version: 66.07
glider: 187
mission: 4
dive: 707
start: 9 2 111 4 27 14
data:
$ID,187
$MISSION,4
$DIVE,707
$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,-1585634.8
$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,29
$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
$GPS1,020911,042125,4747.838,-12524.355,51,1.6,51,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-78.1
$GPS2,020911,042620,4747.786,-12524.359,13,1.6,13,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.155,0.126
$KALMAN_X,376292.9,-519.2,-454.1,-396715.0,3013.8
$KALMAN_Y,-784508.6,-16.4,-425.2,787311.4,-197.8
$MHEAD_RNG_PITCHd_Wd,32.3,17277,-13.6,-6.111
$D_GRID,695
$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,-117.3,0.0,0.0,0,84,0.00,0.00,-66.53,0.000,6,0.000,0.000,116,2186,3215,0,0,0,0,0,0
$GC,88,-0.50,-117.3,2.6,-2.1,1,103,10.52,2.40,0.00,0.000,4,0.220,0.043,2749,646,3218,0,0,0,0,0,0
$GC,172,-0.50,-117.3,32.4,-11.0,1,176,0.00,2.38,0.00,0.000,6,0.000,0.049,2741,2173,3221,0,0,0,0,0,0
$GC,390,-0.47,-117.3,58.1,-11.8,4,394,0.00,2.45,0.00,0.000,4,0.000,0.060,2729,3698,3223,0,0,0,0,0,0
$GC,425,-0.44,-117.3,62.3,-12.2,4,430,0.15,2.38,0.00,0.000,6,0.126,0.043,2774,2164,3223,0,0,0,0,0,0
$GC,696,-0.44,-117.3,85.0,-8.1,7,700,0.00,2.33,0.00,0.000,4,0.000,0.050,2774,657,3225,0,0,0,0,0,0
$GC,757,-0.46,-117.3,89.2,-6.2,7,761,0.00,2.33,0.00,0.000,6,0.000,0.048,2768,2161,3225,0,0,0,0,0,0
$GC,997,-0.46,-117.3,107.4,-7.6,10,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2161,3225,0,0,0,0,0,0
$GC,1299,-0.46,-117.3,128.3,-7.2,11,1304,0.00,2.33,0.00,0.000,4,0.000,0.050,2768,665,3225,0,0,0,0,0,0
$GC,1334,-0.46,-117.3,131.3,-8.4,11,1338,0.00,2.30,0.00,0.000,6,0.000,0.048,2762,2156,3225,0,0,0,0,0,0
$GC,1928,-0.46,-117.3,178.4,-7.7,13,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2156,3225,0,0,0,0,0,0
$GC,2227,-0.46,-117.3,198.2,-7.2,14,2231,0.00,2.33,0.00,0.000,4,0.000,0.050,2761,663,3224,0,0,0,0,0,0
$GC,2253,-0.46,-117.3,199.9,-6.4,14,2258,0.00,2.30,0.00,0.000,6,0.000,0.049,2757,2154,3224,0,0,0,0,0,0
$GC,2852,-0.46,-117.3,237.9,-6.3,16,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2154,3223,0,0,0,0,0,0
$GC,3152,-0.46,-117.3,256.2,-6.2,17,3156,0.00,2.35,0.00,0.000,4,0.000,0.050,2757,665,3223,0,0,0,0,0,0
$GC,3190,-0.46,-117.3,258.7,-6.8,17,3194,0.00,2.28,0.00,0.000,6,0.000,0.049,2753,2143,3223,0,0,0,0,0,0
$GC,3782,-0.46,-117.3,297.7,-6.5,19,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2143,3222,0,0,0,0,0,0
$GC,4082,-0.46,-117.3,317.5,-6.5,20,4086,0.00,2.35,0.00,0.000,4,0.000,0.052,2752,659,3222,0,0,0,0,0,0
$GC,4117,-0.46,-117.3,320.0,-8.5,20,4121,0.00,2.33,0.00,0.000,6,0.000,0.051,2749,2139,3222,0,0,0,0,0,0
$GC,4715,-0.46,-117.3,362.6,-7.1,22,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2139,3221,0,0,0,0,0,0
$GC,5017,-0.46,-117.3,383.1,-7.0,23,5021,0.00,2.33,0.00,0.000,4,0.000,0.053,2748,657,3220,0,0,0,0,0,0
$GC,5049,-0.46,-117.3,385.7,-7.7,23,5054,0.10,2.33,0.00,0.000,6,0.150,0.051,2772,2147,3220,0,0,0,0,0,0
$GC,5650,-0.47,-117.3,418.0,-5.3,25,5655,0.00,2.35,0.00,0.000,4,0.000,0.054,2772,661,3219,0,0,0,0,0,0
$GC,5685,-0.49,-117.3,420.0,-6.2,25,5689,0.00,2.33,0.00,0.000,6,0.000,0.052,2772,2135,3219,0,0,0,0,0,0
$GC,6279,-0.50,-117.3,446.9,-4.3,27,6280,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2135,3218,0,0,0,0,0,0
$GC,6579,-0.52,-117.3,458.3,-4.0,28,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2135,3218,0,0,0,0,0,0
$GC,6880,-0.54,-117.3,470.3,-4.0,29,6883,0.00,2.33,0.00,0.000,4,0.000,0.054,2772,668,3217,0,0,0,0,0,0
$GC,6909,-0.55,-117.3,471.5,-5.0,29,6913,0.00,2.33,0.00,0.000,6,0.000,0.052,2772,2140,3217,0,0,0,0,0,0
$GC,7516,-0.57,-117.3,497.3,-4.3,31,7521,0.12,2.53,0.00,0.000,4,0.085,0.063,2701,3695,3217,0,0,0,0,0,0
$GC,7549,-0.56,-117.3,499.7,-7.9,31,7554,0.12,2.45,0.00,0.000,6,0.131,0.047,2739,2131,3217,0,0,0,0,0,0
$GC,8144,-0.56,-117.3,539.0,-6.9,33,8148,0.00,2.30,0.00,0.000,4,0.000,0.054,2739,668,3216,0,0,0,0,0,0
$GC,8222,-0.56,-117.3,545.2,-8.3,33,8226,0.00,2.28,0.00,0.000,6,0.000,0.053,2733,2129,3216,0,0,0,0,0,0
$GC,8775,-0.56,-117.3,583.7,-6.8,35,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2129,3216,0,0,0,0,0,0
$GC,9075,-0.56,-117.3,604.3,-6.8,36,9080,0.00,2.55,0.00,0.000,4,0.000,0.066,2722,3690,3215,0,0,0,0,0,0
$GC,9103,-0.56,-117.3,606.4,-7.8,36,9107,0.00,2.50,0.00,0.000,6,0.000,0.048,2721,2119,3215,0,0,0,0,0,0
$GC,9701,-0.56,-117.3,649.1,-6.9,38,9705,0.00,2.30,0.00,0.000,4,0.000,0.054,2721,662,3214,0,0,0,0,0,0
$GC,9769,-0.56,-117.3,653.8,-7.3,38,9773,0.00,2.30,0.00,0.000,6,0.000,0.053,2714,2118,3215,0,0,0,0,0,0
$GC,10327,-0.56,-117.3,695.0,-7.3,40,10331,0.00,2.10,0.00,0.000,3,0.000,0.063,2704,3423,3214,0,0,0,0,0,0
$STATE,10332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10332,begin apogee
$GC,10342,-0.22,0.0,695.3,7.3,40,10450,0.43,0.00,102.43,1.034,6,0.106,0.000,2849,2053,2735,0,0,0,0,0,0
$STATE,10451,end apogee,CONTROL_FINISHED_OK
$STATE,10451,begin climb
$GC,10454,0.50,117.3,698.3,0.0,40,10572,0.62,2.58,108.30,1.005,4,0.067,0.054,3087,556,2256,0,0,0,0,0,0
$GC,10601,0.48,138.3,690.6,5.4,40,10626,0.00,2.50,19.95,0.936,6,0.000,0.049,3087,2066,2170,0,0,0,0,0,0
$GC,10946,0.46,138.3,656.8,9.9,42,10950,0.00,2.42,0.00,0.000,4,0.000,0.060,3087,3580,2162,0,0,0,0,0,0
$GC,10997,0.43,138.3,650.6,11.8,42,11002,0.15,2.40,0.00,0.000,6,0.148,0.047,3055,2066,2161,0,0,0,0,0,0
$GC,11580,0.43,138.3,604.3,7.6,44,11584,0.00,2.40,0.00,0.000,4,0.000,0.057,3065,545,2160,0,0,0,0,0,0
$GC,11635,0.43,138.3,599.8,8.2,44,11639,0.00,2.40,0.00,0.000,6,0.000,0.050,3064,2075,2160,0,0,0,0,0,0
$GC,12212,0.42,138.3,552.3,8.5,46,12216,0.00,2.40,0.00,0.000,4,0.000,0.062,3065,3574,2158,0,0,0,0,0,0
$GC,12262,0.40,138.3,547.4,9.9,46,12266,0.00,2.35,0.00,0.000,6,0.000,0.046,3075,2062,2157,0,0,0,0,0,0
$GC,12837,0.38,138.3,496.9,9.0,48,12839,0.12,0.00,0.00,0.000,6,0.150,0.000,3039,2057,2157,0,0,0,0,0,0
$GC,13138,0.37,138.3,474.4,8.3,49,13142,0.00,2.42,0.00,0.000,4,0.000,0.062,3039,3575,2157,0,0,0,0,0,0
$GC,13190,0.37,138.3,470.0,8.7,49,13194,0.00,2.38,0.00,0.000,6,0.000,0.047,3045,2057,2156,0,0,0,0,0,0
$GC,13767,0.37,138.3,426.2,7.5,51,13771,0.00,2.45,0.00,0.000,4,0.000,0.061,3045,3581,2156,0,0,0,0,0,0
$GC,13800,0.37,138.3,423.5,7.8,51,13804,0.00,2.40,0.00,0.000,6,0.000,0.047,3053,2060,2155,0,0,0,0,0,0
$GC,14400,0.37,138.3,384.3,6.3,53,14404,0.00,2.42,0.00,0.000,4,0.000,0.061,3053,3573,2155,0,0,0,0,0,0
$GC,14438,0.37,138.3,381.4,7.0,53,14442,0.00,2.35,0.00,0.000,6,0.000,0.047,3062,2072,2155,0,0,0,0,0,0
$GC,15028,0.38,144.3,345.7,5.9,55,15033,0.00,0.00,3.75,0.521,6,0.000,0.000,3062,2069,2146,0,0,0,0,0,0
$GC,15326,0.38,146.7,327.1,6.0,56,15333,0.00,0.00,4.32,0.565,6,0.000,0.000,3062,2069,2136,0,0,0,0,0,0
$GC,15627,0.38,146.7,307.3,6.2,57,15631,0.00,2.45,0.00,0.000,4,0.000,0.061,3062,3584,2136,0,0,0,0,0,0
$GC,15655,0.37,146.7,305.1,7.6,57,15660,0.12,2.38,0.00,0.000,6,0.144,0.047,3037,2068,2135,0,0,0,0,0,0
$GC,16254,0.37,146.7,267.6,6.3,59,16258,0.00,2.42,0.00,0.000,4,0.000,0.057,3042,546,2136,0,0,0,0,0,0
$GC,16277,0.38,146.7,266.1,6.8,59,16281,0.00,2.38,0.00,0.000,6,0.000,0.050,3042,2077,2135,0,0,0,0,0,0
$GC,16884,0.39,166.2,231.7,5.4,61,16908,0.00,2.45,18.88,0.718,4,0.000,0.061,3042,3566,2057,0,0,0,0,0,0
$GC,16976,0.40,177.3,226.2,5.7,61,16992,0.00,2.35,10.80,0.673,6,0.000,0.046,3042,2065,2012,0,0,0,0,0,0
$GC,17513,0.43,216.2,201.0,4.7,63,17553,0.00,2.42,34.35,0.715,4,0.000,0.056,3042,550,1852,0,0,0,0,0,0
$GC,17596,0.49,258.1,197.4,4.6,63,17640,0.10,2.38,36.40,0.702,6,0.096,0.048,3099,2072,1681,0,0,0,0,0,0
$GC,18138,0.49,258.1,150.4,9.3,65,18142,0.00,2.42,0.00,0.000,4,0.000,0.055,3108,548,1671,0,0,0,0,0,0
$GC,18172,0.49,258.1,147.7,8.1,65,18176,0.00,2.35,0.00,0.000,6,0.000,0.048,3108,2065,1670,0,0,0,0,0,0
$GC,18772,0.49,258.1,91.8,9.8,67,18776,0.00,2.42,0.00,0.000,4,0.000,0.055,3117,545,1669,0,0,0,0,0,0
$GC,18799,0.49,258.1,89.2,8.8,67,18804,0.15,2.35,0.00,0.000,6,0.122,0.048,3071,2058,1669,0,0,0,0,0,0
$GC,19079,0.51,258.1,70.7,6.5,70,19080,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2058,1668,0,0,0,0,0,0
$GC,19282,0.54,258.1,59.0,6.3,72,19283,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2058,1668,0,0,0,0,0,0
$GC,19481,0.58,275.9,48.1,5.5,74,19502,0.12,2.45,14.07,0.591,4,0.083,0.055,3149,553,1610,0,0,0,0,0,0
$GC,19535,0.58,275.9,44.3,7.1,74,19540,0.15,2.33,0.00,0.000,6,0.124,0.048,3103,2054,1607,0,0,0,0,0,0
$GC,19789,0.62,317.3,32.2,4.7,77,19830,0.00,2.45,35.03,0.604,4,0.000,0.057,3103,3581,1440,0,0,0,0,0,0
$GC,19871,0.65,317.3,26.8,7.8,77,19875,0.00,2.42,0.00,0.000,6,0.000,0.044,3107,2054,1438,0,0,0,0,0,0
$GC,20090,0.68,317.3,12.1,6.8,80,20094,0.00,2.40,0.00,0.000,4,0.000,0.055,3107,547,1434,0,0,0,0,0,0
$GC,20135,0.84,435.0,10.9,2.0,80,20239,0.22,2.35,94.93,0.584,6,0.079,0.047,3192,2066,960,0,0,0,0,0,0
$STATE,20258,end climb,SURFACE_DEPTH_REACHED
$STATE,20258,begin surface coast
$FINISH,3.4,NaN
$STATE,20264,end surface coast,CONTROL_FINISHED_OK
$STATE,20264,begin surface
$SM_CCo,20345,0.00,0.000,0,0,952,437.37
$SM_GC,2.18,8.20,0.00,0.00,0.042,0.000,0.000,123,2201,952,-8.59,0.71,437.37
$IRIDIUM_FIX,4729.30,-12603.53,010911,222200
$TT8_MAMPS,0.027713
$HUMID,42.00
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,19.30
$XPDR_PINGS,2
$24V_AH,22.7,81.051
$10V_AH,9.8,83.039
$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,21.425,147.500,483.200,0.000,0.000,26.324,28.831,116.124,0.500,0.000,13.817,832.491,16495.342,506.732,2433.526,364.740,33.364,1717.228,0.000,2201.800,0.000,0.535,0.000
$DEVICE_MAMPS,220.320,79.560,1034.280,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,3636,81
$CAP_FILE_SIZE,157697,0
$CFSIZE,260165632,157573120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020911,100736,4748.843,-12521.036,39,1.4,39,18.7