version: 66.07
glider: 187
mission: 4
dive: 709
start: 9 2 111 14 48 49
data:
$ID,187
$MISSION,4
$DIVE,709
$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,-1585637.2
$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,34
$R_STBD_OVSHOOT,41
$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
$GPS1,020911,144307,4750.098,-12518.425,57,1.4,57,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-75.8
$GPS2,020911,144755,4750.053,-12518.406,12,1.7,12,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.142,0.140
$KALMAN_X,376148.9,277.4,332.7,-390757.2,-468.1
$KALMAN_Y,-786653.0,77.4,393.0,792741.2,-1700.3
$MHEAD_RNG_PITCHd_Wd,26.7,8911,-13.6,-6.111
$D_GRID,471
$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,-117.3,0.0,0.0,0,92,0.00,0.00,-74.88,0.000,6,0.000,0.000,121,2197,3215,0,0,0,0,0,0
$GC,96,-0.50,-117.3,0.0,-0.0,0,111,10.70,2.38,0.00,0.000,4,0.226,0.040,2749,656,3218,0,0,0,0,0,0
$GC,210,-0.48,-117.3,35.7,-10.6,1,214,0.00,2.35,0.00,0.000,6,0.000,0.048,2740,2163,3222,0,0,0,0,0,0
$GC,411,-0.45,-117.3,61.8,-13.2,3,416,0.12,2.35,0.00,0.000,4,0.150,0.049,2776,662,3223,0,0,0,0,0,0
$GC,462,-0.45,-117.3,66.7,-8.1,3,467,0.00,2.33,0.00,0.000,6,0.000,0.047,2773,2176,3223,0,0,0,0,0,0
$GC,716,-0.45,-117.3,87.5,-8.5,6,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2176,3225,0,0,0,0,0,0
$GC,915,-0.45,-117.3,104.8,-8.8,8,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2176,3225,0,0,0,0,0,0
$GC,1216,-0.45,-117.3,126.1,-7.9,9,1220,0.00,2.35,0.00,0.000,4,0.000,0.050,2773,659,3225,0,0,0,0,0,0
$GC,1260,-0.46,-117.3,129.6,-8.0,9,1264,0.00,2.33,0.00,0.000,6,0.000,0.048,2772,2167,3225,0,0,0,0,0,0
$GC,1842,-0.46,-117.3,168.5,-7.0,11,1846,0.00,2.35,0.00,0.000,4,0.000,0.050,2772,654,3224,0,0,0,0,0,0
$GC,1882,-0.47,-117.3,171.5,-8.0,11,1886,0.00,2.33,0.00,0.000,6,0.000,0.049,2769,2157,3224,0,0,0,0,0,0
$GC,2469,-0.47,-117.3,207.6,-6.0,13,2473,0.00,2.33,0.00,0.000,4,0.000,0.051,2769,661,3223,0,0,0,0,0,0
$GC,2516,-0.49,-117.3,210.9,-7.4,13,2520,0.00,2.30,0.00,0.000,6,0.000,0.050,2769,2149,3223,0,0,0,0,0,0
$GC,3099,-0.49,-117.3,250.1,-6.6,15,3103,0.00,2.33,0.00,0.000,4,0.000,0.052,2769,665,3222,0,0,0,0,0,0
$GC,3132,-0.50,-117.3,252.7,-7.8,15,3136,0.00,2.30,0.00,0.000,6,0.000,0.050,2769,2151,3222,0,0,0,0,0,0
$GC,3732,-0.50,-117.3,289.9,-6.0,17,3736,0.00,2.35,0.00,0.000,4,0.000,0.052,2769,663,3221,0,0,0,0,0,0
$GC,3760,-0.51,-117.3,291.8,-7.1,17,3764,0.00,2.30,0.00,0.000,6,0.000,0.050,2769,2141,3221,0,0,0,0,0,0
$GC,4364,-0.52,-117.3,334.5,-7.2,19,4368,0.00,2.33,0.00,0.000,4,0.000,0.052,2768,660,3220,0,0,0,0,0,0
$GC,4408,-0.54,-117.3,338.0,-7.9,19,4412,0.00,2.30,0.00,0.000,6,0.000,0.050,2768,2141,3220,0,0,0,0,0,0
$GC,5001,-0.55,-117.3,378.0,-6.7,21,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2141,3218,0,0,0,0,0,0
$GC,5301,-0.56,-117.3,396.4,-6.4,22,5305,0.00,2.30,0.00,0.000,4,0.000,0.053,2768,664,3218,0,0,0,0,0,0
$GC,5353,-0.58,-117.3,399.7,-6.7,22,5357,0.10,2.28,0.00,0.000,6,0.097,0.050,2711,2126,3218,0,0,0,0,0,0
$GC,5940,-0.56,-117.3,449.6,-8.4,24,5944,0.00,2.33,0.00,0.000,4,0.000,0.054,2711,661,3217,0,0,0,0,0,0
$GC,5980,-0.54,-117.3,453.0,-8.7,24,5985,0.15,2.28,0.00,0.000,6,0.131,0.050,2747,2127,3217,0,0,0,0,0,0
$STATE,6247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6247,begin apogee
$GC,6255,-0.22,0.0,471.1,7.3,24,6358,0.28,0.00,100.62,0.881,6,0.104,0.000,2846,2052,2735,0,0,0,0,0,0
$STATE,6359,end apogee,CONTROL_FINISHED_OK
$STATE,6359,begin climb
$GC,6362,0.50,117.3,472.1,0.0,25,6470,0.68,0.00,104.88,0.857,6,0.071,0.000,3083,2052,2255,0,0,0,0,0,0
$GC,6572,0.58,291.3,465.8,-0.0,26,6724,0.00,2.58,144.95,0.846,4,0.000,0.059,3083,3572,1546,0,0,0,0,0,0
$GC,6757,0.58,291.3,449.3,10.3,26,6761,0.00,2.42,0.00,0.000,6,0.000,0.045,3092,2069,1541,0,0,0,0,0,0
$GC,7183,0.58,291.3,407.4,9.8,28,7188,0.00,2.38,0.00,0.000,4,0.000,0.056,3103,546,1534,0,0,0,0,0,0
$GC,7239,0.59,291.3,402.3,8.8,28,7244,0.00,2.33,0.00,0.000,6,0.000,0.049,3103,2048,1533,0,0,0,0,0,0
$GC,7809,0.59,291.3,341.8,10.9,30,7813,0.00,2.42,0.00,0.000,4,0.000,0.060,3102,3581,1531,0,0,0,0,0,0
$GC,7841,0.59,291.3,337.7,12.9,30,7846,0.00,2.40,0.00,0.000,6,0.000,0.046,3112,2040,1531,0,0,0,0,0,0
$GC,8441,0.58,291.3,265.3,12.1,32,8445,0.00,2.35,0.00,0.000,4,0.000,0.055,3123,543,1531,0,0,0,0,0,0
$GC,8473,0.58,291.3,261.5,11.1,32,8477,0.00,2.33,0.00,0.000,6,0.000,0.049,3123,2053,1530,0,0,0,0,0,0
$GC,9072,0.57,291.3,189.9,11.7,34,9076,0.00,2.42,0.00,0.000,4,0.000,0.060,3123,3571,1530,0,0,0,0,0,0
$GC,9106,0.55,291.3,185.7,12.5,34,9110,0.12,2.40,0.00,0.000,6,0.142,0.046,3097,2043,1530,0,0,0,0,0,0
$GC,9698,0.55,291.3,136.4,8.1,36,9702,0.00,2.35,0.00,0.000,4,0.000,0.055,3105,546,1530,0,0,0,0,0,0
$GC,9721,0.56,291.3,134.6,8.4,36,9726,0.00,2.33,0.00,0.000,6,0.000,0.047,3105,2057,1530,0,0,0,0,0,0
$GC,10326,0.56,291.3,82.2,8.1,38,10330,0.00,2.42,0.00,0.000,4,0.000,0.059,3105,3577,1530,0,0,0,0,0,0
$GC,10377,0.56,291.3,77.7,9.6,38,10381,0.00,2.40,0.00,0.000,6,0.000,0.045,3111,2045,1530,0,0,0,0,0,0
$GC,10629,0.58,291.3,53.8,9.6,41,10633,0.00,2.35,0.00,0.000,4,0.000,0.055,3121,547,1530,0,0,0,0,0,0
$GC,10650,0.59,291.3,52.0,7.9,41,10655,0.00,2.35,0.00,0.000,6,0.000,0.048,3120,2073,1530,0,0,0,0,0,0
$GC,10932,0.61,291.3,30.8,7.5,44,10936,0.00,2.38,0.00,0.000,4,0.000,0.059,3121,3573,1529,0,0,0,0,0,0
$GC,10949,0.62,291.3,29.5,7.3,44,10953,0.00,2.35,0.00,0.000,6,0.000,0.045,3121,2060,1529,0,0,0,0,0,0
$GC,11242,0.63,291.3,11.1,6.3,47,11246,0.00,2.38,0.00,0.000,4,0.000,0.054,3121,536,1529,0,0,0,0,0,0
$GC,11286,0.70,336.1,9.1,4.5,47,11328,0.00,2.35,36.30,0.585,6,0.000,0.047,3121,2062,1364,0,0,0,0,0,0
$STATE,11443,end climb,SURFACE_DEPTH_REACHED
$STATE,11443,begin surface coast
$FINISH,1.1,NaN
$STATE,11546,end surface coast,CONTROL_FINISHED_OK
$STATE,11546,begin surface
$SM_CCo,11626,0.00,0.000,0,0,1353,339.00
$SM_GC,2.24,7.78,0.00,0.00,0.034,0.000,0.000,110,2196,1353,-8.61,0.59,339.00
$IRIDIUM_FIX,4732.49,-12514.75,020911,101030
$TT8_MAMPS,0.027713
$HUMID,42.32
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,23.3,81.258
$10V_AH,9.9,83.134
$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,19.925,94.400,386.750,0.000,0.000,24.929,31.377,111.781,0.000,0.000,13.000,549.779,9033.592,470.237,1601.557,257.557,33.380,1225.406,0.000,1401.988,0.000,0.535,0.000
$DEVICE_MAMPS,226.440,100.215,880.515,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,334,50
$CAP_FILE_SIZE,99559,0
$CFSIZE,260165632,157523968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020911,180354,4750.644,-12516.478,43,1.4,44,18.7