version: 66.11
glider: 187
mission: 2
dive: 169
start: 10 20 112 13 29 2
data:
$ID,187
$MISSION,2
$DIVE,169
$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,-1587839.1
$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,36
$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
$GPS1,201012,131923,4735.070,-12531.104,41,1.1,41,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-75.5
$GPS2,201012,132831,4735.126,-12531.089,11,1.9,11,18.7
$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,244.8,129781,-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,-146.0,0.0,0.0,0,80,0.00,0.00,-61.67,0.000,2,0.000,0.000,121,2159,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.48,-146.0,3.1,-3.2,10,118,11.27,2.30,-14.65,0.000,4,0.221,0.073,3025,3594,3391,0,0,0,0,0,0,25.18,25.56,25.99
$GC,154,-0.48,-146.0,19.9,-21.6,21,161,0.00,2.20,0.00,0.000,6,0.000,0.043,3025,2163,3394,0,0,0,0,0,0,28.83,25.65,28.83
$GC,478,-0.48,-146.0,71.1,-13.2,82,486,0.00,2.17,0.00,0.000,4,0.000,0.049,3025,766,3396,0,0,0,0,0,0,28.83,25.79,28.83
$GC,545,-0.48,-146.0,80.4,-13.5,94,552,0.00,2.20,0.00,0.000,6,0.000,0.050,3015,2181,3396,0,0,0,0,0,0,28.83,25.81,28.83
$GC,865,-0.48,-146.0,122.2,-12.6,153,871,0.00,2.17,0.00,0.000,4,0.000,0.062,3004,3582,3397,0,0,0,0,0,0,28.83,25.85,28.83
$GC,987,-0.48,-146.0,137.1,-12.0,161,993,0.10,2.12,0.00,0.000,6,0.116,0.042,3039,2170,3397,0,0,0,0,0,0,25.80,25.98,28.83
$GC,1303,-0.48,-146.0,171.2,-11.2,182,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2167,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1611,-0.48,-146.0,204.2,-10.0,202,1617,0.00,2.22,0.00,0.000,4,0.000,0.062,3031,3589,3397,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1694,-0.48,-146.0,212.4,-10.2,206,1698,0.00,2.12,0.00,0.000,6,0.000,0.044,3030,2170,3397,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2006,-0.48,-146.0,242.4,-9.0,222,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2166,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2306,-0.48,-146.0,270.1,-9.7,237,2312,0.00,2.22,0.00,0.000,4,0.000,0.063,3020,3587,3396,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2349,-0.48,-146.0,274.2,-9.9,239,2353,0.00,2.12,0.00,0.000,6,0.000,0.044,3020,2173,3395,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2661,-0.48,-146.0,308.2,-11.0,255,2667,0.00,2.22,0.00,0.000,4,0.000,0.063,3010,3589,3395,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2714,-0.48,-146.0,312.7,-11.1,257,2721,0.12,2.12,0.00,0.000,6,0.134,0.044,3046,2171,3395,0,0,0,0,0,0,26.00,26.15,28.83
$GC,3023,-0.48,-146.0,343.9,-9.4,273,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2170,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3321,-0.48,-146.0,371.2,-8.9,288,3327,0.00,2.25,0.00,0.000,4,0.000,0.064,3037,3587,3393,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3364,-0.48,-146.0,374.9,-9.0,290,3368,0.00,2.12,0.00,0.000,6,0.000,0.045,3037,2174,3393,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3697,-0.48,-146.0,406.8,-9.5,306,3702,0.00,2.20,0.00,0.000,4,0.000,0.064,3027,3577,3392,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3739,-0.48,-146.0,409.8,-9.6,307,3743,0.00,2.12,0.00,0.000,6,0.000,0.045,3027,2166,3393,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4051,-0.48,-146.0,442.4,-10.0,318,4057,0.00,2.25,0.00,0.000,4,0.000,0.064,3017,3586,3391,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4095,-0.48,-146.0,445.6,-10.1,319,4099,0.00,2.15,0.00,0.000,6,0.000,0.046,3016,2173,3391,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4407,-0.48,-146.0,480.5,-10.9,330,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2170,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4707,-0.48,-146.0,511.0,-9.7,340,4713,0.00,2.25,0.00,0.000,4,0.000,0.065,3007,3593,3390,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4755,-0.48,-146.0,513.9,-9.8,341,4760,0.12,2.15,0.00,0.000,6,0.136,0.046,3042,2167,3390,0,0,0,0,0,0,26.04,26.20,28.83
$GC,5062,-0.48,-146.0,538.6,-7.1,351,5068,0.00,2.22,0.00,0.000,4,0.000,0.065,3034,3583,3390,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5130,-0.48,-146.0,543.2,-7.4,353,5134,0.00,2.15,0.00,0.000,6,0.000,0.047,3034,2172,3390,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5447,-0.48,-146.0,568.6,-7.9,364,5453,0.00,2.22,0.00,0.000,4,0.000,0.066,3024,3584,3389,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5495,-0.48,-146.0,571.0,-8.0,365,5499,0.00,2.12,0.00,0.000,6,0.000,0.047,3024,2173,3389,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5802,-0.48,-146.0,599.2,-8.9,375,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2171,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6103,-0.48,-146.0,627.4,-9.4,385,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2171,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6402,-0.48,-146.0,656.6,-9.7,395,6408,0.00,2.25,0.00,0.000,4,0.000,0.067,3013,3582,3387,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6462,-0.48,-146.0,662.5,-9.7,397,6468,0.00,2.12,0.00,0.000,6,0.000,0.047,3013,2171,3387,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6792,-0.48,-146.0,695.4,-9.5,408,6798,0.00,2.22,0.00,0.000,4,0.000,0.067,3003,3584,3387,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6830,-0.48,-146.0,698.3,-9.4,409,6835,0.12,2.15,0.00,0.000,6,0.137,0.047,3038,2165,3386,0,0,0,0,0,0,26.04,26.20,28.83
$GC,7148,-0.48,-146.0,723.8,-7.7,420,7153,0.00,2.25,0.00,0.000,4,0.000,0.066,3030,3582,3386,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7201,-0.48,-146.0,726.3,-7.8,421,7208,0.00,2.12,0.00,0.000,6,0.000,0.047,3030,2173,3386,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7508,-0.48,-146.0,751.5,-7.4,432,7511,0.00,2.25,0.00,0.000,4,0.000,0.067,3020,3587,3385,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7540,-0.48,-146.0,753.9,-7.5,433,7546,0.00,2.15,0.00,0.000,6,0.000,0.048,3020,2174,3385,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7870,-0.48,-146.0,781.2,-8.5,444,7875,0.00,2.22,0.00,0.000,4,0.000,0.068,3011,3583,3385,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7917,-0.48,-146.0,783.7,-8.4,445,7922,0.00,2.12,0.00,0.000,6,0.000,0.048,3011,2177,3384,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8224,-0.48,-146.0,812.3,-8.7,455,8231,0.12,2.25,0.00,0.000,4,0.146,0.067,3043,3587,3384,0,0,0,0,0,0,26.16,26.03,28.83
$GC,8255,-0.48,-146.0,814.6,-8.4,456,8261,0.00,2.15,0.00,0.000,6,0.000,0.048,3043,2175,3384,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8585,-0.48,-146.0,835.7,-6.4,467,8590,0.00,2.22,0.00,0.000,4,0.000,0.068,3033,3583,3383,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8633,-0.48,-146.0,838.0,-6.6,468,8637,0.00,2.15,0.00,0.000,6,0.000,0.048,3034,2169,3383,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8940,-0.48,-146.0,861.0,-6.8,478,8946,0.00,2.28,0.00,0.000,4,0.000,0.068,3023,3588,3383,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8972,-0.48,-146.0,863.3,-7.0,479,8976,0.00,2.17,0.00,0.000,6,0.000,0.048,3023,2164,3383,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9300,-0.48,-146.0,888.0,-7.2,490,9305,0.00,2.25,0.00,0.000,4,0.000,0.067,3013,3585,3383,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9368,-0.48,-146.0,892.5,-7.3,492,9372,0.00,2.15,0.00,0.000,6,0.000,0.048,3013,2171,3382,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9685,-0.48,-146.0,916.8,-7.5,503,9691,0.00,2.25,0.00,0.000,4,0.000,0.068,3003,3580,3382,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9715,-0.48,-146.0,919.1,-7.6,504,9721,0.12,2.15,0.00,0.000,6,0.135,0.049,3039,2174,3382,0,0,0,0,0,0,26.01,26.16,28.83
$GC,10046,-0.48,-146.0,938.5,-5.9,515,10051,0.00,2.22,0.00,0.000,4,0.000,0.069,3031,3576,3381,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10079,-0.48,-146.0,940.5,-5.9,516,10083,0.00,2.15,0.00,0.000,6,0.000,0.049,3031,2166,3381,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10401,-0.48,-146.0,962.1,-6.7,527,10407,0.00,2.25,0.00,0.000,4,0.000,0.069,3021,3580,3381,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10469,-0.48,-146.0,966.3,-6.9,529,10473,0.00,2.17,0.00,0.000,6,0.000,0.049,3021,2168,3381,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10792,-0.48,-146.0,990.0,-7.2,540,10797,0.00,2.25,0.00,0.000,4,0.000,0.069,3012,3583,3381,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,10819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10819,begin apogee
$GC,10828,-0.22,0.0,992.2,-7.2,541,10958,0.32,0.00,125.25,1.195,6,0.111,0.000,3123,2296,2794,0,0,0,0,0,0,25.96,28.83,23.68
$STATE,10961,end apogee,CONTROL_FINISHED_OK
$STATE,10961,begin climb
$GC,10963,0.48,146.0,995.6,0.0,545,11101,0.65,0.00,134.45,1.160,6,0.081,0.000,3344,2295,2198,0,0,0,0,0,0,24.55,28.83,23.00
$GC,11391,0.48,146.0,962.1,9.0,560,11397,0.00,2.35,0.00,0.000,4,0.000,0.068,3344,3700,2187,0,0,0,0,0,0,28.83,24.97,28.83
$GC,11435,0.48,146.0,959.1,9.0,561,11439,0.00,2.25,0.00,0.000,6,0.000,0.050,3355,2302,2187,0,0,0,0,0,0,28.83,25.11,28.83
$GC,11747,0.48,146.0,930.9,8.3,572,11753,0.00,2.30,0.00,0.000,4,0.000,0.069,3355,3709,2185,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11770,0.48,146.0,930.9,8.3,572,11778,0.00,2.25,0.00,0.000,6,0.000,0.050,3366,2291,2185,0,0,0,0,0,0,28.83,25.51,28.83
$GC,12077,0.48,146.0,900.5,9.3,583,12083,0.00,2.20,0.00,0.000,4,0.000,0.058,3377,892,2184,0,0,0,0,0,0,28.83,25.64,28.83
$GC,12107,0.48,146.0,897.8,9.4,584,12113,0.00,2.22,0.00,0.000,6,0.000,0.057,3377,2296,2184,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12437,0.48,146.0,862.3,10.8,595,12443,0.00,2.30,0.00,0.000,4,0.000,0.070,3376,3720,2184,0,0,0,0,0,0,28.83,25.73,28.83
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$STATE,22369,end climb,SURFACE_DEPTH_REACHED
$STATE,22369,begin surface coast
$FINISH,1.1,1.012635
$STATE,22408,end surface coast,CONTROL_FINISHED_OK
$STATE,22408,begin surface
$SM_CCo,22488,0.00,0.000,0,0,1153,402.78
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.62
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,23.0,24.474
$10V_AH,10.2,20.607
$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
$DEVICE_SECS,22.100,220.925,465.575,0.000,0.000,51.932,110.235,193.297,0.000,0.000,12.008,3327.752,15604.907,607.320,3094.351,391.377,0.000,2084.876,0.000,2704.630,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,864.941,733.913,518.814,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296772
$DATA_FILE_SIZE,70095,1259
$CAP_FILE_SIZE,197448,0
$CFSIZE,260165632,243736576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.135,115.7,1
$GPS,201012,194523,4734.160,-12533.470,55,1.2,55,18.7