version: 66.07
glider: 187
mission: 4
dive: 701
start: 8 31 111 13 5 31
data:
$ID,187
$MISSION,4
$DIVE,701
$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,-1585627.2
$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,33
$R_STBD_OVSHOOT,32
$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
$GPS1,310811,125936,4748.154,-12518.708,38,0.9,44,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-73.1
$GPS2,310811,130437,4748.134,-12518.674,12,2.0,12,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,INSHORE
$TGT_LATLONG,4742.000,-12530.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.198,0.026
$KALMAN_X,368502.2,132.9,-346.9,-382616.0,2676.4
$KALMAN_Y,-779061.4,527.0,161.6,781379.3,-1856.7
$MHEAD_RNG_PITCHd_Wd,258.8,18120,-13.6,-6.111
$D_GRID,660
$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,-117.3,0.0,0.0,0,66,0.00,0.00,-48.28,0.000,2,0.000,0.000,130,2176,2471,0,0,0,0,0,0
$GC,70,-0.50,-117.3,3.1,-2.8,0,101,10.65,0.00,-17.80,0.000,6,0.227,0.000,2749,2177,3215,0,0,0,0,0,0
$GC,303,-0.42,-117.3,42.1,-16.7,2,308,0.12,2.40,0.00,0.000,4,0.152,0.050,2788,663,3220,0,0,0,0,0,0
$GC,336,-0.42,-117.3,44.9,-7.3,2,340,0.00,2.33,0.00,0.000,6,0.000,0.048,2785,2174,3220,0,0,0,0,0,0
$GC,605,-0.42,-117.3,61.6,-6.4,5,609,0.00,2.40,0.00,0.000,4,0.000,0.060,2774,3690,3222,0,0,0,0,0,0
$GC,661,-0.42,-117.3,65.7,-7.3,5,666,0.00,2.35,0.00,0.000,6,0.000,0.043,2774,2166,3222,0,0,0,0,0,0
$GC,908,-0.42,-117.3,87.4,-8.9,8,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2165,3222,0,0,0,0,0,0
$GC,1108,-0.42,-117.3,102.8,-8.2,10,1113,0.00,2.35,0.00,0.000,4,0.000,0.050,2773,658,3223,0,0,0,0,0,0
$GC,1143,-0.42,-117.3,105.4,-7.9,10,1147,0.00,2.40,0.00,0.000,6,0.000,0.049,2773,2202,3223,0,0,0,0,0,0
$GC,1736,-0.42,-117.3,144.7,-6.4,12,1740,0.00,2.40,0.00,0.000,4,0.000,0.050,2772,668,3223,0,0,0,0,0,0
$GC,1782,-0.44,-117.3,147.7,-6.7,12,1786,0.00,2.35,0.00,0.000,6,0.000,0.049,2769,2190,3223,0,0,0,0,0,0
$GC,2365,-0.44,-117.3,181.8,-5.9,14,2369,0.00,2.40,0.00,0.000,4,0.000,0.050,2769,661,3222,0,0,0,0,0,0
$GC,2403,-0.45,-117.3,184.4,-6.4,14,2407,0.00,2.38,0.00,0.000,6,0.000,0.049,2762,2185,3222,0,0,0,0,0,0
$GC,2997,-0.45,-117.3,220.7,-6.1,16,3002,0.00,2.38,0.00,0.000,4,0.000,0.051,2762,668,3221,0,0,0,0,0,0
$GC,3025,-0.45,-117.3,222.8,-7.3,16,3029,0.00,2.35,0.00,0.000,6,0.000,0.049,2759,2175,3221,0,0,0,0,0,0
$GC,3631,-0.45,-117.3,263.9,-6.8,18,3635,0.00,2.38,0.00,0.000,4,0.000,0.052,2759,670,3221,0,0,0,0,0,0
$GC,3658,-0.45,-117.3,266.2,-8.0,18,3662,0.00,2.35,0.00,0.000,6,0.000,0.050,2755,2169,3221,0,0,0,0,0,0
$GC,4262,-0.45,-117.3,310.2,-7.1,20,4267,0.00,2.38,0.00,0.000,4,0.000,0.052,2755,664,3220,0,0,0,0,0,0
$GC,4290,-0.45,-117.3,312.0,-7.0,20,4294,0.00,2.35,0.00,0.000,6,0.000,0.050,2751,2179,3219,0,0,0,0,0,0
$GC,4894,-0.45,-117.3,352.4,-6.6,22,4898,0.00,2.42,0.00,0.000,4,0.000,0.053,2750,661,3219,0,0,0,0,0,0
$GC,4937,-0.45,-117.3,355.7,-7.5,22,4941,0.00,2.33,0.00,0.000,6,0.000,0.051,2746,2160,3218,0,0,0,0,0,0
$GC,5519,-0.45,-117.3,395.0,-6.8,24,5523,0.00,2.35,0.00,0.000,4,0.000,0.053,2746,667,3218,0,0,0,0,0,0
$GC,5540,-0.45,-117.3,396.7,-7.6,24,5545,0.12,2.35,0.00,0.000,6,0.138,0.051,2777,2166,3217,0,0,0,0,0,0
$GC,6145,-0.46,-117.3,431.9,-5.9,26,6149,0.00,2.40,0.00,0.000,4,0.000,0.054,2777,670,3217,0,0,0,0,0,0
$GC,6185,-0.49,-117.3,434.6,-6.6,26,6189,0.00,2.33,0.00,0.000,6,0.000,0.051,2777,2163,3216,0,0,0,0,0,0
$GC,6775,-0.52,-117.3,470.9,-6.0,28,6779,0.00,2.47,0.00,0.000,4,0.000,0.063,2777,3697,3216,0,0,0,0,0,0
$GC,6870,-0.55,-117.3,476.1,-5.1,28,6875,0.10,2.50,0.00,0.000,6,0.096,0.046,2717,2105,3215,0,0,0,0,0,0
$GC,7401,-0.55,-117.3,509.7,-6.2,30,7405,0.00,2.28,0.00,0.000,4,0.000,0.054,2716,659,3215,0,0,0,0,0,0
$GC,7441,-0.54,-117.3,512.2,-6.1,30,7446,0.12,2.30,0.00,0.000,6,0.139,0.051,2745,2138,3214,0,0,0,0,0,0
$GC,8028,-0.54,-117.3,543.5,-5.5,32,8032,0.00,2.50,0.00,0.000,4,0.000,0.064,2736,3691,3214,0,0,0,0,0,0
$GC,8066,-0.55,-117.3,545.9,-6.4,32,8070,0.00,2.45,0.00,0.000,6,0.000,0.047,2735,2126,3214,0,0,0,0,0,0
$GC,8658,-0.55,-117.3,584.2,-6.1,34,8662,0.00,2.28,0.00,0.000,4,0.000,0.054,2735,671,3213,0,0,0,0,0,0
$GC,8727,-0.55,-117.3,588.8,-7.3,34,8731,0.00,2.30,0.00,0.000,6,0.000,0.053,2730,2130,3213,0,0,0,0,0,0
$GC,9285,-0.55,-117.3,624.8,-6.5,36,9289,0.00,2.33,0.00,0.000,4,0.000,0.055,2730,663,3213,0,0,0,0,0,0
$GC,9308,-0.55,-117.3,626.3,-6.7,36,9313,0.00,2.30,0.00,0.000,6,0.000,0.052,2723,2123,3212,0,0,0,0,0,0
$STATE,9911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9911,begin apogee
$GC,9919,-0.22,0.0,665.9,6.6,38,10024,0.38,0.00,102.35,1.014,6,0.103,0.000,2848,2050,2735,0,0,0,0,0,0
$STATE,10025,end apogee,CONTROL_FINISHED_OK
$STATE,10025,begin climb
$GC,10027,0.50,117.3,665.9,0.0,38,10139,0.68,0.00,108.32,0.987,6,0.069,0.000,3084,2050,2255,0,0,0,0,0,0
$GC,10214,0.58,291.3,659.6,-0.0,39,10368,0.00,0.00,152.15,0.970,6,0.000,0.000,3084,2050,1547,0,0,0,0,0,0
$GC,10514,0.56,291.3,627.1,10.8,40,10519,0.00,2.42,0.00,0.000,4,0.000,0.056,3095,554,1537,0,0,0,0,0,0
$GC,10538,0.56,291.3,624.6,10.5,40,10542,0.00,2.40,0.00,0.000,6,0.000,0.049,3095,2059,1536,0,0,0,0,0,0
$GC,11144,0.55,291.3,551.1,12.3,42,11148,0.00,2.40,0.00,0.000,4,0.000,0.057,3106,550,1532,0,0,0,0,0,0
$GC,11193,0.55,291.3,545.0,10.9,42,11197,0.00,2.35,0.00,0.000,6,0.000,0.050,3106,2052,1531,0,0,0,0,0,0
$GC,11771,0.54,291.3,476.6,12.0,44,11775,0.00,2.38,0.00,0.000,4,0.000,0.057,3116,549,1531,0,0,0,0,0,0
$GC,11804,0.54,291.3,472.2,11.7,44,11808,0.00,2.35,0.00,0.000,6,0.000,0.050,3116,2054,1531,0,0,0,0,0,0
$GC,12404,0.52,291.3,394.5,13.1,46,12408,0.00,2.38,0.00,0.000,4,0.000,0.057,3126,554,1531,0,0,0,0,0,0
$GC,12442,0.52,291.3,389.6,11.7,46,12447,0.12,2.33,0.00,0.000,6,0.138,0.050,3090,2044,1530,0,0,0,0,0,0
$GC,13029,0.52,291.3,327.5,10.8,48,13030,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2044,1530,0,0,0,0,0,0
$GC,13329,0.52,291.3,296.7,10.6,49,13333,0.00,2.35,0.00,0.000,4,0.000,0.057,3097,557,1530,0,0,0,0,0,0
$GC,13363,0.52,291.3,293.6,9.2,49,13367,0.00,2.30,0.00,0.000,6,0.000,0.050,3097,2039,1530,0,0,0,0,0,0
$GC,13961,0.52,291.3,234.6,9.8,51,13965,0.00,2.35,0.00,0.000,4,0.000,0.057,3106,553,1530,0,0,0,0,0,0
$GC,13984,0.52,291.3,232.5,9.8,51,13988,0.00,2.30,0.00,0.000,6,0.000,0.049,3107,2029,1530,0,0,0,0,0,0
$GC,14589,0.52,291.3,169.9,10.4,53,14594,0.00,2.47,0.00,0.000,4,0.000,0.060,3107,3582,1530,0,0,0,0,0,0
$GC,14611,0.52,291.3,167.3,11.1,53,14615,0.00,2.42,0.00,0.000,6,0.000,0.047,3116,2035,1530,0,0,0,0,0,0
$GC,15223,0.52,291.3,104.4,9.9,55,15227,0.00,2.35,0.00,0.000,4,0.000,0.056,3126,543,1529,0,0,0,0,0,0
$GC,15278,0.52,291.3,99.5,7.8,55,15283,0.12,2.30,0.00,0.000,6,0.129,0.049,3089,2023,1530,0,0,0,0,0,0
$GC,15654,0.54,291.3,72.6,6.5,57,15658,0.00,2.47,0.00,0.000,4,0.000,0.058,3088,3572,1530,0,0,0,0,0,0
$GC,15693,0.56,291.3,69.8,7.8,57,15697,0.00,2.42,0.00,0.000,6,0.000,0.045,3088,2017,1530,0,0,0,0,0,0
$GC,15957,0.60,303.2,54.5,5.7,60,15971,0.00,2.38,8.98,0.565,4,0.000,0.055,3088,554,1497,0,0,0,0,0,0
$GC,15995,0.66,345.9,52.5,4.6,60,16040,0.12,2.30,37.85,0.616,6,0.080,0.047,3155,2034,1323,0,0,0,0,0,0
$GC,16269,0.66,345.9,26.7,10.0,63,16274,0.00,2.40,0.00,0.000,4,0.000,0.056,3164,538,1316,0,0,0,0,0,0
$GC,16291,0.67,345.9,23.9,9.7,63,16296,0.00,2.30,0.00,0.000,6,0.000,0.049,3164,2007,1315,0,0,0,0,0,0
$GC,16572,0.69,351.9,5.9,5.9,66,16582,0.00,2.50,4.93,0.459,4,0.000,0.058,3164,3573,1299,0,0,0,0,0,0
$STATE,16596,end climb,SURFACE_DEPTH_REACHED
$STATE,16596,begin surface coast
$FINISH,3.5,NaN
$STATE,16602,end surface coast,CONTROL_FINISHED_OK
$STATE,16602,begin surface
$SM_CCo,16684,0.00,0.000,0,0,1294,353.23
$SM_GC,2.30,8.10,0.00,0.00,0.047,0.000,0.000,111,2169,1294,-8.61,-0.17,353.23
$IRIDIUM_FIX,4729.30,-12524.44,310811,070705
$TT8_MAMPS,0.026964
$HUMID,44.05
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,22.6,80.322
$10V_AH,9.8,82.589
$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,20.650,132.750,414.575,0.000,0.000,27.367,29.757,121.202,0.000,0.000,12.835,776.546,13057.151,541.143,2280.024,322.640,33.372,1589.820,0.000,2052.055,0.000,0.535,0.000
$DEVICE_MAMPS,227.205,104.805,1014.390,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297712
$DATA_FILE_SIZE,3639,66
$CAP_FILE_SIZE,137914,0
$CFSIZE,260165632,157990912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310811,174506,4747.777,-12521.299,50,0.9,55,18.7