version: 66.11
glider: 187
mission: 2
dive: 444
start: 12 31 112 1 51 50
data:
$ID,187
$MISSION,2
$DIVE,444
$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,-1588547.1
$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,44
$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
$GPS1,311212,013635,4736.625,-12531.609,31,1.0,31,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-77.3
$GPS2,311212,015118,4736.678,-12531.523,12,1.0,17,18.7
$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,212.2,130777,-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,-66.38,0.000,2,0.000,0.000,110,2192,2840,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.47,-136.3,3.4,-2.7,12,121,11.68,2.22,-11.52,0.000,4,0.219,0.065,3035,792,3355,0,0,0,0,0,0,24.71,25.48,26.12
$GC,296,-0.47,-136.3,38.2,-13.6,51,303,0.00,2.22,0.00,0.000,6,0.000,0.051,3027,2209,3357,0,0,0,0,0,0,28.83,25.54,28.83
$GC,609,-0.47,-136.3,79.9,-11.9,112,615,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2210,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,919,-0.47,-136.3,116.4,-10.2,173,925,0.00,2.25,0.00,0.000,4,0.000,0.062,3016,3618,3357,0,0,0,0,0,0,28.83,25.58,28.83
$GC,953,-0.47,-136.3,120.1,-11.0,179,959,0.00,2.20,0.00,0.000,6,0.000,0.044,3016,2196,3357,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1269,-0.47,-136.3,154.5,-10.9,200,1273,0.00,2.17,0.00,0.000,4,0.000,0.050,3016,802,3358,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1316,-0.47,-136.3,159.7,-10.9,203,1322,0.12,2.20,0.00,0.000,6,0.139,0.050,3042,2210,3357,0,0,0,0,0,0,25.58,25.71,28.83
$GC,1634,-0.47,-136.3,186.5,-8.1,224,1639,0.00,2.20,0.00,0.000,4,0.000,0.063,3034,3604,3357,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1710,-0.47,-136.3,193.0,-8.6,229,1714,0.00,2.17,0.00,0.000,6,0.000,0.044,3033,2198,3357,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2033,-0.47,-136.3,220.8,-8.6,246,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2196,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2332,-0.47,-136.3,246.9,-8.6,261,2338,0.00,2.28,0.00,0.000,4,0.000,0.063,3024,3612,3357,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2375,-0.47,-136.3,250.5,-8.8,263,2379,0.00,2.17,0.00,0.000,6,0.000,0.044,3024,2197,3357,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2688,-0.47,-136.3,279.9,-9.3,279,2693,0.00,2.15,0.00,0.000,4,0.000,0.050,3024,802,3357,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2740,-0.47,-136.3,283.6,-9.4,281,2747,0.00,2.20,0.00,0.000,6,0.000,0.051,3014,2203,3357,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3049,-0.47,-136.3,313.3,-9.0,297,3055,0.00,2.22,0.00,0.000,4,0.000,0.063,3004,3606,3357,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3116,-0.47,-136.3,319.0,-9.1,300,3121,0.15,2.17,0.00,0.000,6,0.123,0.044,3048,2201,3357,0,0,0,0,0,0,25.65,25.86,28.83
$GC,3423,-0.47,-136.3,340.1,-6.5,315,3428,0.00,2.25,0.00,0.000,4,0.000,0.064,3040,3607,3357,0,0,0,0,0,0,28.83,25.57,28.83
$GC,3452,-0.47,-136.3,341.4,-6.5,316,3461,0.00,2.17,0.00,0.000,6,0.000,0.044,3040,2191,3357,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3763,-0.47,-136.3,363.7,-6.7,332,3769,0.00,2.28,0.00,0.000,4,0.000,0.063,3030,3613,3357,0,0,0,0,0,0,28.83,25.57,28.83
$GC,3796,-0.47,-136.3,365.2,-6.9,333,3803,0.00,2.17,0.00,0.000,6,0.000,0.044,3030,2201,3356,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4103,-0.47,-136.3,389.8,-7.8,349,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2201,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4423,-0.47,-136.3,415.0,-7.8,362,4427,0.00,2.20,0.00,0.000,4,0.000,0.052,3030,799,3356,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4455,-0.47,-136.3,417.7,-8.1,363,4461,0.00,2.20,0.00,0.000,6,0.000,0.052,3021,2202,3355,0,0,0,0,0,0,28.83,25.69,28.83
$GC,4786,-0.47,-136.3,444.9,-8.1,374,4791,0.00,2.22,0.00,0.000,4,0.000,0.064,3011,3606,3355,0,0,0,0,0,0,28.83,25.54,28.83
$GC,4833,-0.47,-136.3,447.4,-8.1,375,4838,0.12,2.17,0.00,0.000,6,0.125,0.045,3047,2193,3355,0,0,0,0,0,0,25.67,25.84,28.83
$GC,5141,-0.47,-136.3,469.6,-6.8,385,5146,0.00,2.30,0.00,0.000,4,0.000,0.064,3040,3626,3354,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5193,-0.47,-136.3,471.8,-6.9,386,5200,0.00,2.20,0.00,0.000,6,0.000,0.045,3040,2201,3354,0,0,0,0,0,0,28.83,25.83,28.83
$GC,5500,-0.47,-136.3,496.1,-7.1,397,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2201,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5800,-0.47,-136.3,515.4,-6.1,407,5806,0.00,2.30,0.00,0.000,4,0.000,0.065,3030,3625,3353,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5839,-0.47,-136.3,517.4,-6.1,408,5845,0.00,2.20,0.00,0.000,6,0.000,0.044,3030,2198,3353,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6160,-0.47,-136.3,536.9,-5.8,419,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2195,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6461,-0.47,-136.3,556.0,-6.5,429,6467,0.00,2.28,0.00,0.000,4,0.000,0.066,3020,3612,3353,0,0,0,0,0,0,28.83,25.49,28.83
$GC,6490,-0.47,-136.3,558.0,-6.6,430,6496,0.00,2.17,0.00,0.000,6,0.000,0.047,3020,2205,3353,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6820,-0.47,-136.3,581.8,-7.3,441,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2203,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7120,-0.47,-136.3,603.7,-7.2,451,7125,0.00,2.28,0.00,0.000,4,0.000,0.066,3011,3607,3352,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7185,-0.47,-136.3,608.4,-7.4,453,7191,0.08,2.20,0.00,0.000,6,0.103,0.047,3040,2182,3352,0,0,0,0,0,0,25.60,25.79,28.83
$GC,7511,-0.47,-136.3,630.6,-6.6,464,7516,0.00,2.30,0.00,0.000,4,0.000,0.066,3031,3604,3352,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7559,-0.47,-136.3,632.8,-6.7,465,7568,0.00,2.20,0.00,0.000,6,0.000,0.047,3031,2188,3352,0,0,0,0,0,0,28.83,25.78,28.83
$GC,7871,-0.47,-136.3,654.7,-6.5,476,7872,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2188,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8170,-0.47,-136.3,674.4,-6.6,486,8176,0.00,2.30,0.00,0.000,4,0.000,0.066,3022,3610,3351,0,0,0,0,0,0,28.83,25.45,28.83
$GC,8214,-0.47,-136.3,676.6,-6.7,487,8220,0.00,2.20,0.00,0.000,6,0.000,0.047,3022,2200,3351,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8530,-0.47,-136.3,699.9,-6.9,498,8531,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2198,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8831,-0.47,-136.3,720.3,-6.9,508,8836,0.00,2.28,0.00,0.000,4,0.000,0.067,3013,3605,3350,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8890,-0.47,-136.3,724.7,-7.1,510,8896,0.00,2.20,0.00,0.000,6,0.000,0.048,3013,2201,3350,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9220,-0.47,-136.3,749.6,-7.6,521,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2199,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9520,-0.47,-136.3,772.2,-7.4,531,9522,0.12,0.00,0.00,0.000,6,0.140,0.000,3048,2199,3350,0,0,0,0,0,0,26.09,28.83,28.83
$GC,9821,-0.47,-136.3,789.4,-5.6,541,9827,0.00,2.30,0.00,0.000,4,0.000,0.067,3040,3607,3349,0,0,0,0,0,0,28.83,25.40,28.83
$GC,9850,-0.47,-136.3,791.0,-5.6,542,9856,0.00,2.20,0.00,0.000,6,0.000,0.047,3040,2193,3349,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10180,-0.47,-136.3,811.7,-6.2,553,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2192,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10481,-0.47,-136.3,831.6,-6.9,563,10487,0.00,2.30,0.00,0.000,4,0.000,0.067,3030,3610,3349,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10518,-0.47,-136.3,833.7,-7.1,564,10522,0.00,2.22,0.00,0.000,6,0.000,0.049,3030,2197,3348,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10835,-0.47,-136.3,858.2,-7.6,575,10836,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2195,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11136,-0.47,-136.3,880.6,-7.6,585,11137,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2195,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11435,-0.47,-136.3,903.0,-7.4,595,11441,0.00,2.30,0.00,0.000,4,0.000,0.067,3021,3608,3347,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11473,-0.47,-136.3,905.2,-7.4,596,11477,0.00,2.22,0.00,0.000,6,0.000,0.049,3021,2190,3347,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11791,-0.47,-136.3,929.4,-7.2,607,11797,0.00,2.30,0.00,0.000,4,0.000,0.067,3012,3604,3346,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11833,-0.47,-136.3,931.6,-7.1,608,11838,0.12,2.20,0.00,0.000,6,0.124,0.048,3048,2197,3347,0,0,0,0,0,0,25.56,25.70,28.83
$GC,12147,-0.47,-136.3,951.1,-5.8,619,12148,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2195,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12448,-0.47,-136.3,968.0,-5.6,629,12453,0.00,2.33,0.00,0.000,4,0.000,0.069,3041,3607,3347,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12485,-0.47,-136.3,969.6,-5.5,630,12489,0.00,2.22,0.00,0.000,6,0.000,0.049,3041,2198,3347,0,0,0,0,0,0,28.83,25.70,28.83
$GC,12803,-0.47,-136.3,988.0,-5.6,641,12804,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2195,3346,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12859,begin apogee
$GC,12866,-0.22,0.0,991.2,-5.5,643,12995,0.22,0.00,124.12,1.170,6,0.110,0.000,3122,2338,2794,0,0,0,0,0,0,25.80,28.83,22.84
$STATE,12998,end apogee,CONTROL_FINISHED_OK
$STATE,12998,begin climb
$GC,13001,0.47,136.3,994.9,0.0,647,13144,0.65,2.53,132.50,1.134,4,0.072,0.066,3346,3729,2237,0,0,0,0,0,0,24.39,23.32,21.95
$GC,13165,0.49,173.3,988.3,5.6,653,13209,0.00,2.40,36.20,1.089,6,0.000,0.047,3357,2328,2086,0,0,0,0,0,0,28.83,23.79,22.01
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$STATE,24531,end climb,SURFACE_DEPTH_REACHED
$STATE,24531,begin surface coast
$FINISH,1.3,1.025115
$STATE,24578,end surface coast,CONTROL_FINISHED_OK
$STATE,24578,begin surface
$SM_CCo,24658,0.00,0.000,0,0,1285,370.16
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$TT8_MAMPS,0.026964,0.026964
$HUMID,46.25
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,18.90
$XPDR_PINGS,1
$24V_AH,22.0,61.596
$10V_AH,9.8,49.607
$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
$DEVICE_SECS,22.050,197.775,461.925,0.000,0.000,24.795,37.765,666.947,0.250,0.000,18.672,3519.338,17706.943,566.454,3213.730,520.555,0.000,2049.106,0.000,2512.397,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,926.867,691.588,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73575,1347
$CAP_FILE_SIZE,209098,0
$CFSIZE,260165632,220766208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110, 48.0,1
$GPS,311212,084406,4734.982,-12534.954,40,1.1,40,18.7