version: 66.06
glider: 187
mission: 2
dive: 598
start: 10 2 110 18 48 32
data:
$ID,187
$MISSION,2
$DIVE,598
$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,-36475.5
$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,2855
$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,37
$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
$GPS1,183937,4739.205,-12540.627,41,1.0,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-79.0
$GPS2,184826,4739.199,-12540.660,13,1.4,13,18.7
$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,205.9,123744,-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,14,-0.45,-112.4,0.0,0.0,0,67,0.00,0.00,-51.78,0.000,2,0.000,0.000,127,2089,2852,0,0,0,0,0,0
$GC,70,-0.45,-112.4,3.0,-2.3,10,103,10.52,1.95,-18.15,0.000,4,0.232,0.075,2691,3297,3610,0,0,0,0,0,0
$GC,183,-0.43,-112.4,24.4,-17.6,31,189,0.00,1.98,0.00,0.000,6,0.000,0.051,2690,2069,3611,0,0,0,0,0,0
$GC,509,-0.42,-112.4,67.0,-12.7,92,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2065,3613,0,0,0,0,0,0
$GC,837,-0.42,-112.4,99.9,-10.2,153,842,0.00,2.03,0.00,0.000,4,0.000,0.064,2683,3290,3614,0,0,0,0,0,0
$GC,879,-0.42,-112.4,104.4,-9.6,158,883,0.10,1.92,0.00,0.000,6,0.113,0.049,2718,2076,3614,0,0,0,0,0,0
$GC,1200,-0.43,-112.4,126.2,-6.4,189,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2075,3615,0,0,0,0,0,0
$GC,1512,-0.45,-112.4,145.6,-6.6,219,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2075,3614,0,0,0,0,0,0
$GC,1823,-0.47,-112.4,166.2,-6.5,249,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2075,3614,0,0,0,0,0,0
$GC,2133,-0.49,-112.4,186.9,-6.9,279,2136,0.00,2.00,0.00,0.000,4,0.000,0.066,2717,3298,3613,0,0,0,0,0,0
$GC,2176,-0.51,-112.4,189.8,-6.7,283,2179,0.00,1.90,0.00,0.000,6,0.000,0.051,2716,2085,3613,0,0,0,0,0,0
$GC,2496,-0.53,-112.4,211.1,-6.4,314,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2085,3612,0,0,0,0,0,0
$GC,2809,-0.55,-112.4,229.8,-5.7,344,2812,0.12,2.00,0.00,0.000,4,0.094,0.067,2650,3306,3612,0,0,0,0,0,0
$GC,2872,-0.55,-112.4,235.6,-9.7,349,2877,0.00,1.92,0.00,0.000,6,0.000,0.049,2650,2089,3611,0,0,0,0,0,0
$GC,3187,-0.54,-112.4,267.0,-9.5,380,3191,0.10,2.00,0.00,0.000,4,0.166,0.066,2671,3294,3610,0,0,0,0,0,0
$GC,3241,-0.54,-112.4,271.6,-8.1,385,3244,0.00,1.85,0.00,0.000,6,0.000,0.051,2671,2099,3610,0,0,0,0,0,0
$GC,3561,-0.54,-112.4,299.3,-8.6,416,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2099,3610,0,0,0,0,0,0
$GC,3874,-0.54,-112.4,327.9,-9.6,446,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2099,3609,0,0,0,0,0,0
$GC,4183,-0.54,-112.4,356.6,-8.8,476,4186,0.00,1.95,0.00,0.000,4,0.000,0.067,2663,3299,3609,0,0,0,0,0,0
$GC,4204,-0.54,-112.4,358.5,-9.0,478,4207,0.00,1.88,0.00,0.000,6,0.000,0.053,2663,2095,3608,0,0,0,0,0,0
$GC,4524,-0.54,-112.4,387.3,-8.6,509,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2095,3608,0,0,0,0,0,0
$GC,4836,-0.54,-112.4,414.0,-8.7,539,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2095,3607,0,0,0,0,0,0
$GC,5147,-0.54,-112.4,439.1,-7.8,569,5150,0.00,2.00,0.00,0.000,4,0.000,0.060,2663,849,3607,0,0,0,0,0,0
$GC,5162,-0.54,-112.4,440.5,-8.1,570,5168,0.00,2.00,0.00,0.000,6,0.000,0.058,2663,2093,3607,0,0,0,0,0,0
$GC,5478,-0.54,-112.4,464.8,-7.9,601,5481,0.00,2.00,0.00,0.000,4,0.000,0.067,2658,3317,3606,0,0,0,0,0,0
$GC,5536,-0.54,-112.4,469.6,-7.9,606,5542,0.00,1.92,0.00,0.000,6,0.000,0.053,2657,2110,3606,0,0,0,0,0,0
$GC,5853,-0.54,-112.4,496.0,-8.3,637,5856,0.00,1.98,0.00,0.000,4,0.000,0.069,2649,3312,3606,0,0,0,0,0,0
$GC,5873,-0.54,-112.4,497.7,-8.4,639,5877,0.08,1.92,0.00,0.000,6,0.118,0.054,2676,2108,3605,0,0,0,0,0,0
$GC,6195,-0.54,-112.4,520.3,-6.8,670,6196,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2108,3605,0,0,0,0,0,0
$GC,6506,-0.54,-112.4,543.0,-7.8,700,6509,0.00,1.98,0.00,0.000,4,0.000,0.061,2676,847,3604,0,0,0,0,0,0
$GC,6526,-0.54,-112.4,544.9,-8.3,702,6530,0.00,2.03,0.00,0.000,6,0.000,0.059,2676,2100,3604,0,0,0,0,0,0
$GC,6848,-0.54,-112.4,569.4,-7.6,733,6851,0.00,2.00,0.00,0.000,4,0.000,0.069,2668,3306,3604,0,0,0,0,0,0
$GC,6884,-0.54,-112.4,572.4,-8.1,736,6891,0.00,1.90,0.00,0.000,6,0.000,0.054,2668,2113,3603,0,0,0,0,0,0
$GC,7200,-0.54,-112.4,597.1,-7.9,767,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2113,3603,0,0,0,0,0,0
$GC,7514,-0.54,-112.4,620.3,-7.3,780,7518,0.00,2.00,0.00,0.000,4,0.000,0.069,2663,3313,3602,0,0,0,0,0,0
$GC,7557,-0.54,-112.4,623.7,-7.8,781,7560,0.00,1.92,0.00,0.000,6,0.000,0.054,2663,2106,3602,0,0,0,0,0,0
$GC,7882,-0.54,-112.4,649.3,-8.1,792,7883,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2105,3602,0,0,0,0,0,0
$GC,8185,-0.54,-112.4,674.1,-8.2,802,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2105,3601,0,0,0,0,0,0
$GC,8488,-0.54,-112.4,697.7,-7.7,812,8492,0.00,2.03,0.00,0.000,4,0.000,0.070,2663,3314,3601,0,0,0,0,0,0
$GC,8510,-0.54,-112.4,699.3,-7.8,812,8513,0.00,1.90,0.00,0.000,6,0.000,0.056,2662,2116,3601,0,0,0,0,0,0
$GC,8823,-0.54,-112.4,722.9,-7.5,823,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2116,3601,0,0,0,0,0,0
$GC,9127,-0.54,-112.4,745.1,-7.4,833,9127,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2116,3600,0,0,0,0,0,0
$GC,9431,-0.54,-112.4,767.5,-7.3,843,9434,0.00,1.98,0.00,0.000,4,0.000,0.070,2662,3312,3600,0,0,0,0,0,0
$GC,9467,-0.54,-112.4,770.1,-7.2,844,9471,0.00,1.90,0.00,0.000,6,0.000,0.054,2662,2124,3600,0,0,0,0,0,0
$GC,9797,-0.54,-112.4,793.1,-6.9,855,9798,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2123,3600,0,0,0,0,0,0
$GC,10101,-0.54,-112.4,814.2,-7.0,865,10104,0.00,1.95,0.00,0.000,4,0.000,0.071,2662,3312,3599,0,0,0,0,0,0
$GC,10143,-0.55,-112.4,817.2,-7.7,866,10147,0.00,1.92,0.00,0.000,6,0.000,0.055,2662,2120,3599,0,0,0,0,0,0
$GC,10468,-0.55,-112.4,839.8,-6.9,877,10472,0.00,1.98,0.00,0.000,4,0.000,0.071,2662,3307,3599,0,0,0,0,0,0
$GC,10500,-0.56,-112.4,842.0,-7.2,878,10503,0.00,1.88,0.00,0.000,6,0.000,0.057,2662,2128,3599,0,0,0,0,0,0
$GC,10835,-0.56,-112.4,864.5,-6.5,889,10835,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2128,3598,0,0,0,0,0,0
$GC,11138,-0.56,-112.4,883.0,-6.0,899,11142,0.00,1.98,0.00,0.000,4,0.000,0.072,2655,3313,3598,0,0,0,0,0,0
$GC,11165,-0.56,-112.4,884.6,-6.8,899,11170,0.00,1.90,0.00,0.000,6,0.000,0.057,2655,2137,3598,0,0,0,0,0,0
$GC,11473,-0.56,-112.4,906.3,-7.4,910,11477,0.00,1.95,0.00,0.000,4,0.000,0.071,2648,3305,3597,0,0,0,0,0,0
$GC,11499,-0.56,-112.4,908.4,-8.5,910,11505,0.00,1.88,0.00,0.000,6,0.000,0.054,2649,2139,3597,0,0,0,0,0,0
$GC,11809,-0.56,-112.4,933.4,-8.1,921,11809,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2139,3597,0,0,0,0,0,0
$GC,12112,-0.56,-112.4,957.5,-7.7,931,12113,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2139,3597,0,0,0,0,0,0
$GC,12415,-0.56,-112.4,979.4,-7.1,941,12419,0.00,1.95,0.00,0.000,4,0.000,0.071,2641,3312,3597,0,0,0,0,0,0
$GC,12457,-0.56,-112.4,982.6,-6.8,942,12461,0.08,1.90,0.00,0.000,6,0.123,0.057,2667,2140,3596,0,0,0,0,0,0
$STATE,12598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12598,begin apogee
$GC,12603,-0.14,0.0,991.1,5.9,947,12701,0.43,0.00,95.85,1.239,6,0.111,0.000,2809,2000,3150,0,0,0,0,0,0
$STATE,12702,end apogee,CONTROL_FINISHED_OK
$STATE,12702,begin climb
$GC,12704,0.45,112.4,992.7,0.0,950,12815,0.52,2.22,102.07,1.197,4,0.061,0.063,3014,775,2690,0,0,0,0,0,0
$GC,12841,0.42,112.4,988.2,7.2,954,12845,0.00,2.12,0.00,0.000,6,0.000,0.058,3014,1993,2688,0,0,0,0,0,0
$GC,13160,0.38,112.4,959.9,8.8,965,13164,0.12,2.10,0.00,0.000,4,0.174,0.068,2983,3250,2685,0,0,0,0,0,0
$GC,13304,0.35,112.4,947.3,8.5,969,13308,0.00,2.03,0.00,0.000,6,0.000,0.056,2989,2017,2685,0,0,0,0,0,0
$GC,13624,0.33,112.4,923.1,7.3,980,13627,0.00,2.05,0.00,0.000,4,0.000,0.069,2989,3232,2684,0,0,0,0,0,0
$GC,13688,0.29,112.4,917.8,8.5,982,13691,0.17,1.95,0.00,0.000,6,0.159,0.058,2952,2020,2684,0,0,0,0,0,0
$GC,14023,0.31,136.0,899.8,5.2,993,14047,0.00,2.05,20.45,1.132,4,0.000,0.070,2952,3230,2596,0,0,0,0,0,0
$GC,14107,0.31,136.0,894.7,7.5,995,14110,0.00,1.98,0.00,0.000,6,0.000,0.057,2957,2025,2593,0,0,0,0,0,0
$GC,14420,0.31,142.6,876.0,5.9,1006,14428,0.00,0.00,7.05,0.966,6,0.000,0.000,2956,2026,2568,0,0,0,0,0,0
$GC,14724,0.31,142.6,857.0,6.4,1016,14727,0.00,1.98,0.00,0.000,4,0.000,0.068,2957,3233,2568,0,0,0,0,0,0
$GC,14771,0.31,142.6,853.6,7.0,1017,14775,0.00,1.95,0.00,0.000,6,0.000,0.058,2960,2036,2567,0,0,0,0,0,0
$GC,15091,0.31,147.0,834.1,6.0,1028,15097,0.00,0.00,5.65,0.888,6,0.000,0.000,2960,2036,2550,0,0,0,0,0,0
$GC,15395,0.31,149.4,816.0,6.0,1038,15398,0.00,1.98,0.00,0.000,4,0.000,0.069,2960,3235,2549,0,0,0,0,0,0
$GC,15464,0.30,149.4,811.6,6.2,1040,15472,0.00,1.92,3.83,0.705,6,0.000,0.057,2965,2044,2541,0,0,0,0,0,0
$GC,15793,0.31,153.6,791.8,6.0,1051,15802,0.00,1.95,5.50,0.864,4,0.000,0.070,2965,3235,2523,0,0,0,0,0,0
$GC,15836,0.30,153.6,789.1,7.0,1052,15839,0.00,1.92,0.00,0.000,6,0.000,0.058,2971,2035,2522,0,0,0,0,0,0
$GC,16160,0.30,153.6,767.5,6.8,1063,16160,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2035,2522,0,0,0,0,0,0
$GC,16464,0.30,153.6,747.6,6.6,1073,16467,0.00,1.98,0.00,0.000,4,0.000,0.069,2971,3234,2522,0,0,0,0,0,0
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$STATE,27441,end climb,SURFACE_DEPTH_REACHED
$STATE,27441,begin surface coast
$FINISH,1.3,1.023709
$STATE,27485,end surface coast,CONTROL_FINISHED_OK
$STATE,27485,begin surface
$SM_CCo,27562,0.00,0.000,0,0,1691,357.89
$SM_GC,2.63,7.70,0.00,0.00,0.040,0.000,0.000,134,2083,1691,-8.40,0.23,357.89
$IRIDIUM_FIX,4719.74,-12541.92,271299,111107
$TT8_MAMPS,0.052156
$HUMID,40.47
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,22.5,62.209
$10V_AH,9.9,60.675
$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,20.250,194.500,418.300,0.000,0.000,27.791,34.255,287.677,0.000,0.000,13.910,0.000,21476.982,576.084,5105.279,881.838,0.000,2403.996,0.000,4342.704,0.000,0.534,0.000
$DEVICE_MAMPS,231.634,81.302,1238.705,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1547.937,1419.887,1888.862,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298596
$DATA_FILE_SIZE,116623,2138
$CAP_FILE_SIZE,256762,0
$CFSIZE,260165632,218210304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.029,  4.5,1
$GPS,031010,022901,4737.237,-12544.607,48,1.2,48,18.7