version: 66.06
glider: 187
mission: 2
dive: 313
start: 8 30 110 5 5 48
data:
$ID,187
$MISSION,2
$DIVE,313
$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,-29764.736
$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,25
$R_STBD_OVSHOOT,25
$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
$GPS1,045901,4748.374,-12518.013,42,1.5,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-78.5
$GPS2,050543,4748.374,-12517.929,11,0.9,16,18.7
$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,59.7,31486,-13.9,-6.111
$D_GRID,561
$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,-112.4,0.0,0.0,0,67,0.00,0.00,-53.10,0.000,2,0.000,0.000,134,2070,2918,0,0,0,0,0,0
$GC,69,-0.45,-112.4,3.2,-1.9,10,103,10.48,1.98,-17.20,0.000,4,0.244,0.077,2671,3311,3610,0,0,0,0,0,0
$GC,262,-0.43,-112.4,40.8,-16.7,46,268,0.00,1.98,0.00,0.000,6,0.000,0.051,2671,2064,3612,0,0,0,0,0,0
$GC,589,-0.41,-112.4,87.6,-10.1,107,595,0.12,1.95,0.00,0.000,4,0.156,0.058,2706,835,3614,0,0,0,0,0,0
$GC,648,-0.41,-112.4,92.4,-7.6,118,654,0.00,1.92,0.00,0.000,6,0.000,0.055,2705,2048,3614,0,0,0,0,0,0
$GC,972,-0.41,-112.4,116.1,-7.6,159,976,0.00,2.05,0.00,0.000,4,0.000,0.064,2700,3314,3614,0,0,0,0,0,0
$GC,1035,-0.41,-112.4,121.0,-7.8,165,1040,0.00,1.98,0.00,0.000,6,0.000,0.050,2699,2052,3615,0,0,0,0,0,0
$GC,1357,-0.41,-112.4,148.7,-9.0,196,1361,0.00,2.05,0.00,0.000,4,0.000,0.066,2693,3315,3614,0,0,0,0,0,0
$GC,1425,-0.41,-112.4,154.8,-8.8,202,1432,0.00,1.95,0.00,0.000,6,0.000,0.051,2693,2064,3614,0,0,0,0,0,0
$GC,1741,-0.41,-112.4,183.0,-8.5,233,1745,0.00,2.03,0.00,0.000,4,0.000,0.067,2685,3304,3614,0,0,0,0,0,0
$GC,1778,-0.41,-112.4,186.3,-8.5,236,1784,0.00,1.95,0.00,0.000,6,0.000,0.051,2685,2064,3614,0,0,0,0,0,0
$GC,2093,-0.41,-112.4,216.7,-10.5,267,2098,0.00,2.03,0.00,0.000,4,0.000,0.067,2677,3307,3613,0,0,0,0,0,0
$GC,2125,-0.41,-112.4,220.0,-10.7,270,2130,0.00,1.92,0.00,0.000,6,0.000,0.051,2677,2078,3614,0,0,0,0,0,0
$GC,2448,-0.41,-112.4,251.6,-9.5,301,2451,0.00,1.90,0.00,0.000,4,0.000,0.059,2676,845,3613,0,0,0,0,0,0
$GC,2479,-0.41,-112.4,254.7,-10.1,304,2482,0.00,1.92,0.00,0.000,6,0.000,0.057,2672,2068,3613,0,0,0,0,0,0
$GC,2799,-0.41,-112.4,285.0,-9.3,335,2803,0.10,2.00,0.00,0.000,4,0.168,0.067,2692,3309,3613,0,0,0,0,0,0
$GC,2868,-0.41,-112.4,290.1,-7.3,341,2875,0.00,1.90,0.00,0.000,6,0.000,0.052,2692,2086,3613,0,0,0,0,0,0
$GC,3183,-0.41,-112.4,313.3,-7.1,372,3188,0.00,1.98,0.00,0.000,4,0.000,0.068,2690,3303,3613,0,0,0,0,0,0
$GC,3227,-0.42,-112.4,316.4,-7.3,376,3230,0.00,1.88,0.00,0.000,6,0.000,0.052,2690,2081,3613,0,0,0,0,0,0
$GC,3546,-0.42,-112.4,341.0,-7.6,407,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2079,3612,0,0,0,0,0,0
$GC,3858,-0.42,-112.4,365.5,-7.9,437,3861,0.00,1.98,0.00,0.000,4,0.000,0.069,2688,3319,3612,0,0,0,0,0,0
$GC,3899,-0.42,-112.4,368.6,-7.2,441,3904,0.00,1.92,0.00,0.000,6,0.000,0.053,2687,2090,3612,0,0,0,0,0,0
$GC,4221,-0.42,-112.4,392.9,-7.7,472,4224,0.00,1.95,0.00,0.000,4,0.000,0.069,2681,3320,3612,0,0,0,0,0,0
$GC,4253,-0.42,-112.4,395.4,-7.6,475,4256,0.00,1.90,0.00,0.000,6,0.000,0.054,2681,2104,3611,0,0,0,0,0,0
$GC,4573,-0.42,-112.4,421.8,-7.9,506,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2104,3611,0,0,0,0,0,0
$GC,4884,-0.42,-112.4,447.0,-8.5,536,4887,0.00,1.95,0.00,0.000,4,0.000,0.069,2673,3303,3611,0,0,0,0,0,0
$GC,4915,-0.42,-112.4,449.8,-9.1,539,4919,0.00,1.88,0.00,0.000,6,0.000,0.054,2673,2099,3611,0,0,0,0,0,0
$GC,5236,-0.42,-112.4,478.0,-8.9,570,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2099,3611,0,0,0,0,0,0
$GC,5547,-0.42,-112.4,506.3,-9.8,600,5550,0.00,1.98,0.00,0.000,4,0.000,0.069,2666,3309,3611,0,0,0,0,0,0
$GC,5642,-0.42,-112.4,515.6,-10.7,609,5647,0.08,1.88,0.00,0.000,6,0.128,0.054,2693,2110,3610,0,0,0,0,0,0
$GC,5964,-0.42,-112.4,539.5,-7.6,640,5967,0.00,1.95,0.00,0.000,4,0.000,0.071,2692,3302,3611,0,0,0,0,0,0
$GC,6005,-0.44,-112.4,542.5,-7.3,644,6010,0.00,1.88,0.00,0.000,6,0.000,0.054,2692,2106,3610,0,0,0,0,0,0
$STATE,6263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6263,begin apogee
$GC,6268,-0.14,0.0,561.2,6.9,669,6360,0.30,0.00,90.65,0.951,6,0.123,0.000,2789,1997,3150,0,0,0,0,0,0
$STATE,6361,end apogee,CONTROL_FINISHED_OK
$STATE,6361,begin climb
$GC,6362,0.45,112.4,563.5,0.0,678,6462,0.55,2.15,93.47,0.920,4,0.090,0.065,2977,3234,2690,0,0,0,0,0,0
$GC,6473,0.44,125.1,560.1,5.6,689,6491,0.00,2.05,12.20,0.826,6,0.000,0.054,2984,2009,2639,0,0,0,0,0,0
$GC,6800,0.42,125.1,537.0,7.0,721,6803,0.00,2.05,0.00,0.000,4,0.000,0.064,2989,762,2634,0,0,0,0,0,0
$GC,6826,0.40,125.1,535.1,6.3,723,6833,0.00,2.00,0.00,0.000,6,0.000,0.058,2989,1996,2634,0,0,0,0,0,0
$GC,7142,0.38,125.1,513.5,7.0,754,7145,0.00,2.03,0.00,0.000,4,0.000,0.067,2989,3226,2634,0,0,0,0,0,0
$GC,7243,0.35,125.1,505.8,8.4,763,7248,0.12,1.92,0.00,0.000,6,0.137,0.054,2956,2021,2634,0,0,0,0,0,0
$GC,7558,0.37,160.3,488.6,4.8,794,7592,0.00,2.05,29.15,0.891,4,0.000,0.067,2956,3239,2496,0,0,0,0,0,0
$GC,7620,0.37,160.3,484.9,6.8,800,7624,0.00,1.98,0.00,0.000,6,0.000,0.055,2959,2023,2493,0,0,0,0,0,0
$GC,7940,0.37,160.3,464.6,6.5,831,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2022,2492,0,0,0,0,0,0
$GC,8252,0.37,160.3,445.5,6.2,861,8255,0.00,1.98,0.00,0.000,4,0.000,0.069,2960,3236,2491,0,0,0,0,0,0
$GC,8282,0.37,160.3,443.4,6.8,864,8287,0.00,1.92,0.00,0.000,6,0.000,0.056,2960,2030,2491,0,0,0,0,0,0
$GC,8605,0.38,163.0,424.0,6.0,895,8608,0.00,1.98,0.00,0.000,4,0.000,0.064,2960,759,2491,0,0,0,0,0,0
$GC,8651,0.38,173.5,421.2,5.7,899,8669,0.00,2.03,11.68,0.819,6,0.000,0.058,2960,2034,2442,0,0,0,0,0,0
$GC,8978,0.38,173.5,401.0,6.1,931,8981,0.00,1.95,0.00,0.000,4,0.000,0.068,2960,3230,2441,0,0,0,0,0,0
$GC,9019,0.38,173.5,398.1,6.9,935,9024,0.00,1.90,0.00,0.000,6,0.000,0.056,2960,2038,2441,0,0,0,0,0,0
$GC,9340,0.38,173.5,377.8,6.3,966,9344,0.00,2.03,0.00,0.000,4,0.000,0.065,2960,767,2440,0,0,0,0,0,0
$GC,9361,0.40,195.9,376.8,5.3,968,9385,0.00,2.03,20.00,0.824,6,0.000,0.059,2960,2037,2351,0,0,0,0,0,0
$GC,9692,0.40,195.9,355.6,6.6,1000,9696,0.00,1.95,0.00,0.000,4,0.000,0.068,2960,3229,2349,0,0,0,0,0,0
$GC,9757,0.40,195.9,350.6,8.1,1006,9760,0.00,1.88,0.00,0.000,6,0.000,0.056,2960,2048,2347,0,0,0,0,0,0
$GC,10076,0.40,195.9,328.7,6.8,1037,10081,0.00,2.05,0.00,0.000,4,0.000,0.064,2960,759,2347,0,0,0,0,0,0
$GC,10092,0.41,195.9,327.6,7.0,1038,10099,0.00,2.05,0.00,0.000,6,0.000,0.058,2960,2050,2347,0,0,0,0,0,0
$GC,10408,0.41,195.9,307.0,6.5,1069,10412,0.00,1.92,0.00,0.000,4,0.000,0.068,2960,3233,2347,0,0,0,0,0,0
$GC,10456,0.41,195.9,303.7,7.2,1073,10462,0.00,1.88,0.00,0.000,6,0.000,0.056,2960,2046,2347,0,0,0,0,0,0
$GC,10771,0.41,195.9,283.8,6.1,1104,10772,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2046,2346,0,0,0,0,0,0
$GC,11082,0.41,195.9,264.7,6.2,1134,11085,0.00,2.00,0.00,0.000,4,0.000,0.065,2960,766,2347,0,0,0,0,0,0
$GC,11102,0.43,203.3,263.5,5.8,1136,11114,0.00,2.03,6.90,0.682,6,0.000,0.059,2960,2047,2321,0,0,0,0,0,0
$GC,11423,0.44,210.2,243.8,5.9,1167,11435,0.00,1.88,7.75,0.687,4,0.000,0.066,2960,3234,2291,0,0,0,0,0,0
$GC,11477,0.44,210.2,240.1,7.3,1172,11481,0.00,1.85,0.00,0.000,6,0.000,0.055,2960,2061,2290,0,0,0,0,0,0
$GC,11797,0.45,210.2,219.5,6.3,1203,11801,0.00,2.08,0.00,0.000,4,0.000,0.065,2960,765,2290,0,0,0,0,0,0
$GC,11829,0.48,217.5,217.7,5.8,1206,11841,0.00,2.03,7.38,0.667,6,0.000,0.059,2960,2047,2263,0,0,0,0,0,0
$GC,12150,0.51,248.2,199.8,5.0,1237,12182,0.12,1.92,25.85,0.722,4,0.098,0.065,3018,3227,2139,0,0,0,0,0,0
$GC,12230,0.49,248.2,192.7,11.3,1244,12235,0.00,1.88,0.00,0.000,6,0.000,0.055,3021,2055,2135,0,0,0,0,0,0
$GC,12544,0.48,248.2,163.4,9.1,1275,12549,0.12,2.08,0.00,0.000,4,0.161,0.065,2994,771,2134,0,0,0,0,0,0
$GC,12581,0.48,248.2,160.6,7.3,1278,12588,0.00,2.05,0.00,0.000,6,0.000,0.057,2994,2061,2134,0,0,0,0,0,0
$GC,12898,0.48,248.2,138.8,6.6,1309,12901,0.00,1.90,0.00,0.000,4,0.000,0.067,2994,3227,2133,0,0,0,0,0,0
$GC,12929,0.48,248.2,136.7,6.9,1312,12933,0.00,1.85,0.00,0.000,6,0.000,0.056,2997,2064,2133,0,0,0,0,0,0
$GC,13249,0.48,248.2,114.2,7.4,1343,13254,0.00,2.08,0.00,0.000,4,0.000,0.065,2999,770,2132,0,0,0,0,0,0
$GC,13271,0.48,248.2,112.5,7.6,1345,13275,0.00,2.03,0.00,0.000,6,0.000,0.059,2999,2051,2133,0,0,0,0,0,0
$GC,13592,0.48,248.2,86.6,6.4,1391,13599,0.00,1.92,0.00,0.000,4,0.000,0.067,2999,3238,2133,0,0,0,0,0,0
$GC,13635,0.48,248.2,83.7,6.7,1399,13642,0.00,1.88,0.00,0.000,6,0.000,0.055,3001,2049,2132,0,0,0,0,0,0
$GC,13962,0.49,258.5,65.6,5.7,1460,13975,0.00,2.08,9.07,0.610,4,0.000,0.064,3001,756,2096,0,0,0,0,0,0
$GC,14017,0.50,258.5,62.2,6.3,1470,14023,0.00,2.03,0.00,0.000,6,0.000,0.058,3001,2038,2094,0,0,0,0,0,0
$GC,14345,0.54,291.8,41.8,4.9,1531,14377,0.00,1.90,28.20,0.627,4,0.000,0.064,3001,3233,1958,0,0,0,0,0,0
$GC,14414,0.57,298.7,37.8,5.9,1544,14427,0.00,1.90,6.80,0.542,6,0.000,0.054,3001,2040,1931,0,0,0,0,0,0
$GC,14748,0.64,329.5,22.1,5.0,1606,14782,0.12,2.08,25.70,0.605,4,0.102,0.064,3053,767,1805,0,0,0,0,0,0
$GC,14931,0.69,332.2,10.1,6.0,1640,14937,0.00,2.12,0.00,0.000,6,0.000,0.058,3053,2099,1802,0,0,0,0,0,0
$STATE,15042,end climb,SURFACE_DEPTH_REACHED
$STATE,15042,begin surface coast
$FINISH,1.2,1.014065
$STATE,15085,end surface coast,CONTROL_FINISHED_OK
$STATE,15085,begin surface
$SM_CCo,15098,17.00,0.359,1,0,1723,350.04
$SM_GC,1.81,0.00,0.00,17.00,0.000,0.000,0.359,146,2098,1723,-8.41,0.65,350.04
$IRIDIUM_FIX,4729.30,-12514.75,241199,000028
$TT8_MAMPS,0.05369
$HUMID,39.32
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,24.0,35.479
$10V_AH,10.2,32.342
$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,19.925,142.025,374.800,17.000,0.000,24.055,30.655,219.311,0.000,0.000,16.540,0.000,10537.131,510.190,3888.133,554.198,0.000,1877.490,0.000,3343.545,0.000,0.534,0.000
$DEVICE_MAMPS,243.906,90.506,951.080,358.956,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1152.051,1351.429,1797.820,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,94901,1669
$CAP_FILE_SIZE,178856,0
$CFSIZE,260165632,235810816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.107,310.0,1
$GPS,300810,091901,4749.392,-12516.405,53,0.9,53,18.7