version: 66.06
glider: 187
mission: 2
dive: 464
start: 9 21 110 10 29 57
data:
$ID,187
$MISSION,2
$DIVE,464
$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,-33111.746
$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,29
$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
$GPS1,102125,4735.483,-12544.611,104,1.1,104,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-77.7
$GPS2,102950,4735.531,-12544.588,17,1.2,17,18.7
$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,57.4,72208,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.45,-112.4,0.0,0.0,0,66,0.00,0.00,-52.42,0.000,2,0.000,0.000,133,2087,2943,0,0,0,0,0,0
$GC,69,-0.45,-112.4,3.3,-2.1,10,98,10.60,2.05,-14.43,0.000,4,0.239,0.071,2700,836,3612,0,0,0,0,0,0
$GC,295,-0.44,-112.4,40.0,-10.4,52,302,0.00,2.00,0.00,0.000,6,0.000,0.056,2694,2074,3615,0,0,0,0,0,0
$GC,623,-0.43,-112.4,72.8,-9.9,113,628,0.00,2.00,0.00,0.000,4,0.000,0.058,2694,835,3616,0,0,0,0,0,0
$GC,693,-0.43,-112.4,80.3,-10.7,126,698,0.00,1.98,0.00,0.000,6,0.000,0.055,2689,2070,3617,0,0,0,0,0,0
$GC,1015,-0.43,-112.4,111.8,-8.6,175,1018,0.00,1.95,0.00,0.000,4,0.000,0.058,2689,840,3617,0,0,0,0,0,0
$GC,1057,-0.43,-112.4,115.5,-8.8,179,1061,0.08,2.00,0.00,0.000,6,0.131,0.055,2708,2087,3617,0,0,0,0,0,0
$GC,1378,-0.44,-112.4,137.2,-7.2,210,1381,0.00,1.98,0.00,0.000,4,0.000,0.065,2708,3305,3617,0,0,0,0,0,0
$GC,1458,-0.46,-112.4,143.2,-7.3,217,1463,0.00,1.92,0.00,0.000,6,0.000,0.049,2708,2082,3617,0,0,0,0,0,0
$GC,1773,-0.47,-112.4,164.2,-6.5,248,1777,0.00,2.03,0.00,0.000,4,0.000,0.065,2705,3316,3617,0,0,0,0,0,0
$GC,1816,-0.49,-112.4,167.3,-7.3,252,1819,0.00,1.92,0.00,0.000,6,0.000,0.050,2705,2097,3617,0,0,0,0,0,0
$GC,2137,-0.50,-112.4,189.2,-6.8,283,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2098,3616,0,0,0,0,0,0
$GC,2449,-0.51,-112.4,211.1,-6.8,313,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2098,3615,0,0,0,0,0,0
$GC,2759,-0.52,-112.4,232.3,-6.8,343,2762,0.00,1.98,0.00,0.000,4,0.000,0.067,2705,3312,3615,0,0,0,0,0,0
$GC,2791,-0.54,-112.4,234.6,-7.0,346,2794,0.00,1.90,0.00,0.000,6,0.000,0.051,2705,2095,3614,0,0,0,0,0,0
$GC,3111,-0.55,-112.4,257.7,-7.3,377,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2096,3614,0,0,0,0,0,0
$GC,3423,-0.57,-112.4,280.5,-7.7,407,3426,0.00,1.98,0.00,0.000,4,0.000,0.067,2704,3316,3613,0,0,0,0,0,0
$GC,3453,-0.59,-112.4,282.9,-7.1,410,3457,0.08,1.92,0.00,0.000,6,0.060,0.051,2651,2103,3613,0,0,0,0,0,0
$GC,3774,-0.59,-112.4,316.1,-10.2,441,3778,0.00,2.03,0.00,0.000,4,0.000,0.059,2651,844,3613,0,0,0,0,0,0
$GC,3807,-0.58,-112.4,319.4,-10.4,444,3810,0.00,2.00,0.00,0.000,6,0.000,0.058,2644,2111,3612,0,0,0,0,0,0
$GC,4128,-0.56,-112.4,352.5,-10.6,475,4131,0.10,1.92,0.00,0.000,4,0.169,0.067,2664,3310,3612,0,0,0,0,0,0
$GC,4201,-0.56,-112.4,359.4,-9.3,482,4205,0.00,1.90,0.00,0.000,6,0.000,0.052,2664,2110,3611,0,0,0,0,0,0
$GC,4522,-0.56,-112.4,389.9,-9.0,513,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2110,3611,0,0,0,0,0,0
$GC,4833,-0.56,-112.4,417.9,-8.9,543,4836,0.00,1.98,0.00,0.000,4,0.000,0.069,2656,3313,3611,0,0,0,0,0,0
$GC,4881,-0.56,-112.4,422.1,-9.1,547,4886,0.00,1.90,0.00,0.000,6,0.000,0.053,2655,2117,3610,0,0,0,0,0,0
$GC,5195,-0.56,-112.4,452.3,-9.5,578,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2117,3610,0,0,0,0,0,0
$GC,5508,-0.56,-112.4,481.4,-9.4,608,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2117,3610,0,0,0,0,0,0
$GC,5818,-0.56,-112.4,510.6,-9.3,638,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2117,3609,0,0,0,0,0,0
$GC,6129,-0.56,-112.4,537.5,-8.0,668,6131,0.00,1.98,0.00,0.000,4,0.000,0.071,2647,3316,3608,0,0,0,0,0,0
$GC,6186,-0.56,-112.4,542.7,-8.8,673,6192,0.00,1.90,0.00,0.000,6,0.000,0.054,2647,2125,3608,0,0,0,0,0,0
$GC,6501,-0.56,-112.4,568.9,-8.6,704,6505,0.00,2.08,0.00,0.000,4,0.000,0.061,2647,847,3608,0,0,0,0,0,0
$GC,6544,-0.56,-112.4,572.6,-8.9,708,6548,0.10,2.05,0.00,0.000,6,0.129,0.060,2674,2117,3608,0,0,0,0,0,0
$GC,6866,-0.56,-112.4,594.4,-6.8,739,6869,0.00,1.95,0.00,0.000,4,0.000,0.070,2668,3312,3607,0,0,0,0,0,0
$GC,6987,-0.56,-112.4,603.4,-7.2,748,6994,0.00,1.88,0.00,0.000,6,0.000,0.054,2668,2133,3607,0,0,0,0,0,0
$GC,7296,-0.56,-112.4,626.4,-7.5,759,7300,0.00,2.10,0.00,0.000,4,0.000,0.063,2668,840,3606,0,0,0,0,0,0
$GC,7339,-0.56,-112.4,629.9,-8.0,760,7342,0.00,2.08,0.00,0.000,6,0.000,0.061,2664,2124,3606,0,0,0,0,0,0
$GC,7663,-0.56,-112.4,654.3,-7.6,771,7667,0.00,1.98,0.00,0.000,4,0.000,0.071,2664,3312,3606,0,0,0,0,0,0
$GC,7748,-0.56,-112.4,660.5,-7.2,773,7752,0.00,1.88,0.00,0.000,6,0.000,0.055,2663,2139,3605,0,0,0,0,0,0
$GC,8063,-0.56,-112.4,684.2,-7.7,784,8063,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2138,3606,0,0,0,0,0,0
$GC,8365,-0.56,-112.4,707.0,-7.5,794,8369,0.00,1.95,0.00,0.000,4,0.000,0.069,2663,3306,3605,0,0,0,0,0,0
$GC,8392,-0.56,-112.4,708.9,-7.2,794,8398,0.00,1.88,0.00,0.000,6,0.000,0.055,2663,2134,3605,0,0,0,0,0,0
$GC,8701,-0.56,-112.4,732.2,-7.6,805,8702,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2134,3605,0,0,0,0,0,0
$GC,9004,-0.56,-112.4,756.0,-7.8,815,9004,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2134,3605,0,0,0,0,0,0
$GC,9307,-0.56,-112.4,778.8,-7.4,825,9311,0.00,2.10,0.00,0.000,4,0.000,0.064,2663,848,3604,0,0,0,0,0,0
$GC,9344,-0.56,-112.4,781.8,-8.2,826,9348,0.00,2.08,0.00,0.000,6,0.000,0.061,2663,2127,3604,0,0,0,0,0,0
$GC,9674,-0.56,-112.4,807.0,-7.8,837,9679,0.00,1.98,0.00,0.000,4,0.000,0.072,2663,3310,3604,0,0,0,0,0,0
$GC,9775,-0.56,-112.4,815.2,-7.6,840,9779,0.00,1.88,0.00,0.000,6,0.000,0.056,2663,2142,3604,0,0,0,0,0,0
$GC,10106,-0.56,-112.4,841.4,-7.9,851,10110,0.00,2.10,0.00,0.000,4,0.000,0.064,2663,852,3603,0,0,0,0,0,0
$GC,10142,-0.56,-112.4,844.5,-8.7,852,10146,0.00,2.08,0.00,0.000,6,0.000,0.061,2663,2134,3603,0,0,0,0,0,0
$GC,10472,-0.56,-112.4,870.4,-7.8,863,10477,0.00,1.95,0.00,0.000,4,0.000,0.071,2663,3304,3603,0,0,0,0,0,0
$GC,10553,-0.57,-112.4,876.6,-8.4,865,10556,0.00,1.85,0.00,0.000,6,0.000,0.054,2663,2146,3603,0,0,0,0,0,0
$GC,10871,-0.57,-112.4,901.9,-7.8,876,10875,0.00,2.12,0.00,0.000,4,0.000,0.062,2663,845,3602,0,0,0,0,0,0
$GC,10919,-0.57,-112.4,905.9,-8.4,877,10923,0.00,2.12,0.00,0.000,6,0.000,0.061,2663,2149,3602,0,0,0,0,0,0
$GC,11239,-0.57,-112.4,929.0,-7.1,888,11240,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2149,3602,0,0,0,0,0,0
$GC,11542,-0.57,-112.4,948.5,-6.1,898,11546,0.00,1.95,0.00,0.000,4,0.000,0.073,2662,3308,3602,0,0,0,0,0,0
$GC,11628,-0.58,-112.4,953.5,-5.8,900,11631,0.00,1.85,0.00,0.000,6,0.000,0.057,2663,2159,3602,0,0,0,0,0,0
$GC,11941,-0.58,-112.4,971.4,-5.7,911,11945,0.00,2.15,0.00,0.000,4,0.000,0.064,2663,848,3602,0,0,0,0,0,0
$GC,11999,-0.58,-112.4,975.1,-6.4,912,12006,0.00,2.12,0.00,0.000,6,0.000,0.061,2663,2153,3601,0,0,0,0,0,0
$STATE,12276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12276,begin apogee
$GC,12281,-0.14,0.0,990.5,5.4,922,12378,0.45,0.00,95.35,1.235,6,0.115,0.000,2808,1989,3150,0,0,0,0,0,0
$STATE,12379,end apogee,CONTROL_FINISHED_OK
$STATE,12379,begin climb
$GC,12381,0.45,112.4,991.1,0.0,925,12490,0.55,2.20,100.85,1.195,4,0.070,0.064,3013,773,2691,0,0,0,0,0,0
$GC,12537,0.42,112.4,983.3,9.7,930,12541,0.00,2.12,0.00,0.000,6,0.000,0.058,3013,1997,2688,0,0,0,0,0,0
$GC,12867,0.38,112.4,952.5,9.2,941,12872,0.12,2.10,0.00,0.000,4,0.169,0.069,2982,3232,2684,0,0,0,0,0,0
$GC,12975,0.35,112.4,943.0,8.8,944,12979,0.00,2.00,0.00,0.000,6,0.000,0.058,2989,1993,2684,0,0,0,0,0,0
$GC,13299,0.32,112.4,917.7,7.8,955,13303,0.00,2.08,0.00,0.000,4,0.000,0.069,2989,3233,2682,0,0,0,0,0,0
$GC,13401,0.29,112.4,908.7,8.3,958,13404,0.17,1.95,0.00,0.000,6,0.165,0.058,2952,2038,2682,0,0,0,0,0,0
$GC,13730,0.29,112.4,886.8,6.6,969,13734,0.00,2.00,0.00,0.000,4,0.000,0.069,2952,3237,2682,0,0,0,0,0,0
$GC,13778,0.27,112.4,883.3,7.4,970,13782,0.00,1.95,0.00,0.000,6,0.000,0.058,2957,2036,2682,0,0,0,0,0,0
$GC,14097,0.26,112.4,861.0,6.8,981,14101,0.00,1.98,0.00,0.000,4,0.000,0.069,2957,3228,2682,0,0,0,0,0,0
$GC,14118,0.25,112.4,859.4,7.0,981,14122,0.00,1.92,0.00,0.000,6,0.000,0.058,2963,2045,2682,0,0,0,0,0,0
$GC,14433,0.23,112.4,838.7,6.3,992,14436,0.12,1.92,0.00,0.000,4,0.164,0.069,2929,3237,2681,0,0,0,0,0,0
$GC,14490,0.24,130.6,835.5,5.4,993,14509,0.00,1.90,15.32,1.077,6,0.000,0.057,2933,2064,2617,0,0,0,0,0,0
$GC,14832,0.26,165.3,818.6,4.8,1005,14868,0.00,2.03,31.27,1.104,4,0.000,0.070,2933,3243,2476,0,0,0,0,0,0
$GC,14875,0.28,194.6,816.4,5.0,1006,14905,0.00,1.92,27.12,1.072,6,0.000,0.059,2933,2075,2356,0,0,0,0,0,0
$GC,15220,0.30,202.2,797.0,5.8,1018,15228,0.00,0.00,7.35,0.927,6,0.000,0.000,2933,2075,2325,0,0,0,0,0,0
$GC,15523,0.31,202.2,778.6,6.1,1028,15526,0.00,2.12,0.00,0.000,4,0.000,0.067,2933,764,2323,0,0,0,0,0,0
$GC,15543,0.35,228.3,777.5,5.2,1028,15573,0.08,2.12,23.83,1.061,6,0.065,0.060,2978,2068,2219,0,0,0,0,0,0
$GC,15889,0.35,228.3,748.3,8.3,1040,15892,0.00,1.95,0.00,0.000,4,0.000,0.071,2978,3244,2214,0,0,0,0,0,0
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$STATE,25995,end climb,SURFACE_DEPTH_REACHED
$STATE,25995,begin surface coast
$FINISH,1.3,1.012193
$STATE,26068,end surface coast,CONTROL_FINISHED_OK
$STATE,26068,begin surface
$SM_CCo,26083,21.12,0.410,1,0,1722,350.04
$SM_GC,2.43,0.00,0.00,21.12,0.000,0.000,0.410,135,2093,1722,-8.50,0.48,350.04
$IRIDIUM_FIX,4722.92,-12557.88,161299,020259
$TT8_MAMPS,0.05369
$HUMID,40.51
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,22.8,50.550
$10V_AH,10.1,48.835
$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,20.600,231.975,383.825,21.125,0.000,28.806,32.791,272.860,0.000,0.000,17.258,0.000,20095.066,608.360,5075.873,787.797,0.000,2448.820,0.000,4301.342,0.000,0.533,0.000
$DEVICE_MAMPS,238.537,110.448,1234.870,410.345,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1483.402,1385.302,1831.455,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,116783,2047
$CAP_FILE_SIZE,261616,0
$CFSIZE,260165632,225112064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.058,345.4,1
$GPS,210910,174701,4737.083,-12540.316,94,1.8,94,18.7