version: 66.07
glider: 187
mission: 4
dive: 615
start: 8 5 111 9 30 24
data:
$ID,187
$MISSION,4
$DIVE,615
$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,-1585519.5
$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,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,34
$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
$GPS1,050811,092316,4750.623,-12512.840,10,3.3,30,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-77.0
$GPS2,050811,092928,4750.584,-12512.816,17,3.5,36,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.194,0.047
$KALMAN_X,290553.9,560.7,22.7,-298194.9,1194.3
$KALMAN_Y,-550374.6,-332.9,-8.6,558253.6,-1220.8
$MHEAD_RNG_PITCHd_Wd,215.2,164632,-13.6,-6.111
$D_GRID,343
$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,17,-0.50,-117.3,0.0,0.0,0,75,0.00,0.00,-55.38,0.000,2,0.000,0.000,112,2181,2653,0,0,0,0,0,0
$GC,78,-0.50,-117.3,3.7,-3.8,6,106,10.65,2.45,-11.15,0.000,4,0.225,0.072,2746,3692,3217,0,0,0,0,0,0
$GC,187,-0.48,-117.3,21.4,-10.0,15,194,0.00,2.38,0.00,0.000,6,0.000,0.043,2745,2170,3220,0,0,0,0,0,0
$GC,385,-0.45,-117.3,42.4,-9.5,34,389,0.00,2.33,0.00,0.000,4,0.000,0.049,2744,668,3221,0,0,0,0,0,0
$GC,431,-0.43,-117.3,47.5,-10.7,37,439,0.15,2.33,0.00,0.000,6,0.130,0.047,2781,2173,3222,0,0,0,0,0,0
$GC,631,-0.43,-117.3,64.7,-8.5,56,635,0.00,2.40,0.00,0.000,4,0.000,0.060,2772,3691,3223,0,0,0,0,0,0
$GC,672,-0.44,-117.3,68.1,-7.9,59,676,0.00,2.33,0.00,0.000,6,0.000,0.042,2772,2178,3223,0,0,0,0,0,0
$GC,871,-0.44,-117.3,83.2,-6.9,77,876,0.00,2.45,0.00,0.000,4,0.000,0.060,2763,3697,3223,0,0,0,0,0,0
$GC,901,-0.44,-117.3,85.6,-7.3,79,905,0.00,2.28,0.00,0.000,6,0.000,0.043,2762,2215,3224,0,0,0,0,0,0
$GC,1102,-0.44,-117.3,99.3,-6.5,97,1106,0.00,2.40,0.00,0.000,4,0.000,0.049,2761,663,3223,0,0,0,0,0,0
$GC,1136,-0.44,-117.3,101.8,-7.1,98,1140,0.00,2.40,0.00,0.000,6,0.000,0.047,2754,2209,3223,0,0,0,0,0,0
$GC,1327,-0.44,-117.3,115.8,-7.9,108,1331,0.00,2.38,0.00,0.000,4,0.000,0.060,2743,3695,3223,0,0,0,0,0,0
$GC,1367,-0.44,-117.3,119.1,-8.6,110,1372,0.12,2.28,0.00,0.000,6,0.126,0.043,2781,2212,3223,0,0,0,0,0,0
$GC,1569,-0.46,-117.3,132.7,-6.2,120,1574,0.00,2.38,0.00,0.000,4,0.000,0.050,2781,670,3223,0,0,0,0,0,0
$GC,1625,-0.47,-117.3,136.2,-6.3,122,1630,0.00,2.35,0.00,0.000,6,0.000,0.048,2781,2183,3223,0,0,0,0,0,0
$GC,1819,-0.50,-117.3,147.1,-6.0,132,1823,0.00,2.38,0.00,0.000,4,0.000,0.049,2781,664,3223,0,0,0,0,0,0
$GC,1846,-0.52,-117.3,148.9,-6.5,133,1850,0.00,2.12,0.00,0.000,6,0.000,0.047,2780,2059,3223,0,0,0,0,0,0
$GC,2038,-0.55,-117.3,161.8,-7.0,142,2043,0.10,2.60,0.00,0.000,4,0.100,0.060,2715,3696,3223,0,0,0,0,0,0
$GC,2180,-0.55,-117.3,174.4,-9.9,148,2184,0.00,2.35,0.00,0.000,6,0.000,0.042,2714,2169,3222,0,0,0,0,0,0
$GC,2374,-0.53,-117.3,193.6,-10.0,157,2378,0.12,2.33,0.00,0.000,4,0.140,0.050,2752,668,3222,0,0,0,0,0,0
$GC,2408,-0.53,-117.3,196.6,-8.2,158,2413,0.00,2.35,0.00,0.000,6,0.000,0.049,2748,2177,3223,0,0,0,0,0,0
$GC,2599,-0.53,-117.3,209.3,-6.3,168,2603,0.00,2.42,0.00,0.000,4,0.000,0.061,2737,3693,3222,0,0,0,0,0,0
$GC,2620,-0.53,-117.3,210.7,-6.3,169,2624,0.00,2.38,0.00,0.000,6,0.000,0.044,2736,2167,3222,0,0,0,0,0,0
$GC,2820,-0.53,-117.3,223.2,-6.2,179,2824,0.00,2.35,0.00,0.000,4,0.000,0.051,2736,666,3222,0,0,0,0,0,0
$GC,2861,-0.53,-117.3,226.0,-6.9,181,2865,0.00,2.33,0.00,0.000,6,0.000,0.049,2733,2173,3222,0,0,0,0,0,0
$GC,3063,-0.53,-117.3,238.7,-6.3,191,3067,0.00,2.47,0.00,0.000,4,0.000,0.062,2722,3697,3221,0,0,0,0,0,0
$GC,3086,-0.53,-117.3,240.3,-6.9,192,3090,0.00,2.38,0.00,0.000,6,0.000,0.044,2720,2166,3221,0,0,0,0,0,0
$GC,3289,-0.52,-117.3,254.4,-7.1,202,3294,0.10,2.38,0.00,0.000,4,0.151,0.052,2750,665,3220,0,0,0,0,0,0
$GC,3328,-0.52,-117.3,257.0,-6.1,204,3332,0.00,2.33,0.00,0.000,6,0.000,0.050,2746,2156,3220,0,0,0,0,0,0
$GC,3531,-0.52,-117.3,270.3,-6.7,214,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2156,3220,0,0,0,0,0,0
$GC,3715,-0.52,-117.3,283.4,-7.2,223,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2156,3219,0,0,0,0,0,0
$GC,3901,-0.52,-117.3,296.2,-6.7,232,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2156,3220,0,0,0,0,0,0
$GC,4090,-0.52,-117.3,308.3,-6.6,241,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2156,3219,0,0,0,0,0,0
$GC,4272,-0.52,-117.3,320.4,-6.6,250,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2156,3219,0,0,0,0,0,0
$GC,4457,-0.52,-117.3,332.5,-6.4,259,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2156,3219,0,0,0,0,0,0
$STATE,4620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4620,begin apogee
$GC,4627,-0.22,0.0,343.4,6.6,267,4727,0.32,0.00,97.07,0.799,6,0.104,0.000,2853,2049,2735,0,0,0,0,0,0
$STATE,4727,end apogee,CONTROL_FINISHED_OK
$STATE,4727,begin climb
$GC,4732,0.50,117.3,346.4,0.0,272,4836,0.62,0.00,101.12,0.776,6,0.070,0.000,3078,2049,2256,0,0,0,0,0,0
$GC,5020,0.48,117.3,333.2,6.5,286,5024,0.00,2.53,0.00,0.000,4,0.000,0.057,3078,3583,2248,0,0,0,0,0,0
$GC,5060,0.46,117.3,330.4,7.0,288,5065,0.00,2.42,0.00,0.000,6,0.000,0.044,3089,2063,2247,0,0,0,0,0,0
$GC,5263,0.43,117.3,317.3,6.3,298,5267,0.00,2.40,0.00,0.000,4,0.000,0.054,3100,548,2246,0,0,0,0,0,0
$GC,5307,0.41,117.3,314.4,6.8,300,5312,0.15,2.38,0.00,0.000,6,0.134,0.047,3057,2065,2245,0,0,0,0,0,0
$GC,5505,0.43,138.4,303.8,5.4,310,5529,0.00,2.50,17.20,0.732,4,0.000,0.058,3056,3581,2169,0,0,0,0,0,0
$GC,5572,0.43,138.4,299.3,7.8,313,5577,0.00,2.40,0.00,0.000,6,0.000,0.044,3064,2066,2168,0,0,0,0,0,0
$GC,5776,0.43,138.4,285.8,6.7,323,5780,0.00,2.40,0.00,0.000,4,0.000,0.054,3075,539,2166,0,0,0,0,0,0
$GC,5820,0.43,138.4,282.4,7.5,325,5824,0.00,2.40,0.00,0.000,6,0.000,0.048,3074,2072,2166,0,0,0,0,0,0
$GC,6017,0.42,138.4,268.4,7.3,335,6021,0.00,2.42,0.00,0.000,4,0.000,0.059,3075,3572,2165,0,0,0,0,0,0
$GC,6040,0.40,138.4,266.8,7.5,336,6045,0.12,2.40,0.00,0.000,6,0.148,0.045,3049,2048,2164,0,0,0,0,0,0
$GC,6237,0.40,138.4,254.1,6.3,346,6240,0.00,2.38,0.00,0.000,4,0.000,0.054,3057,539,2164,0,0,0,0,0,0
$GC,6275,0.40,138.4,251.6,6.6,347,6280,0.00,2.35,0.00,0.000,6,0.000,0.048,3057,2051,2164,0,0,0,0,0,0
$GC,6470,0.40,138.4,238.7,6.9,357,6474,0.00,2.45,0.00,0.000,4,0.000,0.060,3056,3581,2164,0,0,0,0,0,0
$GC,6502,0.40,138.4,235.9,8.4,358,6507,0.00,2.40,0.00,0.000,6,0.000,0.045,3066,2049,2163,0,0,0,0,0,0
$GC,6694,0.40,138.4,221.7,7.2,368,6698,0.00,2.40,0.00,0.000,4,0.000,0.054,3077,542,2163,0,0,0,0,0,0
$GC,6744,0.40,138.4,218.0,7.0,370,6748,0.00,2.35,0.00,0.000,6,0.000,0.049,3077,2053,2163,0,0,0,0,0,0
$GC,6942,0.39,138.4,203.4,7.7,380,6947,0.12,2.45,0.00,0.000,4,0.144,0.060,3040,3583,2163,0,0,0,0,0,0
$GC,6963,0.39,138.4,201.7,7.2,381,6967,0.00,2.42,0.00,0.000,6,0.000,0.045,3042,2032,2162,0,0,0,0,0,0
$GC,7161,0.39,138.4,188.8,6.3,391,7166,0.00,2.38,0.00,0.000,4,0.000,0.054,3042,535,2162,0,0,0,0,0,0
$GC,7189,0.42,158.0,187.2,5.4,392,7211,0.00,2.33,17.02,0.684,6,0.000,0.048,3042,2044,2090,0,0,0,0,0,0
$GC,7405,0.44,185.5,175.5,5.1,403,7434,0.00,2.50,23.85,0.686,4,0.000,0.059,3042,3566,1977,0,0,0,0,0,0
$GC,7476,0.44,185.5,171.3,6.8,406,7480,0.00,2.42,0.00,0.000,6,0.000,0.044,3042,2038,1975,0,0,0,0,0,0
$GC,7673,0.48,223.8,161.5,4.8,416,7710,0.00,2.42,32.58,0.681,4,0.000,0.053,3042,542,1821,0,0,0,0,0,0
$GC,7735,0.52,247.7,158.3,5.3,418,7762,0.12,2.35,20.90,0.655,6,0.082,0.047,3108,2048,1725,0,0,0,0,0,0
$GC,7963,0.52,247.7,138.8,9.2,429,7967,0.00,2.47,0.00,0.000,4,0.000,0.059,3109,3576,1717,0,0,0,0,0,0
$GC,7997,0.52,247.7,135.4,10.0,430,8001,0.00,2.42,0.00,0.000,6,0.000,0.045,3118,2057,1716,0,0,0,0,0,0
$GC,8189,0.51,247.7,118.1,9.5,440,8193,0.12,2.40,0.00,0.000,4,0.141,0.054,3089,537,1715,0,0,0,0,0,0
$GC,8243,0.53,247.7,113.2,8.8,442,8248,0.00,2.35,0.00,0.000,6,0.000,0.048,3089,2040,1714,0,0,0,0,0,0
$GC,8436,0.53,247.7,98.9,6.6,452,8437,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2040,1713,0,0,0,0,0,0
$GC,8629,0.54,247.7,87.0,6.8,470,8633,0.00,2.42,0.00,0.000,4,0.000,0.060,3089,3570,1713,0,0,0,0,0,0
$GC,8670,0.56,247.7,83.4,9.1,473,8674,0.00,2.42,0.00,0.000,6,0.000,0.044,3093,2030,1712,0,0,0,0,0,0
$GC,8870,0.57,247.7,69.2,6.3,491,8874,0.00,2.33,0.00,0.000,4,0.000,0.054,3094,545,1711,0,0,0,0,0,0
$GC,8888,0.59,263.3,68.0,5.6,492,8905,0.00,2.33,12.32,0.596,6,0.000,0.047,3094,2047,1661,0,0,0,0,0,0
$GC,9102,0.61,263.3,54.9,6.6,511,9106,0.00,2.45,0.00,0.000,4,0.000,0.057,3094,3580,1657,0,0,0,0,0,0
$GC,9137,0.63,263.3,52.4,6.8,514,9141,0.00,2.40,0.00,0.000,6,0.000,0.044,3095,2045,1656,0,0,0,0,0,0
$GC,9339,0.66,276.6,42.9,5.6,532,9357,0.10,2.38,12.32,0.580,4,0.101,0.054,3159,541,1606,0,0,0,0,0,0
$GC,9409,0.66,276.6,36.8,9.3,537,9415,0.00,2.33,0.00,0.000,6,0.000,0.048,3159,2046,1602,0,0,0,0,0,0
$GC,9608,0.66,276.6,18.1,10.5,556,9612,0.00,2.47,0.00,0.000,4,0.000,0.059,3159,3578,1601,0,0,0,0,0,0
$GC,9686,0.66,276.6,10.8,7.2,562,9693,0.12,2.33,0.00,0.000,6,0.138,0.044,3132,2091,1600,0,0,0,0,0,0
$GC,9886,0.75,368.8,5.5,2.9,581,9922,0.00,0.00,33.60,0.581,2,0.000,0.000,3132,2087,1439,0,0,0,0,0,0
$STATE,9923,end climb,SURFACE_DEPTH_REACHED
$STATE,9923,begin surface coast
$FINISH,1.0,1.022893
$STATE,10025,end surface coast,CONTROL_FINISHED_OK
$STATE,10025,begin surface
$SM_CCo,10045,7.70,0.086,1,0,1411,325.02
$SM_GC,3.43,0.00,0.00,7.70,0.000,0.000,0.086,129,2186,1411,-8.73,0.31,325.02
$IRIDIUM_FIX,4732.49,-12512.90,050811,060623
$TT8_MAMPS,0.026964
$HUMID,42.04
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,23.7,68.750
$10V_AH,9.8,75.404
$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,20.900,157.875,368.000,7.700,0.000,28.139,30.652,165.988,0.000,0.000,37.916,1366.793,6793.866,498.224,1443.401,327.142,33.366,1233.860,0.000,1192.049,0.000,0.536,0.000
$DEVICE_MAMPS,224.910,95.625,798.660,85.680,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,222.938,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297616
$DATA_FILE_SIZE,30257,594
$CAP_FILE_SIZE,126505,0
$CFSIZE,260165632,164581376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.042, 33.1,1
$GPS,050811,122027,4750.225,-12513.799,84,2.4,104,18.7