version: 66.06
glider: 187
mission: 2
dive: 147
start: 8 7 110 6 40 1
data:
$ID,187
$MISSION,2
$DIVE,147
$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,-26400.895
$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,25
$R_STBD_OVSHOOT,27
$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
$GPS1,063325,4748.440,-12518.028,42,1.0,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-76.9
$GPS2,063956,4748.445,-12518.036,16,0.9,16,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$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,43.5,31521,-13.9,-6.111
$D_GRID,561
$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,-112.4,0.0,0.0,0,78,0.00,0.00,-64.28,0.000,2,0.000,0.000,134,2053,3079,0,0,0,0,0,0
$GC,80,-0.45,-112.4,3.3,-2.2,12,108,10.45,2.00,-12.57,0.000,4,0.249,0.079,2672,3307,3609,0,0,0,0,0,0
$GC,262,-0.43,-112.4,36.5,-15.2,46,270,0.00,1.95,0.00,0.000,6,0.000,0.051,2672,2072,3612,0,0,0,0,0,0
$GC,590,-0.40,-112.4,80.1,-11.0,107,596,0.12,1.95,0.00,0.000,4,0.156,0.058,2706,843,3613,0,0,0,0,0,0
$GC,616,-0.39,-112.4,82.9,-10.9,112,623,0.00,1.95,0.00,0.000,6,0.000,0.057,2704,2071,3614,0,0,0,0,0,0
$GC,937,-0.39,-112.4,113.6,-9.0,159,942,0.00,2.00,0.00,0.000,4,0.000,0.067,2704,3305,3614,0,0,0,0,0,0
$GC,1070,-0.39,-112.4,124.9,-9.0,171,1078,0.00,1.95,0.00,0.000,6,0.000,0.051,2703,2064,3614,0,0,0,0,0,0
$GC,1387,-0.39,-112.4,151.9,-7.7,202,1391,0.00,1.90,0.00,0.000,4,0.000,0.059,2703,849,3614,0,0,0,0,0,0
$GC,1423,-0.39,-112.4,155.0,-8.6,205,1430,0.00,1.95,0.00,0.000,6,0.000,0.057,2704,2076,3614,0,0,0,0,0,0
$GC,1738,-0.39,-112.4,178.7,-7.4,236,1743,0.00,2.00,0.00,0.000,4,0.000,0.067,2703,3309,3614,0,0,0,0,0,0
$GC,1825,-0.40,-112.4,185.2,-7.6,244,1828,0.00,1.90,0.00,0.000,6,0.000,0.052,2703,2086,3614,0,0,0,0,0,0
$GC,2145,-0.40,-112.4,212.0,-9.2,275,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2086,3614,0,0,0,0,0,0
$GC,2455,-0.40,-112.4,238.7,-8.1,305,2460,0.00,1.98,0.00,0.000,4,0.000,0.071,2699,3303,3614,0,0,0,0,0,0
$GC,2487,-0.40,-112.4,241.5,-8.4,308,2491,0.00,1.92,0.00,0.000,6,0.000,0.054,2699,2071,3614,0,0,0,0,0,0
$GC,2808,-0.40,-112.4,266.1,-7.4,339,2812,0.00,2.03,0.00,0.000,4,0.000,0.072,2695,3311,3613,0,0,0,0,0,0
$GC,2840,-0.40,-112.4,268.6,-7.4,342,2844,0.00,1.92,0.00,0.000,6,0.000,0.054,2695,2075,3615,0,0,0,0,0,0
$GC,3161,-0.40,-112.4,292.7,-7.5,373,3162,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2075,3614,0,0,0,0,0,0
$GC,3473,-0.40,-112.4,317.0,-8.3,403,3475,0.00,1.98,0.00,0.000,4,0.000,0.072,2690,3313,3613,0,0,0,0,0,0
$GC,3513,-0.40,-112.4,320.5,-7.9,407,3518,0.00,1.92,0.00,0.000,6,0.000,0.054,2690,2084,3613,0,0,0,0,0,0
$GC,3834,-0.40,-112.4,345.1,-7.2,438,3839,0.00,2.00,0.00,0.000,4,0.000,0.071,2685,3308,3613,0,0,0,0,0,0
$GC,3866,-0.40,-112.4,347.5,-7.9,441,3870,0.00,1.90,0.00,0.000,6,0.000,0.054,2686,2088,3613,0,0,0,0,0,0
$GC,4187,-0.40,-112.4,372.7,-7.7,472,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2088,3613,0,0,0,0,0,0
$GC,4499,-0.40,-112.4,396.1,-7.4,502,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2088,3613,0,0,0,0,0,0
$GC,4809,-0.40,-112.4,419.8,-7.9,532,4812,0.00,1.98,0.00,0.000,4,0.000,0.073,2679,3317,3612,0,0,0,0,0,0
$GC,4866,-0.40,-112.4,424.6,-8.3,537,4873,0.00,1.92,0.00,0.000,6,0.000,0.055,2679,2094,3612,0,0,0,0,0,0
$GC,5182,-0.40,-112.4,450.0,-7.5,568,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2093,3612,0,0,0,0,0,0
$GC,5494,-0.40,-112.4,472.9,-7.2,598,5497,0.00,1.95,0.00,0.000,4,0.000,0.074,2672,3307,3612,0,0,0,0,0,0
$GC,5529,-0.40,-112.4,475.6,-7.3,601,5536,0.12,1.90,0.00,0.000,6,0.149,0.055,2708,2097,3612,0,0,0,0,0,0
$GC,5845,-0.41,-112.4,491.9,-4.8,632,5849,0.00,1.95,0.00,0.000,4,0.000,0.062,2707,851,3612,0,0,0,0,0,0
$GC,5871,-0.43,-112.4,493.2,-5.5,634,5878,0.00,1.98,0.00,0.000,6,0.000,0.060,2707,2108,3612,0,0,0,0,0,0
$GC,6187,-0.44,-112.4,507.7,-4.4,665,6191,0.00,1.95,0.00,0.000,4,0.000,0.071,2707,3314,3611,0,0,0,0,0,0
$GC,6245,-0.47,-112.4,510.3,-4.6,670,6252,0.00,1.92,0.00,0.000,6,0.000,0.054,2707,2074,3611,0,0,0,0,0,0
$GC,6560,-0.48,-112.4,528.6,-7.3,701,6561,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2074,3611,0,0,0,0,0,0
$GC,6871,-0.50,-112.4,548.1,-5.5,731,6875,0.00,2.00,0.00,0.000,4,0.000,0.074,2704,3305,3611,0,0,0,0,0,0
$GC,6903,-0.52,-112.4,549.9,-6.0,734,6907,0.08,1.88,0.00,0.000,6,0.064,0.056,2652,2101,3611,0,0,0,0,0,0
$STATE,7036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7036,begin apogee
$GC,7039,-0.14,0.0,561.4,8.7,747,7132,0.43,0.00,90.68,0.949,6,0.130,0.000,2788,1993,3150,0,0,0,0,0,0
$STATE,7132,end apogee,CONTROL_FINISHED_OK
$STATE,7132,begin climb
$GC,7134,0.45,112.4,563.3,0.0,756,7234,0.55,0.00,93.53,0.917,6,0.090,0.000,2975,1994,2690,0,0,0,0,0,0
$GC,7544,0.44,112.4,538.8,6.9,796,7547,0.00,2.05,0.00,0.000,4,0.000,0.070,2976,3231,2686,0,0,0,0,0,0
$GC,7607,0.41,112.4,534.1,7.6,802,7611,0.00,1.98,0.00,0.000,6,0.000,0.056,2981,2006,2685,0,0,0,0,0,0
$GC,7927,0.40,120.7,513.6,5.8,833,7939,0.00,1.98,7.40,0.779,4,0.000,0.069,2982,3234,2657,0,0,0,0,0,0
$GC,7996,0.37,120.7,508.9,7.6,839,8002,0.12,1.98,0.00,0.000,6,0.168,0.057,2954,2014,2656,0,0,0,0,0,0
$GC,8311,0.38,141.4,492.6,5.4,870,8334,0.00,1.98,18.38,0.870,4,0.000,0.069,2954,3233,2572,0,0,0,0,0,0
$GC,8364,0.38,141.4,489.4,6.7,875,8369,0.00,1.98,0.00,0.000,6,0.000,0.057,2956,2020,2570,0,0,0,0,0,0
$GC,8685,0.40,173.4,472.9,4.9,906,8718,0.00,2.03,27.48,0.874,4,0.000,0.071,2956,3237,2442,0,0,0,0,0,0
$GC,8753,0.40,173.4,469.1,6.2,912,8760,0.00,1.98,0.00,0.000,6,0.000,0.057,2958,2034,2440,0,0,0,0,0,0
$GC,9070,0.41,187.2,452.8,5.6,943,9083,0.00,0.00,12.50,0.825,6,0.000,0.000,2959,2034,2387,0,0,0,0,0,0
$GC,9389,0.41,189.5,434.5,6.0,974,9394,0.00,2.00,0.00,0.000,4,0.000,0.071,2959,3241,2385,0,0,0,0,0,0
$GC,9400,0.41,189.5,433.8,6.4,975,9404,0.00,1.95,0.00,0.000,6,0.000,0.058,2959,2028,2384,0,0,0,0,0,0
$GC,9721,0.41,189.5,411.9,7.1,1006,9722,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2028,2384,0,0,0,0,0,0
$GC,10032,0.41,189.5,390.4,7.2,1036,10033,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2028,2384,0,0,0,0,0,0
$GC,10342,0.41,189.5,366.6,7.7,1066,10346,0.00,1.98,0.00,0.000,4,0.000,0.072,2959,3231,2384,0,0,0,0,0,0
$GC,10368,0.41,189.5,364.4,8.6,1068,10375,0.00,1.92,0.00,0.000,6,0.000,0.058,2959,2018,2385,0,0,0,0,0,0
$GC,10684,0.41,189.5,342.0,6.7,1099,10688,0.00,2.00,0.00,0.000,4,0.000,0.068,2960,767,2385,0,0,0,0,0,0
$GC,10704,0.41,189.5,340.6,6.8,1101,10709,0.00,2.03,0.00,0.000,6,0.000,0.060,2960,2039,2385,0,0,0,0,0,0
$GC,11026,0.42,206.0,321.2,5.5,1132,11047,0.00,1.92,16.92,0.786,4,0.000,0.069,2960,3236,2309,0,0,0,0,0,0
$GC,11056,0.42,206.0,319.3,6.2,1135,11060,0.00,1.92,0.00,0.000,6,0.000,0.058,2960,2034,2308,0,0,0,0,0,0
$GC,11376,0.42,206.0,299.1,6.6,1166,11381,0.00,2.08,0.00,0.000,4,0.000,0.067,2960,745,2307,0,0,0,0,0,0
$GC,11398,0.43,206.0,297.7,6.8,1168,11402,0.00,2.05,0.00,0.000,6,0.000,0.061,2960,2032,2307,0,0,0,0,0,0
$GC,11718,0.44,215.5,277.7,5.8,1199,11733,0.00,1.98,9.23,0.720,4,0.000,0.069,2960,3234,2271,0,0,0,0,0,0
$GC,11772,0.44,215.5,274.6,6.8,1204,11775,0.00,1.90,0.00,0.000,6,0.000,0.058,2960,2039,2270,0,0,0,0,0,0
$GC,12092,0.46,228.6,256.7,5.6,1235,12107,0.00,2.03,11.88,0.729,4,0.000,0.065,2960,758,2218,0,0,0,0,0,0
$GC,12128,0.48,237.7,254.7,5.8,1238,12145,0.00,2.05,9.32,0.690,6,0.000,0.060,2960,2040,2180,0,0,0,0,0,0
$GC,12454,0.50,237.7,234.9,6.7,1270,12458,0.10,1.95,0.00,0.000,4,0.112,0.068,3008,3238,2178,0,0,0,0,0,0
$GC,12490,0.48,237.7,231.6,9.8,1273,12496,0.00,1.88,0.00,0.000,6,0.000,0.058,3011,2061,2177,0,0,0,0,0,0
$GC,12805,0.48,237.7,200.2,10.2,1304,12810,0.00,2.08,0.00,0.000,4,0.000,0.066,3017,768,2177,0,0,0,0,0,0
$GC,12821,0.48,237.7,198.9,8.6,1305,12828,0.00,2.03,0.00,0.000,6,0.000,0.059,3017,2043,2177,0,0,0,0,0,0
$GC,13138,0.47,237.7,171.0,8.0,1336,13141,0.00,1.90,0.00,0.000,4,0.000,0.069,3017,3232,2177,0,0,0,0,0,0
$GC,13206,0.45,237.7,164.3,8.5,1342,13213,0.15,1.88,0.00,0.000,6,0.157,0.057,2980,2054,2177,0,0,0,0,0,0
$GC,13521,0.46,250.2,144.7,5.7,1373,13536,0.00,2.05,11.62,0.671,4,0.000,0.067,2980,762,2128,0,0,0,0,0,0
$GC,13579,0.50,277.5,141.6,5.1,1378,13607,0.00,2.05,23.27,0.679,6,0.000,0.060,2980,2049,2018,0,0,0,0,0,0
$GC,13917,0.54,318.2,125.0,4.6,1411,13959,0.00,2.00,33.40,0.669,4,0.000,0.068,2980,3240,1852,0,0,0,0,0,0
$GC,13973,0.59,357.8,122.4,4.7,1416,14012,0.10,1.92,33.25,0.652,6,0.059,0.057,3033,2055,1691,0,0,0,0,0,0
$GC,14323,0.59,357.8,91.4,10.2,1458,14330,0.00,2.08,0.00,0.000,4,0.000,0.067,3035,774,1682,0,0,0,0,0,0
$GC,14372,0.60,357.8,86.7,9.6,1467,14378,0.00,2.03,0.00,0.000,6,0.000,0.058,3035,2038,1682,0,0,0,0,0,0
$GC,14699,0.62,357.8,58.2,7.4,1528,14704,0.00,2.05,0.00,0.000,4,0.000,0.067,3036,767,1681,0,0,0,0,0,0
$GC,14736,0.64,357.8,55.4,7.4,1535,14742,0.00,2.00,0.00,0.000,6,0.000,0.059,3036,2023,1681,0,0,0,0,0,0
$GC,15062,0.66,357.8,31.7,7.6,1596,15068,0.00,1.95,0.00,0.000,4,0.000,0.068,3036,3233,1679,0,0,0,0,0,0
$GC,15095,0.68,357.8,29.0,8.3,1602,15102,0.00,1.92,0.00,0.000,6,0.000,0.057,3036,2020,1679,0,0,0,0,0,0
$GC,15422,0.71,372.8,7.1,5.6,1663,15439,0.00,2.00,11.40,0.579,4,0.000,0.064,3036,768,1630,0,0,0,0,0,0
$GC,15476,0.77,406.4,4.4,4.9,1673,15500,0.10,1.98,20.05,0.581,2,0.058,0.058,3097,2009,1533,0,0,0,0,0,0
$STATE,15501,end climb,SURFACE_DEPTH_REACHED
$STATE,15501,begin surface coast
$FINISH,1.0,1.023382
$STATE,15548,end surface coast,CONTROL_FINISHED_OK
$STATE,15548,begin surface
$SM_CCo,15620,0.00,0.000,0,0,1525,398.37
$SM_GC,2.10,7.95,0.00,0.00,0.050,0.000,0.000,143,2095,1525,-8.35,0.57,398.37
$IRIDIUM_FIX,4735.69,-12528.16,011199,010152
$TT8_MAMPS,0.052923
$HUMID,38.14
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,24.1,19.266
$10V_AH,10.2,15.533
$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,20.275,134.350,430.300,0.000,0.000,24.300,33.449,223.473,0.000,0.000,16.819,0.000,11030.089,571.073,3870.026,505.715,0.000,1948.262,0.000,3332.369,0.000,0.534,0.000
$DEVICE_MAMPS,249.275,100.477,948.779,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1163.200,1376.766,1726.976,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298608
$DATA_FILE_SIZE,94912,1686
$CAP_FILE_SIZE,182026,0
$CFSIZE,260165632,246849536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.027,296.9,1
$GPS,070810,110107,4749.378,-12515.869,29,0.8,29,18.7