version: 66.06
glider: 187
mission: 2
dive: 290
start: 8 23 110 12 1 31
data:
$ID,187
$MISSION,2
$DIVE,290
$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,-29309.035
$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,27
$R_STBD_OVSHOOT,31
$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
$GPS1,115407,4714.795,-12632.854,32,1.8,32,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-77.7
$GPS2,120126,4714.769,-12632.766,13,1.9,13,18.6
$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,42.9,143222,-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,13,-0.45,-112.4,0.0,0.0,0,67,0.00,0.00,-52.83,0.000,2,0.000,0.000,138,2082,2918,0,0,0,0,0,0
$GC,69,-0.45,-112.4,3.1,-1.9,10,102,10.32,1.98,-16.77,0.000,4,0.241,0.071,2683,846,3612,0,0,0,0,0,0
$GC,262,-0.41,-112.4,39.6,-17.4,46,268,0.00,1.92,0.00,0.000,6,0.000,0.053,2676,2068,3614,0,0,0,0,0,0
$GC,588,-0.38,-112.4,90.1,-14.9,107,595,0.12,1.98,0.00,0.000,4,0.166,0.062,2703,3299,3616,0,0,0,0,0,0
$GC,626,-0.36,-112.4,94.9,-13.0,114,632,0.00,1.90,0.00,0.000,6,0.000,0.049,2702,2084,3616,0,0,0,0,0,0
$GC,948,-0.35,-112.4,129.6,-9.8,149,952,0.00,1.92,0.00,0.000,4,0.000,0.056,2702,848,3617,0,0,0,0,0,0
$GC,963,-0.35,-112.4,131.2,-9.5,150,970,0.00,2.00,0.00,0.000,6,0.000,0.054,2697,2109,3617,0,0,0,0,0,0
$GC,1280,-0.35,-112.4,159.9,-8.9,181,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2109,3617,0,0,0,0,0,0
$GC,1591,-0.35,-112.4,188.5,-9.2,211,1594,0.00,1.90,0.00,0.000,4,0.000,0.064,2690,3311,3617,0,0,0,0,0,0
$GC,1632,-0.35,-112.4,192.3,-9.0,215,1636,0.08,1.88,0.00,0.000,6,0.120,0.050,2717,2106,3616,0,0,0,0,0,0
$GC,1953,-0.36,-112.4,216.2,-7.2,246,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2106,3616,0,0,0,0,0,0
$GC,2265,-0.37,-112.4,237.4,-6.9,276,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2105,3615,0,0,0,0,0,0
$GC,2574,-0.39,-112.4,258.6,-6.7,306,2578,0.00,1.98,0.00,0.000,4,0.000,0.059,2717,852,3615,0,0,0,0,0,0
$GC,2600,-0.40,-112.4,260.6,-7.0,308,2606,0.00,1.98,0.00,0.000,6,0.000,0.057,2717,2112,3615,0,0,0,0,0,0
$GC,2916,-0.42,-112.4,280.2,-6.0,339,2920,0.00,1.92,0.00,0.000,4,0.000,0.067,2717,3313,3614,0,0,0,0,0,0
$GC,2980,-0.44,-112.4,283.9,-5.9,345,2983,0.00,1.80,0.00,0.000,6,0.000,0.052,2717,2152,3613,0,0,0,0,0,0
$GC,3301,-0.46,-112.4,303.8,-6.8,376,3304,0.00,2.03,0.00,0.000,4,0.000,0.061,2717,842,3613,0,0,0,0,0,0
$GC,3348,-0.47,-112.4,307.0,-6.8,380,3354,0.08,2.05,0.00,0.000,6,0.067,0.058,2669,2146,3612,0,0,0,0,0,0
$GC,3663,-0.47,-112.4,336.4,-9.2,411,3668,0.00,1.88,0.00,0.000,4,0.000,0.069,2661,3309,3611,0,0,0,0,0,0
$GC,3727,-0.47,-112.4,342.2,-9.1,417,3731,0.00,1.77,0.00,0.000,6,0.000,0.053,2661,2163,3610,0,0,0,0,0,0
$GC,4049,-0.46,-112.4,372.4,-9.3,448,4052,0.00,2.08,0.00,0.000,4,0.000,0.061,2660,850,3611,0,0,0,0,0,0
$GC,4106,-0.46,-112.4,378.1,-9.5,453,4114,0.08,2.05,0.00,0.000,6,0.136,0.058,2679,2148,3611,0,0,0,0,0,0
$GC,4423,-0.46,-112.4,403.1,-7.8,484,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2148,3610,0,0,0,0,0,0
$GC,4734,-0.46,-112.4,428.0,-7.9,514,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2148,3609,0,0,0,0,0,0
$GC,5044,-0.46,-112.4,454.9,-8.8,544,5047,0.00,1.85,0.00,0.000,4,0.000,0.071,2674,3310,3608,0,0,0,0,0,0
$GC,5076,-0.46,-112.4,457.7,-9.3,547,5079,0.00,1.80,0.00,0.000,6,0.000,0.055,2674,2140,3608,0,0,0,0,0,0
$GC,5395,-0.46,-112.4,487.7,-9.2,578,5400,0.00,2.03,0.00,0.000,4,0.000,0.062,2674,848,3607,0,0,0,0,0,0
$GC,5454,-0.46,-112.4,493.5,-10.2,583,5460,0.00,2.05,0.00,0.000,6,0.000,0.060,2667,2146,3607,0,0,0,0,0,0
$GC,5769,-0.46,-112.4,525.1,-10.0,614,5774,0.00,1.88,0.00,0.000,4,0.000,0.070,2662,3306,3607,0,0,0,0,0,0
$GC,5849,-0.46,-112.4,533.0,-9.5,621,5857,0.00,1.83,0.00,0.000,6,0.000,0.054,2662,2144,3607,0,0,0,0,0,0
$GC,6165,-0.46,-112.4,564.2,-9.6,652,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2145,3606,0,0,0,0,0,0
$GC,6477,-0.46,-112.4,594.0,-9.4,682,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2145,3605,0,0,0,0,0,0
$GC,6790,-0.46,-112.4,622.1,-8.5,697,6795,0.00,1.88,0.00,0.000,4,0.000,0.071,2655,3301,3605,0,0,0,0,0,0
$GC,6822,-0.46,-112.4,624.7,-9.0,698,6826,0.00,1.77,0.00,0.000,6,0.000,0.055,2655,2165,3605,0,0,0,0,0,0
$GC,7158,-0.46,-112.4,653.0,-8.2,709,7162,0.10,2.08,0.00,0.000,4,0.170,0.064,2682,852,3604,0,0,0,0,0,0
$GC,7200,-0.46,-112.4,656.1,-7.1,710,7204,0.00,2.05,0.00,0.000,6,0.000,0.061,2682,2148,3604,0,0,0,0,0,0
$GC,7524,-0.46,-112.4,677.4,-6.6,721,7529,0.00,1.88,0.00,0.000,4,0.000,0.072,2677,3300,3603,0,0,0,0,0,0
$GC,7562,-0.47,-112.4,680.0,-7.1,722,7566,0.00,1.80,0.00,0.000,6,0.000,0.058,2676,2157,3604,0,0,0,0,0,0
$GC,7891,-0.47,-112.4,703.6,-7.2,733,7896,0.00,2.08,0.00,0.000,4,0.000,0.063,2676,849,3603,0,0,0,0,0,0
$GC,7939,-0.47,-112.4,707.2,-7.2,734,7944,0.00,2.08,0.00,0.000,6,0.000,0.061,2676,2154,3603,0,0,0,0,0,0
$GC,8259,-0.47,-112.4,728.5,-6.5,745,8263,0.00,1.88,0.00,0.000,4,0.000,0.071,2676,3308,3603,0,0,0,0,0,0
$GC,8296,-0.48,-112.4,730.8,-6.4,746,8300,0.00,1.80,0.00,0.000,6,0.000,0.056,2676,2156,3603,0,0,0,0,0,0
$GC,8625,-0.48,-112.4,749.9,-5.8,757,8626,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2156,3602,0,0,0,0,0,0
$GC,8929,-0.48,-112.4,767.5,-5.9,767,8933,0.00,2.08,0.00,0.000,4,0.000,0.064,2676,853,3602,0,0,0,0,0,0
$GC,8960,-0.48,-112.4,769.5,-6.6,768,8965,0.00,2.05,0.00,0.000,6,0.000,0.062,2677,2146,3601,0,0,0,0,0,0
$GC,9296,-0.48,-112.4,790.1,-6.3,779,9297,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2146,3601,0,0,0,0,0,0
$GC,9600,-0.48,-112.4,809.7,-6.7,789,9604,0.00,1.88,0.00,0.000,4,0.000,0.074,2675,3303,3601,0,0,0,0,0,0
$GC,9652,-0.50,-112.4,813.3,-6.9,790,9657,0.00,1.80,0.00,0.000,6,0.000,0.056,2675,2155,3601,0,0,0,0,0,0
$GC,9966,-0.50,-112.4,835.1,-7.1,801,9971,0.00,2.05,0.00,0.000,4,0.000,0.064,2675,851,3600,0,0,0,0,0,0
$GC,10004,-0.50,-112.4,838.0,-7.3,802,10008,0.00,2.08,0.00,0.000,6,0.000,0.062,2673,2157,3600,0,0,0,0,0,0
$GC,10333,-0.50,-112.4,862.8,-7.6,813,10338,0.00,1.85,0.00,0.000,4,0.000,0.072,2672,3309,3600,0,0,0,0,0,0
$GC,10387,-0.51,-112.4,866.7,-6.6,814,10391,0.00,1.80,0.00,0.000,6,0.000,0.057,2671,2161,3600,0,0,0,0,0,0
$GC,10701,-0.51,-112.4,890.3,-7.5,825,10705,0.00,2.08,0.00,0.000,4,0.000,0.063,2672,841,3599,0,0,0,0,0,0
$GC,10743,-0.51,-112.4,893.6,-7.1,826,10747,0.00,2.10,0.00,0.000,6,0.000,0.061,2667,2163,3599,0,0,0,0,0,0
$GC,11067,-0.51,-112.4,917.8,-7.4,837,11072,0.00,1.85,0.00,0.000,4,0.000,0.074,2663,3310,3598,0,0,0,0,0,0
$GC,11110,-0.51,-112.4,920.9,-7.8,838,11114,0.00,1.80,0.00,0.000,6,0.000,0.057,2662,2165,3598,0,0,0,0,0,0
$GC,11434,-0.51,-112.4,944.8,-7.2,849,11439,0.00,2.08,0.00,0.000,4,0.000,0.064,2662,849,3598,0,0,0,0,0,0
$GC,11482,-0.51,-112.4,948.3,-7.7,850,11486,0.00,2.08,0.00,0.000,6,0.000,0.063,2659,2155,3598,0,0,0,0,0,0
$GC,11802,-0.51,-112.4,970.9,-7.0,861,11802,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2155,3598,0,0,0,0,0,0
$STATE,12103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12103,begin apogee
$GC,12107,-0.14,0.0,991.4,6.7,871,12202,0.40,0.00,93.40,1.233,6,0.124,0.000,2787,2003,3150,0,0,0,0,0,0
$STATE,12203,end apogee,CONTROL_FINISHED_OK
$STATE,12203,begin climb
$GC,12204,0.45,112.4,993.0,0.0,874,12306,0.57,0.00,99.10,1.196,6,0.084,0.000,2978,2002,2691,0,0,0,0,0,0
$GC,12590,0.43,112.4,967.6,7.6,887,12593,0.00,2.03,0.00,0.000,4,0.000,0.069,2978,3240,2686,0,0,0,0,0,0
$GC,12674,0.39,112.4,960.5,8.4,889,12678,0.00,2.00,0.00,0.000,6,0.000,0.057,2986,2017,2685,0,0,0,0,0,0
$GC,12988,0.36,112.4,937.3,7.2,900,12992,0.12,2.03,0.00,0.000,4,0.176,0.070,2955,3228,2685,0,0,0,0,0,0
$GC,13041,0.34,112.4,933.9,6.4,901,13045,0.00,1.95,0.00,0.000,6,0.000,0.058,2961,2025,2685,0,0,0,0,0,0
$GC,13355,0.33,123.9,916.1,5.7,912,13369,0.00,2.00,10.55,1.065,4,0.000,0.071,2961,3241,2644,0,0,0,0,0,0
$GC,13412,0.31,123.9,912.3,6.6,913,13420,0.10,1.95,0.00,0.000,6,0.141,0.058,2938,2035,2643,0,0,0,0,0,0
$GC,13721,0.32,149.5,896.5,5.2,924,13752,0.00,2.05,23.08,1.128,4,0.000,0.071,2938,3238,2539,0,0,0,0,0,0
$GC,13793,0.33,166.9,892.3,5.5,926,13814,0.00,1.95,16.77,1.088,6,0.000,0.058,2939,2046,2469,0,0,0,0,0,0
$GC,14116,0.33,166.9,872.0,6.4,937,14117,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2046,2465,0,0,0,0,0,0
$GC,14420,0.33,166.9,850.7,7.1,947,14424,0.00,1.95,0.00,0.000,4,0.000,0.071,2939,3223,2464,0,0,0,0,0,0
$GC,14446,0.33,166.9,848.7,6.9,947,14452,0.00,1.90,0.00,0.000,6,0.000,0.059,2942,2054,2464,0,0,0,0,0,0
$GC,14755,0.33,166.9,826.2,7.2,958,14759,0.00,1.92,0.00,0.000,4,0.000,0.071,2942,3236,2464,0,0,0,0,0,0
$GC,14771,0.33,166.9,825.1,7.1,958,14775,0.00,1.88,0.00,0.000,6,0.000,0.058,2943,2064,2463,0,0,0,0,0,0
$GC,15090,0.33,166.9,802.1,7.2,969,15090,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2063,2463,0,0,0,0,0,0
$GC,15393,0.33,166.9,781.2,6.7,979,15397,0.00,1.92,0.00,0.000,4,0.000,0.071,2943,3234,2463,0,0,0,0,0,0
$GC,15409,0.33,166.9,780.1,6.8,979,15413,0.00,1.88,0.00,0.000,6,0.000,0.058,2946,2066,2462,0,0,0,0,0,0
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$STATE,26523,end climb,SURFACE_DEPTH_REACHED
$STATE,26524,begin surface coast
$FINISH,1.2,1.011543
$STATE,26561,end surface coast,CONTROL_FINISHED_OK
$STATE,26561,begin surface
$SM_CCo,26637,0.00,0.000,0,0,1455,415.78
$SM_GC,2.25,7.82,0.00,0.00,0.044,0.000,0.000,144,2071,1455,-8.33,-0.11,415.78
$IRIDIUM_FIX,4657.54,-12633.81,171199,040406
$TT8_MAMPS,0.052923
$HUMID,38.54
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.80
$XPDR_PINGS,0
$24V_AH,23.5,32.225
$10V_AH,10.2,28.637
$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,20.225,224.925,458.825,0.000,0.000,26.336,31.080,248.635,0.000,0.000,13.118,0.000,20900.838,699.888,4787.842,644.977,0.000,2465.013,0.000,4043.786,0.000,0.533,0.000
$DEVICE_MAMPS,240.838,79.768,1233.336,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1382.793,1623.933,1666.083,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298588
$DATA_FILE_SIZE,113621,1999
$CAP_FILE_SIZE,255036,0
$CFSIZE,260165632,238342144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043,150.5,1
$GPS,230810,192625,4716.098,-12628.131,40,1.5,40,18.6