version: 66.11
glider: 187
mission: 2
dive: 254
start: 11 11 112 0 22 38
data:
$ID,187
$MISSION,2
$DIVE,254
$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,-1588075.4
$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,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,24
$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
$GPS1,111112,001524,4718.516,-12618.196,43,0.9,43,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-77.6
$GPS2,111112,002206,4718.491,-12618.150,12,1.1,17,18.6
$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,211.8,62983,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,73,0.00,0.00,-54.35,0.000,2,0.000,0.000,105,2197,2628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.48,-146.0,3.0,-2.8,9,117,11.50,2.35,-17.83,0.000,4,0.220,0.076,3023,3604,3393,0,0,0,0,0,0,24.99,25.44,26.01
$GC,194,-0.48,-146.0,26.2,-19.7,29,200,0.00,2.20,0.00,0.000,6,0.000,0.044,3023,2191,3394,0,0,0,0,0,0,28.83,25.57,28.83
$GC,510,-0.48,-146.0,75.0,-13.8,90,516,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2184,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,821,-0.48,-146.0,115.2,-10.4,151,828,0.00,2.15,0.00,0.000,4,0.000,0.050,3023,793,3397,0,0,0,0,0,0,28.83,25.66,28.83
$GC,871,-0.48,-146.0,120.4,-10.4,160,877,0.00,2.22,0.00,0.000,6,0.000,0.050,3013,2211,3397,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1188,-0.48,-146.0,154.4,-11.0,181,1193,0.00,2.17,0.00,0.000,4,0.000,0.050,3013,799,3397,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1279,-0.48,-146.0,164.7,-11.2,187,1284,0.12,2.20,0.00,0.000,6,0.148,0.050,3038,2211,3397,0,0,0,0,0,0,25.58,25.74,28.83
$GC,1590,-0.48,-146.0,192.8,-8.5,207,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2211,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1899,-0.48,-146.0,218.8,-8.3,224,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2211,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2197,-0.48,-146.0,243.6,-8.4,239,2200,0.00,2.22,0.00,0.000,4,0.000,0.050,3039,784,3397,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2252,-0.48,-146.0,247.2,-8.3,241,2259,0.00,2.22,0.00,0.000,6,0.000,0.050,3031,2204,3397,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2558,-0.48,-146.0,276.0,-9.0,257,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2204,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2861,-0.48,-146.0,302.7,-8.7,272,2866,0.00,2.15,0.00,0.000,4,0.000,0.050,3031,798,3396,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2889,-0.48,-146.0,304.6,-8.7,273,2898,0.00,2.17,0.00,0.000,6,0.000,0.050,3022,2202,3396,0,0,0,0,0,0,28.83,25.81,28.83
$GC,3199,-0.48,-146.0,333.7,-8.7,289,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2202,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3500,-0.48,-146.0,359.2,-8.2,304,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2202,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3799,-0.48,-146.0,383.4,-7.9,319,3805,0.00,2.20,0.00,0.000,4,0.000,0.052,3022,782,3395,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3842,-0.48,-146.0,386.8,-8.1,321,3846,0.00,2.20,0.00,0.000,6,0.000,0.052,3013,2199,3395,0,0,0,0,0,0,28.83,25.80,28.83
$GC,4175,-0.48,-146.0,416.6,-9.1,335,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2198,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4474,-0.48,-146.0,444.1,-9.1,345,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2199,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4774,-0.48,-146.0,472.2,-9.2,355,4778,0.00,2.20,0.00,0.000,4,0.000,0.053,3013,786,3393,0,0,0,0,0,0,28.83,25.78,28.83
$GC,4799,-0.48,-146.0,472.2,-9.2,355,4807,0.12,2.20,0.00,0.000,6,0.142,0.053,3040,2198,3393,0,0,0,0,0,0,25.66,25.79,28.83
$GC,5107,-0.48,-146.0,497.1,-7.3,366,5110,0.00,2.28,0.00,0.000,4,0.000,0.067,3031,3609,3392,0,0,0,0,0,0,28.83,25.66,28.83
$GC,5152,-0.48,-146.0,499.5,-7.2,367,5156,0.00,2.17,0.00,0.000,6,0.000,0.047,3031,2190,3392,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5465,-0.48,-146.0,524.6,-7.7,378,5470,0.00,2.12,0.00,0.000,4,0.000,0.054,3031,804,3391,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5517,-0.48,-146.0,526.9,-7.7,379,5524,0.00,2.17,0.00,0.000,6,0.000,0.053,3022,2200,3391,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5824,-0.48,-146.0,553.6,-8.0,390,5830,0.00,2.25,0.00,0.000,4,0.000,0.066,3012,3607,3391,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5867,-0.48,-146.0,556.1,-8.0,391,5871,0.00,2.17,0.00,0.000,6,0.000,0.047,3012,2192,3390,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6180,-0.48,-146.0,584.7,-8.9,402,6185,0.00,2.12,0.00,0.000,4,0.000,0.054,3012,809,3390,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6217,-0.48,-146.0,587.5,-9.0,403,6222,0.12,2.17,0.00,0.000,6,0.143,0.054,3039,2202,3390,0,0,0,0,0,0,25.64,25.77,28.83
$GC,6536,-0.48,-146.0,610.4,-6.7,414,6541,0.00,2.22,0.00,0.000,4,0.000,0.067,3030,3602,3390,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6578,-0.48,-146.0,612.5,-6.7,415,6582,0.00,2.17,0.00,0.000,6,0.000,0.047,3030,2200,3390,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6896,-0.48,-146.0,636.4,-7.3,426,6897,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2198,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7197,-0.48,-146.0,657.7,-7.1,436,7198,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2198,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7496,-0.48,-146.0,679.0,-7.3,446,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2197,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7796,-0.48,-146.0,700.7,-7.4,456,7801,0.00,2.33,0.00,0.000,4,0.000,0.067,3020,3613,3388,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7828,-0.48,-146.0,702.8,-7.4,457,7832,0.00,2.22,0.00,0.000,6,0.000,0.048,3020,2189,3387,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8156,-0.48,-146.0,728.3,-7.7,468,8157,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2187,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8455,-0.48,-146.0,752.0,-7.9,478,8457,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2187,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8756,-0.48,-146.0,774.4,-7.4,488,8757,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2187,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9056,-0.48,-146.0,796.2,-7.3,498,9057,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2187,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9356,-0.48,-146.0,817.9,-7.2,508,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2187,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9656,-0.48,-146.0,839.5,-7.1,518,9661,0.00,2.33,0.00,0.000,4,0.000,0.067,3010,3609,3386,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9689,-0.48,-146.0,841.8,-7.3,519,9694,0.12,2.20,0.00,0.000,6,0.128,0.048,3046,2200,3385,0,0,0,0,0,0,25.70,25.84,28.83
$GC,10012,-0.48,-146.0,860.6,-5.6,530,10013,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2199,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10312,-0.48,-146.0,876.8,-5.5,540,10313,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2199,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10612,-0.48,-146.0,892.8,-5.4,550,10618,0.00,2.33,0.00,0.000,4,0.000,0.069,3038,3614,3385,0,0,0,0,0,0,28.83,25.54,28.83
$GC,10651,-0.48,-146.0,894.5,-5.4,551,10657,0.00,2.20,0.00,0.000,6,0.000,0.050,3038,2203,3385,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10972,-0.48,-146.0,914.5,-6.1,562,10978,0.00,2.20,0.00,0.000,4,0.000,0.057,3038,792,3384,0,0,0,0,0,0,28.83,25.65,28.83
$GC,10995,-0.48,-146.0,914.5,-6.1,562,11002,0.00,2.25,0.00,0.000,6,0.000,0.056,3030,2205,3384,0,0,0,0,0,0,28.83,25.68,28.83
$GC,11302,-0.48,-146.0,935.2,-6.2,573,11308,0.00,2.30,0.00,0.000,4,0.000,0.069,3020,3616,3384,0,0,0,0,0,0,28.83,25.53,28.83
$GC,11362,-0.48,-146.0,939.1,-6.3,575,11367,0.00,2.20,0.00,0.000,6,0.000,0.050,3019,2198,3384,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11692,-0.48,-146.0,961.1,-6.7,586,11694,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2196,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11992,-0.48,-146.0,980.8,-6.5,596,11993,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2196,3384,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12139,begin apogee
$GC,12146,-0.22,0.0,990.7,-6.7,601,12281,0.30,0.00,127.80,1.182,6,0.112,0.000,3123,2337,2794,0,0,0,0,0,0,25.71,28.83,23.41
$STATE,12282,end apogee,CONTROL_FINISHED_OK
$STATE,12282,begin climb
$GC,12284,0.48,146.0,994.2,0.0,605,12426,0.65,0.00,137.75,1.145,6,0.077,0.000,3346,2337,2198,0,0,0,0,0,0,24.45,28.83,22.53
$GC,12707,0.48,146.0,962.4,8.9,620,12713,0.00,2.38,0.00,0.000,4,0.000,0.069,3346,3733,2188,0,0,0,0,0,0,28.83,24.72,28.83
$GC,12736,0.48,146.0,959.4,9.2,621,12743,0.00,2.33,0.00,0.000,6,0.000,0.050,3356,2325,2188,0,0,0,0,0,0,28.83,24.91,28.83
$GC,13067,0.48,146.0,928.6,9.2,632,13072,0.00,2.33,0.00,0.000,4,0.000,0.068,3356,3725,2186,0,0,0,0,0,0,28.83,25.21,28.83
$GC,13099,0.48,146.0,925.5,9.4,633,13104,0.00,2.25,0.00,0.000,6,0.000,0.050,3367,2324,2186,0,0,0,0,0,0,28.83,25.37,28.83
$GC,13422,0.48,146.0,892.1,10.1,644,13427,0.00,2.30,0.00,0.000,4,0.000,0.069,3367,3723,2185,0,0,0,0,0,0,28.83,25.39,28.83
$GC,13452,0.48,146.0,888.7,10.5,645,13457,0.00,2.25,0.00,0.000,6,0.000,0.050,3378,2319,2185,0,0,0,0,0,0,28.83,25.55,28.83
$GC,13783,0.48,146.0,851.9,11.3,656,13788,0.00,2.35,0.00,0.000,4,0.000,0.069,3378,3728,2185,0,0,0,0,0,0,28.83,25.46,28.83
$GC,13814,0.48,146.0,848.2,11.5,657,13819,0.15,2.25,0.00,0.000,6,0.164,0.051,3351,2325,2184,0,0,0,0,0,0,25.35,25.64,28.83
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$STATE,24014,end climb,SURFACE_DEPTH_REACHED
$STATE,24014,begin surface coast
$FINISH,1.3,1.010855
$STATE,24048,end surface coast,CONTROL_FINISHED_OK
$STATE,24048,begin surface
$SM_CCo,24128,0.00,0.000,0,0,1098,416.03
$SM_GC,1.96,8.43,0.20,0.00,0.031,0.073,0.000,112,2189,1098,-9.46,1.10,416.03,0,0,0,0,0,0,25.65,25.60,28.83
$IRIDIUM_FIX,4703.87,-12610.28,101112,171759
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.84
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,14.50
$XPDR_PINGS,3
$24V_AH,22.5,35.838
$10V_AH,10.1,29.873
$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,22.150,179.975,487.100,0.000,0.000,28.466,39.816,197.240,0.750,0.000,20.177,3482.996,17059.752,593.933,2959.812,424.792,0.000,2024.129,0.000,2678.115,0.000,0.535,0.000
$DEVICE_MAMPS,220.320,84.150,1181.925,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,922.525,776.421,540.104,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296768
$DATA_FILE_SIZE,76784,1341
$CAP_FILE_SIZE,193124,0
$CFSIZE,260165632,236670976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037, 19.0,1
$GPS,111112,070606,4716.833,-12621.825,42,1.1,42,18.6