version: 66.07
glider: 187
mission: 4
dive: 535
start: 7 12 111 2 6 45
data:
$ID,187
$MISSION,4
$DIVE,535
$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,-1585406.8
$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,35
$R_STBD_OVSHOOT,31
$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
$GPS1,120711,015907,4751.526,-12511.681,91,0.9,91,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-78.2
$GPS2,120711,020549,4751.473,-12511.633,16,0.9,16,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.199,-0.018
$KALMAN_X,194086.5,-343.2,1.4,-199321.7,153.7
$KALMAN_Y,-360865.1,408.8,-392.6,370038.8,-899.5
$MHEAD_RNG_PITCHd_Wd,228.2,166799,-13.6,-6.111
$D_GRID,250
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.50,-117.3,0.0,0.0,0,79,0.00,0.00,-58.83,0.000,2,0.000,0.000,113,2178,2834,0,0,0,0,0,0
$GC,84,-0.50,-117.3,3.8,-3.1,9,114,10.62,2.50,-7.30,0.000,4,0.228,0.071,2747,3691,3217,0,0,0,0,0,0
$GC,182,-0.48,-117.3,24.4,-12.9,25,190,0.00,2.40,0.00,0.000,6,0.000,0.043,2746,2174,3219,0,0,0,0,0,0
$GC,320,-0.45,-117.3,41.0,-10.8,50,328,0.00,2.38,0.00,0.000,4,0.000,0.050,2746,667,3220,0,0,0,0,0,0
$GC,360,-0.43,-117.3,44.7,-9.3,56,369,0.08,2.38,0.00,0.000,6,0.117,0.048,2777,2170,3220,0,0,0,0,0,0
$GC,499,-0.43,-117.3,53.6,-7.5,81,507,0.00,2.47,0.00,0.000,4,0.000,0.060,2769,3685,3221,0,0,0,0,0,0
$GC,519,-0.43,-117.3,55.5,-7.8,84,528,0.00,2.40,0.00,0.000,6,0.000,0.043,2769,2163,3221,0,0,0,0,0,0
$GC,657,-0.43,-117.3,68.6,-9.7,109,664,0.00,2.35,0.00,0.000,4,0.000,0.050,2768,671,3222,0,0,0,0,0,0
$GC,699,-0.43,-117.3,72.2,-8.6,116,709,0.00,2.35,0.00,0.000,6,0.000,0.048,2762,2163,3222,0,0,0,0,0,0
$GC,839,-0.43,-117.3,83.6,-8.7,141,847,0.00,2.47,0.00,0.000,4,0.000,0.060,2750,3693,3222,0,0,0,0,0,0
$GC,938,-0.43,-117.3,92.1,-8.1,159,945,0.00,2.38,0.00,0.000,6,0.000,0.042,2749,2179,3222,0,0,0,0,0,0
$GC,1081,-0.43,-117.3,102.5,-6.6,182,1085,0.10,2.35,0.00,0.000,4,0.152,0.050,2779,664,3222,0,0,0,0,0,0
$GC,1132,-0.45,-117.3,105.5,-5.2,186,1136,0.00,2.33,0.00,0.000,6,0.000,0.048,2776,2168,3222,0,0,0,0,0,0
$GC,1339,-0.45,-117.3,116.6,-5.7,205,1343,0.00,2.45,0.00,0.000,4,0.000,0.060,2766,3695,3222,0,0,0,0,0,0
$GC,1360,-0.46,-117.3,118.3,-6.2,206,1367,0.00,2.40,0.00,0.000,6,0.000,0.043,2765,2151,3222,0,0,0,0,0,0
$GC,1561,-0.46,-117.3,131.3,-6.9,225,1565,0.00,2.30,0.00,0.000,4,0.000,0.050,2766,660,3222,0,0,0,0,0,0
$GC,1602,-0.47,-117.3,134.4,-7.1,228,1607,0.00,2.30,0.00,0.000,6,0.000,0.048,2761,2141,3222,0,0,0,0,0,0
$GC,1801,-0.47,-117.3,150.5,-8.8,246,1805,0.00,2.47,0.00,0.000,4,0.000,0.060,2750,3690,3222,0,0,0,0,0,0
$GC,1823,-0.47,-117.3,152.4,-8.5,247,1829,0.00,2.42,0.00,0.000,6,0.000,0.044,2750,2123,3222,0,0,0,0,0,0
$GC,2021,-0.47,-117.3,165.7,-5.9,266,2025,0.00,2.25,0.00,0.000,4,0.000,0.050,2749,664,3222,0,0,0,0,0,0
$GC,2053,-0.47,-117.3,168.1,-6.8,268,2061,0.00,2.28,0.00,0.000,6,0.000,0.049,2746,2138,3222,0,0,0,0,0,0
$GC,2253,-0.47,-117.3,181.4,-6.7,287,2257,0.00,2.47,0.00,0.000,4,0.000,0.060,2735,3689,3221,0,0,0,0,0,0
$GC,2296,-0.47,-117.3,184.5,-6.9,290,2303,0.12,2.40,0.00,0.000,6,0.130,0.044,2773,2142,3221,0,0,0,0,0,0
$GC,2499,-0.48,-117.3,194.3,-4.7,309,2503,0.00,2.30,0.00,0.000,4,0.000,0.051,2773,670,3221,0,0,0,0,0,0
$GC,2534,-0.50,-117.3,196.4,-6.1,312,2538,0.00,2.28,0.00,0.000,6,0.000,0.049,2773,2136,3221,0,0,0,0,0,0
$GC,2732,-0.50,-117.3,208.2,-6.6,330,2737,0.00,2.50,0.00,0.000,4,0.000,0.061,2770,3693,3221,0,0,0,0,0,0
$GC,2767,-0.52,-117.3,210.6,-6.7,332,2775,0.00,2.42,0.00,0.000,6,0.000,0.044,2770,2131,3221,0,0,0,0,0,0
$GC,2965,-0.52,-117.3,223.6,-6.8,351,2969,0.00,2.33,0.00,0.000,4,0.000,0.052,2770,662,3221,0,0,0,0,0,0
$GC,2999,-0.53,-117.3,226.1,-7.3,353,3005,0.00,2.28,0.00,0.000,6,0.000,0.050,2769,2133,3221,0,0,0,0,0,0
$GC,3197,-0.53,-117.3,239.1,-6.6,372,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2133,3220,0,0,0,0,0,0
$STATE,3386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3386,begin apogee
$GC,3394,-0.22,0.0,250.1,5.7,390,3492,0.25,0.00,94.45,0.747,6,0.105,0.000,2857,2055,2735,0,0,0,0,0,0
$STATE,3493,end apogee,CONTROL_FINISHED_OK
$STATE,3493,begin climb
$GC,3495,0.50,117.3,253.3,0.0,400,3602,0.60,2.50,98.15,0.721,4,0.070,0.051,3085,558,2255,0,0,0,0,0,0
$GC,3617,0.50,122.5,249.7,5.9,410,3629,0.00,2.42,5.65,0.539,6,0.000,0.045,3085,2060,2235,0,0,0,0,0,0
$GC,3823,0.48,122.5,235.7,6.2,429,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2060,2228,0,0,0,0,0,0
$GC,4023,0.46,122.5,223.4,6.4,448,4027,0.00,2.38,0.00,0.000,4,0.000,0.053,3096,557,2227,0,0,0,0,0,0
$GC,4053,0.44,122.5,221.4,6.5,450,4058,0.12,2.33,0.00,0.000,6,0.140,0.047,3060,2046,2227,0,0,0,0,0,0
$GC,4253,0.45,134.0,210.5,5.7,468,4268,0.00,2.53,9.62,0.641,4,0.000,0.059,3061,3583,2188,0,0,0,0,0,0
$GC,4309,0.43,134.0,206.7,7.3,472,4317,0.00,2.40,0.00,0.000,6,0.000,0.044,3069,2055,2185,0,0,0,0,0,0
$GC,4507,0.43,134.0,193.7,6.4,491,4511,0.00,2.35,0.00,0.000,4,0.000,0.054,3080,550,2185,0,0,0,0,0,0
$GC,4539,0.42,134.0,191.9,6.6,493,4543,0.00,2.38,0.00,0.000,6,0.000,0.047,3079,2074,2185,0,0,0,0,0,0
$GC,4738,0.41,134.0,178.4,6.7,511,4742,0.00,2.40,0.00,0.000,4,0.000,0.058,3079,3576,2184,0,0,0,0,0,0
$GC,4780,0.38,134.0,175.1,8.2,514,4785,0.15,2.35,0.00,0.000,6,0.145,0.044,3046,2077,2183,0,0,0,0,0,0
$GC,4983,0.40,164.4,164.5,5.0,532,5018,0.00,2.45,25.92,0.682,4,0.000,0.054,3054,556,2063,0,0,0,0,0,0
$GC,5043,0.42,171.2,160.7,5.9,537,5057,0.00,2.40,6.80,0.574,6,0.000,0.047,3055,2086,2036,0,0,0,0,0,0
$GC,5250,0.42,171.2,145.0,7.7,556,5255,0.00,2.38,0.00,0.000,4,0.000,0.059,3055,3580,2031,0,0,0,0,0,0
$GC,5292,0.42,171.2,141.4,8.7,559,5296,0.00,2.35,0.00,0.000,6,0.000,0.044,3062,2085,2029,0,0,0,0,0,0
$GC,5493,0.42,179.7,128.1,5.8,577,5506,0.00,2.47,7.75,0.588,4,0.000,0.054,3073,547,2001,0,0,0,0,0,0
$GC,5545,0.42,179.7,124.8,6.2,581,5552,0.00,2.40,0.00,0.000,6,0.000,0.047,3073,2093,2001,0,0,0,0,0,0
$GC,5743,0.42,179.7,110.6,7.6,600,5747,0.00,2.40,0.00,0.000,4,0.000,0.059,3073,3578,1999,0,0,0,0,0,0
$GC,5773,0.42,179.7,108.3,8.7,602,5777,0.00,2.35,0.00,0.000,6,0.000,0.044,3081,2078,1998,0,0,0,0,0,0
$GC,5972,0.42,184.2,96.0,6.0,626,5986,0.00,2.42,4.97,0.507,4,0.000,0.054,3091,550,1984,0,0,0,0,0,0
$GC,6046,0.42,184.2,91.4,6.2,638,6054,0.05,2.40,0.00,0.000,6,0.120,0.047,3057,2079,1983,0,0,0,0,0,0
$GC,6184,0.46,230.0,84.9,4.5,663,6228,0.00,2.47,38.58,0.645,4,0.000,0.059,3057,3576,1797,0,0,0,0,0,0
$GC,6254,0.51,252.4,81.2,5.3,673,6284,0.00,2.40,19.58,0.615,6,0.000,0.044,3057,2074,1704,0,0,0,0,0,0
$GC,6413,0.57,276.4,72.5,5.3,701,6443,0.15,2.45,19.98,0.611,4,0.079,0.059,3130,3578,1606,0,0,0,0,0,0
$GC,6518,0.57,276.4,64.4,8.8,718,6526,0.12,2.53,0.00,0.000,6,0.138,0.044,3102,1987,1601,0,0,0,0,0,0
$GC,6657,0.60,291.0,55.9,5.6,743,6682,0.00,2.33,12.52,0.584,4,0.000,0.055,3106,553,1546,0,0,0,0,0,0
$GC,6714,0.62,291.9,52.4,6.1,751,6721,0.00,2.30,0.00,0.000,6,0.000,0.047,3106,2005,1544,0,0,0,0,0,0
$GC,6851,0.64,291.9,42.5,7.2,776,6859,0.00,2.55,0.00,0.000,4,0.000,0.058,3106,3584,1543,0,0,0,0,0,0
$GC,6895,0.65,291.9,38.9,7.6,783,6902,0.00,2.47,0.00,0.000,6,0.000,0.044,3111,2008,1542,0,0,0,0,0,0
$GC,7035,0.70,291.9,29.6,6.7,808,7044,0.10,2.35,0.00,0.000,4,0.100,0.055,3171,552,1541,0,0,0,0,0,0
$GC,7085,0.70,291.9,26.0,7.1,816,7094,0.00,2.33,0.00,0.000,6,0.000,0.046,3171,2034,1541,0,0,0,0,0,0
$GC,7225,0.70,291.9,16.2,6.2,841,7233,0.00,2.50,0.00,0.000,4,0.000,0.059,3171,3566,1540,0,0,0,0,0,0
$GC,7268,0.70,291.9,13.4,6.1,848,7277,0.08,2.38,0.00,0.000,6,0.119,0.044,3138,2070,1539,0,0,0,0,0,0
$GC,7409,0.74,325.9,7.1,4.9,873,7445,0.00,2.42,28.23,0.590,4,0.000,0.054,3139,547,1405,0,0,0,0,0,0
$STATE,7467,end climb,SURFACE_DEPTH_REACHED
$STATE,7467,begin surface coast
$FINISH,3.3,1.023442
$STATE,7478,end surface coast,CONTROL_FINISHED_OK
$STATE,7478,begin surface
$SM_CCo,7560,0.00,0.000,0,0,1397,328.21
$SM_GC,1.70,8.02,0.00,0.00,0.045,0.000,0.000,122,2182,1397,-8.61,0.20,328.21
$IRIDIUM_FIX,4732.49,-12507.66,120711,000047
$TT8_MAMPS,0.027713
$HUMID,40.66
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,24.0,57.917
$10V_AH,10.0,61.108
$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,20.575,148.825,372.200,0.000,0.000,26.151,30.201,211.960,0.000,0.000,16.909,2200.540,2679.578,525.212,2189.258,362.046,33.345,1397.619,0.000,1913.872,0.000,0.535,0.000
$DEVICE_MAMPS,227.970,97.920,746.640,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,602.553,1781.271,1249.668,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297632
$DATA_FILE_SIZE,50243,884
$CAP_FILE_SIZE,124505,0
$CFSIZE,260165632,174161920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.011,128.8,1
$GPS,120711,041401,4751.189,-12512.584,41,1.7,41,18.7