version: 66.11
glider: 187
mission: 2
dive: 442
start: 12 30 112 10 42 28
data:
$ID,187
$MISSION,2
$DIVE,442
$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,-1588544.6
$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,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,27
$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
$GPS1,301212,103429,4740.728,-12525.398,57,1.3,57,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-76.4
$GPS2,301212,104155,4740.776,-12525.386,16,2.0,16,18.7
$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,207.8,141365,-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,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,75,0.00,0.00,-55.38,0.000,2,0.000,0.000,109,2191,2784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.47,-136.3,3.4,-3.2,10,110,11.57,2.20,-12.85,0.000,4,0.216,0.063,3035,798,3351,0,0,0,0,0,0,24.75,25.51,26.20
$GC,296,-0.47,-136.3,39.7,-13.5,51,303,0.00,2.22,0.00,0.000,6,0.000,0.052,3027,2204,3354,0,0,0,0,0,0,28.83,25.55,28.83
$GC,608,-0.47,-136.3,84.9,-13.4,112,614,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2204,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,919,-0.47,-136.3,122.0,-11.3,171,925,0.00,2.17,0.00,0.000,4,0.000,0.049,3027,799,3355,0,0,0,0,0,0,28.83,25.67,28.83
$GC,956,-0.47,-136.3,125.2,-10.9,173,963,0.00,2.17,0.00,0.000,6,0.000,0.050,3018,2202,3355,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1263,-0.47,-136.3,157.0,-9.6,194,1269,0.00,2.25,0.00,0.000,4,0.000,0.062,3007,3607,3356,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1287,-0.47,-136.3,158.4,-9.6,195,1295,0.12,2.17,0.00,0.000,6,0.132,0.044,3043,2192,3356,0,0,0,0,0,0,25.65,25.84,28.83
$GC,1595,-0.47,-136.3,183.4,-7.7,216,1601,0.00,2.12,0.00,0.000,4,0.000,0.050,3043,808,3356,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1624,-0.47,-136.3,185.7,-7.6,218,1629,0.00,2.17,0.00,0.000,6,0.000,0.050,3036,2210,3356,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1946,-0.47,-136.3,211.9,-8.6,237,1952,0.00,2.22,0.00,0.000,4,0.000,0.062,3025,3611,3356,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2027,-0.47,-136.3,219.0,-8.8,241,2031,0.00,2.17,0.00,0.000,6,0.000,0.044,3025,2194,3356,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2341,-0.47,-136.3,248.3,-9.4,257,2346,0.00,2.15,0.00,0.000,4,0.000,0.050,3025,801,3355,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2373,-0.47,-136.3,250.2,-9.5,258,2379,0.00,2.17,0.00,0.000,6,0.000,0.051,3017,2201,3356,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2680,-0.47,-136.3,279.6,-9.1,274,2685,0.00,2.25,0.00,0.000,4,0.000,0.063,3007,3616,3356,0,0,0,0,0,0,28.83,25.57,28.83
$GC,2723,-0.47,-136.3,283.4,-9.1,276,2728,0.12,2.17,0.00,0.000,6,0.129,0.044,3043,2202,3356,0,0,0,0,0,0,25.67,25.85,28.83
$GC,3036,-0.47,-136.3,306.7,-7.4,292,3042,0.00,2.17,0.00,0.000,4,0.000,0.051,3043,796,3355,0,0,0,0,0,0,28.83,25.68,28.83
$GC,3076,-0.47,-136.3,310.0,-7.8,294,3082,0.00,2.20,0.00,0.000,6,0.000,0.051,3036,2201,3355,0,0,0,0,0,0,28.83,25.69,28.83
$GC,3397,-0.47,-136.3,335.3,-8.3,310,3402,0.00,2.25,0.00,0.000,4,0.000,0.064,3026,3608,3355,0,0,0,0,0,0,28.83,25.55,28.83
$GC,3476,-0.47,-136.3,342.2,-8.7,314,3482,0.00,2.17,0.00,0.000,6,0.000,0.044,3025,2198,3355,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3798,-0.47,-136.3,370.5,-8.7,330,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2196,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4096,-0.47,-136.3,396.3,-8.5,345,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2196,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4396,-0.47,-136.3,422.2,-8.7,356,4402,0.00,2.28,0.00,0.000,4,0.000,0.064,3017,3611,3354,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4419,-0.47,-136.3,422.2,-8.7,356,4426,0.00,2.20,0.00,0.000,6,0.000,0.045,3016,2198,3354,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4727,-0.47,-136.3,454.5,-10.0,367,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2198,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5026,-0.47,-136.3,485.1,-10.1,377,5028,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2198,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5326,-0.47,-136.3,512.9,-8.9,387,5327,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2198,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5627,-0.47,-136.3,536.7,-7.7,397,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2198,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5926,-0.47,-136.3,557.8,-6.7,407,5932,0.00,2.30,0.00,0.000,4,0.000,0.066,3008,3608,3352,0,0,0,0,0,0,28.83,25.48,28.83
$GC,5964,-0.47,-136.3,559.9,-6.7,408,5969,0.12,2.20,0.00,0.000,6,0.128,0.047,3044,2198,3352,0,0,0,0,0,0,25.63,25.80,28.83
$GC,6283,-0.47,-136.3,578.6,-5.9,419,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2196,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6583,-0.47,-136.3,595.8,-5.5,429,6588,0.00,2.28,0.00,0.000,4,0.000,0.066,3037,3605,3352,0,0,0,0,0,0,28.83,25.47,28.83
$GC,6616,-0.47,-136.3,597.6,-5.6,430,6620,0.00,2.20,0.00,0.000,6,0.000,0.047,3036,2191,3352,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6939,-0.47,-136.3,617.3,-6.2,441,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2189,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7238,-0.47,-136.3,635.2,-5.9,451,7243,0.00,2.30,0.00,0.000,4,0.000,0.067,3027,3612,3351,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7281,-0.47,-136.3,637.0,-5.9,452,7285,0.00,2.20,0.00,0.000,6,0.000,0.047,3027,2198,3351,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7595,-0.47,-136.3,658.8,-6.8,463,7596,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2196,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7894,-0.47,-136.3,679.3,-6.8,473,7900,0.00,2.28,0.00,0.000,4,0.000,0.067,3018,3604,3350,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7924,-0.47,-136.3,681.3,-6.8,474,7930,0.00,2.17,0.00,0.000,6,0.000,0.047,3018,2204,3351,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8255,-0.47,-136.3,704.7,-6.9,485,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2202,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8554,-0.47,-136.3,724.8,-6.8,495,8555,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2202,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8854,-0.47,-136.3,745.6,-6.9,505,8856,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2202,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9154,-0.47,-136.3,766.9,-7.2,515,9160,0.00,2.28,0.00,0.000,4,0.000,0.067,3009,3607,3348,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9197,-0.47,-136.3,769.0,-7.3,516,9202,0.12,2.20,0.00,0.000,6,0.125,0.048,3045,2196,3348,0,0,0,0,0,0,25.58,25.73,28.83
$GC,9510,-0.47,-136.3,789.4,-6.0,527,9515,0.00,2.30,0.00,0.000,4,0.000,0.067,3038,3612,3348,0,0,0,0,0,0,28.83,25.40,28.83
$GC,9541,-0.47,-136.3,791.2,-6.1,528,9546,0.00,2.20,0.00,0.000,6,0.000,0.048,3037,2198,3348,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9870,-0.47,-136.3,811.3,-6.2,539,9871,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2195,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10171,-0.47,-136.3,831.0,-6.6,549,10177,0.00,2.33,0.00,0.000,4,0.000,0.068,3028,3617,3348,0,0,0,0,0,0,28.83,25.38,28.83
$GC,10210,-0.47,-136.3,832.9,-6.3,550,10216,0.00,2.22,0.00,0.000,6,0.000,0.049,3028,2192,3347,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10531,-0.47,-136.3,854.1,-6.4,561,10532,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2191,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10831,-0.47,-136.3,872.7,-6.2,571,10837,0.00,2.33,0.00,0.000,4,0.000,0.068,3019,3607,3347,0,0,0,0,0,0,28.83,25.36,28.83
$GC,10863,-0.47,-136.3,874.7,-6.2,572,10867,0.00,2.20,0.00,0.000,6,0.000,0.048,3018,2200,3347,0,0,0,0,0,0,28.83,25.71,28.83
$GC,11186,-0.47,-136.3,895.9,-6.4,583,11187,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2198,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11487,-0.47,-136.3,915.7,-6.5,593,11492,0.00,2.28,0.00,0.000,4,0.000,0.068,3010,3600,3347,0,0,0,0,0,0,28.83,25.36,28.83
$GC,11539,-0.47,-136.3,917.6,-6.4,594,11546,0.12,2.20,0.00,0.000,6,0.122,0.049,3046,2194,3346,0,0,0,0,0,0,25.55,25.70,28.83
$GC,11846,-0.47,-136.3,934.3,-4.8,605,11847,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2193,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12146,-0.47,-136.3,948.6,-4.5,615,12151,0.00,2.30,0.00,0.000,4,0.000,0.068,3040,3606,3346,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12178,-0.47,-136.3,950.0,-4.5,616,12182,0.00,2.20,0.00,0.000,6,0.000,0.049,3039,2200,3346,0,0,0,0,0,0,28.83,25.69,28.83
$GC,12501,-0.47,-136.3,966.9,-5.4,627,12502,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2198,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12802,-0.47,-136.3,983.4,-5.6,637,12803,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2198,3345,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12948,begin apogee
$GC,12955,-0.22,0.0,991.5,-5.4,642,13083,0.22,0.00,124.10,1.172,6,0.112,0.000,3119,2331,2794,0,0,0,0,0,0,25.80,28.83,22.82
$STATE,13087,end apogee,CONTROL_FINISHED_OK
$STATE,13087,begin climb
$GC,13090,0.47,136.3,994.8,0.0,646,13227,0.65,0.00,134.18,1.132,6,0.073,0.000,3344,2331,2238,0,0,0,0,0,0,24.37,28.83,21.94
$GC,13516,0.47,136.3,967.6,8.0,661,13517,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2331,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13815,0.47,136.3,943.6,7.9,671,13817,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2331,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14117,0.47,136.3,920.2,7.7,681,14122,0.00,2.30,0.00,0.000,4,0.000,0.070,3344,3727,2224,0,0,0,0,0,0,28.83,25.51,28.83
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$STATE,26103,end climb,SURFACE_DEPTH_REACHED
$STATE,26104,begin surface coast
$FINISH,1.4,1.025071
$STATE,26145,end surface coast,CONTROL_FINISHED_OK
$STATE,26145,begin surface
$SM_CCo,26227,0.00,0.000,0,0,1423,336.31
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$IRIDIUM_FIX,4722.92,-12523.34,301212,030315
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.90
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,18.90
$XPDR_PINGS,3
$24V_AH,21.9,61.269
$10V_AH,9.8,49.392
$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
$DEVICE_SECS,22.000,206.125,440.125,0.000,0.000,28.158,37.725,228.303,0.750,0.000,17.064,3713.507,18989.365,590.664,2920.671,446.470,0.000,2084.722,0.000,2575.609,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,972.716,717.580,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296912
$DATA_FILE_SIZE,76702,1412
$CAP_FILE_SIZE,211911,0
$CFSIZE,260165632,220942336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087,348.7,1
$GPS,301212,180129,4738.800,-12529.116,76,1.0,76,18.7