version: 66.06
glider: 187
mission: 2
dive: 596
start: 10 2 110 3 2 13
data:
$ID,187
$MISSION,2
$DIVE,596
$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,-36447.734
$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,21
$R_STBD_OVSHOOT,36
$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
$GPS1,025000,4743.112,-12533.370,43,1.0,48,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-76.4
$GPS2,030208,4743.108,-12533.396,14,1.3,14,18.7
$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,200.9,135422,-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,-52.38,0.000,2,0.000,0.000,132,2083,2922,0,0,0,0,0,0
$GC,70,-0.45,-112.4,3.1,-2.0,10,103,10.57,2.00,-15.52,0.000,4,0.233,0.077,2694,3293,3612,0,0,0,0,0,0
$GC,226,-0.44,-112.4,31.1,-15.2,39,231,0.00,1.95,0.00,0.000,6,0.000,0.048,2694,2069,3613,0,0,0,0,0,0
$GC,553,-0.42,-112.4,67.0,-9.9,100,558,0.00,1.95,0.00,0.000,4,0.000,0.055,2694,842,3615,0,0,0,0,0,0
$GC,579,-0.41,-112.4,69.7,-10.0,105,586,0.08,1.92,0.00,0.000,6,0.128,0.054,2715,2043,3616,0,0,0,0,0,0
$GC,908,-0.41,-112.4,97.1,-7.2,166,913,0.00,2.08,0.00,0.000,4,0.000,0.065,2709,3309,3616,0,0,0,0,0,0
$GC,983,-0.43,-112.4,101.8,-6.1,178,986,0.00,1.92,0.00,0.000,6,0.000,0.048,2709,2058,3616,0,0,0,0,0,0
$GC,1303,-0.43,-112.4,124.1,-6.9,209,1307,0.00,2.08,0.00,0.000,4,0.000,0.064,2701,3317,3616,0,0,0,0,0,0
$GC,1367,-0.44,-112.4,128.9,-7.4,215,1371,0.00,1.95,0.00,0.000,6,0.000,0.048,2701,2074,3616,0,0,0,0,0,0
$GC,1688,-0.44,-112.4,153.9,-7.8,246,1692,0.00,2.03,0.00,0.000,4,0.000,0.064,2694,3306,3616,0,0,0,0,0,0
$GC,1741,-0.46,-112.4,158.3,-8.1,251,1745,0.00,1.92,0.00,0.000,6,0.000,0.049,2694,2078,3615,0,0,0,0,0,0
$GC,2062,-0.46,-112.4,183.1,-7.4,282,2065,0.00,2.03,0.00,0.000,4,0.000,0.064,2691,3307,3615,0,0,0,0,0,0
$GC,2109,-0.47,-112.4,186.8,-7.4,286,2115,0.00,1.92,0.00,0.000,6,0.000,0.049,2691,2083,3614,0,0,0,0,0,0
$GC,2425,-0.47,-112.4,211.8,-8.0,317,2429,0.00,2.03,0.00,0.000,4,0.000,0.065,2691,3313,3614,0,0,0,0,0,0
$GC,2473,-0.49,-112.4,215.2,-7.2,321,2480,0.00,1.92,0.00,0.000,6,0.000,0.050,2690,2093,3614,0,0,0,0,0,0
$GC,2789,-0.49,-112.4,237.9,-6.9,352,2792,0.00,2.00,0.00,0.000,4,0.000,0.067,2684,3317,3613,0,0,0,0,0,0
$GC,2836,-0.50,-112.4,241.2,-6.9,356,2841,0.00,1.95,0.00,0.000,6,0.000,0.051,2684,2088,3612,0,0,0,0,0,0
$GC,3151,-0.50,-112.4,264.6,-7.7,387,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2089,3612,0,0,0,0,0,0
$GC,3463,-0.50,-112.4,287.7,-6.8,417,3466,0.00,2.00,0.00,0.000,4,0.000,0.067,2676,3314,3611,0,0,0,0,0,0
$GC,3511,-0.51,-112.4,291.2,-7.3,421,3517,0.00,1.92,0.00,0.000,6,0.000,0.051,2675,2099,3611,0,0,0,0,0,0
$GC,3825,-0.51,-112.4,314.5,-7.7,452,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2098,3611,0,0,0,0,0,0
$GC,4138,-0.51,-112.4,338.5,-7.4,482,4141,0.00,2.00,0.00,0.000,4,0.000,0.067,2668,3317,3610,0,0,0,0,0,0
$GC,4191,-0.51,-112.4,342.4,-7.1,487,4194,0.00,1.92,0.00,0.000,6,0.000,0.052,2668,2102,3610,0,0,0,0,0,0
$GC,4511,-0.51,-112.4,366.0,-7.3,518,4515,0.00,2.00,0.00,0.000,4,0.000,0.067,2660,3310,3609,0,0,0,0,0,0
$GC,4537,-0.51,-112.4,368.1,-8.0,520,4543,0.00,1.90,0.00,0.000,6,0.000,0.052,2660,2114,3609,0,0,0,0,0,0
$GC,4853,-0.51,-112.4,393.9,-8.5,551,4854,0.10,0.00,0.00,0.000,6,0.166,0.000,2688,2113,3608,0,0,0,0,0,0
$GC,5163,-0.51,-112.4,414.4,-6.0,581,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2113,3608,0,0,0,0,0,0
$GC,5476,-0.51,-112.4,433.8,-6.2,611,5479,0.00,1.98,0.00,0.000,4,0.000,0.069,2683,3313,3608,0,0,0,0,0,0
$GC,5517,-0.52,-112.4,436.6,-6.2,615,5521,0.00,1.92,0.00,0.000,6,0.000,0.053,2682,2107,3608,0,0,0,0,0,0
$GC,5839,-0.52,-112.4,459.0,-7.3,646,5842,0.00,1.98,0.00,0.000,4,0.000,0.068,2675,3312,3607,0,0,0,0,0,0
$GC,5875,-0.53,-112.4,461.8,-7.5,649,5882,0.00,1.90,0.00,0.000,6,0.000,0.053,2675,2119,3607,0,0,0,0,0,0
$GC,6191,-0.53,-112.4,485.7,-7.1,680,6194,0.00,1.98,0.00,0.000,4,0.000,0.069,2668,3319,3607,0,0,0,0,0,0
$GC,6217,-0.53,-112.4,487.8,-8.1,682,6222,0.00,1.92,0.00,0.000,6,0.000,0.053,2668,2115,3606,0,0,0,0,0,0
$GC,6532,-0.53,-112.4,511.3,-7.3,713,6536,0.00,2.00,0.00,0.000,4,0.000,0.068,2662,3312,3606,0,0,0,0,0,0
$GC,6555,-0.53,-112.4,512.9,-7.7,715,6558,0.00,1.88,0.00,0.000,6,0.000,0.054,2662,2124,3606,0,0,0,0,0,0
$GC,6875,-0.53,-112.4,537.7,-7.8,746,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2124,3606,0,0,0,0,0,0
$GC,7187,-0.53,-112.4,562.4,-7.8,776,7190,0.00,1.98,0.00,0.000,4,0.000,0.070,2662,3320,3605,0,0,0,0,0,0
$GC,7208,-0.53,-112.4,564.0,-7.2,778,7211,0.00,1.88,0.00,0.000,6,0.000,0.054,2662,2132,3604,0,0,0,0,0,0
$GC,7528,-0.53,-112.4,588.1,-8.0,809,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2131,3605,0,0,0,0,0,0
$GC,7846,-0.53,-112.4,611.8,-7.7,830,7849,0.00,1.98,0.00,0.000,4,0.000,0.071,2663,3311,3604,0,0,0,0,0,0
$GC,7877,-0.53,-112.4,614.0,-7.0,831,7881,0.00,1.88,0.00,0.000,6,0.000,0.054,2663,2137,3604,0,0,0,0,0,0
$GC,8213,-0.53,-112.4,639.3,-7.7,842,8214,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2137,3603,0,0,0,0,0,0
$GC,8516,-0.53,-112.4,662.7,-7.7,852,8520,0.00,1.98,0.00,0.000,4,0.000,0.071,2659,3315,3602,0,0,0,0,0,0
$GC,8542,-0.53,-112.4,664.8,-8.0,852,8548,0.00,1.88,0.00,0.000,6,0.000,0.054,2659,2140,3602,0,0,0,0,0,0
$GC,8852,-0.53,-112.4,687.8,-7.1,863,8855,0.00,1.95,0.00,0.000,4,0.000,0.071,2656,3302,3602,0,0,0,0,0,0
$GC,8893,-0.53,-112.4,690.9,-7.4,864,8897,0.00,1.85,0.00,0.000,6,0.000,0.053,2656,2145,3602,0,0,0,0,0,0
$GC,9218,-0.53,-112.4,712.3,-6.3,875,9219,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2145,3601,0,0,0,0,0,0
$GC,9522,-0.53,-112.4,731.8,-6.8,885,9523,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2145,3601,0,0,0,0,0,0
$GC,9825,-0.53,-112.4,754.9,-7.8,895,9826,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2145,3601,0,0,0,0,0,0
$GC,10128,-0.53,-112.4,779.9,-8.3,905,10132,0.00,1.95,0.00,0.000,4,0.000,0.071,2649,3304,3600,0,0,0,0,0,0
$GC,10181,-0.53,-112.4,784.7,-9.1,906,10185,0.08,1.85,0.00,0.000,6,0.120,0.053,2677,2148,3600,0,0,0,0,0,0
$GC,10496,-0.55,-112.4,807.1,-7.0,917,10497,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2147,3600,0,0,0,0,0,0
$GC,10799,-0.56,-112.4,825.7,-5.9,927,10802,0.00,1.92,0.00,0.000,4,0.000,0.071,2673,3304,3600,0,0,0,0,0,0
$GC,10858,-0.58,-112.4,829.1,-6.2,928,10863,0.00,1.85,0.00,0.000,6,0.000,0.054,2673,2147,3600,0,0,0,0,0,0
$GC,11166,-0.58,-112.4,845.7,-5.2,939,11170,0.00,1.92,0.00,0.000,4,0.000,0.070,2673,3306,3600,0,0,0,0,0,0
$GC,11192,-0.59,-112.4,847.2,-5.8,939,11198,0.00,1.85,0.00,0.000,6,0.000,0.054,2673,2156,3599,0,0,0,0,0,0
$GC,11502,-0.60,-112.4,864.5,-5.5,950,11505,0.00,1.90,0.00,0.000,4,0.000,0.070,2672,3316,3599,0,0,0,0,0,0
$GC,11549,-0.62,-112.4,867.4,-6.5,951,11552,0.00,1.85,0.00,0.000,6,0.000,0.054,2672,2164,3599,0,0,0,0,0,0
$GC,11868,-0.63,-112.4,887.2,-6.4,962,11871,0.00,1.90,0.00,0.000,4,0.000,0.071,2672,3304,3599,0,0,0,0,0,0
$GC,11900,-0.64,-112.4,889.0,-5.7,963,11903,0.00,1.80,0.00,0.000,6,0.000,0.054,2672,2166,3599,0,0,0,0,0,0
$GC,12235,-0.66,-112.4,909.0,-6.0,974,12239,0.00,1.90,0.00,0.000,4,0.000,0.071,2672,3309,3599,0,0,0,0,0,0
$GC,12262,-0.67,-112.4,910.6,-6.4,974,12267,0.08,1.83,0.00,0.000,6,0.063,0.057,2610,2179,3598,0,0,0,0,0,0
$GC,12570,-0.65,-112.4,939.4,-9.6,985,12571,0.12,0.00,0.00,0.000,6,0.161,0.000,2643,2177,3598,0,0,0,0,0,0
$GC,12873,-0.65,-112.4,963.8,-8.0,995,12874,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2177,3598,0,0,0,0,0,0
$GC,13177,-0.65,-112.4,986.3,-7.3,1005,13180,0.00,1.90,0.00,0.000,4,0.000,0.072,2637,3312,3597,0,0,0,0,0,0
$GC,13219,-0.65,-112.4,989.5,-7.9,1006,13223,0.00,1.85,0.00,0.000,6,0.000,0.057,2637,2166,3597,0,0,0,0,0,0
$STATE,13227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13227,begin apogee
$GC,13232,-0.14,0.0,990.5,8.0,1006,13333,0.50,0.00,96.35,1.236,6,0.120,0.000,2802,2000,3150,0,0,0,0,0,0
$STATE,13333,end apogee,CONTROL_FINISHED_OK
$STATE,13333,begin climb
$GC,13336,0.45,112.4,993.1,0.0,1010,13446,0.55,2.22,102.43,1.197,4,0.071,0.064,3007,767,2691,0,0,0,0,0,0
$GC,13488,0.42,112.4,988.2,6.2,1015,13492,0.00,2.12,0.00,0.000,6,0.000,0.058,3007,1994,2688,0,0,0,0,0,0
$GC,13824,0.39,112.4,964.6,6.8,1026,13827,0.00,2.08,0.00,0.000,4,0.000,0.068,3007,3237,2684,0,0,0,0,0,0
$GC,13920,0.35,112.4,956.8,8.4,1029,13923,0.10,2.00,0.00,0.000,6,0.149,0.056,2971,2019,2684,0,0,0,0,0,0
$GC,14257,0.34,131.9,938.3,5.4,1040,14280,0.00,2.08,17.23,1.134,4,0.000,0.069,2971,3237,2612,0,0,0,0,0,0
$GC,14329,0.33,148.4,933.7,5.5,1042,14350,0.00,2.00,16.20,1.118,6,0.000,0.055,2977,2016,2544,0,0,0,0,0,0
$GC,14655,0.32,148.4,913.1,6.4,1053,14655,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2016,2541,0,0,0,0,0,0
$GC,14956,0.31,148.4,893.0,6.8,1063,14960,0.00,2.05,0.00,0.000,4,0.000,0.067,2977,3236,2540,0,0,0,0,0,0
$GC,15037,0.29,148.4,886.8,8.3,1065,15040,0.12,1.95,0.00,0.000,6,0.163,0.056,2953,2016,2540,0,0,0,0,0,0
$GC,15355,0.29,148.4,866.7,6.3,1076,15359,0.00,2.03,0.00,0.000,4,0.000,0.068,2953,3226,2539,0,0,0,0,0,0
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$STATE,28147,end climb,SURFACE_DEPTH_REACHED
$STATE,28148,begin surface coast
$FINISH,1.2,1.000812
$STATE,28216,end surface coast,CONTROL_FINISHED_OK
$STATE,28216,begin surface
$SM_CCo,28292,0.00,0.000,0,0,1710,353.23
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$IRIDIUM_FIX,4726.11,-12536.72,271299,030342
$TT8_MAMPS,0.05369
$HUMID,41.06
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,22.5,61.910
$10V_AH,9.9,60.321
$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,20.525,228.650,414.650,0.000,0.000,56.155,67.879,349.635,0.000,0.000,14.485,0.000,21994.484,593.452,5352.979,1029.334,0.000,2535.532,0.000,4538.007,0.000,0.533,0.000
$DEVICE_MAMPS,233.168,124.254,1236.404,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1596.060,1459.156,1977.302,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298604
$DATA_FILE_SIZE,119902,2197
$CAP_FILE_SIZE,279218,0
$CFSIZE,260165632,218427392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.017, 51.3,1
$GPS,021010,105437,4740.588,-12536.680,33,1.4,33,18.7