version: 66.06
glider: 187
mission: 2
dive: 434
start: 9 12 110 3 3 49
data:
$ID,187
$MISSION,2
$DIVE,434
$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,-32537.963
$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,34
$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
$GPS1,025554,4714.119,-12632.102,69,1.0,69,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-74.9
$GPS2,030344,4714.065,-12632.066,15,1.0,15,18.6
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$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,215.7,43856,-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,12,begin dive
$GC,14,-0.45,-112.4,0.0,0.0,0,67,0.00,0.00,-51.30,0.000,2,0.000,0.000,131,2088,2846,0,0,0,0,0,0
$GC,70,-0.45,-112.4,3.3,-2.9,10,103,10.35,0.00,-17.83,0.000,6,0.230,0.000,2702,2087,3610,0,0,0,0,0,0
$GC,424,-0.43,-112.4,51.9,-10.0,76,430,0.00,2.00,0.00,0.000,4,0.000,0.055,2703,844,3613,0,0,0,0,0,0
$GC,580,-0.43,-112.4,67.4,-10.0,105,587,0.00,1.95,0.00,0.000,6,0.000,0.053,2698,2072,3614,0,0,0,0,0,0
$GC,906,-0.41,-112.4,105.0,-11.4,162,909,0.00,2.00,0.00,0.000,4,0.000,0.062,2689,3302,3615,0,0,0,0,0,0
$GC,1033,-0.41,-112.4,117.9,-9.5,174,1037,0.08,1.88,0.00,0.000,6,0.121,0.046,2716,2099,3616,0,0,0,0,0,0
$GC,1354,-0.41,-112.4,141.4,-7.6,205,1358,0.00,1.98,0.00,0.000,4,0.000,0.054,2716,854,3616,0,0,0,0,0,0
$GC,1396,-0.42,-112.4,144.9,-7.8,209,1400,0.00,1.98,0.00,0.000,6,0.000,0.053,2717,2100,3616,0,0,0,0,0,0
$GC,1717,-0.43,-112.4,169.1,-6.7,240,1721,0.00,1.98,0.00,0.000,4,0.000,0.064,2716,3313,3615,0,0,0,0,0,0
$GC,1743,-0.45,-112.4,170.7,-6.9,242,1749,0.00,1.90,0.00,0.000,6,0.000,0.050,2716,2101,3615,0,0,0,0,0,0
$GC,2059,-0.46,-112.4,190.6,-6.4,273,2063,0.00,2.00,0.00,0.000,4,0.000,0.057,2716,848,3615,0,0,0,0,0,0
$GC,2086,-0.48,-112.4,192.5,-7.1,275,2091,0.00,1.98,0.00,0.000,6,0.000,0.055,2716,2094,3615,0,0,0,0,0,0
$GC,2401,-0.49,-112.4,214.9,-7.3,306,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2094,3614,0,0,0,0,0,0
$GC,2712,-0.51,-112.4,237.0,-6.4,336,2716,0.00,1.98,0.00,0.000,4,0.000,0.067,2716,3305,3613,0,0,0,0,0,0
$GC,2738,-0.53,-112.4,238.8,-6.5,338,2743,0.00,1.90,0.00,0.000,6,0.000,0.050,2716,2088,3613,0,0,0,0,0,0
$GC,3053,-0.54,-112.4,258.1,-6.1,369,3057,0.10,1.98,0.00,0.000,4,0.111,0.057,2662,847,3612,0,0,0,0,0,0
$GC,3090,-0.54,-112.4,261.5,-9.7,372,3097,0.00,1.95,0.00,0.000,6,0.000,0.057,2663,2074,3612,0,0,0,0,0,0
$GC,3407,-0.53,-112.4,292.4,-10.1,403,3410,0.00,2.00,0.00,0.000,4,0.000,0.066,2655,3319,3611,0,0,0,0,0,0
$GC,3427,-0.52,-112.4,294.7,-10.7,405,3431,0.08,1.95,0.00,0.000,6,0.117,0.052,2682,2082,3611,0,0,0,0,0,0
$GC,3748,-0.52,-112.4,323.6,-8.4,436,3752,0.00,1.98,0.00,0.000,4,0.000,0.060,2682,850,3611,0,0,0,0,0,0
$GC,3784,-0.52,-112.4,326.6,-8.4,439,3790,0.00,1.95,0.00,0.000,6,0.000,0.057,2679,2075,3610,0,0,0,0,0,0
$GC,4100,-0.52,-112.4,354.1,-8.9,470,4104,0.00,1.98,0.00,0.000,4,0.000,0.060,2679,843,3610,0,0,0,0,0,0
$GC,4126,-0.52,-112.4,356.6,-8.9,472,4132,0.00,1.95,0.00,0.000,6,0.000,0.058,2676,2068,3610,0,0,0,0,0,0
$GC,4442,-0.52,-112.4,383.8,-8.1,503,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2068,3609,0,0,0,0,0,0
$GC,4753,-0.52,-112.4,408.3,-7.8,533,4756,0.00,1.92,0.00,0.000,4,0.000,0.060,2677,839,3608,0,0,0,0,0,0
$GC,4801,-0.52,-112.4,412.1,-7.9,537,4808,0.00,1.95,0.00,0.000,6,0.000,0.058,2676,2067,3608,0,0,0,0,0,0
$GC,5117,-0.52,-112.4,435.2,-7.0,568,5120,0.00,1.92,0.00,0.000,4,0.000,0.061,2676,845,3608,0,0,0,0,0,0
$GC,5137,-0.52,-112.4,436.7,-7.1,570,5141,0.00,1.95,0.00,0.000,6,0.000,0.058,2676,2065,3607,0,0,0,0,0,0
$GC,5458,-0.52,-112.4,460.3,-7.8,601,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2065,3607,0,0,0,0,0,0
$GC,5770,-0.52,-112.4,484.0,-7.7,631,5773,0.00,1.92,0.00,0.000,4,0.000,0.061,2676,846,3606,0,0,0,0,0,0
$GC,5806,-0.52,-112.4,487.2,-7.4,634,5812,0.00,1.95,0.00,0.000,6,0.000,0.059,2676,2064,3606,0,0,0,0,0,0
$GC,6122,-0.52,-112.4,511.7,-8.0,665,6126,0.00,1.98,0.00,0.000,4,0.000,0.062,2676,843,3605,0,0,0,0,0,0
$GC,6148,-0.52,-112.4,513.8,-8.8,667,6155,0.00,1.95,0.00,0.000,6,0.000,0.059,2676,2057,3605,0,0,0,0,0,0
$GC,6463,-0.52,-112.4,538.8,-8.1,698,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2057,3604,0,0,0,0,0,0
$GC,6775,-0.52,-112.4,563.8,-7.9,728,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2057,3603,0,0,0,0,0,0
$GC,7085,-0.52,-112.4,588.6,-7.9,758,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2057,3603,0,0,0,0,0,0
$GC,7392,-0.52,-112.4,611.5,-7.3,778,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2057,3603,0,0,0,0,0,0
$GC,7695,-0.52,-112.4,633.3,-7.3,788,7699,0.00,1.98,0.00,0.000,4,0.000,0.063,2676,845,3602,0,0,0,0,0,0
$GC,7732,-0.52,-112.4,636.1,-7.1,789,7736,0.00,1.92,0.00,0.000,6,0.000,0.061,2676,2042,3602,0,0,0,0,0,0
$GC,8062,-0.52,-112.4,658.9,-6.8,800,8063,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2043,3602,0,0,0,0,0,0
$GC,8365,-0.52,-112.4,679.0,-6.6,810,8369,0.00,1.95,0.00,0.000,4,0.000,0.063,2675,848,3601,0,0,0,0,0,0
$GC,8397,-0.52,-112.4,681.4,-7.3,811,8401,0.00,1.92,0.00,0.000,6,0.000,0.061,2673,2041,3601,0,0,0,0,0,0
$GC,8733,-0.52,-112.4,703.9,-6.8,822,8734,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2040,3600,0,0,0,0,0,0
$GC,9036,-0.52,-112.4,725.0,-7.1,832,9036,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2041,3600,0,0,0,0,0,0
$GC,9339,-0.52,-112.4,746.6,-7.2,842,9343,0.00,1.92,0.00,0.000,4,0.000,0.064,2673,848,3600,0,0,0,0,0,0
$GC,9361,-0.52,-112.4,748.2,-7.7,842,9364,0.00,1.92,0.00,0.000,6,0.000,0.061,2673,2039,3599,0,0,0,0,0,0
$GC,9674,-0.52,-112.4,770.7,-7.1,853,9675,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2039,3599,0,0,0,0,0,0
$GC,9977,-0.52,-112.4,791.6,-6.9,863,9978,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2040,3598,0,0,0,0,0,0
$GC,10282,-0.52,-112.4,810.8,-6.2,873,10282,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2040,3599,0,0,0,0,0,0
$GC,10584,-0.52,-112.4,830.0,-6.3,883,10585,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2040,3598,0,0,0,0,0,0
$GC,10888,-0.52,-112.4,849.6,-6.5,893,10889,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2040,3598,0,0,0,0,0,0
$GC,11191,-0.52,-112.4,869.6,-6.6,903,11192,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2040,3598,0,0,0,0,0,0
$GC,11495,-0.52,-112.4,889.2,-6.4,913,11496,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2040,3597,0,0,0,0,0,0
$GC,11798,-0.52,-112.4,908.6,-6.4,923,11803,0.00,2.10,0.00,0.000,4,0.000,0.071,2670,3316,3597,0,0,0,0,0,0
$GC,11825,-0.53,-112.4,910.3,-6.3,923,11831,0.00,2.05,0.00,0.000,6,0.000,0.058,2670,2041,3597,0,0,0,0,0,0
$GC,12134,-0.53,-112.4,930.4,-6.6,934,12137,0.00,1.92,0.00,0.000,4,0.000,0.063,2669,843,3596,0,0,0,0,0,0
$GC,12154,-0.53,-112.4,932.2,-8.4,934,12158,0.00,1.92,0.00,0.000,6,0.000,0.063,2667,2033,3596,0,0,0,0,0,0
$GC,12468,-0.53,-112.4,953.6,-6.9,945,12472,0.00,2.10,0.00,0.000,4,0.000,0.073,2663,3307,3596,0,0,0,0,0,0
$GC,12501,-0.53,-112.4,955.8,-5.8,946,12504,0.00,2.05,0.00,0.000,6,0.000,0.058,2662,2035,3596,0,0,0,0,0,0
$GC,12835,-0.53,-112.4,979.1,-7.0,957,12836,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2034,3596,0,0,0,0,0,0
$STATE,13016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13016,begin apogee
$GC,13020,-0.14,0.0,991.3,6.7,963,13116,0.45,0.00,93.72,1.238,6,0.117,0.000,2807,2034,3150,0,0,0,0,0,0
$STATE,13116,end apogee,CONTROL_FINISHED_OK
$STATE,13116,begin climb
$GC,13119,0.45,112.4,993.0,0.0,966,13222,0.57,0.00,100.22,1.197,6,0.070,0.000,3006,2034,2690,0,0,0,0,0,0
$GC,13531,0.42,112.4,963.2,9.2,980,13535,0.00,2.08,0.00,0.000,4,0.000,0.068,3006,3234,2685,0,0,0,0,0,0
$GC,13666,0.37,112.4,949.9,9.9,984,13670,0.15,2.00,0.00,0.000,6,0.176,0.056,2979,2010,2684,0,0,0,0,0,0
$GC,13990,0.35,112.4,924.2,7.6,995,13994,0.00,2.03,0.00,0.000,4,0.000,0.068,2979,3220,2683,0,0,0,0,0,0
$GC,14086,0.32,112.4,916.2,8.5,998,14090,0.08,1.95,0.00,0.000,6,0.150,0.057,2962,2025,2682,0,0,0,0,0,0
$GC,14421,0.31,112.4,893.2,6.7,1009,14425,0.00,2.00,0.00,0.000,4,0.000,0.068,2962,3230,2682,0,0,0,0,0,0
$GC,14491,0.28,112.4,888.1,8.1,1011,14494,0.00,1.92,0.00,0.000,6,0.000,0.056,2968,2043,2682,0,0,0,0,0,0
$GC,14820,0.26,112.4,865.4,6.9,1022,14824,0.00,1.98,0.00,0.000,4,0.000,0.069,2968,3234,2682,0,0,0,0,0,0
$GC,14916,0.24,112.4,857.9,7.3,1025,14920,0.12,1.90,0.00,0.000,6,0.140,0.057,2936,2056,2682,0,0,0,0,0,0
$GC,15251,0.24,112.4,836.8,6.3,1036,15255,0.00,1.95,0.00,0.000,4,0.000,0.069,2935,3234,2682,0,0,0,0,0,0
$GC,15337,0.24,112.4,831.0,7.3,1038,15340,0.00,1.88,0.00,0.000,6,0.000,0.057,2939,2068,2681,0,0,0,0,0,0
$GC,15650,0.24,112.4,811.1,6.3,1049,15654,0.00,1.92,0.00,0.000,4,0.000,0.069,2939,3233,2681,0,0,0,0,0,0
$GC,15725,0.23,112.4,806.2,6.7,1051,15729,0.00,1.85,0.00,0.000,6,0.000,0.055,2942,2082,2681,0,0,0,0,0,0
$GC,16050,0.24,135.3,788.3,5.3,1062,16074,0.00,1.92,18.83,1.068,4,0.000,0.070,2942,3238,2598,0,0,0,0,0,0
$GC,16128,0.25,147.1,783.8,5.7,1064,16144,0.00,1.85,11.60,1.006,6,0.000,0.056,2946,2097,2550,0,0,0,0,0,0
$GC,16447,0.26,174.6,766.9,5.1,1075,16477,0.00,0.00,25.25,1.064,6,0.000,0.000,2946,2097,2438,0,0,0,0,0,0
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$STATE,26394,end climb,SURFACE_DEPTH_REACHED
$STATE,26394,begin surface coast
$FINISH,1.2,1.011499
$STATE,26438,end surface coast,CONTROL_FINISHED_OK
$STATE,26438,begin surface
$SM_CCo,26514,0.00,0.000,0,0,1548,392.97
$SM_GC,2.01,7.97,0.00,0.00,0.045,0.000,0.000,139,2069,1548,-8.39,-0.14,392.97
$IRIDIUM_FIX,4657.54,-12610.97,061299,191951
$TT8_MAMPS,0.051389
$HUMID,40.62
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.60
$XPDR_PINGS,1
$24V_AH,23.0,46.144
$10V_AH,10.1,43.727
$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,20.375,178.150,444.550,0.000,0.000,25.196,35.232,253.757,0.250,0.000,15.815,0.000,20716.434,607.682,4868.960,743.876,0.000,2370.186,0.000,4154.035,0.000,0.534,0.000
$DEVICE_MAMPS,230.100,72.865,1237.938,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1401.585,1653.642,1825.077,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,113583,2026
$CAP_FILE_SIZE,245592,0
$CFSIZE,260165632,228732928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.019, 96.3,1
$GPS,120910,102637,4711.855,-12635.564,36,0.9,36,18.6