version: 66.07
glider: 187
mission: 4
dive: 180
start: 5 6 111 12 58 46
data:
$ID,187
$MISSION,4
$DIVE,180
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,1
$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,340
$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,-1584046.9
$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,29
$R_STBD_OVSHOOT,39
$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
$GPS1,060511,125106,4740.349,-12525.782,30,1.1,30,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-77.1
$GPS2,060511,125750,4740.337,-12525.727,17,1.2,17,18.7
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,DOGLEG
$TGT_LATLONG,4743.500,-12528.600
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.092,0.245
$KALMAN_X,-168.6,94.1,38.6,-9584.5,-114.5
$KALMAN_Y,-4015.7,289.0,32.9,13966.5,-1676.4
$MHEAD_RNG_PITCHd_Wd,320.6,6865,-18.6,-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,-0.67,-146.6,0.0,0.0,0,96,0.00,0.00,-77.75,0.000,2,0.000,0.000,127,2197,3160,0,0,0,0,0,0
$GC,100,-0.67,-146.6,3.9,-7.5,12,122,10.23,2.40,-3.25,0.000,4,0.237,0.059,2683,654,3335,0,0,0,0,0,0
$GC,199,-0.63,-146.6,34.3,-20.8,29,207,0.00,2.40,0.00,0.000,6,0.000,0.049,2674,2159,3338,0,0,0,0,0,0
$GC,272,-0.59,-146.6,49.6,-21.9,42,280,0.15,2.47,0.00,0.000,4,0.168,0.060,2704,3697,3338,0,0,0,0,0,0
$GC,305,-0.56,-146.6,56.6,-20.3,47,312,0.00,2.42,0.00,0.000,6,0.000,0.046,2703,2176,3338,0,0,0,0,0,0
$GC,377,-0.54,-146.6,69.1,-17.3,60,384,0.00,2.40,0.00,0.000,4,0.000,0.053,2703,659,3339,0,0,0,0,0,0
$GC,409,-0.51,-146.6,74.6,-17.4,65,417,0.10,2.40,0.00,0.000,6,0.129,0.050,2738,2170,3339,0,0,0,0,0,0
$GC,482,-0.51,-146.6,84.2,-11.5,78,489,0.00,2.40,0.00,0.000,4,0.000,0.054,2739,663,3339,0,0,0,0,0,0
$GC,528,-0.51,-146.6,89.6,-11.4,86,535,0.00,2.35,0.00,0.000,6,0.000,0.050,2732,2144,3339,0,0,0,0,0,0
$GC,600,-0.51,-146.6,98.5,-12.6,99,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2144,3339,0,0,0,0,0,0
$GC,678,-0.51,-146.6,108.2,-12.3,107,682,0.00,2.45,0.00,0.000,4,0.000,0.060,2720,3693,3339,0,0,0,0,0,0
$GC,721,-0.51,-146.6,113.9,-12.6,110,728,0.00,2.47,0.00,0.000,6,0.000,0.044,2719,2104,3339,0,0,0,0,0,0
$GC,857,-0.51,-146.6,131.4,-13.1,123,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2099,3340,0,0,0,0,0,0
$GC,983,-0.51,-146.6,147.0,-11.9,135,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2098,3340,0,0,0,0,0,0
$GC,1110,-0.51,-146.6,161.1,-10.8,147,1114,0.00,2.22,0.00,0.000,4,0.000,0.052,2719,660,3340,0,0,0,0,0,0
$GC,1172,-0.51,-146.6,167.9,-10.8,152,1178,0.00,2.28,0.00,0.000,6,0.000,0.049,2710,2128,3340,0,0,0,0,0,0
$GC,1306,-0.51,-146.6,182.4,-10.7,165,1310,0.00,2.45,0.00,0.000,4,0.000,0.060,2699,3688,3340,0,0,0,0,0,0
$GC,1345,-0.51,-146.6,187.0,-12.0,168,1350,0.15,2.42,0.00,0.000,6,0.137,0.044,2743,2119,3340,0,0,0,0,0,0
$GC,1481,-0.53,-146.6,199.0,-8.3,180,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2114,3340,0,0,0,0,0,0
$GC,1607,-0.55,-146.6,209.3,-7.9,192,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2114,3340,0,0,0,0,0,0
$GC,1735,-0.56,-146.6,219.6,-8.0,204,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2114,3340,0,0,0,0,0,0
$GC,1863,-0.58,-146.6,230.4,-8.6,216,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2114,3340,0,0,0,0,0,0
$GC,1989,-0.60,-146.6,241.4,-8.7,228,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2114,3340,0,0,0,0,0,0
$GC,2117,-0.62,-146.6,252.5,-8.8,240,2119,0.12,0.00,0.00,0.000,6,0.089,0.000,2680,2114,3340,0,0,0,0,0,0
$GC,2243,-0.61,-146.6,268.1,-12.7,252,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2114,3340,0,0,0,0,0,0
$GC,2371,-0.60,-146.6,284.5,-13.0,264,2373,0.12,0.00,0.00,0.000,6,0.158,0.000,2714,2113,3340,0,0,0,0,0,0
$GC,2499,-0.60,-146.6,298.1,-10.3,276,2503,0.00,2.50,0.00,0.000,4,0.000,0.060,2705,3694,3340,0,0,0,0,0,0
$GC,2531,-0.60,-146.6,302.0,-10.8,278,2538,0.00,2.42,0.00,0.000,6,0.000,0.045,2705,2119,3340,0,0,0,0,0,0
$GC,2666,-0.60,-146.6,317.0,-11.6,291,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2114,3340,0,0,0,0,0,0
$GC,2794,-0.60,-146.6,331.1,-11.0,303,2798,0.00,2.22,0.00,0.000,4,0.000,0.054,2704,660,3339,0,0,0,0,0,0
$GC,2840,-0.60,-146.6,336.6,-11.8,307,2845,0.00,2.28,0.00,0.000,6,0.000,0.050,2696,2137,3340,0,0,0,0,0,0
$GC,2975,-0.60,-146.6,351.9,-11.3,319,2979,0.00,2.42,0.00,0.000,4,0.000,0.061,2684,3688,3339,0,0,0,0,0,0
$GC,3003,-0.60,-146.6,355.3,-11.4,321,3011,0.00,2.42,0.00,0.000,6,0.000,0.046,2683,2132,3339,0,0,0,0,0,0
$GC,3139,-0.60,-146.6,371.4,-12.0,334,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2126,3339,0,0,0,0,0,0
$GC,3265,-0.60,-146.6,386.3,-11.4,346,3269,0.00,2.22,0.00,0.000,4,0.000,0.053,2683,663,3339,0,0,0,0,0,0
$GC,3298,-0.60,-146.6,390.7,-12.9,348,3306,0.10,2.28,0.00,0.000,6,0.131,0.050,2708,2130,3339,0,0,0,0,0,0
$GC,3434,-0.60,-146.6,403.4,-9.1,361,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2130,3338,0,0,0,0,0,0
$GC,3560,-0.60,-146.6,415.6,-9.7,373,3564,0.00,2.45,0.00,0.000,4,0.000,0.063,2699,3694,3338,0,0,0,0,0,0
$GC,3605,-0.60,-146.6,420.5,-10.9,376,3612,0.00,2.40,0.00,0.000,6,0.000,0.047,2698,2137,3338,0,0,0,0,0,0
$GC,3739,-0.60,-146.6,434.2,-10.3,389,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2132,3338,0,0,0,0,0,0
$GC,3866,-0.60,-146.6,447.3,-10.1,401,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2132,3337,0,0,0,0,0,0
$GC,3995,-0.60,-146.6,460.2,-9.9,413,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2131,3337,0,0,0,0,0,0
$GC,4121,-0.60,-146.6,472.9,-10.4,425,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2132,3337,0,0,0,0,0,0
$GC,4249,-0.60,-146.6,485.1,-9.5,437,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2132,3337,0,0,0,0,0,0
$GC,4378,-0.60,-146.6,497.4,-9.8,449,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2132,3336,0,0,0,0,0,0
$GC,4504,-0.60,-146.6,509.5,-9.6,461,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2132,3337,0,0,0,0,0,0
$GC,4632,-0.60,-146.6,521.6,-9.0,473,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2132,3336,0,0,0,0,0,0
$GC,4760,-0.60,-146.6,533.6,-9.4,485,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2132,3337,0,0,0,0,0,0
$GC,4886,-0.60,-146.6,545.9,-9.9,497,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2131,3336,0,0,0,0,0,0
$GC,5013,-0.60,-146.6,558.5,-10.2,509,5014,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2132,3336,0,0,0,0,0,0
$GC,5142,-0.60,-146.6,570.7,-9.7,521,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2132,3336,0,0,0,0,0,0
$GC,5268,-0.60,-146.6,583.1,-9.6,533,5269,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2132,3336,0,0,0,0,0,0
$GC,5395,-0.60,-146.6,595.7,-9.9,545,5399,0.00,2.47,0.00,0.000,4,0.000,0.063,2688,3697,3335,0,0,0,0,0,0
$GC,5416,-0.60,-146.6,598.1,-10.6,546,5424,0.00,2.40,0.00,0.000,6,0.000,0.047,2687,2152,3335,0,0,0,0,0,0
$GC,5568,-0.60,-146.6,614.3,-10.9,553,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2147,3335,0,0,0,0,0,0
$GC,5873,-0.60,-146.6,648.3,-11.2,563,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2147,3335,0,0,0,0,0,0
$GC,6179,-0.60,-146.6,681.7,-10.8,573,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2147,3335,0,0,0,0,0,0
$GC,6486,-0.60,-146.6,713.3,-10.4,583,6490,0.00,2.28,0.00,0.000,4,0.000,0.056,2687,662,3334,0,0,0,0,0,0
$GC,6525,-0.60,-146.6,717.8,-11.5,584,6530,0.05,2.33,0.00,0.000,6,0.115,0.053,2709,2153,3334,0,0,0,0,0,0
$GC,6861,-0.61,-146.6,747.4,-8.9,595,6862,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2153,3334,0,0,0,0,0,0
$GC,7168,-0.62,-146.6,775.2,-9.1,605,7172,0.00,2.42,0.00,0.000,4,0.000,0.066,2700,3693,3333,0,0,0,0,0,0
$GC,7196,-0.64,-146.6,778.2,-9.8,605,7202,0.00,2.38,0.00,0.000,6,0.000,0.048,2700,2150,3333,0,0,0,0,0,0
$GC,7509,-0.64,-146.6,807.4,-9.2,616,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2145,3332,0,0,0,0,0,0
$GC,7816,-0.64,-146.6,834.8,-8.8,626,7820,0.00,2.28,0.00,0.000,4,0.000,0.057,2699,660,3332,0,0,0,0,0,0
$GC,7854,-0.64,-146.6,838.7,-9.5,627,7858,0.00,2.30,0.00,0.000,6,0.000,0.054,2691,2154,3332,0,0,0,0,0,0
$GC,8190,-0.64,-146.6,868.8,-8.9,638,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2154,3331,0,0,0,0,0,0
$GC,8497,-0.64,-146.6,896.4,-9.3,648,8498,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2154,3331,0,0,0,0,0,0
$GC,8802,-0.64,-146.6,925.0,-9.2,658,8803,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2154,3331,0,0,0,0,0,0
$GC,9109,-0.64,-146.6,952.9,-9.2,668,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2154,3331,0,0,0,0,0,0
$GC,9416,-0.64,-146.6,979.4,-8.6,678,9417,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2154,3331,0,0,0,0,0,0
$STATE,9565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9565,begin apogee
$GC,9571,-0.22,0.0,992.1,8.4,683,9702,0.43,0.00,127.35,1.234,6,0.125,0.000,2830,2047,2735,0,0,0,0,0,0
$STATE,9703,end apogee,CONTROL_FINISHED_OK
$STATE,9703,begin climb
$GC,9705,0.67,146.6,995.4,0.0,687,9846,0.88,0.00,137.40,1.199,6,0.081,0.000,3118,2047,2137,0,0,0,0,0,0
$GC,10179,0.65,146.6,933.2,15.2,703,10184,0.00,2.55,0.00,0.000,4,0.000,0.062,3118,3575,2125,0,0,0,0,0,0
$GC,10229,0.61,146.6,924.1,17.1,704,10233,0.00,2.45,0.00,0.000,6,0.000,0.048,3129,2071,2124,0,0,0,0,0,0
$GC,10543,0.58,146.6,873.4,16.1,714,10545,0.15,0.00,0.00,0.000,6,0.177,0.000,3092,2071,2124,0,0,0,0,0,0
$GC,10849,0.57,146.6,832.6,13.2,724,10850,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2070,2122,0,0,0,0,0,0
$GC,11155,0.56,146.6,793.0,12.7,734,11159,0.00,2.45,0.00,0.000,4,0.000,0.063,3091,3581,2122,0,0,0,0,0,0
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$STATE,18139,end climb,SURFACE_DEPTH_REACHED
$STATE,18139,begin surface coast
$FINISH,0.6,1.024883
$STATE,18166,end surface coast,CONTROL_FINISHED_OK
$STATE,18166,begin surface
$SM_CCo,18245,0.00,0.000,0,0,1283,355.93
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$IRIDIUM_FIX,4719.74,-12521.50,060511,070742
$TT8_MAMPS,0.026215
$HUMID,35.58
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,23.0,16.797
$10V_AH,10.2,10.820
$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
$DEVICE_SECS,21.525,186.725,441.050,0.000,0.000,26.247,35.240,194.837,0.000,0.000,18.582,3314.866,11311.881,670.424,2868.889,465.599,33.354,1961.488,0.000,2629.215,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,924.613,1121.885,1100.397,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297524
$DATA_FILE_SIZE,76928,1340
$CAP_FILE_SIZE,211896,0
$CFSIZE,260165632,204877824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060511,180406,4742.419,-12526.538,39,1.4,39,18.7