version: 66.07
glider: 187
mission: 4
dive: 656
start: 8 17 111 19 45 9
data:
$ID,187
$MISSION,4
$DIVE,656
$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,-1585571
$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,29
$R_STBD_OVSHOOT,37
$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
$GPS1,170811,193924,4702.986,-12649.653,26,1.5,43,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-77.9
$GPS2,170811,194414,4702.976,-12649.664,15,1.5,15,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.153,0.129
$KALMAN_X,360810.1,-666.2,976.6,-488670.0,-1569.1
$KALMAN_Y,-658931.2,1027.3,-1925.2,579145.2,-1720.5
$MHEAD_RNG_PITCHd_Wd,357.9,151317,-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,-117.3,0.0,0.0,0,95,0.00,0.00,-77.22,0.000,6,0.000,0.000,109,2182,3215,0,0,0,0,0,0
$GC,98,-0.50,-117.3,2.2,-1.1,1,114,10.75,2.40,0.00,0.000,4,0.225,0.041,2747,644,3218,0,0,0,0,0,0
$GC,229,-0.48,-117.3,40.6,-9.4,2,234,0.00,2.38,0.00,0.000,6,0.000,0.047,2739,2176,3222,0,0,0,0,0,0
$GC,515,-0.45,-117.3,72.1,-11.2,5,517,0.12,0.00,0.00,0.000,6,0.148,0.000,2775,2176,3224,0,0,0,0,0,0
$GC,716,-0.43,-117.3,88.6,-9.6,7,720,0.00,2.38,0.00,0.000,4,0.000,0.049,2775,659,3225,0,0,0,0,0,0
$GC,745,-0.43,-117.3,90.9,-7.4,7,749,0.00,2.33,0.00,0.000,6,0.000,0.047,2773,2171,3225,0,0,0,0,0,0
$GC,1224,-0.43,-117.3,126.2,-7.3,10,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2171,3226,0,0,0,0,0,0
$GC,1524,-0.43,-117.3,147.0,-7.1,11,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2171,3225,0,0,0,0,0,0
$GC,1825,-0.43,-117.3,165.6,-6.9,12,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2171,3225,0,0,0,0,0,0
$GC,2127,-0.43,-117.3,181.8,-6.4,13,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2171,3224,0,0,0,0,0,0
$GC,2427,-0.43,-117.3,197.2,-5.9,14,2431,0.00,2.38,0.00,0.000,4,0.000,0.051,2772,650,3223,0,0,0,0,0,0
$GC,2454,-0.45,-117.3,198.9,-5.8,14,2458,0.00,2.35,0.00,0.000,6,0.000,0.050,2771,2166,3223,0,0,0,0,0,0
$GC,3059,-0.46,-117.3,233.4,-6.0,16,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2165,3223,0,0,0,0,0,0
$GC,3360,-0.47,-117.3,253.5,-6.3,17,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2165,3222,0,0,0,0,0,0
$GC,3660,-0.48,-117.3,273.7,-6.5,18,3664,0.00,2.38,0.00,0.000,4,0.000,0.052,2772,660,3221,0,0,0,0,0,0
$GC,3694,-0.49,-117.3,276.1,-6.9,18,3698,0.00,2.35,0.00,0.000,6,0.000,0.050,2772,2176,3221,0,0,0,0,0,0
$GC,4295,-0.51,-117.3,310.0,-5.4,20,4299,0.00,2.40,0.00,0.000,4,0.000,0.053,2772,649,3219,0,0,0,0,0,0
$GC,4329,-0.52,-117.3,312.0,-6.1,20,4334,0.00,2.35,0.00,0.000,6,0.000,0.050,2769,2160,3220,0,0,0,0,0,0
$GC,4925,-0.53,-117.3,342.7,-4.9,22,4929,0.00,2.38,0.00,0.000,4,0.000,0.054,2769,653,3219,0,0,0,0,0,0
$GC,4952,-0.55,-117.3,344.0,-4.8,22,4956,0.00,2.35,0.00,0.000,6,0.000,0.052,2769,2158,3219,0,0,0,0,0,0
$GC,5551,-0.56,-117.3,372.5,-5.1,24,5555,0.00,2.38,0.00,0.000,4,0.000,0.054,2769,652,3217,0,0,0,0,0,0
$GC,5589,-0.58,-117.3,374.8,-6.2,24,5594,0.10,2.35,0.00,0.000,6,0.097,0.052,2711,2157,3218,0,0,0,0,0,0
$GC,6176,-0.56,-117.3,424.6,-8.5,26,6180,0.00,2.47,0.00,0.000,4,0.000,0.063,2699,3693,3217,0,0,0,0,0,0
$GC,6236,-0.56,-117.3,430.0,-8.7,26,6242,0.12,2.45,0.00,0.000,6,0.132,0.047,2737,2133,3217,0,0,0,0,0,0
$GC,6801,-0.56,-117.3,468.6,-7.0,28,6805,0.00,2.30,0.00,0.000,4,0.000,0.055,2737,664,3216,0,0,0,0,0,0
$GC,6846,-0.56,-117.3,472.0,-7.8,28,6850,0.00,2.33,0.00,0.000,6,0.000,0.052,2731,2155,3215,0,0,0,0,0,0
$GC,7428,-0.56,-117.3,517.1,-7.8,30,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2155,3215,0,0,0,0,0,0
$GC,7730,-0.56,-117.3,539.3,-7.6,31,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2155,3214,0,0,0,0,0,0
$GC,8029,-0.56,-117.3,560.6,-7.4,32,8033,0.00,2.40,0.00,0.000,4,0.000,0.056,2731,663,3214,0,0,0,0,0,0
$GC,8080,-0.56,-117.3,564.2,-7.2,32,8084,0.00,2.33,0.00,0.000,6,0.000,0.052,2722,2149,3214,0,0,0,0,0,0
$GC,8660,-0.56,-117.3,605.0,-7.0,34,8665,0.00,2.50,0.00,0.000,4,0.000,0.065,2711,3693,3213,0,0,0,0,0,0
$GC,8704,-0.56,-117.3,608.2,-7.7,34,8708,0.00,2.45,0.00,0.000,6,0.000,0.049,2710,2135,3212,0,0,0,0,0,0
$GC,9286,-0.55,-117.3,652.3,-7.5,36,9291,0.10,2.35,0.00,0.000,4,0.157,0.057,2741,666,3212,0,0,0,0,0,0
$GC,9330,-0.55,-117.3,655.3,-6.2,36,9334,0.00,2.35,0.00,0.000,6,0.000,0.054,2735,2151,3212,0,0,0,0,0,0
$GC,9911,-0.55,-117.3,689.2,-5.8,38,9915,0.00,2.50,0.00,0.000,4,0.000,0.067,2723,3688,3211,0,0,0,0,0,0
$GC,9943,-0.55,-117.3,691.2,-6.4,38,9947,0.00,2.42,0.00,0.000,6,0.000,0.049,2723,2144,3211,0,0,0,0,0,0
$GC,10536,-0.55,-117.3,728.9,-6.5,40,10540,0.00,2.38,0.00,0.000,4,0.000,0.057,2723,667,3210,0,0,0,0,0,0
$GC,10599,-0.55,-117.3,733.3,-7.4,40,10603,0.00,2.33,0.00,0.000,6,0.000,0.054,2719,2146,3210,0,0,0,0,0,0
$GC,11163,-0.55,-117.3,770.9,-6.7,42,11167,0.00,2.53,0.00,0.000,4,0.000,0.067,2708,3697,3210,0,0,0,0,0,0
$GC,11202,-0.55,-117.3,773.5,-7.4,42,11207,0.12,2.45,0.00,0.000,6,0.125,0.050,2746,2145,3209,0,0,0,0,0,0
$GC,11792,-0.56,-117.3,804.7,-5.2,44,11796,0.00,2.38,0.00,0.000,4,0.000,0.058,2746,656,3209,0,0,0,0,0,0
$GC,11836,-0.57,-117.3,807.3,-5.7,44,11841,0.00,2.35,0.00,0.000,6,0.000,0.055,2742,2147,3209,0,0,0,0,0,0
$GC,12418,-0.57,-117.3,835.5,-4.7,46,12422,0.00,2.53,0.00,0.000,4,0.000,0.068,2731,3691,3208,0,0,0,0,0,0
$GC,12452,-0.59,-117.3,837.3,-5.6,46,12457,0.00,2.45,0.00,0.000,6,0.000,0.050,2730,2139,3208,0,0,0,0,0,0
$GC,13045,-0.59,-117.3,868.5,-5.4,48,13050,0.00,2.33,0.00,0.000,4,0.000,0.057,2730,666,3207,0,0,0,0,0,0
$GC,13079,-0.59,-117.3,870.3,-5.5,48,13083,0.00,2.35,0.00,0.000,6,0.000,0.054,2722,2148,3208,0,0,0,0,0,0
$GC,13677,-0.59,-117.3,905.8,-6.0,50,13681,0.00,2.55,0.00,0.000,4,0.000,0.067,2711,3697,3207,0,0,0,0,0,0
$GC,13705,-0.59,-117.3,907.5,-6.5,50,13710,0.00,2.47,0.00,0.000,6,0.000,0.050,2711,2134,3207,0,0,0,0,0,0
$GC,14303,-0.59,-117.3,948.3,-6.9,52,14307,0.00,2.38,0.00,0.000,4,0.000,0.059,2710,657,3207,0,0,0,0,0,0
$GC,14344,-0.59,-117.3,951.2,-6.9,52,14348,0.00,2.35,0.00,0.000,6,0.000,0.056,2702,2142,3207,0,0,0,0,0,0
$STATE,14929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14929,begin apogee
$GC,14937,-0.22,0.0,991.0,6.5,54,15047,0.45,0.00,107.12,1.222,6,0.106,0.000,2851,2054,2735,0,0,0,0,0,0
$STATE,15047,end apogee,CONTROL_FINISHED_OK
$STATE,15048,begin climb
$GC,15050,0.50,117.3,991.0,0.0,54,15176,0.65,2.65,114.68,1.190,4,0.063,0.056,3096,559,2255,0,0,0,0,0,0
$GC,15215,0.47,117.3,981.9,9.3,54,15220,0.00,2.55,0.00,0.000,6,0.000,0.051,3096,2068,2251,0,0,0,0,0,0
$GC,15672,0.43,117.3,933.4,10.7,56,15677,0.12,2.47,0.00,0.000,4,0.167,0.063,3062,3578,2244,0,0,0,0,0,0
$GC,15738,0.40,117.3,926.2,9.5,56,15743,0.00,2.42,0.00,0.000,6,0.000,0.050,3071,2072,2242,0,0,0,0,0,0
$GC,16299,0.38,117.3,874.2,9.3,58,16304,0.00,2.45,0.00,0.000,4,0.000,0.060,3083,540,2241,0,0,0,0,0,0
$GC,16321,0.36,117.3,871.8,9.0,58,16327,0.17,2.40,0.00,0.000,6,0.144,0.054,3034,2069,2241,0,0,0,0,0,0
$GC,16925,0.36,117.3,831.3,6.6,60,16930,0.00,2.42,0.00,0.000,4,0.000,0.064,3033,3578,2240,0,0,0,0,0,0
$GC,16976,0.34,117.3,827.2,7.2,60,16980,0.00,2.40,0.00,0.000,6,0.000,0.050,3041,2062,2238,0,0,0,0,0,0
$GC,17551,0.34,117.3,788.8,6.7,62,17552,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2061,2238,0,0,0,0,0,0
$GC,17852,0.34,117.3,769.7,6.5,63,17856,0.00,2.45,0.00,0.000,4,0.000,0.063,3041,3574,2238,0,0,0,0,0,0
$GC,17886,0.33,117.3,767.3,6.9,63,17890,0.00,2.40,0.00,0.000,6,0.000,0.049,3051,2064,2237,0,0,0,0,0,0
$GC,18486,0.32,117.3,726.6,6.9,65,18487,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2062,2237,0,0,0,0,0,0
$GC,18785,0.30,117.3,704.8,7.1,66,18787,0.12,0.00,0.00,0.000,6,0.150,0.000,3014,2060,2237,0,0,0,0,0,0
$GC,19085,0.30,117.3,687.2,6.8,67,19089,0.00,2.47,0.00,0.000,4,0.000,0.065,3014,3580,2237,0,0,0,0,0,0
$GC,19111,0.30,117.3,685.4,7.1,67,19116,0.00,2.40,0.00,0.000,6,0.000,0.050,3022,2068,2236,0,0,0,0,0,0
$GC,19710,0.31,128.3,650.1,5.7,69,19724,0.00,2.50,7.60,0.861,4,0.000,0.060,3031,546,2212,0,0,0,0,0,0
$GC,19747,0.33,153.2,648.1,5.2,69,19777,0.00,2.38,24.67,0.984,6,0.000,0.052,3031,2068,2110,0,0,0,0,0,0
$GC,20336,0.33,156.2,612.2,6.0,71,20341,0.00,2.47,0.00,0.000,4,0.000,0.063,3031,3577,2104,0,0,0,0,0,0
$GC,20388,0.33,156.2,608.7,6.8,71,20392,0.00,2.38,0.00,0.000,6,0.000,0.050,3041,2072,2103,0,0,0,0,0,0
$GC,20964,0.33,156.2,572.6,6.3,73,20969,0.00,2.42,0.00,0.000,4,0.000,0.060,3051,546,2102,0,0,0,0,0,0
$GC,20992,0.33,156.2,570.6,6.8,73,20996,0.00,2.40,0.00,0.000,6,0.000,0.052,3051,2073,2102,0,0,0,0,0,0
$GC,21592,0.33,156.2,531.8,6.2,75,21596,0.00,2.45,0.00,0.000,4,0.000,0.063,3051,3576,2101,0,0,0,0,0,0
$GC,21675,0.31,156.2,525.9,7.1,75,21680,0.15,2.35,0.00,0.000,6,0.143,0.049,3018,2080,2101,0,0,0,0,0,0
$GC,22217,0.34,157.1,493.9,6.1,77,22222,0.00,2.47,0.00,0.000,4,0.000,0.063,3018,3583,2101,0,0,0,0,0,0
$GC,22323,0.34,157.1,486.5,6.4,77,22328,0.00,2.42,0.00,0.000,6,0.000,0.049,3023,2054,2101,0,0,0,0,0,0
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$GC,28761,0.66,308.8,24.4,5.1,106,28785,0.00,0.00,23.08,0.587,6,0.000,0.000,3110,2059,1476,0,0,0,0,0,0
$GC,28963,0.74,354.1,16.2,4.5,108,29009,0.15,2.47,37.70,0.582,4,0.082,0.055,3175,554,1290,0,0,0,0,0,0
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$STATE,29158,end climb,SURFACE_DEPTH_REACHED
$STATE,29158,begin surface coast
$FINISH,3.7,NaN
$STATE,29164,end surface coast,CONTROL_FINISHED_OK
$STATE,29164,begin surface
$SM_CCo,29244,0.00,0.000,0,0,1280,357.16
$SM_GC,2.34,8.12,0.00,0.00,0.046,0.000,0.000,113,2185,1280,-8.59,0.28,357.16
$IRIDIUM_FIX,4644.93,-12658.51,170811,121232
$TT8_MAMPS,0.026964
$HUMID,41.69
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.90
$XPDR_PINGS,0
$24V_AH,22.0,74.200
$10V_AH,9.8,79.005
$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,21.875,207.525,429.350,0.000,0.000,26.667,35.516,94.518,0.000,0.000,16.861,1217.445,23709.717,561.782,3584.468,449.984,33.361,2273.070,0.000,3316.552,0.000,0.535,0.000
$DEVICE_MAMPS,224.910,94.095,1222.470,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,3651,109
$CAP_FILE_SIZE,223086,0
$CFSIZE,260165632,161026048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.179, 20.7,1
$GPS,180811,035337,4705.625,-12648.193,28,1.2,28,18.6