version: 66.11
glider: 187
mission: 2
dive: 336
start: 12 1 112 4 5 54
data:
$ID,187
$MISSION,2
$DIVE,336
$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,470
$T_MISSION,520
$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,140
$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,-1588187.2
$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,46
$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
$GPS1,011212,035720,4711.123,-12634.249,80,2.4,99,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-75.5
$GPS2,011212,040523,4711.142,-12634.130,43,1.8,43,18.6
$SPEED_LIMITS,0.122,0.210
$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,227.0,38646,-13.3,-7.021,-18.50
$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,-0.47,-136.3,0.0,0.0,0,86,0.00,0.00,-66.45,0.000,2,0.000,0.000,108,2191,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.47,-136.3,3.7,-5.3,11,117,11.60,2.25,-9.15,0.000,4,0.222,0.064,3033,804,3352,0,0,0,0,0,0,24.89,25.56,26.13
$GC,181,-0.47,-136.3,27.9,-17.5,27,188,0.00,2.22,0.00,0.000,6,0.000,0.050,3025,2198,3354,0,0,0,0,0,0,28.83,25.56,28.83
$GC,498,-0.47,-136.3,78.0,-13.2,88,504,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2198,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,814,-0.47,-136.3,118.9,-11.7,149,822,0.00,2.25,0.00,0.000,4,0.000,0.061,3014,3610,3357,0,0,0,0,0,0,28.83,25.60,28.83
$GC,873,-0.47,-136.3,124.9,-11.9,154,880,0.00,2.17,0.00,0.000,6,0.000,0.042,3014,2201,3357,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1182,-0.47,-136.3,161.8,-11.8,175,1187,0.00,2.12,0.00,0.000,4,0.000,0.050,3014,807,3357,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1241,-0.47,-136.3,169.1,-12.1,179,1247,0.10,2.15,0.00,0.000,6,0.154,0.050,3039,2202,3357,0,0,0,0,0,0,25.60,25.74,28.83
$GC,1560,-0.47,-136.3,197.6,-8.4,200,1565,0.00,2.20,0.00,0.000,4,0.000,0.062,3031,3604,3357,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1659,-0.47,-136.3,206.8,-9.0,206,1665,0.00,2.12,0.00,0.000,6,0.000,0.042,3031,2198,3357,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1980,-0.47,-136.3,237.4,-9.5,222,1984,0.00,2.15,0.00,0.000,4,0.000,0.050,3031,802,3357,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2015,-0.47,-136.3,239.5,-9.7,223,2021,0.00,2.17,0.00,0.000,6,0.000,0.050,3026,2204,3357,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2322,-0.47,-136.3,270.7,-9.8,239,2327,0.00,2.25,0.00,0.000,4,0.000,0.062,3015,3619,3356,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2355,-0.47,-136.3,272.8,-9.9,240,2362,0.00,2.17,0.00,0.000,6,0.000,0.044,3015,2197,3357,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2662,-0.47,-136.3,305.4,-10.0,256,2667,0.00,2.15,0.00,0.000,4,0.000,0.050,3015,803,3356,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2715,-0.47,-136.3,309.4,-10.1,258,2722,0.12,2.17,0.00,0.000,6,0.138,0.050,3042,2206,3356,0,0,0,0,0,0,25.63,25.75,28.83
$GC,3024,-0.47,-136.3,336.3,-8.1,274,3029,0.00,2.22,0.00,0.000,4,0.000,0.063,3033,3608,3356,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3104,-0.47,-136.3,343.2,-8.6,278,3110,0.00,2.15,0.00,0.000,6,0.000,0.044,3033,2196,3356,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3424,-0.47,-136.3,370.2,-8.3,294,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2192,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3725,-0.47,-136.3,394.5,-8.2,309,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2193,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4043,-0.47,-136.3,419.9,-7.9,321,4048,0.00,2.28,0.00,0.000,4,0.000,0.063,3023,3609,3353,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4086,-0.47,-136.3,422.4,-7.9,322,4090,0.00,2.17,0.00,0.000,6,0.000,0.045,3023,2194,3352,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4398,-0.47,-136.3,449.3,-8.2,333,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2190,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4698,-0.47,-136.3,473.5,-8.1,343,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2190,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4998,-0.47,-136.3,497.7,-8.1,353,4999,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2190,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5298,-0.47,-136.3,522.1,-8.2,363,5304,0.00,2.28,0.00,0.000,4,0.000,0.065,3012,3606,3351,0,0,0,0,0,0,28.83,25.57,28.83
$GC,5346,-0.47,-136.3,524.8,-8.3,364,5350,0.12,2.17,0.00,0.000,6,0.129,0.045,3048,2194,3351,0,0,0,0,0,0,25.69,25.86,28.83
$GC,5653,-0.47,-136.3,545.8,-6.1,374,5659,0.00,2.30,0.00,0.000,4,0.000,0.065,3040,3616,3350,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5683,-0.47,-136.3,547.7,-6.1,375,5689,0.00,2.17,0.00,0.000,6,0.000,0.047,3040,2198,3351,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6013,-0.47,-136.3,567.5,-5.8,386,6019,0.00,2.28,0.00,0.000,4,0.000,0.066,3029,3609,3350,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6036,-0.47,-136.3,567.5,-5.8,386,6043,0.00,2.17,0.00,0.000,6,0.000,0.047,3029,2196,3350,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6344,-0.47,-136.3,588.5,-6.4,397,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2195,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6643,-0.47,-136.3,608.7,-6.9,407,6644,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2196,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6943,-0.47,-136.3,630.7,-7.5,417,6949,0.00,2.33,0.00,0.000,4,0.000,0.067,3019,3617,3349,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6973,-0.47,-136.3,633.0,-7.6,418,6979,0.00,2.17,0.00,0.000,6,0.000,0.047,3019,2212,3349,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7303,-0.47,-136.3,660.2,-8.3,429,7304,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2209,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7603,-0.47,-136.3,684.8,-8.1,439,7609,0.00,2.28,0.00,0.000,4,0.000,0.066,3009,3613,3347,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7633,-0.47,-136.3,687.3,-8.2,440,7639,0.08,2.20,0.00,0.000,6,0.108,0.047,3039,2189,3347,0,0,0,0,0,0,25.60,25.80,28.83
$GC,7963,-0.47,-136.3,708.7,-6.2,451,7968,0.00,2.28,0.00,0.000,4,0.000,0.067,3030,3604,3347,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7986,-0.47,-136.3,708.7,-6.2,451,7993,0.00,2.17,0.00,0.000,6,0.000,0.047,3030,2198,3347,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8294,-0.47,-136.3,730.4,-6.6,462,8295,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2197,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8593,-0.47,-136.3,751.0,-6.7,472,8599,0.00,2.28,0.00,0.000,4,0.000,0.067,3020,3606,3347,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8636,-0.47,-136.3,753.1,-6.7,473,8640,0.00,2.20,0.00,0.000,6,0.000,0.047,3020,2197,3346,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8949,-0.47,-136.3,776.1,-7.0,484,8954,0.00,2.28,0.00,0.000,4,0.000,0.067,3011,3604,3346,0,0,0,0,0,0,28.83,25.45,28.83
$GC,8981,-0.47,-136.3,778.3,-7.1,485,8986,0.12,2.17,0.00,0.000,6,0.126,0.047,3046,2200,3346,0,0,0,0,0,0,25.61,25.76,28.83
$GC,9304,-0.47,-136.3,797.3,-5.7,496,9310,0.00,2.30,0.00,0.000,4,0.000,0.067,3038,3609,3346,0,0,0,0,0,0,28.83,25.43,28.83
$GC,9338,-0.47,-136.3,799.2,-5.9,497,9342,0.00,2.20,0.00,0.000,6,0.000,0.047,3038,2193,3346,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9660,-0.47,-136.3,819.1,-6.1,508,9666,0.00,2.30,0.00,0.000,4,0.000,0.067,3028,3606,3345,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9698,-0.47,-136.3,821.2,-6.1,509,9702,0.00,2.20,0.00,0.000,6,0.000,0.047,3028,2191,3345,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10016,-0.47,-136.3,843.7,-7.0,520,10021,0.00,2.30,0.00,0.000,4,0.000,0.067,3018,3607,3345,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10053,-0.47,-136.3,846.0,-7.0,521,10057,0.00,2.20,0.00,0.000,6,0.000,0.047,3018,2194,3345,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10371,-0.47,-136.3,870.4,-7.5,532,10376,0.00,2.30,0.00,0.000,4,0.000,0.067,3008,3610,3344,0,0,0,0,0,0,28.83,25.40,28.83
$GC,10408,-0.47,-136.3,872.8,-7.5,533,10413,0.12,2.20,0.00,0.000,6,0.129,0.048,3044,2198,3344,0,0,0,0,0,0,25.57,25.73,28.83
$GC,10726,-0.47,-136.3,893.8,-6.3,544,10728,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2196,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11027,-0.47,-136.3,912.7,-6.1,554,11033,0.00,2.30,0.00,0.000,4,0.000,0.068,3036,3612,3344,0,0,0,0,0,0,28.83,25.38,28.83
$GC,11056,-0.47,-136.3,914.7,-6.2,555,11062,0.00,2.20,0.00,0.000,6,0.000,0.049,3036,2196,3344,0,0,0,0,0,0,28.83,25.74,28.83
$GC,11387,-0.47,-136.3,936.2,-6.6,566,11388,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2195,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11687,-0.47,-136.3,955.5,-6.3,576,11692,0.00,2.30,0.00,0.000,4,0.000,0.068,3025,3609,3343,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11724,-0.47,-136.3,957.4,-6.4,577,11729,0.00,2.20,0.00,0.000,6,0.000,0.049,3026,2198,3343,0,0,0,0,0,0,28.83,25.71,28.83
$GC,12042,-0.47,-136.3,979.8,-6.7,588,12043,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2195,3343,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12219,begin apogee
$GC,12227,-0.22,0.0,991.6,-6.5,594,12353,0.28,0.00,121.00,1.176,6,0.109,0.000,3121,2338,2794,0,0,0,0,0,0,25.70,28.83,23.23
$STATE,12356,end apogee,CONTROL_FINISHED_OK
$STATE,12356,begin climb
$GC,12359,0.47,136.3,995.1,0.0,598,12494,0.65,0.00,129.82,1.138,6,0.074,0.000,3345,2338,2238,0,0,0,0,0,0,24.46,28.83,22.24
$GC,12825,0.47,136.3,960.3,8.7,614,12826,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2338,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13124,0.47,136.3,934.6,8.4,624,13125,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2338,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13425,0.47,136.3,909.2,8.3,634,13426,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2338,2225,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,24692,end climb,SURFACE_DEPTH_REACHED
$STATE,24692,begin surface coast
$FINISH,0.9,1.024712
$STATE,24761,end surface coast,CONTROL_FINISHED_OK
$STATE,24761,begin surface
$SM_CCo,24842,0.00,0.000,0,0,1389,344.65
$SM_GC,1.74,8.23,0.20,0.00,0.025,0.071,0.000,107,2192,1389,-9.46,1.05,344.65,0,0,0,0,0,0,25.96,25.93,28.83
$IRIDIUM_FIX,4700.70,-12626.82,301112,202042
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.99
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,15.50
$XPDR_PINGS,4
$24V_AH,22.2,46.740
$10V_AH,10.0,38.565
$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
$DEVICE_SECS,22.075,197.025,424.400,0.000,0.000,28.368,45.195,240.939,1.000,0.000,44.283,3544.129,17741.961,549.570,3045.826,431.597,0.000,2042.759,0.000,2664.203,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,931.005,697.757,355.243,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296780
$DATA_FILE_SIZE,76898,1354
$CAP_FILE_SIZE,201381,0
$CFSIZE,260165632,230072320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104, 66.7,1
$GPS,011212,110214,4710.167,-12637.497,80,2.9,99,18.6