version: 66.06
glider: 187
mission: 2
dive: 602
start: 10 4 110 2 16 13
data:
$ID,187
$MISSION,2
$DIVE,602
$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,-36539.312
$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,25
$R_STBD_OVSHOOT,35
$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
$GPS1,020707,4732.540,-12555.504,41,0.8,41,18.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-75.6
$GPS2,021607,4732.523,-12555.494,12,1.3,17,18.7
$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,207.1,101322,-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,-112.4,0.0,0.0,0,73,0.00,0.00,-57.28,0.000,2,0.000,0.000,131,2093,2941,0,0,0,0,0,0
$GC,75,-0.45,-112.4,3.2,-2.1,11,104,10.48,2.03,-14.55,0.000,4,0.229,0.077,2696,3302,3611,0,0,0,0,0,0
$GC,201,-0.44,-112.4,28.2,-15.2,34,206,0.00,1.95,0.00,0.000,6,0.000,0.048,2695,2076,3613,0,0,0,0,0,0
$GC,526,-0.44,-112.4,68.0,-11.8,95,532,0.00,2.03,0.00,0.000,4,0.000,0.063,2687,3300,3615,0,0,0,0,0,0
$GC,639,-0.44,-112.4,79.3,-9.5,116,645,0.00,1.95,0.00,0.000,6,0.000,0.049,2687,2073,3616,0,0,0,0,0,0
$GC,961,-0.44,-112.4,109.9,-9.3,167,965,0.00,2.03,0.00,0.000,4,0.000,0.064,2683,3300,3616,0,0,0,0,0,0
$GC,998,-0.44,-112.4,113.5,-9.1,170,1004,0.00,1.95,0.00,0.000,6,0.000,0.049,2682,2070,3616,0,0,0,0,0,0
$GC,1314,-0.44,-112.4,142.7,-9.4,201,1315,0.10,0.00,0.00,0.000,6,0.159,0.000,2710,2069,3616,0,0,0,0,0,0
$GC,1624,-0.45,-112.4,165.5,-7.1,231,1628,0.00,2.03,0.00,0.000,4,0.000,0.065,2709,3294,3616,0,0,0,0,0,0
$GC,1693,-0.48,-112.4,170.4,-6.9,237,1701,0.00,1.90,0.00,0.000,6,0.000,0.049,2709,2089,3616,0,0,0,0,0,0
$GC,2010,-0.49,-112.4,191.6,-6.5,268,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2089,3615,0,0,0,0,0,0
$GC,2322,-0.51,-112.4,213.3,-6.8,298,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2089,3615,0,0,0,0,0,0
$GC,2633,-0.52,-112.4,234.5,-6.9,328,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2089,3614,0,0,0,0,0,0
$GC,2943,-0.54,-112.4,254.6,-7.2,358,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2088,3613,0,0,0,0,0,0
$GC,3253,-0.55,-112.4,276.2,-7.0,388,3256,0.00,2.00,0.00,0.000,4,0.000,0.067,2703,3305,3612,0,0,0,0,0,0
$GC,3290,-0.58,-112.4,278.9,-7.4,391,3295,0.08,1.92,0.00,0.000,6,0.061,0.050,2649,2086,3612,0,0,0,0,0,0
$GC,3605,-0.57,-112.4,311.3,-10.4,422,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2085,3611,0,0,0,0,0,0
$GC,3917,-0.57,-112.4,345.0,-11.1,452,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2085,3611,0,0,0,0,0,0
$GC,4228,-0.57,-112.4,379.1,-10.6,482,4231,0.00,2.00,0.00,0.000,4,0.000,0.066,2641,3305,3610,0,0,0,0,0,0
$GC,4275,-0.57,-112.4,384.3,-10.5,486,4282,0.08,1.92,0.00,0.000,6,0.122,0.051,2667,2095,3609,0,0,0,0,0,0
$GC,4591,-0.57,-112.4,411.9,-8.5,517,4594,0.00,2.00,0.00,0.000,4,0.000,0.066,2662,3301,3609,0,0,0,0,0,0
$GC,4611,-0.57,-112.4,413.8,-9.0,519,4615,0.00,1.92,0.00,0.000,6,0.000,0.051,2661,2090,3609,0,0,0,0,0,0
$GC,4933,-0.57,-112.4,441.2,-8.3,550,4936,0.00,1.98,0.00,0.000,4,0.000,0.066,2659,3298,3608,0,0,0,0,0,0
$GC,4959,-0.57,-112.4,443.6,-9.0,552,4965,0.00,1.92,0.00,0.000,6,0.000,0.052,2659,2090,3608,0,0,0,0,0,0
$GC,5275,-0.57,-112.4,470.2,-8.7,583,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2090,3608,0,0,0,0,0,0
$GC,5587,-0.57,-112.4,498.4,-9.0,613,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2090,3608,0,0,0,0,0,0
$GC,5898,-0.57,-112.4,526.8,-9.1,643,5901,0.00,1.98,0.00,0.000,4,0.000,0.067,2659,3298,3607,0,0,0,0,0,0
$GC,5934,-0.57,-112.4,530.2,-8.5,646,5940,0.00,1.92,0.00,0.000,6,0.000,0.052,2659,2086,3607,0,0,0,0,0,0
$GC,6250,-0.57,-112.4,556.1,-8.0,677,6253,0.00,2.00,0.00,0.000,4,0.000,0.067,2651,3304,3606,0,0,0,0,0,0
$GC,6281,-0.57,-112.4,558.6,-8.0,680,6285,0.00,1.92,0.00,0.000,6,0.000,0.053,2651,2096,3606,0,0,0,0,0,0
$GC,6602,-0.57,-112.4,583.6,-7.7,711,6606,0.00,2.00,0.00,0.000,4,0.000,0.066,2643,3301,3605,0,0,0,0,0,0
$GC,6646,-0.57,-112.4,586.9,-7.6,715,6649,0.00,1.90,0.00,0.000,6,0.000,0.052,2643,2096,3605,0,0,0,0,0,0
$GC,6973,-0.57,-112.4,612.4,-7.7,737,6974,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2096,3605,0,0,0,0,0,0
$GC,7278,-0.57,-112.4,637.3,-8.4,747,7281,0.00,1.98,0.00,0.000,4,0.000,0.068,2635,3297,3604,0,0,0,0,0,0
$GC,7304,-0.57,-112.4,639.5,-8.1,747,7309,0.10,1.92,0.00,0.000,6,0.123,0.054,2670,2095,3604,0,0,0,0,0,0
$GC,7612,-0.57,-112.4,660.4,-6.5,758,7616,0.00,2.00,0.00,0.000,4,0.000,0.067,2665,3295,3604,0,0,0,0,0,0
$GC,7654,-0.58,-112.4,663.4,-7.3,759,7658,0.00,1.90,0.00,0.000,6,0.000,0.053,2664,2105,3604,0,0,0,0,0,0
$GC,7980,-0.58,-112.4,684.5,-6.4,770,7981,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2105,3603,0,0,0,0,0,0
$GC,8282,-0.58,-112.4,703.9,-6.4,780,8286,0.00,2.00,0.00,0.000,4,0.000,0.069,2663,3302,3603,0,0,0,0,0,0
$GC,8309,-0.58,-112.4,705.5,-6.5,780,8314,0.00,1.90,0.00,0.000,6,0.000,0.054,2663,2116,3603,0,0,0,0,0,0
$GC,8618,-0.58,-112.4,725.1,-6.5,791,8621,0.00,1.95,0.00,0.000,4,0.000,0.069,2663,3297,3602,0,0,0,0,0,0
$GC,8665,-0.59,-112.4,728.3,-6.1,792,8669,0.00,1.90,0.00,0.000,6,0.000,0.054,2663,2107,3602,0,0,0,0,0,0
$GC,8984,-0.59,-112.4,750.3,-7.0,803,8988,0.00,2.00,0.00,0.000,4,0.000,0.069,2663,3298,3602,0,0,0,0,0,0
$GC,9033,-0.60,-112.4,753.8,-7.6,804,9036,0.00,1.88,0.00,0.000,6,0.000,0.054,2663,2108,3601,0,0,0,0,0,0
$GC,9351,-0.60,-112.4,776.5,-7.2,815,9352,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2108,3601,0,0,0,0,0,0
$GC,9655,-0.60,-112.4,799.0,-7.7,825,9658,0.00,2.00,0.00,0.000,4,0.000,0.070,2663,3300,3601,0,0,0,0,0,0
$GC,9688,-0.61,-112.4,801.5,-8.0,826,9690,0.00,1.88,0.00,0.000,6,0.000,0.055,2663,2120,3601,0,0,0,0,0,0
$GC,10022,-0.61,-112.4,827.6,-7.8,837,10023,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2121,3600,0,0,0,0,0,0
$GC,10325,-0.61,-112.4,850.9,-7.7,847,10329,0.00,1.95,0.00,0.000,4,0.000,0.071,2663,3294,3600,0,0,0,0,0,0
$GC,10374,-0.62,-112.4,854.6,-7.9,848,10377,0.00,1.85,0.00,0.000,6,0.000,0.055,2663,2125,3600,0,0,0,0,0,0
$GC,10692,-0.62,-112.4,878.2,-7.5,859,10696,0.00,1.95,0.00,0.000,4,0.000,0.071,2663,3297,3600,0,0,0,0,0,0
$GC,10724,-0.64,-112.4,880.4,-7.3,860,10728,0.00,1.88,0.00,0.000,6,0.000,0.055,2663,2133,3600,0,0,0,0,0,0
$GC,11059,-0.64,-112.4,903.6,-7.0,871,11063,0.00,1.92,0.00,0.000,4,0.000,0.071,2663,3291,3599,0,0,0,0,0,0
$GC,11096,-0.65,-112.4,906.1,-6.6,872,11100,0.00,1.85,0.00,0.000,6,0.000,0.055,2663,2143,3599,0,0,0,0,0,0
$GC,11427,-0.65,-112.4,927.7,-6.7,883,11430,0.00,1.90,0.00,0.000,4,0.000,0.071,2663,3299,3599,0,0,0,0,0,0
$GC,11453,-0.66,-112.4,929.5,-6.8,883,11458,0.00,1.88,0.00,0.000,6,0.000,0.056,2663,2140,3599,0,0,0,0,0,0
$GC,11761,-0.66,-112.4,950.4,-6.7,894,11762,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2140,3599,0,0,0,0,0,0
$GC,12065,-0.66,-112.4,970.7,-6.6,904,12068,0.00,1.90,0.00,0.000,4,0.000,0.070,2663,3303,3598,0,0,0,0,0,0
$GC,12123,-0.68,-112.4,974.7,-6.9,905,12130,0.00,1.88,0.00,0.000,6,0.000,0.054,2663,2142,3598,0,0,0,0,0,0
$STATE,12369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12369,begin apogee
$GC,12374,-0.14,0.0,990.6,6.3,914,12472,0.45,0.00,96.07,1.239,6,0.114,0.000,2809,2001,3150,0,0,0,0,0,0
$STATE,12473,end apogee,CONTROL_FINISHED_OK
$STATE,12473,begin climb
$GC,12475,0.45,112.4,993.0,0.0,917,12585,0.52,2.25,102.43,1.200,4,0.062,0.062,3014,763,2690,0,0,0,0,0,0
$GC,12611,0.42,112.4,990.0,6.2,921,12614,0.00,2.12,0.00,0.000,6,0.000,0.058,3014,1990,2688,0,0,0,0,0,0
$GC,12930,0.38,112.4,964.8,7.9,932,12934,0.12,2.10,0.00,0.000,4,0.171,0.068,2982,3227,2685,0,0,0,0,0,0
$GC,13085,0.35,112.4,953.9,6.9,936,13090,0.00,2.00,0.00,0.000,6,0.000,0.057,2988,2012,2684,0,0,0,0,0,0
$GC,13393,0.33,112.4,931.6,7.3,947,13394,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2012,2684,0,0,0,0,0,0
$GC,13697,0.30,112.4,909.7,7.0,957,13700,0.12,2.03,0.00,0.000,4,0.167,0.069,2956,3230,2683,0,0,0,0,0,0
$GC,13800,0.29,112.4,903.3,6.6,960,13803,0.00,1.95,0.00,0.000,6,0.000,0.057,2962,2012,2682,0,0,0,0,0,0
$GC,14129,0.29,137.2,885.4,5.2,971,14154,0.00,2.03,21.35,1.130,4,0.000,0.068,2962,3235,2590,0,0,0,0,0,0
$GC,14197,0.28,137.2,881.6,6.1,972,14200,0.00,1.98,0.00,0.000,6,0.000,0.058,2969,2017,2588,0,0,0,0,0,0
$GC,14521,0.27,137.2,861.9,6.2,983,14525,0.00,2.05,0.00,0.000,4,0.000,0.069,2969,3239,2587,0,0,0,0,0,0
$GC,14586,0.25,137.2,857.5,7.0,985,14589,0.15,1.95,0.00,0.000,6,0.154,0.058,2935,2023,2587,0,0,0,0,0,0
$GC,14920,0.28,181.2,842.5,4.5,996,14961,0.00,0.00,39.70,1.130,6,0.000,0.000,2935,2023,2411,0,0,0,0,0,0
$GC,15254,0.31,217.8,826.1,4.8,1007,15292,0.00,2.10,32.53,1.104,4,0.000,0.069,2934,3237,2261,0,0,0,0,0,0
$GC,15338,0.35,249.2,821.8,5.0,1009,15372,0.10,1.98,28.60,1.088,6,0.107,0.056,2977,2027,2135,0,0,0,0,0,0
$GC,15682,0.35,249.2,797.7,7.0,1021,15685,0.00,2.10,0.00,0.000,4,0.000,0.067,2981,761,2127,0,0,0,0,0,0
$GC,15745,0.36,249.2,793.2,7.0,1023,15749,0.00,2.08,0.00,0.000,6,0.000,0.060,2981,2038,2126,0,0,0,0,0,0
$GC,16081,0.36,249.2,768.0,7.7,1034,16081,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2038,2125,0,0,0,0,0,0
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$STATE,26810,end climb,SURFACE_DEPTH_REACHED
$STATE,26810,begin surface coast
$FINISH,2.4,1.023642
$STATE,26826,end surface coast,CONTROL_FINISHED_OK
$STATE,26826,begin surface
$SM_CCo,26843,4.20,0.092,0,0,1723,350.04
$SM_GC,2.29,0.00,0.00,4.20,0.000,0.000,0.092,143,2080,1723,-8.48,0.14,350.04
$IRIDIUM_FIX,4716.56,-12549.68,281299,181843
$TT8_MAMPS,0.054457
$HUMID,41.25
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,17.00
$XPDR_PINGS,0
$24V_AH,22.5,62.820
$10V_AH,9.8,61.382
$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,20.600,222.425,401.525,4.200,0.000,27.560,34.677,295.477,0.000,0.000,17.360,0.000,20734.752,586.322,5106.258,913.056,0.000,2435.413,0.000,4344.729,0.000,0.534,0.000
$DEVICE_MAMPS,229.333,80.535,1238.705,92.040,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1516.167,1383.490,1869.541,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298596
$DATA_FILE_SIZE,113559,2085
$CAP_FILE_SIZE,262954,0
$CFSIZE,260165632,217718784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.019, 35.9,1
$GPS,041010,094531,4730.536,-12559.002,88,1.0,88,18.7