version: 66.06
glider: 187
mission: 2
dive: 74
start: 7 19 110 10 5 7
data:
$ID,187
$MISSION,2
$DIVE,74
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$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,270
$T_MISSION,360
$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,100
$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,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,-24821.605
$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,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,35
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$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,0.0012300001
$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
$GPS1,095937,4740.326,-12523.883,37,1.1,37,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.9
$GPS2,100501,4740.264,-12523.903,11,1.1,16,18.7
$SPEED_LIMITS,0.212,0.316
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,1000.000
$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,218.0,142452,-17.9,-12.222
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-1.02,-195.5,0.0,0.0,0,105,0.00,0.00,-92.07,0.000,2,0.000,0.000,132,1999,3150,0,0,0,0,0,0
$GC,107,-1.02,-195.5,3.2,-6.1,17,140,9.90,2.00,-15.98,0.000,4,0.251,0.077,2508,3225,3951,0,0,0,0,0,0
$GC,380,-0.83,-195.5,97.6,-28.1,68,386,0.22,1.95,0.00,0.000,6,0.163,0.050,2573,1996,3953,0,0,0,0,0,0
$GC,701,-0.75,-195.5,162.4,-18.9,100,705,0.12,2.03,0.00,0.000,4,0.182,0.067,2600,3233,3954,0,0,0,0,0,0
$GC,903,-0.73,-195.5,193.3,-14.2,119,908,0.00,1.95,0.00,0.000,6,0.000,0.051,2599,2004,3954,0,0,0,0,0,0
$GC,1224,-0.69,-195.5,244.4,-16.5,150,1229,0.00,2.03,0.00,0.000,4,0.000,0.067,2591,3236,3954,0,0,0,0,0,0
$GC,1341,-0.67,-195.5,262.9,-15.5,161,1346,0.15,1.92,0.00,0.000,6,0.153,0.051,2632,2018,3954,0,0,0,0,0,0
$GC,1662,-0.69,-195.5,306.9,-13.7,192,1667,0.00,1.98,0.00,0.000,4,0.000,0.067,2626,3233,3954,0,0,0,0,0,0
$GC,1763,-0.72,-195.5,320.2,-12.7,201,1770,0.00,1.90,0.00,0.000,6,0.000,0.051,2626,2025,3954,0,0,0,0,0,0
$GC,2080,-0.72,-195.5,362.3,-12.9,232,2083,0.00,1.95,0.00,0.000,4,0.000,0.069,2618,3228,3954,0,0,0,0,0,0
$GC,2158,-0.74,-195.5,372.8,-12.3,239,2166,0.00,1.90,0.00,0.000,6,0.000,0.052,2618,2022,3953,0,0,0,0,0,0
$GC,2474,-0.74,-195.5,418.2,-14.4,270,2479,0.00,1.98,0.00,0.000,4,0.000,0.069,2610,3230,3953,0,0,0,0,0,0
$GC,2559,-0.76,-195.5,430.3,-13.3,278,2564,0.00,1.88,0.00,0.000,6,0.000,0.053,2610,2040,3953,0,0,0,0,0,0
$GC,2880,-0.76,-195.5,476.2,-13.8,309,2885,0.00,1.95,0.00,0.000,4,0.000,0.069,2603,3232,3952,0,0,0,0,0,0
$GC,2938,-0.76,-195.5,484.1,-13.4,314,2945,0.00,1.88,0.00,0.000,6,0.000,0.053,2603,2040,3951,0,0,0,0,0,0
$GC,3253,-0.76,-195.5,529.1,-14.8,345,3258,0.00,1.95,0.00,0.000,4,0.000,0.069,2595,3233,3951,0,0,0,0,0,0
$GC,3333,-0.76,-195.5,541.0,-14.6,352,3340,0.00,1.88,0.00,0.000,6,0.000,0.054,2595,2042,3950,0,0,0,0,0,0
$GC,3649,-0.74,-195.5,588.4,-14.7,383,3653,0.00,1.95,0.00,0.000,4,0.000,0.071,2589,3233,3950,0,0,0,0,0,0
$GC,3707,-0.74,-195.5,596.9,-14.5,388,3713,0.00,1.88,0.00,0.000,6,0.000,0.054,2589,2040,3949,0,0,0,0,0,0
$GC,4036,-0.72,-195.5,645.1,-14.3,401,4041,0.12,1.92,0.00,0.000,4,0.176,0.071,2615,3229,3949,0,0,0,0,0,0
$GC,4100,-0.76,-195.5,652.8,-11.4,403,4105,0.00,1.85,0.00,0.000,6,0.000,0.054,2615,2055,3949,0,0,0,0,0,0
$GC,4436,-0.77,-195.5,691.2,-11.2,414,4440,0.00,1.90,0.00,0.000,4,0.000,0.071,2608,3224,3949,0,0,0,0,0,0
$GC,4478,-0.80,-195.5,696.1,-11.4,415,4483,0.00,1.85,0.00,0.000,6,0.000,0.055,2608,2050,3948,0,0,0,0,0,0
$GC,4802,-0.80,-195.5,735.1,-12.2,426,4807,0.00,1.95,0.00,0.000,4,0.000,0.072,2607,3252,3948,0,0,0,0,0,0
$GC,4850,-0.84,-195.5,740.9,-12.5,427,4855,0.00,1.90,0.00,0.000,6,0.000,0.056,2607,2049,3947,0,0,0,0,0,0
$GC,5169,-0.84,-195.5,781.7,-12.8,438,5174,0.00,1.92,0.00,0.000,4,0.000,0.071,2599,3239,3947,0,0,0,0,0,0
$GC,5244,-0.86,-195.5,791.3,-13.0,440,5248,0.00,1.85,0.00,0.000,6,0.000,0.056,2599,2062,3946,0,0,0,0,0,0
$GC,5568,-0.86,-195.5,833.9,-12.9,451,5573,0.00,1.92,0.00,0.000,4,0.000,0.071,2593,3237,3945,0,0,0,0,0,0
$GC,5616,-0.88,-195.5,839.8,-11.5,452,5621,0.00,1.85,0.00,0.000,6,0.000,0.056,2593,2066,3945,0,0,0,0,0,0
$GC,5935,-0.88,-195.5,882.3,-13.1,463,5940,0.00,1.92,0.00,0.000,4,0.000,0.072,2585,3240,3945,0,0,0,0,0,0
$GC,5993,-0.88,-195.5,889.9,-13.0,464,6000,0.00,1.85,0.00,0.000,6,0.000,0.057,2585,2067,3944,0,0,0,0,0,0
$GC,6302,-0.88,-195.5,929.7,-12.9,475,6307,0.00,1.90,0.00,0.000,4,0.000,0.071,2577,3229,3944,0,0,0,0,0,0
$GC,6355,-0.88,-195.5,936.7,-12.7,476,6360,0.00,1.83,0.00,0.000,6,0.000,0.057,2577,2073,3944,0,0,0,0,0,0
$GC,6669,-0.85,-195.5,979.3,-13.7,487,6673,0.00,1.90,0.00,0.000,4,0.000,0.073,2569,3230,3944,0,0,0,0,0,0
$STATE,6747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6747,begin apogee
$GC,6752,-0.22,0.0,990.2,13.1,489,6923,0.62,0.00,168.40,1.219,6,0.144,0.000,2771,1992,3150,0,0,0,0,0,0
$STATE,6923,end apogee,CONTROL_FINISHED_OK
$STATE,6923,begin climb
$GC,6924,1.02,195.5,997.0,0.0,495,7107,1.23,2.10,175.70,1.178,4,0.081,0.065,3183,765,2352,0,0,0,0,0,0
$GC,7132,0.77,195.5,970.9,23.2,501,7139,0.30,2.12,0.00,0.000,6,0.193,0.060,3106,1990,2349,0,0,0,0,0,0
$GC,7441,0.60,195.5,912.0,18.8,512,7445,0.22,2.10,0.00,0.000,4,0.183,0.069,3046,3238,2345,0,0,0,0,0,0
$GC,7574,0.50,195.5,889.9,16.3,516,7579,0.12,2.03,0.00,0.000,6,0.163,0.058,3017,2006,2343,0,0,0,0,0,0
$GC,7904,0.47,198.2,849.1,12.1,527,7908,0.00,2.05,0.00,0.000,4,0.000,0.071,3017,3240,2342,0,0,0,0,0,0
$GC,7941,0.41,198.2,844.4,13.7,528,7946,0.12,2.03,0.00,0.000,6,0.153,0.059,2986,2007,2341,0,0,0,0,0,0
$GC,8271,0.50,272.7,813.4,9.1,539,8342,0.00,2.15,65.93,1.097,4,0.000,0.070,2985,3232,2038,0,0,0,0,0,0
$GC,8368,0.57,304.3,804.0,10.9,542,8403,0.15,2.08,29.50,1.049,6,0.086,0.059,3046,2013,1909,0,0,0,0,0,0
$GC,8728,0.54,304.3,752.6,14.0,554,8733,0.00,2.08,0.00,0.000,4,0.000,0.069,3055,759,1901,0,0,0,0,0,0
$GC,8770,0.54,304.3,746.9,13.2,555,8775,0.00,2.08,0.00,0.000,6,0.000,0.059,3055,2019,1901,0,0,0,0,0,0
$GC,9095,0.51,304.3,701.7,13.9,566,9096,0.15,0.00,0.00,0.000,6,0.168,0.000,3015,2020,1900,0,0,0,0,0,0
$GC,9399,0.55,323.1,667.7,11.4,576,9418,0.00,2.05,16.02,0.977,4,0.000,0.071,3021,763,1832,0,0,0,0,0,0
$GC,9440,0.60,343.2,663.0,11.4,577,9465,0.00,2.05,19.42,0.969,6,0.000,0.060,3021,2014,1750,0,0,0,0,0,0
$GC,9795,0.62,343.2,617.9,12.7,589,9796,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2015,1745,0,0,0,0,0,0
$GC,10102,0.64,343.2,579.7,12.3,609,10103,0.10,0.00,0.00,0.000,6,0.112,0.000,3064,2014,1745,0,0,0,0,0,0
$GC,10412,0.61,343.2,530.6,15.7,639,10417,0.00,2.08,0.00,0.000,4,0.000,0.070,3071,755,1745,0,0,0,0,0,0
$GC,10439,0.58,343.2,526.5,15.3,641,10446,0.12,2.03,0.00,0.000,6,0.162,0.059,3039,2014,1745,0,0,0,0,0,0
$GC,10754,0.58,343.2,484.6,12.2,672,10759,0.00,2.00,0.00,0.000,4,0.000,0.069,3039,3232,1745,0,0,0,0,0,0
$GC,10780,0.58,343.2,481.1,13.4,674,10787,0.00,2.00,0.00,0.000,6,0.000,0.059,3041,1993,1744,0,0,0,0,0,0
$GC,11096,0.58,343.2,439.5,13.4,705,11101,0.00,1.98,0.00,0.000,4,0.000,0.069,3041,763,1745,0,0,0,0,0,0
$GC,11172,0.61,343.2,430.1,12.5,712,11175,0.00,1.95,0.00,0.000,6,0.000,0.059,3041,1997,1744,0,0,0,0,0,0
$GC,11491,0.61,343.2,387.1,13.5,743,11496,0.00,2.03,0.00,0.000,4,0.000,0.067,3041,3238,1745,0,0,0,0,0,0
$GC,11523,0.61,343.2,382.6,13.7,746,11528,0.00,2.00,0.00,0.000,6,0.000,0.059,3041,1992,1745,0,0,0,0,0,0
$GC,11844,0.61,343.2,340.2,13.1,777,11848,0.00,2.00,0.00,0.000,4,0.000,0.069,3048,757,1746,0,0,0,0,0,0
$GC,11902,0.65,351.7,333.0,11.9,782,11914,0.00,1.98,8.38,0.753,6,0.000,0.057,3048,2014,1716,0,0,0,0,0,0
$GC,12223,0.65,351.7,291.9,12.6,813,12223,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2015,1715,0,0,0,0,0,0
$GC,12534,0.65,351.7,251.3,13.1,843,12535,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2016,1715,0,0,0,0,0,0
$GC,12844,0.65,351.7,210.5,12.9,873,12848,0.00,2.00,0.00,0.000,4,0.000,0.068,3054,769,1715,0,0,0,0,0,0
$GC,12881,0.68,351.7,205.7,13.6,876,12888,0.00,1.95,0.00,0.000,6,0.000,0.059,3054,1997,1714,0,0,0,0,0,0
$GC,13197,0.68,351.7,165.8,12.4,907,13201,0.00,2.00,0.00,0.000,4,0.000,0.068,3054,3233,1715,0,0,0,0,0,0
$GC,13249,0.70,351.7,159.0,13.2,912,13254,0.00,1.95,0.00,0.000,6,0.000,0.058,3055,1995,1714,0,0,0,0,0,0
$GC,13572,0.76,382.5,120.9,10.9,943,13603,0.12,1.95,26.40,0.683,4,0.099,0.066,3121,762,1591,0,0,0,0,0,0
$GC,13655,0.74,382.5,107.4,16.8,951,13660,0.10,1.95,0.00,0.000,6,0.145,0.058,3088,1990,1589,0,0,0,0,0,0
$GC,13980,0.76,396.2,63.7,11.6,1007,13998,0.00,2.03,12.38,0.626,4,0.000,0.069,3088,3233,1534,0,0,0,0,0,0
$GC,14035,0.80,396.2,56.7,13.2,1017,14041,0.00,1.98,0.00,0.000,6,0.000,0.056,3090,1997,1531,0,0,0,0,0,0
$GC,14362,0.94,458.2,20.1,9.6,1078,14418,0.17,2.05,50.58,0.607,4,0.081,0.066,3175,763,1281,0,0,0,0,0,0
$STATE,14480,end climb,SURFACE_DEPTH_REACHED
$STATE,14480,begin surface coast
$FINISH,0.8,1.023954
$STATE,14491,end surface coast,CONTROL_FINISHED_OK
$STATE,14491,begin surface
$SM_CCo,14565,0.00,0.000,0,0,1272,460.67
$SM_GC,1.44,8.20,0.00,0.00,0.047,0.000,0.000,142,2010,1272,-8.38,0.28,460.67
$IRIDIUM_FIX,4726.11,-12525.20,131099,060647
$TT8_MAMPS,0.052156
$HUMID,38.93
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,23.2,9.400
$10V_AH,10.3,5.009
$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,22.275,130.000,572.700,0.000,0.000,28.225,31.740,177.664,0.000,0.000,16.880,0.000,10928.520,696.819,2885.179,357.541,0.000,1839.305,0.000,2435.643,0.000,0.534,0.000
$DEVICE_MAMPS,250.809,77.467,1218.763,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,759.186,901.406,933.855,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298608
$DATA_FILE_SIZE,63402,1102
$CAP_FILE_SIZE,155992,0
$CFSIZE,260165632,254386176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061, 10.2,1
$GPS,190710,140854,4739.756,-12527.147,46,1.9,46,18.7