version: 66.07
glider: 187
mission: 4
dive: 609
start: 8 4 111 11 43 30
data:
$ID,187
$MISSION,4
$DIVE,609
$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,-1585512
$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,31
$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
$GPS1,040811,113600,4748.609,-12520.126,41,1.8,46,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-77.7
$GPS2,040811,114232,4748.563,-12520.135,14,1.6,14,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.137,0.146
$KALMAN_X,286220.0,444.1,320.0,-303143.6,-478.5
$KALMAN_Y,-538968.6,-449.9,65.9,543151.8,-1658.1
$MHEAD_RNG_PITCHd_Wd,58.5,11889,-13.6,-6.111
$D_GRID,537
$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,-117.3,0.0,0.0,0,69,0.00,0.00,-51.10,0.000,2,0.000,0.000,115,2185,2490,0,0,0,0,0,0
$GC,72,-0.50,-117.3,3.1,-2.7,5,107,10.65,2.45,-15.52,0.000,4,0.223,0.061,2753,663,3217,0,0,0,0,0,0
$GC,209,-0.47,-117.3,24.2,-10.5,17,214,0.00,2.35,0.00,0.000,6,0.000,0.047,2744,2179,3220,0,0,0,0,0,0
$GC,410,-0.45,-117.3,45.9,-11.5,35,415,0.10,2.40,0.00,0.000,4,0.160,0.049,2772,656,3222,0,0,0,0,0,0
$GC,440,-0.45,-117.3,49.4,-10.4,37,444,0.00,2.33,0.00,0.000,6,0.000,0.048,2764,2157,3222,0,0,0,0,0,0
$GC,639,-0.44,-117.3,67.2,-8.4,55,643,0.00,2.42,0.00,0.000,4,0.000,0.057,2753,3690,3223,0,0,0,0,0,0
$GC,661,-0.44,-117.3,69.4,-8.9,56,668,0.00,2.40,0.00,0.000,6,0.000,0.043,2753,2148,3224,0,0,0,0,0,0
$GC,862,-0.43,-117.3,87.2,-9.6,75,866,0.00,2.30,0.00,0.000,4,0.000,0.049,2752,663,3223,0,0,0,0,0,0
$GC,891,-0.42,-117.3,90.3,-9.6,77,896,0.15,2.38,0.00,0.000,6,0.128,0.047,2789,2197,3223,0,0,0,0,0,0
$GC,1087,-0.43,-117.3,106.5,-7.7,91,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2197,3224,0,0,0,0,0,0
$GC,1271,-0.44,-117.3,117.6,-5.5,100,1275,0.00,2.38,0.00,0.000,4,0.000,0.060,2782,3694,3224,0,0,0,0,0,0
$GC,1299,-0.46,-117.3,119.1,-5.0,101,1303,0.00,2.33,0.00,0.000,6,0.000,0.043,2781,2187,3224,0,0,0,0,0,0
$GC,1493,-0.47,-117.3,129.0,-5.2,110,1497,0.00,2.38,0.00,0.000,4,0.000,0.050,2781,660,3223,0,0,0,0,0,0
$GC,1537,-0.49,-117.3,131.8,-5.8,112,1542,0.00,2.38,0.00,0.000,6,0.000,0.048,2779,2191,3224,0,0,0,0,0,0
$GC,1736,-0.49,-117.3,142.9,-5.8,122,1740,0.00,2.38,0.00,0.000,4,0.000,0.060,2770,3692,3223,0,0,0,0,0,0
$GC,1758,-0.50,-117.3,144.2,-5.5,123,1762,0.00,2.33,0.00,0.000,6,0.000,0.044,2770,2179,3224,0,0,0,0,0,0
$GC,1956,-0.50,-117.3,156.1,-6.1,133,1960,0.00,2.35,0.00,0.000,4,0.000,0.050,2769,663,3223,0,0,0,0,0,0
$GC,2007,-0.51,-117.3,159.6,-6.7,135,2011,0.00,2.33,0.00,0.000,6,0.000,0.047,2761,2179,3223,0,0,0,0,0,0
$GC,2198,-0.51,-117.3,171.7,-6.5,144,2202,0.00,2.40,0.00,0.000,4,0.000,0.060,2751,3690,3223,0,0,0,0,0,0
$GC,2231,-0.52,-117.3,174.0,-7.1,145,2235,0.00,2.35,0.00,0.000,6,0.000,0.044,2750,2169,3223,0,0,0,0,0,0
$GC,2424,-0.52,-117.3,188.2,-7.5,154,2428,0.00,2.35,0.00,0.000,4,0.000,0.051,2750,661,3223,0,0,0,0,0,0
$GC,2473,-0.52,-117.3,192.3,-7.8,156,2477,0.00,2.33,0.00,0.000,6,0.000,0.049,2746,2168,3223,0,0,0,0,0,0
$GC,2666,-0.52,-117.3,207.3,-8.0,165,2670,0.00,2.45,0.00,0.000,4,0.000,0.060,2734,3694,3222,0,0,0,0,0,0
$GC,2711,-0.52,-117.3,211.2,-8.1,167,2715,0.00,2.40,0.00,0.000,6,0.000,0.044,2734,2157,3222,0,0,0,0,0,0
$GC,2909,-0.52,-117.3,227.6,-8.4,177,2913,0.00,2.33,0.00,0.000,4,0.000,0.051,2734,667,3222,0,0,0,0,0,0
$GC,2960,-0.52,-117.3,232.0,-8.5,179,2964,0.00,2.30,0.00,0.000,6,0.000,0.048,2725,2162,3222,0,0,0,0,0,0
$GC,3160,-0.51,-117.3,248.7,-8.5,189,3164,0.00,2.45,0.00,0.000,4,0.000,0.059,2714,3696,3221,0,0,0,0,0,0
$GC,3205,-0.51,-117.3,252.9,-8.8,191,3210,0.12,2.38,0.00,0.000,6,0.129,0.044,2750,2160,3221,0,0,0,0,0,0
$GC,3404,-0.53,-117.3,266.7,-6.7,201,3408,0.00,2.50,0.00,0.000,4,0.000,0.062,2744,3696,3221,0,0,0,0,0,0
$GC,3482,-0.53,-117.3,271.9,-6.8,204,3490,0.00,2.53,0.00,0.000,6,0.000,0.044,2743,2067,3220,0,0,0,0,0,0
$GC,3674,-0.54,-117.3,284.0,-6.2,214,3678,0.00,2.65,0.00,0.000,4,0.000,0.061,2742,3692,3220,0,0,0,0,0,0
$GC,3747,-0.54,-117.3,288.4,-5.8,217,3752,0.00,2.70,0.00,0.000,6,0.000,0.043,2742,1955,3220,0,0,0,0,0,0
$GC,3939,-0.56,-117.3,299.8,-5.8,226,3943,0.00,2.03,0.00,0.000,4,0.000,0.052,2742,660,3220,0,0,0,0,0,0
$GC,3956,-0.57,-117.3,300.7,-5.8,226,3961,0.00,1.90,0.00,0.000,6,0.000,0.049,2742,1885,3220,0,0,0,0,0,0
$GC,4150,-0.57,-117.3,311.3,-5.3,236,4154,0.00,2.90,0.00,0.000,4,0.000,0.060,2741,3694,3219,0,0,0,0,0,0
$GC,4227,-0.57,-117.3,315.6,-5.5,239,4232,0.00,2.62,0.00,0.000,6,0.000,0.045,2741,2023,3219,0,0,0,0,0,0
$GC,4421,-0.59,-117.3,325.8,-5.3,249,4425,0.00,2.15,0.00,0.000,4,0.000,0.053,2741,659,3219,0,0,0,0,0,0
$GC,4433,-0.61,-117.3,326.5,-5.0,249,4437,0.00,2.12,0.00,0.000,6,0.000,0.050,2741,2039,3219,0,0,0,0,0,0
$GC,4627,-0.62,-117.3,336.9,-5.4,258,4631,0.00,2.15,0.00,0.000,4,0.000,0.052,2742,661,3218,0,0,0,0,0,0
$GC,4671,-0.62,-117.3,339.8,-6.0,260,4676,0.00,2.33,0.00,0.000,6,0.000,0.050,2733,2165,3218,0,0,0,0,0,0
$GC,4870,-0.62,-117.3,352.9,-6.9,270,4874,0.00,2.47,0.00,0.000,4,0.000,0.062,2722,3694,3218,0,0,0,0,0,0
$GC,4913,-0.62,-117.3,356.0,-7.1,272,4917,0.00,2.38,0.00,0.000,6,0.000,0.044,2721,2165,3218,0,0,0,0,0,0
$GC,5118,-0.61,-117.3,371.1,-7.5,282,5122,0.00,2.38,0.00,0.000,4,0.000,0.053,2721,663,3217,0,0,0,0,0,0
$GC,5162,-0.61,-117.3,374.9,-8.8,284,5167,0.00,2.33,0.00,0.000,6,0.000,0.050,2714,2161,3218,0,0,0,0,0,0
$GC,5360,-0.59,-117.3,390.2,-7.6,294,5364,0.00,2.50,0.00,0.000,4,0.000,0.061,2703,3696,3217,0,0,0,0,0,0
$GC,5400,-0.59,-117.3,393.3,-7.6,296,5404,0.00,2.42,0.00,0.000,6,0.000,0.046,2702,2153,3217,0,0,0,0,0,0
$GC,5602,-0.57,-117.3,409.3,-8.1,306,5607,0.12,2.35,0.00,0.000,4,0.147,0.054,2741,668,3216,0,0,0,0,0,0
$GC,5640,-0.57,-117.3,412.1,-6.7,308,5645,0.00,2.35,0.00,0.000,6,0.000,0.051,2734,2166,3216,0,0,0,0,0,0
$GC,5845,-0.57,-117.3,425.0,-6.5,318,5849,0.00,2.50,0.00,0.000,4,0.000,0.063,2722,3695,3216,0,0,0,0,0,0
$GC,5877,-0.57,-117.3,427.3,-7.0,319,5882,0.00,2.40,0.00,0.000,6,0.000,0.047,2721,2154,3216,0,0,0,0,0,0
$GC,6070,-0.57,-117.3,440.7,-7.2,329,6074,0.00,2.35,0.00,0.000,4,0.000,0.054,2722,668,3215,0,0,0,0,0,0
$GC,6110,-0.57,-117.3,443.9,-8.6,331,6114,0.00,2.33,0.00,0.000,6,0.000,0.050,2713,2166,3215,0,0,0,0,0,0
$GC,6314,-0.56,-117.3,459.8,-8.0,341,6318,0.00,2.47,0.00,0.000,4,0.000,0.062,2702,3696,3215,0,0,0,0,0,0
$GC,6353,-0.56,-117.3,463.1,-8.5,343,6358,0.12,2.42,0.00,0.000,6,0.130,0.046,2740,2155,3215,0,0,0,0,0,0
$GC,6558,-0.56,-117.3,475.9,-6.2,353,6562,0.00,2.33,0.00,0.000,4,0.000,0.054,2740,664,3215,0,0,0,0,0,0
$GC,6597,-0.56,-117.3,478.8,-7.1,355,6601,0.00,2.33,0.00,0.000,6,0.000,0.051,2734,2158,3214,0,0,0,0,0,0
$GC,6801,-0.56,-117.3,491.5,-6.3,365,6805,0.00,2.45,0.00,0.000,4,0.000,0.061,2723,3692,3214,0,0,0,0,0,0
$GC,6829,-0.56,-117.3,493.4,-6.6,366,6833,0.00,2.45,0.00,0.000,6,0.000,0.047,2723,2137,3214,0,0,0,0,0,0
$GC,7020,-0.56,-117.3,506.7,-7.1,375,7024,0.00,2.38,0.00,0.000,4,0.000,0.054,2722,657,3214,0,0,0,0,0,0
$GC,7060,-0.56,-117.3,509.5,-7.7,377,7064,0.00,2.33,0.00,0.000,6,0.000,0.052,2714,2149,3214,0,0,0,0,0,0
$GC,7265,-0.55,-117.3,524.8,-7.7,387,7269,0.00,2.47,0.00,0.000,4,0.000,0.063,2703,3691,3213,0,0,0,0,0,0
$GC,7308,-0.55,-117.3,528.4,-7.9,389,7313,0.12,2.42,0.00,0.000,6,0.128,0.046,2741,2149,3213,0,0,0,0,0,0
$STATE,7463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7463,begin apogee
$GC,7469,-0.22,0.0,538.2,6.2,397,7572,0.32,0.00,99.38,0.927,6,0.101,0.000,2852,2049,2735,0,0,0,0,0,0
$STATE,7572,end apogee,CONTROL_FINISHED_OK
$STATE,7572,begin climb
$GC,7577,0.50,117.3,540.8,0.0,402,7690,0.62,2.60,104.18,0.899,4,0.067,0.056,3078,3576,2255,0,0,0,0,0,0
$GC,7712,0.47,117.3,535.4,6.8,408,7720,0.00,2.50,0.00,0.000,6,0.000,0.044,3089,2066,2251,0,0,0,0,0,0
$GC,7906,0.44,117.3,519.9,8.5,418,7907,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2065,2248,0,0,0,0,0,0
$GC,8089,0.41,117.3,504.2,8.4,427,8091,0.12,0.00,0.00,0.000,6,0.155,0.000,3054,2061,2246,0,0,0,0,0,0
$GC,8274,0.41,117.3,491.9,6.8,436,8278,0.00,2.45,0.00,0.000,4,0.000,0.061,3053,3576,2245,0,0,0,0,0,0
$GC,8303,0.40,117.3,489.8,8.3,437,8307,0.00,2.40,0.00,0.000,6,0.000,0.046,3062,2056,2243,0,0,0,0,0,0
$GC,8499,0.39,117.3,475.6,7.1,447,8503,0.00,2.38,0.00,0.000,4,0.000,0.055,3073,546,2243,0,0,0,0,0,0
$GC,8522,0.38,117.3,474.1,6.8,448,8527,0.12,2.40,0.00,0.000,6,0.144,0.049,3038,2078,2243,0,0,0,0,0,0
$GC,8720,0.38,127.5,462.5,5.8,458,8734,0.00,2.45,7.70,0.747,4,0.000,0.060,3038,3573,2215,0,0,0,0,0,0
$GC,8768,0.38,127.5,459.2,7.1,460,8772,0.00,2.38,0.00,0.000,6,0.000,0.044,3044,2060,2214,0,0,0,0,0,0
$GC,8967,0.38,127.5,446.8,6.5,470,8971,0.00,2.40,0.00,0.000,4,0.000,0.054,3055,541,2214,0,0,0,0,0,0
$GC,8999,0.38,127.5,444.4,7.0,471,9004,0.00,2.40,0.00,0.000,6,0.000,0.050,3055,2071,2214,0,0,0,0,0,0
$GC,9193,0.38,127.5,430.8,7.4,481,9197,0.00,2.42,0.00,0.000,4,0.000,0.060,3055,3575,2212,0,0,0,0,0,0
$GC,9239,0.36,127.5,427.1,8.6,483,9243,0.00,2.35,0.00,0.000,6,0.000,0.046,3065,2070,2212,0,0,0,0,0,0
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$STATE,15233,end climb,SURFACE_DEPTH_REACHED
$STATE,15233,begin surface coast
$FINISH,1.1,1.011400
$STATE,15313,end surface coast,CONTROL_FINISHED_OK
$STATE,15313,begin surface
$SM_CCo,15393,0.00,0.000,0,0,1206,374.82
$SM_GC,2.11,7.88,0.00,0.00,0.034,0.000,0.000,138,2171,1206,-8.60,-0.08,374.82
$IRIDIUM_FIX,4732.49,-12353.85,040811,060622
$TT8_MAMPS,0.026964
$HUMID,41.25
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.80
$XPDR_PINGS,1
$24V_AH,23.2,68.156
$10V_AH,9.8,75.086
$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,21.300,273.050,416.950,0.000,0.000,28.495,31.913,185.007,0.250,0.000,15.218,1859.751,10834.282,588.373,2028.692,456.870,33.367,1689.361,0.000,1756.512,0.000,0.536,0.000
$DEVICE_MAMPS,223.380,91.800,927.180,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,255.208,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297604
$DATA_FILE_SIZE,43513,838
$CAP_FILE_SIZE,192358,0
$CFSIZE,260165632,164888576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,269.4,1
$GPS,040811,160124,4749.060,-12518.711,28,0.9,45,18.7