version: 66.07
glider: 187
mission: 4
dive: 684
start: 8 27 111 1 13 26
data:
$ID,187
$MISSION,4
$DIVE,684
$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,-1585606
$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,40
$R_STBD_OVSHOOT,28
$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
$GPS1,270811,010725,4734.122,-12535.376,41,1.6,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-74.8
$GPS2,270811,011231,4734.061,-12535.361,13,0.9,18,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.109,0.168
$KALMAN_X,374209.6,-386.6,476.2,-409419.4,3674.5
$KALMAN_Y,-749836.9,1662.9,-955.3,726098.6,-8093.9
$MHEAD_RNG_PITCHd_Wd,351.2,43589,-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,-117.3,0.0,0.0,0,92,0.00,0.00,-74.28,0.000,6,0.000,0.000,127,2189,3216,0,0,0,0,0,0
$GC,96,-0.50,-117.3,2.5,-2.2,1,111,10.60,2.38,0.00,0.000,4,0.223,0.040,2750,647,3219,0,0,0,0,0,0
$GC,157,-0.46,-117.3,29.6,-15.4,1,162,0.00,2.38,0.00,0.000,6,0.000,0.049,2741,2181,3222,0,0,0,0,0,0
$GC,399,-0.43,-117.3,58.2,-11.8,4,403,0.12,2.35,0.00,0.000,4,0.151,0.050,2778,671,3224,0,0,0,0,0,0
$GC,449,-0.43,-117.3,63.4,-8.8,4,454,0.00,2.30,0.00,0.000,6,0.000,0.047,2771,2165,3225,0,0,0,0,0,0
$GC,703,-0.42,-117.3,85.9,-9.1,7,707,0.00,2.35,0.00,0.000,4,0.000,0.049,2770,663,3226,0,0,0,0,0,0
$GC,736,-0.42,-117.3,89.1,-9.2,7,740,0.00,2.28,0.00,0.000,6,0.000,0.047,2762,2149,3226,0,0,0,0,0,0
$GC,1217,-0.42,-117.3,131.1,-8.7,10,1221,0.00,2.33,0.00,0.000,4,0.000,0.050,2762,667,3226,0,0,0,0,0,0
$GC,1273,-0.42,-117.3,135.3,-7.7,10,1277,0.00,2.30,0.00,0.000,6,0.000,0.047,2754,2148,3226,0,0,0,0,0,0
$GC,1845,-0.42,-117.3,175.1,-6.7,12,1849,0.00,2.33,0.00,0.000,4,0.000,0.050,2754,667,3225,0,0,0,0,0,0
$GC,1912,-0.42,-117.3,179.9,-7.3,12,1917,0.12,2.25,0.00,0.000,6,0.134,0.048,2785,2131,3225,0,0,0,0,0,0
$GC,2479,-0.44,-117.3,212.9,-6.2,14,2483,0.00,2.30,0.00,0.000,4,0.000,0.050,2785,658,3224,0,0,0,0,0,0
$GC,2523,-0.46,-117.3,216.1,-7.2,14,2527,0.00,2.28,0.00,0.000,6,0.000,0.048,2784,2133,3224,0,0,0,0,0,0
$GC,3104,-0.49,-117.3,255.6,-6.6,16,3109,0.00,2.50,0.00,0.000,4,0.000,0.061,2784,3693,3223,0,0,0,0,0,0
$GC,3199,-0.53,-117.3,261.7,-6.1,16,3204,0.00,2.47,0.00,0.000,6,0.000,0.044,2783,2091,3223,0,0,0,0,0,0
$GC,3731,-0.56,-117.3,295.3,-6.3,18,3736,0.12,2.60,0.00,0.000,4,0.086,0.060,2709,3689,3222,0,0,0,0,0,0
$GC,3792,-0.55,-117.3,299.9,-7.9,18,3797,0.12,2.50,0.00,0.000,6,0.126,0.044,2746,2078,3222,0,0,0,0,0,0
$GC,4356,-0.55,-117.3,337.6,-6.7,20,4360,0.00,2.20,0.00,0.000,4,0.000,0.053,2747,668,3220,0,0,0,0,0,0
$GC,4414,-0.55,-117.3,341.5,-6.8,20,4418,0.00,2.17,0.00,0.000,6,0.000,0.050,2746,2071,3220,0,0,0,0,0,0
$GC,4990,-0.55,-117.3,381.8,-7.2,22,4994,0.00,2.60,0.00,0.000,4,0.000,0.061,2735,3694,3219,0,0,0,0,0,0
$GC,5035,-0.56,-117.3,385.1,-7.3,22,5040,0.00,2.53,0.00,0.000,6,0.000,0.045,2734,2072,3219,0,0,0,0,0,0
$GC,5619,-0.56,-117.3,428.2,-7.4,24,5623,0.00,2.22,0.00,0.000,4,0.000,0.054,2734,671,3218,0,0,0,0,0,0
$GC,5674,-0.56,-117.3,432.6,-7.8,24,5678,0.00,2.17,0.00,0.000,6,0.000,0.050,2728,2070,3218,0,0,0,0,0,0
$GC,6252,-0.56,-117.3,475.0,-7.4,26,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2069,3217,0,0,0,0,0,0
$GC,6551,-0.56,-117.3,496.0,-7.2,27,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2070,3217,0,0,0,0,0,0
$GC,6852,-0.56,-117.3,516.2,-7.0,28,6856,0.00,2.60,0.00,0.000,4,0.000,0.063,2715,3685,3216,0,0,0,0,0,0
$GC,6890,-0.56,-117.3,518.9,-7.8,28,6894,0.00,2.53,0.00,0.000,6,0.000,0.045,2714,2071,3216,0,0,0,0,0,0
$GC,7477,-0.55,-117.3,562.3,-7.6,30,7481,0.00,2.22,0.00,0.000,4,0.000,0.054,2714,671,3215,0,0,0,0,0,0
$GC,7526,-0.55,-117.3,566.2,-8.2,30,7531,0.08,2.20,0.00,0.000,6,0.111,0.052,2737,2054,3215,0,0,0,0,0,0
$GC,8113,-0.55,-117.3,602.1,-6.1,32,8118,0.00,2.65,0.00,0.000,4,0.000,0.065,2728,3686,3215,0,0,0,0,0,0
$GC,8147,-0.55,-117.3,604.4,-7.0,32,8152,0.00,2.55,0.00,0.000,6,0.000,0.047,2726,2072,3214,0,0,0,0,0,0
$GC,8740,-0.55,-117.3,642.8,-6.3,34,8744,0.00,2.22,0.00,0.000,4,0.000,0.055,2726,668,3213,0,0,0,0,0,0
$GC,8780,-0.55,-117.3,645.4,-6.3,34,8784,0.00,2.20,0.00,0.000,6,0.000,0.054,2723,2071,3213,0,0,0,0,0,0
$GC,9379,-0.55,-117.3,683.3,-6.1,36,9383,0.00,2.62,0.00,0.000,4,0.000,0.065,2715,3690,3213,0,0,0,0,0,0
$GC,9430,-0.55,-117.3,686.4,-5.9,36,9434,0.00,2.55,0.00,0.000,6,0.000,0.047,2714,2074,3213,0,0,0,0,0,0
$GC,10007,-0.55,-117.3,721.6,-6.1,38,10008,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2071,3212,0,0,0,0,0,0
$GC,10306,-0.55,-117.3,739.9,-6.1,39,10310,0.00,2.22,0.00,0.000,4,0.000,0.055,2714,670,3212,0,0,0,0,0,0
$GC,10361,-0.55,-117.3,743.7,-7.5,39,10366,0.12,2.20,0.00,0.000,6,0.135,0.053,2745,2064,3211,0,0,0,0,0,0
$GC,10937,-0.55,-117.3,773.7,-5.3,41,10941,0.00,2.67,0.00,0.000,4,0.000,0.065,2735,3693,3211,0,0,0,0,0,0
$GC,10992,-0.56,-117.3,777.1,-7.0,41,10996,0.00,2.58,0.00,0.000,6,0.000,0.048,2735,2078,3211,0,0,0,0,0,0
$GC,11561,-0.56,-117.3,812.3,-6.3,43,11566,0.00,2.25,0.00,0.000,4,0.000,0.056,2734,669,3211,0,0,0,0,0,0
$GC,11613,-0.56,-117.3,815.8,-7.4,43,11617,0.00,2.22,0.00,0.000,6,0.000,0.054,2732,2069,3210,0,0,0,0,0,0
$GC,12194,-0.56,-117.3,853.5,-6.4,45,12198,0.00,2.62,0.00,0.000,4,0.000,0.065,2727,3685,3210,0,0,0,0,0,0
$GC,12235,-0.58,-117.3,856.0,-6.6,45,12239,0.00,2.55,0.00,0.000,6,0.000,0.047,2727,2069,3210,0,0,0,0,0,0
$GC,12822,-0.58,-117.3,890.1,-5.6,47,12826,0.00,2.22,0.00,0.000,4,0.000,0.057,2726,667,3209,0,0,0,0,0,0
$GC,12867,-0.58,-117.3,892.9,-6.6,47,12871,0.00,2.22,0.00,0.000,6,0.000,0.054,2723,2067,3209,0,0,0,0,0,0
$GC,13462,-0.58,-117.3,925.4,-5.3,49,13467,0.00,2.62,0.00,0.000,4,0.000,0.065,2712,3685,3208,0,0,0,0,0,0
$GC,13501,-0.58,-117.3,927.7,-5.5,49,13505,0.00,2.55,0.00,0.000,6,0.000,0.049,2712,2075,3208,0,0,0,0,0,0
$GC,14089,-0.58,-117.3,963.0,-6.2,51,14093,0.00,2.25,0.00,0.000,4,0.000,0.057,2711,671,3208,0,0,0,0,0,0
$GC,14132,-0.58,-117.3,966.2,-6.6,51,14137,0.00,2.22,0.00,0.000,6,0.000,0.054,2705,2063,3208,0,0,0,0,0,0
$STATE,14723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14723,begin apogee
$GC,14729,-0.22,0.0,1006.2,6.6,53,14839,0.45,0.00,106.97,1.235,6,0.105,0.000,2853,2063,2735,0,0,0,0,0,0
$STATE,14840,end apogee,CONTROL_FINISHED_OK
$STATE,14840,begin climb
$GC,14842,0.50,117.3,1006.2,0.0,53,14968,0.62,2.65,114.40,1.201,4,0.063,0.055,3089,560,2256,0,0,0,0,0,0
$GC,14996,0.47,117.3,999.7,9.4,53,15001,0.00,2.55,0.00,0.000,6,0.000,0.051,3089,2054,2252,0,0,0,0,0,0
$GC,15459,0.44,117.3,955.9,9.3,55,15464,0.00,2.50,0.00,0.000,4,0.000,0.063,3089,3581,2245,0,0,0,0,0,0
$GC,15543,0.40,117.3,947.1,10.0,55,15548,0.17,2.40,0.00,0.000,6,0.157,0.048,3052,2069,2243,0,0,0,0,0,0
$GC,16086,0.39,117.3,909.7,6.8,57,16087,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2067,2242,0,0,0,0,0,0
$GC,16386,0.38,117.3,888.9,6.8,58,16387,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2067,2242,0,0,0,0,0,0
$GC,16687,0.37,117.3,868.0,6.9,59,16688,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2066,2241,0,0,0,0,0,0
$GC,16989,0.35,117.3,843.8,7.1,60,16990,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2066,2241,0,0,0,0,0,0
$GC,17288,0.34,117.3,817.3,7.6,61,17292,0.00,2.45,0.00,0.000,4,0.000,0.063,3052,3581,2240,0,0,0,0,0,0
$GC,17310,0.33,117.3,815.1,9.1,61,17315,0.12,2.40,0.00,0.000,6,0.151,0.049,3026,2059,2239,0,0,0,0,0,0
$GC,17913,0.33,117.3,773.5,6.7,63,17918,0.00,2.40,0.00,0.000,4,0.000,0.058,3035,541,2239,0,0,0,0,0,0
$GC,17941,0.33,117.3,771.5,6.2,63,17945,0.00,2.40,0.00,0.000,6,0.000,0.053,3035,2071,2239,0,0,0,0,0,0
$GC,18544,0.33,117.3,730.6,6.7,65,18548,0.00,2.42,0.00,0.000,4,0.000,0.063,3035,3578,2239,0,0,0,0,0,0
$GC,18588,0.32,117.3,727.3,8.1,65,18592,0.00,2.40,0.00,0.000,6,0.000,0.049,3045,2062,2238,0,0,0,0,0,0
$GC,19174,0.32,117.3,688.6,6.5,67,19178,0.00,2.40,0.00,0.000,4,0.000,0.057,3056,546,2238,0,0,0,0,0,0
$GC,19215,0.32,117.3,685.9,6.8,67,19220,0.12,2.38,0.00,0.000,6,0.139,0.051,3021,2067,2237,0,0,0,0,0,0
$GC,19802,0.32,127.5,653.1,5.8,69,19816,0.00,2.50,7.07,0.847,4,0.000,0.063,3021,3575,2215,0,0,0,0,0,0
$GC,19840,0.32,128.6,650.6,6.1,69,19845,0.00,2.38,0.00,0.000,6,0.000,0.049,3027,2063,2214,0,0,0,0,0,0
$GC,20435,0.32,128.6,612.3,6.4,71,20439,0.00,2.42,0.00,0.000,4,0.000,0.058,3038,545,2214,0,0,0,0,0,0
$GC,20469,0.32,128.6,610.1,6.6,71,20473,0.00,2.38,0.00,0.000,6,0.000,0.051,3038,2066,2214,0,0,0,0,0,0
$GC,21063,0.33,134.6,574.3,5.9,73,21073,0.00,0.00,8.38,0.845,6,0.000,0.000,3038,2067,2186,0,0,0,0,0,0
$GC,21362,0.33,136.5,555.6,6.0,74,21366,0.00,2.47,0.00,0.000,4,0.000,0.062,3038,3583,2184,0,0,0,0,0,0
$GC,21394,0.33,136.5,553.3,7.0,74,21398,0.00,2.42,0.00,0.000,6,0.000,0.048,3047,2049,2184,0,0,0,0,0,0
$GC,21992,0.33,136.5,512.5,6.9,76,21994,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2046,2184,0,0,0,0,0,0
$GC,22293,0.33,136.5,492.3,6.8,77,22294,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2044,2184,0,0,0,0,0,0
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$GC,25083,0.46,258.8,323.9,4.6,86,25128,0.12,2.53,37.08,0.794,4,0.087,0.058,3096,553,1679,0,0,0,0,0,0
$GC,25158,0.46,258.8,318.2,8.9,86,25162,0.00,2.40,0.00,0.000,6,0.000,0.050,3096,2073,1676,0,0,0,0,0,0
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$STATE,29618,end climb,SURFACE_DEPTH_REACHED
$STATE,29618,begin surface coast
$FINISH,3.6,NaN
$STATE,29623,end surface coast,CONTROL_FINISHED_OK
$STATE,29623,begin surface
$SM_CCo,29702,0.00,0.000,0,0,1246,365.25
$SM_GC,2.20,8.27,0.00,0.00,0.048,0.000,0.000,111,2194,1246,-8.62,0.54,365.25
$IRIDIUM_FIX,4716.56,-12536.34,260811,171701
$TT8_MAMPS,0.026215
$HUMID,42.63
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.90
$XPDR_PINGS,1
$24V_AH,22.0,78.211
$10V_AH,9.8,81.432
$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,21.875,206.675,428.925,0.000,0.000,26.464,30.709,109.200,0.250,0.000,18.912,1209.747,24157.084,543.441,3612.068,470.852,33.369,2274.562,0.000,3339.891,0.000,0.535,0.000
$DEVICE_MAMPS,223.380,74.205,1234.710,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,3662,109
$CAP_FILE_SIZE,220202,0
$CFSIZE,260165632,158957568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.185,  7.2,1
$GPS,270811,092937,4737.004,-12534.811,33,2.0,33,18.7