version: 66.07
glider: 187
mission: 4
dive: 610
start: 8 4 111 16 8 35
data:
$ID,187
$MISSION,4
$DIVE,610
$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,-1585513.2
$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,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
$GPS1,040811,160124,4749.060,-12518.711,28,0.9,45,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-78.5
$GPS2,040811,160737,4749.033,-12518.670,11,1.0,16,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.091,0.178
$KALMAN_X,286520.5,173.6,-288.3,-300739.9,203.8
$KALMAN_Y,-541234.2,69.5,122.6,545716.5,-2284.9
$MHEAD_RNG_PITCHd_Wd,54.7,9872,-13.6,-6.111
$D_GRID,539
$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,15,-0.50,-117.3,0.0,0.0,0,74,0.00,0.00,-56.15,0.000,2,0.000,0.000,131,2169,2562,0,0,0,0,0,0
$GC,77,-0.50,-117.3,3.4,-3.0,6,112,10.62,2.45,-13.52,0.000,4,0.226,0.060,2750,656,3216,0,0,0,0,0,0
$GC,270,-0.47,-117.3,32.4,-11.3,23,274,0.00,2.38,0.00,0.000,6,0.000,0.047,2742,2176,3219,0,0,0,0,0,0
$GC,470,-0.45,-117.3,54.8,-11.1,41,475,0.12,2.42,0.00,0.000,4,0.145,0.059,2769,3692,3220,0,0,0,0,0,0
$GC,493,-0.45,-117.3,57.6,-10.3,42,500,0.00,2.38,0.00,0.000,6,0.000,0.043,2768,2154,3221,0,0,0,0,0,0
$GC,691,-0.45,-117.3,75.3,-9.4,61,695,0.00,2.33,0.00,0.000,4,0.000,0.049,2768,671,3222,0,0,0,0,0,0
$GC,721,-0.45,-117.3,78.1,-10.5,63,725,0.00,2.30,0.00,0.000,6,0.000,0.047,2760,2170,3222,0,0,0,0,0,0
$GC,919,-0.45,-117.3,98.8,-9.5,81,923,0.00,2.42,0.00,0.000,4,0.000,0.059,2749,3697,3223,0,0,0,0,0,0
$GC,952,-0.45,-117.3,102.1,-10.2,82,957,0.00,2.35,0.00,0.000,6,0.000,0.042,2749,2174,3223,0,0,0,0,0,0
$GC,1145,-0.45,-117.3,119.4,-8.9,92,1149,0.00,2.35,0.00,0.000,4,0.000,0.048,2748,662,3223,0,0,0,0,0,0
$GC,1188,-0.45,-117.3,123.4,-8.1,94,1193,0.12,2.35,0.00,0.000,6,0.137,0.047,2777,2193,3223,0,0,0,0,0,0
$GC,1385,-0.45,-117.3,134.5,-4.9,104,1389,0.00,2.38,0.00,0.000,4,0.000,0.060,2769,3692,3223,0,0,0,0,0,0
$GC,1432,-0.46,-117.3,136.6,-5.1,106,1436,0.00,2.28,0.00,0.000,6,0.000,0.041,2768,2203,3223,0,0,0,0,0,0
$GC,1629,-0.48,-117.3,146.2,-5.0,116,1633,0.00,2.40,0.00,0.000,4,0.000,0.048,2767,664,3223,0,0,0,0,0,0
$GC,1651,-0.49,-117.3,147.4,-5.3,117,1655,0.00,2.25,0.00,0.000,6,0.000,0.047,2764,2126,3222,0,0,0,0,0,0
$GC,1853,-0.51,-117.3,159.8,-6.5,127,1858,0.00,2.50,0.00,0.000,4,0.000,0.060,2758,3689,3223,0,0,0,0,0,0
$GC,1925,-0.51,-117.3,165.0,-7.6,130,1929,0.00,2.22,0.00,0.000,6,0.000,0.043,2757,2236,3223,0,0,0,0,0,0
$GC,2124,-0.51,-117.3,179.9,-7.8,140,2128,0.00,2.42,0.00,0.000,4,0.000,0.050,2757,670,3222,0,0,0,0,0,0
$GC,2167,-0.51,-117.3,183.7,-8.2,142,2171,0.00,2.42,0.00,0.000,6,0.000,0.049,2751,2237,3222,0,0,0,0,0,0
$GC,2370,-0.51,-117.3,199.4,-7.6,152,2374,0.00,2.42,0.00,0.000,4,0.000,0.050,2750,671,3223,0,0,0,0,0,0
$GC,2404,-0.51,-117.3,202.1,-8.4,153,2408,0.00,2.40,0.00,0.000,6,0.000,0.049,2745,2224,3222,0,0,0,0,0,0
$GC,2595,-0.51,-117.3,217.0,-8.0,163,2599,0.00,2.35,0.00,0.000,4,0.000,0.061,2735,3691,3221,0,0,0,0,0,0
$GC,2616,-0.51,-117.3,218.9,-8.6,164,2620,0.00,2.30,0.00,0.000,6,0.000,0.044,2735,2222,3221,0,0,0,0,0,0
$GC,2819,-0.51,-117.3,235.4,-8.2,174,2824,0.00,2.45,0.00,0.000,4,0.000,0.050,2734,661,3220,0,0,0,0,0,0
$GC,2869,-0.51,-117.3,239.9,-8.2,176,2873,0.00,2.40,0.00,0.000,6,0.000,0.049,2726,2215,3220,0,0,0,0,0,0
$GC,3063,-0.50,-117.3,255.5,-8.2,185,3065,0.10,0.00,0.00,0.000,6,0.154,0.000,2755,2216,3220,0,0,0,0,0,0
$GC,3247,-0.50,-117.3,267.3,-6.2,194,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2215,3220,0,0,0,0,0,0
$GC,3432,-0.50,-117.3,278.4,-5.8,203,3436,0.00,2.45,0.00,0.000,4,0.000,0.051,2755,662,3219,0,0,0,0,0,0
$GC,3476,-0.50,-117.3,281.2,-6.2,205,3480,0.00,2.38,0.00,0.000,6,0.000,0.050,2749,2196,3219,0,0,0,0,0,0
$GC,3674,-0.50,-117.3,292.6,-5.8,215,3678,0.00,2.42,0.00,0.000,4,0.000,0.063,2738,3692,3219,0,0,0,0,0,0
$GC,3706,-0.50,-117.3,294.7,-7.0,216,3710,0.00,2.33,0.00,0.000,6,0.000,0.044,2737,2183,3218,0,0,0,0,0,0
$GC,3899,-0.50,-117.3,307.0,-6.7,225,3904,0.00,2.42,0.00,0.000,4,0.000,0.052,2737,659,3218,0,0,0,0,0,0
$GC,3938,-0.50,-117.3,309.9,-7.0,227,3943,0.00,2.40,0.00,0.000,6,0.000,0.050,2729,2189,3218,0,0,0,0,0,0
$GC,4144,-0.50,-117.3,324.3,-7.2,237,4148,0.00,2.45,0.00,0.000,4,0.000,0.062,2718,3694,3217,0,0,0,0,0,0
$GC,4187,-0.50,-117.3,327.9,-7.7,239,4192,0.12,2.35,0.00,0.000,6,0.123,0.044,2756,2177,3217,0,0,0,0,0,0
$GC,4388,-0.50,-117.3,339.1,-5.6,249,4392,0.00,2.38,0.00,0.000,4,0.000,0.052,2756,666,3217,0,0,0,0,0,0
$GC,4427,-0.51,-117.3,341.8,-6.4,251,4431,0.00,2.35,0.00,0.000,6,0.000,0.050,2751,2183,3217,0,0,0,0,0,0
$GC,4631,-0.51,-117.3,354.1,-6.4,261,4635,0.00,2.42,0.00,0.000,4,0.000,0.063,2741,3689,3216,0,0,0,0,0,0
$GC,4666,-0.51,-117.3,356.3,-6.6,262,4671,0.00,2.35,0.00,0.000,6,0.000,0.044,2739,2171,3216,0,0,0,0,0,0
$GC,4857,-0.51,-117.3,369.3,-6.7,272,4861,0.00,2.38,0.00,0.000,4,0.000,0.051,2739,664,3215,0,0,0,0,0,0
$GC,4896,-0.51,-117.3,372.2,-7.7,274,4901,0.00,2.38,0.00,0.000,6,0.000,0.050,2731,2180,3215,0,0,0,0,0,0
$GC,5100,-0.51,-117.3,386.8,-7.3,284,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2180,3215,0,0,0,0,0,0
$GC,5286,-0.51,-117.3,400.3,-7.5,293,5290,0.00,2.40,0.00,0.000,4,0.000,0.053,2732,669,3215,0,0,0,0,0,0
$GC,5330,-0.51,-117.3,404.0,-8.0,295,5335,0.10,2.35,0.00,0.000,6,0.143,0.051,2752,2168,3214,0,0,0,0,0,0
$GC,5530,-0.51,-117.3,415.8,-6.0,305,5535,0.00,2.45,0.00,0.000,4,0.000,0.063,2743,3693,3214,0,0,0,0,0,0
$GC,5564,-0.52,-117.3,418.1,-6.9,306,5569,0.00,2.40,0.00,0.000,6,0.000,0.047,2742,2170,3214,0,0,0,0,0,0
$GC,5755,-0.52,-117.3,430.7,-6.8,316,5759,0.00,2.38,0.00,0.000,4,0.000,0.053,2743,660,3214,0,0,0,0,0,0
$GC,5793,-0.52,-117.3,433.4,-7.3,317,5798,0.00,2.35,0.00,0.000,6,0.000,0.051,2735,2169,3214,0,0,0,0,0,0
$GC,5986,-0.52,-117.3,446.2,-6.8,327,5990,0.00,2.47,0.00,0.000,4,0.000,0.064,2724,3692,3213,0,0,0,0,0,0
$GC,6018,-0.52,-117.3,448.6,-7.4,328,6026,0.00,2.40,0.00,0.000,6,0.000,0.046,2723,2155,3213,0,0,0,0,0,0
$GC,6210,-0.52,-117.3,463.3,-8.0,338,6214,0.00,2.33,0.00,0.000,4,0.000,0.054,2724,671,3213,0,0,0,0,0,0
$GC,6250,-0.52,-117.3,466.6,-8.6,340,6255,0.10,2.35,0.00,0.000,6,0.146,0.051,2748,2166,3213,0,0,0,0,0,0
$GC,6452,-0.52,-117.3,480.4,-6.7,350,6456,0.00,2.50,0.00,0.000,4,0.000,0.063,2740,3691,3213,0,0,0,0,0,0
$GC,6485,-0.53,-117.3,482.7,-7.0,351,6489,0.00,2.40,0.00,0.000,6,0.000,0.047,2739,2157,3213,0,0,0,0,0,0
$GC,6679,-0.53,-117.3,495.5,-6.6,361,6683,0.00,2.35,0.00,0.000,4,0.000,0.054,2739,665,3212,0,0,0,0,0,0
$GC,6723,-0.53,-117.3,498.9,-6.9,363,6727,0.00,2.33,0.00,0.000,6,0.000,0.051,2732,2155,3212,0,0,0,0,0,0
$GC,6932,-0.53,-117.3,514.3,-7.5,373,6936,0.00,2.50,0.00,0.000,4,0.000,0.063,2720,3691,3212,0,0,0,0,0,0
$GC,6972,-0.53,-117.3,517.1,-7.2,374,6977,0.00,2.42,0.00,0.000,6,0.000,0.046,2719,2143,3211,0,0,0,0,0,0
$GC,7163,-0.53,-117.3,531.4,-7.4,384,7168,0.00,2.35,0.00,0.000,4,0.000,0.054,2719,670,3212,0,0,0,0,0,0
$GC,7191,-0.53,-117.3,533.6,-8.2,385,7196,0.12,2.35,0.00,0.000,6,0.134,0.051,2748,2165,3211,0,0,0,0,0,0
$STATE,7278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7278,begin apogee
$GC,7287,-0.22,0.0,539.1,6.2,389,7388,0.30,0.00,99.00,0.923,6,0.099,0.000,2851,2055,2735,0,0,0,0,0,0
$STATE,7389,end apogee,CONTROL_FINISHED_OK
$STATE,7389,begin climb
$GC,7392,0.50,117.3,542.3,0.0,394,7508,0.62,2.58,103.75,0.899,4,0.067,0.053,3088,560,2255,0,0,0,0,0,0
$GC,7520,0.48,123.4,538.3,5.9,400,7534,0.00,2.45,6.72,0.700,6,0.000,0.048,3088,2061,2230,0,0,0,0,0,0
$GC,7727,0.46,123.4,520.9,8.6,410,7731,0.00,2.47,0.00,0.000,4,0.000,0.060,3088,3577,2224,0,0,0,0,0,0
$GC,7791,0.42,123.4,514.8,10.5,413,7797,0.15,2.38,0.00,0.000,6,0.150,0.045,3057,2083,2222,0,0,0,0,0,0
$GC,7994,0.42,123.4,498.8,7.6,423,7998,0.00,2.45,0.00,0.000,4,0.000,0.054,3067,538,2222,0,0,0,0,0,0
$GC,8020,0.42,123.4,496.9,7.6,424,8025,0.00,2.40,0.00,0.000,6,0.000,0.050,3067,2073,2221,0,0,0,0,0,0
$GC,8215,0.41,123.4,482.4,7.8,433,8220,0.00,2.40,0.00,0.000,4,0.000,0.060,3067,3575,2221,0,0,0,0,0,0
$GC,8237,0.39,123.4,480.1,8.7,434,8241,0.00,2.38,0.00,0.000,6,0.000,0.044,3078,2057,2220,0,0,0,0,0,0
$GC,8442,0.37,123.4,463.9,8.1,444,8447,0.12,2.38,0.00,0.000,4,0.148,0.054,3051,545,2220,0,0,0,0,0,0
$GC,8470,0.37,123.4,461.8,6.7,445,8475,0.00,2.40,0.00,0.000,6,0.000,0.049,3050,2081,2219,0,0,0,0,0,0
$GC,8662,0.37,123.4,449.2,6.6,454,8666,0.00,2.38,0.00,0.000,4,0.000,0.060,3051,3574,2219,0,0,0,0,0,0
$GC,8701,0.36,123.4,446.3,7.7,456,8705,0.00,2.35,0.00,0.000,6,0.000,0.044,3060,2076,2218,0,0,0,0,0,0
$GC,8904,0.36,123.4,432.6,6.8,466,8905,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2075,2218,0,0,0,0,0,0
$GC,9088,0.36,123.4,420.1,6.6,475,9089,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2075,2218,0,0,0,0,0,0
$GC,9274,0.36,123.4,408.4,6.4,484,9278,0.00,2.40,0.00,0.000,4,0.000,0.060,3060,3577,2217,0,0,0,0,0,0
$GC,9297,0.34,123.4,406.9,6.7,485,9302,0.12,2.38,0.00,0.000,6,0.148,0.045,3034,2073,2217,0,0,0,0,0,0
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$STATE,15256,end climb,SURFACE_DEPTH_REACHED
$STATE,15256,begin surface coast
$FINISH,1.1,1.022242
$STATE,15340,end surface coast,CONTROL_FINISHED_OK
$STATE,15340,begin surface
$SM_CCo,15418,0.00,0.000,0,0,1300,352.01
$SM_GC,2.30,7.90,0.00,0.00,0.034,0.000,0.000,124,2197,1300,-8.61,0.62,352.01
$IRIDIUM_FIX,4729.30,-12521.83,040811,111116
$TT8_MAMPS,0.026964
$HUMID,42.43
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.60
$XPDR_PINGS,3
$24V_AH,23.3,68.262
$10V_AH,9.8,75.151
$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,21.175,263.450,410.600,0.000,0.000,24.819,29.486,176.364,0.750,0.000,17.689,1843.684,10896.156,590.579,1996.376,454.258,33.383,1679.987,0.000,1736.138,0.000,0.536,0.000
$DEVICE_MAMPS,225.675,81.855,923.355,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,263.318,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297616
$DATA_FILE_SIZE,43592,849
$CAP_FILE_SIZE,188526,0
$CFSIZE,260165632,164814848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,253.2,1
$GPS,040811,202701,4749.457,-12517.102,50,1.2,50,18.7