version: 66.11
glider: 187
mission: 2
dive: 33
start: 9 19 112 9 5 54
data:
$ID,187
$MISSION,2
$DIVE,33
$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,-1587659.9
$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,41
$R_STBD_OVSHOOT,22
$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
$GPS1,190912,085705,4721.687,-12614.483,43,1.2,43,18.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-78.0
$GPS2,190912,090449,4721.704,-12614.468,16,1.8,16,18.6
$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,28006.8,-743.3,1857.9,-114937.8,-5569.5
$KALMAN_Y,15984.2,202.6,-2069.9,-64690.6,7541.6
$MHEAD_RNG_PITCHd_Wd,213.1,70165,-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,17,-0.48,-146.0,0.0,0.0,0,102,0.00,0.00,-83.05,0.000,2,0.000,0.000,117,2166,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.48,-146.0,4.1,-9.0,14,134,11.38,2.25,-6.90,0.000,4,0.230,0.067,3031,773,3393,0,0,0,0,0,0,25.40,25.63,25.92
$GC,305,-0.48,-146.0,47.0,-14.7,50,313,0.00,2.22,0.00,0.000,6,0.000,0.051,3023,2173,3397,0,0,0,0,0,0,28.83,25.76,28.83
$GC,633,-0.48,-146.0,91.3,-12.3,111,639,0.00,2.22,0.00,0.000,4,0.000,0.061,3012,3586,3400,0,0,0,0,0,0,28.83,25.89,28.83
$GC,662,-0.48,-146.0,95.1,-13.1,116,671,0.00,2.20,0.00,0.000,6,0.000,0.043,3012,2171,3400,0,0,0,0,0,0,28.83,25.94,28.83
$GC,982,-0.48,-146.0,138.7,-11.1,157,987,0.00,2.12,0.00,0.000,4,0.000,0.050,3012,777,3400,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1025,-0.48,-146.0,143.4,-10.5,160,1032,0.12,2.15,0.00,0.000,6,0.155,0.050,3036,2178,3400,0,0,0,0,0,0,25.94,26.02,28.83
$GC,1344,-0.48,-146.0,172.0,-9.6,181,1349,0.00,2.17,0.00,0.000,4,0.000,0.063,3028,3579,3400,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1395,-0.48,-146.0,176.7,-9.7,184,1404,0.00,2.17,0.00,0.000,6,0.000,0.044,3028,2174,3400,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1704,-0.48,-146.0,207.2,-9.7,205,1709,0.00,2.20,0.00,0.000,4,0.000,0.063,3017,3585,3399,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1741,-0.48,-146.0,210.1,-9.8,207,1747,0.00,2.15,0.00,0.000,6,0.000,0.044,3017,2164,3399,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2048,-0.48,-146.0,245.5,-11.3,228,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2163,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2348,-0.48,-146.0,277.4,-10.9,248,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2163,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2648,-0.48,-146.0,308.1,-10.0,268,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2163,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2948,-0.48,-146.0,337.6,-10.0,288,2954,0.00,2.25,0.00,0.000,4,0.000,0.064,3007,3582,3396,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2978,-0.48,-146.0,340.8,-10.3,290,2984,0.12,2.12,0.00,0.000,6,0.142,0.046,3042,2177,3396,0,0,0,0,0,0,26.20,26.28,28.83
$GC,3296,-0.48,-146.0,366.9,-7.9,311,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2175,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3594,-0.48,-146.0,390.1,-7.7,331,3599,0.00,2.20,0.00,0.000,4,0.000,0.065,3033,3581,3395,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3624,-0.48,-146.0,392.7,-8.2,333,3627,0.00,2.15,0.00,0.000,6,0.000,0.047,3033,2167,3395,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3940,-0.48,-146.0,419.9,-8.5,354,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2164,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4241,-0.48,-146.0,445.5,-8.4,374,4246,0.00,2.20,0.00,0.000,4,0.000,0.066,3023,3577,3393,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4289,-0.48,-146.0,449.7,-9.1,377,4294,0.00,2.10,0.00,0.000,6,0.000,0.047,3023,2174,3393,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4602,-0.48,-146.0,477.9,-8.6,398,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2171,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4902,-0.48,-146.0,503.4,-8.3,418,4908,0.00,2.22,0.00,0.000,4,0.000,0.067,3013,3596,3391,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4940,-0.48,-146.0,506.1,-8.6,420,4948,0.00,2.20,0.00,0.000,6,0.000,0.047,3013,2170,3392,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5248,-0.48,-146.0,535.9,-9.5,441,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2169,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5548,-0.48,-146.0,562.9,-8.8,461,5554,0.00,2.20,0.00,0.000,4,0.000,0.067,3003,3578,3390,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5579,-0.48,-146.0,565.6,-9.0,463,5584,0.12,2.12,0.00,0.000,6,0.145,0.048,3037,2176,3390,0,0,0,0,0,0,26.29,26.38,28.83
$GC,5890,-0.48,-146.0,587.2,-6.9,483,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2173,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6202,-0.48,-146.0,609.2,-6.9,500,6208,0.00,2.20,0.00,0.000,4,0.000,0.067,3029,3582,3389,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6235,-0.48,-146.0,611.5,-7.2,501,6240,0.00,2.12,0.00,0.000,6,0.000,0.048,3029,2177,3389,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6558,-0.48,-146.0,637.3,-8.1,512,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2174,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6858,-0.48,-146.0,662.2,-8.6,522,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2174,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7158,-0.48,-146.0,688.1,-8.5,532,7163,0.00,2.22,0.00,0.000,4,0.000,0.068,3019,3589,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7196,-0.48,-146.0,690.7,-8.6,533,7200,0.00,2.15,0.00,0.000,6,0.000,0.049,3019,2167,3387,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7513,-0.48,-146.0,718.5,-8.3,544,7518,0.00,2.25,0.00,0.000,4,0.000,0.068,3009,3582,3386,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7551,-0.48,-146.0,721.0,-8.4,545,7555,0.12,2.12,0.00,0.000,6,0.139,0.049,3045,2176,3386,0,0,0,0,0,0,26.32,26.40,28.83
$GC,7869,-0.48,-146.0,742.5,-6.2,556,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2173,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8169,-0.48,-146.0,760.7,-6.2,566,8172,0.00,2.22,0.00,0.000,4,0.000,0.069,3037,3586,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8201,-0.48,-146.0,762.6,-6.2,567,8207,0.00,2.10,0.00,0.000,6,0.000,0.049,3036,2181,3385,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8531,-0.48,-146.0,784.2,-6.7,578,8532,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2180,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8831,-0.48,-146.0,804.2,-6.7,588,8832,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2180,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9131,-0.48,-146.0,822.9,-6.1,598,9135,0.00,2.22,0.00,0.000,4,0.000,0.069,3026,3582,3384,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9201,-0.48,-146.0,827.0,-6.3,600,9205,0.00,2.15,0.00,0.000,6,0.000,0.050,3027,2165,3384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9518,-0.48,-146.0,850.6,-7.4,611,9524,0.00,2.25,0.00,0.000,4,0.000,0.069,3017,3590,3384,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9551,-0.48,-146.0,852.9,-7.5,612,9555,0.00,2.15,0.00,0.000,6,0.000,0.050,3016,2175,3384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9873,-0.48,-146.0,878.4,-7.6,623,9879,0.00,2.25,0.00,0.000,4,0.000,0.070,3007,3592,3384,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9903,-0.48,-146.0,880.9,-7.8,624,9910,0.12,2.15,0.00,0.000,6,0.139,0.050,3042,2171,3383,0,0,0,0,0,0,26.34,26.41,28.83
$GC,10234,-0.48,-146.0,901.2,-6.0,635,10235,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2171,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10534,-0.48,-146.0,918.9,-5.9,645,10540,0.00,2.25,0.00,0.000,4,0.000,0.070,3034,3585,3383,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10582,-0.48,-146.0,920.8,-5.9,646,10586,0.00,2.15,0.00,0.000,6,0.000,0.050,3034,2170,3383,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10889,-0.48,-146.0,941.4,-6.2,656,10894,0.00,2.22,0.00,0.000,4,0.000,0.070,3024,3585,3383,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10919,-0.48,-146.0,943.3,-6.2,657,10924,0.00,2.12,0.00,0.000,6,0.000,0.050,3025,2182,3382,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11249,-0.48,-146.0,964.9,-6.6,668,11254,0.00,2.20,0.00,0.000,4,0.000,0.069,3015,3585,3382,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11281,-0.48,-146.0,967.0,-6.7,669,11285,0.00,2.15,0.00,0.000,6,0.000,0.050,3015,2166,3382,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11604,-0.48,-146.0,989.9,-7.0,680,11609,0.00,2.22,0.00,0.000,4,0.000,0.069,3005,3588,3381,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,11631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11631,begin apogee
$GC,11640,-0.22,0.0,992.1,-7.0,681,11772,0.35,0.00,125.95,1.211,6,0.119,0.000,3124,2296,2794,0,0,0,0,0,0,26.33,28.83,23.60
$STATE,11773,end apogee,CONTROL_FINISHED_OK
$STATE,11773,begin climb
$GC,11776,0.48,146.0,995.1,0.0,685,11914,0.65,0.00,134.62,1.174,6,0.083,0.000,3344,2296,2198,0,0,0,0,0,0,24.51,28.83,23.33
$GC,12198,0.48,146.0,959.8,9.6,700,12204,0.00,2.33,0.00,0.000,4,0.000,0.069,3344,3702,2187,0,0,0,0,0,0,28.83,25.28,28.83
$GC,12261,0.48,146.0,952.8,10.6,702,12266,0.00,2.22,0.00,0.000,6,0.000,0.050,3354,2308,2186,0,0,0,0,0,0,28.83,25.39,28.83
$GC,12584,0.48,146.0,919.3,10.0,713,12585,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2302,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12884,0.48,146.0,890.3,9.6,723,12889,0.00,2.28,0.00,0.000,4,0.000,0.070,3355,3706,2184,0,0,0,0,0,0,28.83,25.79,28.83
$GC,12916,0.48,146.0,887.1,9.7,724,12920,0.00,2.22,0.00,0.000,6,0.000,0.051,3364,2294,2184,0,0,0,0,0,0,28.83,25.84,28.83
$GC,13239,0.48,146.0,854.5,10.0,735,13244,0.00,2.30,0.00,0.000,4,0.000,0.070,3365,3710,2183,0,0,0,0,0,0,28.83,25.91,28.83
$GC,13282,0.48,146.0,851.0,10.3,736,13286,0.00,2.22,0.00,0.000,6,0.000,0.051,3375,2289,2183,0,0,0,0,0,0,28.83,25.96,28.83
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$STATE,22790,end climb,SURFACE_DEPTH_REACHED
$STATE,22790,begin surface coast
$FINISH,0.7,1.000122
$STATE,22840,end surface coast,CONTROL_FINISHED_OK
$STATE,22840,begin surface
$SM_CCo,22920,0.00,0.000,0,0,1416,338.02
$SM_GC,1.63,8.40,0.20,0.00,0.029,0.073,0.000,117,2166,1416,-9.46,0.93,338.02,0,0,0,0,0,0,25.73,25.71,28.83
$IRIDIUM_FIX,4707.04,-12609.59,190912,020223
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.63
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,23.3,7.077
$10V_AH,10.2,6.328
$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,22.000,193.650,416.750,0.000,0.000,28.128,38.288,261.536,0.000,0.000,17.061,3861.927,15024.863,564.256,3508.298,412.347,33.239,2078.430,0.000,3167.256,0.000,0.536,0.000
$DEVICE_MAMPS,229.500,72.675,1210.995,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1040.032,1236.326,1247.733,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297128
$DATA_FILE_SIZE,86825,1507
$CAP_FILE_SIZE,202392,0
$CFSIZE,260165632,254357504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065, 16.2,1
$GPS,190912,152905,4720.209,-12617.997,33,1.0,33,18.6