version: 66.07
glider: 187
mission: 4
dive: 540
start: 7 12 111 18 35 18
data:
$ID,187
$MISSION,4
$DIVE,540
$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,-1585413
$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,32
$R_STBD_OVSHOOT,42
$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
$GPS1,120711,182636,4749.037,-12520.426,40,1.4,40,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-78.0
$GPS2,120711,183419,4749.038,-12520.399,13,1.9,18,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.199,-0.017
$KALMAN_X,194964.2,-131.9,74.6,-211391.3,-352.7
$KALMAN_Y,-366172.2,306.9,807.1,369736.2,-2608.0
$MHEAD_RNG_PITCHd_Wd,170.5,155158,-13.6,-6.111
$D_GRID,555
$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,-117.3,0.0,0.0,0,77,0.00,0.00,-58.42,0.000,2,0.000,0.000,119,2200,2808,0,0,0,0,0,0
$GC,80,-0.50,-117.3,3.6,-2.9,9,110,10.57,2.47,-8.02,0.000,4,0.227,0.060,2749,664,3217,0,0,0,0,0,0
$GC,208,-0.47,-117.3,29.2,-13.3,31,216,0.00,2.38,0.00,0.000,6,0.000,0.048,2741,2159,3220,0,0,0,0,0,0
$GC,345,-0.43,-117.3,47.1,-12.5,56,354,0.12,2.50,0.00,0.000,4,0.149,0.060,2768,3682,3221,0,0,0,0,0,0
$GC,426,-0.43,-117.3,54.9,-9.0,70,433,0.00,2.38,0.00,0.000,6,0.000,0.042,2766,2183,3221,0,0,0,0,0,0
$GC,566,-0.42,-117.3,64.3,-6.4,95,574,0.00,2.42,0.00,0.000,4,0.000,0.050,2767,673,3222,0,0,0,0,0,0
$GC,593,-0.41,-117.3,66.4,-6.6,99,600,0.00,2.38,0.00,0.000,6,0.000,0.049,2759,2176,3222,0,0,0,0,0,0
$GC,733,-0.40,-117.3,78.8,-10.5,124,742,0.12,2.45,0.00,0.000,4,0.137,0.060,2787,3693,3222,0,0,0,0,0,0
$GC,818,-0.40,-117.3,86.7,-8.3,139,826,0.00,2.35,0.00,0.000,6,0.000,0.042,2787,2197,3223,0,0,0,0,0,0
$GC,957,-0.41,-117.3,96.4,-6.9,164,966,0.00,2.45,0.00,0.000,4,0.000,0.062,2786,3714,3223,0,0,0,0,0,0
$GC,1052,-0.43,-117.3,103.2,-6.7,177,1060,0.00,2.53,0.00,0.000,6,0.000,0.042,2786,2082,3223,0,0,0,0,0,0
$GC,1254,-0.45,-117.3,115.9,-6.5,196,1258,0.00,2.60,0.00,0.000,4,0.000,0.060,2786,3691,3223,0,0,0,0,0,0
$GC,1297,-0.48,-117.3,118.5,-5.9,199,1302,0.00,2.67,0.00,0.000,6,0.000,0.042,2786,1975,3223,0,0,0,0,0,0
$GC,1502,-0.51,-117.3,130.4,-5.9,217,1507,0.00,2.78,0.00,0.000,4,0.000,0.060,2786,3695,3223,0,0,0,0,0,0
$GC,1523,-0.53,-117.3,132.1,-5.8,218,1532,0.12,2.83,0.00,0.000,6,0.082,0.044,2717,1872,3223,0,0,0,0,0,0
$GC,1724,-0.51,-117.3,146.8,-8.2,237,1730,0.12,2.90,0.00,0.000,4,0.144,0.058,2742,3691,3223,0,0,0,0,0,0
$GC,1825,-0.51,-117.3,153.9,-6.8,245,1832,0.00,2.67,0.00,0.000,6,0.000,0.043,2741,1978,3223,0,0,0,0,0,0
$GC,2023,-0.50,-117.3,168.5,-7.3,264,2028,0.00,2.75,0.00,0.000,4,0.000,0.059,2730,3692,3223,0,0,0,0,0,0
$GC,2064,-0.50,-117.3,171.5,-7.9,267,2068,0.00,2.55,0.00,0.000,6,0.000,0.043,2730,2048,3223,0,0,0,0,0,0
$GC,2265,-0.49,-117.3,187.9,-8.6,285,2270,0.12,2.65,0.00,0.000,4,0.138,0.060,2757,3692,3223,0,0,0,0,0,0
$GC,2322,-0.50,-117.3,192.5,-7.5,289,2329,0.00,2.47,0.00,0.000,6,0.000,0.043,2757,2099,3222,0,0,0,0,0,0
$GC,2521,-0.50,-117.3,206.0,-6.4,308,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2099,3222,0,0,0,0,0,0
$GC,2712,-0.50,-117.3,217.9,-6.0,326,2716,0.00,2.20,0.00,0.000,4,0.000,0.051,2756,673,3222,0,0,0,0,0,0
$GC,2776,-0.50,-117.3,221.8,-6.1,331,2780,0.00,2.25,0.00,0.000,6,0.000,0.049,2750,2137,3222,0,0,0,0,0,0
$GC,2975,-0.50,-117.3,234.8,-6.7,349,2979,0.00,2.50,0.00,0.000,4,0.000,0.060,2738,3691,3221,0,0,0,0,0,0
$GC,3074,-0.50,-117.3,241.7,-6.9,357,3082,0.00,2.40,0.00,0.000,6,0.000,0.044,2738,2164,3221,0,0,0,0,0,0
$GC,3273,-0.50,-117.3,254.8,-6.6,376,3277,0.00,2.35,0.00,0.000,4,0.000,0.052,2738,664,3221,0,0,0,0,0,0
$GC,3348,-0.50,-117.3,259.4,-5.9,382,3352,0.00,2.25,0.00,0.000,6,0.000,0.049,2731,2122,3221,0,0,0,0,0,0
$GC,3552,-0.49,-117.3,272.4,-6.5,401,3557,0.10,2.55,0.00,0.000,4,0.158,0.063,2750,3690,3221,0,0,0,0,0,0
$GC,3642,-0.49,-117.3,277.4,-5.4,408,3651,0.00,2.42,0.00,0.000,6,0.000,0.045,2750,2153,3221,0,0,0,0,0,0
$GC,3843,-0.49,-117.3,288.8,-5.9,427,3847,0.00,2.33,0.00,0.000,4,0.000,0.052,2750,657,3219,0,0,0,0,0,0
$GC,3930,-0.49,-117.3,294.8,-6.4,434,3937,0.00,2.25,0.00,0.000,6,0.000,0.050,2745,2117,3220,0,0,0,0,0,0
$GC,4130,-0.49,-117.3,308.1,-6.9,453,4135,0.00,2.55,0.00,0.000,4,0.000,0.062,2733,3687,3219,0,0,0,0,0,0
$GC,4225,-0.49,-117.3,314.5,-6.7,461,4229,0.00,2.42,0.00,0.000,6,0.000,0.045,2732,2128,3219,0,0,0,0,0,0
$GC,4424,-0.49,-117.3,328.8,-7.4,479,4428,0.00,2.30,0.00,0.000,4,0.000,0.052,2732,668,3219,0,0,0,0,0,0
$GC,4526,-0.49,-117.3,336.6,-7.4,488,4531,0.12,2.20,0.00,0.000,6,0.137,0.050,2761,2093,3218,0,0,0,0,0,0
$GC,4725,-0.49,-117.3,349.2,-6.4,506,4730,0.00,2.58,0.00,0.000,4,0.000,0.063,2755,3686,3219,0,0,0,0,0,0
$GC,4833,-0.49,-117.3,356.5,-6.9,515,4837,0.00,2.42,0.00,0.000,6,0.000,0.044,2755,2131,3218,0,0,0,0,0,0
$GC,5033,-0.51,-117.3,370.7,-7.2,533,5038,0.00,2.55,0.00,0.000,4,0.000,0.063,2754,3693,3218,0,0,0,0,0,0
$GC,5099,-0.51,-117.3,376.0,-7.8,538,5108,0.00,2.62,0.00,0.000,6,0.000,0.046,2754,2038,3217,0,0,0,0,0,0
$GC,5299,-0.52,-117.3,390.3,-7.5,557,5304,0.00,2.72,0.00,0.000,4,0.000,0.064,2749,3693,3217,0,0,0,0,0,0
$GC,5330,-0.54,-117.3,392.4,-7.2,559,5334,0.00,2.38,0.00,0.000,6,0.000,0.046,2749,2168,3217,0,0,0,0,0,0
$GC,5534,-0.55,-117.3,407.1,-6.9,578,5538,0.00,2.35,0.00,0.000,4,0.000,0.053,2749,663,3217,0,0,0,0,0,0
$GC,5612,-0.55,-117.3,412.9,-7.3,584,5620,0.00,2.12,0.00,0.000,6,0.000,0.050,2742,2027,3216,0,0,0,0,0,0
$GC,5812,-0.55,-117.3,425.5,-6.0,603,5816,0.00,2.12,0.00,0.000,4,0.000,0.054,2742,668,3216,0,0,0,0,0,0
$GC,5858,-0.55,-117.3,428.6,-6.6,606,5866,0.00,2.33,0.00,0.000,6,0.000,0.052,2741,2132,3216,0,0,0,0,0,0
$GC,6057,-0.55,-117.3,440.3,-5.8,625,6062,0.00,2.55,0.00,0.000,4,0.000,0.063,2730,3694,3216,0,0,0,0,0,0
$GC,6165,-0.55,-117.3,446.8,-5.6,634,6169,0.00,2.38,0.00,0.000,6,0.000,0.046,2729,2180,3216,0,0,0,0,0,0
$GC,6365,-0.55,-117.3,458.9,-6.2,652,6369,0.00,2.47,0.00,0.000,4,0.000,0.063,2720,3690,3215,0,0,0,0,0,0
$GC,6397,-0.55,-117.3,461.3,-6.8,654,6404,0.00,2.30,0.00,0.000,6,0.000,0.046,2719,2237,3215,0,0,0,0,0,0
$GC,6597,-0.54,-117.3,476.0,-8.1,673,6598,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2237,3215,0,0,0,0,0,0
$GC,6788,-0.53,-117.3,491.0,-7.9,691,6792,0.00,2.38,0.00,0.000,4,0.000,0.063,2710,3690,3215,0,0,0,0,0,0
$GC,6860,-0.53,-117.3,497.4,-8.1,697,6868,0.10,2.25,0.00,0.000,6,0.102,0.046,2746,2268,3215,0,0,0,0,0,0
$GC,7059,-0.53,-117.3,510.9,-6.9,716,7064,0.00,2.55,0.00,0.000,4,0.000,0.054,2746,664,3214,0,0,0,0,0,0
$GC,7089,-0.53,-117.3,513.2,-7.6,718,7094,0.00,2.53,0.00,0.000,6,0.000,0.053,2742,2274,3214,0,0,0,0,0,0
$GC,7288,-0.53,-117.3,527.0,-6.9,736,7292,0.00,2.33,0.00,0.000,4,0.000,0.064,2739,3693,3214,0,0,0,0,0,0
$GC,7376,-0.53,-117.3,533.1,-6.7,743,7383,0.00,2.17,0.00,0.000,6,0.000,0.047,2739,2303,3214,0,0,0,0,0,0
$GC,7574,-0.53,-117.3,546.2,-6.9,762,7579,0.00,2.60,0.00,0.000,4,0.000,0.054,2738,667,3214,0,0,0,0,0,0
$GC,7618,-0.53,-117.3,549.1,-7.2,765,7623,0.00,2.60,0.00,0.000,6,0.000,0.054,2733,2319,3213,0,0,0,0,0,0
$STATE,7698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7698,begin apogee
$GC,7704,-0.22,0.0,555.1,7.1,772,7805,0.32,0.00,97.95,0.952,6,0.107,0.000,2845,2053,2735,0,0,0,0,0,0
$STATE,7806,end apogee,CONTROL_FINISHED_OK
$STATE,7806,begin climb
$GC,7810,0.50,117.3,559.0,0.0,782,7927,0.65,2.58,103.53,0.923,4,0.073,0.054,3086,552,2254,0,0,0,0,0,0
$GC,8018,0.48,117.3,549.9,6.6,800,8022,0.00,2.45,0.00,0.000,6,0.000,0.048,3086,2063,2249,0,0,0,0,0,0
$GC,8219,0.45,117.3,536.0,7.0,818,8223,0.00,2.45,0.00,0.000,4,0.000,0.055,3097,552,2246,0,0,0,0,0,0
$GC,8263,0.43,117.3,532.6,6.8,821,8271,0.15,2.30,0.00,0.000,6,0.137,0.048,3055,2011,2246,0,0,0,0,0,0
$GC,8466,0.43,136.6,522.0,5.4,840,8484,0.00,0.00,15.95,0.859,6,0.000,0.000,3054,2012,2178,0,0,0,0,0,0
$GC,8676,0.43,136.6,509.5,6.3,860,8680,0.00,2.53,0.00,0.000,4,0.000,0.060,3055,3581,2174,0,0,0,0,0,0
$GC,8741,0.41,136.6,504.7,8.0,865,8745,0.00,2.53,0.00,0.000,6,0.000,0.046,3064,1984,2172,0,0,0,0,0,0
$GC,8940,0.40,136.6,491.4,6.6,883,8944,0.00,2.60,0.00,0.000,4,0.000,0.060,3064,3579,2172,0,0,0,0,0,0
$GC,8972,0.38,136.6,488.7,8.1,885,8980,0.12,2.47,0.00,0.000,6,0.148,0.047,3040,2017,2172,0,0,0,0,0,0
$GC,9175,0.38,137.1,476.9,6.1,904,9179,0.00,2.33,0.00,0.000,4,0.000,0.055,3048,544,2172,0,0,0,0,0,0
$GC,9210,0.38,137.1,474.4,7.1,907,9215,0.00,2.33,0.00,0.000,6,0.000,0.050,3049,2024,2172,0,0,0,0,0,0
$GC,9411,0.38,137.1,460.8,7.4,925,9416,0.00,2.53,0.00,0.000,4,0.000,0.061,3049,3577,2171,0,0,0,0,0,0
$GC,9496,0.37,137.1,453.9,8.1,932,9500,0.00,2.40,0.00,0.000,6,0.000,0.046,3058,2056,2170,0,0,0,0,0,0
$GC,9696,0.37,137.1,438.4,7.9,950,9700,0.00,2.40,0.00,0.000,4,0.000,0.057,3069,545,2170,0,0,0,0,0,0
$GC,9725,0.37,137.1,435.9,8.3,952,9729,0.00,2.40,0.00,0.000,6,0.000,0.050,3069,2074,2170,0,0,0,0,0,0
$GC,9926,0.35,137.1,418.8,9.2,970,9931,0.12,2.45,0.00,0.000,4,0.147,0.060,3033,3582,2171,0,0,0,0,0,0
$GC,10000,0.35,137.1,412.6,7.9,976,10004,0.00,2.35,0.00,0.000,6,0.000,0.046,3038,2093,2169,0,0,0,0,0,0
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$STATE,15278,end climb,SURFACE_DEPTH_REACHED
$STATE,15278,begin surface coast
$FINISH,0.8,1.012829
$STATE,15337,end surface coast,CONTROL_FINISHED_OK
$STATE,15337,begin surface
$SM_CCo,15419,0.00,0.000,0,0,1228,369.67
$SM_GC,1.73,7.88,0.00,0.00,0.037,0.000,0.000,124,2178,1228,-8.60,0.08,369.67
$IRIDIUM_FIX,4729.30,-12517.37,120711,131359
$TT8_MAMPS,0.026964
$HUMID,39.25
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,23.4,58.434
$10V_AH,9.9,61.908
$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,21.400,273.325,407.525,0.000,0.000,28.643,31.106,229.175,0.000,0.000,19.461,4002.340,6486.728,634.829,4200.436,533.345,33.356,2193.015,0.000,3347.873,0.000,0.535,0.000
$DEVICE_MAMPS,227.205,64.260,952.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1068.315,3379.281,1627.587,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297628
$DATA_FILE_SIZE,90255,1553
$CAP_FILE_SIZE,222465,0
$CFSIZE,260165632,173600768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.141,286.8,1
$GPS,120711,225331,4748.773,-12522.626,36,1.7,36,18.7