version: 66.11
glider: 187
mission: 2
dive: 259
start: 11 12 112 10 26 15
data:
$ID,187
$MISSION,2
$DIVE,259
$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,-1588081.9
$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,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,24
$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
$GPS1,121112,101906,4710.359,-12635.890,30,1.3,30,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-77.2
$GPS2,121112,102543,4710.355,-12635.799,14,1.3,14,18.6
$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,220.9,36085,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-68.70,0.000,2,0.000,0.000,112,2195,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.48,-146.0,3.2,-3.9,11,126,11.48,2.40,-16.62,0.000,4,0.220,0.075,3024,3615,3392,0,0,0,0,0,0,24.98,25.44,25.99
$GC,211,-0.48,-146.0,27.2,-18.2,32,218,0.00,2.28,0.00,0.000,6,0.000,0.044,3024,2194,3395,0,0,0,0,0,0,28.83,25.58,28.83
$GC,529,-0.48,-146.0,73.3,-13.5,93,536,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2187,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,842,-0.48,-146.0,114.5,-11.9,154,848,0.00,2.17,0.00,0.000,4,0.000,0.050,3024,786,3397,0,0,0,0,0,0,28.83,25.70,28.83
$GC,876,-0.48,-146.0,118.8,-12.2,160,883,0.00,2.25,0.00,0.000,6,0.000,0.050,3014,2203,3398,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1192,-0.48,-146.0,157.1,-11.8,182,1198,0.00,2.22,0.00,0.000,4,0.000,0.061,3004,3614,3397,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1252,-0.48,-146.0,164.4,-11.9,186,1258,0.12,2.20,0.00,0.000,6,0.137,0.043,3039,2186,3398,0,0,0,0,0,0,25.67,25.86,28.83
$GC,1570,-0.48,-146.0,193.0,-9.0,207,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2180,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1876,-0.48,-146.0,220.7,-9.0,224,1882,0.00,2.15,0.00,0.000,4,0.000,0.050,3039,788,3397,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1904,-0.48,-146.0,222.6,-9.0,225,1908,0.00,2.22,0.00,0.000,6,0.000,0.051,3032,2208,3397,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2212,-0.48,-146.0,251.7,-9.3,240,2217,0.00,2.22,0.00,0.000,4,0.000,0.063,3021,3613,3397,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2259,-0.48,-146.0,255.6,-9.6,242,2264,0.00,2.17,0.00,0.000,6,0.000,0.044,3021,2197,3397,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2566,-0.48,-146.0,287.0,-9.9,257,2572,0.00,2.17,0.00,0.000,4,0.000,0.052,3021,788,3397,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2609,-0.48,-146.0,291.0,-10.1,259,2614,0.00,2.20,0.00,0.000,6,0.000,0.051,3012,2206,3397,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2922,-0.48,-146.0,323.6,-10.3,275,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2205,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3222,-0.48,-146.0,354.3,-10.2,290,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2206,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3524,-0.48,-146.0,384.1,-10.0,305,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2206,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3822,-0.48,-146.0,413.4,-9.8,318,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2205,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4121,-0.48,-146.0,443.3,-10.0,328,4127,0.00,2.17,0.00,0.000,4,0.000,0.052,3012,801,3394,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4145,-0.48,-146.0,443.3,-10.0,328,4152,0.12,2.17,0.00,0.000,6,0.143,0.053,3039,2200,3394,0,0,0,0,0,0,25.69,25.82,28.83
$GC,4451,-0.48,-146.0,470.8,-8.1,339,4458,0.00,2.25,0.00,0.000,4,0.000,0.066,3030,3606,3393,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4481,-0.48,-146.0,473.4,-8.2,340,4487,0.00,2.17,0.00,0.000,6,0.000,0.046,3030,2195,3393,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4812,-0.48,-146.0,501.8,-8.5,351,4817,0.00,2.12,0.00,0.000,4,0.000,0.054,3030,807,3392,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4844,-0.48,-146.0,504.5,-8.5,352,4848,0.00,2.17,0.00,0.000,6,0.000,0.054,3021,2203,3393,0,0,0,0,0,0,28.83,25.80,28.83
$GC,5166,-0.48,-146.0,533.2,-8.9,363,5170,0.00,2.28,0.00,0.000,4,0.000,0.066,3011,3610,3392,0,0,0,0,0,0,28.83,25.69,28.83
$GC,5199,-0.48,-146.0,536.2,-9.0,364,5204,0.00,2.15,0.00,0.000,6,0.000,0.046,3011,2204,3391,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5528,-0.48,-146.0,567.0,-9.3,375,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2202,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5828,-0.48,-146.0,595.0,-9.2,385,5834,0.00,2.20,0.00,0.000,4,0.000,0.054,3011,788,3391,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5882,-0.48,-146.0,597.9,-9.3,386,5889,0.12,2.22,0.00,0.000,6,0.142,0.054,3039,2210,3390,0,0,0,0,0,0,25.65,25.77,28.83
$GC,6189,-0.48,-146.0,622.6,-7.1,397,6194,0.00,2.22,0.00,0.000,4,0.000,0.067,3030,3605,3390,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6227,-0.48,-146.0,624.9,-7.1,398,6231,0.00,2.17,0.00,0.000,6,0.000,0.047,3030,2196,3390,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6545,-0.48,-146.0,648.4,-7.1,409,6546,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2195,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6844,-0.48,-146.0,669.6,-6.9,419,6845,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2195,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7144,-0.48,-146.0,690.5,-7.0,429,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2195,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7445,-0.48,-146.0,710.9,-6.6,439,7446,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2195,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7744,-0.48,-146.0,730.6,-6.4,449,7745,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2195,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8044,-0.48,-146.0,750.1,-6.5,459,8045,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2195,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8345,-0.48,-146.0,770.2,-6.7,469,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2195,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8644,-0.48,-146.0,791.7,-7.3,479,8645,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2195,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8944,-0.48,-146.0,813.5,-7.3,489,8945,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2195,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9245,-0.48,-146.0,834.7,-7.1,499,9250,0.00,2.30,0.00,0.000,4,0.000,0.068,3020,3607,3386,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9287,-0.48,-146.0,837.0,-7.2,500,9292,0.00,2.17,0.00,0.000,6,0.000,0.050,3020,2204,3386,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9600,-0.48,-146.0,861.8,-7.7,511,9605,0.00,2.20,0.00,0.000,4,0.000,0.057,3020,798,3385,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9630,-0.48,-146.0,864.2,-7.7,512,9635,0.00,2.20,0.00,0.000,6,0.000,0.056,3012,2198,3385,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9960,-0.48,-146.0,890.2,-7.8,523,9965,0.00,2.30,0.00,0.000,4,0.000,0.068,3002,3619,3385,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9992,-0.48,-146.0,892.5,-7.8,524,9997,0.12,2.20,0.00,0.000,6,0.132,0.047,3038,2197,3385,0,0,0,0,0,0,25.67,25.86,28.83
$GC,10316,-0.48,-146.0,911.7,-5.6,535,10317,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2193,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10615,-0.48,-146.0,927.6,-5.3,545,10621,0.00,2.28,0.00,0.000,4,0.000,0.069,3030,3603,3384,0,0,0,0,0,0,28.83,25.54,28.83
$GC,10646,-0.48,-146.0,929.5,-5.2,546,10651,0.00,2.17,0.00,0.000,6,0.000,0.049,3030,2199,3384,0,0,0,0,0,0,28.83,25.85,28.83
$GC,10976,-0.48,-146.0,948.9,-6.0,557,10977,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2197,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11275,-0.48,-146.0,967.6,-6.3,567,11281,0.00,2.28,0.00,0.000,4,0.000,0.069,3021,3603,3384,0,0,0,0,0,0,28.83,25.52,28.83
$GC,11340,-0.48,-146.0,971.7,-6.7,569,11346,0.00,2.20,0.00,0.000,6,0.000,0.049,3021,2190,3384,0,0,0,0,0,0,28.83,25.81,28.83
$STATE,11603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11603,begin apogee
$GC,11610,-0.22,0.0,990.7,-7.0,578,11744,0.30,0.00,127.62,1.179,6,0.111,0.000,3123,2331,2794,0,0,0,0,0,0,25.69,28.83,23.43
$STATE,11745,end apogee,CONTROL_FINISHED_OK
$STATE,11745,begin climb
$GC,11748,0.48,146.0,994.3,0.0,582,11889,0.65,0.00,137.62,1.144,6,0.079,0.000,3345,2331,2198,0,0,0,0,0,0,24.45,28.83,22.53
$GC,12170,0.48,146.0,964.0,8.5,597,12176,0.00,2.40,0.00,0.000,4,0.000,0.069,3345,3741,2188,0,0,0,0,0,0,28.83,24.74,28.83
$GC,12200,0.48,146.0,961.0,8.8,598,12206,0.00,2.30,0.00,0.000,6,0.000,0.050,3356,2337,2187,0,0,0,0,0,0,28.83,24.93,28.83
$GC,12530,0.48,146.0,930.4,9.4,609,12531,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2331,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12830,0.48,146.0,900.1,10.3,619,12831,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2331,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13130,0.48,146.0,869.1,10.1,629,13131,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2331,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13430,0.48,146.0,838.4,10.1,639,13431,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2330,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13730,0.48,146.0,808.1,10.1,649,13736,0.00,2.30,0.00,0.000,4,0.000,0.070,3355,3728,2184,0,0,0,0,0,0,28.83,25.54,28.83
$GC,13761,0.48,146.0,804.8,10.3,650,13767,0.00,2.22,0.00,0.000,6,0.000,0.050,3365,2324,2183,0,0,0,0,0,0,28.83,25.73,28.83
$GC,14090,0.48,146.0,769.5,10.6,661,14091,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2321,2183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14390,0.48,146.0,737.7,10.6,671,14396,0.00,2.30,0.00,0.000,4,0.000,0.069,3365,3727,2183,0,0,0,0,0,0,28.83,25.58,28.83
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$STATE,23249,end climb,SURFACE_DEPTH_REACHED
$STATE,23249,begin surface coast
$FINISH,1.2,1.011139
$STATE,23285,end surface coast,CONTROL_FINISHED_OK
$STATE,23285,begin surface
$SM_CCo,23365,0.00,0.000,0,0,1098,416.27
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.17
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.40
$XPDR_PINGS,1
$24V_AH,22.5,36.529
$10V_AH,10.1,30.446
$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,22.000,170.750,486.475,0.000,0.000,28.321,38.984,196.534,0.250,0.000,17.330,3349.901,16595.646,596.504,2816.156,394.737,0.000,1960.218,0.000,2529.845,0.000,0.536,0.000
$DEVICE_MAMPS,220.320,83.385,1178.865,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,893.310,748.396,525.642,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296792
$DATA_FILE_SIZE,73463,1298
$CAP_FILE_SIZE,184690,0
$CFSIZE,260165632,236253184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033, 43.2,1
$GPS,121112,165700,4708.969,-12639.685,42,1.5,42,18.6