version: 66.11
glider: 187
mission: 2
dive: 778
start: 4 8 113 17 30 40
data:
$ID,187
$MISSION,2
$DIVE,778
$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,-1589960.6
$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,45
$R_STBD_OVSHOOT,25
$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
$GPS1,080413,172236,4702.032,-12656.829,30,1.8,30,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-70.0
$GPS2,080413,173007,4702.045,-12656.865,15,1.8,15,18.6
$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,205.0,5480,-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,18,-0.47,-136.3,0.0,0.0,0,77,0.00,0.00,-57.17,0.000,2,0.000,0.000,130,2191,2549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.47,-136.3,3.1,-2.0,10,125,11.65,2.40,-22.88,0.000,4,0.215,0.078,3027,3610,3352,0,0,0,0,0,0,24.44,25.18,26.22
$GC,255,-0.47,-136.3,25.8,-13.7,42,262,0.00,2.20,0.00,0.000,6,0.000,0.044,3027,2208,3354,0,0,0,0,0,0,28.83,25.39,28.83
$GC,567,-0.47,-136.3,71.7,-14.0,103,575,0.00,2.22,0.00,0.000,4,0.000,0.051,3027,795,3354,0,0,0,0,0,0,28.83,25.15,28.83
$GC,694,-0.47,-136.3,88.5,-13.2,127,701,0.00,2.22,0.00,0.000,6,0.000,0.050,3017,2206,3354,0,0,0,0,0,0,28.83,25.18,28.83
$GC,1007,-0.47,-136.3,127.6,-11.4,180,1016,0.00,2.33,0.00,0.000,4,0.000,0.061,3006,3608,3355,0,0,0,0,0,0,28.83,24.97,28.83
$GC,1057,-0.47,-136.3,133.7,-12.2,185,1066,0.12,2.28,0.00,0.000,6,0.132,0.042,3042,2189,3355,0,0,0,0,0,0,25.18,25.38,28.83
$GC,1371,-0.47,-136.3,166.2,-10.5,206,1378,0.00,2.20,0.00,0.000,4,0.000,0.050,3043,797,3355,0,0,0,0,0,0,28.83,25.13,28.83
$GC,1427,-0.47,-136.3,172.5,-10.1,212,1436,0.00,2.28,0.00,0.000,6,0.000,0.050,3035,2203,3356,0,0,0,0,0,0,28.83,25.15,28.83
$GC,1743,-0.47,-136.3,202.0,-8.5,233,1747,0.00,2.35,0.00,0.000,4,0.000,0.062,3025,3614,3355,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1782,-0.47,-136.3,205.4,-8.5,235,1787,0.00,2.28,0.00,0.000,6,0.000,0.044,3025,2203,3355,0,0,0,0,0,0,28.83,25.37,28.83
$GC,2102,-0.47,-136.3,232.9,-8.4,251,2107,0.00,2.28,0.00,0.000,4,0.000,0.050,3025,800,3355,0,0,0,0,0,0,28.83,25.10,28.83
$GC,2151,-0.47,-136.3,236.5,-8.6,253,2160,0.00,2.30,0.00,0.000,6,0.000,0.050,3016,2209,3355,0,0,0,0,0,0,28.83,25.11,28.83
$GC,2462,-0.47,-136.3,266.9,-9.7,269,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2209,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2762,-0.47,-136.3,296.5,-10.1,284,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2209,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3063,-0.47,-136.3,325.7,-9.5,299,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2209,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3362,-0.47,-136.3,354.4,-9.5,314,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2209,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3662,-0.47,-136.3,381.7,-9.4,329,3667,0.00,2.35,0.00,0.000,4,0.000,0.063,3006,3613,3355,0,0,0,0,0,0,28.83,24.84,28.83
$GC,3711,-0.47,-136.3,385.5,-9.2,331,3722,0.12,2.30,0.00,0.000,6,0.128,0.044,3042,2194,3354,0,0,0,0,0,0,25.10,25.29,28.83
$GC,4022,-0.47,-136.3,409.1,-7.4,345,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2194,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4322,-0.47,-136.3,430.9,-7.1,355,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2195,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4623,-0.47,-136.3,451.5,-6.7,365,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2194,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4922,-0.47,-136.3,470.9,-6.4,375,4927,0.00,2.40,0.00,0.000,4,0.000,0.064,3034,3611,3353,0,0,0,0,0,0,28.83,24.79,28.83
$GC,4982,-0.47,-136.3,474.8,-6.4,377,4988,0.00,2.28,0.00,0.000,6,0.000,0.045,3034,2204,3353,0,0,0,0,0,0,28.83,25.27,28.83
$GC,5314,-0.47,-136.3,495.2,-6.1,388,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2203,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5612,-0.47,-136.3,513.2,-6.0,398,5617,0.00,2.38,0.00,0.000,4,0.000,0.064,3025,3606,3352,0,0,0,0,0,0,28.83,24.77,28.83
$GC,5651,-0.47,-136.3,515.3,-6.2,399,5655,0.00,2.30,0.00,0.000,6,0.000,0.045,3025,2194,3352,0,0,0,0,0,0,28.83,25.25,28.83
$GC,5964,-0.47,-136.3,536.9,-6.9,410,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2192,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6263,-0.47,-136.3,558.5,-7.4,420,6269,0.00,2.40,0.00,0.000,4,0.000,0.064,3015,3608,3352,0,0,0,0,0,0,28.83,24.75,28.83
$GC,6311,-0.47,-136.3,560.8,-7.5,421,6315,0.00,2.30,0.00,0.000,6,0.000,0.045,3015,2199,3352,0,0,0,0,0,0,28.83,25.23,28.83
$GC,6613,-0.47,-136.3,586.9,-8.1,431,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2197,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6914,-0.47,-136.3,612.0,-8.5,441,6919,0.00,2.40,0.00,0.000,4,0.000,0.065,3005,3611,3351,0,0,0,0,0,0,28.83,24.72,28.83
$GC,6951,-0.47,-136.3,614.7,-8.6,442,6956,0.12,2.30,0.00,0.000,6,0.124,0.046,3043,2203,3351,0,0,0,0,0,0,25.05,25.22,28.83
$GC,7264,-0.47,-136.3,637.6,-6.8,453,7270,0.00,2.40,0.00,0.000,4,0.000,0.065,3034,3612,3351,0,0,0,0,0,0,28.83,24.71,28.83
$GC,7295,-0.47,-136.3,639.7,-6.8,454,7300,0.00,2.30,0.00,0.000,6,0.000,0.047,3035,2198,3350,0,0,0,0,0,0,28.83,25.21,28.83
$GC,7624,-0.47,-136.3,663.3,-7.0,465,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2197,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7924,-0.47,-136.3,682.6,-6.4,475,7930,0.00,2.40,0.00,0.000,4,0.000,0.066,3025,3609,3350,0,0,0,0,0,0,28.83,24.68,28.83
$GC,7963,-0.47,-136.3,684.5,-6.4,476,7969,0.00,2.33,0.00,0.000,6,0.000,0.046,3025,2189,3350,0,0,0,0,0,0,28.83,25.19,28.83
$GC,8284,-0.47,-136.3,706.0,-6.5,487,8285,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2187,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8584,-0.47,-136.3,725.2,-6.3,497,8590,0.00,2.40,0.00,0.000,4,0.000,0.065,3015,3604,3349,0,0,0,0,0,0,28.83,24.68,28.83
$GC,8645,-0.47,-136.3,729.2,-6.4,499,8650,0.00,2.28,0.00,0.000,6,0.000,0.047,3015,2201,3350,0,0,0,0,0,0,28.83,25.18,28.83
$GC,8974,-0.47,-136.3,751.2,-6.8,510,8980,0.00,2.40,0.00,0.000,4,0.000,0.066,3006,3610,3349,0,0,0,0,0,0,28.83,24.66,28.83
$GC,9012,-0.47,-136.3,753.1,-6.7,511,9017,0.12,2.33,0.00,0.000,6,0.124,0.047,3042,2190,3349,0,0,0,0,0,0,24.99,25.16,28.83
$GC,9327,-0.47,-136.3,768.9,-4.7,522,9331,0.00,2.38,0.00,0.000,4,0.000,0.067,3034,3613,3349,0,0,0,0,0,0,28.83,24.64,28.83
$GC,9356,-0.47,-136.3,770.4,-4.8,523,9361,0.00,2.30,0.00,0.000,6,0.000,0.047,3034,2195,3348,0,0,0,0,0,0,28.83,25.16,28.83
$GC,9686,-0.47,-136.3,789.9,-6.0,534,9691,0.00,2.40,0.00,0.000,4,0.000,0.066,3025,3603,3348,0,0,0,0,0,0,28.83,24.63,28.83
$GC,9717,-0.47,-136.3,792.0,-6.3,535,9721,0.00,2.22,0.00,0.000,6,0.000,0.047,3025,2200,3348,0,0,0,0,0,0,28.83,25.15,28.83
$GC,10036,-0.47,-136.3,813.3,-6.7,546,10037,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2199,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10336,-0.47,-136.3,832.7,-6.4,556,10341,0.00,2.40,0.00,0.000,4,0.000,0.067,3015,3606,3347,0,0,0,0,0,0,28.83,24.62,28.83
$GC,10397,-0.47,-136.3,837.0,-6.7,558,10401,0.00,2.30,0.00,0.000,6,0.000,0.047,3015,2193,3347,0,0,0,0,0,0,28.83,25.13,28.83
$GC,10726,-0.47,-136.3,858.5,-6.3,569,10727,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2192,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11026,-0.47,-136.3,877.4,-6.1,579,11027,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2192,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11327,-0.47,-136.3,895.6,-5.9,589,11331,0.00,2.35,0.00,0.000,4,0.000,0.067,3007,3607,3347,0,0,0,0,0,0,28.83,24.60,28.83
$GC,11386,-0.47,-136.3,899.8,-6.4,591,11392,0.10,2.30,0.00,0.000,6,0.096,0.047,3043,2194,3347,0,0,0,0,0,0,24.89,25.12,28.83
$GC,11716,-0.47,-136.3,916.8,-5.4,602,11717,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2193,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12017,-0.47,-136.3,932.7,-5.2,612,12021,0.00,2.38,0.00,0.000,4,0.000,0.067,3036,3609,3347,0,0,0,0,0,0,28.83,24.58,28.83
$GC,12054,-0.47,-136.3,933.8,-5.3,613,12058,0.00,2.33,0.00,0.000,6,0.000,0.047,3036,2199,3347,0,0,0,0,0,0,28.83,25.10,28.83
$GC,12356,-0.47,-136.3,951.9,-5.6,623,12361,0.00,2.30,0.00,0.000,4,0.000,0.055,3036,800,3346,0,0,0,0,0,0,28.83,24.79,28.83
$GC,12387,-0.47,-136.3,953.7,-5.7,624,12391,0.00,2.25,0.00,0.000,6,0.000,0.055,3032,2198,3346,0,0,0,0,0,0,28.83,24.82,28.83
$GC,12716,-0.47,-136.3,971.9,-5.4,635,12721,0.00,2.40,0.00,0.000,4,0.000,0.067,3022,3609,3346,0,0,0,0,0,0,28.83,24.54,28.83
$GC,12776,-0.47,-136.3,975.3,-5.5,637,12781,0.00,2.30,0.00,0.000,6,0.000,0.048,3022,2202,3346,0,0,0,0,0,0,28.83,25.09,28.83
$STATE,13042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13043,begin apogee
$GC,13051,-0.22,0.0,990.6,-5.7,646,13182,0.30,0.00,125.65,1.153,6,0.105,0.000,3126,2341,2794,0,0,0,0,0,0,25.34,28.83,22.65
$STATE,13183,end apogee,CONTROL_FINISHED_OK
$STATE,13183,begin climb
$GC,13186,0.47,136.3,993.0,0.0,650,13327,0.65,2.60,133.38,1.117,4,0.068,0.067,3347,3733,2237,0,0,0,0,0,0,24.32,23.36,21.86
$GC,13347,0.48,167.6,986.4,5.8,656,13384,0.00,2.45,31.62,1.061,6,0.000,0.048,3358,2330,2110,0,0,0,0,0,0,28.83,23.86,21.82
$GC,13685,0.48,167.6,954.9,8.7,667,13691,0.00,2.33,0.00,0.000,4,0.000,0.057,3369,913,2100,0,0,0,0,0,0,28.83,25.37,28.83
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$STATE,25184,end climb,SURFACE_DEPTH_REACHED
$STATE,25185,begin surface coast
$FINISH,1.5,1.003093
$STATE,25212,end surface coast,CONTROL_FINISHED_OK
$STATE,25212,begin surface
$SM_CCo,25294,0.00,0.000,0,0,1188,393.95
$SM_GC,2.36,8.30,2.10,0.00,0.026,0.050,0.000,106,2204,1188,-9.47,-0.62,393.95,0,0,0,0,0,0,25.77,25.29,28.83
$IRIDIUM_FIX,4651.23,-12655.36,080413,101013
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.70
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,18.70
$XPDR_PINGS,1
$24V_AH,21.8,109.487
$10V_AH,9.7,82.040
$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,22.100,214.025,491.925,0.000,0.000,25.054,39.295,231.631,0.250,0.000,16.621,3539.679,18441.361,761.410,2496.165,495.178,0.000,2005.828,0.000,2183.968,0.000,0.535,0.000
$DEVICE_MAMPS,214.965,83.385,1152.855,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,942.649,700.044,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296932
$DATA_FILE_SIZE,76912,1370
$CAP_FILE_SIZE,196173,0
$CFSIZE,260165632,191930368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131, 74.4,1
$GPS,090413,003335,4659.750,-12658.867,38,0.8,43,18.6