version: 66.11
glider: 187
mission: 2
dive: 440
start: 12 29 112 20 46 55
data:
$ID,187
$MISSION,2
$DIVE,440
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,3
$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,-1588542.1
$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,36
$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,20
$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
$GPS1,291212,203936,4744.660,-12519.442,35,1.0,35,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-78.4
$GPS2,291212,204624,4744.705,-12519.469,14,1.0,19,18.7
$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,204.7,151585,-13.3,-7.021,-18.50
$D_GRID,909
$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,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,81,0.00,0.00,-60.67,0.000,2,0.000,0.000,115,2193,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.47,-136.3,3.1,-3.6,11,122,11.50,2.30,-18.27,0.000,4,0.215,0.073,3026,3611,3350,0,0,0,0,0,0,24.77,25.49,26.22
$GC,202,-0.47,-136.3,20.4,-14.5,32,209,0.00,2.20,0.00,0.000,6,0.000,0.043,3026,2190,3352,0,0,0,0,0,0,28.83,25.70,28.83
$GC,516,-0.47,-136.3,69.9,-13.4,93,523,0.00,2.15,0.00,0.000,4,0.000,0.050,3026,793,3353,0,0,0,0,0,0,28.83,25.68,28.83
$GC,577,-0.47,-136.3,77.3,-11.4,104,584,0.00,2.22,0.00,0.000,6,0.000,0.050,3016,2212,3353,0,0,0,0,0,0,28.83,25.70,28.83
$GC,889,-0.47,-136.3,114.4,-11.4,165,896,0.00,2.22,0.00,0.000,4,0.000,0.062,3006,3612,3353,0,0,0,0,0,0,28.83,25.64,28.83
$GC,929,-0.47,-136.3,119.2,-11.6,172,937,0.12,2.17,0.00,0.000,6,0.131,0.043,3042,2187,3354,0,0,0,0,0,0,25.69,25.86,28.83
$GC,1247,-0.47,-136.3,147.1,-7.6,194,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2185,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1548,-0.47,-136.3,171.4,-7.7,214,1553,0.00,2.10,0.00,0.000,4,0.000,0.050,3042,809,3354,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1569,-0.47,-136.3,172.6,-7.9,215,1576,0.00,2.15,0.00,0.000,6,0.000,0.050,3035,2202,3354,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1876,-0.47,-136.3,200.3,-8.9,236,1882,0.00,2.22,0.00,0.000,4,0.000,0.062,3024,3607,3354,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1917,-0.47,-136.3,204.0,-9.0,238,1923,0.00,2.12,0.00,0.000,6,0.000,0.043,3024,2201,3354,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2236,-0.47,-136.3,234.1,-9.2,254,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2197,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2537,-0.47,-136.3,261.1,-9.0,269,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2197,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2836,-0.47,-136.3,287.6,-8.8,284,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2197,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3136,-0.47,-136.3,314.9,-9.3,299,3140,0.00,2.28,0.00,0.000,4,0.000,0.063,3014,3609,3354,0,0,0,0,0,0,28.83,25.64,28.83
$GC,3171,-0.47,-136.3,316.9,-9.2,300,3178,0.00,2.17,0.00,0.000,6,0.000,0.044,3014,2188,3354,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3480,-0.47,-136.3,347.1,-9.3,316,3485,0.00,2.12,0.00,0.000,4,0.000,0.050,3014,801,3353,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3520,-0.47,-136.3,350.9,-9.2,318,3525,0.12,2.17,0.00,0.000,6,0.142,0.051,3040,2203,3353,0,0,0,0,0,0,25.62,25.75,28.83
$GC,3835,-0.47,-136.3,372.5,-6.4,334,3840,0.00,2.22,0.00,0.000,4,0.000,0.063,3031,3612,3353,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3914,-0.47,-136.3,377.8,-6.7,338,3919,0.00,2.15,0.00,0.000,6,0.000,0.044,3031,2195,3353,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4235,-0.47,-136.3,398.5,-6.7,354,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2193,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4544,-0.47,-136.3,420.0,-7.0,365,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2193,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4843,-0.47,-136.3,441.8,-7.5,375,4849,0.00,2.30,0.00,0.000,4,0.000,0.063,3021,3619,3351,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4917,-0.47,-136.3,446.9,-8.0,377,4921,0.00,2.20,0.00,0.000,6,0.000,0.045,3021,2189,3351,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5229,-0.47,-136.3,474.0,-8.3,388,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2187,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5530,-0.47,-136.3,499.8,-8.5,398,5535,0.00,2.28,0.00,0.000,4,0.000,0.064,3011,3609,3351,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5559,-0.47,-136.3,502.3,-8.4,399,5565,0.12,2.17,0.00,0.000,6,0.125,0.045,3048,2200,3351,0,0,0,0,0,0,25.70,25.86,28.83
$GC,5891,-0.47,-136.3,525.0,-6.7,410,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2198,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6190,-0.47,-136.3,544.9,-6.7,420,6195,0.00,2.25,0.00,0.000,4,0.000,0.066,3041,3603,3350,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6238,-0.47,-136.3,547.0,-6.8,421,6249,0.00,2.17,0.00,0.000,6,0.000,0.047,3040,2193,3350,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6550,-0.47,-136.3,570.0,-6.9,432,6555,0.00,2.30,0.00,0.000,4,0.000,0.065,3030,3615,3350,0,0,0,0,0,0,28.83,25.54,28.83
$GC,6583,-0.47,-136.3,572.2,-6.9,433,6587,0.00,2.20,0.00,0.000,6,0.000,0.047,3030,2203,3350,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6911,-0.47,-136.3,595.7,-6.9,444,6912,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2201,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7210,-0.47,-136.3,617.5,-7.2,454,7216,0.00,2.25,0.00,0.000,4,0.000,0.066,3021,3601,3349,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7263,-0.47,-136.3,619.7,-7.3,455,7269,0.00,2.17,0.00,0.000,6,0.000,0.047,3021,2195,3349,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7571,-0.47,-136.3,644.0,-7.4,466,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2194,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7870,-0.47,-136.3,666.5,-7.6,476,7876,0.00,2.30,0.00,0.000,4,0.000,0.066,3011,3615,3347,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7908,-0.47,-136.3,668.9,-7.7,477,7912,0.12,2.20,0.00,0.000,6,0.125,0.047,3047,2197,3347,0,0,0,0,0,0,25.66,25.81,28.83
$GC,8227,-0.47,-136.3,689.7,-6.3,488,8232,0.00,2.28,0.00,0.000,4,0.000,0.067,3040,3605,3347,0,0,0,0,0,0,28.83,25.49,28.83
$GC,8256,-0.47,-136.3,691.7,-6.4,489,8261,0.00,2.15,0.00,0.000,6,0.000,0.047,3040,2210,3347,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8586,-0.47,-136.3,713.4,-6.6,500,8591,0.00,2.25,0.00,0.000,4,0.000,0.067,3031,3604,3347,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8639,-0.47,-136.3,715.4,-6.6,501,8647,0.00,2.20,0.00,0.000,6,0.000,0.047,3031,2184,3347,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8946,-0.47,-136.3,738.4,-6.9,512,8952,0.00,2.33,0.00,0.000,4,0.000,0.067,3021,3615,3346,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8978,-0.47,-136.3,740.6,-7.0,513,8982,0.00,2.22,0.00,0.000,6,0.000,0.047,3021,2193,3346,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9306,-0.47,-136.3,764.9,-7.1,524,9311,0.00,2.28,0.00,0.000,4,0.000,0.067,3012,3601,3346,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9335,-0.47,-136.3,767.2,-7.1,525,9342,0.12,2.20,0.00,0.000,6,0.123,0.047,3048,2189,3346,0,0,0,0,0,0,25.64,25.78,28.83
$GC,9666,-0.47,-136.3,785.4,-5.3,536,9667,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2187,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9966,-0.47,-136.3,802.2,-5.6,546,9967,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2187,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10266,-0.47,-136.3,819.1,-5.5,556,10271,0.00,2.30,0.00,0.000,4,0.000,0.067,3041,3608,3345,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10298,-0.47,-136.3,820.7,-5.4,557,10302,0.00,2.20,0.00,0.000,6,0.000,0.048,3041,2191,3345,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10622,-0.47,-136.3,838.8,-5.4,568,10623,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2189,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10921,-0.47,-136.3,854.4,-5.3,578,10922,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2189,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11221,-0.47,-136.3,869.5,-5.0,588,11222,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2189,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11522,-0.47,-136.3,885.6,-5.5,598,11523,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2189,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11821,-0.47,-136.3,902.0,-5.7,608,11827,0.00,2.30,0.00,0.000,4,0.000,0.067,3031,3611,3343,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11864,-0.47,-136.3,903.9,-5.8,609,11868,0.00,2.22,0.00,0.000,6,0.000,0.049,3031,2192,3343,0,0,0,0,0,0,28.83,25.75,28.83
$STATE,11963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11963,begin apogee
$GC,11971,-0.22,0.0,910.7,-5.8,613,12097,0.25,0.00,121.57,1.121,6,0.109,0.000,3119,2333,2793,0,0,0,0,0,0,25.77,28.83,23.05
$STATE,12100,end apogee,CONTROL_FINISHED_OK
$STATE,12100,begin climb
$GC,12103,0.47,136.3,914.5,0.0,617,12245,0.65,2.50,129.80,1.082,4,0.076,0.065,3343,3722,2235,0,0,0,0,0,0,24.50,23.46,22.17
$GC,12287,0.48,164.1,906.8,5.9,623,12320,0.00,2.35,26.33,1.030,6,0.000,0.048,3353,2329,2125,0,0,0,0,0,0,28.83,24.08,22.35
$GC,12629,0.48,164.1,875.4,8.9,635,12635,0.00,2.25,0.00,0.000,4,0.000,0.057,3363,922,2118,0,0,0,0,0,0,28.83,25.21,28.83
$GC,12671,0.48,164.1,872.6,8.8,636,12676,0.00,2.25,0.00,0.000,6,0.000,0.056,3364,2321,2117,0,0,0,0,0,0,28.83,25.30,28.83
$GC,12984,0.48,164.1,840.9,9.9,647,12985,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2321,2116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13284,0.48,164.1,812.7,9.3,657,13290,0.00,2.22,0.00,0.000,4,0.000,0.057,3374,922,2116,0,0,0,0,0,0,28.83,25.63,28.83
$GC,13314,0.48,164.1,810.0,9.3,658,13320,0.00,2.25,0.00,0.000,6,0.000,0.057,3374,2334,2115,0,0,0,0,0,0,28.83,25.64,28.83
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$STATE,23213,end climb,SURFACE_DEPTH_REACHED
$STATE,23213,begin surface coast
$FINISH,1.3,1.003995
$STATE,23256,end surface coast,CONTROL_FINISHED_OK
$STATE,23256,begin surface
$SM_CCo,23338,0.00,0.000,0,0,1553,304.42
$SM_GC,2.03,8.32,2.47,0.00,0.033,0.044,0.000,111,2199,1553,-9.47,0.96,304.42,0,0,0,0,0,0,26.08,25.78,28.83
$IRIDIUM_FIX,4732.49,-12519.22,291212,151503
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.69
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,18.90
$XPDR_PINGS,4
$24V_AH,22.2,61.001
$10V_AH,9.8,49.184
$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,21.925,183.750,403.150,0.000,0.000,27.643,41.531,195.372,1.000,0.000,20.357,3483.209,16546.629,526.863,2760.283,422.238,0.000,1955.183,0.000,2453.009,0.000,0.536,0.000
$DEVICE_MAMPS,214.965,82.620,1121.490,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,918.384,709.589,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296892
$DATA_FILE_SIZE,73511,1334
$CAP_FILE_SIZE,192453,0
$CFSIZE,260165632,221151232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107, 33.0,1
$GPS,301212,031705,4742.667,-12522.523,34,1.1,34,18.7