version: 66.06
glider: 187
mission: 2
dive: 618
start: 10 8 110 21 41 19
data:
$ID,187
$MISSION,2
$DIVE,618
$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,-36882.332
$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,32
$R_STBD_OVSHOOT,26
$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
$GPS1,211701,4756.254,-12526.044,41,1.6,41,18.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-65.9
$GPS2,214114,4756.302,-12525.908,13,1.4,13,18.8
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,CANYON
$TGT_LATLONG,4801.600,-12521.000
$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,12.3,11543,-13.9,-6.111
$D_GRID,496
$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,14,-0.45,-112.4,0.0,0.0,0,115,0.00,0.00,-99.18,0.000,2,0.000,0.000,130,2068,2902,0,0,0,0,0,0
$GC,118,-0.45,-112.4,3.5,-3.1,18,151,10.55,2.03,-16.42,0.000,4,0.232,0.077,2691,3301,3611,0,0,0,0,0,0
$GC,391,-0.45,-112.4,38.5,-10.2,69,397,0.00,1.92,0.00,0.000,6,0.000,0.047,2691,2077,3613,0,0,0,0,0,0
$GC,717,-0.45,-112.4,69.6,-9.7,130,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2073,3614,0,0,0,0,0,0
$GC,1044,-0.45,-112.4,100.1,-8.8,191,1046,0.00,1.95,0.00,0.000,4,0.000,0.061,2683,3309,3613,0,0,0,0,0,0
$GC,1080,-0.45,-112.4,103.7,-9.9,194,1085,0.00,1.92,0.00,0.000,6,0.000,0.047,2684,2080,3613,0,0,0,0,0,0
$GC,1395,-0.45,-112.4,133.3,-9.2,225,1399,0.00,2.00,0.00,0.000,4,0.000,0.063,2676,3302,3612,0,0,0,0,0,0
$GC,1448,-0.45,-112.4,138.0,-8.7,230,1452,0.08,1.85,0.00,0.000,6,0.114,0.047,2705,2119,3611,0,0,0,0,0,0
$GC,1769,-0.46,-112.4,159.8,-7.0,261,1773,0.00,2.00,0.00,0.000,4,0.000,0.055,2705,848,3610,0,0,0,0,0,0
$GC,1899,-0.48,-112.4,169.0,-8.0,273,1902,0.00,1.92,0.00,0.000,6,0.000,0.054,2705,2097,3611,0,0,0,0,0,0
$GC,2220,-0.48,-112.4,195.0,-8.8,304,2223,0.00,1.92,0.00,0.000,4,0.000,0.064,2704,3310,3609,0,0,0,0,0,0
$GC,2342,-0.50,-112.4,205.4,-8.3,315,2348,0.00,1.85,0.00,0.000,6,0.000,0.048,2704,2123,3608,0,0,0,0,0,0
$GC,2658,-0.51,-112.4,229.6,-7.4,346,2661,0.00,1.92,0.00,0.000,4,0.000,0.065,2698,3312,3607,0,0,0,0,0,0
$GC,2695,-0.53,-112.4,232.6,-7.7,349,2700,0.00,1.80,0.00,0.000,6,0.000,0.049,2698,2165,3607,0,0,0,0,0,0
$GC,3010,-0.53,-112.4,257.4,-7.9,380,3014,0.00,2.08,0.00,0.000,4,0.000,0.056,2698,852,3606,0,0,0,0,0,0
$GC,3129,-0.54,-112.4,266.7,-8.2,391,3132,0.00,2.05,0.00,0.000,6,0.000,0.054,2696,2168,3605,0,0,0,0,0,0
$GC,3449,-0.54,-112.4,289.5,-6.5,422,3452,0.00,1.88,0.00,0.000,4,0.000,0.065,2692,3308,3605,0,0,0,0,0,0
$GC,3562,-0.55,-112.4,296.0,-5.7,432,3568,0.00,1.80,0.00,0.000,6,0.000,0.051,2692,2166,3604,0,0,0,0,0,0
$GC,3877,-0.55,-112.4,316.7,-7.3,463,3880,0.00,1.88,0.00,0.000,4,0.000,0.066,2692,3319,3604,0,0,0,0,0,0
$GC,3947,-0.57,-112.4,321.3,-6.9,469,3951,0.00,1.77,0.00,0.000,6,0.000,0.051,2691,2179,3603,0,0,0,0,0,0
$GC,4261,-0.57,-112.4,343.3,-7.1,500,4265,0.00,2.12,0.00,0.000,4,0.000,0.058,2691,845,3602,0,0,0,0,0,0
$GC,4373,-0.57,-112.4,351.7,-7.4,510,4379,0.00,2.10,0.00,0.000,6,0.000,0.056,2692,2163,3602,0,0,0,0,0,0
$GC,4690,-0.57,-112.4,375.5,-8.5,541,4693,0.00,1.85,0.00,0.000,4,0.000,0.067,2692,3315,3601,0,0,0,0,0,0
$GC,4802,-0.59,-112.4,384.3,-8.1,551,4806,0.00,1.75,0.00,0.000,6,0.000,0.051,2691,2189,3601,0,0,0,0,0,0
$GC,5116,-0.59,-112.4,410.6,-8.2,582,5120,0.00,1.83,0.00,0.000,4,0.000,0.066,2691,3308,3600,0,0,0,0,0,0
$GC,5165,-0.61,-112.4,414.4,-7.5,586,5170,0.08,1.70,0.00,0.000,6,0.062,0.051,2640,2234,3600,0,0,0,0,0,0
$GC,5480,-0.60,-112.4,446.8,-10.2,617,5483,0.00,1.75,0.00,0.000,4,0.000,0.066,2632,3311,3599,0,0,0,0,0,0
$GC,5544,-0.60,-112.4,452.8,-9.0,623,5547,0.00,1.67,0.00,0.000,6,0.000,0.051,2633,2253,3599,0,0,0,0,0,0
$GC,5864,-0.58,-112.4,482.9,-9.6,654,5868,0.12,1.75,0.00,0.000,4,0.162,0.067,2662,3310,3599,0,0,0,0,0,0
$GC,5940,-0.58,-112.4,488.8,-7.4,661,5943,0.00,1.62,0.00,0.000,6,0.000,0.052,2662,2284,3599,0,0,0,0,0,0
$STATE,6032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6032,begin apogee
$GC,6037,-0.14,0.0,496.6,8.5,670,6133,0.45,0.00,90.53,0.903,6,0.115,0.000,2808,1999,3150,0,0,0,0,0,0
$STATE,6134,end apogee,CONTROL_FINISHED_OK
$STATE,6134,begin climb
$GC,6137,0.45,112.4,500.5,0.0,680,6238,0.52,2.10,93.97,0.879,4,0.074,0.060,3006,773,2690,0,0,0,0,0,0
$GC,6271,0.47,167.9,500.5,4.1,693,6325,0.00,2.03,48.28,0.858,6,0.000,0.054,3006,1994,2464,0,0,0,0,0,0
$GC,6642,0.45,167.9,476.7,7.4,729,6645,0.00,2.03,0.00,0.000,4,0.000,0.064,3005,3225,2458,0,0,0,0,0,0
$GC,6685,0.43,167.9,473.1,8.2,733,6688,0.00,1.92,0.00,0.000,6,0.000,0.054,3013,2037,2457,0,0,0,0,0,0
$GC,7005,0.42,167.9,449.6,7.5,764,7009,0.00,2.05,0.00,0.000,4,0.000,0.064,3021,765,2457,0,0,0,0,0,0
$GC,7124,0.41,167.9,441.0,7.5,775,7127,0.12,1.98,0.00,0.000,6,0.153,0.058,2988,2028,2457,0,0,0,0,0,0
$GC,7444,0.42,195.0,421.6,5.1,806,7469,0.00,2.03,21.95,0.834,4,0.000,0.061,2993,760,2357,0,0,0,0,0,0
$GC,7528,0.42,195.0,416.4,6.8,813,7534,0.00,1.95,0.00,0.000,6,0.000,0.057,2993,1976,2355,0,0,0,0,0,0
$GC,7844,0.42,195.0,396.4,6.2,844,7847,0.00,2.03,0.00,0.000,4,0.000,0.064,2993,3236,2354,0,0,0,0,0,0
$GC,7913,0.42,195.0,391.4,7.6,850,7918,0.00,2.00,0.00,0.000,6,0.000,0.052,2999,1973,2353,0,0,0,0,0,0
$GC,8228,0.42,195.0,370.7,8.0,881,8231,0.00,1.95,0.00,0.000,4,0.000,0.062,3004,768,2353,0,0,0,0,0,0
$GC,8351,0.42,195.0,361.5,7.4,892,8357,0.00,1.88,0.00,0.000,6,0.000,0.057,3004,1958,2353,0,0,0,0,0,0
$GC,8666,0.42,195.0,337.9,7.2,923,8669,0.00,2.08,0.00,0.000,4,0.000,0.064,3004,3225,2352,0,0,0,0,0,0
$GC,8746,0.42,195.0,331.3,9.0,930,8752,0.00,2.03,0.00,0.000,6,0.000,0.054,3012,1961,2352,0,0,0,0,0,0
$GC,9062,0.42,195.0,308.7,6.7,961,9065,0.00,1.92,0.00,0.000,4,0.000,0.063,3019,759,2351,0,0,0,0,0,0
$GC,9159,0.42,195.0,301.9,7.1,970,9162,0.00,1.83,0.00,0.000,6,0.000,0.055,3019,1938,2351,0,0,0,0,0,0
$GC,9479,0.41,195.0,277.9,7.4,1001,9480,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1938,2351,0,0,0,0,0,0
$GC,9792,0.40,195.0,253.9,7.3,1031,9795,0.12,1.90,0.00,0.000,4,0.153,0.064,2987,754,2350,0,0,0,0,0,0
$GC,9813,0.40,195.0,252.4,6.2,1033,9816,0.00,1.80,0.00,0.000,6,0.000,0.057,2987,1916,2350,0,0,0,0,0,0
$GC,10133,0.40,195.0,233.0,6.2,1064,10137,0.00,2.12,0.00,0.000,4,0.000,0.064,2987,3223,2350,0,0,0,0,0,0
$GC,10273,0.40,195.0,222.1,8.0,1077,10276,0.00,2.03,0.00,0.000,6,0.000,0.054,2991,1929,2350,0,0,0,0,0,0
$GC,10588,0.40,195.0,201.5,6.2,1107,10592,0.00,1.90,0.00,0.000,4,0.000,0.064,2991,760,2350,0,0,0,0,0,0
$GC,10635,0.41,195.0,198.6,6.4,1111,10641,0.00,1.83,0.00,0.000,6,0.000,0.055,2991,1913,2350,0,0,0,0,0,0
$GC,10951,0.41,195.0,179.1,6.2,1142,10954,0.00,2.12,0.00,0.000,4,0.000,0.064,2991,3227,2350,0,0,0,0,0,0
$GC,11133,0.41,195.0,166.4,6.9,1159,11136,0.00,2.05,0.00,0.000,6,0.000,0.054,2993,1947,2349,0,0,0,0,0,0
$GC,11453,0.43,222.3,149.7,5.1,1190,11477,0.00,0.00,23.38,0.684,6,0.000,0.000,2993,1947,2243,0,0,0,0,0,0
$GC,11784,0.43,222.3,129.0,6.3,1222,11787,0.00,1.85,0.00,0.000,4,0.000,0.063,2993,763,2239,0,0,0,0,0,0
$GC,11831,0.44,222.3,126.1,6.2,1226,11837,0.00,1.90,0.00,0.000,6,0.000,0.055,2993,1958,2239,0,0,0,0,0,0
$GC,12147,0.46,222.3,105.8,6.7,1257,12151,0.00,2.08,0.00,0.000,4,0.000,0.064,2993,3235,2239,0,0,0,0,0,0
$GC,12298,0.46,222.3,96.0,6.4,1276,12305,0.00,1.98,0.00,0.000,6,0.000,0.054,2994,1997,2238,0,0,0,0,0,0
$GC,12627,0.49,258.5,81.1,4.8,1337,12664,0.00,2.05,29.73,0.644,4,0.000,0.065,2994,3229,2094,0,0,0,0,0,0
$GC,12715,0.51,258.5,76.0,6.4,1353,12721,0.00,1.95,0.00,0.000,6,0.000,0.054,2995,2019,2091,0,0,0,0,0,0
$GC,13044,0.57,316.8,58.4,4.0,1414,13100,0.12,2.05,47.92,0.626,4,0.096,0.062,3055,771,1857,0,0,0,0,0,0
$GC,13191,0.57,317.5,49.7,6.1,1441,13197,0.00,1.95,0.00,0.000,6,0.000,0.055,3055,1983,1853,0,0,0,0,0,0
$GC,13520,0.60,342.9,26.9,5.2,1502,13548,0.00,2.05,21.35,0.598,4,0.000,0.065,3055,3226,1751,0,0,0,0,0,0
$GC,13645,0.65,371.4,21.5,5.1,1525,13673,0.00,1.98,23.75,0.589,6,0.000,0.053,3055,1999,1636,0,0,0,0,0,0
$STATE,13966,end climb,SURFACE_DEPTH_REACHED
$STATE,13966,begin surface coast
$FINISH,1.1,1.023917
$STATE,14008,end surface coast,CONTROL_FINISHED_OK
$STATE,14008,begin surface
$SM_CCo,14085,0.00,0.000,0,0,1625,373.84
$SM_GC,1.93,7.72,0.00,0.00,0.042,0.000,0.000,149,2086,1625,-8.39,0.31,373.84
$IRIDIUM_FIX,4738.89,-12529.27,020100,212143
$TT8_MAMPS,0.052156
$HUMID,41.92
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,23.5,65.304
$10V_AH,9.9,64.107
$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,19.900,120.600,400.850,0.000,0.000,129.865,216.120,652.891,0.000,0.000,13.726,0.000,9665.423,486.048,3900.227,1441.716,0.000,1868.664,0.000,3392.043,0.000,0.535,0.000
$DEVICE_MAMPS,232.401,103.545,902.759,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1094.522,1256.771,1846.580,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298340
$DATA_FILE_SIZE,88705,1593
$CAP_FILE_SIZE,185841,0
$CFSIZE,260165632,215941120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,219.6,1
$GPS,091010,013800,4756.574,-12525.504,97,1.0,97,18.8