version: 66.11
glider: 187
mission: 2
dive: 629
start: 2 23 113 23 12 50
data:
$ID,187
$MISSION,2
$DIVE,629
$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,570.07721
$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,-1588816.8
$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,31
$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
$GPS1,230213,225706,4732.387,-12535.189,30,1.6,30,18.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-73.1
$GPS2,230213,231219,4732.317,-12535.026,14,1.6,14,18.7
$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,228.3,122887,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,103,0.00,0.00,-83.72,0.000,2,0.000,0.000,110,2199,2700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.47,-136.3,3.4,-2.9,15,140,11.85,2.38,-14.77,0.000,4,0.219,0.076,3026,3610,3353,0,0,0,0,0,0,24.47,25.35,26.28
$GC,199,-0.47,-136.3,19.9,-12.2,31,206,0.00,2.22,0.00,0.000,6,0.000,0.044,3026,2180,3355,0,0,0,0,0,0,28.83,25.62,28.83
$GC,510,-0.47,-136.3,67.5,-15.7,92,517,0.00,2.15,0.00,0.000,4,0.000,0.051,3026,798,3356,0,0,0,0,0,0,28.83,25.51,28.83
$GC,575,-0.47,-136.3,77.6,-15.1,104,583,0.00,2.20,0.00,0.000,6,0.000,0.051,3017,2207,3355,0,0,0,0,0,0,28.83,25.52,28.83
$GC,889,-0.47,-136.3,118.8,-10.5,165,896,0.00,2.25,0.00,0.000,4,0.000,0.061,3006,3610,3356,0,0,0,0,0,0,28.83,25.41,28.83
$GC,944,-0.47,-136.3,124.9,-11.4,171,954,0.12,2.25,0.00,0.000,6,0.132,0.043,3042,2192,3356,0,0,0,0,0,0,25.52,25.70,28.83
$GC,1257,-0.47,-136.3,154.8,-9.6,192,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2191,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1554,-0.47,-136.3,180.5,-8.8,212,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2191,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1855,-0.47,-136.3,205.3,-8.2,231,1860,0.00,2.20,0.00,0.000,4,0.000,0.050,3042,805,3356,0,0,0,0,0,0,28.83,25.54,28.83
$GC,1882,-0.47,-136.3,207.1,-8.3,232,1886,0.00,2.25,0.00,0.000,6,0.000,0.050,3036,2202,3356,0,0,0,0,0,0,28.83,25.54,28.83
$GC,2184,-0.47,-136.3,233.9,-8.6,247,2190,0.00,2.33,0.00,0.000,4,0.000,0.062,3025,3610,3356,0,0,0,0,0,0,28.83,25.39,28.83
$GC,2245,-0.47,-136.3,239.3,-9.0,250,2250,0.00,2.22,0.00,0.000,6,0.000,0.043,3024,2202,3355,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2564,-0.47,-136.3,269.5,-9.3,266,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2199,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2864,-0.47,-136.3,295.9,-8.7,281,2870,0.00,2.33,0.00,0.000,4,0.000,0.063,3015,3611,3356,0,0,0,0,0,0,28.83,25.37,28.83
$GC,2893,-0.47,-136.3,297.6,-8.7,282,2897,0.00,2.25,0.00,0.000,6,0.000,0.044,3015,2199,3355,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3194,-0.47,-136.3,325.1,-8.4,297,3200,0.00,2.22,0.00,0.000,4,0.000,0.051,3015,801,3356,0,0,0,0,0,0,28.83,25.50,28.83
$GC,3242,-0.47,-136.3,328.6,-8.4,299,3247,0.12,2.25,0.00,0.000,6,0.133,0.050,3042,2200,3355,0,0,0,0,0,0,25.39,25.51,28.83
$GC,3545,-0.47,-136.3,347.0,-5.7,314,3550,0.00,2.30,0.00,0.000,4,0.000,0.063,3033,3601,3356,0,0,0,0,0,0,28.83,25.34,28.83
$GC,3592,-0.47,-136.3,349.4,-6.0,316,3596,0.00,2.25,0.00,0.000,6,0.000,0.044,3034,2190,3356,0,0,0,0,0,0,28.83,25.68,28.83
$GC,3894,-0.47,-136.3,370.3,-7.1,331,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2188,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4196,-0.47,-136.3,394.0,-8.1,346,4200,0.00,2.30,0.00,0.000,4,0.000,0.063,3023,3606,3354,0,0,0,0,0,0,28.83,25.32,28.83
$GC,4224,-0.47,-136.3,396.6,-8.2,347,4230,0.00,2.25,0.00,0.000,6,0.000,0.044,3023,2200,3354,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4554,-0.47,-136.3,426.8,-9.4,359,4559,0.00,2.25,0.00,0.000,4,0.000,0.051,3023,801,3354,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4585,-0.47,-136.3,429.8,-9.4,360,4590,0.00,2.25,0.00,0.000,6,0.000,0.052,3014,2204,3354,0,0,0,0,0,0,28.83,25.47,28.83
$GC,4914,-0.47,-136.3,460.8,-9.1,371,4920,0.00,2.35,0.00,0.000,4,0.000,0.064,3004,3618,3353,0,0,0,0,0,0,28.83,25.30,28.83
$GC,4983,-0.47,-136.3,466.3,-9.0,373,4990,0.15,2.28,0.00,0.000,6,0.117,0.045,3049,2200,3353,0,0,0,0,0,0,25.46,25.65,28.83
$GC,5305,-0.47,-136.3,488.6,-6.9,384,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2197,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5604,-0.47,-136.3,510.2,-7.2,394,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2198,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5904,-0.47,-136.3,531.6,-6.9,404,5910,0.00,2.35,0.00,0.000,4,0.000,0.065,3041,3611,3352,0,0,0,0,0,0,28.83,25.27,28.83
$GC,5934,-0.47,-136.3,533.6,-6.8,405,5940,0.00,2.25,0.00,0.000,6,0.000,0.047,3041,2204,3352,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6265,-0.47,-136.3,557.9,-7.3,416,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2202,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6564,-0.47,-136.3,578.5,-6.7,426,6565,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2202,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6864,-0.47,-136.3,598.6,-6.6,436,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2202,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7165,-0.47,-136.3,618.3,-6.6,446,7166,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2202,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7464,-0.47,-136.3,637.8,-6.5,456,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2202,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7764,-0.47,-136.3,656.6,-6.3,466,7770,0.00,2.25,0.00,0.000,4,0.000,0.054,3041,803,3350,0,0,0,0,0,0,28.83,25.38,28.83
$GC,7795,-0.47,-136.3,658.8,-6.4,467,7800,0.00,2.25,0.00,0.000,6,0.000,0.054,3033,2194,3350,0,0,0,0,0,0,28.83,25.40,28.83
$GC,8124,-0.47,-136.3,681.2,-6.9,478,8130,0.00,2.35,0.00,0.000,4,0.000,0.067,3023,3612,3350,0,0,0,0,0,0,28.83,25.22,28.83
$GC,8184,-0.47,-136.3,685.8,-7.3,480,8190,0.00,2.30,0.00,0.000,6,0.000,0.047,3023,2189,3350,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8514,-0.47,-136.3,711.8,-8.0,491,8515,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2187,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8814,-0.47,-136.3,735.7,-7.8,501,8815,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2187,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9114,-0.47,-136.3,758.8,-7.4,511,9115,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2187,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9415,-0.47,-136.3,779.4,-6.5,521,9417,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2187,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9714,-0.47,-136.3,798.5,-6.3,531,9715,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2187,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10015,-0.47,-136.3,817.1,-6.3,541,10020,0.00,2.38,0.00,0.000,4,0.000,0.067,3013,3609,3348,0,0,0,0,0,0,28.83,25.18,28.83
$GC,10044,-0.47,-136.3,819.2,-6.4,542,10050,0.00,2.25,0.00,0.000,6,0.000,0.047,3013,2205,3348,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10375,-0.47,-136.3,843.6,-7.6,553,10380,0.00,2.25,0.00,0.000,4,0.000,0.054,3013,802,3347,0,0,0,0,0,0,28.83,25.34,28.83
$GC,10404,-0.47,-136.3,845.8,-7.6,554,10411,0.12,2.30,0.00,0.000,6,0.132,0.054,3041,2209,3348,0,0,0,0,0,0,25.24,25.33,28.83
$GC,10735,-0.47,-136.3,866.6,-6.3,565,10740,0.00,2.33,0.00,0.000,4,0.000,0.067,3034,3605,3348,0,0,0,0,0,0,28.83,25.15,28.83
$GC,10773,-0.47,-136.3,868.6,-6.3,566,10779,0.00,2.28,0.00,0.000,6,0.000,0.047,3033,2195,3348,0,0,0,0,0,0,28.83,25.55,28.83
$GC,11095,-0.47,-136.3,889.3,-6.0,577,11100,0.00,2.25,0.00,0.000,4,0.000,0.054,3033,798,3347,0,0,0,0,0,0,28.83,25.32,28.83
$GC,11132,-0.47,-136.3,891.0,-6.0,578,11136,0.00,2.30,0.00,0.000,6,0.000,0.055,3028,2203,3347,0,0,0,0,0,0,28.83,25.32,28.83
$GC,11446,-0.47,-136.3,912.1,-6.8,589,11450,0.00,2.30,0.00,0.000,4,0.000,0.067,3017,3612,3347,0,0,0,0,0,0,28.83,25.13,28.83
$GC,11513,-0.47,-136.3,916.5,-7.0,591,11517,0.00,2.30,0.00,0.000,6,0.000,0.048,3017,2194,3347,0,0,0,0,0,0,28.83,25.53,28.83
$GC,11825,-0.47,-136.3,939.8,-7.5,602,11830,0.00,2.28,0.00,0.000,4,0.000,0.054,3017,792,3347,0,0,0,0,0,0,28.83,25.31,28.83
$GC,11874,-0.47,-136.3,942.2,-7.6,603,11878,0.00,2.33,0.00,0.000,6,0.000,0.055,3016,2209,3347,0,0,0,0,0,0,28.83,25.29,28.83
$GC,12175,-0.47,-136.3,965.9,-7.4,613,12181,0.00,2.33,0.00,0.000,4,0.000,0.067,3008,3606,3346,0,0,0,0,0,0,28.83,25.12,28.83
$GC,12235,-0.47,-136.3,970.4,-7.4,615,12241,0.12,2.28,0.00,0.000,6,0.122,0.047,3046,2201,3346,0,0,0,0,0,0,25.37,25.52,28.83
$GC,12566,-0.47,-136.3,987.7,-5.0,626,12567,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2200,3346,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12622,begin apogee
$GC,12629,-0.22,0.0,990.6,-5.0,628,12761,0.20,0.00,126.60,1.157,6,0.106,0.000,3122,2341,2794,0,0,0,0,0,0,25.80,28.83,22.43
$STATE,12762,end apogee,CONTROL_FINISHED_OK
$STATE,12762,begin climb
$GC,12766,0.47,136.3,994.2,0.0,632,12907,0.68,2.58,134.50,1.121,4,0.069,0.067,3352,3728,2237,0,0,0,0,0,0,24.42,23.42,21.73
$GC,12955,0.47,136.3,985.2,7.2,639,12961,0.00,2.42,0.00,0.000,6,0.000,0.047,3362,2328,2233,0,0,0,0,0,0,28.83,24.19,28.83
$GC,13276,0.47,136.3,954.7,9.1,650,13277,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2327,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13576,0.47,136.3,927.6,9.0,660,13578,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2327,2226,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,24868,end climb,SURFACE_DEPTH_REACHED
$STATE,24868,begin surface coast
$FINISH,1.4,1.025366
$STATE,24914,end surface coast,CONTROL_FINISHED_OK
$STATE,24914,begin surface
$SM_CCo,24933,151.12,0.509,1,0,470,570.08
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$TT8_MAMPS,0.027713,0.027713
$HUMID,46.29
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,18.90
$XPDR_PINGS,4
$24V_AH,21.7,88.199
$10V_AH,9.8,67.737
$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
$DEVICE_SECS,22.325,198.075,408.100,151.125,0.000,133.562,375.529,0.000,1.000,0.000,15.229,3592.125,18370.896,847.678,2736.904,445.257,0.000,2073.109,0.000,2192.000,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,946.906,710.745,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297040
$DATA_FILE_SIZE,73591,1373
$CAP_FILE_SIZE,189953,0
$CFSIZE,260165632,204693504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.064, 79.9,1
$GPS,240213,061224,4730.574,-12538.914,42,1.2,42,18.6