version: 66.07
glider: 187
mission: 4
dive: 652
start: 8 16 111 16 30 47
data:
$ID,187
$MISSION,4
$DIVE,652
$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,-1585566
$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,38
$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
$GPS1,160811,162455,4700.762,-12658.049,39,1.8,39,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-78.1
$GPS2,160811,162950,4700.750,-12658.021,13,1.6,13,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.142,0.141
$KALMAN_X,363143.3,439.5,-249.5,-501327.6,6845.0
$KALMAN_Y,-651398.3,336.5,884.4,565429.8,-10570.8
$MHEAD_RNG_PITCHd_Wd,234.7,2860,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.88,-30.0,0.0,0.0,0,75,0.00,0.00,-57.42,0.000,6,0.000,0.000,111,2183,2858,0,0,0,0,0,0
$GC,79,-0.90,-63.0,2.2,-1.6,1,98,10.20,2.40,-2.58,0.000,4,0.224,0.058,2611,3690,2995,0,0,0,0,0,0
$GC,227,-0.88,-63.0,43.1,-18.4,2,231,0.00,2.35,0.00,0.000,6,0.000,0.041,2610,2176,2999,0,0,0,0,0,0
$GC,496,-0.86,-63.0,88.8,-16.9,5,501,0.12,2.40,0.00,0.000,4,0.176,0.055,2633,3693,3002,0,0,0,0,0,0
$GC,610,-0.86,-63.0,104.9,-13.8,6,614,0.00,2.33,0.00,0.000,6,0.000,0.039,2632,2188,3003,0,0,0,0,0,0
$GC,1123,-0.86,-63.0,166.9,-11.7,8,1127,0.00,2.35,0.00,0.000,4,0.000,0.047,2632,659,3004,0,0,0,0,0,0
$GC,1163,-0.86,-63.0,172.0,-13.2,8,1167,0.00,2.35,0.00,0.000,6,0.000,0.046,2621,2192,3004,0,0,0,0,0,0
$GC,1762,-0.86,-63.0,247.1,-12.4,10,1766,0.00,2.38,0.00,0.000,4,0.000,0.049,2621,668,3003,0,0,0,0,0,0
$GC,1780,-0.86,-63.0,249.2,-12.4,10,1785,0.12,2.35,0.00,0.000,6,0.170,0.047,2641,2189,3003,0,0,0,0,0,0
$GC,2391,-0.87,-63.0,316.9,-11.1,12,2395,0.00,2.40,0.00,0.000,4,0.000,0.050,2641,669,3001,0,0,0,0,0,0
$GC,2426,-0.87,-63.0,321.2,-12.6,12,2430,0.00,2.38,0.00,0.000,6,0.000,0.047,2632,2197,3001,0,0,0,0,0,0
$GC,3019,-0.87,-63.0,394.1,-12.2,14,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2197,2999,0,0,0,0,0,0
$GC,3319,-0.87,-63.0,428.1,-11.8,15,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2197,2999,0,0,0,0,0,0
$GC,3619,-0.87,-63.0,459.7,-11.4,16,3623,0.00,2.42,0.00,0.000,4,0.000,0.053,2632,663,2997,0,0,0,0,0,0
$GC,3686,-0.87,-63.0,467.1,-11.0,16,3690,0.00,2.40,0.00,0.000,6,0.000,0.050,2621,2193,2998,0,0,0,0,0,0
$GC,4250,-0.87,-63.0,526.3,-10.3,18,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2193,2995,0,0,0,0,0,0
$GC,4550,-0.87,-63.0,557.7,-10.4,19,4553,0.00,2.45,0.00,0.000,4,0.000,0.054,2620,668,2994,0,0,0,0,0,0
$GC,4595,-0.87,-63.0,562.7,-11.5,19,4600,0.12,2.40,0.00,0.000,6,0.169,0.051,2641,2195,2994,0,0,0,0,0,0
$GC,5185,-0.89,-63.0,621.3,-9.9,21,5189,0.00,2.40,0.00,0.000,4,0.000,0.054,2641,671,2993,0,0,0,0,0,0
$GC,5234,-0.90,-63.0,626.6,-10.4,21,5239,0.00,2.40,0.00,0.000,6,0.000,0.051,2631,2195,2993,0,0,0,0,0,0
$GC,5812,-0.92,-63.0,680.8,-9.1,23,5816,0.00,2.42,0.00,0.000,4,0.000,0.055,2631,667,2991,0,0,0,0,0,0
$GC,5829,-0.93,-63.0,682.4,-9.1,23,5833,0.00,2.40,0.00,0.000,6,0.000,0.052,2620,2187,2991,0,0,0,0,0,0
$GC,6446,-0.93,-63.0,741.1,-9.7,25,6450,0.00,2.42,0.00,0.000,4,0.000,0.054,2620,668,2990,0,0,0,0,0,0
$GC,6489,-0.93,-63.0,745.9,-10.3,25,6494,0.00,2.40,0.00,0.000,6,0.000,0.052,2609,2185,2990,0,0,0,0,0,0
$GC,7071,-0.93,-63.0,807.0,-10.6,27,7075,0.00,2.45,0.00,0.000,4,0.000,0.054,2608,663,2989,0,0,0,0,0,0
$GC,7121,-0.93,-63.0,812.5,-11.4,27,7126,0.00,2.40,0.00,0.000,6,0.000,0.052,2597,2182,2989,0,0,0,0,0,0
$GC,7697,-0.93,-63.0,873.8,-10.6,29,7702,0.00,2.42,0.00,0.000,4,0.000,0.054,2597,667,2988,0,0,0,0,0,0
$GC,7730,-0.93,-63.0,877.6,-11.6,29,7735,0.12,2.38,0.00,0.000,6,0.178,0.052,2615,2176,2988,0,0,0,0,0,0
$GC,8328,-0.94,-63.0,935.6,-9.4,31,8332,0.00,2.42,0.00,0.000,4,0.000,0.056,2615,671,2987,0,0,0,0,0,0
$GC,8374,-0.94,-63.0,940.1,-9.3,31,8378,0.00,2.38,0.00,0.000,6,0.000,0.054,2606,2176,2987,0,0,0,0,0,0
$STATE,8964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8964,begin apogee
$GC,8972,-0.22,0.0,995.2,9.1,33,9033,0.77,0.00,57.17,1.226,6,0.129,0.000,2846,2054,2735,0,0,0,0,0,0
$STATE,9033,end apogee,CONTROL_FINISHED_OK
$STATE,9034,begin climb
$GC,9036,0.90,63.0,995.2,0.0,33,9101,1.02,0.00,61.28,1.203,6,0.063,0.000,3210,2054,2479,0,0,0,0,0,0
$GC,9268,0.92,131.7,972.3,-3.3,34,9335,0.00,0.00,65.25,1.184,6,0.000,0.000,3210,2054,2198,0,0,0,0,0,0
$GC,9568,0.90,131.7,921.4,16.9,35,9572,0.00,2.47,0.00,0.000,4,0.000,0.061,3211,3580,2190,0,0,0,0,0,0
$GC,9653,0.88,131.7,905.0,20.9,35,9657,0.00,2.40,0.00,0.000,6,0.000,0.047,3222,2067,2188,0,0,0,0,0,0
$GC,10197,0.86,131.7,804.0,18.5,37,10201,0.00,2.42,0.00,0.000,4,0.000,0.060,3222,3577,2185,0,0,0,0,0,0
$GC,10248,0.83,131.7,793.8,20.3,37,10253,0.17,2.40,0.00,0.000,6,0.196,0.048,3192,2064,2184,0,0,0,0,0,0
$GC,10831,0.83,131.7,701.0,15.6,39,10836,0.00,2.42,0.00,0.000,4,0.000,0.061,3192,3576,2183,0,0,0,0,0,0
$GC,10876,0.82,131.7,693.4,16.4,39,10880,0.00,2.38,0.00,0.000,6,0.000,0.047,3201,2070,2182,0,0,0,0,0,0
$GC,11463,0.82,131.7,602.9,15.3,41,11467,0.00,2.42,0.00,0.000,4,0.000,0.060,3201,3581,2182,0,0,0,0,0,0
$GC,11535,0.80,131.7,590.7,16.4,41,11540,0.15,2.38,0.00,0.000,6,0.187,0.047,3177,2079,2182,0,0,0,0,0,0
$GC,12088,0.80,131.7,512.0,14.2,43,12092,0.00,2.42,0.00,0.000,4,0.000,0.060,3177,3581,2181,0,0,0,0,0,0
$GC,12144,0.80,131.7,503.4,14.1,43,12148,0.00,2.38,0.00,0.000,6,0.000,0.047,3186,2081,2181,0,0,0,0,0,0
$GC,12714,0.80,131.7,424.5,13.4,45,12719,0.00,2.42,0.00,0.000,4,0.000,0.060,3186,3580,2181,0,0,0,0,0,0
$GC,12766,0.79,131.7,417.6,14.7,45,12771,0.00,2.35,0.00,0.000,6,0.000,0.047,3197,2089,2180,0,0,0,0,0,0
$GC,13343,0.79,131.7,344.4,12.8,47,13347,0.00,2.40,0.00,0.000,4,0.000,0.060,3197,3580,2180,0,0,0,0,0,0
$GC,13376,0.77,131.7,339.5,14.0,47,13381,0.15,2.35,0.00,0.000,6,0.181,0.046,3172,2089,2180,0,0,0,0,0,0
$GC,13976,0.78,131.7,268.7,11.5,49,13980,0.00,2.40,0.00,0.000,4,0.000,0.060,3172,3576,2180,0,0,0,0,0,0
$GC,14015,0.78,131.7,263.5,13.7,49,14019,0.00,2.33,0.00,0.000,6,0.000,0.047,3181,2101,2180,0,0,0,0,0,0
$GC,14602,0.78,131.7,193.3,11.9,51,14607,0.00,2.40,0.00,0.000,4,0.000,0.060,3181,3586,2180,0,0,0,0,0,0
$GC,14641,0.78,131.7,188.2,14.2,51,14645,0.00,2.35,0.00,0.000,6,0.000,0.046,3192,2098,2180,0,0,0,0,0,0
$GC,15227,0.78,131.7,121.7,10.2,53,15231,0.00,2.38,0.00,0.000,4,0.000,0.058,3192,3577,2180,0,0,0,0,0,0
$GC,15288,0.78,131.7,115.6,9.5,53,15293,0.12,2.33,0.00,0.000,6,0.182,0.045,3173,2096,2180,0,0,0,0,0,0
$GC,15659,0.81,131.7,85.9,6.7,55,15663,0.00,2.42,0.00,0.000,4,0.000,0.054,3183,541,2180,0,0,0,0,0,0
$GC,15722,0.83,132.9,82.2,5.9,55,15726,0.00,2.42,0.00,0.000,6,0.000,0.048,3183,2101,2180,0,0,0,0,0,0
$GC,15964,0.86,143.6,70.8,4.7,58,15978,0.00,2.42,8.75,0.577,4,0.000,0.060,3183,3575,2148,0,0,0,0,0,0
$GC,16113,0.88,147.6,61.6,5.6,59,16123,0.00,2.28,5.22,0.502,6,0.000,0.044,3194,2118,2133,0,0,0,0,0,0
$GC,16382,0.91,161.6,50.6,4.2,62,16401,0.00,2.53,13.90,0.595,4,0.000,0.053,3206,547,2075,0,0,0,0,0,0
$GC,16547,0.94,168.8,41.7,5.1,63,16562,0.00,2.40,7.45,0.538,6,0.000,0.046,3206,2093,2046,0,0,0,0,0,0
$GC,16804,0.97,173.4,28.3,5.5,66,16814,0.00,2.40,4.75,0.461,4,0.000,0.057,3206,3583,2028,0,0,0,0,0,0
$GC,16838,0.99,175.5,26.4,5.8,66,16842,0.00,2.35,0.00,0.000,6,0.000,0.043,3217,2081,2027,0,0,0,0,0,0
$GC,17107,1.05,215.0,23.5,0.7,69,17151,0.12,2.47,36.33,0.591,4,0.093,0.055,3280,3575,1857,0,0,0,0,0,0
$GC,17257,1.05,215.0,14.3,7.3,70,17262,0.12,2.28,0.00,0.000,6,0.178,0.041,3261,2111,1852,0,0,0,0,0,0
$STATE,17422,end climb,SURFACE_DEPTH_REACHED
$STATE,17422,begin surface coast
$FINISH,1.0,NaN
$STATE,17523,end surface coast,CONTROL_FINISHED_OK
$STATE,17523,begin surface
$SM_CCo,17543,65.80,0.483,3,0,1410,325.02
$SM_GC,1.73,0.00,0.00,65.80,0.000,0.000,0.483,116,2183,1410,-8.76,0.23,325.02
$IRIDIUM_FIX,4641.78,-12640.84,160811,101030
$TT8_MAMPS,0.026964
$HUMID,40.51
$INTERNAL_PRESSURE,9.16712
$TCM_TEMP,21.00
$XPDR_PINGS,0
$24V_AH,22.9,73.617
$10V_AH,9.9,78.668
$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,21.575,134.300,260.100,65.800,0.000,28.136,30.076,107.654,0.000,0.000,14.451,826.024,13901.320,470.781,2399.336,319.374,33.376,1571.464,0.000,2173.653,0.000,0.536,0.000
$DEVICE_MAMPS,224.145,108.630,1225.530,483.480,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297632
$DATA_FILE_SIZE,3674,73
$CAP_FILE_SIZE,145097,0
$CFSIZE,260165632,161374208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.211,242.6,1
$GPS,160811,212607,4659.822,-12700.643,57,0.9,57,18.6