version: 66.11
glider: 187
mission: 2
dive: 755
start: 4 1 113 17 17 52
data:
$ID,187
$MISSION,2
$DIVE,755
$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,-1589919.2
$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,46
$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
$GPS1,010413,170936,4733.023,-12546.677,31,1.3,31,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-78.1
$GPS2,010413,171718,4733.007,-12546.678,12,1.9,17,18.7
$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,217.0,110966,-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,16,-0.47,-136.3,0.0,0.0,0,97,0.00,0.00,-77.85,0.000,2,0.000,0.000,105,2185,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.47,-136.3,3.1,-2.2,14,138,11.62,2.28,-15.48,0.000,4,0.213,0.064,3032,797,3352,0,0,0,0,0,0,24.51,25.36,26.22
$GC,240,-0.47,-136.3,24.6,-12.9,39,247,0.00,2.22,0.00,0.000,6,0.000,0.051,3026,2209,3353,0,0,0,0,0,0,28.83,25.30,28.83
$GC,553,-0.47,-136.3,70.4,-13.6,100,560,0.00,2.20,0.00,0.000,4,0.000,0.050,3025,805,3354,0,0,0,0,0,0,28.83,25.30,28.83
$GC,598,-0.47,-136.3,76.3,-11.4,108,606,0.00,2.20,0.00,0.000,6,0.000,0.050,3016,2203,3354,0,0,0,0,0,0,28.83,25.29,28.83
$GC,912,-0.47,-136.3,113.6,-13.3,169,918,0.00,2.28,0.00,0.000,4,0.000,0.061,3007,3610,3354,0,0,0,0,0,0,28.83,25.13,28.83
$GC,961,-0.47,-136.3,119.8,-10.9,178,968,0.12,2.17,0.00,0.000,6,0.133,0.043,3043,2206,3354,0,0,0,0,0,0,25.30,25.50,28.83
$GC,1269,-0.47,-136.3,148.4,-8.5,199,1276,0.00,2.20,0.00,0.000,4,0.000,0.050,3043,797,3354,0,0,0,0,0,0,28.83,25.27,28.83
$GC,1296,-0.47,-136.3,150.9,-8.3,202,1305,0.00,2.28,0.00,0.000,6,0.000,0.050,3036,2201,3354,0,0,0,0,0,0,28.83,25.27,28.83
$GC,1608,-0.47,-136.3,178.4,-9.7,223,1615,0.00,2.30,0.00,0.000,4,0.000,0.062,3025,3609,3354,0,0,0,0,0,0,28.83,25.09,28.83
$GC,1658,-0.47,-136.3,183.6,-10.5,228,1667,0.00,2.25,0.00,0.000,6,0.000,0.043,3025,2191,3354,0,0,0,0,0,0,28.83,25.49,28.83
$GC,1978,-0.47,-136.3,215.3,-9.5,247,1982,0.00,2.20,0.00,0.000,4,0.000,0.050,3025,808,3355,0,0,0,0,0,0,28.83,25.26,28.83
$GC,2036,-0.47,-136.3,221.3,-9.7,250,2042,0.00,2.28,0.00,0.000,6,0.000,0.050,3017,2211,3354,0,0,0,0,0,0,28.83,25.25,28.83
$GC,2357,-0.47,-136.3,253.6,-9.4,266,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2211,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2659,-0.47,-136.3,279.5,-8.6,281,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2211,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2956,-0.47,-136.3,307.7,-9.7,296,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2211,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3258,-0.47,-136.3,337.7,-10.0,311,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2211,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3556,-0.47,-136.3,364.8,-8.4,326,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2211,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3857,-0.47,-136.3,390.8,-9.1,341,3862,0.00,2.33,0.00,0.000,4,0.000,0.063,3006,3613,3354,0,0,0,0,0,0,28.83,24.99,28.83
$GC,3885,-0.47,-136.3,392.6,-9.2,342,3895,0.12,2.28,0.00,0.000,6,0.129,0.044,3043,2205,3354,0,0,0,0,0,0,25.22,25.40,28.83
$GC,4207,-0.47,-136.3,414.2,-6.1,355,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2204,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4507,-0.47,-136.3,432.7,-6.2,365,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2205,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4808,-0.47,-136.3,450.9,-6.3,375,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2204,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5107,-0.47,-136.3,469.9,-6.4,385,5108,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2204,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5407,-0.47,-136.3,487.8,-5.8,395,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2205,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5708,-0.47,-136.3,503.2,-5.1,405,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2204,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6007,-0.47,-136.3,521.2,-6.3,415,6012,0.00,2.35,0.00,0.000,4,0.000,0.065,3035,3602,3351,0,0,0,0,0,0,28.83,24.89,28.83
$GC,6055,-0.47,-136.3,523.4,-6.5,416,6059,0.00,2.28,0.00,0.000,6,0.000,0.046,3035,2194,3351,0,0,0,0,0,0,28.83,25.34,28.83
$GC,6357,-0.47,-136.3,547.6,-8.1,426,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2192,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6656,-0.47,-136.3,572.7,-8.3,436,6663,0.00,2.40,0.00,0.000,4,0.000,0.065,3026,3618,3351,0,0,0,0,0,0,28.83,24.87,28.83
$GC,6704,-0.47,-136.3,575.1,-8.1,437,6709,0.00,2.30,0.00,0.000,6,0.000,0.046,3025,2195,3351,0,0,0,0,0,0,28.83,25.32,28.83
$GC,7008,-0.47,-136.3,600.2,-7.7,447,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2193,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7307,-0.47,-136.3,621.4,-6.8,457,7312,0.00,2.38,0.00,0.000,4,0.000,0.066,3016,3604,3350,0,0,0,0,0,0,28.83,24.85,28.83
$GC,7337,-0.47,-136.3,623.4,-6.7,458,7342,0.00,2.25,0.00,0.000,6,0.000,0.046,3016,2203,3350,0,0,0,0,0,0,28.83,25.32,28.83
$GC,7667,-0.47,-136.3,646.4,-6.9,469,7668,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2202,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7968,-0.47,-136.3,668.3,-7.4,479,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2202,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8267,-0.47,-136.3,689.0,-6.6,489,8272,0.00,2.28,0.00,0.000,4,0.000,0.054,3015,797,3349,0,0,0,0,0,0,28.83,25.03,28.83
$GC,8305,-0.47,-136.3,691.1,-6.6,490,8310,0.12,2.33,0.00,0.000,6,0.132,0.054,3044,2210,3349,0,0,0,0,0,0,24.93,25.03,28.83
$GC,8620,-0.47,-136.3,707.4,-5.1,501,8623,0.00,2.30,0.00,0.000,4,0.000,0.067,3036,3608,3348,0,0,0,0,0,0,28.83,24.82,28.83
$GC,8666,-0.47,-136.3,709.1,-5.3,502,8670,0.00,2.30,0.00,0.000,6,0.000,0.047,3036,2191,3348,0,0,0,0,0,0,28.83,25.28,28.83
$GC,8968,-0.47,-136.3,728.9,-6.4,512,8969,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2190,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9269,-0.47,-136.3,750.1,-7.1,522,9273,0.00,2.38,0.00,0.000,4,0.000,0.067,3027,3601,3347,0,0,0,0,0,0,28.83,24.79,28.83
$GC,9328,-0.47,-136.3,754.6,-7.3,524,9334,0.00,2.28,0.00,0.000,6,0.000,0.047,3027,2201,3347,0,0,0,0,0,0,28.83,25.27,28.83
$GC,9658,-0.47,-136.3,778.8,-7.0,535,9659,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2198,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9960,-0.47,-136.3,798.9,-6.4,545,9961,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2198,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10258,-0.47,-136.3,816.6,-5.3,555,10263,0.00,2.38,0.00,0.000,4,0.000,0.067,3017,3604,3347,0,0,0,0,0,0,28.83,24.76,28.83
$GC,10296,-0.47,-136.3,818.1,-5.2,556,10300,0.00,2.30,0.00,0.000,6,0.000,0.047,3017,2189,3346,0,0,0,0,0,0,28.83,25.24,28.83
$GC,10610,-0.47,-136.3,836.5,-5.8,567,10611,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2187,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10909,-0.47,-136.3,856.1,-6.7,577,10914,0.00,2.40,0.00,0.000,4,0.000,0.066,3007,3601,3346,0,0,0,0,0,0,28.83,24.75,28.83
$GC,10957,-0.47,-136.3,858.1,-6.7,578,10962,0.12,2.30,0.00,0.000,6,0.124,0.047,3044,2190,3346,0,0,0,0,0,0,25.08,25.23,28.83
$GC,11260,-0.47,-136.3,875.5,-5.1,588,11261,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2187,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11559,-0.47,-136.3,889.4,-4.7,598,11564,0.00,2.40,0.00,0.000,4,0.000,0.067,3037,3604,3346,0,0,0,0,0,0,28.83,24.72,28.83
$GC,11607,-0.47,-136.3,890.9,-4.7,599,11611,0.00,2.30,0.00,0.000,6,0.000,0.047,3037,2191,3346,0,0,0,0,0,0,28.83,25.22,28.83
$GC,11910,-0.47,-136.3,907.5,-5.3,609,11911,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2189,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12209,-0.47,-136.3,924.1,-5.7,619,12214,0.00,2.40,0.00,0.000,4,0.000,0.067,3027,3603,3346,0,0,0,0,0,0,28.83,24.70,28.83
$GC,12269,-0.47,-136.3,927.8,-5.9,621,12274,0.00,2.28,0.00,0.000,6,0.000,0.048,3027,2194,3346,0,0,0,0,0,0,28.83,25.21,28.83
$GC,12600,-0.47,-136.3,949.7,-6.7,632,12601,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2191,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12899,-0.47,-136.3,968.5,-6.1,642,12904,0.00,2.40,0.00,0.000,4,0.000,0.067,3018,3606,3345,0,0,0,0,0,0,28.83,24.69,28.83
$GC,12929,-0.47,-136.3,970.3,-6.0,643,12934,0.00,2.28,0.00,0.000,6,0.000,0.047,3018,2198,3345,0,0,0,0,0,0,28.83,25.19,28.83
$STATE,13256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13256,begin apogee
$GC,13264,-0.22,0.0,991.1,-6.3,654,13395,0.30,0.00,125.93,1.153,6,0.104,0.000,3121,2338,2794,0,0,0,0,0,0,25.39,28.83,22.57
$STATE,13396,end apogee,CONTROL_FINISHED_OK
$STATE,13396,begin climb
$GC,13399,0.47,136.3,994.5,0.0,658,13541,0.68,2.58,135.00,1.114,4,0.070,0.066,3351,3727,2237,0,0,0,0,0,0,24.35,23.41,21.79
$GC,13558,0.49,177.7,988.5,5.4,664,13609,0.00,2.45,41.33,1.073,6,0.000,0.048,3361,2327,2067,0,0,0,0,0,0,28.83,23.88,21.75
$GC,13909,0.49,177.7,954.1,9.6,676,13915,0.00,2.33,0.00,0.000,4,0.000,0.057,3372,920,2058,0,0,0,0,0,0,28.83,25.37,28.83
$GC,13947,0.49,177.7,951.1,9.6,677,13951,0.00,2.30,0.00,0.000,6,0.000,0.057,3372,2319,2057,0,0,0,0,0,0,28.83,25.40,28.83
$GC,14260,0.49,177.7,918.7,9.8,688,14265,0.00,2.38,0.00,0.000,4,0.000,0.069,3372,3733,2056,0,0,0,0,0,0,28.83,25.31,28.83
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$STATE,25325,end climb,SURFACE_DEPTH_REACHED
$STATE,25325,begin surface coast
$FINISH,1.4,1.014970
$STATE,25355,end surface coast,CONTROL_FINISHED_OK
$STATE,25355,begin surface
$SM_CCo,25435,0.00,0.000,0,0,996,440.80
$SM_GC,2.22,8.40,0.20,0.00,0.028,0.078,0.000,124,2197,996,-9.46,1.10,440.80,0,0,0,0,0,0,25.80,25.89,28.83
$IRIDIUM_FIX,4719.74,-12551.55,010413,090932
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.14
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,19.00
$XPDR_PINGS,1
$24V_AH,21.7,106.218
$10V_AH,9.7,79.781
$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,22.075,198.975,524.175,0.000,0.000,25.704,38.889,238.277,0.250,0.000,20.626,3542.380,18544.879,803.029,2526.176,468.656,0.000,2047.269,0.000,2195.843,0.000,0.535,0.000
$DEVICE_MAMPS,212.670,82.620,1152.855,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,951.044,706.982,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296952
$DATA_FILE_SIZE,76786,1384
$CAP_FILE_SIZE,191391,0
$CFSIZE,260165632,193937408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088, 73.2,1
$GPS,020413,002306,4731.313,-12549.971,41,0.9,41,18.7