version: 66.11
glider: 187
mission: 2
dive: 168
start: 10 20 112 6 50 7
data:
$ID,187
$MISSION,2
$DIVE,168
$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,-1587837.9
$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,42
$R_STBD_OVSHOOT,27
$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
$GPS1,201012,064253,4735.934,-12528.555,37,1.9,55,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-75.4
$GPS2,201012,064937,4735.787,-12528.494,17,2.0,17,18.7
$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,247.1,133232,-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,-146.0,0.0,0.0,0,80,0.00,0.00,-60.58,0.000,2,0.000,0.000,130,2161,2860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.48,-146.0,4.0,-7.0,10,112,11.32,2.28,-9.75,0.000,4,0.223,0.071,3027,3588,3393,0,0,0,0,0,0,25.22,25.58,26.01
$GC,209,-0.48,-146.0,38.3,-17.7,32,218,0.00,2.20,0.00,0.000,6,0.000,0.043,3027,2182,3395,0,0,0,0,0,0,28.83,25.72,28.83
$GC,537,-0.48,-146.0,86.9,-13.0,93,543,0.00,2.15,0.00,0.000,4,0.000,0.050,3027,767,3398,0,0,0,0,0,0,28.83,25.82,28.83
$GC,646,-0.48,-146.0,100.1,-11.1,113,653,0.00,2.17,0.00,0.000,6,0.000,0.050,3017,2183,3398,0,0,0,0,0,0,28.83,25.85,28.83
$GC,970,-0.48,-146.0,140.8,-12.3,154,976,0.00,2.22,0.00,0.000,4,0.000,0.062,3006,3592,3399,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1049,-0.48,-146.0,150.0,-12.3,159,1054,0.12,2.15,0.00,0.000,6,0.138,0.042,3041,2167,3398,0,0,0,0,0,0,25.84,25.99,28.83
$GC,1359,-0.48,-146.0,177.7,-8.8,179,1364,0.00,2.22,0.00,0.000,4,0.000,0.062,3033,3584,3399,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1403,-0.48,-146.0,182.1,-9.2,182,1408,0.00,2.12,0.00,0.000,6,0.000,0.043,3033,2171,3398,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1724,-0.48,-146.0,215.1,-10.5,201,1729,0.00,2.20,0.00,0.000,4,0.000,0.062,3022,3581,3398,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1763,-0.48,-146.0,219.3,-10.4,203,1768,0.00,2.12,0.00,0.000,6,0.000,0.044,3022,2167,3398,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2083,-0.48,-146.0,252.4,-9.9,219,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2163,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2383,-0.48,-146.0,280.9,-9.6,234,2388,0.00,2.22,0.00,0.000,4,0.000,0.063,3012,3583,3397,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2411,-0.48,-146.0,282.9,-9.7,235,2415,0.00,2.12,0.00,0.000,6,0.000,0.044,3012,2171,3397,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2720,-0.48,-146.0,316.4,-10.7,250,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2166,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3018,-0.48,-146.0,347.6,-10.5,265,3024,0.00,2.25,0.00,0.000,4,0.000,0.063,3001,3595,3396,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3046,-0.48,-146.0,349.6,-10.4,266,3051,0.15,2.15,0.00,0.000,6,0.131,0.045,3045,2170,3396,0,0,0,0,0,0,25.99,26.16,28.83
$GC,3353,-0.48,-146.0,374.8,-7.5,281,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2165,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3653,-0.48,-146.0,396.7,-6.9,296,3659,0.00,2.20,0.00,0.000,4,0.000,0.064,3036,3577,3395,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3701,-0.48,-146.0,399.7,-7.2,298,3705,0.00,2.12,0.00,0.000,6,0.000,0.045,3036,2167,3395,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4028,-0.48,-146.0,425.9,-8.0,309,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2165,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4328,-0.48,-146.0,450.3,-8.3,319,4333,0.00,2.25,0.00,0.000,4,0.000,0.065,3026,3584,3394,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4358,-0.48,-146.0,452.9,-8.4,320,4364,0.00,2.15,0.00,0.000,6,0.000,0.046,3026,2165,3393,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4688,-0.48,-146.0,482.2,-8.6,331,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2163,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4988,-0.48,-146.0,508.9,-8.9,341,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2162,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5288,-0.48,-146.0,536.2,-9.2,351,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2163,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5589,-0.48,-146.0,562.3,-8.3,361,5594,0.00,2.25,0.00,0.000,4,0.000,0.066,3016,3585,3391,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5621,-0.48,-146.0,565.0,-8.5,362,5624,0.00,2.12,0.00,0.000,6,0.000,0.047,3016,2176,3391,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5948,-0.48,-146.0,593.9,-8.8,373,5954,0.00,2.20,0.00,0.000,4,0.000,0.066,3007,3581,3391,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6001,-0.48,-146.0,596.6,-8.7,374,6008,0.12,2.12,0.00,0.000,6,0.135,0.047,3043,2171,3391,0,0,0,0,0,0,26.06,26.20,28.83
$GC,6308,-0.48,-146.0,619.4,-6.5,385,6314,0.00,2.20,0.00,0.000,4,0.000,0.067,3035,3576,3390,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6373,-0.48,-146.0,623.5,-6.6,387,6378,0.00,2.12,0.00,0.000,6,0.000,0.047,3034,2169,3390,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6698,-0.48,-146.0,646.6,-7.2,398,6700,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2167,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6998,-0.48,-146.0,668.0,-7.2,408,7004,0.00,2.28,0.00,0.000,4,0.000,0.067,3024,3593,3389,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7076,-0.48,-146.0,672.5,-7.4,410,7080,0.00,2.17,0.00,0.000,6,0.000,0.047,3024,2169,3389,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7383,-0.48,-146.0,698.0,-8.1,420,7389,0.00,2.25,0.00,0.000,4,0.000,0.067,3014,3583,3388,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7422,-0.48,-146.0,700.6,-8.3,421,7428,0.00,2.12,0.00,0.000,6,0.000,0.047,3014,2174,3388,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7743,-0.48,-146.0,731.5,-9.5,432,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2173,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8043,-0.48,-146.0,759.5,-9.2,442,8047,0.00,2.25,0.00,0.000,4,0.000,0.067,3004,3581,3387,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8093,-0.48,-146.0,762.6,-9.2,443,8098,0.12,2.12,0.00,0.000,6,0.135,0.048,3039,2177,3387,0,0,0,0,0,0,26.04,26.19,28.83
$GC,8401,-0.48,-146.0,784.3,-6.0,453,8406,0.00,2.22,0.00,0.000,4,0.000,0.068,3031,3584,3387,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8423,-0.48,-146.0,784.3,-6.0,453,8430,0.00,2.15,0.00,0.000,6,0.000,0.048,3031,2166,3387,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8730,-0.48,-146.0,803.9,-5.9,464,8736,0.00,2.22,0.00,0.000,4,0.000,0.067,3021,3580,3387,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8773,-0.48,-146.0,805.9,-6.0,465,8777,0.00,2.15,0.00,0.000,6,0.000,0.048,3021,2170,3387,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9086,-0.48,-146.0,828.1,-6.9,476,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2168,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9385,-0.48,-146.0,850.5,-7.6,486,9391,0.00,2.25,0.00,0.000,4,0.000,0.068,3012,3584,3386,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9453,-0.48,-146.0,855.6,-7.9,488,9457,0.00,2.15,0.00,0.000,6,0.000,0.049,3011,2168,3385,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9771,-0.48,-146.0,882.3,-8.1,499,9776,0.00,2.22,0.00,0.000,4,0.000,0.068,3001,3577,3385,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9808,-0.48,-146.0,884.7,-8.0,500,9813,0.15,2.15,0.00,0.000,6,0.126,0.049,3045,2169,3385,0,0,0,0,0,0,26.01,26.17,28.83
$GC,10127,-0.48,-146.0,904.3,-5.9,511,10132,0.00,2.25,0.00,0.000,4,0.000,0.069,3037,3584,3385,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10164,-0.48,-146.0,905.8,-5.9,512,10168,0.00,2.15,0.00,0.000,6,0.000,0.049,3037,2171,3384,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10482,-0.48,-146.0,927.7,-6.8,523,10487,0.00,2.22,0.00,0.000,4,0.000,0.069,3028,3577,3385,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10515,-0.48,-146.0,930.0,-7.0,524,10519,0.00,2.15,0.00,0.000,6,0.000,0.049,3027,2167,3384,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10838,-0.48,-146.0,952.8,-6.9,535,10843,0.00,2.28,0.00,0.000,4,0.000,0.069,3018,3588,3384,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10867,-0.48,-146.0,954.8,-6.8,536,10873,0.00,2.17,0.00,0.000,6,0.000,0.049,3018,2152,3384,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11198,-0.48,-146.0,978.9,-7.8,547,11203,0.00,2.28,0.00,0.000,4,0.000,0.070,3008,3587,3384,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11235,-0.48,-146.0,981.2,-7.8,548,11240,0.12,2.15,0.00,0.000,6,0.135,0.049,3044,2171,3384,0,0,0,0,0,0,26.01,26.15,28.83
$STATE,11400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11401,begin apogee
$GC,11408,-0.22,0.0,990.5,-4.7,554,11539,0.22,0.00,125.40,1.196,6,0.111,0.000,3126,2314,2793,0,0,0,0,0,0,26.07,28.83,23.68
$STATE,11542,end apogee,CONTROL_FINISHED_OK
$STATE,11542,begin climb
$GC,11545,0.48,146.0,993.7,0.0,558,11682,0.65,0.00,133.02,1.162,6,0.079,0.000,3349,2314,2198,0,0,0,0,0,0,24.57,28.83,23.00
$GC,11974,0.48,146.0,958.3,9.1,573,11979,0.00,2.33,0.00,0.000,4,0.000,0.069,3348,3706,2187,0,0,0,0,0,0,28.83,24.97,28.83
$GC,12006,0.48,146.0,954.9,9.7,574,12010,0.00,2.28,0.00,0.000,6,0.000,0.050,3359,2307,2187,0,0,0,0,0,0,28.83,25.09,28.83
$GC,12329,0.48,146.0,919.0,10.5,585,12335,0.00,2.28,0.00,0.000,4,0.000,0.069,3359,3698,2185,0,0,0,0,0,0,28.83,25.41,28.83
$GC,12366,0.48,146.0,915.7,10.6,586,12370,0.00,2.22,0.00,0.000,6,0.000,0.050,3369,2295,2185,0,0,0,0,0,0,28.83,25.51,28.83
$GC,12684,0.48,146.0,881.0,10.5,597,12689,0.00,2.28,0.00,0.000,4,0.000,0.069,3370,3696,2184,0,0,0,0,0,0,28.83,25.62,28.83
$GC,12716,0.48,146.0,877.6,10.7,598,12720,0.00,2.20,0.00,0.000,6,0.000,0.050,3379,2297,2184,0,0,0,0,0,0,28.83,25.71,28.83
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$STATE,23152,end climb,SURFACE_DEPTH_REACHED
$STATE,23152,begin surface coast
$FINISH,1.0,1.023240
$STATE,23197,end surface coast,CONTROL_FINISHED_OK
$STATE,23197,begin surface
$SM_CCo,23277,0.00,0.000,0,0,1316,362.31
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.77
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.40
$XPDR_PINGS,1
$24V_AH,23.0,24.332
$10V_AH,10.2,20.492
$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,22.100,199.275,432.625,0.000,0.000,27.075,34.976,204.680,0.250,0.000,18.092,3379.411,16401.752,539.808,2957.662,391.040,0.000,1983.667,0.000,2653.718,0.000,0.536,0.000
$DEVICE_MAMPS,223.380,83.385,1196.460,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,881.819,745.545,510.493,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296728
$DATA_FILE_SIZE,73535,1282
$CAP_FILE_SIZE,193939,0
$CFSIZE,260165632,243826688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130,102.4,1
$GPS,201012,131923,4735.070,-12531.104,41,1.1,41,18.7