version: 66.11
glider: 187
mission: 2
dive: 36
start: 9 20 112 4 29 49
data:
$ID,187
$MISSION,2
$DIVE,36
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,450
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51761
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031000001
$HD_B,0.0093
$HD_C,4.5000001e-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,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-1587663.6
$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,3195
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2175
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2794
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$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,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.06522
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$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
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0043543722
$SEABIRD_T_H,0.00062483409
$SEABIRD_T_I,2.3277114e-05
$SEABIRD_T_J,2.4402393e-06
$SEABIRD_C_G,-9.9786949
$SEABIRD_C_H,1.1107863
$SEABIRD_C_I,-0.0017547003
$SEABIRD_C_J,0.0002234884
$GPS1,200912,042235,4717.021,-12623.584,33,1.0,33,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-80.8
$GPS2,200912,042919,4717.007,-12623.612,16,1.0,16,18.6
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.160,-0.151
$KALMAN_X,28840.3,-242.5,2380.9,-124483.9,-7867.0
$KALMAN_Y,16218.2,688.6,-1323.7,-71650.8,4158.7
$MHEAD_RNG_PITCHd_Wd,209.6,55717,-13.4,-7.333,-18.42
$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,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,80,0.00,0.00,-60.17,0.000,2,0.000,0.000,112,2168,2832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.5,-7.2,10,112,11.23,2.33,-10.57,0.000,4,0.224,0.072,3026,3585,3394,0,0,0,0,0,0,25.46,25.68,26.00
$GC,224,-0.48,-146.0,38.0,-16.0,35,231,0.00,2.17,0.00,0.000,6,0.000,0.044,3027,2169,3398,0,0,0,0,0,0,28.83,25.80,28.83
$GC,537,-0.48,-146.0,83.0,-11.1,96,544,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2163,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,858,-0.48,-146.0,121.8,-11.5,156,862,0.00,2.12,0.00,0.000,4,0.000,0.050,3026,771,3401,0,0,0,0,0,0,28.83,26.02,28.83
$GC,925,-0.48,-146.0,128.5,-10.7,160,934,0.00,2.15,0.00,0.000,6,0.000,0.050,3018,2178,3401,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1236,-0.48,-146.0,163.0,-11.3,181,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2178,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1536,-0.48,-146.0,195.4,-10.6,201,1541,0.00,2.17,0.00,0.000,4,0.000,0.063,3006,3581,3401,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1567,-0.48,-146.0,198.8,-10.8,203,1572,0.12,2.12,0.00,0.000,6,0.140,0.044,3041,2169,3400,0,0,0,0,0,0,26.08,26.17,28.83
$GC,1877,-0.48,-146.0,227.1,-9.1,223,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2167,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2175,-0.48,-146.0,253.4,-8.5,243,2181,0.00,2.22,0.00,0.000,4,0.000,0.063,3032,3584,3400,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2220,-0.48,-146.0,257.3,-8.4,246,2226,0.00,2.10,0.00,0.000,6,0.000,0.045,3033,2179,3400,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2535,-0.48,-146.0,286.6,-9.2,267,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2177,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2835,-0.48,-146.0,314.4,-9.2,287,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2177,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3135,-0.48,-146.0,341.5,-9.0,307,3140,0.00,2.20,0.00,0.000,4,0.000,0.065,3022,3582,3397,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3180,-0.48,-146.0,345.4,-8.7,310,3186,0.00,2.10,0.00,0.000,6,0.000,0.046,3022,2172,3397,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3495,-0.48,-146.0,372.6,-8.4,331,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2169,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3795,-0.48,-146.0,398.2,-8.6,351,3801,0.00,2.22,0.00,0.000,4,0.000,0.065,3011,3586,3395,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3825,-0.48,-146.0,400.9,-8.8,353,3830,0.00,2.15,0.00,0.000,6,0.000,0.047,3012,2164,3396,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4155,-0.48,-146.0,432.6,-9.5,364,4160,0.00,2.25,0.00,0.000,4,0.000,0.066,3002,3588,3395,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4185,-0.48,-146.0,435.5,-9.6,365,4192,0.15,2.12,0.00,0.000,6,0.135,0.047,3045,2172,3395,0,0,0,0,0,0,26.26,26.35,28.83
$GC,4515,-0.48,-146.0,459.8,-7.0,376,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2169,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4816,-0.48,-146.0,479.0,-6.1,386,4821,0.00,2.25,0.00,0.000,4,0.000,0.067,3037,3592,3394,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4875,-0.48,-146.0,482.8,-6.2,388,4881,0.00,2.12,0.00,0.000,6,0.000,0.047,3036,2179,3393,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5205,-0.48,-146.0,504.0,-6.6,399,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2176,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5505,-0.48,-146.0,524.3,-6.9,409,5511,0.00,2.20,0.00,0.000,4,0.000,0.067,3026,3586,3392,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5536,-0.48,-146.0,526.6,-7.2,410,5541,0.00,2.12,0.00,0.000,6,0.000,0.048,3026,2168,3392,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5865,-0.48,-146.0,553.0,-8.2,421,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2166,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6165,-0.48,-146.0,576.8,-7.9,431,6170,0.00,2.22,0.00,0.000,4,0.000,0.067,3016,3581,3391,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6228,-0.48,-146.0,581.9,-8.2,433,6232,0.00,2.15,0.00,0.000,6,0.000,0.048,3016,2162,3391,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6550,-0.48,-146.0,609.0,-8.3,444,6556,0.00,2.25,0.00,0.000,4,0.000,0.067,3006,3589,3390,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6580,-0.48,-146.0,611.6,-8.4,445,6587,0.12,2.15,0.00,0.000,6,0.139,0.048,3042,2168,3390,0,0,0,0,0,0,26.32,26.39,28.83
$GC,6911,-0.48,-146.0,633.2,-6.3,456,6912,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2166,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7211,-0.48,-146.0,652.0,-6.3,466,7216,0.00,2.22,0.00,0.000,4,0.000,0.068,3034,3584,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7273,-0.48,-146.0,656.2,-6.6,468,7277,0.00,2.15,0.00,0.000,6,0.000,0.049,3034,2165,3389,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7596,-0.48,-146.0,679.2,-7.2,479,7602,0.00,2.22,0.00,0.000,4,0.000,0.068,3023,3582,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7644,-0.48,-146.0,681.4,-7.3,480,7648,0.00,2.15,0.00,0.000,6,0.000,0.049,3023,2166,3388,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7951,-0.48,-146.0,706.4,-7.6,490,7956,0.00,2.22,0.00,0.000,4,0.000,0.068,3013,3582,3388,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8003,-0.48,-146.0,708.7,-7.5,491,8010,0.00,2.15,0.00,0.000,6,0.000,0.049,3013,2164,3388,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8311,-0.48,-146.0,734.4,-7.6,502,8317,0.00,2.25,0.00,0.000,4,0.000,0.068,3003,3581,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8340,-0.48,-146.0,736.8,-7.8,503,8347,0.12,2.15,0.00,0.000,6,0.141,0.050,3038,2166,3387,0,0,0,0,0,0,26.32,26.41,28.83
$GC,8671,-0.48,-146.0,758.4,-6.5,514,8677,0.00,2.22,0.00,0.000,4,0.000,0.068,3030,3582,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8704,-0.48,-146.0,760.3,-6.5,515,8708,0.00,2.15,0.00,0.000,6,0.000,0.050,3030,2168,3387,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9027,-0.48,-146.0,783.4,-7.2,526,9032,0.00,2.20,0.00,0.000,4,0.000,0.069,3020,3577,3386,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9064,-0.48,-146.0,785.8,-7.3,527,9068,0.00,2.12,0.00,0.000,6,0.000,0.050,3020,2174,3386,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9381,-0.48,-146.0,811.3,-7.8,538,9387,0.00,2.20,0.00,0.000,4,0.000,0.069,3010,3577,3386,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9424,-0.48,-146.0,813.7,-7.8,539,9429,0.12,2.15,0.00,0.000,6,0.137,0.050,3045,2164,3386,0,0,0,0,0,0,26.33,26.41,28.83
$GC,9738,-0.48,-146.0,834.1,-5.8,550,9743,0.00,2.25,0.00,0.000,4,0.000,0.070,3038,3583,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9770,-0.48,-146.0,835.9,-5.8,551,9774,0.00,2.15,0.00,0.000,6,0.000,0.050,3037,2169,3385,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10098,-0.48,-146.0,855.8,-5.9,562,10104,0.00,2.22,0.00,0.000,4,0.000,0.069,3027,3582,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10136,-0.48,-146.0,857.6,-5.9,563,10140,0.00,2.15,0.00,0.000,6,0.000,0.050,3027,2169,3385,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10453,-0.48,-146.0,878.4,-6.3,574,10459,0.00,2.20,0.00,0.000,4,0.000,0.069,3017,3575,3384,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10491,-0.48,-146.0,880.4,-6.4,575,10495,0.00,2.12,0.00,0.000,6,0.000,0.050,3017,2172,3384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10809,-0.48,-146.0,903.0,-6.9,586,10812,0.00,2.25,0.00,0.000,4,0.000,0.070,3007,3582,3384,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10834,-0.48,-146.0,903.0,-6.9,586,10842,0.12,2.15,0.00,0.000,6,0.138,0.050,3043,2167,3384,0,0,0,0,0,0,26.33,26.41,28.83
$GC,11141,-0.48,-146.0,922.5,-5.8,597,11142,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2166,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11441,-0.48,-146.0,939.7,-5.8,607,11446,0.00,2.25,0.00,0.000,4,0.000,0.070,3035,3580,3384,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11471,-0.48,-146.0,941.5,-5.9,608,11477,0.00,2.12,0.00,0.000,6,0.000,0.050,3035,2175,3384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11801,-0.48,-146.0,962.3,-6.2,619,11802,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2172,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12101,-0.48,-146.0,981.4,-6.5,629,12104,0.00,2.25,0.00,0.000,4,0.000,0.071,3025,3584,3383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12163,-0.48,-146.0,985.8,-6.7,631,12168,0.00,2.12,0.00,0.000,6,0.000,0.050,3025,2177,3383,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,12250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12250,begin apogee
$GC,12257,-0.22,0.0,992.1,-7.1,634,12389,0.28,0.00,126.32,1.208,6,0.118,0.000,3120,2306,2794,0,0,0,0,0,0,26.34,28.83,23.61
$STATE,12392,end apogee,CONTROL_FINISHED_OK
$STATE,12392,begin climb
$GC,12395,0.48,146.0,996.1,0.0,638,12538,0.65,2.45,133.68,1.176,4,0.083,0.067,3341,3706,2196,0,0,0,0,0,0,24.53,24.09,23.32
$GC,12559,0.49,167.2,987.8,6.5,644,12584,0.00,2.33,19.80,1.086,6,0.000,0.050,3352,2305,2112,0,0,0,0,0,0,28.83,24.49,23.49
$GC,12909,0.49,167.2,953.2,9.5,656,12915,0.00,2.25,0.00,0.000,4,0.000,0.059,3362,900,2103,0,0,0,0,0,0,28.83,25.34,28.83
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$STATE,23336,end climb,SURFACE_DEPTH_REACHED
$STATE,23336,begin surface coast
$FINISH,0.7,1.000358
$STATE,23383,end surface coast,CONTROL_FINISHED_OK
$STATE,23383,begin surface
$SM_CCo,23463,0.00,0.000,0,0,1344,355.44
$SM_GC,1.60,8.38,0.22,0.00,0.031,0.068,0.000,113,2165,1344,-9.47,0.76,355.44,0,0,0,0,0,0,25.84,25.82,28.83
$IRIDIUM_FIX,4654.38,-12746.67,190912,212108
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.87
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.3,7.486
$10V_AH,10.2,6.722
$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,21.725,172.350,438.100,0.000,0.000,27.270,35.759,209.552,0.000,0.000,17.551,3588.252,16294.986,533.851,3063.829,376.252,0.000,1984.768,0.000,2760.112,0.000,0.535,0.000
$DEVICE_MAMPS,224.145,88.740,1207.935,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,954.705,1121.195,641.043,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297116
$DATA_FILE_SIZE,76844,1384
$CAP_FILE_SIZE,194740,0
$CFSIZE,260165632,254103552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083, 28.1,1
$GPS,200912,110205,4715.613,-12626.937,35,1.2,35,18.6