version: 66.11
glider: 187
mission: 2
dive: 343
start: 12 3 112 5 12 14
data:
$ID,187
$MISSION,2
$DIVE,343
$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,-1588197.9
$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,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
$GPS1,031212,050436,4701.965,-12655.409,33,1.6,33,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-72.8
$GPS2,031212,051143,4702.005,-12655.295,16,1.8,16,18.6
$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,234.1,7007,-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,-136.3,0.0,0.0,0,80,0.00,0.00,-60.12,0.000,2,0.000,0.000,126,2195,2599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.47,-136.3,3.2,-4.0,10,122,11.50,2.35,-17.62,0.000,4,0.220,0.077,3028,3609,3353,0,0,0,0,0,0,24.91,25.47,26.13
$GC,141,-0.47,-136.3,14.1,-16.4,19,148,0.00,2.20,0.00,0.000,6,0.000,0.044,3028,2193,3355,0,0,0,0,0,0,28.83,25.61,28.83
$GC,457,-0.47,-136.3,68.5,-13.5,80,465,0.00,2.15,0.00,0.000,4,0.000,0.050,3028,793,3357,0,0,0,0,0,0,28.83,25.62,28.83
$GC,529,-0.47,-136.3,78.4,-13.5,93,536,0.00,2.20,0.00,0.000,6,0.000,0.049,3019,2202,3357,0,0,0,0,0,0,28.83,25.65,28.83
$GC,841,-0.47,-136.3,117.8,-11.2,154,847,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2201,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1150,-0.47,-136.3,150.9,-10.5,177,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2202,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1450,-0.47,-136.3,182.8,-10.4,197,1456,0.00,2.20,0.00,0.000,4,0.000,0.061,3009,3601,3358,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1482,-0.47,-136.3,186.0,-10.7,199,1487,0.12,2.15,0.00,0.000,6,0.132,0.043,3044,2193,3358,0,0,0,0,0,0,25.70,25.87,28.83
$GC,1796,-0.47,-136.3,212.7,-8.6,217,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2187,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2095,-0.47,-136.3,239.1,-8.8,232,2100,0.00,2.15,0.00,0.000,4,0.000,0.050,3044,788,3358,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2128,-0.47,-136.3,240.9,-8.9,233,2136,0.00,2.20,0.00,0.000,6,0.000,0.050,3038,2211,3358,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2435,-0.47,-136.3,269.0,-8.5,249,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2211,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2736,-0.47,-136.3,294.7,-8.5,264,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2211,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3035,-0.47,-136.3,319.5,-8.4,279,3039,0.00,2.22,0.00,0.000,4,0.000,0.063,3027,3608,3356,0,0,0,0,0,0,28.83,25.64,28.83
$GC,3100,-0.47,-136.3,325.0,-8.5,282,3104,0.00,2.15,0.00,0.000,6,0.000,0.044,3027,2193,3357,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3412,-0.47,-136.3,352.7,-9.0,298,3418,0.00,2.15,0.00,0.000,4,0.000,0.051,3027,794,3356,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3441,-0.47,-136.3,354.4,-9.1,299,3445,0.00,2.17,0.00,0.000,6,0.000,0.052,3018,2199,3356,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3747,-0.47,-136.3,382.8,-8.9,314,3753,0.00,2.25,0.00,0.000,4,0.000,0.064,3008,3612,3355,0,0,0,0,0,0,28.83,25.61,28.83
$GC,3790,-0.47,-136.3,386.6,-9.1,316,3795,0.12,2.15,0.00,0.000,6,0.132,0.044,3043,2203,3354,0,0,0,0,0,0,25.70,25.88,28.83
$GC,4104,-0.47,-136.3,408.5,-6.7,330,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2200,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4403,-0.47,-136.3,428.8,-6.8,340,4409,0.00,2.22,0.00,0.000,4,0.000,0.065,3035,3605,3353,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4437,-0.47,-136.3,430.9,-6.9,341,4441,0.00,2.15,0.00,0.000,6,0.000,0.046,3035,2201,3353,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4759,-0.47,-136.3,455.1,-7.5,352,4764,0.00,2.17,0.00,0.000,4,0.000,0.053,3035,793,3353,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4782,-0.47,-136.3,455.1,-7.5,352,4789,0.00,2.20,0.00,0.000,6,0.000,0.053,3027,2204,3353,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5089,-0.47,-136.3,482.6,-8.3,363,5094,0.00,2.25,0.00,0.000,4,0.000,0.065,3016,3610,3352,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5159,-0.47,-136.3,487.8,-8.4,365,5165,0.00,2.17,0.00,0.000,6,0.000,0.045,3016,2191,3352,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5479,-0.47,-136.3,516.2,-8.5,376,5485,0.00,2.30,0.00,0.000,4,0.000,0.065,3007,3619,3351,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5528,-0.47,-136.3,518.7,-8.5,377,5537,0.12,2.17,0.00,0.000,6,0.129,0.044,3043,2193,3352,0,0,0,0,0,0,25.69,25.86,28.83
$GC,5839,-0.47,-136.3,541.3,-6.6,388,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2193,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6139,-0.47,-136.3,561.1,-6.5,398,6145,0.00,2.30,0.00,0.000,4,0.000,0.066,3034,3608,3351,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6170,-0.47,-136.3,563.2,-6.5,399,6176,0.00,2.15,0.00,0.000,6,0.000,0.046,3034,2207,3351,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6499,-0.47,-136.3,585.9,-6.9,410,6500,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2204,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6799,-0.47,-136.3,606.0,-6.7,420,6805,0.00,2.25,0.00,0.000,4,0.000,0.066,3025,3607,3350,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6853,-0.47,-136.3,608.1,-6.7,421,6859,0.00,2.17,0.00,0.000,6,0.000,0.047,3025,2194,3350,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7159,-0.47,-136.3,631.2,-6.9,432,7164,0.00,2.28,0.00,0.000,4,0.000,0.066,3015,3612,3349,0,0,0,0,0,0,28.83,25.50,28.83
$GC,7192,-0.47,-136.3,633.3,-6.9,433,7196,0.00,2.17,0.00,0.000,6,0.000,0.047,3015,2201,3349,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7515,-0.47,-136.3,656.9,-7.2,444,7516,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2198,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7814,-0.47,-136.3,679.7,-7.7,454,7820,0.00,2.30,0.00,0.000,4,0.000,0.067,3005,3615,3348,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7844,-0.47,-136.3,682.1,-7.7,455,7851,0.12,2.20,0.00,0.000,6,0.130,0.047,3041,2201,3347,0,0,0,0,0,0,25.62,25.79,28.83
$GC,8175,-0.47,-136.3,703.1,-6.5,466,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2199,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8475,-0.47,-136.3,722.4,-6.3,476,8480,0.00,2.28,0.00,0.000,4,0.000,0.067,3033,3605,3347,0,0,0,0,0,0,28.83,25.45,28.83
$GC,8518,-0.47,-136.3,724.4,-6.4,477,8522,0.00,2.17,0.00,0.000,6,0.000,0.047,3033,2202,3347,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8831,-0.47,-136.3,746.3,-6.7,488,8832,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2200,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9130,-0.47,-136.3,767.5,-7.0,498,9136,0.00,2.28,0.00,0.000,4,0.000,0.068,3024,3612,3346,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9163,-0.47,-136.3,769.6,-7.1,499,9167,0.00,2.22,0.00,0.000,6,0.000,0.048,3024,2194,3346,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9486,-0.47,-136.3,794.0,-7.4,510,9487,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2191,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9785,-0.47,-136.3,816.2,-7.3,520,9791,0.00,2.33,0.00,0.000,4,0.000,0.067,3013,3615,3345,0,0,0,0,0,0,28.83,25.42,28.83
$GC,9853,-0.47,-136.3,820.9,-7.5,522,9857,0.00,2.20,0.00,0.000,6,0.000,0.047,3013,2194,3346,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10171,-0.47,-136.3,845.8,-7.7,533,10177,0.00,2.28,0.00,0.000,4,0.000,0.067,3003,3603,3345,0,0,0,0,0,0,28.83,25.40,28.83
$GC,10208,-0.47,-136.3,848.1,-7.7,534,10213,0.15,2.20,0.00,0.000,6,0.121,0.047,3047,2193,3345,0,0,0,0,0,0,25.56,25.74,28.83
$GC,10527,-0.47,-136.3,867.7,-5.8,545,10533,0.00,2.33,0.00,0.000,4,0.000,0.068,3040,3616,3345,0,0,0,0,0,0,28.83,25.38,28.83
$GC,10564,-0.47,-136.3,869.6,-5.8,546,10569,0.00,2.22,0.00,0.000,6,0.000,0.048,3039,2191,3345,0,0,0,0,0,0,28.83,25.73,28.83
$GC,10882,-0.47,-136.3,890.4,-6.4,557,10888,0.00,2.30,0.00,0.000,4,0.000,0.068,3029,3608,3344,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10912,-0.47,-136.3,892.7,-6.7,558,10918,0.00,2.17,0.00,0.000,6,0.000,0.048,3029,2199,3344,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11242,-0.47,-136.3,915.7,-7.1,569,11247,0.00,2.28,0.00,0.000,4,0.000,0.068,3022,3605,3344,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11301,-0.47,-136.3,920.3,-7.2,571,11307,0.00,2.20,0.00,0.000,6,0.000,0.047,3021,2193,3344,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11632,-0.47,-136.3,945.0,-7.6,582,11633,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2190,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11931,-0.47,-136.3,966.5,-7.1,592,11937,0.00,2.33,0.00,0.000,4,0.000,0.067,3011,3617,3343,0,0,0,0,0,0,28.83,25.35,28.83
$GC,11970,-0.47,-136.3,968.8,-7.2,593,11975,0.12,2.20,0.00,0.000,6,0.123,0.048,3048,2197,3344,0,0,0,0,0,0,25.56,25.70,28.83
$GC,12289,-0.47,-136.3,987.9,-5.7,604,12294,0.00,2.28,0.00,0.000,4,0.000,0.069,3040,3601,3343,0,0,0,0,0,0,28.83,25.33,28.83
$GC,12326,-0.47,-136.3,989.8,-5.8,605,12330,0.00,2.17,0.00,0.000,6,0.000,0.048,3040,2202,3343,0,0,0,0,0,0,28.83,25.70,28.83
$STATE,12340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12341,begin apogee
$GC,12348,-0.22,0.0,991.4,-5.9,606,12475,0.22,0.00,121.12,1.172,6,0.109,0.000,3120,2328,2794,0,0,0,0,0,0,25.82,28.83,23.20
$STATE,12478,end apogee,CONTROL_FINISHED_OK
$STATE,12478,begin climb
$GC,12481,0.47,136.3,995.3,0.0,610,12623,0.65,2.58,129.93,1.134,4,0.073,0.067,3345,3720,2236,0,0,0,0,0,0,24.47,23.35,22.23
$GC,12654,0.48,158.0,987.4,6.2,616,12683,0.00,2.38,21.52,1.060,6,0.000,0.048,3355,2324,2150,0,0,0,0,0,0,28.83,23.89,22.43
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$STATE,24543,end climb,SURFACE_DEPTH_REACHED
$STATE,24543,begin surface coast
$FINISH,1.4,1.024674
$STATE,24592,end surface coast,CONTROL_FINISHED_OK
$STATE,24592,begin surface
$SM_CCo,24671,0.00,0.000,0,0,1246,379.72
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$IRIDIUM_FIX,4648.08,-12657.88,021212,222211
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.07
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,15.70
$XPDR_PINGS,1
$24V_AH,22.2,47.704
$10V_AH,10.0,39.358
$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
$DEVICE_SECS,22.175,219.750,463.225,0.000,0.000,28.714,36.220,221.037,0.250,0.000,17.357,3551.653,17482.973,581.042,3026.159,443.552,0.000,2111.240,0.000,2706.189,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,929.220,703.336,363.648,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296772
$DATA_FILE_SIZE,76718,1351
$CAP_FILE_SIZE,208795,0
$CFSIZE,260165632,229441536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091, 65.8,1
$GPS,031212,120437,4701.343,-12659.154,34,1.1,34,18.6