version: 66.11
glider: 187
mission: 2
dive: 761
start: 4 3 113 13 4 28
data:
$ID,187
$MISSION,2
$DIVE,761
$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,-1589933.9
$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,35
$R_STBD_OVSHOOT,24
$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
$GPS1,030413,125624,4724.858,-12607.433,51,1.1,51,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-78.2
$GPS2,030413,130355,4724.893,-12607.422,13,1.7,13,18.7
$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,215.2,80843,-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,-136.3,0.0,0.0,0,92,0.00,0.00,-72.20,0.000,2,0.000,0.000,109,2209,2695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.47,-136.3,3.0,-1.8,13,127,11.65,0.00,-16.20,0.000,6,0.213,0.000,3034,2206,3351,0,0,0,0,0,0,24.47,28.83,26.22
$GC,432,-0.47,-136.3,51.7,-13.3,78,439,0.00,2.22,0.00,0.000,4,0.000,0.050,3034,790,3354,0,0,0,0,0,0,28.83,25.26,28.83
$GC,478,-0.47,-136.3,58.0,-13.3,86,484,0.00,2.22,0.00,0.000,6,0.000,0.051,3026,2201,3353,0,0,0,0,0,0,28.83,25.26,28.83
$GC,790,-0.47,-136.3,93.6,-10.9,147,797,0.00,2.22,0.00,0.000,4,0.000,0.050,3026,789,3354,0,0,0,0,0,0,28.83,25.27,28.83
$GC,842,-0.47,-136.3,99.1,-11.3,156,849,0.00,2.22,0.00,0.000,6,0.000,0.050,3017,2202,3355,0,0,0,0,0,0,28.83,25.26,28.83
$GC,1163,-0.47,-136.3,134.6,-10.7,201,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2202,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1465,-0.47,-136.3,166.9,-11.1,221,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2202,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1764,-0.47,-136.3,200.3,-10.8,241,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2202,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2065,-0.47,-136.3,232.0,-10.5,256,2069,0.00,2.28,0.00,0.000,4,0.000,0.062,3007,3609,3354,0,0,0,0,0,0,28.83,25.03,28.83
$GC,2103,-0.47,-136.3,236.2,-10.5,258,2110,0.12,2.28,0.00,0.000,6,0.131,0.042,3043,2196,3354,0,0,0,0,0,0,25.25,25.44,28.83
$GC,2424,-0.47,-136.3,262.1,-7.6,274,2429,0.00,2.25,0.00,0.000,4,0.000,0.050,3043,799,3354,0,0,0,0,0,0,28.83,25.20,28.83
$GC,2453,-0.47,-136.3,263.6,-7.7,275,2462,0.00,2.28,0.00,0.000,6,0.000,0.050,3037,2201,3354,0,0,0,0,0,0,28.83,25.22,28.83
$GC,2764,-0.47,-136.3,289.0,-7.8,291,2769,0.00,2.35,0.00,0.000,4,0.000,0.062,3026,3608,3354,0,0,0,0,0,0,28.83,25.00,28.83
$GC,2803,-0.47,-136.3,292.3,-8.0,293,2809,0.00,2.28,0.00,0.000,6,0.000,0.043,3026,2194,3354,0,0,0,0,0,0,28.83,25.43,28.83
$GC,3125,-0.47,-136.3,320.5,-9.1,309,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2189,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3425,-0.47,-136.3,349.0,-9.5,324,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2189,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3724,-0.47,-136.3,376.1,-8.9,339,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2189,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4045,-0.47,-136.3,405.6,-9.2,354,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2189,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4344,-0.47,-136.3,432.0,-8.7,364,4349,0.00,2.25,0.00,0.000,4,0.000,0.051,3026,801,3353,0,0,0,0,0,0,28.83,25.13,28.83
$GC,4373,-0.47,-136.3,434.7,-8.7,365,4379,0.00,2.30,0.00,0.000,6,0.000,0.051,3019,2208,3353,0,0,0,0,0,0,28.83,25.14,28.83
$GC,4704,-0.47,-136.3,462.5,-8.3,376,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2207,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5005,-0.47,-136.3,487.2,-8.3,386,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2207,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5304,-0.47,-136.3,512.5,-8.4,396,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2207,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5604,-0.47,-136.3,536.9,-8.0,406,5610,0.00,2.38,0.00,0.000,4,0.000,0.063,3009,3623,3352,0,0,0,0,0,0,28.83,24.90,28.83
$GC,5665,-0.47,-136.3,542.0,-8.3,408,5670,0.08,2.28,0.00,0.000,6,0.104,0.045,3039,2209,3352,0,0,0,0,0,0,25.13,25.34,28.83
$GC,5994,-0.47,-136.3,563.5,-6.2,419,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2207,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6294,-0.47,-136.3,581.8,-6.1,429,6295,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2207,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6595,-0.47,-136.3,600.3,-6.3,439,6596,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2207,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6894,-0.47,-136.3,619.3,-6.4,449,6900,0.00,2.38,0.00,0.000,4,0.000,0.065,3031,3612,3351,0,0,0,0,0,0,28.83,24.84,28.83
$GC,6954,-0.47,-136.3,623.1,-6.3,451,6960,0.00,2.28,0.00,0.000,6,0.000,0.046,3031,2205,3350,0,0,0,0,0,0,28.83,25.32,28.83
$GC,7285,-0.47,-136.3,644.8,-6.5,462,7289,0.00,2.30,0.00,0.000,4,0.000,0.054,3031,762,3350,0,0,0,0,0,0,28.83,25.04,28.83
$GC,7315,-0.47,-136.3,647.1,-6.6,463,7320,0.00,2.30,0.00,0.000,6,0.000,0.054,3028,2199,3350,0,0,0,0,0,0,28.83,25.03,28.83
$GC,7634,-0.47,-136.3,667.9,-6.4,474,7639,0.00,2.35,0.00,0.000,4,0.000,0.065,3018,3605,3350,0,0,0,0,0,0,28.83,24.82,28.83
$GC,7673,-0.47,-136.3,669.7,-6.3,475,7679,0.00,2.30,0.00,0.000,6,0.000,0.046,3018,2192,3350,0,0,0,0,0,0,28.83,25.29,28.83
$GC,7994,-0.47,-136.3,691.0,-6.4,486,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2189,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8294,-0.47,-136.3,709.4,-6.1,496,8300,0.00,2.40,0.00,0.000,4,0.000,0.066,3008,3608,3349,0,0,0,0,0,0,28.83,24.79,28.83
$GC,8343,-0.47,-136.3,711.5,-6.3,497,8353,0.12,2.30,0.00,0.000,6,0.125,0.047,3044,2194,3348,0,0,0,0,0,0,25.10,25.26,28.83
$GC,8654,-0.47,-136.3,728.1,-4.9,508,8655,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2194,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8954,-0.47,-136.3,744.2,-5.6,518,8955,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2195,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9255,-0.47,-136.3,761.3,-5.8,528,9256,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2194,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9554,-0.47,-136.3,780.0,-6.4,538,9559,0.00,2.40,0.00,0.000,4,0.000,0.067,3036,3609,3347,0,0,0,0,0,0,28.83,24.75,28.83
$GC,9584,-0.47,-136.3,782.1,-6.4,539,9589,0.00,2.28,0.00,0.000,6,0.000,0.047,3036,2211,3347,0,0,0,0,0,0,28.83,25.23,28.83
$GC,9915,-0.47,-136.3,804.0,-6.5,550,9916,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2210,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10214,-0.47,-136.3,823.6,-6.3,560,10220,0.00,2.38,0.00,0.000,4,0.000,0.067,3027,3612,3347,0,0,0,0,0,0,28.83,24.75,28.83
$GC,10252,-0.47,-136.3,825.7,-6.4,561,10256,0.00,2.33,0.00,0.000,6,0.000,0.047,3027,2189,3346,0,0,0,0,0,0,28.83,25.22,28.83
$GC,10565,-0.47,-136.3,849.1,-7.5,572,10570,0.00,2.40,0.00,0.000,4,0.000,0.067,3018,3605,3346,0,0,0,0,0,0,28.83,24.72,28.83
$GC,10603,-0.47,-136.3,851.4,-7.4,573,10609,0.00,2.30,0.00,0.000,6,0.000,0.047,3018,2195,3346,0,0,0,0,0,0,28.83,25.21,28.83
$GC,10925,-0.47,-136.3,877.5,-7.8,584,10926,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2193,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11225,-0.47,-136.3,898.5,-6.8,594,11230,0.00,2.40,0.00,0.000,4,0.000,0.067,3008,3607,3346,0,0,0,0,0,0,28.83,24.70,28.83
$GC,11256,-0.47,-136.3,900.5,-6.9,595,11261,0.10,2.30,0.00,0.000,6,0.094,0.048,3046,2193,3345,0,0,0,0,0,0,24.96,25.18,28.83
$GC,11585,-0.47,-136.3,918.2,-5.2,606,11586,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2192,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11886,-0.47,-136.3,933.8,-5.1,616,11890,0.00,2.38,0.00,0.000,4,0.000,0.068,3038,3611,3345,0,0,0,0,0,0,28.83,24.67,28.83
$GC,11934,-0.47,-136.3,935.4,-5.2,617,11943,0.00,2.33,0.00,0.000,6,0.000,0.046,3038,2185,3345,0,0,0,0,0,0,28.83,25.22,28.83
$GC,12245,-0.47,-136.3,953.3,-5.2,628,12246,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2185,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12545,-0.47,-136.3,968.9,-5.1,638,12550,0.00,2.40,0.00,0.000,4,0.000,0.067,3029,3601,3344,0,0,0,0,0,0,28.83,24.67,28.83
$GC,12576,-0.47,-136.3,970.6,-5.1,639,12580,0.00,2.28,0.00,0.000,6,0.000,0.047,3029,2204,3344,0,0,0,0,0,0,28.83,25.18,28.83
$GC,12905,-0.47,-136.3,987.9,-5.0,650,12906,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2203,3344,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12962,begin apogee
$GC,12969,-0.22,0.0,990.8,-4.8,652,13098,0.28,0.00,125.22,1.155,6,0.103,0.000,3125,2333,2794,0,0,0,0,0,0,25.46,28.83,22.58
$STATE,13099,end apogee,CONTROL_FINISHED_OK
$STATE,13099,begin climb
$GC,13103,0.47,136.3,992.7,0.0,656,13240,0.62,0.00,134.32,1.118,6,0.070,0.000,3344,2333,2238,0,0,0,0,0,0,24.34,28.83,21.80
$GC,13524,0.47,136.3,959.6,9.2,671,13530,0.00,2.33,0.00,0.000,4,0.000,0.057,3354,921,2228,0,0,0,0,0,0,28.83,25.37,28.83
$GC,13573,0.47,136.3,956.9,9.2,672,13583,0.00,2.30,0.00,0.000,6,0.000,0.057,3354,2317,2227,0,0,0,0,0,0,28.83,25.40,28.83
$GC,13884,0.47,136.3,926.0,9.3,683,13890,0.00,2.38,0.00,0.000,4,0.000,0.068,3354,3734,2225,0,0,0,0,0,0,28.83,25.31,28.83
$GC,13932,0.47,136.3,922.9,9.3,684,13936,0.00,2.30,0.00,0.000,6,0.000,0.050,3365,2326,2225,0,0,0,0,0,0,28.83,25.53,28.83
$GC,14235,0.47,136.3,892.2,9.3,694,14240,0.00,2.28,0.00,0.000,4,0.000,0.057,3375,930,2225,0,0,0,0,0,0,28.83,25.35,28.83
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$STATE,25323,end climb,SURFACE_DEPTH_REACHED
$STATE,25324,begin surface coast
$FINISH,3.1,1.024926
$STATE,25330,end surface coast,CONTROL_FINISHED_OK
$STATE,25330,begin surface
$SM_CCo,25412,0.00,0.000,0,0,1315,362.80
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$TT8_MAMPS,0.027713,0.027713
$HUMID,48.54
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.00
$XPDR_PINGS,2
$24V_AH,21.8,107.077
$10V_AH,9.7,80.370
$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
$DEVICE_SECS,22.075,208.400,459.875,0.000,0.000,26.804,35.063,234.933,0.500,0.000,16.515,3530.665,18572.508,762.736,2498.459,485.109,0.000,2003.659,0.000,2190.719,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,938.874,701.323,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76838,1364
$CAP_FILE_SIZE,193289,0
$CFSIZE,260165632,193409024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108, 49.1,1
$GPS,030413,200906,4723.438,-12610.172,28,1.4,28,18.6