version: 66.11
glider: 187
mission: 2
dive: 26
start: 9 17 112 11 42 43
data:
$ID,187
$MISSION,2
$DIVE,26
$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,-1587649.1
$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,31
$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,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
$GPS1,170912,113405,4732.774,-12554.410,35,1.1,35,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-78.7
$GPS2,170912,114137,4732.794,-12554.472,16,1.5,16,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.161,-0.150
$KALMAN_X,26749.8,-16.4,-412.3,-87267.9,3814.6
$KALMAN_Y,13357.6,432.5,-4591.0,-39235.7,19141.3
$MHEAD_RNG_PITCHd_Wd,192.4,102660,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.48,-146.0,0.0,0.0,0,89,0.00,0.00,-70.40,0.000,2,0.000,0.000,124,2179,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.48,-146.0,4.0,-8.2,11,116,11.32,2.30,-6.70,0.000,4,0.229,0.071,3024,3587,3393,0,0,0,0,0,0,25.40,25.61,25.91
$GC,290,-0.48,-146.0,50.3,-15.3,50,297,0.00,2.25,0.00,0.000,6,0.000,0.044,3023,2164,3398,0,0,0,0,0,0,28.83,25.78,28.83
$GC,606,-0.48,-146.0,93.7,-11.9,111,613,0.00,2.17,0.00,0.000,4,0.000,0.050,3023,771,3400,0,0,0,0,0,0,28.83,25.91,28.83
$GC,672,-0.48,-146.0,102.0,-11.6,122,682,0.00,2.17,0.00,0.000,6,0.000,0.049,3013,2190,3400,0,0,0,0,0,0,28.83,25.94,28.83
$GC,983,-0.48,-146.0,140.1,-12.4,153,992,0.00,2.17,0.00,0.000,4,0.000,0.063,3003,3588,3400,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1026,-0.48,-146.0,145.7,-13.1,157,1036,0.10,2.12,0.00,0.000,6,0.121,0.043,3038,2169,3400,0,0,0,0,0,0,25.95,26.06,28.83
$GC,1335,-0.48,-146.0,175.4,-9.1,188,1344,0.00,2.12,0.00,0.000,4,0.000,0.050,3038,777,3400,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1360,-0.48,-146.0,177.6,-9.1,190,1367,0.00,2.20,0.00,0.000,6,0.000,0.050,3031,2178,3400,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1668,-0.48,-146.0,209.1,-9.9,221,1677,0.00,2.17,0.00,0.000,4,0.000,0.063,3020,3582,3399,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1723,-0.48,-146.0,214.5,-10.2,226,1731,0.00,2.17,0.00,0.000,6,0.000,0.044,3020,2171,3399,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2032,-0.48,-146.0,245.3,-9.7,257,2041,0.00,2.20,0.00,0.000,4,0.000,0.063,3010,3587,3399,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2055,-0.48,-146.0,247.7,-9.8,259,2064,0.12,2.15,0.00,0.000,6,0.141,0.044,3044,2173,3399,0,0,0,0,0,0,26.12,26.20,28.83
$GC,2364,-0.48,-146.0,273.9,-8.3,290,2373,0.00,2.12,0.00,0.000,4,0.000,0.051,3045,779,3399,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2388,-0.48,-146.0,275.8,-8.5,292,2395,0.00,2.15,0.00,0.000,6,0.000,0.051,3037,2180,3399,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2696,-0.48,-146.0,301.7,-8.1,323,2704,0.00,2.20,0.00,0.000,4,0.000,0.063,3027,3593,3398,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2748,-0.48,-146.0,305.9,-8.4,328,2752,0.00,2.15,0.00,0.000,6,0.000,0.044,3027,2178,3398,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3060,-0.48,-146.0,332.5,-8.6,359,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2177,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3362,-0.48,-146.0,358.5,-8.9,389,3371,0.00,2.20,0.00,0.000,4,0.000,0.064,3016,3587,3396,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3404,-0.48,-146.0,362.8,-10.0,393,3415,0.00,2.15,0.00,0.000,6,0.000,0.045,3016,2167,3396,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3715,-0.48,-146.0,394.1,-10.6,424,3724,0.00,2.20,0.00,0.000,4,0.000,0.065,3007,3582,3395,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3749,-0.48,-146.0,397.5,-10.7,427,3757,0.12,2.12,0.00,0.000,6,0.144,0.045,3041,2176,3395,0,0,0,0,0,0,26.23,26.32,28.83
$GC,4057,-0.48,-146.0,424.5,-8.3,458,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2175,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4359,-0.48,-146.0,448.2,-7.7,488,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2175,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4669,-0.48,-146.0,469.6,-6.2,519,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2175,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4982,-0.48,-146.0,488.6,-6.0,550,4990,0.00,2.17,0.00,0.000,4,0.000,0.067,3033,3585,3393,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5008,-0.48,-146.0,490.2,-6.0,552,5015,0.00,2.17,0.00,0.000,6,0.000,0.047,3033,2180,3393,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5315,-0.48,-146.0,511.6,-7.2,583,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2179,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5616,-0.48,-146.0,534.5,-8.2,613,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2180,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5926,-0.48,-146.0,559.2,-7.9,644,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2179,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6236,-0.48,-146.0,581.2,-7.2,675,6245,0.00,2.17,0.00,0.000,4,0.000,0.067,3023,3578,3391,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6281,-0.48,-146.0,584.2,-6.8,679,6288,0.00,2.12,0.00,0.000,6,0.000,0.047,3022,2172,3390,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6610,-0.48,-146.0,609.2,-7.5,704,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2173,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6909,-0.48,-146.0,631.5,-7.4,714,6914,0.00,2.22,0.00,0.000,4,0.000,0.067,3013,3582,3390,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6946,-0.48,-146.0,633.8,-7.5,715,6950,0.00,2.12,0.00,0.000,6,0.000,0.047,3013,2178,3390,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7264,-0.48,-146.0,662.5,-8.8,726,7269,0.00,2.17,0.00,0.000,4,0.000,0.067,3003,3582,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7286,-0.48,-146.0,662.5,-8.8,726,7294,0.12,2.15,0.00,0.000,6,0.144,0.047,3038,2164,3389,0,0,0,0,0,0,26.32,26.41,28.83
$GC,7594,-0.48,-146.0,687.1,-7.1,737,7599,0.00,2.20,0.00,0.000,4,0.000,0.068,3030,3576,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7632,-0.48,-146.0,689.3,-7.1,738,7636,0.00,2.15,0.00,0.000,6,0.000,0.049,3029,2174,3388,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7949,-0.48,-146.0,712.8,-7.1,749,7954,0.00,2.20,0.00,0.000,4,0.000,0.067,3020,3583,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8010,-0.48,-146.0,716.8,-6.8,751,8016,0.00,2.12,0.00,0.000,6,0.000,0.048,3020,2177,3388,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8339,-0.48,-146.0,738.2,-6.6,762,8345,0.00,2.22,0.00,0.000,4,0.000,0.068,3010,3588,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8369,-0.48,-146.0,740.2,-6.6,763,8375,0.00,2.15,0.00,0.000,6,0.000,0.048,3011,2168,3388,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8699,-0.48,-146.0,764.6,-7.4,774,8705,0.12,2.20,0.00,0.000,4,0.152,0.067,3043,3576,3387,0,0,0,0,0,0,26.35,26.37,28.83
$GC,8732,-0.48,-146.0,766.5,-7.2,775,8736,0.00,2.12,0.00,0.000,6,0.000,0.049,3042,2174,3387,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9055,-0.48,-146.0,785.8,-6.0,786,9061,0.00,2.20,0.00,0.000,4,0.000,0.069,3033,3580,3386,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9092,-0.48,-146.0,787.7,-6.1,787,9096,0.00,2.15,0.00,0.000,6,0.000,0.048,3033,2162,3386,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9410,-0.48,-146.0,809.7,-6.7,798,9416,0.00,2.25,0.00,0.000,4,0.000,0.068,3023,3582,3386,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9463,-0.48,-146.0,812.0,-6.9,799,9469,0.00,2.15,0.00,0.000,6,0.000,0.049,3023,2164,3386,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9770,-0.48,-146.0,837.8,-7.8,810,9775,0.00,2.20,0.00,0.000,4,0.000,0.068,3013,3578,3386,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9818,-0.48,-146.0,840.3,-7.9,811,9822,0.00,2.12,0.00,0.000,6,0.000,0.049,3013,2178,3386,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10124,-0.48,-146.0,866.9,-8.0,821,10130,0.00,2.20,0.00,0.000,4,0.000,0.068,3004,3582,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10157,-0.48,-146.0,869.4,-8.0,822,10162,0.12,2.15,0.00,0.000,6,0.144,0.049,3038,2168,3385,0,0,0,0,0,0,26.33,26.41,28.83
$GC,10480,-0.48,-146.0,891.7,-6.8,833,10486,0.00,2.22,0.00,0.000,4,0.000,0.069,3030,3588,3385,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10533,-0.48,-146.0,893.8,-6.6,834,10540,0.00,2.15,0.00,0.000,6,0.000,0.049,3030,2172,3385,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10840,-0.48,-146.0,918.6,-7.5,845,10841,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2172,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11140,-0.48,-146.0,940.3,-7.4,855,11145,0.00,2.25,0.00,0.000,4,0.000,0.070,3020,3590,3384,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11188,-0.48,-146.0,942.6,-7.6,856,11192,0.00,2.17,0.00,0.000,6,0.000,0.050,3020,2167,3385,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11495,-0.48,-146.0,966.4,-6.9,866,11501,0.00,2.22,0.00,0.000,4,0.000,0.069,3011,3582,3384,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11558,-0.48,-146.0,970.9,-7.2,868,11562,0.00,2.15,0.00,0.000,6,0.000,0.049,3011,2172,3384,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,11847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11848,begin apogee
$GC,11854,-0.22,0.0,991.8,-7.0,878,11986,0.32,0.00,126.43,1.215,6,0.120,0.000,3121,2305,2794,0,0,0,0,0,0,26.34,28.83,23.58
$STATE,11989,end apogee,CONTROL_FINISHED_OK
$STATE,11990,begin climb
$GC,11992,0.48,146.0,994.5,0.0,882,12136,0.65,2.42,133.95,1.175,4,0.083,0.054,3353,902,2196,0,0,0,0,0,0,24.51,24.10,23.32
$GC,12149,0.48,146.0,984.3,7.7,888,12155,0.00,2.35,0.00,0.000,6,0.000,0.056,3353,2292,2193,0,0,0,0,0,0,28.83,24.41,28.83
$GC,12479,0.48,146.0,948.6,10.5,899,12485,0.00,2.35,0.00,0.000,4,0.000,0.069,3353,3720,2186,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12552,0.48,146.0,941.8,10.8,901,12556,0.00,2.28,0.00,0.000,6,0.000,0.050,3363,2301,2185,0,0,0,0,0,0,28.83,25.48,28.83
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$STATE,23031,end climb,SURFACE_DEPTH_REACHED
$STATE,23031,begin surface coast
$FINISH,0.6,1.010566
$STATE,23089,end surface coast,CONTROL_FINISHED_OK
$STATE,23089,begin surface
$SM_CCo,23168,0.00,0.000,0,0,1361,351.51
$SM_GC,1.39,8.52,0.20,0.00,0.031,0.071,0.000,117,2167,1361,-9.47,0.90,351.51,0,0,0,0,0,0,25.65,25.63,28.83
$IRIDIUM_FIX,4719.74,-12551.55,170912,050509
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.24
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,16.30
$XPDR_PINGS,2
$24V_AH,23.3,6.097
$10V_AH,10.3,5.280
$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,22.225,211.675,430.175,0.000,0.000,25.696,44.513,240.054,0.500,0.000,17.109,4658.544,13578.914,662.141,4231.144,472.318,33.237,2467.101,0.000,3899.638,0.000,0.535,0.000
$DEVICE_MAMPS,228.735,87.210,1214.820,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1285.932,1539.712,1752.042,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296992
$DATA_FILE_SIZE,103535,1865
$CAP_FILE_SIZE,225717,0
$CFSIZE,260165632,254988288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111, 22.4,1
$GPS,170912,181005,4731.285,-12556.186,36,0.8,36,18.7