version: 66.07
glider: 187
mission: 4
dive: 687
start: 8 28 111 1 12 21
data:
$ID,187
$MISSION,4
$DIVE,687
$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,-1585609.8
$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,29
$R_STBD_OVSHOOT,41
$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
$GPS1,280811,010625,4739.073,-12530.924,43,1.0,43,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-76.9
$GPS2,280811,011126,4739.036,-12530.892,12,1.7,12,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.146,0.137
$KALMAN_X,367815.5,418.1,-780.0,-396944.5,-2443.1
$KALMAN_Y,-754514.2,552.6,-253.8,740329.9,-2288.6
$MHEAD_RNG_PITCHd_Wd,73.0,33133,-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,-117.3,0.0,0.0,0,90,0.00,0.00,-71.80,0.000,6,0.000,0.000,110,2186,3215,0,0,0,0,0,0
$GC,93,-0.50,-117.3,2.2,-0.3,1,109,10.75,2.38,0.00,0.000,4,0.223,0.044,2751,653,3218,0,0,0,0,0,0
$GC,260,-0.48,-117.3,43.7,-11.1,2,264,0.00,2.33,0.00,0.000,6,0.000,0.048,2742,2163,3222,0,0,0,0,0,0
$GC,506,-0.45,-117.3,71.1,-11.2,5,511,0.12,2.40,0.00,0.000,4,0.148,0.058,2769,3689,3225,0,0,0,0,0,0
$GC,529,-0.44,-117.3,73.7,-10.8,5,534,0.00,2.35,0.00,0.000,6,0.000,0.043,2768,2159,3225,0,0,0,0,0,0
$GC,815,-0.44,-117.3,97.4,-8.0,8,819,0.00,2.30,0.00,0.000,4,0.000,0.050,2768,653,3226,0,0,0,0,0,0
$GC,882,-0.44,-117.3,102.4,-7.2,8,886,0.00,2.33,0.00,0.000,6,0.000,0.047,2760,2170,3225,0,0,0,0,0,0
$GC,1217,-0.44,-117.3,129.5,-8.2,10,1221,0.00,2.40,0.00,0.000,4,0.000,0.060,2749,3690,3226,0,0,0,0,0,0
$GC,1262,-0.45,-117.3,133.4,-8.2,10,1266,0.00,2.33,0.00,0.000,6,0.000,0.043,2748,2163,3225,0,0,0,0,0,0
$GC,1856,-0.45,-117.3,183.1,-8.1,12,1860,0.00,2.30,0.00,0.000,4,0.000,0.051,2748,663,3225,0,0,0,0,0,0
$GC,1933,-0.45,-117.3,189.8,-8.3,12,1938,0.12,2.30,0.00,0.000,6,0.133,0.048,2779,2166,3225,0,0,0,0,0,0
$GC,2481,-0.46,-117.3,220.9,-5.5,14,2485,0.00,2.30,0.00,0.000,4,0.000,0.051,2779,670,3224,0,0,0,0,0,0
$GC,2537,-0.48,-117.3,224.3,-5.8,14,2542,0.00,2.30,0.00,0.000,6,0.000,0.049,2779,2164,3224,0,0,0,0,0,0
$GC,3109,-0.51,-117.3,256.7,-5.6,16,3113,0.00,2.42,0.00,0.000,4,0.000,0.061,2778,3696,3223,0,0,0,0,0,0
$GC,3149,-0.55,-117.3,258.9,-5.4,16,3154,0.10,2.42,0.00,0.000,6,0.096,0.044,2718,2110,3223,0,0,0,0,0,0
$GC,3736,-0.55,-117.3,302.0,-7.5,18,3740,0.00,2.53,0.00,0.000,4,0.000,0.061,2706,3693,3222,0,0,0,0,0,0
$GC,3793,-0.53,-117.3,306.7,-8.4,18,3798,0.15,2.50,0.00,0.000,6,0.122,0.045,2752,2083,3222,0,0,0,0,0,0
$GC,4365,-0.53,-117.3,347.9,-7.0,20,4369,0.00,2.17,0.00,0.000,4,0.000,0.053,2752,667,3220,0,0,0,0,0,0
$GC,4397,-0.53,-117.3,350.3,-7.2,20,4401,0.00,2.22,0.00,0.000,6,0.000,0.051,2747,2074,3220,0,0,0,0,0,0
$GC,4998,-0.53,-117.3,390.1,-6.5,22,5002,0.00,2.62,0.00,0.000,4,0.000,0.063,2735,3692,3219,0,0,0,0,0,0
$GC,5047,-0.53,-117.3,393.4,-6.4,22,5051,0.00,2.50,0.00,0.000,6,0.000,0.047,2735,2079,3219,0,0,0,0,0,0
$GC,5625,-0.53,-117.3,432.8,-6.9,24,5629,0.00,2.20,0.00,0.000,4,0.000,0.054,2735,671,3218,0,0,0,0,0,0
$GC,5668,-0.53,-117.3,436.3,-7.5,24,5673,0.00,2.22,0.00,0.000,6,0.000,0.051,2731,2107,3218,0,0,0,0,0,0
$GC,6261,-0.53,-117.3,480.7,-7.5,26,6265,0.00,2.28,0.00,0.000,4,0.000,0.055,2731,672,3217,0,0,0,0,0,0
$GC,6294,-0.53,-117.3,483.4,-8.2,26,6298,0.00,2.17,0.00,0.000,6,0.000,0.052,2723,2078,3217,0,0,0,0,0,0
$GC,6893,-0.53,-117.3,529.3,-7.5,28,6897,0.00,2.62,0.00,0.000,4,0.000,0.065,2713,3689,3217,0,0,0,0,0,0
$GC,6936,-0.53,-117.3,532.7,-7.3,28,6941,0.12,2.53,0.00,0.000,6,0.122,0.047,2750,2078,3217,0,0,0,0,0,0
$GC,7518,-0.53,-117.3,566.4,-5.8,30,7521,0.00,2.20,0.00,0.000,4,0.000,0.055,2750,664,3216,0,0,0,0,0,0
$GC,7551,-0.54,-117.3,568.5,-6.0,30,7555,0.00,2.20,0.00,0.000,6,0.000,0.052,2747,2079,3216,0,0,0,0,0,0
$GC,8150,-0.54,-117.3,604.4,-6.0,32,8154,0.00,2.65,0.00,0.000,4,0.000,0.065,2735,3694,3215,0,0,0,0,0,0
$GC,8201,-0.55,-117.3,607.6,-6.7,32,8206,0.00,2.53,0.00,0.000,6,0.000,0.047,2735,2080,3215,0,0,0,0,0,0
$GC,8777,-0.55,-117.3,644.8,-6.4,34,8781,0.00,2.20,0.00,0.000,4,0.000,0.056,2735,670,3214,0,0,0,0,0,0
$GC,8822,-0.55,-117.3,647.7,-6.2,34,8826,0.00,2.20,0.00,0.000,6,0.000,0.053,2730,2080,3214,0,0,0,0,0,0
$GC,9417,-0.55,-117.3,688.1,-6.9,36,9421,0.00,2.65,0.00,0.000,4,0.000,0.066,2718,3694,3213,0,0,0,0,0,0
$GC,9477,-0.55,-117.3,692.7,-7.0,36,9482,0.00,2.53,0.00,0.000,6,0.000,0.048,2718,2084,3213,0,0,0,0,0,0
$GC,10044,-0.55,-117.3,732.2,-6.9,38,10048,0.00,2.20,0.00,0.000,4,0.000,0.057,2718,671,3213,0,0,0,0,0,0
$GC,10076,-0.55,-117.3,734.8,-7.4,38,10080,0.00,2.22,0.00,0.000,6,0.000,0.053,2710,2084,3213,0,0,0,0,0,0
$GC,10683,-0.55,-117.3,778.5,-7.4,40,10688,0.10,2.62,0.00,0.000,4,0.154,0.067,2730,3694,3212,0,0,0,0,0,0
$GC,10744,-0.57,-117.3,782.6,-6.5,40,10748,0.00,2.53,0.00,0.000,6,0.000,0.048,2729,2086,3212,0,0,0,0,0,0
$GC,11308,-0.57,-117.3,817.2,-6.1,42,11312,0.00,2.22,0.00,0.000,4,0.000,0.057,2729,669,3212,0,0,0,0,0,0
$GC,11340,-0.57,-117.3,819.4,-7.0,42,11344,0.00,2.22,0.00,0.000,6,0.000,0.054,2723,2091,3211,0,0,0,0,0,0
$GC,11945,-0.57,-117.3,856.1,-5.9,44,11950,0.00,2.62,0.00,0.000,4,0.000,0.066,2711,3687,3211,0,0,0,0,0,0
$GC,12012,-0.57,-117.3,860.4,-7.3,44,12016,0.00,2.50,0.00,0.000,6,0.000,0.047,2710,2092,3211,0,0,0,0,0,0
$GC,12571,-0.57,-117.3,896.3,-6.5,46,12572,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2091,3210,0,0,0,0,0,0
$GC,12872,-0.57,-117.3,916.6,-6.6,47,12873,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2091,3210,0,0,0,0,0,0
$GC,13174,-0.57,-117.3,935.3,-6.5,48,13178,0.00,2.62,0.00,0.000,4,0.000,0.065,2699,3693,3210,0,0,0,0,0,0
$GC,13211,-0.57,-117.3,937.9,-6.9,48,13216,0.12,2.53,0.00,0.000,6,0.129,0.050,2737,2094,3210,0,0,0,0,0,0
$GC,13806,-0.57,-117.3,966.5,-4.8,50,13810,0.00,2.22,0.00,0.000,4,0.000,0.057,2738,671,3210,0,0,0,0,0,0
$GC,13846,-0.58,-117.3,968.4,-5.1,50,13850,0.00,2.25,0.00,0.000,6,0.000,0.055,2732,2089,3209,0,0,0,0,0,0
$STATE,14430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14430,begin apogee
$GC,14436,-0.22,0.0,995.6,4.7,52,14546,0.35,0.00,107.30,1.229,6,0.103,0.000,2849,2090,2735,0,0,0,0,0,0
$STATE,14547,end apogee,CONTROL_FINISHED_OK
$STATE,14547,begin climb
$GC,14550,0.50,117.3,995.6,0.0,52,14675,0.65,2.67,114.55,1.193,4,0.064,0.055,3092,558,2257,0,0,0,0,0,0
$GC,14720,0.47,117.3,985.8,10.3,52,14725,0.00,2.53,0.00,0.000,6,0.000,0.050,3092,2056,2251,0,0,0,0,0,0
$GC,15172,0.44,117.3,936.6,11.1,54,15177,0.00,2.47,0.00,0.000,4,0.000,0.063,3092,3582,2246,0,0,0,0,0,0
$GC,15212,0.40,117.3,931.2,12.3,54,15217,0.20,2.38,0.00,0.000,6,0.154,0.049,3048,2067,2244,0,0,0,0,0,0
$GC,15799,0.39,117.3,885.1,7.4,56,15800,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2067,2242,0,0,0,0,0,0
$GC,16099,0.38,117.3,862.8,7.4,57,16104,0.00,2.38,0.00,0.000,4,0.000,0.059,3057,547,2242,0,0,0,0,0,0
$GC,16123,0.37,117.3,861.1,7.2,57,16127,0.00,2.38,0.00,0.000,6,0.000,0.051,3057,2065,2242,0,0,0,0,0,0
$GC,16729,0.35,117.3,814.3,7.7,59,16733,0.00,2.42,0.00,0.000,4,0.000,0.063,3057,3573,2241,0,0,0,0,0,0
$GC,16773,0.33,117.3,810.1,8.2,59,16778,0.15,2.38,0.00,0.000,6,0.146,0.049,3027,2062,2241,0,0,0,0,0,0
$GC,17356,0.33,117.3,772.7,6.6,61,17357,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2058,2240,0,0,0,0,0,0
$GC,17655,0.33,117.3,754.2,6.4,62,17659,0.00,2.45,0.00,0.000,4,0.000,0.064,3026,3578,2240,0,0,0,0,0,0
$GC,17681,0.33,117.3,752.2,6.2,62,17685,0.00,2.38,0.00,0.000,6,0.000,0.049,3034,2061,2239,0,0,0,0,0,0
$GC,18285,0.33,117.3,713.1,6.5,64,18286,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2059,2239,0,0,0,0,0,0
$GC,18586,0.33,117.3,692.8,6.6,65,18587,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2058,2239,0,0,0,0,0,0
$GC,18886,0.33,117.3,673.5,6.6,66,18890,0.00,2.47,0.00,0.000,4,0.000,0.063,3034,3581,2239,0,0,0,0,0,0
$GC,18909,0.33,117.3,672.0,7.1,66,18913,0.00,2.38,0.00,0.000,6,0.000,0.049,3043,2060,2238,0,0,0,0,0,0
$GC,19512,0.33,117.3,629.2,7.0,68,19513,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2057,2238,0,0,0,0,0,0
$GC,19814,0.33,117.3,608.0,7.0,69,19815,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2056,2238,0,0,0,0,0,0
$GC,20113,0.33,117.3,588.6,6.9,70,20114,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2056,2238,0,0,0,0,0,0
$GC,20414,0.33,117.3,570.5,6.7,71,20418,0.00,2.47,0.00,0.000,4,0.000,0.063,3043,3583,2238,0,0,0,0,0,0
$GC,20441,0.32,117.3,568.6,7.8,71,20445,0.00,2.40,0.00,0.000,6,0.000,0.049,3053,2060,2238,0,0,0,0,0,0
$GC,21038,0.32,117.3,527.8,6.9,73,21042,0.00,2.38,0.00,0.000,4,0.000,0.058,3057,548,2238,0,0,0,0,0,0
$GC,21077,0.32,117.3,525.2,7.2,73,21082,0.12,2.38,0.00,0.000,6,0.138,0.051,3022,2075,2238,0,0,0,0,0,0
$GC,21664,0.33,141.3,494.6,5.3,75,21689,0.00,2.42,19.85,0.880,4,0.000,0.063,3022,3574,2158,0,0,0,0,0,0
$GC,21735,0.33,141.3,490.0,6.1,75,21739,0.00,2.38,0.00,0.000,6,0.000,0.047,3027,2066,2155,0,0,0,0,0,0
$GC,22290,0.34,151.2,457.2,5.8,77,22305,0.00,2.40,10.23,0.806,4,0.000,0.057,3037,540,2117,0,0,0,0,0,0
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$STATE,29300,end climb,SURFACE_DEPTH_REACHED
$STATE,29300,begin surface coast
$FINISH,3.5,NaN
$STATE,29306,end surface coast,CONTROL_FINISHED_OK
$STATE,29306,begin surface
$SM_CCo,29387,0.00,0.000,0,0,1402,326.74
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$TT8_MAMPS,0.026964
$HUMID,42.28
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.60
$XPDR_PINGS,1
$24V_AH,22.0,78.609
$10V_AH,9.8,81.695
$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
$DEVICE_SECS,21.600,201.100,406.375,0.000,0.000,26.672,30.988,112.346,0.250,0.000,13.677,1199.007,23933.051,540.846,3550.275,452.646,33.377,2226.439,0.000,3280.086,0.000,0.535,0.000
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$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,3684,108
$CAP_FILE_SIZE,217901,0
$CFSIZE,260165632,158732288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.170,102.4,1
$GPS,280811,092337,4738.457,-12526.972,53,1.5,53,18.7