version: 66.07
glider: 187
mission: 4
dive: 650
start: 8 16 111 5 3 35
data:
$ID,187
$MISSION,4
$DIVE,650
$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,-1585563.5
$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,30
$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
$GPS1,160811,045437,4703.127,-12654.975,31,0.9,31,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-78.3
$GPS2,160811,050238,4703.109,-12654.901,13,1.2,13,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.176,0.096
$KALMAN_X,354737.9,151.6,34.9,-489014.4,541.1
$KALMAN_Y,-642380.8,1389.2,-1161.5,561784.9,-7768.7
$MHEAD_RNG_PITCHd_Wd,192.7,8638,-27.7,-6.111
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.88,-30.0,0.0,0.0,0,82,0.00,0.00,-63.25,0.000,6,0.000,0.000,131,2186,2858,0,0,0,0,0,0
$GC,85,-0.90,-59.3,2.3,-2.1,1,105,10.12,2.45,-2.28,0.000,4,0.225,0.063,2616,3693,2980,0,0,0,0,0,0
$GC,229,-0.89,-59.3,41.4,-17.0,2,233,0.00,2.38,0.00,0.000,6,0.000,0.041,2615,2170,2985,0,0,0,0,0,0
$GC,503,-0.87,-59.3,87.8,-17.0,5,507,0.00,2.45,0.00,0.000,4,0.000,0.055,2604,3697,2988,0,0,0,0,0,0
$GC,602,-0.85,-59.3,103.5,-15.4,5,607,0.15,2.30,0.00,0.000,6,0.163,0.041,2642,2195,2988,0,0,0,0,0,0
$GC,908,-0.84,-59.3,142.5,-12.7,6,913,0.00,2.40,0.00,0.000,4,0.000,0.057,2633,3693,2989,0,0,0,0,0,0
$GC,936,-0.84,-59.3,145.9,-12.3,6,940,0.00,2.33,0.00,0.000,6,0.000,0.042,2632,2208,2989,0,0,0,0,0,0
$GC,1539,-0.84,-59.3,219.0,-12.0,8,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2204,2989,0,0,0,0,0,0
$GC,1840,-0.84,-59.3,254.6,-11.9,9,1844,0.00,2.40,0.00,0.000,4,0.000,0.050,2631,663,2988,0,0,0,0,0,0
$GC,1881,-0.84,-59.3,259.3,-12.4,9,1885,0.00,2.38,0.00,0.000,6,0.000,0.047,2621,2206,2988,0,0,0,0,0,0
$GC,2469,-0.84,-59.3,332.2,-12.3,11,2473,0.00,2.42,0.00,0.000,4,0.000,0.050,2621,661,2986,0,0,0,0,0,0
$GC,2490,-0.84,-59.3,335.1,-11.8,11,2495,0.15,2.38,0.00,0.000,6,0.164,0.048,2649,2203,2986,0,0,0,0,0,0
$GC,3102,-0.86,-59.3,396.4,-9.9,13,3106,0.00,2.40,0.00,0.000,4,0.000,0.051,2649,667,2984,0,0,0,0,0,0
$GC,3158,-0.87,-59.3,402.6,-10.8,13,3162,0.00,2.40,0.00,0.000,6,0.000,0.050,2639,2201,2984,0,0,0,0,0,0
$GC,3728,-0.88,-59.3,462.7,-10.7,15,3732,0.00,2.42,0.00,0.000,4,0.000,0.052,2638,663,2982,0,0,0,0,0,0
$GC,3766,-0.88,-59.3,467.1,-11.9,15,3770,0.00,2.38,0.00,0.000,6,0.000,0.050,2628,2196,2982,0,0,0,0,0,0
$GC,4359,-0.88,-59.3,530.2,-10.5,17,4363,0.00,2.42,0.00,0.000,4,0.000,0.054,2627,668,2980,0,0,0,0,0,0
$GC,4431,-0.88,-59.3,538.6,-11.7,17,4436,0.00,2.35,0.00,0.000,6,0.000,0.051,2617,2179,2979,0,0,0,0,0,0
$GC,4985,-0.88,-59.3,597.7,-10.7,19,4989,0.00,2.42,0.00,0.000,4,0.000,0.054,2616,664,2978,0,0,0,0,0,0
$GC,5011,-0.88,-59.3,600.9,-11.7,19,5016,0.12,2.35,0.00,0.000,6,0.170,0.051,2637,2176,2978,0,0,0,0,0,0
$GC,5615,-0.90,-59.3,663.0,-10.4,21,5620,0.00,2.40,0.00,0.000,4,0.000,0.054,2637,668,2977,0,0,0,0,0,0
$GC,5639,-0.91,-59.3,665.3,-10.5,21,5643,0.00,2.35,0.00,0.000,6,0.000,0.051,2628,2177,2977,0,0,0,0,0,0
$GC,6245,-0.92,-59.3,725.2,-9.5,23,6249,0.00,2.40,0.00,0.000,4,0.000,0.054,2627,666,2976,0,0,0,0,0,0
$GC,6288,-0.92,-59.3,729.7,-9.7,23,6293,0.00,2.35,0.00,0.000,6,0.000,0.052,2616,2172,2975,0,0,0,0,0,0
$GC,6872,-0.92,-59.3,783.4,-9.2,25,6876,0.00,2.40,0.00,0.000,4,0.000,0.055,2616,667,2974,0,0,0,0,0,0
$GC,6944,-0.92,-59.3,790.6,-10.0,25,6948,0.00,2.35,0.00,0.000,6,0.000,0.052,2605,2175,2974,0,0,0,0,0,0
$GC,7503,-0.92,-59.3,844.1,-9.6,27,7507,0.00,2.50,0.00,0.000,4,0.000,0.064,2594,3694,2974,0,0,0,0,0,0
$GC,7599,-0.92,-59.3,853.9,-10.1,27,7603,0.00,2.40,0.00,0.000,6,0.000,0.047,2593,2167,2973,0,0,0,0,0,0
$GC,8129,-0.92,-59.3,906.0,-9.9,29,8130,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2166,2973,0,0,0,0,0,0
$GC,8430,-0.92,-59.3,936.2,-10.0,30,8434,0.00,2.40,0.00,0.000,4,0.000,0.056,2593,661,2972,0,0,0,0,0,0
$GC,8485,-0.92,-59.3,942.2,-10.6,30,8490,0.15,2.38,0.00,0.000,6,0.173,0.054,2621,2174,2972,0,0,0,0,0,0
$STATE,9052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9052,begin apogee
$GC,9059,-0.22,0.0,995.7,9.5,32,9116,0.73,0.00,54.15,1.224,6,0.127,0.000,2848,2054,2735,0,0,0,0,0,0
$STATE,9117,end apogee,CONTROL_FINISHED_OK
$STATE,9117,begin climb
$GC,9121,0.90,59.3,995.7,0.0,32,9182,1.02,0.00,57.83,1.203,6,0.062,0.000,3215,2054,2493,0,0,0,0,0,0
$GC,9356,0.89,78.6,976.1,3.5,33,9380,0.00,2.58,19.05,1.132,4,0.000,0.062,3214,3570,2413,0,0,0,0,0,0
$GC,9408,0.85,78.6,968.8,14.3,33,9413,0.12,2.45,0.00,0.000,6,0.209,0.047,3200,2060,2411,0,0,0,0,0,0
$GC,9985,0.84,78.6,892.9,13.2,35,9989,0.00,2.47,0.00,0.000,4,0.000,0.062,3200,3575,2407,0,0,0,0,0,0
$GC,10065,0.81,78.6,881.2,15.1,35,10069,0.00,2.42,0.00,0.000,6,0.000,0.047,3209,2052,2405,0,0,0,0,0,0
$GC,10613,0.79,78.6,806.1,13.5,37,10618,0.15,2.47,0.00,0.000,4,0.191,0.060,3172,3581,2405,0,0,0,0,0,0
$GC,10734,0.77,78.6,789.8,14.4,37,10738,0.00,2.38,0.00,0.000,6,0.000,0.047,3181,2070,2404,0,0,0,0,0,0
$GC,11243,0.77,78.6,726.7,12.1,39,11245,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2070,2403,0,0,0,0,0,0
$GC,11543,0.77,78.6,692.5,11.8,40,11547,0.00,2.45,0.00,0.000,4,0.000,0.061,3181,3577,2403,0,0,0,0,0,0
$GC,11592,0.75,78.6,686.1,12.8,40,11597,0.12,2.40,0.00,0.000,6,0.200,0.047,3165,2067,2402,0,0,0,0,0,0
$GC,12168,0.75,78.6,622.6,11.0,42,12172,0.00,2.45,0.00,0.000,4,0.000,0.061,3164,3583,2402,0,0,0,0,0,0
$GC,12287,0.74,78.6,608.3,11.7,42,12291,0.00,2.38,0.00,0.000,6,0.000,0.047,3173,2081,2401,0,0,0,0,0,0
$GC,12801,0.74,78.6,554.8,10.2,44,12805,0.00,2.40,0.00,0.000,4,0.000,0.060,3173,3577,2401,0,0,0,0,0,0
$GC,12974,0.72,78.6,535.1,11.5,44,12979,0.12,2.33,0.00,0.000,6,0.188,0.047,3156,2092,2401,0,0,0,0,0,0
$GC,13426,0.72,78.6,490.4,10.0,46,13427,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2089,2401,0,0,0,0,0,0
$GC,13728,0.72,78.6,463.6,9.5,47,13732,0.00,2.40,0.00,0.000,4,0.000,0.060,3156,3574,2401,0,0,0,0,0,0
$GC,13839,0.72,78.6,453.1,8.7,47,13843,0.00,2.35,0.00,0.000,6,0.000,0.047,3165,2080,2400,0,0,0,0,0,0
$GC,14353,0.72,78.6,410.2,8.3,49,14357,0.00,2.42,0.00,0.000,4,0.000,0.060,3165,3584,2401,0,0,0,0,0,0
$GC,14476,0.72,78.6,398.3,9.6,49,14480,0.00,2.33,0.00,0.000,6,0.000,0.046,3176,2096,2400,0,0,0,0,0,0
$GC,14979,0.72,78.6,352.8,9.2,51,14980,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2094,2401,0,0,0,0,0,0
$GC,15280,0.72,78.6,326.5,9.0,52,15284,0.00,2.40,0.00,0.000,4,0.000,0.059,3176,3578,2401,0,0,0,0,0,0
$GC,15393,0.71,78.6,315.7,9.6,52,15398,0.15,2.30,0.00,0.000,6,0.180,0.046,3151,2108,2400,0,0,0,0,0,0
$GC,15907,0.72,78.6,279.0,6.8,54,15911,0.00,2.38,0.00,0.000,4,0.000,0.060,3150,3578,2401,0,0,0,0,0,0
$GC,15976,0.72,78.6,274.0,7.0,54,15980,0.00,2.30,0.00,0.000,6,0.000,0.046,3159,2108,2401,0,0,0,0,0,0
$GC,16542,0.72,78.6,233.9,7.3,56,16546,0.00,2.40,0.00,0.000,4,0.000,0.060,3160,3584,2401,0,0,0,0,0,0
$GC,16637,0.72,78.6,225.3,8.2,56,16641,0.00,2.28,0.00,0.000,6,0.000,0.045,3171,2124,2401,0,0,0,0,0,0
$GC,17170,0.72,78.6,187.1,6.4,58,17174,0.00,2.33,0.00,0.000,4,0.000,0.059,3171,3576,2401,0,0,0,0,0,0
$GC,17213,0.72,78.6,184.3,6.3,58,17218,0.00,2.28,0.00,0.000,6,0.000,0.045,3182,2113,2401,0,0,0,0,0,0
$GC,17809,0.72,78.6,149.1,6.4,60,17813,0.00,2.35,0.00,0.000,4,0.000,0.059,3182,3578,2401,0,0,0,0,0,0
$GC,17943,0.72,78.6,139.9,6.5,60,17948,0.15,2.25,0.00,0.000,6,0.175,0.044,3156,2142,2401,0,0,0,0,0,0
$GC,18434,0.75,95.4,119.3,3.8,62,18454,0.00,2.53,14.35,0.640,4,0.000,0.053,3166,550,2345,0,0,0,0,0,0
$GC,18707,0.78,108.7,107.4,4.3,62,18727,0.00,2.47,13.07,0.627,6,0.000,0.047,3166,2153,2290,0,0,0,0,0,0
$GC,19068,0.80,110.6,86.6,5.9,64,19073,0.00,2.53,0.00,0.000,4,0.000,0.052,3177,550,2288,0,0,0,0,0,0
$GC,19087,0.82,112.8,85.8,5.8,64,19097,0.00,2.45,4.88,0.497,6,0.000,0.046,3177,2139,2274,0,0,0,0,0,0
$GC,19374,0.86,135.2,76.4,3.1,67,19400,0.00,2.53,20.83,0.628,4,0.000,0.051,3190,540,2182,0,0,0,0,0,0
$GC,19459,0.88,137.9,72.7,5.7,67,19464,0.00,2.45,0.00,0.000,6,0.000,0.047,3190,2120,2180,0,0,0,0,0,0
$GC,19679,0.90,137.9,58.5,6.4,70,19681,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2120,2178,0,0,0,0,0,0
$GC,19879,0.92,140.2,48.1,5.8,72,19889,0.00,2.33,5.18,0.489,4,0.000,0.057,3189,3577,2163,0,0,0,0,0,0
$GC,20103,0.94,150.6,37.0,4.7,74,20118,0.00,2.33,10.48,0.569,6,0.000,0.043,3200,2092,2120,0,0,0,0,0,0
$GC,20409,0.98,176.5,27.7,2.6,77,20439,0.10,2.47,22.80,0.594,4,0.103,0.051,3258,552,2014,0,0,0,0,0,0
$GC,20509,0.99,197.6,24.9,3.2,77,20533,0.00,2.40,18.58,0.578,6,0.000,0.045,3258,2109,1928,0,0,0,0,0,0
$GC,20731,1.02,219.7,16.9,3.1,80,20755,0.00,2.53,18.88,0.570,4,0.000,0.052,3270,552,1838,0,0,0,0,0,0
$GC,20892,1.04,219.7,7.2,7.4,81,20896,0.00,2.33,0.00,0.000,6,0.000,0.044,3270,2050,1834,0,0,0,0,0,0
$STATE,20933,end climb,SURFACE_DEPTH_REACHED
$STATE,20933,begin surface coast
$FINISH,3.5,NaN
$STATE,20939,end surface coast,CONTROL_FINISHED_OK
$STATE,20939,begin surface
$SM_CCo,20958,64.90,0.534,3,0,1408,325.02
$SM_GC,1.98,0.00,0.00,64.90,0.000,0.000,0.534,108,2190,1408,-8.79,0.42,325.02
$IRIDIUM_FIX,4651.23,-12432.30,160811,040455
$TT8_MAMPS,0.027713
$HUMID,40.66
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,20.50
$XPDR_PINGS,0
$24V_AH,22.9,73.431
$10V_AH,9.9,78.540
$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,22.075,158.550,260.050,64.900,0.000,54.566,114.354,118.453,0.000,0.000,14.271,956.691,16779.357,469.440,2919.865,384.238,33.376,1774.496,0.000,2560.802,0.000,0.536,0.000
$DEVICE_MAMPS,224.910,80.325,1224.000,533.970,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297712
$DATA_FILE_SIZE,3681,81
$CAP_FILE_SIZE,171975,0
$CFSIZE,260165632,161472512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.129,208.7,1
$GPS,160811,105536,4701.816,-12655.939,37,1.0,42,18.6