version: 66.11
glider: 187
mission: 2
dive: 25
start: 9 17 112 5 11 5
data:
$ID,187
$MISSION,2
$DIVE,25
$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,450
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51761
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$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,-1587647.9
$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,2175
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$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,22
$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
$GPS1,170912,050205,4733.244,-12551.185,38,0.9,38,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-77.0
$GPS2,170912,051000,4733.239,-12551.190,14,1.1,19,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.220,0.013
$KALMAN_X,25333.1,-399.3,-409.9,-81392.3,4593.4
$KALMAN_Y,10234.2,-1078.1,1209.1,-39573.5,-1305.8
$MHEAD_RNG_PITCHd_Wd,212.5,106503,-13.4,-7.333,-18.42
$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,-0.48,-146.0,0.0,0.0,0,83,0.00,0.00,-63.28,0.000,2,0.000,0.000,119,2166,2862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.48,-146.0,3.0,-5.3,10,116,11.32,2.30,-10.10,0.000,4,0.229,0.075,3022,3594,3393,0,0,0,0,0,0,25.42,25.62,25.95
$GC,333,-0.48,-146.0,50.9,-13.8,59,340,0.00,2.22,0.00,0.000,6,0.000,0.043,3023,2171,3398,0,0,0,0,0,0,28.83,25.82,28.83
$GC,651,-0.48,-146.0,89.1,-11.8,120,659,0.00,2.28,0.00,0.000,4,0.000,0.062,3012,3581,3400,0,0,0,0,0,0,28.83,25.91,28.83
$GC,704,-0.48,-146.0,95.4,-11.2,129,712,0.00,2.20,0.00,0.000,6,0.000,0.043,3012,2163,3400,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1016,-0.48,-146.0,131.6,-11.3,163,1020,0.00,2.12,0.00,0.000,4,0.000,0.050,3012,778,3400,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1049,-0.48,-146.0,135.5,-11.8,166,1059,0.15,2.17,0.00,0.000,6,0.148,0.050,3044,2182,3400,0,0,0,0,0,0,25.96,26.03,28.83
$GC,1360,-0.48,-146.0,163.5,-9.3,197,1369,0.00,2.17,0.00,0.000,4,0.000,0.063,3035,3586,3400,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1405,-0.48,-146.0,167.5,-9.5,201,1412,0.00,2.12,0.00,0.000,6,0.000,0.043,3036,2174,3400,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1713,-0.48,-146.0,197.8,-10.0,232,1717,0.00,2.15,0.00,0.000,4,0.000,0.051,3036,771,3399,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1746,-0.48,-146.0,201.1,-10.0,235,1754,0.00,2.12,0.00,0.000,6,0.000,0.051,3026,2175,3399,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2054,-0.48,-146.0,232.4,-9.8,266,2064,0.00,2.20,0.00,0.000,4,0.000,0.063,3016,3584,3399,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2121,-0.48,-146.0,238.8,-10.1,272,2129,0.00,2.17,0.00,0.000,6,0.000,0.044,3016,2174,3399,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2428,-0.48,-146.0,270.8,-9.8,303,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2173,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2730,-0.48,-146.0,299.5,-9.8,333,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2173,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3041,-0.48,-146.0,329.5,-9.5,364,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2173,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3350,-0.48,-146.0,360.1,-9.7,395,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2173,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3660,-0.48,-146.0,390.5,-9.4,426,3669,0.00,2.20,0.00,0.000,4,0.000,0.065,3006,3587,3395,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3712,-0.48,-146.0,395.8,-10.2,431,3722,0.12,2.15,0.00,0.000,6,0.142,0.046,3041,2168,3395,0,0,0,0,0,0,26.25,26.33,28.83
$GC,4022,-0.48,-146.0,420.2,-8.3,462,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2167,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4324,-0.48,-146.0,444.5,-8.1,492,4335,0.00,2.20,0.00,0.000,4,0.000,0.065,3032,3582,3394,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4357,-0.48,-146.0,447.4,-8.2,495,4361,0.00,2.15,0.00,0.000,6,0.000,0.046,3032,2171,3394,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4670,-0.48,-146.0,475.1,-8.9,526,4679,0.00,2.20,0.00,0.000,4,0.000,0.065,3022,3589,3393,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4705,-0.48,-146.0,478.0,-9.0,529,4712,0.00,2.15,0.00,0.000,6,0.000,0.046,3022,2169,3393,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5012,-0.48,-146.0,507.4,-9.4,560,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2168,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5314,-0.48,-146.0,535.6,-9.5,590,5323,0.00,2.20,0.00,0.000,4,0.000,0.066,3012,3582,3391,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5356,-0.48,-146.0,539.9,-10.1,594,5366,0.00,2.12,0.00,0.000,6,0.000,0.047,3012,2173,3391,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5667,-0.48,-146.0,570.9,-9.7,625,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2172,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5971,-0.48,-146.0,599.1,-9.1,655,5976,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2172,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6276,-0.48,-146.0,627.2,-8.8,666,6282,0.00,2.22,0.00,0.000,4,0.000,0.067,3002,3582,3390,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6309,-0.48,-146.0,630.1,-9.0,667,6314,0.15,2.15,0.00,0.000,6,0.136,0.047,3045,2166,3390,0,0,0,0,0,0,26.31,26.40,28.83
$GC,6633,-0.48,-146.0,653.7,-7.1,678,6638,0.00,2.20,0.00,0.000,4,0.000,0.067,3037,3575,3390,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6680,-0.48,-146.0,655.8,-7.2,679,6684,0.00,2.15,0.00,0.000,6,0.000,0.048,3037,2171,3390,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6987,-0.48,-146.0,680.2,-7.4,689,6993,0.00,2.25,0.00,0.000,4,0.000,0.067,3027,3591,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7026,-0.48,-146.0,682.3,-7.3,690,7030,0.00,2.15,0.00,0.000,6,0.000,0.047,3027,2173,3389,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7348,-0.48,-146.0,708.0,-7.8,701,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2171,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7647,-0.48,-146.0,730.5,-7.6,711,7653,0.00,2.22,0.00,0.000,4,0.000,0.067,3017,3589,3388,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7686,-0.48,-146.0,733.0,-7.7,712,7689,0.00,2.15,0.00,0.000,6,0.000,0.048,3017,2175,3387,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8007,-0.48,-146.0,758.9,-8.0,723,8013,0.00,2.22,0.00,0.000,4,0.000,0.068,3007,3590,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8060,-0.48,-146.0,761.2,-7.9,724,8069,0.12,2.15,0.00,0.000,6,0.142,0.049,3042,2168,3387,0,0,0,0,0,0,26.33,26.41,28.83
$GC,8368,-0.48,-146.0,781.2,-5.5,735,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2168,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8668,-0.48,-146.0,798.0,-5.9,745,8673,0.00,2.20,0.00,0.000,4,0.000,0.068,3034,3581,3386,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8729,-0.48,-146.0,801.8,-6.2,747,8735,0.00,2.12,0.00,0.000,6,0.000,0.049,3034,2178,3386,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9058,-0.48,-146.0,823.7,-6.7,758,9062,0.00,2.22,0.00,0.000,4,0.000,0.069,3025,3586,3386,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9093,-0.48,-146.0,826.0,-6.8,759,9097,0.00,2.15,0.00,0.000,6,0.000,0.049,3024,2174,3385,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9420,-0.48,-146.0,850.1,-7.2,770,9422,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2171,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9720,-0.48,-146.0,870.5,-6.8,780,9726,0.00,2.20,0.00,0.000,4,0.000,0.069,3015,3582,3385,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9753,-0.48,-146.0,872.6,-6.9,781,9757,0.00,2.15,0.00,0.000,6,0.000,0.049,3014,2166,3384,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10075,-0.48,-146.0,897.7,-7.7,792,10081,0.00,2.20,0.00,0.000,4,0.000,0.069,3005,3578,3385,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10113,-0.48,-146.0,900.0,-7.8,793,10118,0.12,2.15,0.00,0.000,6,0.141,0.049,3040,2164,3384,0,0,0,0,0,0,26.34,26.42,28.83
$GC,10432,-0.48,-146.0,920.4,-5.9,804,10437,0.00,2.22,0.00,0.000,4,0.000,0.069,3032,3584,3384,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10470,-0.48,-146.0,922.1,-5.9,805,10474,0.00,2.15,0.00,0.000,6,0.000,0.050,3031,2170,3384,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10787,-0.48,-146.0,943.8,-6.4,816,10791,0.00,2.25,0.00,0.000,4,0.000,0.070,3021,3585,3384,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10842,-0.48,-146.0,946.0,-6.6,817,10849,0.00,2.15,0.00,0.000,6,0.000,0.049,3021,2168,3384,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11149,-0.48,-146.0,969.2,-6.8,828,11155,0.00,2.22,0.00,0.000,4,0.000,0.070,3012,3589,3383,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11187,-0.48,-146.0,971.2,-6.8,829,11191,0.00,2.17,0.00,0.000,6,0.000,0.050,3012,2167,3382,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,11476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11476,begin apogee
$GC,11483,-0.22,0.0,991.4,-6.7,839,11615,0.32,0.00,126.65,1.218,6,0.122,0.000,3121,2312,2794,0,0,0,0,0,0,26.34,28.83,23.57
$STATE,11618,end apogee,CONTROL_FINISHED_OK
$STATE,11618,begin climb
$GC,11621,0.48,146.0,993.7,0.0,843,11760,0.65,0.00,134.20,1.177,6,0.083,0.000,3342,2312,2198,0,0,0,0,0,0,24.50,28.83,23.32
$GC,12049,0.48,146.0,954.3,10.6,858,12050,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2312,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12349,0.48,146.0,923.8,9.9,868,12355,0.00,2.25,0.00,0.000,4,0.000,0.069,3342,3700,2186,0,0,0,0,0,0,28.83,25.59,28.83
$GC,12402,0.48,146.0,920.5,9.9,869,12409,0.00,2.20,0.00,0.000,6,0.000,0.050,3352,2308,2185,0,0,0,0,0,0,28.83,25.66,28.83
$GC,12709,0.48,146.0,889.2,9.1,880,12715,0.00,2.28,0.00,0.000,4,0.000,0.069,3352,3703,2185,0,0,0,0,0,0,28.83,25.79,28.83
$GC,12727,0.48,146.0,889.2,9.1,880,12731,0.00,2.20,0.00,0.000,6,0.000,0.051,3363,2299,2184,0,0,0,0,0,0,28.83,25.83,28.83
$GC,13034,0.48,146.0,858.5,9.4,890,13040,0.00,2.22,0.00,0.000,4,0.000,0.059,3373,889,2184,0,0,0,0,0,0,28.83,25.91,28.83
$GC,13052,0.48,146.0,858.5,9.4,890,13056,0.00,2.22,0.00,0.000,6,0.000,0.057,3373,2302,2184,0,0,0,0,0,0,28.83,25.91,28.83
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$STATE,22772,end climb,SURFACE_DEPTH_REACHED
$STATE,22772,begin surface coast
$FINISH,0.6,1.002077
$STATE,22825,end surface coast,CONTROL_FINISHED_OK
$STATE,22827,begin surface
$SM_CCo,22907,0.00,0.000,0,0,1319,361.82
$SM_GC,1.39,8.50,0.17,0.00,0.035,0.074,0.000,127,2180,1319,-9.46,1.24,361.82,0,0,0,0,0,0,25.60,25.58,28.83
$IRIDIUM_FIX,4716.56,-12552.27,160912,222243
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.63
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.3,5.958
$10V_AH,10.3,5.095
$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,22.150,189.700,432.425,0.000,0.000,25.367,47.454,253.167,0.000,0.000,22.378,4576.727,13469.904,629.272,4221.713,466.836,33.239,2391.441,0.000,3879.911,0.000,0.535,0.000
$DEVICE_MAMPS,228.735,84.150,1217.880,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1266.977,1514.463,1798.854,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296952
$DATA_FILE_SIZE,103446,1838
$CAP_FILE_SIZE,216604,0
$CFSIZE,260165632,255102976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.128, 12.1,1
$GPS,170912,113405,4732.774,-12554.410,35,1.1,35,18.7