version: 66.06
glider: 187
mission: 2
dive: 258
start: 8 13 110 14 5 37
data:
$ID,187
$MISSION,2
$DIVE,258
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,5
$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,300
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,-7
$APOGEE_PITCH,-5
$MAX_BUOY,115
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,350
$N_FILEKB,4
$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,-28765.898
$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,2835
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$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,35
$C_ROLL_DIVE,2075
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$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,3150
$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,-61.597298
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$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
$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
$GPS1,135824,4740.588,-12535.729,65,0.9,82,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-75.8
$GPS2,140532,4740.551,-12535.777,16,1.3,16,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,190.8,130216,-13.9,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.45,-112.4,0.0,0.0,0,73,0.00,0.00,-58.40,0.000,2,0.000,0.000,131,2080,3079,0,0,0,0,0,0
$GC,75,-0.45,-112.4,3.5,-2.9,11,103,10.55,2.00,-11.73,0.000,4,0.251,0.080,2675,3305,3610,0,0,0,0,0,0
$GC,343,-0.43,-112.4,47.2,-12.9,61,349,0.00,1.95,0.00,0.000,6,0.000,0.051,2674,2069,3613,0,0,0,0,0,0
$GC,669,-0.41,-112.4,85.4,-13.2,122,676,0.00,2.03,0.00,0.000,4,0.000,0.067,2666,3308,3615,0,0,0,0,0,0
$GC,810,-0.39,-112.4,105.5,-13.6,145,813,0.15,1.88,0.00,0.000,6,0.149,0.051,2708,2083,3615,0,0,0,0,0,0
$GC,1129,-0.39,-112.4,133.0,-7.9,176,1133,0.00,2.00,0.00,0.000,4,0.000,0.068,2703,3301,3615,0,0,0,0,0,0
$GC,1161,-0.39,-112.4,135.5,-7.9,179,1165,0.00,1.88,0.00,0.000,6,0.000,0.052,2702,2103,3615,0,0,0,0,0,0
$GC,1481,-0.39,-112.4,163.6,-9.3,210,1486,0.00,1.95,0.00,0.000,4,0.000,0.069,2699,3297,3615,0,0,0,0,0,0
$GC,1513,-0.39,-112.4,166.7,-9.7,213,1517,0.00,1.90,0.00,0.000,6,0.000,0.052,2698,2092,3615,0,0,0,0,0,0
$GC,1835,-0.39,-112.4,194.0,-8.6,244,1838,0.00,1.98,0.00,0.000,4,0.000,0.069,2694,3303,3615,0,0,0,0,0,0
$GC,1855,-0.39,-112.4,195.6,-8.2,246,1859,0.00,1.88,0.00,0.000,6,0.000,0.053,2693,2103,3615,0,0,0,0,0,0
$GC,2177,-0.39,-112.4,221.7,-8.1,277,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2103,3615,0,0,0,0,0,0
$GC,2488,-0.39,-112.4,246.3,-7.7,307,2491,0.00,1.92,0.00,0.000,4,0.000,0.070,2690,3301,3615,0,0,0,0,0,0
$GC,2508,-0.39,-112.4,248.0,-8.1,309,2512,0.00,1.88,0.00,0.000,6,0.000,0.054,2690,2098,3615,0,0,0,0,0,0
$GC,2829,-0.39,-112.4,274.4,-8.2,340,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2097,3615,0,0,0,0,0,0
$GC,3140,-0.39,-112.4,299.6,-8.1,370,3143,0.00,1.95,0.00,0.000,4,0.000,0.071,2685,3309,3614,0,0,0,0,0,0
$GC,3187,-0.39,-112.4,303.5,-8.3,374,3194,0.00,1.88,0.00,0.000,6,0.000,0.054,2685,2109,3614,0,0,0,0,0,0
$GC,3502,-0.39,-112.4,329.7,-8.5,405,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2109,3614,0,0,0,0,0,0
$GC,3813,-0.39,-112.4,357.4,-9.1,435,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2109,3614,0,0,0,0,0,0
$GC,4124,-0.39,-112.4,385.0,-8.7,465,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2109,3614,0,0,0,0,0,0
$GC,4434,-0.39,-112.4,411.3,-9.0,495,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2109,3613,0,0,0,0,0,0
$GC,4745,-0.39,-112.4,440.0,-9.6,525,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2109,3613,0,0,0,0,0,0
$GC,5055,-0.39,-112.4,469.2,-9.0,555,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2109,3613,0,0,0,0,0,0
$GC,5366,-0.39,-112.4,494.3,-7.3,585,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2109,3612,0,0,0,0,0,0
$GC,5676,-0.39,-112.4,518.1,-7.9,615,5679,0.00,1.95,0.00,0.000,4,0.000,0.073,2678,3303,3612,0,0,0,0,0,0
$GC,5702,-0.39,-112.4,520.1,-7.6,617,5708,0.00,1.88,0.00,0.000,6,0.000,0.056,2678,2103,3612,0,0,0,0,0,0
$GC,6017,-0.39,-112.4,545.2,-8.3,648,6021,0.10,1.95,0.00,0.000,4,0.171,0.072,2700,3300,3612,0,0,0,0,0,0
$GC,6043,-0.40,-112.4,547.2,-7.5,650,6051,0.00,1.88,0.00,0.000,6,0.000,0.057,2701,2104,3612,0,0,0,0,0,0
$GC,6359,-0.41,-112.4,567.6,-6.5,681,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2105,3612,0,0,0,0,0,0
$GC,6670,-0.42,-112.4,587.0,-6.0,711,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2104,3612,0,0,0,0,0,0
$GC,6999,-0.43,-112.4,605.6,-5.7,737,7002,0.00,1.95,0.00,0.000,4,0.000,0.074,2700,3299,3612,0,0,0,0,0,0
$GC,7041,-0.45,-112.4,608.1,-6.0,738,7045,0.00,1.88,0.00,0.000,6,0.000,0.057,2700,2104,3612,0,0,0,0,0,0
$GC,7365,-0.47,-112.4,628.9,-6.6,749,7370,0.00,1.95,0.00,0.000,4,0.000,0.073,2700,3298,3612,0,0,0,0,0,0
$GC,7391,-0.48,-112.4,630.7,-6.8,749,7398,0.00,1.88,0.00,0.000,6,0.000,0.056,2699,2110,3612,0,0,0,0,0,0
$GC,7701,-0.50,-112.4,652.0,-7.1,760,7701,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2110,3612,0,0,0,0,0,0
$GC,8004,-0.51,-112.4,672.9,-6.6,770,8008,0.00,1.95,0.00,0.000,4,0.000,0.074,2700,3302,3612,0,0,0,0,0,0
$GC,8035,-0.53,-112.4,674.9,-6.4,771,8040,0.08,1.88,0.00,0.000,6,0.064,0.058,2649,2109,3612,0,0,0,0,0,0
$GC,8371,-0.52,-112.4,702.8,-8.6,782,8372,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2108,3611,0,0,0,0,0,0
$GC,8674,-0.51,-112.4,729.9,-9.1,792,8678,0.00,1.95,0.00,0.000,4,0.000,0.073,2642,3301,3611,0,0,0,0,0,0
$GC,8727,-0.51,-112.4,735.4,-10.2,793,8732,0.00,1.88,0.00,0.000,6,0.000,0.058,2642,2116,3611,0,0,0,0,0,0
$GC,9041,-0.49,-112.4,768.3,-10.6,804,9043,0.12,0.00,0.00,0.000,6,0.169,0.000,2677,2115,3612,0,0,0,0,0,0
$GC,9344,-0.49,-112.4,793.6,-8.0,814,9349,0.00,1.92,0.00,0.000,4,0.000,0.074,2673,3306,3611,0,0,0,0,0,0
$GC,9397,-0.49,-112.4,797.8,-8.1,815,9402,0.00,1.88,0.00,0.000,6,0.000,0.057,2673,2120,3611,0,0,0,0,0,0
$GC,9712,-0.49,-112.4,821.2,-7.0,826,9712,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2120,3611,0,0,0,0,0,0
$GC,10015,-0.49,-112.4,841.2,-6.5,836,10016,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2120,3611,0,0,0,0,0,0
$GC,10318,-0.49,-112.4,860.1,-6.2,846,10319,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2120,3611,0,0,0,0,0,0
$GC,10622,-0.49,-112.4,879.9,-6.8,856,10623,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2120,3612,0,0,0,0,0,0
$GC,10925,-0.49,-112.4,902.8,-7.7,866,10930,0.00,1.92,0.00,0.000,4,0.000,0.075,2671,3303,3612,0,0,0,0,0,0
$GC,10968,-0.49,-112.4,906.1,-8.0,867,10972,0.00,1.85,0.00,0.000,6,0.000,0.058,2670,2128,3611,0,0,0,0,0,0
$GC,11293,-0.49,-112.4,931.2,-7.7,878,11293,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2129,3612,0,0,0,0,0,0
$GC,11596,-0.49,-112.4,953.7,-7.4,888,11596,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2129,3612,0,0,0,0,0,0
$GC,11899,-0.49,-112.4,974.5,-6.8,898,11900,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2129,3611,0,0,0,0,0,0
$STATE,12141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12141,begin apogee
$GC,12145,-0.14,0.0,991.0,6.9,906,12242,0.38,0.00,95.68,1.231,6,0.125,0.000,2791,1994,3151,0,0,0,0,0,0
$STATE,12243,end apogee,CONTROL_FINISHED_OK
$STATE,12243,begin climb
$GC,12244,0.45,112.4,993.4,0.0,909,12349,0.55,2.15,98.70,1.193,4,0.086,0.067,2986,773,2691,0,0,0,0,0,0
$GC,12397,0.43,112.4,988.2,6.3,914,12401,0.00,2.08,0.00,0.000,6,0.000,0.061,2986,1992,2688,0,0,0,0,0,0
$GC,12732,0.40,112.4,967.1,6.6,925,12736,0.00,2.10,0.00,0.000,4,0.000,0.071,2986,3236,2685,0,0,0,0,0,0
$GC,12877,0.36,112.4,956.4,6.9,929,12880,0.12,1.98,0.00,0.000,6,0.145,0.059,2957,2027,2684,0,0,0,0,0,0
$GC,13195,0.35,126.3,938.7,5.6,940,13211,0.00,1.98,12.27,1.088,4,0.000,0.071,2956,3233,2634,0,0,0,0,0,0
$GC,13258,0.33,126.3,934.7,6.7,942,13262,0.00,1.98,0.00,0.000,6,0.000,0.059,2961,2020,2633,0,0,0,0,0,0
$GC,13588,0.32,126.3,912.9,6.9,953,13589,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2020,2633,0,0,0,0,0,0
$GC,13892,0.30,126.3,890.9,7.3,963,13896,0.00,2.03,0.00,0.000,4,0.000,0.072,2961,3237,2633,0,0,0,0,0,0
$GC,13971,0.28,126.3,884.7,7.8,965,13976,0.12,1.95,0.00,0.000,6,0.142,0.059,2929,2021,2633,0,0,0,0,0,0
$GC,14291,0.30,159.7,868.3,4.9,976,14325,0.00,2.08,29.92,1.132,4,0.000,0.070,2933,769,2498,0,0,0,0,0,0
$GC,14364,0.32,186.7,864.6,5.1,978,14393,0.00,2.05,24.85,1.098,6,0.000,0.061,2932,2022,2389,0,0,0,0,0,0
$GC,14720,0.33,198.7,844.9,5.7,990,14735,0.00,1.98,11.55,1.035,4,0.000,0.071,2933,3231,2338,0,0,0,0,0,0
$GC,14808,0.33,198.7,839.0,6.3,993,14813,0.00,1.98,0.00,0.000,6,0.000,0.059,2932,2024,2336,0,0,0,0,0,0
$GC,15144,0.34,198.7,818.4,6.3,1004,15148,0.00,2.03,0.00,0.000,4,0.000,0.069,2933,772,2336,0,0,0,0,0,0
$GC,15176,0.36,198.7,816.3,7.3,1005,15180,0.00,2.03,0.00,0.000,6,0.000,0.061,2933,2030,2336,0,0,0,0,0,0
$GC,15511,0.38,198.7,794.0,6.7,1016,15515,0.00,1.98,0.00,0.000,4,0.000,0.071,2933,3226,2336,0,0,0,0,0,0
$GC,15569,0.38,198.7,789.6,6.8,1017,15575,0.00,1.90,0.00,0.000,6,0.000,0.059,2932,2038,2335,0,0,0,0,0,0
$GC,15878,0.39,206.2,770.3,5.8,1028,15889,0.00,2.03,7.72,0.946,4,0.000,0.067,2933,757,2309,0,0,0,0,0,0
$GC,15914,0.42,209.9,768.2,6.0,1029,15924,0.08,2.05,5.18,0.813,6,0.070,0.061,2978,2037,2294,0,0,0,0,0,0
$GC,16239,0.41,209.9,739.1,8.9,1040,16243,0.00,1.98,0.00,0.000,4,0.000,0.071,2978,3232,2293,0,0,0,0,0,0
$GC,16297,0.39,209.9,733.3,9.8,1041,16303,0.00,1.90,0.00,0.000,6,0.000,0.059,2983,2047,2292,0,0,0,0,0,0
$GC,16606,0.38,209.9,705.3,8.7,1052,16610,0.00,2.08,0.00,0.000,4,0.000,0.070,2986,766,2292,0,0,0,0,0,0
$GC,16637,0.38,209.9,702.8,8.4,1053,16641,0.00,2.03,0.00,0.000,6,0.000,0.062,2986,2037,2292,0,0,0,0,0,0
$GC,16972,0.37,209.9,672.2,9.3,1064,16977,0.12,1.95,0.00,0.000,4,0.164,0.071,2953,3231,2292,0,0,0,0,0,0
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$STATE,26616,end climb,SURFACE_DEPTH_REACHED
$STATE,26616,begin surface coast
$FINISH,2.3,1.023842
$STATE,26626,end surface coast,CONTROL_FINISHED_OK
$STATE,26626,begin surface
$SM_CCo,26641,28.75,0.460,1,0,1722,350.04
$SM_GC,2.20,0.00,0.00,28.75,0.000,0.000,0.460,147,2082,1722,-8.40,0.23,350.04
$IRIDIUM_FIX,4726.11,-12534.12,071199,060636
$TT8_MAMPS,0.052923
$HUMID,39.36
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,23.6,27.604
$10V_AH,10.2,23.337
$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,20.575,200.950,378.650,28.750,0.000,27.503,32.785,241.063,0.000,0.000,16.340,0.000,20790.281,630.639,5027.808,615.965,0.000,2437.172,0.000,4261.497,0.000,0.533,0.000
$DEVICE_MAMPS,250.809,85.137,1231.035,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1442.943,1706.055,1842.129,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298588
$DATA_FILE_SIZE,116966,2081
$CAP_FILE_SIZE,257812,0
$CFSIZE,260165632,242089984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.056,308.6,1
$GPS,130810,213107,4738.278,-12539.153,36,1.6,36,18.7