version: 66.11
glider: 187
mission: 2
dive: 777
start: 4 8 113 10 8 40
data:
$ID,187
$MISSION,2
$DIVE,777
$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,-1589959.2
$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,41
$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
$GPS1,080413,095955,4703.829,-12653.906,33,2.2,52,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-72.8
$GPS2,080413,100807,4703.739,-12653.809,21,2.0,21,18.6
$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,217.6,10445,-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,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,86,0.00,0.00,-66.62,0.000,2,0.000,0.000,129,2208,2544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.47,-136.3,3.1,-4.2,12,134,11.55,2.30,-23.60,0.000,4,0.211,0.073,3030,3611,3351,0,0,0,0,0,0,24.46,25.19,26.23
$GC,270,-0.47,-136.3,26.6,-14.5,45,277,0.00,2.20,0.00,0.000,6,0.000,0.044,3030,2204,3353,0,0,0,0,0,0,28.83,25.39,28.83
$GC,583,-0.47,-136.3,74.9,-14.2,106,591,0.00,2.22,0.00,0.000,4,0.000,0.051,3030,787,3353,0,0,0,0,0,0,28.83,25.17,28.83
$GC,609,-0.47,-136.3,78.7,-14.4,110,616,0.00,2.25,0.00,0.000,6,0.000,0.051,3020,2202,3353,0,0,0,0,0,0,28.83,25.18,28.83
$GC,922,-0.47,-136.3,115.5,-11.0,171,929,0.00,2.30,0.00,0.000,4,0.000,0.062,3010,3619,3353,0,0,0,0,0,0,28.83,25.00,28.83
$GC,961,-0.47,-136.3,120.2,-12.0,178,972,0.12,2.30,0.00,0.000,6,0.127,0.043,3046,2183,3354,0,0,0,0,0,0,25.20,25.39,28.83
$GC,1275,-0.47,-136.3,148.2,-8.3,199,1282,0.00,2.20,0.00,0.000,4,0.000,0.050,3046,801,3353,0,0,0,0,0,0,28.83,25.16,28.83
$GC,1312,-0.47,-136.3,151.6,-8.4,203,1320,0.00,2.25,0.00,0.000,6,0.000,0.051,3040,2195,3354,0,0,0,0,0,0,28.83,25.16,28.83
$GC,1622,-0.47,-136.3,177.4,-8.0,224,1630,0.00,2.35,0.00,0.000,4,0.000,0.063,3029,3611,3354,0,0,0,0,0,0,28.83,24.95,28.83
$GC,1673,-0.47,-136.3,181.4,-8.1,229,1680,0.00,2.25,0.00,0.000,6,0.000,0.044,3029,2202,3353,0,0,0,0,0,0,28.83,25.40,28.83
$GC,1987,-0.47,-136.3,207.8,-8.8,249,1992,0.00,2.28,0.00,0.000,4,0.000,0.050,3029,797,3353,0,0,0,0,0,0,28.83,25.13,28.83
$GC,2047,-0.47,-136.3,213.4,-9.3,252,2052,0.00,2.30,0.00,0.000,6,0.000,0.050,3021,2206,3353,0,0,0,0,0,0,28.83,25.13,28.83
$GC,2368,-0.47,-136.3,245.5,-10.1,268,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2205,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2669,-0.47,-136.3,275.6,-10.1,283,2673,0.00,2.30,0.00,0.000,4,0.000,0.063,3011,3614,3353,0,0,0,0,0,0,28.83,24.91,28.83
$GC,2705,-0.47,-136.3,278.7,-10.3,284,2710,0.12,2.28,0.00,0.000,6,0.125,0.044,3047,2204,3353,0,0,0,0,0,0,25.17,25.34,28.83
$GC,3008,-0.47,-136.3,304.3,-7.9,299,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2199,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3307,-0.47,-136.3,328.0,-7.8,314,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2199,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3609,-0.47,-136.3,351.0,-7.6,329,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2199,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3907,-0.47,-136.3,373.8,-7.7,344,3913,0.00,2.38,0.00,0.000,4,0.000,0.063,3039,3609,3353,0,0,0,0,0,0,28.83,24.84,28.83
$GC,3946,-0.47,-136.3,377.1,-7.8,346,3952,0.00,2.30,0.00,0.000,6,0.000,0.045,3039,2190,3353,0,0,0,0,0,0,28.83,25.30,28.83
$GC,4278,-0.47,-136.3,403.5,-7.8,362,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2189,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4577,-0.47,-136.3,424.4,-6.8,372,4583,0.00,2.40,0.00,0.000,4,0.000,0.063,3029,3613,3352,0,0,0,0,0,0,28.83,24.82,28.83
$GC,4607,-0.47,-136.3,426.5,-6.8,373,4612,0.00,2.28,0.00,0.000,6,0.000,0.045,3029,2205,3352,0,0,0,0,0,0,28.83,25.29,28.83
$GC,4938,-0.47,-136.3,451.7,-8.1,384,4939,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2204,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5237,-0.47,-136.3,477.7,-8.8,394,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2204,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5537,-0.47,-136.3,502.8,-8.2,404,5542,0.00,2.35,0.00,0.000,4,0.000,0.064,3020,3603,3351,0,0,0,0,0,0,28.83,24.79,28.83
$GC,5585,-0.47,-136.3,505.4,-8.2,405,5589,0.00,2.30,0.00,0.000,6,0.000,0.045,3020,2188,3351,0,0,0,0,0,0,28.83,25.27,28.83
$GC,5888,-0.47,-136.3,530.8,-7.8,415,5889,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2186,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6187,-0.47,-136.3,553.8,-7.7,425,6193,0.00,2.40,0.00,0.000,4,0.000,0.063,3010,3610,3351,0,0,0,0,0,0,28.83,24.78,28.83
$GC,6247,-0.47,-136.3,559.0,-8.2,427,6253,0.08,2.28,0.00,0.000,6,0.104,0.044,3040,2199,3351,0,0,0,0,0,0,25.06,25.26,28.83
$GC,6578,-0.47,-136.3,580.9,-6.5,438,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2197,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6877,-0.47,-136.3,600.3,-6.4,448,6882,0.00,2.38,0.00,0.000,4,0.000,0.065,3032,3606,3350,0,0,0,0,0,0,28.83,24.73,28.83
$GC,6915,-0.47,-136.3,602.1,-6.4,449,6919,0.00,2.30,0.00,0.000,6,0.000,0.046,3032,2191,3350,0,0,0,0,0,0,28.83,25.23,28.83
$GC,7229,-0.47,-136.3,623.3,-6.6,460,7233,0.00,2.35,0.00,0.000,4,0.000,0.066,3023,3610,3350,0,0,0,0,0,0,28.83,24.72,28.83
$GC,7266,-0.47,-136.3,625.6,-6.8,461,7270,0.00,2.30,0.00,0.000,6,0.000,0.046,3023,2198,3350,0,0,0,0,0,0,28.83,25.22,28.83
$GC,7579,-0.47,-136.3,649.2,-7.4,472,7585,0.00,2.40,0.00,0.000,4,0.000,0.065,3013,3611,3350,0,0,0,0,0,0,28.83,24.71,28.83
$GC,7628,-0.47,-136.3,651.7,-7.5,473,7637,0.00,2.30,0.00,0.000,6,0.000,0.046,3013,2197,3350,0,0,0,0,0,0,28.83,25.21,28.83
$GC,7939,-0.47,-136.3,677.4,-7.7,484,7941,0.10,0.00,0.00,0.000,6,0.150,0.000,3041,2197,3350,0,0,0,0,0,0,26.00,28.83,28.83
$GC,8239,-0.47,-136.3,694.6,-5.6,494,8241,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2197,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8540,-0.47,-136.3,710.9,-5.6,504,8545,0.00,2.38,0.00,0.000,4,0.000,0.067,3033,3603,3349,0,0,0,0,0,0,28.83,24.68,28.83
$GC,8609,-0.47,-136.3,714.8,-6.1,506,8615,0.00,2.28,0.00,0.000,6,0.000,0.047,3033,2205,3349,0,0,0,0,0,0,28.83,25.20,28.83
$GC,8929,-0.47,-136.3,737.1,-7.0,517,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2203,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9229,-0.47,-136.3,758.4,-7.1,527,9235,0.00,2.40,0.00,0.000,4,0.000,0.066,3023,3610,3348,0,0,0,0,0,0,28.83,24.68,28.83
$GC,9268,-0.47,-136.3,760.6,-7.1,528,9274,0.00,2.33,0.00,0.000,6,0.000,0.047,3024,2195,3348,0,0,0,0,0,0,28.83,25.16,28.83
$GC,9589,-0.47,-136.3,785.5,-7.6,539,9590,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2193,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9889,-0.47,-136.3,806.9,-7.0,549,9895,0.00,2.40,0.00,0.000,4,0.000,0.066,3013,3607,3347,0,0,0,0,0,0,28.83,24.66,28.83
$GC,9950,-0.47,-136.3,811.4,-7.1,551,9955,0.00,2.30,0.00,0.000,6,0.000,0.047,3013,2196,3347,0,0,0,0,0,0,28.83,25.17,28.83
$GC,10279,-0.47,-136.3,833.9,-6.7,562,10281,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2193,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10579,-0.47,-136.3,853.3,-6.3,572,10585,0.00,2.40,0.00,0.000,4,0.000,0.066,3005,3605,3347,0,0,0,0,0,0,28.83,24.64,28.83
$GC,10640,-0.47,-136.3,857.0,-6.2,574,10645,0.10,2.28,0.00,0.000,6,0.098,0.047,3043,2201,3346,0,0,0,0,0,0,24.93,25.16,28.83
$GC,10969,-0.47,-136.3,871.3,-4.1,585,10971,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2200,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11270,-0.47,-136.3,883.4,-4.1,595,11271,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2200,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11571,-0.47,-136.3,896.3,-4.3,605,11575,0.00,2.35,0.00,0.000,4,0.000,0.067,3035,3607,3346,0,0,0,0,0,0,28.83,24.59,28.83
$GC,11607,-0.47,-136.3,897.6,-4.4,606,11611,0.00,2.33,0.00,0.000,6,0.000,0.048,3035,2194,3346,0,0,0,0,0,0,28.83,25.12,28.83
$GC,11920,-0.47,-136.3,914.0,-5.3,617,11921,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2193,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12221,-0.47,-136.3,930.3,-5.4,627,12223,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2193,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12520,-0.47,-136.3,946.1,-5.3,637,12525,0.00,2.42,0.00,0.000,4,0.000,0.067,3026,3610,3345,0,0,0,0,0,0,28.83,24.56,28.83
$GC,12558,-0.47,-136.3,948.0,-5.4,638,12562,0.00,2.33,0.00,0.000,6,0.000,0.047,3025,2197,3345,0,0,0,0,0,0,28.83,25.09,28.83
$GC,12872,-0.47,-136.3,966.6,-5.8,649,12873,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2196,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13171,-0.47,-136.3,984.1,-5.9,659,13176,0.00,2.42,0.00,0.000,4,0.000,0.067,3016,3611,3344,0,0,0,0,0,0,28.83,24.54,28.83
$GC,13248,-0.47,-136.3,988.0,-6.2,661,13253,0.00,2.33,0.00,0.000,6,0.000,0.048,3016,2203,3344,0,0,0,0,0,0,28.83,25.08,28.83
$STATE,13277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13277,begin apogee
$GC,13286,-0.22,0.0,991.2,-6.3,662,13416,0.30,0.00,125.15,1.157,6,0.106,0.000,3120,2341,2794,0,0,0,0,0,0,25.32,28.83,22.62
$STATE,13417,end apogee,CONTROL_FINISHED_OK
$STATE,13417,begin climb
$GC,13420,0.47,136.3,994.8,0.0,666,13561,0.68,2.60,133.55,1.121,4,0.070,0.067,3349,3730,2237,0,0,0,0,0,0,24.30,23.34,21.82
$GC,13590,0.49,175.2,988.6,5.5,672,13636,0.00,2.45,38.47,1.077,6,0.000,0.048,3359,2326,2079,0,0,0,0,0,0,28.83,23.96,21.89
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$STATE,25840,end climb,SURFACE_DEPTH_REACHED
$STATE,25841,begin surface coast
$FINISH,1.4,1.011100
$STATE,25884,end surface coast,CONTROL_FINISHED_OK
$STATE,25884,begin surface
$SM_CCo,25967,0.00,0.000,0,0,1323,360.59
$SM_GC,2.51,8.43,2.50,0.00,0.029,0.044,0.000,132,2192,1323,-9.46,1.16,360.59,0,0,0,0,0,0,25.69,25.41,28.83
$IRIDIUM_FIX,4644.93,-12651.56,080413,020231
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.81
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,18.70
$XPDR_PINGS,3
$24V_AH,21.8,109.341
$10V_AH,9.7,81.944
$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,22.175,219.075,465.800,0.000,0.000,27.627,35.678,269.946,0.750,0.000,22.124,3637.281,18941.113,777.025,2597.465,497.439,0.000,2046.119,0.000,2242.722,0.000,0.535,0.000
$DEVICE_MAMPS,211.140,82.620,1157.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,969.403,721.937,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76856,1408
$CAP_FILE_SIZE,199450,0
$CFSIZE,260165632,192012288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.071, 38.6,1
$GPS,080413,172236,4702.032,-12656.829,30,1.8,30,18.6