version: 66.06
glider: 187
mission: 2
dive: 448
start: 9 16 110 10 37 30
data:
$ID,187
$MISSION,2
$DIVE,448
$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,-32796.277
$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,24
$R_STBD_OVSHOOT,24
$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
$GPS1,102937,4710.503,-12639.391,38,1.9,38,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-78.3
$GPS2,103725,4710.456,-12639.381,12,1.9,17,18.6
$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,23.3,154502,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.45,-112.4,0.0,0.0,0,73,0.00,0.00,-56.60,0.000,2,0.000,0.000,131,2043,2907,0,0,0,0,0,0
$GC,75,-0.45,-112.4,3.2,-2.1,11,108,10.43,2.10,-15.95,0.000,4,0.233,0.078,2692,3316,3610,0,0,0,0,0,0
$GC,322,-0.44,-112.4,46.2,-12.9,57,328,0.00,1.98,0.00,0.000,6,0.000,0.049,2692,2077,3613,0,0,0,0,0,0
$GC,649,-0.42,-112.4,90.4,-14.1,118,655,0.00,2.03,0.00,0.000,4,0.000,0.063,2683,3306,3615,0,0,0,0,0,0
$GC,698,-0.41,-112.4,96.8,-13.3,127,703,0.10,1.92,0.00,0.000,6,0.117,0.049,2718,2088,3615,0,0,0,0,0,0
$GC,1014,-0.41,-112.4,126.6,-8.4,160,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2088,3615,0,0,0,0,0,0
$GC,1326,-0.42,-112.4,152.0,-7.8,190,1329,0.00,2.00,0.00,0.000,4,0.000,0.065,2712,3320,3616,0,0,0,0,0,0
$GC,1400,-0.44,-112.4,157.5,-7.0,197,1404,0.00,1.95,0.00,0.000,6,0.000,0.049,2712,2081,3615,0,0,0,0,0,0
$GC,1721,-0.45,-112.4,184.7,-8.3,228,1724,0.00,2.03,0.00,0.000,4,0.000,0.064,2707,3313,3615,0,0,0,0,0,0
$GC,1757,-0.46,-112.4,187.7,-7.9,231,1764,0.00,1.92,0.00,0.000,6,0.000,0.050,2707,2089,3615,0,0,0,0,0,0
$GC,2074,-0.46,-112.4,210.7,-7.1,262,2077,0.00,2.00,0.00,0.000,4,0.000,0.066,2705,3317,3614,0,0,0,0,0,0
$GC,2106,-0.48,-112.4,213.0,-6.8,265,2109,0.00,1.90,0.00,0.000,6,0.000,0.051,2705,2085,3614,0,0,0,0,0,0
$GC,2426,-0.48,-112.4,236.6,-7.5,296,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2083,3613,0,0,0,0,0,0
$GC,2737,-0.48,-112.4,260.4,-7.7,326,2740,0.00,1.98,0.00,0.000,4,0.000,0.067,2704,3311,3612,0,0,0,0,0,0
$GC,2832,-0.50,-112.4,267.5,-7.2,335,2836,0.00,1.90,0.00,0.000,6,0.000,0.051,2704,2107,3612,0,0,0,0,0,0
$GC,3153,-0.50,-112.4,289.8,-6.8,366,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2106,3611,0,0,0,0,0,0
$GC,3465,-0.51,-112.4,311.7,-7.5,396,3468,0.00,1.95,0.00,0.000,4,0.000,0.067,2704,3317,3611,0,0,0,0,0,0
$GC,3517,-0.53,-112.4,315.5,-7.3,401,3521,0.00,1.92,0.00,0.000,6,0.000,0.052,2704,2100,3611,0,0,0,0,0,0
$GC,3838,-0.54,-112.4,338.8,-7.1,432,3842,0.00,2.00,0.00,0.000,4,0.000,0.067,2704,3307,3610,0,0,0,0,0,0
$GC,3871,-0.56,-112.4,341.1,-7.5,435,3874,0.00,1.88,0.00,0.000,6,0.000,0.053,2704,2121,3610,0,0,0,0,0,0
$GC,4193,-0.57,-112.4,364.1,-6.9,466,4196,0.00,1.95,0.00,0.000,4,0.000,0.068,2704,3316,3609,0,0,0,0,0,0
$GC,4224,-0.59,-112.4,366.4,-7.3,469,4228,0.12,1.85,0.00,0.000,6,0.092,0.054,2642,2121,3609,0,0,0,0,0,0
$GC,4545,-0.57,-112.4,400.1,-10.7,500,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2122,3608,0,0,0,0,0,0
$GC,4856,-0.56,-112.4,432.7,-10.4,530,4857,0.12,0.00,0.00,0.000,6,0.161,0.000,2678,2121,3607,0,0,0,0,0,0
$GC,5165,-0.56,-112.4,458.9,-7.9,560,5169,0.00,1.98,0.00,0.000,4,0.000,0.069,2672,3308,3606,0,0,0,0,0,0
$GC,5255,-0.56,-112.4,466.5,-7.9,568,5261,0.00,1.88,0.00,0.000,6,0.000,0.054,2672,2130,3606,0,0,0,0,0,0
$GC,5571,-0.56,-112.4,492.5,-8.3,599,5575,0.00,1.95,0.00,0.000,4,0.000,0.067,2664,3308,3605,0,0,0,0,0,0
$GC,5603,-0.56,-112.4,495.2,-8.4,602,5607,0.00,1.88,0.00,0.000,6,0.000,0.052,2663,2128,3606,0,0,0,0,0,0
$GC,5924,-0.56,-112.4,521.9,-8.6,633,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2127,3604,0,0,0,0,0,0
$GC,6235,-0.56,-112.4,547.8,-8.2,663,6238,0.00,1.98,0.00,0.000,4,0.000,0.069,2663,3313,3604,0,0,0,0,0,0
$GC,6271,-0.56,-112.4,550.8,-8.1,666,6278,0.00,1.88,0.00,0.000,6,0.000,0.054,2663,2135,3604,0,0,0,0,0,0
$GC,6587,-0.56,-112.4,577.5,-8.8,697,6590,0.00,2.05,0.00,0.000,4,0.000,0.061,2663,825,3603,0,0,0,0,0,0
$GC,6645,-0.56,-112.4,582.8,-9.3,702,6652,0.00,2.10,0.00,0.000,6,0.000,0.060,2663,2133,3603,0,0,0,0,0,0
$GC,6980,-0.56,-112.4,610.7,-8.2,727,6983,0.00,1.92,0.00,0.000,4,0.000,0.071,2663,3309,3603,0,0,0,0,0,0
$GC,7091,-0.56,-112.4,619.6,-7.9,730,7095,0.00,1.85,0.00,0.000,6,0.000,0.054,2662,2149,3602,0,0,0,0,0,0
$GC,7411,-0.56,-112.4,644.4,-7.6,741,7411,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2149,3602,0,0,0,0,0,0
$GC,7713,-0.56,-112.4,666.6,-7.3,751,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2149,3601,0,0,0,0,0,0
$GC,8017,-0.56,-112.4,690.4,-8.2,761,8021,0.00,1.95,0.00,0.000,4,0.000,0.071,2662,3310,3600,0,0,0,0,0,0
$GC,8043,-0.56,-112.4,692.7,-8.8,761,8050,0.00,1.85,0.00,0.000,6,0.000,0.056,2662,2155,3600,0,0,0,0,0,0
$GC,8352,-0.56,-112.4,718.7,-8.3,772,8353,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2155,3600,0,0,0,0,0,0
$GC,8655,-0.56,-112.4,743.1,-8.2,782,8656,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2155,3600,0,0,0,0,0,0
$GC,8959,-0.56,-112.4,767.7,-8.0,792,8963,0.00,1.90,0.00,0.000,4,0.000,0.071,2660,3301,3598,0,0,0,0,0,0
$GC,8996,-0.56,-112.4,770.8,-8.4,793,9000,0.00,1.83,0.00,0.000,6,0.000,0.057,2660,2163,3598,0,0,0,0,0,0
$GC,9326,-0.56,-112.4,796.2,-7.8,804,9330,0.00,2.12,0.00,0.000,4,0.000,0.064,2659,849,3598,0,0,0,0,0,0
$GC,9363,-0.56,-112.4,799.2,-8.6,805,9367,0.00,2.12,0.00,0.000,6,0.000,0.061,2655,2159,3598,0,0,0,0,0,0
$GC,9693,-0.56,-112.4,824.1,-7.5,816,9697,0.00,1.90,0.00,0.000,4,0.000,0.071,2646,3313,3598,0,0,0,0,0,0
$GC,9757,-0.56,-112.4,828.9,-8.2,818,9761,0.00,1.85,0.00,0.000,6,0.000,0.056,2646,2162,3598,0,0,0,0,0,0
$GC,10092,-0.56,-112.4,855.0,-7.8,829,10093,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2162,3597,0,0,0,0,0,0
$GC,10396,-0.56,-112.4,878.8,-7.8,839,10399,0.00,2.12,0.00,0.000,4,0.000,0.064,2646,837,3597,0,0,0,0,0,0
$GC,10432,-0.56,-112.4,881.8,-7.9,840,10437,0.10,2.15,0.00,0.000,6,0.131,0.061,2674,2160,3597,0,0,0,0,0,0
$GC,10762,-0.56,-112.4,901.9,-6.0,851,10766,0.00,1.88,0.00,0.000,4,0.000,0.072,2668,3302,3597,0,0,0,0,0,0
$GC,10833,-0.57,-112.4,906.0,-6.0,853,10836,0.00,1.80,0.00,0.000,6,0.000,0.055,2668,2163,3597,0,0,0,0,0,0
$GC,11161,-0.57,-112.4,926.1,-6.2,864,11165,0.00,2.12,0.00,0.000,4,0.000,0.063,2668,849,3596,0,0,0,0,0,0
$GC,11193,-0.57,-112.4,928.2,-6.3,865,11197,0.00,2.12,0.00,0.000,6,0.000,0.061,2664,2159,3596,0,0,0,0,0,0
$GC,11529,-0.57,-112.4,949.4,-6.3,876,11532,0.00,1.88,0.00,0.000,4,0.000,0.072,2664,3313,3596,0,0,0,0,0,0
$GC,11619,-0.57,-112.4,955.2,-6.7,878,11625,0.00,1.83,0.00,0.000,6,0.000,0.054,2664,2171,3596,0,0,0,0,0,0
$GC,11928,-0.57,-112.4,975.4,-6.8,889,11931,0.00,2.15,0.00,0.000,4,0.000,0.064,2664,843,3596,0,0,0,0,0,0
$GC,11959,-0.57,-112.4,977.7,-7.3,890,11963,0.00,2.15,0.00,0.000,6,0.000,0.063,2663,2162,3595,0,0,0,0,0,0
$STATE,12141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12141,begin apogee
$GC,12145,-0.14,0.0,990.4,6.9,896,12241,0.45,0.00,94.18,1.235,6,0.117,0.000,2809,2000,3150,0,0,0,0,0,0
$STATE,12242,end apogee,CONTROL_FINISHED_OK
$STATE,12242,begin climb
$GC,12244,0.45,112.4,992.7,0.0,899,12351,0.55,2.15,100.62,1.196,4,0.071,0.064,3014,773,2690,0,0,0,0,0,0
$GC,12404,0.42,112.4,987.3,7.4,904,12408,0.00,2.12,0.00,0.000,6,0.000,0.058,3014,1999,2686,0,0,0,0,0,0
$GC,12728,0.38,112.4,960.7,8.4,915,12732,0.15,2.10,0.00,0.000,4,0.168,0.069,2977,3234,2684,0,0,0,0,0,0
$GC,12847,0.35,112.4,951.6,8.1,918,12850,0.00,1.98,0.00,0.000,6,0.000,0.058,2983,2013,2683,0,0,0,0,0,0
$GC,13160,0.32,112.4,929.6,7.1,929,13163,0.00,2.05,0.00,0.000,4,0.000,0.069,2983,3247,2682,0,0,0,0,0,0
$GC,13239,0.29,112.4,923.4,8.1,931,13243,0.12,2.00,0.00,0.000,6,0.143,0.058,2954,2024,2682,0,0,0,0,0,0
$GC,13559,0.29,118.1,904.2,5.9,942,13568,0.00,2.00,4.95,0.859,4,0.000,0.070,2954,3241,2668,0,0,0,0,0,0
$GC,13584,0.28,118.1,902.6,6.5,942,13590,0.00,1.98,0.00,0.000,6,0.000,0.058,2959,2032,2667,0,0,0,0,0,0
$GC,13894,0.27,120.3,883.8,6.0,953,13902,0.00,2.00,3.60,0.691,4,0.000,0.067,2959,3237,2659,0,0,0,0,0,0
$GC,13962,0.25,120.3,879.3,7.0,955,13967,0.10,1.92,0.00,0.000,6,0.140,0.058,2935,2052,2658,0,0,0,0,0,0
$GC,14292,0.28,171.7,864.3,4.2,966,14342,0.00,2.05,45.50,1.140,4,0.000,0.071,2935,3240,2450,0,0,0,0,0,0
$GC,14376,0.28,179.3,860.3,5.8,968,14389,0.00,1.95,7.97,0.962,6,0.000,0.058,2934,2054,2419,0,0,0,0,0,0
$GC,14721,0.30,195.9,841.8,5.5,980,14741,0.00,2.12,15.82,1.069,4,0.000,0.067,2935,763,2351,0,0,0,0,0,0
$GC,14756,0.35,243.7,839.8,4.4,981,14807,0.00,2.15,42.92,1.103,6,0.000,0.061,2934,2084,2156,0,0,0,0,0,0
$GC,15111,0.38,255.2,820.1,5.7,993,15123,0.12,0.00,10.57,1.001,6,0.097,0.000,2987,2084,2109,0,0,0,0,0,0
$GC,15413,0.38,255.2,793.6,8.9,1003,15417,0.00,2.20,0.00,0.000,4,0.000,0.069,2991,769,2105,0,0,0,0,0,0
$GC,15428,0.38,255.2,792.4,8.3,1003,15432,0.00,2.10,0.00,0.000,6,0.000,0.061,2990,2054,2105,0,0,0,0,0,0
$GC,15748,0.38,255.2,762.3,9.5,1014,15752,0.00,1.98,0.00,0.000,4,0.000,0.070,2990,3238,2103,0,0,0,0,0,0
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$STATE,24968,end climb,SURFACE_DEPTH_REACHED
$STATE,24968,begin surface coast
$FINISH,1.2,1.010903
$STATE,25010,end surface coast,CONTROL_FINISHED_OK
$STATE,25010,begin surface
$SM_CCo,25086,0.00,0.000,0,0,1461,414.31
$SM_GC,1.94,7.97,0.00,0.00,0.047,0.000,0.000,136,2093,1461,-8.41,0.51,414.31
$IRIDIUM_FIX,4654.38,-12647.76,111299,030319
$TT8_MAMPS,0.052923
$HUMID,41.02
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,17.00
$XPDR_PINGS,0
$24V_AH,22.9,48.205
$10V_AH,10.1,46.071
$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,20.925,220.225,464.925,0.000,0.000,28.238,31.431,252.066,0.000,0.000,17.619,0.000,19300.430,638.173,4794.912,776.507,0.000,2421.559,0.000,4090.235,0.000,0.534,0.000
$DEVICE_MAMPS,233.168,125.021,1234.870,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1347.777,1616.338,1748.360,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298588
$DATA_FILE_SIZE,113869,1951
$CAP_FILE_SIZE,251293,0
$CFSIZE,260165632,227074048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027,169.6,1
$GPS,160910,173637,4712.351,-12636.213,43,1.1,43,18.6