2.45,0.00,0.000,6,0.000,0.047,2730,2143,3215,0,0,0,0,0,0
$GC,7266,-0.57,-117.3,524.5,-7.6,29,7270,0.00,2.35,0.00,0.000,4,0.000,0.055,2730,661,3214,0,0,0,0,0,0
$GC,7318,-0.57,-117.3,528.3,-7.2,29,7322,0.00,2.33,0.00,0.000,6,0.000,0.053,2723,2147,3214,0,0,0,0,0,0
$GC,7899,-0.57,-117.3,572.1,-7.6,31,7903,0.00,2.33,0.00,0.000,4,0.000,0.055,2722,669,3213,0,0,0,0,0,0
$GC,7943,-0.57,-117.3,575.5,-7.7,31,7947,0.00,2.30,0.00,0.000,6,0.000,0.052,2715,2144,3213,0,0,0,0,0,0
$GC,8524,-0.57,-117.3,618.5,-7.4,33,8529,0.00,2.50,0.00,0.000,4,0.000,0.064,2703,3693,3212,0,0,0,0,0,0
$GC,8563,-0.57,-117.3,621.7,-8.2,33,8568,0.12,2.45,0.00,0.000,6,0.128,0.047,2741,2139,3212,0,0,0,0,0,0
$GC,9150,-0.57,-117.3,658.9,-6.3,35,9154,0.00,2.33,0.00,0.000,4,0.000,0.056,2741,664,3211,0,0,0,0,0,0
$GC,9210,-0.57,-117.3,663.3,-7.9,35,9215,0.00,2.33,0.00,0.000,6,0.000,0.054,2735,2149,3211,0,0,0,0,0,0
$GC,9781,-0.57,-117.3,698.9,-6.2,37,9785,0.00,2.50,0.00,0.000,4,0.000,0.067,2724,3690,3210,0,0,0,0,0,0
$GC,9832,-0.57,-117.3,702.0,-5.7,37,9836,0.00,2.45,0.00,0.000,6,0.000,0.049,2723,2139,3210,0,0,0,0,0,0
$GC,10408,-0.57,-117.3,739.1,-6.5,39,10412,0.00,2.38,0.00,0.000,4,0.000,0.056,2723,657,3209,0,0,0,0,0,0
$GC,10465,-0.57,-117.3,743.5,-7.0,39,10469,0.00,2.33,0.00,0.000,6,0.000,0.054,2723,2138,3209,0,0,0,0,0,0
$STATE,10703,end dive,NO_VERTICAL_VELOCITY
$STATE,10703,begin apogee
$GC,10711,-0.22,0.0,748.5,0.0,39,10817,0.32,0.00,102.93,1.069,6,0.076,0.000,2850,2048,2735,0,0,0,0,0,0
$STATE,10818,end apogee,CONTROL_FINISHED_OK
$STATE,10818,begin climb
$GC,10821,0.50,117.3,748.4,0.0,40,10934,0.68,0.00,110.35,1.043,6,0.070,0.000,3084,2048,2256,0,0,0,0,0,0
$GC,11043,0.47,117.3,746.9,18.5,41,11047,0.00,2.55,0.00,0.000,4,0.000,0.058,3084,3576,2249,0,0,0,0,0,0
$GC,11249,0.43,117.3,727.9,10.1,41,11255,0.12,2.40,0.00,0.000,6,0.160,0.047,3062,2058,2246,0,0,0,0,0,0
$GC,11670,0.42,117.3,698.8,6.8,43,11674,0.00,2.40,0.00,0.000,4,0.000,0.057,3070,538,2243,0,0,0,0,0,0
$GC,11693,0.41,117.3,696.9,6.9,43,11697,0.00,2.38,0.00,0.000,6,0.000,0.051,3071,2062,2242,0,0,0,0,0,0
$GC,12304,0.39,117.3,649.2,8.0,45,12305,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2062,2241,0,0,0,0,0,0
$GC,12603,0.37,117.3,625.4,8.0,46,12605,0.12,0.00,0.00,0.000,6,0.150,0.000,3035,2062,2241,0,0,0,0,0,0
$GC,12904,0.35,117.3,606.9,7.5,47,12905,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2062,2240,0,0,0,0,0,0
$GC,13204,0.34,117.3,590.2,6.9,48,13209,0.00,2.45,0.00,0.000,4,0.000,0.063,3034,3579,2240,0,0,0,0,0,0
$GC,13245,0.34,117.3,587.4,7.8,48,13249,0.00,2.40,0.00,0.000,6,0.000,0.048,3042,2053,2239,0,0,0,0,0,0
$GC,13832,0.34,117.3,549.1,6.7,50,13836,0.00,2.40,0.00,0.000,4,0.000,0.057,3051,536,2239,0,0,0,0,0,0
$GC,13865,0.34,117.3,546.7,6.9,50,13870,0.00,2.38,0.00,0.000,6,0.000,0.050,3051,2062,2239,0,0,0,0,0,0
$GC,14460,0.34,117.3,506.9,6.6,52,14464,0.00,2.42,0.00,0.000,4,0.000,0.063,3051,3581,2238,0,0,0,0,0,0
$GC,14526,0.32,117.3,501.6,7.5,52,14531,0.12,2.40,0.00,0.000,6,0.151,0.047,3027,2050,2237,0,0,0,0,0,0
$GC,15085,0.35,163.1,475.7,4.5,54,15129,0.00,2.55,38.67,0.895,4,0.000,0.063,3026,3571,2069,0,0,0,0,0,0
$GC,15159,0.36,171.1,472.2,5.8,54,15173,0.00,2.40,8.43,0.769,6,0.000,0.047,3033,2057,2037,0,0,0,0,0,0
$GC,15716,0.39,202.1,444.7,5.0,56,15751,0.00,2.47,27.05,0.863,4,0.000,0.057,3037,549,1911,0,0,0,0,0,0
$GC,15770,0.44,249.8,442.2,4.4,56,15820,0.00,2.38,42.75,0.862,6,0.000,0.050,3037,2063,1715,0,0,0,0,0,0
$GC,16348,0.46,249.8,407.0,6.5,58,16349,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2063,1704,0,0,0,0,0,0
$GC,16647,0.48,249.8,385.1,6.9,59,16649,0.10,0.00,0.00,0.000,6,0.099,0.000,3095,2063,1703,0,0,0,0,0,0
$GC,16948,0.50,249.8,352.0,8.0,60,16949,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2063,1702,0,0,0,0,0,0
$GC,17248,0.51,249.8,320.6,8.9,61,17252,0.00,2.42,0.00,0.000,4,0.000,0.057,3106,543,1702,0,0,0,0,0,0
$GC,17288,0.51,249.8,316.9,9.3,61,17292,0.00,2.38,0.00,0.000,6,0.000,0.050,3106,2069,1702,0,0,0,0,0,0
$GC,17887,0.50,249.8,256.1,10.1,63,17888,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2069,1701,0,0,0,0,0,0
$GC,18189,0.49,249.8,225.3,10.2,64,18190,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2069,1700,0,0,0,0,0,0
$GC,18488,0.48,249.8,195.6,10.1,65,18492,0.12,2.42,0.00,0.000,4,0.148,0.056,3078,549,1700,0,0,0,0,0,0
$GC,18515,0.48,249.8,193.0,8.9,65,18519,0.00,2.33,0.00,0.000,6,0.000,0.049,3078,2059,1700,0,0,0,0,0,0
$GC,19113,0.48,249.8,143.6,7.9,67,19115,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2060,1700,0,0,0,0,0,0
$GC,19414,0.49,249.8,122.6,7.5,68,19415,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2060,1700,0,0,0,0,0,0
$GC,19715,0.50,249.8,103.0,7.2,69,19716,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2060,1700,0,0,0,0,0,0
$GC,20017,0.51,249.8,83.3,6.9,70,20021,0.00,2.42,0.00,0.000,4,0.000,0.060,3078,3573,1699,0,0,0,0,0,0
$GC,20044,0.53,249.8,80.9,7.9,70,20049,0.00,2.38,0.00,0.000,6,0.000,0.046,3081,2055,1699,0,0,0,0,0,0
$GC,20325,0.57,276.8,65.2,5.2,73,20351,0.00,2.40,21.33,0.617,4,0.000,0.054,3082,541,1605,0,0,0,0,0,0
$GC,20406,0.61,286.5,61.5,5.8,73,20421,0.10,2.35,9.75,0.570,6,0.093,0.048,3140,2057,1566,0,0,0,0,0,0
$GC,20628,0.61,286.5,47.3,6.4,76,20633,0.00,2.38,0.00,0.000,4,0.000,0.054,3142,548,1561,0,0,0,0,0,0
$GC,20663,0.62,286.5,44.9,7.3,76,20667,0.00,2.28,0.00,0.000,6,0.000,0.047,3142,2021,1560,0,0,0,0,0,0
$GC,20932,0.62,286.5,24.8,7.4,79,20936,0.00,2.53,0.00,0.000,4,0.000,0.059,3142,3583,1560,0,0,0,0,0,0
$GC,21032,0.63,286.5,17.5,6.7,79,21037,0.00,2.40,0.00,0.000,6,0.000,0.044,3151,2036,1559,0,0,0,0,0,0
$GC,21242,0.67,317.1,7.1,5.0,82,21272,0.00,2.35,25.40,0.581,4,0.000,0.054,3152,545,1440,0,0,0,0,0,0
$STATE,21303,end climb,SURFACE_DEPTH_REACHED
$STATE,21303,begin surface coast
$FINISH,3.6,NaN
$STATE,21311,end surface coast,CONTROL_FINISHED_OK
$STATE,21311,begin surface
$SM_CCo,21331,6.25,0.487,0,0,1410,325.02
$SM_GC,3.42,0.00,0.00,6.25,0.000,0.000,0.487,116,2185,1410,-8.77,0.28,325.02
$IRIDIUM_FIX,4726.11,-12525.20,010911,141439
$TT8_MAMPS,0.027713
$HUMID,43.10
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.60
$XPDR_PINGS,2
$24V_AH,22.6,80.929
$10V_AH,9.8,82.974
$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,20.925,138.925,386.650,6.250,0.000,28.220,35.606,126.881,0.500,0.000,17.664,851.707,17495.012,521.112,2427.612,358.287,33.375,1659.776,0.000,2175.241,0.000,0.536,0.000
$DEVICE_MAMPS,225.675,92.565,1069.470,487.305,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,3676,82
$CAP_FILE_SIZE,156460,0
$CFSIZE,260165632,157630464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020911,042125,4747.838,-12524.355,51,1.6,51,18.7