version: 66.06
glider: 187
mission: 2
dive: 312
start: 8 30 110 0 34 56
data:
$ID,187
$MISSION,2
$DIVE,312
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$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,-29747.568
$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,28
$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
$GPS1,002727,4748.359,-12519.713,35,3.0,54,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-77.3
$GPS2,003450,4748.357,-12519.801,16,1.6,16,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$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,84.0,33441,-13.9,-6.111
$D_GRID,579
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.45,-112.4,0.0,0.0,0,72,0.00,0.00,-58.10,0.000,2,0.000,0.000,133,2076,3030,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.5,-2.6,11,102,10.48,1.95,-13.38,0.000,4,0.245,0.076,2671,3308,3609,0,0,0,0,0,0
$GC,251,-0.42,-112.4,34.3,-15.1,44,257,0.00,1.95,0.00,0.000,6,0.000,0.051,2671,2071,3612,0,0,0,0,0,0
$GC,578,-0.39,-112.4,77.6,-10.7,105,584,0.12,2.03,0.00,0.000,4,0.161,0.067,2698,3307,3614,0,0,0,0,0,0
$GC,632,-0.39,-112.4,83.0,-9.5,115,638,0.00,1.88,0.00,0.000,6,0.000,0.051,2698,2109,3614,0,0,0,0,0,0
$GC,956,-0.41,-112.4,107.2,-6.8,166,959,0.00,1.95,0.00,0.000,4,0.000,0.068,2697,3298,3614,0,0,0,0,0,0
$GC,970,-0.42,-112.4,108.2,-6.8,167,976,0.00,2.00,0.00,0.000,6,0.000,0.051,2696,2022,3614,0,0,0,0,0,0
$GC,1286,-0.42,-112.4,134.9,-9.0,198,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2022,3614,0,0,0,0,0,0
$GC,1597,-0.42,-112.4,162.4,-8.9,228,1600,0.00,2.08,0.00,0.000,4,0.000,0.067,2690,3315,3614,0,0,0,0,0,0
$GC,1697,-0.42,-112.4,171.2,-8.5,237,1705,0.00,2.00,0.00,0.000,6,0.000,0.051,2690,2034,3614,0,0,0,0,0,0
$GC,2013,-0.42,-112.4,198.0,-8.1,268,2017,0.00,2.08,0.00,0.000,4,0.000,0.067,2681,3307,3614,0,0,0,0,0,0
$GC,2046,-0.42,-112.4,200.6,-8.1,271,2049,0.00,1.98,0.00,0.000,6,0.000,0.053,2681,2013,3614,0,0,0,0,0,0
$GC,2365,-0.42,-112.4,228.4,-8.6,302,2370,0.00,2.10,0.00,0.000,4,0.000,0.067,2673,3303,3613,0,0,0,0,0,0
$GC,2445,-0.42,-112.4,235.4,-9.0,309,2453,0.00,1.98,0.00,0.000,6,0.000,0.052,2672,2041,3613,0,0,0,0,0,0
$GC,2762,-0.42,-112.4,264.1,-9.1,340,2765,0.00,2.03,0.00,0.000,4,0.000,0.069,2665,3305,3613,0,0,0,0,0,0
$GC,2890,-0.42,-112.4,276.2,-9.3,352,2893,0.12,1.92,0.00,0.000,6,0.152,0.053,2699,2066,3613,0,0,0,0,0,0
$GC,3209,-0.42,-112.4,300.7,-7.4,383,3214,0.00,2.03,0.00,0.000,4,0.000,0.068,2694,3309,3612,0,0,0,0,0,0
$GC,3264,-0.42,-112.4,305.0,-8.2,388,3267,0.00,1.95,0.00,0.000,6,0.000,0.053,2694,2061,3612,0,0,0,0,0,0
$GC,3583,-0.42,-112.4,330.9,-8.2,419,3588,0.00,2.03,0.00,0.000,4,0.000,0.067,2691,3304,3612,0,0,0,0,0,0
$GC,3610,-0.42,-112.4,332.9,-7.6,421,3617,0.00,1.92,0.00,0.000,6,0.000,0.053,2691,2074,3611,0,0,0,0,0,0
$GC,3926,-0.42,-112.4,358.3,-8.3,452,3929,0.00,2.00,0.00,0.000,4,0.000,0.068,2691,3304,3611,0,0,0,0,0,0
$GC,3995,-0.42,-112.4,363.6,-7.1,458,4001,0.00,1.90,0.00,0.000,6,0.000,0.053,2691,2084,3611,0,0,0,0,0,0
$GC,4310,-0.42,-112.4,388.6,-8.1,489,4314,0.00,1.98,0.00,0.000,4,0.000,0.068,2691,3299,3611,0,0,0,0,0,0
$GC,4395,-0.42,-112.4,395.1,-7.7,497,4399,0.00,1.88,0.00,0.000,6,0.000,0.053,2691,2099,3611,0,0,0,0,0,0
$GC,4716,-0.42,-112.4,419.3,-7.9,528,4721,0.00,1.98,0.00,0.000,4,0.000,0.070,2691,3311,3610,0,0,0,0,0,0
$GC,4774,-0.42,-112.4,423.6,-6.7,533,4782,0.00,1.92,0.00,0.000,6,0.000,0.054,2691,2090,3611,0,0,0,0,0,0
$GC,5090,-0.42,-112.4,446.2,-7.0,564,5094,0.00,1.98,0.00,0.000,4,0.000,0.071,2690,3302,3610,0,0,0,0,0,0
$GC,5143,-0.42,-112.4,449.9,-7.0,569,5147,0.00,1.85,0.00,0.000,6,0.000,0.054,2691,2116,3610,0,0,0,0,0,0
$GC,5464,-0.42,-112.4,471.7,-6.7,600,5468,0.00,1.95,0.00,0.000,4,0.000,0.070,2690,3312,3610,0,0,0,0,0,0
$GC,5533,-0.43,-112.4,476.4,-6.7,606,5540,0.00,1.85,0.00,0.000,6,0.000,0.054,2690,2126,3609,0,0,0,0,0,0
$GC,5850,-0.43,-112.4,497.4,-6.3,637,5853,0.00,1.92,0.00,0.000,4,0.000,0.071,2685,3304,3609,0,0,0,0,0,0
$GC,5885,-0.43,-112.4,500.0,-6.5,640,5892,0.00,1.85,0.00,0.000,6,0.000,0.054,2685,2129,3609,0,0,0,0,0,0
$GC,6201,-0.43,-112.4,521.3,-6.9,671,6205,0.00,1.92,0.00,0.000,4,0.000,0.070,2679,3306,3609,0,0,0,0,0,0
$GC,6233,-0.43,-112.4,523.5,-6.7,674,6237,0.00,1.85,0.00,0.000,6,0.000,0.054,2679,2129,3608,0,0,0,0,0,0
$GC,6554,-0.43,-112.4,546.9,-7.2,705,6558,0.00,1.92,0.00,0.000,4,0.000,0.070,2672,3307,3608,0,0,0,0,0,0
$GC,6590,-0.43,-112.4,549.6,-7.2,708,6598,0.00,1.85,0.00,0.000,6,0.000,0.054,2672,2138,3608,0,0,0,0,0,0
$GC,6908,-0.43,-112.4,575.0,-8.4,739,6911,0.00,1.90,0.00,0.000,4,0.000,0.073,2671,3313,3607,0,0,0,0,0,0
$STATE,6958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6958,begin apogee
$GC,6964,-0.14,0.0,579.4,8.3,744,7056,0.38,0.00,90.62,0.962,6,0.123,0.000,2792,2000,3150,0,0,0,0,0,0
$STATE,7057,end apogee,CONTROL_FINISHED_OK
$STATE,7057,begin climb
$GC,7058,0.45,112.4,582.7,0.0,753,7158,0.55,2.05,93.62,0.933,4,0.088,0.061,2986,767,2690,0,0,0,0,0,0
$GC,7183,0.46,153.6,580.0,4.6,764,7224,0.00,2.05,35.83,0.906,6,0.000,0.057,2986,1993,2522,0,0,0,0,0,0
$GC,7542,0.44,153.6,556.3,7.0,799,7545,0.00,2.05,0.00,0.000,4,0.000,0.067,2986,3250,2517,0,0,0,0,0,0
$GC,7653,0.42,153.6,547.0,8.9,809,7659,0.00,2.00,0.00,0.000,6,0.000,0.055,2990,2017,2517,0,0,0,0,0,0
$GC,7968,0.40,153.6,521.5,7.9,840,7972,0.00,2.00,0.00,0.000,4,0.000,0.067,2990,3225,2516,0,0,0,0,0,0
$GC,7994,0.37,153.6,519.1,9.6,842,8001,0.12,1.92,0.00,0.000,6,0.136,0.057,2958,2029,2515,0,0,0,0,0,0
$GC,8310,0.37,153.6,498.2,6.6,873,8314,0.00,1.95,0.00,0.000,4,0.000,0.068,2958,3225,2515,0,0,0,0,0,0
$GC,8325,0.37,153.6,497.2,7.0,874,8332,0.00,1.95,0.00,0.000,6,0.000,0.057,2960,2016,2514,0,0,0,0,0,0
$GC,8641,0.38,165.9,478.6,5.7,905,8656,0.00,2.00,10.38,0.834,4,0.000,0.069,2960,3229,2473,0,0,0,0,0,0
$GC,8677,0.38,165.9,476.3,6.2,908,8684,0.00,1.95,0.00,0.000,6,0.000,0.057,2960,2021,2472,0,0,0,0,0,0
$GC,8993,0.40,201.4,459.1,4.8,939,9028,0.00,2.03,30.35,0.877,4,0.000,0.068,2960,3230,2328,0,0,0,0,0,0
$GC,9050,0.42,223.3,456.1,5.3,944,9073,0.00,1.92,19.45,0.841,6,0.000,0.057,2960,2042,2239,0,0,0,0,0,0
$GC,9383,0.43,223.3,435.9,6.6,976,9383,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2042,2235,0,0,0,0,0,0
$GC,9695,0.44,223.3,416.4,6.2,1006,9695,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2042,2234,0,0,0,0,0,0
$GC,10005,0.45,223.3,397.5,6.2,1036,10005,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2042,2233,0,0,0,0,0,0
$GC,10315,0.46,225.7,378.7,6.0,1066,10316,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2042,2233,0,0,0,0,0,0
$GC,10625,0.47,225.7,359.1,6.7,1096,10626,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2042,2233,0,0,0,0,0,0
$GC,10936,0.48,225.7,337.4,7.2,1126,10939,0.00,1.92,0.00,0.000,4,0.000,0.070,2960,3232,2232,0,0,0,0,0,0
$GC,10955,0.48,225.7,335.7,7.5,1128,10960,0.00,1.90,0.00,0.000,6,0.000,0.058,2960,2039,2231,0,0,0,0,0,0
$GC,11277,0.49,225.7,313.2,7.3,1159,11281,0.10,2.05,0.00,0.000,4,0.112,0.067,3010,763,2232,0,0,0,0,0,0
$GC,11309,0.49,225.7,310.3,9.8,1162,11312,0.00,2.03,0.00,0.000,6,0.000,0.059,3010,2040,2231,0,0,0,0,0,0
$GC,11629,0.48,225.7,277.2,9.9,1193,11633,0.00,1.92,0.00,0.000,4,0.000,0.067,3010,3232,2231,0,0,0,0,0,0
$GC,11709,0.46,225.7,269.0,9.8,1200,11716,0.08,1.88,0.00,0.000,6,0.143,0.056,2990,2042,2231,0,0,0,0,0,0
$GC,12025,0.46,225.7,244.8,7.3,1231,12029,0.00,2.05,0.00,0.000,4,0.000,0.066,2996,762,2231,0,0,0,0,0,0
$GC,12040,0.46,225.7,243.7,7.1,1232,12046,0.00,2.03,0.00,0.000,6,0.000,0.059,2996,2043,2232,0,0,0,0,0,0
$GC,12355,0.46,225.7,219.8,7.3,1263,12356,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2043,2231,0,0,0,0,0,0
$GC,12667,0.46,225.7,197.7,6.8,1293,12670,0.00,1.92,0.00,0.000,4,0.000,0.067,2996,3234,2231,0,0,0,0,0,0
$GC,12714,0.46,225.7,194.0,8.1,1297,12721,0.00,1.85,0.00,0.000,6,0.000,0.056,2998,2054,2231,0,0,0,0,0,0
$GC,13029,0.46,225.7,173.0,6.8,1328,13033,0.00,2.08,0.00,0.000,4,0.000,0.064,2999,757,2231,0,0,0,0,0,0
$GC,13061,0.46,225.7,171.0,6.2,1331,13065,0.00,2.03,0.00,0.000,6,0.000,0.057,2999,2049,2231,0,0,0,0,0,0
$GC,13382,0.46,225.7,148.2,8.0,1362,13386,0.00,1.90,0.00,0.000,4,0.000,0.067,3000,3228,2231,0,0,0,0,0,0
$GC,13435,0.46,225.7,143.9,8.0,1367,13439,0.00,1.85,0.00,0.000,6,0.000,0.055,3002,2052,2231,0,0,0,0,0,0
$GC,13755,0.46,225.7,118.1,7.7,1398,13756,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2052,2231,0,0,0,0,0,0
$GC,14068,0.46,226.3,97.7,6.1,1431,14074,0.00,2.05,0.00,0.000,4,0.000,0.065,3012,770,2231,0,0,0,0,0,0
$GC,14110,0.46,226.3,95.0,6.4,1439,14117,0.00,2.03,0.00,0.000,6,0.000,0.058,3012,2058,2231,0,0,0,0,0,0
$GC,14438,0.46,226.3,70.1,7.7,1500,14444,0.00,2.08,0.00,0.000,4,0.000,0.064,3013,763,2231,0,0,0,0,0,0
$GC,14507,0.46,226.3,64.8,7.6,1513,14514,0.00,1.98,0.00,0.000,6,0.000,0.057,3013,2020,2231,0,0,0,0,0,0
$GC,14835,0.48,264.0,46.9,4.7,1574,14872,0.00,1.98,32.22,0.631,4,0.000,0.065,3013,3238,2072,0,0,0,0,0,0
$GC,14937,0.49,270.7,41.4,5.9,1593,14949,0.00,1.92,6.47,0.544,6,0.000,0.054,3013,2026,2046,0,0,0,0,0,0
$GC,15271,0.51,276.3,24.6,5.9,1655,15282,0.00,1.98,5.90,0.534,4,0.000,0.063,3013,764,2022,0,0,0,0,0,0
$GC,15314,0.55,283.0,22.0,5.9,1663,15325,0.00,2.03,7.22,0.548,6,0.000,0.058,3013,2038,1996,0,0,0,0,0,0
$GC,15646,0.61,308.2,4.5,5.2,1725,15674,0.00,1.92,20.85,0.589,4,0.000,0.063,3013,3226,1892,0,0,0,0,0,0
$STATE,15677,end climb,SURFACE_DEPTH_REACHED
$STATE,15677,begin surface coast
$FINISH,1.1,1.012780
$STATE,15741,end surface coast,CONTROL_FINISHED_OK
$STATE,15741,begin surface
$SM_CCo,15756,21.98,0.407,1,0,1722,350.04
$SM_GC,2.07,0.00,0.00,21.98,0.000,0.000,0.407,145,2071,1722,-8.41,-0.11,350.04
$IRIDIUM_FIX,4729.30,-12522.59,231199,131325
$TT8_MAMPS,0.052923
$HUMID,39.09
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,23.9,35.372
$10V_AH,10.2,32.201
$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,19.650,141.475,352.925,21.975,0.000,30.283,38.578,242.228,0.000,0.000,16.949,0.000,11013.287,514.890,4076.628,588.076,0.000,1938.134,0.000,3503.895,0.000,0.533,0.000
$DEVICE_MAMPS,244.673,75.933,961.818,406.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1203.326,1415.235,1886.172,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298588
$DATA_FILE_SIZE,97841,1743
$CAP_FILE_SIZE,183947,0
$CFSIZE,260165632,235900928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.079,309.0,1
$GPS,300810,045901,4748.374,-12518.013,42,1.5,42,18.7