version: 66.06
glider: 187
mission: 2
dive: 639
start: 10 11 110 16 10 2
data:
$ID,187
$MISSION,2
$DIVE,639
$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,-37469.594
$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,36
$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
$GPS1,160337,4758.250,-12523.865,55,1.0,56,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-76.2
$GPS2,160956,4758.193,-12523.865,14,1.5,14,18.8
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,CANYON
$TGT_LATLONG,4801.600,-12521.000
$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,26.7,7239,-13.9,-6.111
$D_GRID,472
$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,-112.4,0.0,0.0,0,65,0.00,0.00,-50.67,0.000,2,0.000,0.000,131,2089,2906,0,0,0,0,0,0
$GC,68,-0.45,-112.4,3.2,-2.3,9,101,10.45,2.00,-16.75,0.000,4,0.231,0.077,2696,3296,3608,0,0,0,0,0,0
$GC,229,-0.45,-112.4,28.1,-11.5,39,235,0.00,1.95,0.00,0.000,6,0.000,0.050,2696,2073,3610,0,0,0,0,0,0
$GC,555,-0.45,-112.4,61.0,-10.1,100,562,0.00,2.03,0.00,0.000,4,0.000,0.064,2688,3300,3611,0,0,0,0,0,0
$GC,696,-0.45,-112.4,73.6,-8.3,126,702,0.00,1.88,0.00,0.000,6,0.000,0.049,2688,2114,3612,0,0,0,0,0,0
$GC,1023,-0.45,-112.4,101.0,-8.5,186,1026,0.00,1.95,0.00,0.000,4,0.000,0.064,2680,3295,3612,0,0,0,0,0,0
$GC,1139,-0.45,-112.4,112.6,-9.7,197,1143,0.00,1.80,0.00,0.000,6,0.000,0.049,2680,2150,3612,0,0,0,0,0,0
$GC,1461,-0.45,-112.4,145.5,-9.4,228,1464,0.00,1.88,0.00,0.000,4,0.000,0.064,2673,3304,3612,0,0,0,0,0,0
$GC,1568,-0.45,-112.4,155.1,-8.6,238,1571,0.12,1.75,0.00,0.000,6,0.137,0.048,2710,2156,3612,0,0,0,0,0,0
$GC,1888,-0.47,-112.4,177.7,-6.4,269,1891,0.00,1.88,0.00,0.000,4,0.000,0.066,2708,3294,3612,0,0,0,0,0,0
$GC,1962,-0.49,-112.4,182.7,-6.8,276,1966,0.00,1.70,0.00,0.000,6,0.000,0.050,2708,2212,3612,0,0,0,0,0,0
$GC,2284,-0.51,-112.4,203.3,-6.3,307,2287,0.00,1.77,0.00,0.000,4,0.000,0.065,2704,3305,3611,0,0,0,0,0,0
$GC,2342,-0.53,-112.4,207.3,-6.5,312,2349,0.00,1.67,0.00,0.000,6,0.000,0.049,2704,2238,3611,0,0,0,0,0,0
$GC,2659,-0.54,-112.4,228.5,-6.8,343,2662,0.00,1.73,0.00,0.000,4,0.000,0.066,2704,3300,3611,0,0,0,0,0,0
$GC,2701,-0.57,-112.4,231.3,-6.7,347,2704,0.08,1.62,0.00,0.000,6,0.059,0.051,2650,2267,3610,0,0,0,0,0,0
$GC,3021,-0.56,-112.4,264.6,-10.5,378,3025,0.00,1.70,0.00,0.000,4,0.000,0.066,2643,3295,3610,0,0,0,0,0,0
$GC,3058,-0.56,-112.4,268.4,-9.6,381,3065,0.08,1.60,0.00,0.000,6,0.114,0.051,2671,2279,3610,0,0,0,0,0,0
$GC,3374,-0.56,-112.4,295.7,-8.7,412,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2279,3610,0,0,0,0,0,0
$GC,3687,-0.56,-112.4,325.2,-9.2,442,3690,0.00,1.67,0.00,0.000,4,0.000,0.067,2666,3317,3609,0,0,0,0,0,0
$GC,3751,-0.56,-112.4,331.1,-9.0,448,3755,0.00,1.58,0.00,0.000,6,0.000,0.051,2665,2318,3609,0,0,0,0,0,0
$GC,4071,-0.56,-112.4,358.5,-8.3,479,4075,0.00,2.35,0.00,0.000,4,0.000,0.058,2665,846,3609,0,0,0,0,0,0
$GC,4119,-0.56,-112.4,362.9,-8.7,483,4125,0.00,2.35,0.00,0.000,6,0.000,0.058,2663,2303,3609,0,0,0,0,0,0
$GC,4435,-0.56,-112.4,390.8,-9.5,514,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2303,3608,0,0,0,0,0,0
$GC,4748,-0.56,-112.4,418.2,-8.1,544,4751,0.00,1.65,0.00,0.000,4,0.000,0.068,2663,3298,3608,0,0,0,0,0,0
$GC,4827,-0.56,-112.4,425.0,-8.2,551,4833,0.00,1.58,0.00,0.000,6,0.000,0.051,2663,2302,3608,0,0,0,0,0,0
$GC,5144,-0.56,-112.4,453.9,-9.1,582,5146,0.00,1.65,0.00,0.000,4,0.000,0.068,2663,3292,3608,0,0,0,0,0,0
$GC,5196,-0.57,-112.4,458.1,-7.2,587,5200,0.00,1.55,0.00,0.000,6,0.000,0.051,2663,2314,3607,0,0,0,0,0,0
$STATE,5380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5380,begin apogee
$GC,5385,-0.14,0.0,472.4,7.1,605,5484,0.45,0.00,91.35,0.897,6,0.110,0.000,2811,1985,3150,0,0,0,0,0,0
$STATE,5485,end apogee,CONTROL_FINISHED_OK
$STATE,5485,begin climb
$GC,5487,0.45,112.4,474.3,0.0,615,5586,0.52,2.12,92.82,0.868,4,0.075,0.063,3000,3221,2691,0,0,0,0,0,0
$GC,5625,0.44,136.6,471.5,5.2,628,5650,0.00,2.00,21.60,0.821,6,0.000,0.052,3007,2009,2593,0,0,0,0,0,0
$GC,5960,0.43,155.9,449.6,5.4,660,5981,0.00,2.05,17.12,0.818,4,0.000,0.064,3007,3222,2514,0,0,0,0,0,0
$GC,6039,0.41,155.9,444.6,6.1,667,6045,0.00,2.00,0.00,0.000,6,0.000,0.054,3014,1997,2511,0,0,0,0,0,0
$GC,6355,0.39,160.4,425.7,5.9,698,6365,0.12,2.00,4.85,0.630,4,0.161,0.065,2980,3222,2496,0,0,0,0,0,0
$GC,6451,0.39,160.4,420.0,6.9,707,6454,0.00,1.90,0.00,0.000,6,0.000,0.054,2984,2010,2495,0,0,0,0,0,0
$GC,6771,0.39,160.4,398.5,6.7,738,6775,0.00,2.00,0.00,0.000,4,0.000,0.065,2984,3221,2495,0,0,0,0,0,0
$GC,6782,0.39,160.4,397.8,6.9,739,6785,0.00,1.92,0.00,0.000,6,0.000,0.054,2990,2009,2494,0,0,0,0,0,0
$GC,7103,0.39,163.7,376.2,6.0,770,7113,0.00,2.00,4.40,0.590,4,0.000,0.066,2990,3221,2482,0,0,0,0,0,0
$GC,7182,0.38,163.7,370.9,7.0,777,7188,0.00,1.90,0.00,0.000,6,0.000,0.054,2996,2034,2481,0,0,0,0,0,0
$GC,7498,0.39,171.6,351.1,5.8,808,7508,0.00,0.00,8.40,0.737,6,0.000,0.000,2996,2034,2449,0,0,0,0,0,0
$GC,7817,0.39,171.6,330.8,6.7,839,7821,0.00,1.98,0.00,0.000,4,0.000,0.064,2996,3226,2448,0,0,0,0,0,0
$GC,7861,0.38,171.6,327.8,7.0,843,7864,0.00,1.90,0.00,0.000,6,0.000,0.054,3001,2025,2447,0,0,0,0,0,0
$GC,8182,0.38,171.6,307.4,7.2,874,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2026,2447,0,0,0,0,0,0
$GC,8494,0.38,171.6,286.0,6.9,904,8497,0.00,1.95,0.00,0.000,4,0.000,0.064,3001,3226,2447,0,0,0,0,0,0
$GC,8573,0.38,171.6,279.0,8.5,911,8580,0.00,1.90,0.00,0.000,6,0.000,0.054,3007,2039,2447,0,0,0,0,0,0
$GC,8889,0.38,175.4,257.4,6.0,942,8900,0.00,2.05,4.32,0.556,4,0.000,0.063,3014,770,2435,0,0,0,0,0,0
$GC,8915,0.38,175.4,255.7,6.1,944,8921,0.10,2.00,0.00,0.000,6,0.120,0.057,2980,2026,2434,0,0,0,0,0,0
$GC,9232,0.41,228.7,240.7,4.2,975,9284,0.00,2.00,44.85,0.752,4,0.000,0.064,2979,3233,2216,0,0,0,0,0,0
$GC,9348,0.44,258.4,235.3,5.0,986,9380,0.00,1.90,25.40,0.724,6,0.000,0.054,2979,2056,2095,0,0,0,0,0,0
$GC,9690,0.49,316.6,220.9,4.0,1019,9743,0.10,2.10,47.88,0.726,4,0.109,0.061,3031,763,1859,0,0,0,0,0,0
$GC,9780,0.49,316.6,215.0,7.2,1027,9787,0.00,2.05,0.00,0.000,6,0.000,0.054,3032,2048,1857,0,0,0,0,0,0
$GC,10095,0.49,316.6,189.2,8.5,1058,10096,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2049,1853,0,0,0,0,0,0
$GC,10408,0.49,316.6,162.8,8.5,1088,10411,0.00,2.03,0.00,0.000,4,0.000,0.062,3038,768,1851,0,0,0,0,0,0
$GC,10439,0.49,316.6,159.9,8.3,1091,10443,0.00,2.03,0.00,0.000,6,0.000,0.055,3037,2041,1851,0,0,0,0,0,0
$GC,10761,0.49,316.6,134.0,7.0,1122,10764,0.00,2.05,0.00,0.000,4,0.000,0.064,3041,763,1851,0,0,0,0,0,0
$GC,10786,0.49,316.6,132.3,6.5,1124,10792,0.00,2.00,0.00,0.000,6,0.000,0.054,3041,2022,1851,0,0,0,0,0,0
$GC,11102,0.49,316.6,108.4,8.2,1155,11106,0.00,1.95,0.00,0.000,4,0.000,0.063,3041,3226,1850,0,0,0,0,0,0
$GC,11134,0.49,316.6,105.6,8.6,1158,11138,0.00,1.90,0.00,0.000,6,0.000,0.054,3042,2039,1849,0,0,0,0,0,0
$GC,11459,0.49,316.6,78.4,7.9,1212,11465,0.00,2.05,0.00,0.000,4,0.000,0.063,3041,760,1850,0,0,0,0,0,0
$GC,11502,0.49,316.6,75.4,7.0,1220,11507,0.00,1.98,0.00,0.000,6,0.000,0.054,3042,2009,1849,0,0,0,0,0,0
$GC,11829,0.49,316.6,51.3,9.5,1281,11835,0.00,1.98,0.00,0.000,4,0.000,0.063,3042,3234,1849,0,0,0,0,0,0
$GC,11888,0.49,316.6,45.9,9.3,1292,11894,0.00,1.92,0.00,0.000,6,0.000,0.054,3041,2032,1849,0,0,0,0,0,0
$GC,12218,0.52,335.8,28.5,5.4,1353,12240,0.00,1.98,15.55,0.603,4,0.000,0.064,3042,3234,1781,0,0,0,0,0,0
$GC,12294,0.56,364.2,24.6,5.1,1367,12323,0.00,1.88,24.25,0.602,6,0.000,0.054,3041,2065,1665,0,0,0,0,0,0
$GC,12644,0.64,364.2,3.2,8.6,1432,12650,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2063,1659,0,0,0,0,0,0
$STATE,12653,end climb,SURFACE_DEPTH_REACHED
$STATE,12653,begin surface coast
$FINISH,1.2,1.017370
$STATE,12690,end surface coast,CONTROL_FINISHED_OK
$STATE,12690,begin surface
$SM_CCo,12766,0.00,0.000,0,0,1655,366.72
$SM_GC,2.10,7.68,0.00,0.00,0.043,0.000,0.000,138,2061,1655,-8.40,-0.40,366.72
$IRIDIUM_FIX,4738.89,-12529.27,050100,131342
$TT8_MAMPS,0.052923
$HUMID,41.53
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,23.6,67.735
$10V_AH,9.9,66.606
$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,19.700,107.225,402.800,0.000,0.000,22.847,38.402,185.027,0.000,0.000,14.875,0.000,8602.290,469.039,3441.556,608.495,0.000,1682.624,0.000,2984.379,0.000,0.533,0.000
$DEVICE_MAMPS,230.867,77.467,897.390,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,990.440,1153.147,1660.931,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298368
$DATA_FILE_SIZE,82229,1441
$CAP_FILE_SIZE,151678,0
$CFSIZE,260165632,214450176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047,265.6,1
$GPS,111010,194400,4758.949,-12522.816,52,1.2,52,18.8