version: 66.11
glider: 187
mission: 2
dive: 567
start: 2 5 113 18 53 53
data:
$ID,187
$MISSION,2
$DIVE,567
$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,10
$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,-1588717.8
$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,33
$R_STBD_OVSHOOT,26
$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
$GPS1,050213,184530,4737.068,-12542.979,79,1.0,79,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-72.9
$GPS2,050213,185319,4737.083,-12542.975,18,1.7,18,18.7
$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,201.0,119086,-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,-136.3,0.0,0.0,0,77,0.00,0.00,-57.78,0.000,2,0.000,0.000,130,2196,2814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.47,-136.3,3.5,-4.1,10,112,11.60,2.33,-11.75,0.000,4,0.216,0.076,3021,3607,3354,0,0,0,0,0,0,24.54,25.36,26.22
$GC,147,-0.47,-136.3,19.7,-19.9,21,153,0.00,2.20,0.00,0.000,6,0.000,0.044,3021,2188,3356,0,0,0,0,0,0,28.83,25.58,28.83
$GC,459,-0.47,-136.3,68.8,-13.4,82,465,0.00,2.17,0.00,0.000,4,0.000,0.051,3021,796,3356,0,0,0,0,0,0,28.83,25.50,28.83
$GC,548,-0.47,-136.3,81.3,-13.4,99,556,0.12,2.20,0.00,0.000,6,0.139,0.051,3045,2202,3357,0,0,0,0,0,0,25.39,25.53,28.83
$GC,862,-0.47,-136.3,112.6,-8.7,160,869,0.00,2.17,0.00,0.000,4,0.000,0.050,3046,803,3357,0,0,0,0,0,0,28.83,25.56,28.83
$GC,887,-0.47,-136.3,115.1,-9.4,164,895,0.00,2.20,0.00,0.000,6,0.000,0.050,3039,2200,3357,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1201,-0.47,-136.3,142.0,-8.6,191,1208,0.00,2.25,0.00,0.000,4,0.000,0.063,3028,3611,3357,0,0,0,0,0,0,28.83,25.43,28.83
$GC,1318,-0.47,-136.3,153.8,-10.1,203,1327,0.00,2.25,0.00,0.000,6,0.000,0.043,3028,2189,3357,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1628,-0.47,-136.3,184.6,-9.4,224,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2189,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1929,-0.47,-136.3,211.9,-8.9,242,1934,0.00,2.17,0.00,0.000,4,0.000,0.050,3028,813,3358,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1976,-0.47,-136.3,215.7,-9.3,244,1980,0.00,2.22,0.00,0.000,6,0.000,0.050,3020,2200,3357,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2278,-0.47,-136.3,243.5,-8.7,259,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2200,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2581,-0.47,-136.3,269.2,-8.6,274,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2200,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2879,-0.47,-136.3,296.7,-9.4,289,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2200,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3179,-0.47,-136.3,324.8,-9.2,304,3184,0.00,2.30,0.00,0.000,4,0.000,0.063,3010,3605,3357,0,0,0,0,0,0,28.83,25.41,28.83
$GC,3218,-0.47,-136.3,328.6,-9.3,306,3225,0.12,2.25,0.00,0.000,6,0.125,0.044,3046,2193,3357,0,0,0,0,0,0,25.56,25.72,28.83
$GC,3539,-0.47,-136.3,349.9,-6.1,322,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2190,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3840,-0.47,-136.3,369.1,-6.8,337,3844,0.00,2.30,0.00,0.000,4,0.000,0.064,3038,3611,3357,0,0,0,0,0,0,28.83,25.39,28.83
$GC,3879,-0.47,-136.3,371.8,-6.6,339,3884,0.00,2.25,0.00,0.000,6,0.000,0.045,3038,2197,3357,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4198,-0.47,-136.3,395.5,-7.6,355,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2195,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4519,-0.47,-136.3,419.1,-7.2,367,4524,0.00,2.33,0.00,0.000,4,0.000,0.065,3028,3601,3357,0,0,0,0,0,0,28.83,25.37,28.83
$GC,4556,-0.47,-136.3,421.2,-7.4,368,4560,0.00,2.25,0.00,0.000,6,0.000,0.045,3028,2194,3356,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4868,-0.47,-136.3,445.3,-7.1,379,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2193,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5170,-0.47,-136.3,466.0,-7.0,389,5174,0.00,2.35,0.00,0.000,4,0.000,0.065,3018,3611,3356,0,0,0,0,0,0,28.83,25.35,28.83
$GC,5207,-0.47,-136.3,468.1,-7.0,390,5211,0.00,2.28,0.00,0.000,6,0.000,0.046,3017,2190,3356,0,0,0,0,0,0,28.83,25.69,28.83
$GC,5519,-0.47,-136.3,492.9,-7.7,401,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2187,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5819,-0.47,-136.3,515.4,-7.5,411,5824,0.00,2.22,0.00,0.000,4,0.000,0.053,3018,802,3354,0,0,0,0,0,0,28.83,25.48,28.83
$GC,5857,-0.47,-136.3,517.8,-7.5,412,5862,0.12,2.28,0.00,0.000,6,0.134,0.053,3046,2203,3354,0,0,0,0,0,0,25.39,25.49,28.83
$GC,6171,-0.47,-136.3,537.0,-5.9,423,6176,0.00,2.33,0.00,0.000,4,0.000,0.066,3038,3608,3354,0,0,0,0,0,0,28.83,25.32,28.83
$GC,6219,-0.47,-136.3,538.7,-5.9,424,6223,0.00,2.25,0.00,0.000,6,0.000,0.046,3037,2202,3353,0,0,0,0,0,0,28.83,25.68,28.83
$GC,6522,-0.47,-136.3,558.3,-6.2,434,6523,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2199,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6821,-0.47,-136.3,576.8,-6.3,444,6822,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2199,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7120,-0.47,-136.3,597.6,-7.0,454,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2199,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7422,-0.47,-136.3,618.0,-6.8,464,7426,0.00,2.33,0.00,0.000,4,0.000,0.067,3027,3602,3352,0,0,0,0,0,0,28.83,25.29,28.83
$GC,7459,-0.47,-136.3,620.2,-6.8,465,7463,0.00,2.25,0.00,0.000,6,0.000,0.047,3027,2200,3352,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7772,-0.47,-136.3,644.4,-7.5,476,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2197,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8073,-0.47,-136.3,665.9,-7.0,486,8074,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2197,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8372,-0.47,-136.3,687.3,-7.2,496,8378,0.00,2.38,0.00,0.000,4,0.000,0.067,3017,3611,3352,0,0,0,0,0,0,28.83,25.27,28.83
$GC,8410,-0.47,-136.3,689.7,-7.2,497,8414,0.00,2.28,0.00,0.000,6,0.000,0.047,3017,2195,3351,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8722,-0.47,-136.3,714.6,-7.6,508,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2194,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9023,-0.47,-136.3,735.8,-6.8,518,9027,0.00,2.35,0.00,0.000,4,0.000,0.067,3007,3607,3351,0,0,0,0,0,0,28.83,25.25,28.83
$GC,9054,-0.47,-136.3,737.9,-6.9,519,9058,0.12,2.20,0.00,0.000,6,0.124,0.047,3045,2200,3351,0,0,0,0,0,0,25.48,25.63,28.83
$GC,9382,-0.47,-136.3,756.0,-5.6,530,9383,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2198,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9683,-0.47,-136.3,775.1,-6.5,540,9684,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2198,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9982,-0.47,-136.3,795.2,-7.0,550,9988,0.00,2.38,0.00,0.000,4,0.000,0.067,3037,3607,3351,0,0,0,0,0,0,28.83,25.25,28.83
$GC,10020,-0.47,-136.3,797.4,-6.9,551,10024,0.00,2.30,0.00,0.000,6,0.000,0.047,3037,2194,3350,0,0,0,0,0,0,28.83,25.61,28.83
$GC,10333,-0.47,-136.3,819.9,-6.9,562,10335,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2193,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10633,-0.47,-136.3,839.8,-6.5,572,10634,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2192,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10933,-0.47,-136.3,858.9,-6.2,582,10938,0.00,2.38,0.00,0.000,4,0.000,0.067,3027,3607,3350,0,0,0,0,0,0,28.83,25.22,28.83
$GC,10971,-0.47,-136.3,860.7,-6.2,583,10977,0.00,2.30,0.00,0.000,6,0.000,0.047,3026,2191,3349,0,0,0,0,0,0,28.83,25.60,28.83
$GC,11293,-0.47,-136.3,881.9,-6.1,594,11294,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2189,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11593,-0.47,-136.3,900.1,-5.9,604,11594,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2189,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11893,-0.47,-136.3,918.4,-6.1,614,11898,0.00,2.38,0.00,0.000,4,0.000,0.068,3017,3606,3348,0,0,0,0,0,0,28.83,25.20,28.83
$GC,11931,-0.47,-136.3,920.3,-6.1,615,11935,0.00,2.30,0.00,0.000,6,0.000,0.048,3017,2191,3348,0,0,0,0,0,0,28.83,25.58,28.83
$GC,12243,-0.47,-136.3,941.4,-6.5,626,12249,0.00,2.25,0.00,0.000,4,0.000,0.054,3017,802,3348,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12274,-0.47,-136.3,943.6,-6.6,627,12280,0.08,2.28,0.00,0.000,6,0.110,0.055,3040,2201,3348,0,0,0,0,0,0,25.22,25.38,28.83
$GC,12603,-0.47,-136.3,960.6,-5.2,638,12609,0.00,2.35,0.00,0.000,4,0.000,0.068,3031,3611,3348,0,0,0,0,0,0,28.83,25.18,28.83
$GC,12663,-0.47,-136.3,963.8,-5.3,640,12669,0.00,2.28,0.00,0.000,6,0.000,0.048,3031,2202,3348,0,0,0,0,0,0,28.83,25.58,28.83
$GC,12994,-0.47,-136.3,981.6,-5.2,651,12999,0.00,2.28,0.00,0.000,4,0.000,0.055,3032,801,3348,0,0,0,0,0,0,28.83,25.36,28.83
$GC,13031,-0.47,-136.3,983.3,-5.2,652,13035,0.00,2.30,0.00,0.000,6,0.000,0.056,3029,2202,3347,0,0,0,0,0,0,28.83,25.35,28.83
$STATE,13161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13161,begin apogee
$GC,13168,-0.22,0.0,990.7,-5.1,657,13300,0.28,0.00,127.15,1.162,6,0.106,0.000,3125,2335,2793,0,0,0,0,0,0,25.64,28.83,22.42
$STATE,13301,end apogee,CONTROL_FINISHED_OK
$STATE,13301,begin climb
$GC,13305,0.47,136.3,993.3,0.0,661,13447,0.65,2.60,134.95,1.125,4,0.070,0.067,3346,3724,2238,0,0,0,0,0,0,24.36,23.33,21.71
$GC,13466,0.48,161.7,986.2,6.0,667,13497,0.00,2.45,26.00,1.059,6,0.000,0.047,3357,2330,2134,0,0,0,0,0,0,28.83,23.78,21.81
$GC,13806,0.48,161.7,952.7,9.5,679,13811,0.00,2.33,0.00,0.000,4,0.000,0.057,3367,921,2125,0,0,0,0,0,0,28.83,25.32,28.83
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$STATE,25704,end climb,SURFACE_DEPTH_REACHED
$STATE,25704,begin surface coast
$FINISH,1.3,1.025280
$STATE,25736,end surface coast,CONTROL_FINISHED_OK
$STATE,25736,begin surface
$SM_CCo,25816,0.00,0.000,0,0,1275,372.61
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$IRIDIUM_FIX,4722.92,-12537.46,050213,111152
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.08
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,18.90
$XPDR_PINGS,2
$24V_AH,21.7,79.151
$10V_AH,9.7,61.815
$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
$DEVICE_SECS,22.125,207.275,476.125,0.000,0.000,28.211,40.990,246.226,0.500,0.000,19.101,3646.321,18868.957,736.281,2556.087,467.112,0.000,1990.171,0.000,2219.557,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,966.566,717.015,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296940
$DATA_FILE_SIZE,76746,1403
$CAP_FILE_SIZE,198165,0
$CFSIZE,260165632,210006016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065, 44.1,1
$GPS,060213,020530,4734.550,-12545.701,43,1.6,43,18.7