version: 66.06
glider: 187
mission: 2
dive: 116
start: 7 28 110 19 22 26
data:
$ID,187
$MISSION,2
$DIVE,116
$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,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,-25790.744
$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,2835
$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,28
$R_STBD_OVSHOOT,23
$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
$GPS1,191356,4703.193,-12654.828,54,1.4,54,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-74.8
$GPS2,192220,4703.173,-12654.823,18,1.4,18,18.6
$SPEED_LIMITS,0.106,0.196
$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,215.7,8791,-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,12,-0.45,-112.4,0.0,0.0,0,72,0.00,0.00,-58.47,0.000,2,0.000,0.000,131,2065,3117,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.3,-2.6,11,102,10.35,2.03,-11.02,0.000,4,0.247,0.079,2672,3312,3611,0,0,0,0,0,0
$GC,326,-0.42,-112.4,56.2,-16.0,58,333,0.00,1.95,0.00,0.000,6,0.000,0.049,2672,2070,3613,0,0,0,0,0,0
$GC,655,-0.39,-112.4,109.3,-14.3,114,660,0.12,1.92,0.00,0.000,4,0.160,0.056,2706,845,3615,0,0,0,0,0,0
$GC,681,-0.37,-112.4,112.9,-13.5,116,688,0.00,1.98,0.00,0.000,6,0.000,0.056,2704,2085,3615,0,0,0,0,0,0
$GC,997,-0.37,-112.4,144.6,-9.5,147,1002,0.00,2.00,0.00,0.000,4,0.000,0.065,2698,3318,3616,0,0,0,0,0,0
$GC,1040,-0.37,-112.4,148.4,-8.9,151,1044,0.00,1.92,0.00,0.000,6,0.000,0.050,2698,2078,3616,0,0,0,0,0,0
$GC,1360,-0.37,-112.4,178.9,-9.6,182,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2075,3616,0,0,0,0,0,0
$GC,1671,-0.37,-112.4,207.5,-9.0,212,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2075,3616,0,0,0,0,0,0
$GC,1981,-0.37,-112.4,236.0,-9.5,242,1986,0.00,1.98,0.00,0.000,4,0.000,0.067,2691,3300,3616,0,0,0,0,0,0
$GC,2003,-0.37,-112.4,238.1,-9.5,244,2007,0.00,1.90,0.00,0.000,6,0.000,0.053,2690,2078,3616,0,0,0,0,0,0
$GC,2323,-0.37,-112.4,269.1,-9.5,275,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2076,3616,0,0,0,0,0,0
$GC,2634,-0.37,-112.4,299.0,-9.8,305,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2076,3616,0,0,0,0,0,0
$GC,2944,-0.37,-112.4,328.7,-8.9,335,2945,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2076,3616,0,0,0,0,0,0
$GC,3255,-0.37,-112.4,356.6,-8.9,365,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2076,3616,0,0,0,0,0,0
$GC,3565,-0.37,-112.4,384.4,-8.4,395,3569,0.00,1.98,0.00,0.000,4,0.000,0.069,2690,3302,3615,0,0,0,0,0,0
$GC,3591,-0.37,-112.4,386.7,-8.8,397,3597,0.00,1.88,0.00,0.000,6,0.000,0.054,2690,2090,3616,0,0,0,0,0,0
$GC,3906,-0.37,-112.4,413.9,-8.5,428,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2091,3616,0,0,0,0,0,0
$GC,4217,-0.37,-112.4,439.8,-8.0,458,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2090,3615,0,0,0,0,0,0
$GC,4528,-0.37,-112.4,465.2,-8.0,488,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2090,3615,0,0,0,0,0,0
$GC,4838,-0.37,-112.4,491.0,-8.0,518,4843,0.00,1.98,0.00,0.000,4,0.000,0.073,2690,3307,3615,0,0,0,0,0,0
$GC,4875,-0.37,-112.4,494.0,-8.0,521,4881,0.00,1.92,0.00,0.000,6,0.000,0.054,2690,2079,3614,0,0,0,0,0,0
$GC,5190,-0.37,-112.4,519.6,-8.1,552,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2078,3614,0,0,0,0,0,0
$GC,5501,-0.37,-112.4,543.7,-7.7,582,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2078,3615,0,0,0,0,0,0
$GC,5812,-0.37,-112.4,565.9,-6.6,612,5813,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2077,3614,0,0,0,0,0,0
$GC,6122,-0.37,-112.4,587.1,-6.6,642,6123,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2078,3614,0,0,0,0,0,0
$GC,6450,-0.37,-112.4,608.2,-6.6,666,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2078,3614,0,0,0,0,0,0
$GC,6753,-0.37,-112.4,629.4,-7.3,676,6758,0.00,2.03,0.00,0.000,4,0.000,0.074,2689,3313,3614,0,0,0,0,0,0
$GC,6774,-0.37,-112.4,631.0,-7.5,676,6779,0.00,1.95,0.00,0.000,6,0.000,0.058,2689,2075,3614,0,0,0,0,0,0
$GC,7088,-0.37,-112.4,654.5,-7.6,687,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2074,3614,0,0,0,0,0,0
$GC,7391,-0.37,-112.4,676.8,-7.0,697,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2074,3613,0,0,0,0,0,0
$GC,7695,-0.37,-112.4,696.5,-6.3,707,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2074,3614,0,0,0,0,0,0
$GC,7998,-0.37,-112.4,715.5,-6.4,717,8003,0.00,2.03,0.00,0.000,4,0.000,0.075,2683,3308,3613,0,0,0,0,0,0
$GC,8025,-0.37,-112.4,717.3,-6.6,717,8032,0.10,1.95,0.00,0.000,6,0.157,0.058,2710,2071,3613,0,0,0,0,0,0
$GC,8334,-0.39,-112.4,734.2,-5.7,728,8334,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2070,3613,0,0,0,0,0,0
$GC,8637,-0.41,-112.4,752.7,-6.3,738,8638,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2070,3613,0,0,0,0,0,0
$GC,8941,-0.43,-112.4,771.7,-6.2,748,8945,0.00,2.00,0.00,0.000,4,0.000,0.077,2710,3299,3613,0,0,0,0,0,0
$GC,8993,-0.46,-112.4,775.1,-6.9,749,8998,0.00,1.92,0.00,0.000,6,0.000,0.058,2710,2078,3613,0,0,0,0,0,0
$GC,9308,-0.48,-112.4,793.5,-5.9,760,9312,0.00,2.00,0.00,0.000,4,0.000,0.075,2710,3306,3613,0,0,0,0,0,0
$GC,9345,-0.51,-112.4,795.7,-5.5,761,9349,0.08,1.90,0.00,0.000,6,0.068,0.058,2660,2092,3613,0,0,0,0,0,0
$GC,9674,-0.51,-112.4,822.2,-7.9,772,9675,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2092,3613,0,0,0,0,0,0
$GC,9978,-0.51,-112.4,845.8,-7.6,782,9979,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2092,3613,0,0,0,0,0,0
$GC,10281,-0.51,-112.4,868.5,-7.3,792,10282,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2092,3613,0,0,0,0,0,0
$GC,10585,-0.51,-112.4,890.6,-7.4,802,10585,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2090,3613,0,0,0,0,0,0
$GC,10888,-0.51,-112.4,912.7,-7.2,812,10889,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2090,3612,0,0,0,0,0,0
$GC,11192,-0.51,-112.4,935.2,-7.5,822,11193,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2090,3614,0,0,0,0,0,0
$GC,11495,-0.51,-112.4,958.3,-7.6,832,11500,0.00,2.00,0.00,0.000,4,0.000,0.076,2651,3306,3614,0,0,0,0,0,0
$GC,11580,-0.51,-112.4,965.2,-9.1,834,11585,0.00,1.92,0.00,0.000,6,0.000,0.059,2651,2088,3614,0,0,0,0,0,0
$GC,11894,-0.51,-112.4,989.8,-7.8,845,11895,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2086,3615,0,0,0,0,0,0
$STATE,11923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11923,begin apogee
$GC,11926,-0.14,0.0,992.2,7.8,846,12025,0.43,0.00,96.78,1.228,6,0.128,0.000,2788,1997,3150,0,0,0,0,0,0
$STATE,12025,end apogee,CONTROL_FINISHED_OK
$STATE,12026,begin climb
$GC,12027,0.45,112.4,993.8,0.0,849,12131,0.55,0.00,99.18,1.190,6,0.086,0.000,2976,1996,2691,0,0,0,0,0,0
$GC,12450,0.43,112.4,968.2,6.7,863,12455,0.00,2.10,0.00,0.000,4,0.000,0.073,2976,3234,2685,0,0,0,0,0,0
$GC,12525,0.40,112.4,962.5,7.5,865,12529,0.00,2.00,0.00,0.000,6,0.000,0.060,2984,2010,2685,0,0,0,0,0,0
$GC,12849,0.37,112.4,939.2,7.1,876,12854,0.12,2.05,0.00,0.000,4,0.173,0.074,2953,3234,2685,0,0,0,0,0,0
$GC,12956,0.34,112.4,932.0,7.8,879,12960,0.00,1.98,0.00,0.000,6,0.000,0.061,2959,2014,2684,0,0,0,0,0,0
$GC,13281,0.33,112.4,911.6,6.4,890,13285,0.00,2.03,0.00,0.000,4,0.000,0.074,2959,3230,2685,0,0,0,0,0,0
$GC,13344,0.30,112.4,906.8,7.1,892,13349,0.10,1.98,0.00,0.000,6,0.149,0.061,2936,2010,2684,0,0,0,0,0,0
$GC,13680,0.31,130.9,887.9,5.4,903,13700,0.00,2.00,16.12,1.102,4,0.000,0.074,2936,3236,2616,0,0,0,0,0,0
$GC,13731,0.31,130.9,884.7,7.0,904,13736,0.00,1.98,0.00,0.000,6,0.000,0.061,2941,2025,2614,0,0,0,0,0,0
$GC,14046,0.31,130.9,865.3,6.2,915,14046,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2025,2614,0,0,0,0,0,0
$GC,14349,0.32,138.3,847.2,5.8,925,14358,0.00,0.00,7.85,0.984,6,0.000,0.000,2942,2025,2586,0,0,0,0,0,0
$GC,14652,0.32,138.3,828.7,6.1,935,14653,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2025,2585,0,0,0,0,0,0
$GC,14956,0.32,146.2,811.0,5.8,945,14966,0.00,0.00,8.55,0.985,6,0.000,0.000,2942,2024,2554,0,0,0,0,0,0
$GC,15259,0.33,155.2,793.2,5.8,955,15270,0.00,0.00,9.50,0.992,6,0.000,0.000,2942,2025,2517,0,0,0,0,0,0
$GC,15563,0.33,162.1,775.2,5.9,965,15574,0.00,1.98,7.97,0.947,4,0.000,0.073,2942,3230,2488,0,0,0,0,0,0
$GC,15605,0.33,162.1,772.6,6.5,966,15609,0.00,1.95,0.00,0.000,6,0.000,0.060,2946,2029,2486,0,0,0,0,0,0
$GC,15924,0.33,162.1,752.4,6.3,977,15928,0.00,2.03,0.00,0.000,4,0.000,0.074,2946,3248,2486,0,0,0,0,0,0
$GC,15966,0.33,162.1,749.5,6.8,978,15971,0.00,1.98,0.00,0.000,6,0.000,0.061,2946,2030,2485,0,0,0,0,0,0
$GC,16291,0.33,164.0,729.8,6.0,989,16296,0.00,1.98,0.00,0.000,4,0.000,0.074,2946,3227,2486,0,0,0,0,0,0
$GC,16338,0.33,164.0,726.6,6.9,990,16344,0.00,1.92,0.00,0.000,6,0.000,0.061,2946,2035,2486,0,0,0,0,0,0
$GC,16658,0.33,167.2,707.4,6.0,1001,16665,0.00,0.00,6.12,0.861,6,0.000,0.000,2946,2034,2468,0,0,0,0,0,0
$GC,16961,0.33,167.2,686.7,7.0,1011,16966,0.00,2.00,0.00,0.000,4,0.000,0.074,2946,3234,2467,0,0,0,0,0,0
$GC,16998,0.33,167.2,683.9,8.1,1012,17003,0.00,1.92,0.00,0.000,6,0.000,0.061,2946,2040,2467,0,0,0,0,0,0
$GC,17328,0.33,167.4,662.7,6.1,1023,17333,0.00,2.03,0.00,0.000,4,0.000,0.071,2947,771,2467,0,0,0,0,0,0
$GC,17381,0.33,167.4,659.5,6.6,1024,17386,0.00,2.05,0.00,0.000,6,0.000,0.061,2946,2052,2467,0,0,0,0,0,0
$GC,17695,0.34,174.4,641.4,5.9,1035,17707,0.00,1.90,7.97,0.894,4,0.000,0.072,2946,3240,2439,0,0,0,0,0,0
$GC,17758,0.34,174.4,637.3,6.7,1037,17763,0.00,1.92,0.00,0.000,6,0.000,0.061,2947,2046,2438,0,0,0,0,0,0
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$STATE,26544,end climb,SURFACE_DEPTH_REACHED
$STATE,26544,begin surface coast
$FINISH,1.0,1.024298
$STATE,26582,end surface coast,CONTROL_FINISHED_OK
$STATE,26582,begin surface
$SM_CCo,26594,9.88,0.137,1,0,1723,350.04
$SM_GC,2.68,0.00,0.00,9.88,0.000,0.000,0.137,139,2080,1723,-8.42,0.14,350.04
$IRIDIUM_FIX,4648.08,-12657.88,221099,111125
$TT8_MAMPS,0.051389
$HUMID,38.06
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,17.00
$XPDR_PINGS,0
$24V_AH,23.7,14.845
$10V_AH,10.3,10.447
$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,20.150,154.650,409.625,9.875,0.000,27.520,44.688,314.573,0.000,0.000,19.024,0.000,21251.803,602.812,4580.268,638.533,0.000,2255.638,0.000,3886.125,0.000,0.536,0.000
$DEVICE_MAMPS,246.974,131.157,1227.967,137.293,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1361.106,1630.901,1606.733,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298624
$DATA_FILE_SIZE,110564,1968
$CAP_FILE_SIZE,238452,0
$CFSIZE,260165632,250437632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.117, 49.9,1
$GPS,290710,024706,4702.335,-12656.901,52,0.9,52,18.6