version: 66.06
glider: 187
mission: 2
dive: 690
start: 10 16 110 21 29 7
data:
$ID,187
$MISSION,2
$DIVE,690
$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,300
$T_MISSION,480
$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,200
$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,-38574.215
$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,27
$R_STBD_OVSHOOT,21
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,350
$ALTIM_PING_DELTA,25
$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
$GPS1,212137,4744.168,-12555.566,42,1.3,42,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-76.8
$GPS2,212901,4744.081,-12555.520,12,1.2,17,18.8
$SPEED_LIMITS,0.191,0.307
$TGT_NAME,PATCH
$TGT_LATLONG,4743.200,-12556.100
$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,191.4,1784,-28.3,-11.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.83,-72.2,0.0,0.0,0,69,0.00,0.00,-51.62,0.000,2,0.000,0.000,132,2061,2912,0,0,0,0,0,0
$GC,71,-0.88,-151.3,3.1,-2.9,10,105,9.88,2.08,-19.70,0.000,4,0.228,0.075,2561,3316,3768,0,0,0,0,0,0
$GC,336,-0.89,-151.3,62.2,-18.4,59,341,0.00,1.98,0.00,0.000,6,0.000,0.050,2560,2075,3772,0,0,0,0,0,0
$GC,662,-0.91,-151.3,125.0,-18.0,108,665,0.00,2.03,0.00,0.000,4,0.000,0.064,2551,3313,3774,0,0,0,0,0,0
$GC,790,-0.94,-151.3,146.9,-16.5,120,794,0.00,1.95,0.00,0.000,6,0.000,0.048,2551,2076,3773,0,0,0,0,0,0
$GC,1111,-0.96,-151.3,203.8,-17.4,151,1114,0.00,1.98,0.00,0.000,4,0.000,0.064,2542,3321,3773,0,0,0,0,0,0
$GC,1137,-0.98,-151.3,208.8,-18.3,153,1143,0.00,1.95,0.00,0.000,6,0.000,0.050,2542,2087,3773,0,0,0,0,0,0
$GC,1454,-0.99,-151.3,267.7,-18.8,184,1457,0.00,2.00,0.00,0.000,4,0.000,0.064,2533,3317,3773,0,0,0,0,0,0
$GC,1528,-1.02,-151.3,281.5,-17.9,191,1531,0.00,1.92,0.00,0.000,6,0.000,0.051,2532,2096,3773,0,0,0,0,0,0
$GC,1849,-1.03,-151.3,343.0,-19.5,222,1852,0.00,1.98,0.00,0.000,4,0.000,0.064,2524,3317,3773,0,0,0,0,0,0
$GC,1887,-1.05,-151.3,350.2,-19.1,225,1892,0.00,1.95,0.00,0.000,6,0.000,0.051,2523,2091,3773,0,0,0,0,0,0
$GC,2203,-1.06,-151.3,411.1,-18.7,256,2206,0.00,1.98,0.00,0.000,4,0.000,0.066,2514,3312,3773,0,0,0,0,0,0
$GC,2245,-1.07,-151.3,419.2,-18.8,260,2248,0.00,1.92,0.00,0.000,6,0.000,0.051,2514,2099,3772,0,0,0,0,0,0
$GC,2565,-1.07,-151.3,481.1,-19.5,291,2569,0.00,1.98,0.00,0.000,4,0.000,0.066,2505,3306,3772,0,0,0,0,0,0
$GC,2629,-1.09,-151.3,493.3,-18.6,297,2633,0.00,1.90,0.00,0.000,6,0.000,0.051,2505,2112,3772,0,0,0,0,0,0
$GC,2951,-1.09,-151.3,555.6,-19.3,328,2954,0.00,1.95,0.00,0.000,4,0.000,0.067,2496,3330,3771,0,0,0,0,0,0
$GC,3035,-1.09,-151.3,571.6,-18.4,336,3039,0.00,1.92,0.00,0.000,6,0.000,0.052,2496,2120,3771,0,0,0,0,0,0
$GC,3362,-1.09,-151.3,635.0,-19.1,356,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2119,3770,0,0,0,0,0,0
$GC,3666,-1.09,-151.3,692.7,-19.6,366,3669,0.00,1.95,0.00,0.000,4,0.000,0.067,2487,3307,3769,0,0,0,0,0,0
$GC,3735,-1.09,-151.3,706.4,-20.0,368,3738,0.00,1.85,0.00,0.000,6,0.000,0.053,2487,2117,3769,0,0,0,0,0,0
$GC,4067,-1.09,-151.3,775.1,-20.8,379,4070,0.00,1.92,0.00,0.000,4,0.000,0.067,2478,3313,3768,0,0,0,0,0,0
$GC,4126,-1.09,-151.3,787.3,-19.3,380,4131,0.00,1.85,0.00,0.000,6,0.000,0.053,2478,2122,3768,0,0,0,0,0,0
$GC,4434,-1.09,-151.3,849.2,-20.0,391,4439,0.00,1.95,0.00,0.000,4,0.000,0.067,2469,3309,3768,0,0,0,0,0,0
$GC,4487,-1.09,-151.3,859.6,-19.3,392,4491,0.12,1.85,0.00,0.000,6,0.176,0.053,2499,2133,3767,0,0,0,0,0,0
$GC,4802,-1.10,-151.3,913.6,-17.1,403,4805,0.00,1.92,0.00,0.000,4,0.000,0.069,2492,3312,3767,0,0,0,0,0,0
$GC,4834,-1.10,-151.3,919.5,-18.3,404,4837,0.00,1.88,0.00,0.000,6,0.000,0.054,2492,2140,3767,0,0,0,0,0,0
$GC,5172,-1.10,-151.3,980.0,-18.1,415,5175,0.00,1.92,0.00,0.000,4,0.000,0.068,2483,3322,3766,0,0,0,0,0,0
$STATE,5222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5222,begin apogee
$GC,5229,-0.14,0.0,990.2,18.9,416,5366,1.05,0.00,133.93,1.223,6,0.146,0.000,2801,2002,3150,0,0,0,0,0,0
$STATE,5366,end apogee,CONTROL_FINISHED_OK
$STATE,5367,begin climb
$GC,5370,0.88,151.3,995.6,0.0,421,5516,0.95,2.20,140.07,1.185,4,0.055,0.061,3150,768,2533,0,0,0,0,0,0
$GC,5537,0.85,151.3,985.7,15.1,425,5541,0.00,2.12,0.00,0.000,6,0.000,0.058,3150,2000,2531,0,0,0,0,0,0
$GC,5845,0.83,151.3,932.2,17.4,435,5849,0.00,2.08,0.00,0.000,4,0.000,0.066,3150,3236,2527,0,0,0,0,0,0
$GC,5986,0.79,151.3,906.3,19.9,439,5990,0.12,1.98,0.00,0.000,6,0.177,0.057,3112,2029,2526,0,0,0,0,0,0
$GC,6310,0.79,151.3,856.4,15.3,450,6313,0.00,2.03,0.00,0.000,4,0.000,0.066,3112,3241,2526,0,0,0,0,0,0
$GC,6423,0.78,151.3,838.6,15.5,453,6426,0.00,1.92,0.00,0.000,6,0.000,0.056,3119,2032,2525,0,0,0,0,0,0
$GC,6741,0.76,151.3,788.1,15.9,464,6745,0.00,1.98,0.00,0.000,4,0.000,0.067,3119,3236,2525,0,0,0,0,0,0
$GC,6811,0.74,151.3,776.1,17.6,466,6814,0.10,1.92,0.00,0.000,6,0.182,0.056,3085,2047,2524,0,0,0,0,0,0
$GC,7141,0.74,151.3,729.7,13.8,477,7144,0.00,1.92,0.00,0.000,4,0.000,0.067,3085,3237,2524,0,0,0,0,0,0
$GC,7204,0.74,151.3,720.2,14.8,479,7208,0.00,1.92,0.00,0.000,6,0.000,0.056,3092,2042,2523,0,0,0,0,0,0
$GC,7540,0.74,151.3,674.9,13.3,490,7543,0.00,1.95,0.00,0.000,4,0.000,0.067,3092,3244,2523,0,0,0,0,0,0
$GC,7641,0.74,151.3,661.1,13.2,493,7644,0.00,1.90,0.00,0.000,6,0.000,0.056,3101,2059,2522,0,0,0,0,0,0
$GC,7971,0.74,151.3,618.3,13.1,504,7974,0.00,1.92,0.00,0.000,4,0.000,0.065,3101,3235,2522,0,0,0,0,0,0
$GC,8035,0.74,151.3,609.4,14.5,506,8038,0.00,1.85,0.00,0.000,6,0.000,0.054,3110,2064,2522,0,0,0,0,0,0
$GC,8357,0.74,151.3,566.0,13.4,531,8360,0.00,1.90,0.00,0.000,4,0.000,0.065,3110,3243,2523,0,0,0,0,0,0
$GC,8453,0.73,151.3,552.1,13.9,540,8456,0.00,1.85,0.00,0.000,6,0.000,0.054,3120,2088,2522,0,0,0,0,0,0
$GC,8773,0.73,151.3,506.9,13.9,571,8776,0.00,1.85,0.00,0.000,4,0.000,0.066,3119,3237,2522,0,0,0,0,0,0
$GC,8827,0.72,151.3,499.0,15.5,576,8830,0.15,1.83,0.00,0.000,6,0.189,0.054,3091,2081,2522,0,0,0,0,0,0
$GC,9148,0.72,152.3,462.6,10.9,607,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2081,2521,0,0,0,0,0,0
$GC,9461,0.72,155.4,430.0,10.7,637,9464,0.00,1.90,0.00,0.000,4,0.000,0.066,3091,3242,2521,0,0,0,0,0,0
$GC,9550,0.72,155.4,419.0,11.8,645,9557,0.00,1.85,0.00,0.000,6,0.000,0.055,3097,2091,2521,0,0,0,0,0,0
$GC,9867,0.72,155.4,384.0,11.1,676,9867,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2091,2521,0,0,0,0,0,0
$GC,10179,0.72,155.4,349.2,11.7,706,10182,0.00,1.88,0.00,0.000,4,0.000,0.066,3097,3237,2521,0,0,0,0,0,0
$GC,10302,0.72,155.4,334.3,12.0,717,10307,0.00,1.83,0.00,0.000,6,0.000,0.054,3105,2099,2521,0,0,0,0,0,0
$GC,10619,0.72,155.4,298.0,12.0,748,10621,0.00,1.85,0.00,0.000,4,0.000,0.064,3106,3239,2521,0,0,0,0,0,0
$GC,10660,0.72,155.4,292.4,12.4,752,10664,0.00,1.80,0.00,0.000,6,0.000,0.054,3115,2113,2521,0,0,0,0,0,0
$GC,10981,0.72,155.4,253.6,11.9,783,10985,0.00,1.85,0.00,0.000,4,0.000,0.065,3115,3233,2521,0,0,0,0,0,0
$GC,11040,0.72,155.4,246.2,12.6,788,11046,0.12,1.77,0.00,0.000,6,0.186,0.054,3092,2105,2521,0,0,0,0,0,0
$GC,11355,0.73,155.4,212.0,11.2,819,11356,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2105,2521,0,0,0,0,0,0
$GC,11668,0.75,163.8,180.2,10.1,849,11680,0.00,0.00,10.15,0.669,6,0.000,0.000,3093,2104,2482,0,0,0,0,0,0
$GC,11987,0.77,170.2,147.2,10.4,880,11998,0.00,1.90,7.25,0.616,4,0.000,0.064,3093,3243,2456,0,0,0,0,0,0
$GC,12046,0.77,170.2,140.9,11.6,885,12052,0.00,1.80,0.00,0.000,6,0.000,0.054,3099,2122,2455,0,0,0,0,0,0
$GC,12362,0.79,185.4,108.8,9.4,916,12381,0.00,0.00,14.27,0.647,6,0.000,0.000,3099,2120,2394,0,0,0,0,0,0
$GC,12701,0.82,204.3,76.3,9.1,971,12724,0.00,2.17,16.80,0.632,4,0.000,0.061,3109,756,2315,0,0,0,0,0,0
$GC,12784,0.86,224.1,69.1,9.0,986,12807,0.00,2.22,17.70,0.620,6,0.000,0.056,3110,2142,2236,0,0,0,0,0,0
$GC,13128,0.93,268.2,40.1,6.5,1050,13172,0.12,1.83,36.42,0.612,4,0.098,0.063,3163,3243,2054,0,0,0,0,0,0
$GC,13185,0.96,281.2,35.4,9.7,1060,13203,0.00,1.77,12.05,0.567,6,0.000,0.054,3172,2150,2003,0,0,0,0,0,0
$GC,13527,1.00,301.6,5.4,8.9,1123,13549,0.00,1.75,17.05,0.576,4,0.000,0.062,3171,3237,1920,0,0,0,0,0,0
$STATE,13552,end climb,SURFACE_DEPTH_REACHED
$STATE,13552,begin surface coast
$FINISH,1.1,1.011477
$STATE,13584,end surface coast,CONTROL_FINISHED_OK
$STATE,13584,begin surface
$SM_CCo,13603,28.27,0.446,1,0,1722,350.04
$SM_GC,1.78,0.00,0.00,28.27,0.000,0.000,0.446,136,2071,1722,-8.50,-0.11,350.04
$IRIDIUM_FIX,4722.92,-12555.30,100100,171755
$TT8_MAMPS,0.05369
$HUMID,43.14
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,22.1,74.313
$10V_AH,8.8,71.059
$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,20.700,115.875,405.700,28.275,0.000,27.303,34.219,230.830,6.500,0.000,17.170,0.000,9943.540,488.617,2966.634,655.357,0.000,1590.535,0.000,2510.105,0.000,57.659,0.000
$DEVICE_MAMPS,227.799,75.166,1223.365,445.627,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,783.657,900.228,1113.098,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298424
$DATA_FILE_SIZE,63236,1134
$CAP_FILE_SIZE,153674,0
$CFSIZE,260165632,211554304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.024,157.6,1
$GPS,171010,011736,4742.392,-12556.885,50,0.8,50,18.7