version: 66.07
glider: 187
mission: 4
dive: 700
start: 8 31 111 7 43 22
data:
$ID,187
$MISSION,4
$DIVE,700
$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,1
$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,-1585626
$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,32
$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
$GPS1,310811,073720,4747.915,-12516.325,13,1.7,14,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-70.6
$GPS2,310811,074228,4747.832,-12516.317,16,6.9,35,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,INSHORE
$TGT_LATLONG,4742.000,-12530.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.193,0.054
$KALMAN_X,367199.0,188.1,69.3,-378868.5,3514.4
$KALMAN_Y,-778803.5,573.6,343.8,780334.9,-1370.3
$MHEAD_RNG_PITCHd_Wd,267.0,20186,-13.6,-6.111
$D_GRID,624
$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,-117.3,0.0,0.0,0,123,0.00,0.00,-104.78,0.000,6,0.000,0.000,125,2165,3215,0,0,0,0,0,0
$GC,126,-0.50,-117.3,2.4,-2.7,1,142,10.75,2.45,0.00,0.000,4,0.226,0.053,2741,3693,3218,0,0,0,0,0,0
$GC,216,-0.48,-117.3,31.3,-9.2,1,220,0.00,2.38,0.00,0.000,6,0.000,0.044,2740,2162,3220,0,0,0,0,0,0
$GC,429,-0.47,-117.3,56.1,-11.7,4,430,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2159,3222,0,0,0,0,0,0
$GC,629,-0.44,-117.3,78.0,-11.5,6,634,0.12,2.33,0.00,0.000,4,0.147,0.050,2778,663,3223,0,0,0,0,0,0
$GC,663,-0.44,-117.3,80.7,-7.8,6,668,0.00,2.38,0.00,0.000,6,0.000,0.047,2773,2188,3223,0,0,0,0,0,0
$GC,938,-0.44,-117.3,101.0,-7.4,9,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2189,3223,0,0,0,0,0,0
$GC,1238,-0.44,-117.3,122.5,-7.2,10,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2188,3223,0,0,0,0,0,0
$GC,1539,-0.44,-117.3,141.9,-7.0,11,1543,0.00,2.38,0.00,0.000,4,0.000,0.050,2773,664,3223,0,0,0,0,0,0
$GC,1568,-0.46,-117.3,143.7,-7.1,11,1572,0.00,2.38,0.00,0.000,6,0.000,0.048,2772,2191,3223,0,0,0,0,0,0
$GC,2172,-0.46,-117.3,181.6,-6.1,13,2176,0.00,2.38,0.00,0.000,4,0.000,0.050,2772,667,3223,0,0,0,0,0,0
$GC,2201,-0.47,-117.3,183.6,-7.1,13,2205,0.00,2.35,0.00,0.000,6,0.000,0.049,2772,2183,3223,0,0,0,0,0,0
$GC,2807,-0.48,-117.3,218.6,-5.3,15,2811,0.00,2.38,0.00,0.000,4,0.000,0.052,2772,661,3222,0,0,0,0,0,0
$GC,2834,-0.49,-117.3,220.3,-6.2,15,2838,0.00,2.35,0.00,0.000,6,0.000,0.050,2772,2167,3222,0,0,0,0,0,0
$GC,3438,-0.50,-117.3,252.8,-5.4,17,3442,0.00,2.38,0.00,0.000,4,0.000,0.052,2772,659,3221,0,0,0,0,0,0
$GC,3472,-0.52,-117.3,254.8,-5.8,17,3476,0.00,2.35,0.00,0.000,6,0.000,0.050,2772,2165,3221,0,0,0,0,0,0
$GC,4071,-0.53,-117.3,290.4,-6.1,19,4075,0.00,2.35,0.00,0.000,4,0.000,0.052,2772,656,3220,0,0,0,0,0,0
$GC,4092,-0.54,-117.3,292.0,-6.8,19,4096,0.00,2.38,0.00,0.000,6,0.000,0.051,2772,2170,3219,0,0,0,0,0,0
$GC,4697,-0.55,-117.3,326.8,-5.6,21,4701,0.00,2.40,0.00,0.000,4,0.000,0.053,2772,658,3219,0,0,0,0,0,0
$GC,4738,-0.57,-117.3,329.0,-5.6,21,4742,0.00,2.33,0.00,0.000,6,0.000,0.052,2769,2154,3218,0,0,0,0,0,0
$GC,5327,-0.58,-117.3,360.0,-5.3,23,5332,0.10,2.38,0.00,0.000,4,0.099,0.052,2707,655,3218,0,0,0,0,0,0
$GC,5354,-0.57,-117.3,362.1,-8.0,23,5359,0.12,2.33,0.00,0.000,6,0.139,0.051,2736,2150,3218,0,0,0,0,0,0
$GC,5960,-0.57,-117.3,401.5,-6.4,25,5964,0.00,2.38,0.00,0.000,4,0.000,0.053,2736,660,3217,0,0,0,0,0,0
$GC,5999,-0.57,-117.3,404.2,-6.4,25,6003,0.00,2.33,0.00,0.000,6,0.000,0.051,2730,2143,3217,0,0,0,0,0,0
$GC,6586,-0.57,-117.3,447.0,-7.6,27,6590,0.00,2.33,0.00,0.000,4,0.000,0.054,2730,666,3217,0,0,0,0,0,0
$GC,6618,-0.57,-117.3,449.8,-8.8,27,6622,0.00,2.30,0.00,0.000,6,0.000,0.051,2722,2145,3217,0,0,0,0,0,0
$GC,7217,-0.57,-117.3,499.2,-7.9,29,7221,0.00,2.33,0.00,0.000,4,0.000,0.054,2721,664,3216,0,0,0,0,0,0
$GC,7244,-0.57,-117.3,501.3,-8.0,29,7248,0.00,2.30,0.00,0.000,6,0.000,0.052,2714,2145,3216,0,0,0,0,0,0
$GC,7848,-0.56,-117.3,546.7,-7.7,31,7852,0.00,2.50,0.00,0.000,4,0.000,0.063,2702,3689,3215,0,0,0,0,0,0
$GC,7893,-0.56,-117.3,550.0,-7.4,31,7898,0.12,2.45,0.00,0.000,6,0.132,0.047,2740,2141,3215,0,0,0,0,0,0
$GC,8475,-0.56,-117.3,587.2,-6.7,33,8479,0.00,2.33,0.00,0.000,4,0.000,0.055,2740,661,3215,0,0,0,0,0,0
$GC,8531,-0.56,-117.3,591.5,-7.6,33,8535,0.00,2.30,0.00,0.000,6,0.000,0.053,2735,2133,3215,0,0,0,0,0,0
$STATE,9098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9099,begin apogee
$GC,9107,-0.22,0.0,628.3,6.2,35,9212,0.35,0.00,102.40,0.985,6,0.103,0.000,2851,2043,2735,0,0,0,0,0,0
$STATE,9213,end apogee,CONTROL_FINISHED_OK
$STATE,9213,begin climb
$GC,9215,0.50,117.3,628.3,0.0,35,9332,0.62,2.55,106.43,0.961,4,0.067,0.054,3089,564,2255,0,0,0,0,0,0
$GC,9385,0.48,117.3,623.2,8.2,35,9389,0.00,2.45,0.00,0.000,6,0.000,0.050,3089,2069,2251,0,0,0,0,0,0
$GC,9845,0.45,117.3,582.9,8.8,37,9849,0.00,2.42,0.00,0.000,4,0.000,0.060,3089,3576,2244,0,0,0,0,0,0
$GC,9914,0.42,117.3,575.9,10.1,37,9919,0.15,2.38,0.00,0.000,6,0.151,0.046,3057,2074,2243,0,0,0,0,0,0
$GC,10475,0.41,117.3,539.7,6.2,39,10479,0.00,2.40,0.00,0.000,4,0.000,0.060,3057,3576,2242,0,0,0,0,0,0
$GC,10527,0.39,117.3,536.1,7.3,39,10531,0.00,2.35,0.00,0.000,6,0.000,0.046,3064,2067,2240,0,0,0,0,0,0
$GC,11109,0.37,117.3,498.3,6.7,41,11110,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2066,2240,0,0,0,0,0,0
$GC,11408,0.36,117.3,474.3,7.3,42,11410,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2066,2240,0,0,0,0,0,0
$GC,11709,0.35,117.3,449.8,7.6,43,11711,0.12,0.00,0.00,0.000,6,0.146,0.000,3028,2063,2239,0,0,0,0,0,0
$GC,12011,0.35,117.3,430.6,7.5,44,12012,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2063,2239,0,0,0,0,0,0
$GC,12312,0.35,117.3,414.2,7.1,45,12316,0.00,2.42,0.00,0.000,4,0.000,0.061,3027,3577,2238,0,0,0,0,0,0
$GC,12339,0.35,120.8,412.5,6.0,45,12343,0.00,2.35,0.00,0.000,6,0.000,0.047,3035,2074,2238,0,0,0,0,0,0
$GC,12945,0.37,153.4,381.7,5.0,47,12980,0.00,2.47,29.70,0.826,4,0.000,0.057,3042,543,2109,0,0,0,0,0,0
$GC,13014,0.39,153.4,377.8,6.2,47,13018,0.00,2.42,0.00,0.000,6,0.000,0.050,3041,2081,2106,0,0,0,0,0,0
$GC,13567,0.39,164.8,346.4,5.7,49,13582,0.00,2.40,10.50,0.744,4,0.000,0.060,3042,3581,2063,0,0,0,0,0,0
$GC,13621,0.39,164.8,342.7,7.6,49,13625,0.00,2.35,0.00,0.000,6,0.000,0.047,3042,2078,2061,0,0,0,0,0,0
$GC,14192,0.39,164.8,304.4,6.8,51,14196,0.00,2.42,0.00,0.000,4,0.000,0.056,3042,545,2059,0,0,0,0,0,0
$GC,14237,0.41,164.8,301.3,7.2,51,14242,0.00,2.40,0.00,0.000,6,0.000,0.049,3042,2084,2059,0,0,0,0,0,0
$GC,14821,0.43,172.3,265.5,5.8,53,14835,0.00,2.45,7.40,0.661,4,0.000,0.061,3042,3577,2032,0,0,0,0,0,0
$GC,14859,0.43,172.3,263.0,7.0,53,14863,0.00,2.38,0.00,0.000,6,0.000,0.047,3042,2067,2030,0,0,0,0,0,0
$GC,15455,0.45,186.5,229.7,5.6,55,15474,0.00,2.45,13.82,0.703,4,0.000,0.057,3042,549,1974,0,0,0,0,0,0
$GC,15525,0.48,208.0,225.7,5.4,55,15551,0.10,2.38,19.67,0.715,6,0.097,0.049,3102,2071,1887,0,0,0,0,0,0
$GC,16083,0.47,208.0,174.2,9.4,57,16087,0.00,2.45,0.00,0.000,4,0.000,0.060,3102,3581,1880,0,0,0,0,0,0
$GC,16123,0.46,208.0,170.2,9.9,57,16128,0.15,2.38,0.00,0.000,6,0.138,0.046,3068,2066,1879,0,0,0,0,0,0
$GC,16711,0.46,208.0,127.9,7.0,59,16715,0.00,2.40,0.00,0.000,4,0.000,0.056,3077,541,1879,0,0,0,0,0,0
$GC,16757,0.47,208.0,124.8,6.4,59,16761,0.00,2.38,0.00,0.000,6,0.000,0.049,3077,2073,1879,0,0,0,0,0,0
$GC,17352,0.47,208.0,85.4,6.6,61,17356,0.00,2.40,0.00,0.000,4,0.000,0.060,3078,3577,1879,0,0,0,0,0,0
$GC,17373,0.48,211.8,84.0,6.0,61,17377,0.00,2.38,0.00,0.000,6,0.000,0.046,3083,2059,1879,0,0,0,0,0,0
$GC,17660,0.50,227.3,68.1,5.6,64,17684,0.00,2.45,16.60,0.614,4,0.000,0.054,3083,549,1808,0,0,0,0,0,0
$GC,17719,0.55,265.6,65.2,4.8,64,17759,0.00,2.35,32.83,0.623,6,0.000,0.047,3083,2061,1650,0,0,0,0,0,0
$GC,17969,0.58,283.0,51.6,5.5,67,17989,0.00,2.45,14.77,0.591,4,0.000,0.060,3083,3569,1580,0,0,0,0,0,0
$GC,18024,0.61,283.0,48.1,6.7,67,18028,0.00,2.38,0.00,0.000,6,0.000,0.045,3083,2067,1578,0,0,0,0,0,0
$GC,18271,0.66,307.8,35.2,5.2,70,18300,0.15,2.42,21.48,0.594,4,0.080,0.054,3170,539,1478,0,0,0,0,0,0
$GC,18434,0.66,307.8,24.7,8.6,71,18439,0.12,2.28,0.00,0.000,6,0.129,0.047,3133,2012,1473,0,0,0,0,0,0
$GC,18688,0.71,336.4,11.6,5.1,74,18717,0.00,2.38,23.80,0.579,4,0.000,0.054,3133,543,1362,0,0,0,0,0,0
$STATE,18809,end climb,SURFACE_DEPTH_REACHED
$STATE,18809,begin surface coast
$FINISH,3.6,NaN
$STATE,18812,end surface coast,CONTROL_FINISHED_OK
$STATE,18812,begin surface
$SM_CCo,18892,0.00,0.000,0,0,1353,339.00
$SM_GC,1.94,7.85,0.00,0.00,0.037,0.000,0.000,135,2177,1353,-8.60,0.06,339.00
$IRIDIUM_FIX,4729.30,-12512.90,310811,040455
$TT8_MAMPS,0.026964
$HUMID,42.47
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,23.0,80.202
$10V_AH,9.8,82.530
$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,20.850,143.350,399.400,0.000,0.000,28.024,33.147,107.267,0.000,0.000,37.576,839.205,15031.294,499.893,2480.989,349.947,33.366,1686.128,0.000,2226.469,0.000,0.535,0.000
$DEVICE_MAMPS,225.675,91.035,985.320,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,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,297636
$DATA_FILE_SIZE,3681,75
$CAP_FILE_SIZE,154781,0
$CFSIZE,260165632,158031872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310811,125936,4748.154,-12518.708,38,0.9,44,18.7