version: 66.07
glider: 187
mission: 4
dive: 413
start: 6 15 111 8 19 48
data:
$ID,187
$MISSION,4
$DIVE,413
$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,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,-1585241.5
$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,31
$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,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
$GPS1,150611,081024,4746.990,-12522.157,24,0.9,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-76.1
$GPS2,150611,081850,4746.936,-12522.050,13,1.6,13,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.034,0.197
$KALMAN_X,60078.1,436.3,513.0,-79591.0,252.7
$KALMAN_Y,-161989.1,216.4,110.0,162445.4,-4260.6
$MHEAD_RNG_PITCHd_Wd,25.2,37212,-13.6,-6.111
$D_GRID,775
$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,-117.3,0.0,0.0,0,83,0.00,0.00,-64.95,0.000,2,0.000,0.000,130,2193,2763,0,0,0,0,0,0
$GC,87,-0.50,-117.3,3.6,-2.9,10,116,10.40,2.47,-9.55,0.000,4,0.229,0.063,2741,666,3217,0,0,0,0,0,0
$GC,231,-0.46,-117.3,30.5,-14.0,35,239,0.00,2.38,0.00,0.000,6,0.000,0.049,2732,2157,3220,0,0,0,0,0,0
$GC,369,-0.42,-117.3,49.0,-13.3,60,377,0.12,0.00,0.00,0.000,6,0.158,0.000,2765,2157,3221,0,0,0,0,0,0
$GC,508,-0.40,-117.3,64.6,-10.9,85,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2157,3221,0,0,0,0,0,0
$GC,641,-0.39,-117.3,78.6,-9.9,110,649,0.00,2.47,0.00,0.000,4,0.000,0.060,2756,3685,3222,0,0,0,0,0,0
$GC,664,-0.37,-117.3,80.8,-9.8,113,671,0.00,2.42,0.00,0.000,6,0.000,0.044,2755,2148,3222,0,0,0,0,0,0
$GC,803,-0.35,-117.3,95.0,-10.3,138,811,0.12,2.33,0.00,0.000,4,0.143,0.050,2792,671,3222,0,0,0,0,0,0
$GC,825,-0.34,-117.3,97.4,-10.3,141,833,0.00,2.33,0.00,0.000,6,0.000,0.048,2791,2149,3222,0,0,0,0,0,0
$GC,963,-0.34,-117.3,108.3,-7.7,156,967,0.00,2.45,0.00,0.000,4,0.000,0.060,2782,3693,3222,0,0,0,0,0,0
$GC,1006,-0.36,-117.3,111.5,-6.9,159,1014,0.00,2.42,0.00,0.000,6,0.000,0.044,2781,2147,3223,0,0,0,0,0,0
$GC,1207,-0.36,-117.3,124.6,-6.7,178,1211,0.00,2.28,0.00,0.000,4,0.000,0.050,2781,668,3223,0,0,0,0,0,0
$GC,1272,-0.37,-117.3,129.9,-7.7,183,1280,0.00,2.33,0.00,0.000,6,0.000,0.048,2778,2150,3223,0,0,0,0,0,0
$GC,1471,-0.37,-117.3,143.6,-6.9,202,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2150,3222,0,0,0,0,0,0
$GC,1663,-0.37,-117.3,155.8,-6.3,220,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2150,3223,0,0,0,0,0,0
$GC,1853,-0.37,-117.3,167.6,-6.4,238,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2150,3222,0,0,0,0,0,0
$GC,2044,-0.37,-117.3,179.6,-6.4,256,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2150,3223,0,0,0,0,0,0
$GC,2236,-0.37,-117.3,191.5,-6.4,274,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2150,3223,0,0,0,0,0,0
$GC,2426,-0.37,-117.3,203.1,-6.2,292,2430,0.00,2.30,0.00,0.000,4,0.000,0.052,2778,667,3223,0,0,0,0,0,0
$GC,2451,-0.37,-117.3,205.0,-6.6,294,2459,0.00,2.30,0.00,0.000,6,0.000,0.049,2778,2135,3222,0,0,0,0,0,0
$GC,2652,-0.37,-117.3,218.0,-6.9,313,2657,0.00,2.47,0.00,0.000,4,0.000,0.060,2769,3691,3222,0,0,0,0,0,0
$GC,2696,-0.39,-117.3,221.2,-6.7,316,2705,0.00,2.42,0.00,0.000,6,0.000,0.045,2768,2142,3222,0,0,0,0,0,0
$GC,2896,-0.39,-117.3,235.0,-7.2,335,2900,0.00,2.28,0.00,0.000,4,0.000,0.053,2768,667,3221,0,0,0,0,0,0
$GC,2941,-0.39,-117.3,238.5,-7.3,339,2945,0.00,2.25,0.00,0.000,6,0.000,0.049,2767,2139,3221,0,0,0,0,0,0
$GC,3141,-0.39,-117.3,251.6,-6.5,357,3145,0.00,2.50,0.00,0.000,4,0.000,0.062,2766,3693,3221,0,0,0,0,0,0
$GC,3172,-0.40,-117.3,253.6,-6.8,359,3176,0.00,2.40,0.00,0.000,6,0.000,0.045,2766,2127,3221,0,0,0,0,0,0
$GC,3371,-0.40,-117.3,266.4,-6.3,377,3375,0.00,2.28,0.00,0.000,4,0.000,0.052,2766,662,3221,0,0,0,0,0,0
$GC,3418,-0.40,-117.3,269.5,-6.7,381,3422,0.00,2.25,0.00,0.000,6,0.000,0.050,2759,2129,3221,0,0,0,0,0,0
$GC,3618,-0.40,-117.3,283.1,-6.9,399,3622,0.00,2.50,0.00,0.000,4,0.000,0.063,2748,3690,3221,0,0,0,0,0,0
$GC,3658,-0.40,-117.3,286.1,-6.9,402,3662,0.00,2.42,0.00,0.000,6,0.000,0.046,2748,2117,3221,0,0,0,0,0,0
$GC,3859,-0.40,-117.3,300.3,-7.0,420,3863,0.00,2.25,0.00,0.000,4,0.000,0.054,2748,670,3220,0,0,0,0,0,0
$GC,3899,-0.40,-117.3,303.5,-7.6,423,3904,0.12,2.28,0.00,0.000,6,0.139,0.051,2779,2134,3220,0,0,0,0,0,0
$GC,4101,-0.41,-117.3,314.9,-5.7,441,4105,0.00,2.50,0.00,0.000,4,0.000,0.063,2771,3694,3220,0,0,0,0,0,0
$GC,4132,-0.43,-117.3,316.7,-5.6,443,4136,0.00,2.42,0.00,0.000,6,0.000,0.046,2770,2118,3220,0,0,0,0,0,0
$GC,4332,-0.43,-117.3,328.1,-5.4,461,4336,0.00,2.25,0.00,0.000,4,0.000,0.054,2770,671,3220,0,0,0,0,0,0
$GC,4380,-0.44,-117.3,330.9,-6.1,465,4384,0.00,2.22,0.00,0.000,6,0.000,0.051,2768,2120,3219,0,0,0,0,0,0
$GC,4580,-0.44,-117.3,342.8,-6.1,483,4584,0.00,2.53,0.00,0.000,4,0.000,0.063,2758,3695,3219,0,0,0,0,0,0
$GC,4622,-0.46,-117.3,345.7,-6.1,486,4630,0.00,2.47,0.00,0.000,6,0.000,0.046,2757,2120,3219,0,0,0,0,0,0
$GC,4823,-0.46,-117.3,358.3,-6.5,505,4827,0.00,2.25,0.00,0.000,4,0.000,0.054,2757,665,3218,0,0,0,0,0,0
$GC,4874,-0.46,-117.3,362.2,-7.4,509,4878,0.00,2.22,0.00,0.000,6,0.000,0.050,2751,2115,3218,0,0,0,0,0,0
$GC,5075,-0.46,-117.3,376.5,-7.2,527,5079,0.00,2.53,0.00,0.000,4,0.000,0.062,2740,3692,3218,0,0,0,0,0,0
$GC,5115,-0.46,-117.3,379.5,-7.5,530,5120,0.00,2.42,0.00,0.000,6,0.000,0.047,2739,2119,3218,0,0,0,0,0,0
$GC,5316,-0.46,-117.3,392.9,-6.2,548,5320,0.00,2.28,0.00,0.000,4,0.000,0.054,2739,662,3217,0,0,0,0,0,0
$GC,5358,-0.46,-117.3,395.7,-6.6,551,5362,0.00,2.28,0.00,0.000,6,0.000,0.051,2732,2124,3217,0,0,0,0,0,0
$GC,5558,-0.44,-117.3,407.7,-6.1,569,5562,0.00,2.53,0.00,0.000,4,0.000,0.063,2720,3694,3217,0,0,0,0,0,0
$GC,5589,-0.44,-117.3,409.7,-6.1,571,5597,0.10,2.47,0.00,0.000,6,0.106,0.047,2756,2120,3217,0,0,0,0,0,0
$GC,5790,-0.44,-117.3,417.5,-3.6,590,5794,0.00,2.28,0.00,0.000,4,0.000,0.054,2757,670,3217,0,0,0,0,0,0
$GC,5837,-0.44,-117.3,419.5,-3.7,594,5841,0.00,2.22,0.00,0.000,6,0.000,0.052,2751,2114,3217,0,0,0,0,0,0
$GC,6038,-0.44,-117.3,428.9,-5.1,612,6042,0.00,2.53,0.00,0.000,4,0.000,0.064,2745,3688,3216,0,0,0,0,0,0
$GC,6070,-0.44,-117.3,430.9,-5.7,614,6078,0.00,2.47,0.00,0.000,6,0.000,0.047,2744,2114,3216,0,0,0,0,0,0
$GC,6270,-0.44,-117.3,443.1,-6.8,633,6274,0.00,2.25,0.00,0.000,4,0.000,0.055,2744,663,3216,0,0,0,0,0,0
$GC,6325,-0.44,-117.3,447.4,-7.6,637,6333,0.00,2.25,0.00,0.000,6,0.000,0.052,2736,2092,3216,0,0,0,0,0,0
$GC,6524,-0.44,-117.3,462.0,-7.3,656,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2093,3216,0,0,0,0,0,0
$GC,6717,-0.44,-117.3,477.1,-8.2,674,6721,0.00,2.60,0.00,0.000,4,0.000,0.064,2727,3695,3216,0,0,0,0,0,0
$GC,6749,-0.44,-117.3,479.9,-7.7,676,6758,0.08,2.50,0.00,0.000,6,0.108,0.047,2756,2108,3216,0,0,0,0,0,0
$GC,6948,-0.44,-117.3,493.5,-6.9,695,6952,0.00,2.22,0.00,0.000,4,0.000,0.055,2756,671,3215,0,0,0,0,0,0
$GC,7000,-0.44,-117.3,497.3,-7.5,699,7004,0.00,2.22,0.00,0.000,6,0.000,0.053,2751,2099,3215,0,0,0,0,0,0
$GC,7205,-0.44,-117.3,512.0,-7.1,718,7209,0.00,2.58,0.00,0.000,4,0.000,0.065,2739,3687,3215,0,0,0,0,0,0
$GC,7246,-0.44,-117.3,515.1,-7.7,721,7250,0.00,2.45,0.00,0.000,6,0.000,0.047,2739,2102,3214,0,0,0,0,0,0
$GC,7446,-0.44,-117.3,531.5,-8.7,739,7450,0.00,2.22,0.00,0.000,4,0.000,0.055,2739,664,3215,0,0,0,0,0,0
$GC,7498,-0.44,-117.3,536.3,-9.3,743,7502,0.00,2.20,0.00,0.000,6,0.000,0.051,2732,2095,3214,0,0,0,0,0,0
$GC,7698,-0.44,-117.3,554.1,-8.9,761,7703,0.00,2.58,0.00,0.000,4,0.000,0.063,2721,3696,3214,0,0,0,0,0,0
$GC,7762,-0.44,-117.3,560.2,-8.3,766,7770,0.10,2.47,0.00,0.000,6,0.106,0.047,2757,2118,3214,0,0,0,0,0,0
$GC,7963,-0.44,-117.3,573.3,-6.4,785,7967,0.00,2.28,0.00,0.000,4,0.000,0.056,2757,663,3214,0,0,0,0,0,0
$GC,8010,-0.44,-117.3,576.6,-7.0,789,8014,0.00,2.25,0.00,0.000,6,0.000,0.053,2755,2117,3214,0,0,0,0,0,0
$GC,8209,-0.44,-117.3,588.7,-5.9,807,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2116,3214,0,0,0,0,0,0
$GC,8401,-0.44,-117.3,599.2,-5.3,825,8408,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2117,3214,0,0,0,0,0,0
$GC,8604,-0.44,-117.3,611.2,-6.0,833,8605,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2117,3214,0,0,0,0,0,0
$GC,8909,-0.44,-117.3,630.3,-6.3,843,8914,0.00,2.25,0.00,0.000,4,0.000,0.055,2755,672,3213,0,0,0,0,0,0
$GC,8949,-0.44,-117.3,633.0,-6.6,844,8953,0.00,2.22,0.00,0.000,6,0.000,0.054,2750,2096,3213,0,0,0,0,0,0
$GC,9274,-0.44,-117.3,653.8,-6.7,855,9278,0.00,2.58,0.00,0.000,4,0.000,0.066,2739,3693,3212,0,0,0,0,0,0
$GC,9328,-0.44,-117.3,657.9,-7.2,856,9337,0.00,2.50,0.00,0.000,6,0.000,0.049,2738,2109,3212,0,0,0,0,0,0
$GC,9643,-0.44,-117.3,678.8,-6.5,867,9647,0.00,2.25,0.00,0.000,4,0.000,0.057,2738,664,3212,0,0,0,0,0,0
$GC,9721,-0.44,-117.3,684.7,-7.3,869,9725,0.00,2.22,0.00,0.000,6,0.000,0.053,2738,2091,3212,0,0,0,0,0,0
$STATE,9866,end dive,NO_VERTICAL_VELOCITY
$STATE,9866,begin apogee
$GC,9871,-0.22,0.0,684.8,0.0,874,9973,0.28,0.00,99.05,1.041,6,0.082,0.000,2842,2091,2735,0,0,0,0,0,0
$STATE,9974,end apogee,CONTROL_FINISHED_OK
$STATE,9974,begin climb
$GC,9978,0.50,117.3,684.8,0.0,877,10094,0.60,2.62,105.12,1.014,4,0.059,0.062,3064,3580,2254,0,0,0,0,0,0
$GC,10253,0.45,117.3,671.6,10.5,885,10257,0.00,2.47,0.00,0.000,6,0.000,0.045,3076,2057,2245,0,0,0,0,0,0
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$STATE,19749,end climb,SURFACE_DEPTH_REACHED
$STATE,19749,begin surface coast
$FINISH,1.2,1.023732
$STATE,19824,end surface coast,CONTROL_FINISHED_OK
$STATE,19824,begin surface
$SM_CCo,19843,21.70,0.406,1,0,1206,375.06
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$IRIDIUM_FIX,4729.30,-12528.91,150611,020220
$TT8_MAMPS,0.026964
$HUMID,37.32
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,23.5,42.970
$10V_AH,10.1,39.164
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.850,284.600,395.750,21.700,0.000,26.255,37.564,274.618,0.000,0.000,14.466,4708.821,9067.766,720.639,5212.306,641.514,33.367,2501.371,0.000,3820.104,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1265.646,4397.730,1799.785,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297484
$DATA_FILE_SIZE,103427,1836
$CAP_FILE_SIZE,259156,0
$CFSIZE,260165632,185946112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.063,170.7,1
$GPS,150611,135207,4747.996,-12519.600,29,1.5,29,18.7