version: 66.07
glider: 187
mission: 4
dive: 230
start: 5 17 111 10 32 57
data:
$ID,187
$MISSION,4
$DIVE,230
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,380
$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,1
$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,375
$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,-1584111.5
$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,2905
$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,35
$R_STBD_OVSHOOT,30
$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,0
$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
$GPS1,170511,102507,4719.572,-12622.268,37,0.8,37,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-76.4
$GPS2,170511,103201,4719.587,-12622.280,15,0.9,15,18.6
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.207,0.114
$KALMAN_X,5542.9,-134.8,178.1,40135.9,746.0
$KALMAN_Y,4614.2,206.0,-396.5,28394.2,941.1
$MHEAD_RNG_PITCHd_Wd,36.1,127453,-20.8,-10.000
$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,-0.72,-117.3,0.0,0.0,0,90,0.00,0.00,-71.60,0.000,2,0.000,0.000,128,2163,2849,0,0,0,0,0,0
$GC,94,-0.72,-117.3,3.4,-4.8,11,117,10.18,2.42,-7.35,0.000,4,0.238,0.063,2665,663,3216,0,0,0,0,0,0
$GC,276,-0.68,-117.3,52.1,-21.1,44,283,0.00,2.40,0.00,0.000,6,0.000,0.049,2655,2172,3219,0,0,0,0,0,0
$GC,349,-0.63,-117.3,68.1,-23.4,57,357,0.17,0.00,0.00,0.000,6,0.166,0.000,2702,2172,3220,0,0,0,0,0,0
$GC,426,-0.61,-117.3,81.3,-16.0,70,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2172,3220,0,0,0,0,0,0
$GC,499,-0.60,-117.3,93.2,-15.0,83,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2172,3220,0,0,0,0,0,0
$GC,577,-0.60,-117.3,104.7,-14.3,94,581,0.00,2.45,0.00,0.000,4,0.000,0.060,2693,3691,3220,0,0,0,0,0,0
$GC,598,-0.60,-117.3,107.8,-12.9,95,605,0.00,2.38,0.00,0.000,6,0.000,0.044,2692,2165,3220,0,0,0,0,0,0
$GC,733,-0.59,-117.3,125.5,-13.4,108,737,0.00,2.33,0.00,0.000,4,0.000,0.051,2692,656,3220,0,0,0,0,0,0
$GC,807,-0.59,-117.3,135.3,-13.4,114,812,0.12,2.33,0.00,0.000,6,0.162,0.049,2716,2154,3221,0,0,0,0,0,0
$GC,941,-0.59,-117.3,151.2,-11.4,126,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2154,3221,0,0,0,0,0,0
$GC,1070,-0.59,-117.3,165.0,-10.5,138,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2154,3221,0,0,0,0,0,0
$GC,1196,-0.59,-117.3,178.1,-10.1,150,1200,0.00,2.45,0.00,0.000,4,0.000,0.062,2707,3694,3221,0,0,0,0,0,0
$GC,1228,-0.59,-117.3,181.6,-10.7,152,1235,0.00,2.42,0.00,0.000,6,0.000,0.044,2706,2123,3221,0,0,0,0,0,0
$GC,1362,-0.59,-117.3,196.3,-11.2,165,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2120,3221,0,0,0,0,0,0
$GC,1490,-0.59,-117.3,210.0,-10.6,177,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2119,3221,0,0,0,0,0,0
$GC,1617,-0.59,-117.3,223.8,-10.9,189,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2119,3221,0,0,0,0,0,0
$GC,1745,-0.59,-117.3,237.7,-10.9,201,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2119,3221,0,0,0,0,0,0
$GC,1873,-0.59,-117.3,251.7,-10.7,213,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2119,3221,0,0,0,0,0,0
$GC,2000,-0.59,-117.3,265.1,-10.2,225,2004,0.00,2.53,0.00,0.000,4,0.000,0.060,2695,3693,3221,0,0,0,0,0,0
$GC,2044,-0.59,-117.3,270.0,-10.9,228,2051,0.00,2.45,0.00,0.000,6,0.000,0.045,2694,2127,3221,0,0,0,0,0,0
$GC,2180,-0.59,-117.3,284.8,-11.1,241,2181,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2123,3221,0,0,0,0,0,0
$GC,2306,-0.59,-117.3,298.9,-11.0,253,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2123,3221,0,0,0,0,0,0
$GC,2433,-0.59,-117.3,313.1,-11.0,265,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2123,3221,0,0,0,0,0,0
$GC,2562,-0.59,-117.3,327.7,-11.8,277,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2124,3221,0,0,0,0,0,0
$GC,2688,-0.59,-117.3,341.8,-10.9,289,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2124,3221,0,0,0,0,0,0
$GC,2816,-0.59,-117.3,355.2,-10.5,301,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2123,3221,0,0,0,0,0,0
$GC,2944,-0.59,-117.3,368.4,-10.3,313,2948,0.00,2.50,0.00,0.000,4,0.000,0.062,2683,3691,3220,0,0,0,0,0,0
$GC,2989,-0.59,-117.3,373.5,-10.9,317,2994,0.12,2.40,0.00,0.000,6,0.154,0.045,2717,2122,3220,0,0,0,0,0,0
$GC,3124,-0.60,-117.3,385.6,-8.9,329,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2117,3221,0,0,0,0,0,0
$GC,3253,-0.61,-117.3,396.8,-8.9,341,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2116,3220,0,0,0,0,0,0
$GC,3379,-0.63,-117.3,408.3,-9.4,353,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2116,3220,0,0,0,0,0,0
$GC,3506,-0.64,-117.3,419.8,-9.0,365,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2117,3220,0,0,0,0,0,0
$GC,3635,-0.66,-117.3,431.3,-8.8,377,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2117,3219,0,0,0,0,0,0
$GC,3760,-0.67,-117.3,442.7,-8.7,389,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2116,3219,0,0,0,0,0,0
$GC,3888,-0.68,-117.3,453.7,-8.2,401,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2117,3219,0,0,0,0,0,0
$GC,4015,-0.70,-117.3,464.9,-9.0,413,4017,0.12,0.00,0.00,0.000,6,0.093,0.000,2651,2117,3219,0,0,0,0,0,0
$GC,4142,-0.68,-117.3,480.5,-12.8,425,4147,0.12,2.50,0.00,0.000,4,0.159,0.062,2674,3697,3219,0,0,0,0,0,0
$GC,4175,-0.68,-117.3,484.7,-11.7,427,4182,0.00,2.40,0.00,0.000,6,0.000,0.046,2673,2125,3218,0,0,0,0,0,0
$GC,4309,-0.68,-117.3,499.5,-10.9,440,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2119,3218,0,0,0,0,0,0
$GC,4437,-0.68,-117.3,513.0,-10.3,452,4441,0.00,2.53,0.00,0.000,4,0.000,0.062,2663,3697,3217,0,0,0,0,0,0
$GC,4480,-0.68,-117.3,517.8,-10.4,455,4487,0.00,2.40,0.00,0.000,6,0.000,0.046,2662,2140,3217,0,0,0,0,0,0
$GC,4616,-0.67,-117.3,532.5,-10.8,468,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2135,3217,0,0,0,0,0,0
$GC,4743,-0.66,-117.3,546.5,-10.9,480,4745,0.10,0.00,0.00,0.000,6,0.171,0.000,2688,2134,3217,0,0,0,0,0,0
$GC,4871,-0.66,-117.3,558.3,-9.1,492,4875,0.00,2.25,0.00,0.000,4,0.000,0.054,2688,660,3217,0,0,0,0,0,0
$GC,4903,-0.66,-117.3,561.8,-9.9,494,4910,0.00,2.33,0.00,0.000,6,0.000,0.051,2680,2167,3217,0,0,0,0,0,0
$GC,5038,-0.66,-117.3,574.4,-10.0,507,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2167,3217,0,0,0,0,0,0
$GC,5166,-0.66,-117.3,587.2,-10.1,519,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2167,3217,0,0,0,0,0,0
$GC,5292,-0.66,-117.3,600.2,-10.1,531,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2167,3217,0,0,0,0,0,0
$GC,5599,-0.66,-117.3,630.2,-9.7,541,5603,0.00,2.30,0.00,0.000,4,0.000,0.054,2679,666,3216,0,0,0,0,0,0
$GC,5637,-0.66,-117.3,634.3,-10.2,542,5642,0.00,2.30,0.00,0.000,6,0.000,0.052,2669,2166,3216,0,0,0,0,0,0
$GC,5961,-0.66,-117.3,666.8,-10.2,553,5966,0.00,2.45,0.00,0.000,4,0.000,0.064,2658,3696,3216,0,0,0,0,0,0
$GC,6016,-0.66,-117.3,673.1,-11.3,554,6024,0.12,2.38,0.00,0.000,6,0.155,0.047,2691,2155,3216,0,0,0,0,0,0
$GC,6331,-0.66,-117.3,701.7,-9.3,565,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2152,3216,0,0,0,0,0,0
$GC,6636,-0.66,-117.3,729.6,-9.1,575,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2152,3215,0,0,0,0,0,0
$GC,6942,-0.66,-117.3,757.4,-9.0,585,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2152,3215,0,0,0,0,0,0
$GC,7249,-0.66,-117.3,784.0,-8.4,595,7251,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2152,3215,0,0,0,0,0,0
$GC,7555,-0.66,-117.3,811.4,-9.1,605,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2152,3214,0,0,0,0,0,0
$GC,7861,-0.66,-117.3,838.1,-8.3,615,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2152,3214,0,0,0,0,0,0
$GC,8167,-0.66,-117.3,863.9,-8.5,625,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2152,3213,0,0,0,0,0,0
$GC,8474,-0.66,-117.3,890.5,-8.8,635,8475,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2152,3213,0,0,0,0,0,0
$GC,8779,-0.66,-117.3,917.6,-8.7,645,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2152,3213,0,0,0,0,0,0
$GC,9086,-0.67,-117.3,944.6,-8.6,655,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2152,3212,0,0,0,0,0,0
$GC,9393,-0.68,-117.3,971.5,-8.8,665,9395,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2152,3212,0,0,0,0,0,0
$STATE,9634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9634,begin apogee
$GC,9640,-0.22,0.0,992.1,8.4,673,9745,0.43,0.00,101.15,1.234,6,0.123,0.000,2833,2055,2735,0,0,0,0,0,0
$STATE,9745,end apogee,CONTROL_FINISHED_OK
$STATE,9745,begin climb
$GC,9748,0.72,117.3,994.9,0.0,676,9867,0.90,2.58,109.20,1.206,4,0.079,0.055,3147,559,2255,0,0,0,0,0,0
$GC,9880,0.69,117.3,984.1,13.8,681,9885,0.00,2.53,0.00,0.000,6,0.000,0.050,3147,2060,2252,0,0,0,0,0,0
$GC,10217,0.66,117.3,932.2,15.4,692,10221,0.00,2.50,0.00,0.000,4,0.000,0.062,3147,3585,2245,0,0,0,0,0,0
$GC,10281,0.61,117.3,921.3,16.8,694,10286,0.20,2.45,0.00,0.000,6,0.184,0.047,3108,2067,2243,0,0,0,0,0,0
$GC,10619,0.60,117.3,877.5,12.7,705,10624,0.00,2.45,0.00,0.000,4,0.000,0.063,3108,3581,2241,0,0,0,0,0,0
$GC,10652,0.57,117.3,872.3,14.2,706,10657,0.00,2.40,0.00,0.000,6,0.000,0.048,3117,2060,2241,0,0,0,0,0,0
$GC,10983,0.55,117.3,826.3,14.1,717,10984,0.12,0.00,0.00,0.000,6,0.176,0.000,3085,2058,2240,0,0,0,0,0,0
$GC,11290,0.55,117.3,789.5,11.7,727,11294,0.00,2.45,0.00,0.000,4,0.000,0.062,3085,3581,2239,0,0,0,0,0,0
$GC,11322,0.54,117.3,784.9,13.4,728,11326,0.00,2.35,0.00,0.000,6,0.000,0.047,3094,2076,2239,0,0,0,0,0,0
$GC,11651,0.54,117.3,744.0,12.3,739,11653,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2075,2239,0,0,0,0,0,0
$GC,11959,0.54,117.3,706.4,12.1,749,11963,0.00,2.40,0.00,0.000,4,0.000,0.062,3094,3588,2239,0,0,0,0,0,0
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$STATE,18374,end climb,SURFACE_DEPTH_REACHED
$STATE,18374,begin surface coast
$FINISH,0.8,1.022648
$STATE,18402,end surface coast,CONTROL_FINISHED_OK
$STATE,18403,begin surface
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$TT8_MAMPS,0.027713
$HUMID,35.50
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$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,23.3,23.155
$10V_AH,10.2,17.525
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.750,149.225,349.500,53.150,0.000,27.016,37.404,200.710,0.000,0.000,15.828,3505.500,11438.544,610.553,2873.232,449.505,33.362,1856.931,0.000,2623.604,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297536
$DATA_FILE_SIZE,76909,1356
$CAP_FILE_SIZE,204107,0
$CFSIZE,260165632,200114176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.080,146.0,1
$GPS,170511,154207,4720.344,-12618.634,31,0.9,31,18.6