version: 66.11
glider: 187
mission: 2
dive: 754
start: 4 1 113 9 57 57
data:
$ID,187
$MISSION,2
$DIVE,754
$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,-1589915.8
$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,39
$R_STBD_OVSHOOT,23
$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
$GPS1,010413,095006,4734.917,-12542.585,44,1.0,44,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-78.1
$GPS2,010413,095724,4734.948,-12542.610,12,1.0,17,18.7
$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,213.9,117234,-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,-136.3,0.0,0.0,0,74,0.00,0.00,-54.90,0.000,2,0.000,0.000,105,2198,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.47,-136.3,3.2,-1.6,10,110,11.70,2.30,-14.07,0.000,4,0.216,0.063,3030,789,3352,0,0,0,0,0,0,24.51,25.37,26.21
$GC,201,-0.47,-136.3,25.7,-15.6,32,208,0.00,2.22,0.00,0.000,6,0.000,0.052,3022,2201,3354,0,0,0,0,0,0,28.83,25.25,28.83
$GC,514,-0.47,-136.3,75.3,-15.6,93,521,0.00,2.20,0.00,0.000,4,0.000,0.050,3022,800,3355,0,0,0,0,0,0,28.83,25.24,28.83
$GC,579,-0.47,-136.3,85.6,-14.5,105,587,0.12,2.22,0.00,0.000,6,0.143,0.051,3045,2212,3355,0,0,0,0,0,0,25.07,25.22,28.83
$GC,893,-0.47,-136.3,119.0,-10.0,166,900,0.00,2.22,0.00,0.000,4,0.000,0.050,3045,797,3355,0,0,0,0,0,0,28.83,25.22,28.83
$GC,938,-0.47,-136.3,124.1,-11.1,171,947,0.00,2.28,0.00,0.000,6,0.000,0.050,3038,2200,3355,0,0,0,0,0,0,28.83,25.22,28.83
$GC,1249,-0.47,-136.3,152.9,-9.4,192,1257,0.00,2.33,0.00,0.000,4,0.000,0.063,3027,3608,3355,0,0,0,0,0,0,28.83,25.02,28.83
$GC,1338,-0.47,-136.3,161.6,-9.7,201,1348,0.00,2.28,0.00,0.000,6,0.000,0.042,3027,2184,3356,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1649,-0.47,-136.3,190.8,-8.7,222,1657,0.00,2.20,0.00,0.000,4,0.000,0.049,3027,804,3356,0,0,0,0,0,0,28.83,25.22,28.83
$GC,1709,-0.47,-136.3,196.5,-9.3,228,1717,0.00,2.25,0.00,0.000,6,0.000,0.050,3018,2201,3355,0,0,0,0,0,0,28.83,25.21,28.83
$GC,2028,-0.47,-136.3,228.5,-10.2,245,2034,0.00,2.35,0.00,0.000,4,0.000,0.062,3007,3612,3356,0,0,0,0,0,0,28.83,25.00,28.83
$GC,2088,-0.47,-136.3,234.7,-10.2,248,2095,0.12,2.28,0.00,0.000,6,0.130,0.043,3044,2194,3356,0,0,0,0,0,0,25.23,25.42,28.83
$GC,2409,-0.47,-136.3,260.3,-7.3,264,2414,0.00,2.20,0.00,0.000,4,0.000,0.050,3044,804,3356,0,0,0,0,0,0,28.83,25.20,28.83
$GC,2456,-0.47,-136.3,263.3,-7.3,266,2460,0.00,2.28,0.00,0.000,6,0.000,0.050,3037,2203,3355,0,0,0,0,0,0,28.83,25.19,28.83
$GC,2759,-0.47,-136.3,284.7,-6.7,281,2764,0.00,2.33,0.00,0.000,4,0.000,0.063,3026,3606,3356,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2800,-0.47,-136.3,287.4,-6.7,283,2804,0.00,2.25,0.00,0.000,6,0.000,0.043,3026,2194,3355,0,0,0,0,0,0,28.83,25.42,28.83
$GC,3118,-0.47,-136.3,313.6,-8.9,299,3124,0.00,2.25,0.00,0.000,4,0.000,0.050,3026,797,3355,0,0,0,0,0,0,28.83,25.17,28.83
$GC,3148,-0.47,-136.3,315.4,-9.0,300,3158,0.00,2.30,0.00,0.000,6,0.000,0.050,3017,2210,3356,0,0,0,0,0,0,28.83,25.17,28.83
$GC,3459,-0.47,-136.3,346.8,-9.8,316,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2210,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3760,-0.47,-136.3,375.9,-9.4,331,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2210,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4079,-0.47,-136.3,405.8,-9.3,346,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2210,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4379,-0.47,-136.3,431.9,-8.4,356,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2210,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4679,-0.47,-136.3,457.7,-8.7,366,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2209,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4978,-0.47,-136.3,485.7,-9.5,376,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2210,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5280,-0.47,-136.3,513.1,-9.1,386,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2209,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5578,-0.47,-136.3,537.1,-7.6,396,5584,0.00,2.35,0.00,0.000,4,0.000,0.064,3007,3606,3353,0,0,0,0,0,0,28.83,24.89,28.83
$GC,5616,-0.47,-136.3,539.5,-7.5,397,5621,0.12,2.28,0.00,0.000,6,0.127,0.045,3044,2202,3353,0,0,0,0,0,0,25.16,25.34,28.83
$GC,5931,-0.47,-136.3,557.9,-5.8,408,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2198,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6230,-0.47,-136.3,576.3,-6.1,418,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2198,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6530,-0.47,-136.3,595.0,-6.5,428,6535,0.00,2.38,0.00,0.000,4,0.000,0.066,3036,3604,3352,0,0,0,0,0,0,28.83,24.83,28.83
$GC,6560,-0.47,-136.3,597.0,-6.5,429,6565,0.00,2.28,0.00,0.000,6,0.000,0.046,3036,2190,3352,0,0,0,0,0,0,28.83,25.32,28.83
$GC,6891,-0.47,-136.3,619.7,-6.9,440,6892,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2188,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7190,-0.47,-136.3,639.6,-6.4,450,7195,0.00,2.40,0.00,0.000,4,0.000,0.066,3027,3609,3352,0,0,0,0,0,0,28.83,24.82,28.83
$GC,7228,-0.47,-136.3,641.6,-6.4,451,7232,0.00,2.30,0.00,0.000,6,0.000,0.046,3027,2191,3352,0,0,0,0,0,0,28.83,25.30,28.83
$GC,7542,-0.47,-136.3,662.9,-6.8,462,7546,0.00,2.35,0.00,0.000,4,0.000,0.066,3017,3609,3352,0,0,0,0,0,0,28.83,24.81,28.83
$GC,7568,-0.47,-136.3,664.2,-6.8,463,7572,0.00,2.30,0.00,0.000,6,0.000,0.046,3017,2191,3352,0,0,0,0,0,0,28.83,25.29,28.83
$GC,7881,-0.47,-136.3,688.0,-7.6,474,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2188,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8181,-0.47,-136.3,709.8,-7.1,484,8182,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2188,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8481,-0.47,-136.3,731.2,-7.0,494,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2188,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8780,-0.47,-136.3,752.2,-7.2,504,8786,0.00,2.38,0.00,0.000,4,0.000,0.066,3007,3601,3351,0,0,0,0,0,0,28.83,24.78,28.83
$GC,8810,-0.47,-136.3,754.5,-7.4,505,8817,0.12,2.28,0.00,0.000,6,0.124,0.046,3045,2198,3351,0,0,0,0,0,0,25.10,25.27,28.83
$GC,9142,-0.47,-136.3,772.9,-5.2,516,9146,0.00,2.25,0.00,0.000,4,0.000,0.054,3045,804,3350,0,0,0,0,0,0,28.83,25.00,28.83
$GC,9171,-0.47,-136.3,774.7,-5.3,517,9176,0.00,2.28,0.00,0.000,6,0.000,0.054,3043,2196,3350,0,0,0,0,0,0,28.83,25.01,28.83
$GC,9502,-0.47,-136.3,792.8,-5.7,528,9506,0.00,2.33,0.00,0.000,4,0.000,0.067,3033,3609,3350,0,0,0,0,0,0,28.83,24.75,28.83
$GC,9569,-0.47,-136.3,796.4,-5.8,530,9573,0.00,2.30,0.00,0.000,6,0.000,0.047,3033,2194,3350,0,0,0,0,0,0,28.83,25.25,28.83
$GC,9881,-0.47,-136.3,816.3,-6.1,541,9882,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2191,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10181,-0.47,-136.3,832.8,-5.4,551,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2191,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10481,-0.47,-136.3,847.9,-4.8,561,10482,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2191,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10781,-0.47,-136.3,861.4,-4.4,571,10787,0.00,2.40,0.00,0.000,4,0.000,0.067,3024,3610,3349,0,0,0,0,0,0,28.83,24.73,28.83
$GC,10829,-0.47,-136.3,862.8,-4.4,572,10833,0.00,2.30,0.00,0.000,6,0.000,0.047,3024,2198,3348,0,0,0,0,0,0,28.83,25.22,28.83
$GC,11133,-0.47,-136.3,878.0,-4.7,582,11137,0.00,2.28,0.00,0.000,4,0.000,0.055,3024,796,3348,0,0,0,0,0,0,28.83,24.95,28.83
$GC,11161,-0.47,-136.3,879.4,-4.7,583,11166,0.00,2.30,0.00,0.000,6,0.000,0.055,3017,2199,3348,0,0,0,0,0,0,28.83,24.94,28.83
$GC,11491,-0.47,-136.3,896.9,-5.6,594,11496,0.00,2.38,0.00,0.000,4,0.000,0.067,3013,3606,3347,0,0,0,0,0,0,28.83,24.70,28.83
$GC,11570,-0.47,-136.3,900.5,-5.9,596,11579,0.00,2.30,0.00,0.000,6,0.000,0.047,3013,2191,3348,0,0,0,0,0,0,28.83,25.21,28.83
$GC,11881,-0.47,-136.3,921.7,-6.7,607,11887,0.00,2.25,0.00,0.000,4,0.000,0.054,3013,805,3347,0,0,0,0,0,0,28.83,24.95,28.83
$GC,11911,-0.47,-136.3,923.9,-6.8,608,11917,0.08,2.28,0.00,0.000,6,0.110,0.055,3039,2194,3347,0,0,0,0,0,0,24.77,24.94,28.83
$GC,12242,-0.47,-136.3,944.1,-6.2,619,12246,0.00,2.35,0.00,0.000,4,0.000,0.069,3030,3613,3347,0,0,0,0,0,0,28.83,24.66,28.83
$GC,12301,-0.47,-136.3,948.0,-6.4,621,12307,0.00,2.30,0.00,0.000,6,0.000,0.048,3030,2201,3347,0,0,0,0,0,0,28.83,25.18,28.83
$GC,12632,-0.47,-136.3,969.7,-6.3,632,12637,0.00,2.28,0.00,0.000,4,0.000,0.056,3030,801,3347,0,0,0,0,0,0,28.83,24.90,28.83
$GC,12669,-0.47,-136.3,971.4,-6.2,633,12673,0.00,2.33,0.00,0.000,6,0.000,0.055,3030,2203,3347,0,0,0,0,0,0,28.83,24.91,28.83
$GC,12982,-0.47,-136.3,989.6,-5.4,644,12987,0.00,2.38,0.00,0.000,4,0.000,0.067,3021,3603,3347,0,0,0,0,0,0,28.83,24.66,28.83
$STATE,13009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13009,begin apogee
$GC,13018,-0.22,0.0,991.2,-5.4,645,13148,0.30,0.00,126.28,1.155,6,0.103,0.000,3125,2317,2794,0,0,0,0,0,0,25.39,28.83,22.57
$STATE,13149,end apogee,CONTROL_FINISHED_OK
$STATE,13149,begin climb
$GC,13152,0.47,136.3,994.5,0.0,649,13290,0.65,0.00,134.07,1.118,6,0.070,0.000,3347,2317,2238,0,0,0,0,0,0,24.32,28.83,21.75
$GC,13601,0.47,136.3,961.8,8.6,665,13607,0.00,2.42,0.00,0.000,4,0.000,0.069,3347,3742,2228,0,0,0,0,0,0,28.83,25.29,28.83
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$STATE,25717,end climb,SURFACE_DEPTH_REACHED
$STATE,25717,begin surface coast
$FINISH,1.3,1.008133
$STATE,25750,end surface coast,CONTROL_FINISHED_OK
$STATE,25750,begin surface
$SM_CCo,25830,0.00,0.000,0,0,993,441.79
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$IRIDIUM_FIX,4716.56,-12540.05,010413,020227
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.74
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,19.00
$XPDR_PINGS,1
$24V_AH,21.8,106.064
$10V_AH,9.7,79.684
$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
$DEVICE_SECS,22.300,216.925,532.800,0.000,0.000,26.771,38.909,213.152,0.250,0.000,18.014,3653.990,18740.836,800.188,2566.324,493.095,0.000,2094.655,0.000,2267.793,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,978.465,736.703,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296928
$DATA_FILE_SIZE,76845,1423
$CAP_FILE_SIZE,200573,0
$CFSIZE,260165632,194015232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.024, 48.7,1
$GPS,010413,170936,4733.023,-12546.677,31,1.3,31,18.7