version: 66.11
glider: 187
mission: 2
dive: 111
start: 10 5 112 4 52 51
data:
$ID,187
$MISSION,2
$DIVE,111
$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,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,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,-1587757.9
$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,36
$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
$GPS1,051012,044559,4734.716,-12544.180,60,0.9,60,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-75.9
$GPS2,051012,045219,4734.730,-12544.222,16,0.9,16,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.160,-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,219.3,115317,-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,-146.0,0.0,0.0,0,79,0.00,0.00,-59.45,0.000,2,0.000,0.000,109,2168,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.5,-5.2,10,110,11.27,2.28,-9.23,0.000,4,0.223,0.070,3022,3596,3393,0,0,0,0,0,0,25.36,25.65,26.03
$GC,330,-0.48,-146.0,57.4,-13.9,55,337,0.00,2.20,0.00,0.000,6,0.000,0.041,3022,2163,3398,0,0,0,0,0,0,28.83,25.85,28.83
$GC,650,-0.48,-146.0,102.3,-12.4,116,658,0.00,2.15,0.00,0.000,4,0.000,0.047,3022,775,3400,0,0,0,0,0,0,28.83,25.94,28.83
$GC,697,-0.48,-146.0,108.1,-12.1,124,706,0.00,2.20,0.00,0.000,6,0.000,0.049,3013,2180,3400,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1023,-0.48,-146.0,148.2,-12.4,157,1028,0.00,2.17,0.00,0.000,4,0.000,0.061,3002,3581,3400,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1097,-0.48,-146.0,157.8,-12.9,162,1104,0.15,2.12,0.00,0.000,6,0.138,0.041,3045,2163,3400,0,0,0,0,0,0,25.93,26.07,28.83
$GC,1415,-0.48,-146.0,187.7,-9.2,183,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2159,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1723,-0.48,-146.0,214.6,-8.5,201,1728,0.00,2.22,0.00,0.000,4,0.000,0.062,3036,3582,3400,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1786,-0.48,-146.0,219.7,-8.4,204,1790,0.00,2.12,0.00,0.000,6,0.000,0.042,3036,2168,3400,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2098,-0.48,-146.0,248.1,-9.1,220,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2165,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2398,-0.48,-146.0,274.5,-8.4,235,2403,0.00,2.25,0.00,0.000,4,0.000,0.063,3025,3590,3398,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2431,-0.48,-146.0,276.3,-8.4,236,2438,0.00,2.15,0.00,0.000,6,0.000,0.044,3026,2172,3398,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2739,-0.48,-146.0,304.3,-8.4,252,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2172,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3038,-0.48,-146.0,331.9,-9.7,267,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2172,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3338,-0.48,-146.0,362.0,-10.2,282,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2172,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3638,-0.48,-146.0,392.6,-10.0,297,3643,0.00,2.20,0.00,0.000,4,0.000,0.064,3015,3581,3396,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3686,-0.48,-146.0,396.6,-10.0,299,3690,0.00,2.12,0.00,0.000,6,0.000,0.044,3015,2171,3396,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4013,-0.48,-146.0,430.5,-10.0,310,4014,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2168,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4313,-0.48,-146.0,461.1,-10.2,320,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2168,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4613,-0.48,-146.0,490.6,-9.6,330,4617,0.00,2.25,0.00,0.000,4,0.000,0.065,3005,3587,3394,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4688,-0.48,-146.0,496.8,-9.7,332,4692,0.12,2.12,0.00,0.000,6,0.140,0.045,3040,2174,3394,0,0,0,0,0,0,26.16,26.29,28.83
$GC,5000,-0.48,-146.0,523.4,-8.1,343,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2172,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5301,-0.48,-146.0,547.7,-8.3,353,5306,0.00,2.20,0.00,0.000,4,0.000,0.066,3031,3580,3392,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5343,-0.48,-146.0,550.2,-8.4,354,5347,0.00,2.12,0.00,0.000,6,0.000,0.046,3031,2172,3392,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5656,-0.48,-146.0,578.1,-8.5,365,5657,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2170,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5956,-0.48,-146.0,602.0,-7.8,375,5961,0.00,2.22,0.00,0.000,4,0.000,0.067,3021,3583,3391,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5993,-0.48,-146.0,604.6,-8.0,376,5997,0.00,2.12,0.00,0.000,6,0.000,0.046,3021,2178,3391,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6310,-0.48,-146.0,633.0,-8.9,387,6316,0.00,2.22,0.00,0.000,4,0.000,0.067,3011,3591,3391,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6354,-0.48,-146.0,635.7,-8.9,388,6358,0.00,2.15,0.00,0.000,6,0.000,0.047,3011,2170,3391,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6666,-0.48,-146.0,665.5,-9.2,399,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2168,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6966,-0.48,-146.0,692.1,-8.6,409,6972,0.00,2.25,0.00,0.000,4,0.000,0.067,3001,3583,3390,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7026,-0.48,-146.0,697.6,-8.9,411,7032,0.15,2.15,0.00,0.000,6,0.132,0.047,3051,2167,3389,0,0,0,0,0,0,26.17,26.31,28.83
$GC,7356,-0.48,-146.0,719.1,-6.5,422,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2165,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7656,-0.48,-146.0,738.3,-6.5,432,7661,0.00,2.22,0.00,0.000,4,0.000,0.067,3043,3581,3388,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7709,-0.48,-146.0,740.2,-6.5,433,7716,0.00,2.12,0.00,0.000,6,0.000,0.047,3043,2175,3388,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8016,-0.48,-146.0,762.7,-6.8,444,8021,0.00,2.20,0.00,0.000,4,0.000,0.068,3032,3585,3387,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8064,-0.48,-146.0,764.8,-6.9,445,8068,0.00,2.15,0.00,0.000,6,0.000,0.047,3032,2166,3387,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8371,-0.48,-146.0,789.3,-7.4,455,8375,0.00,2.28,0.00,0.000,4,0.000,0.068,3022,3589,3387,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8411,-0.48,-146.0,791.8,-7.5,456,8414,0.00,2.17,0.00,0.000,6,0.000,0.047,3022,2167,3387,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8733,-0.48,-146.0,818.4,-8.1,467,8734,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2164,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9033,-0.48,-146.0,842.9,-8.2,477,9039,0.00,2.25,0.00,0.000,4,0.000,0.069,3012,3580,3386,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9086,-0.48,-146.0,845.5,-8.2,478,9092,0.00,2.15,0.00,0.000,6,0.000,0.047,3011,2173,3386,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9393,-0.48,-146.0,874.0,-8.7,489,9398,0.00,2.22,0.00,0.000,4,0.000,0.069,3002,3582,3386,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9446,-0.48,-146.0,876.8,-8.8,490,9453,0.15,2.15,0.00,0.000,6,0.130,0.048,3046,2175,3386,0,0,0,0,0,0,26.16,26.30,28.83
$GC,9753,-0.48,-146.0,900.7,-7.1,501,9759,0.00,2.22,0.00,0.000,4,0.000,0.070,3037,3583,3385,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9796,-0.48,-146.0,903.0,-7.1,502,9800,0.00,2.15,0.00,0.000,6,0.000,0.048,3037,2168,3386,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10109,-0.48,-146.0,927.4,-7.3,513,10114,0.00,2.25,0.00,0.000,4,0.000,0.069,3027,3588,3385,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10171,-0.48,-146.0,931.8,-7.2,515,10175,0.00,2.17,0.00,0.000,6,0.000,0.048,3027,2168,3385,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10499,-0.48,-146.0,955.8,-7.0,526,10500,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2166,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10799,-0.48,-146.0,974.1,-5.6,536,10804,0.00,2.22,0.00,0.000,4,0.000,0.069,3017,3580,3384,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10847,-0.48,-146.0,976.1,-5.7,537,10851,0.00,2.15,0.00,0.000,6,0.000,0.048,3017,2165,3384,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,11061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11061,begin apogee
$GC,11068,-0.22,0.0,991.3,-6.6,544,11199,0.30,0.00,125.55,1.201,6,0.118,0.000,3119,2308,2794,0,0,0,0,0,0,26.12,28.83,23.75
$STATE,11202,end apogee,CONTROL_FINISHED_OK
$STATE,11202,begin climb
$GC,11205,0.48,146.0,994.2,0.0,548,11345,0.68,2.45,133.23,1.168,4,0.083,0.067,3347,3700,2197,0,0,0,0,0,0,24.58,24.00,23.30
$GC,11366,0.48,146.0,984.0,7.7,554,11372,0.00,2.33,0.00,0.000,6,0.000,0.047,3357,2305,2194,0,0,0,0,0,0,28.83,24.33,28.83
$GC,11695,0.48,146.0,951.2,9.6,565,11696,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2299,2187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11995,0.48,146.0,923.1,9.3,575,11996,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2299,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12295,0.48,146.0,896.1,9.0,585,12300,0.00,2.25,0.00,0.000,4,0.000,0.068,3357,3695,2185,0,0,0,0,0,0,28.83,25.72,28.83
$GC,12343,0.48,146.0,893.0,9.3,586,12347,0.00,2.20,0.00,0.000,6,0.000,0.050,3367,2296,2184,0,0,0,0,0,0,28.83,25.78,28.83
$GC,12650,0.48,146.0,859.9,10.1,596,12655,0.00,2.30,0.00,0.000,4,0.000,0.070,3367,3702,2184,0,0,0,0,0,0,28.83,25.83,28.83
$GC,12673,0.48,146.0,859.9,10.1,596,12680,0.00,2.22,0.00,0.000,6,0.000,0.050,3378,2293,2184,0,0,0,0,0,0,28.83,25.90,28.83
$GC,12980,0.48,146.0,823.6,11.1,607,12985,0.00,2.30,0.00,0.000,4,0.000,0.069,3378,3708,2184,0,0,0,0,0,0,28.83,25.91,28.83
$GC,13003,0.48,146.0,823.6,11.1,607,13010,0.15,2.22,0.00,0.000,6,0.159,0.050,3349,2298,2183,0,0,0,0,0,0,25.81,25.97,28.83
$GC,13310,0.48,146.0,791.2,9.6,618,13311,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,2292,2183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13610,0.48,146.0,762.7,9.7,628,13615,0.00,2.28,0.00,0.000,4,0.000,0.070,3349,3702,2183,0,0,0,0,0,0,28.83,26.00,28.83
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$STATE,22462,end climb,SURFACE_DEPTH_REACHED
$STATE,22462,begin surface coast
$FINISH,0.9,1.000517
$STATE,22495,end surface coast,CONTROL_FINISHED_OK
$STATE,22495,begin surface
$SM_CCo,22575,0.00,0.000,0,0,866,472.94
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$IRIDIUM_FIX,4719.74,-12551.55,041012,222221
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.18
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,23.3,16.624
$10V_AH,10.2,14.113
$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,22.175,181.400,516.100,0.000,0.000,25.447,39.834,183.043,0.000,0.000,17.549,3205.603,15975.592,609.428,2793.353,362.494,0.000,1983.341,0.000,2508.749,0.000,0.536,0.000
$DEVICE_MAMPS,222.615,82.620,1201.050,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,849.212,712.589,491.794,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296944
$DATA_FILE_SIZE,70180,1237
$CAP_FILE_SIZE,183542,0
$CFSIZE,260165632,248717312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081, 37.1,1
$GPS,051012,111023,4733.702,-12547.686,39,1.9,39,18.7