version: 66.11
glider: 187
mission: 2
dive: 639
start: 2 27 113 0 55 31
data:
$ID,187
$MISSION,2
$DIVE,639
$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,470
$T_MISSION,520
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$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,140
$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,570.07721
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,3
$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,-1588829.5
$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,44
$R_STBD_OVSHOOT,28
$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,20
$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
$GPS1,270213,003930,4718.626,-12610.790,43,1.4,43,18.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-74.6
$GPS2,270213,005500,4718.555,-12610.690,14,1.3,32,18.6
$SPEED_LIMITS,0.122,0.210
$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,225.9,71132,-13.3,-7.021,-18.50
$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,-0.47,-136.3,0.0,0.0,0,88,0.00,0.00,-69.47,0.000,2,0.000,0.000,117,2186,2736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.47,-136.3,3.3,-3.4,12,125,11.65,2.40,-14.65,0.000,4,0.215,0.074,3025,3613,3353,0,0,0,0,0,0,24.66,25.39,26.28
$GC,169,-0.47,-136.3,16.1,-13.2,25,176,0.00,2.20,0.00,0.000,6,0.000,0.044,3025,2199,3355,0,0,0,0,0,0,28.83,25.62,28.83
$GC,483,-0.47,-136.3,66.7,-16.2,86,490,0.00,2.17,0.00,0.000,4,0.000,0.051,3025,803,3356,0,0,0,0,0,0,28.83,25.47,28.83
$GC,503,-0.47,-136.3,70.4,-16.4,89,510,0.00,2.17,0.00,0.000,6,0.000,0.051,3016,2199,3356,0,0,0,0,0,0,28.83,25.48,28.83
$GC,816,-0.47,-136.3,115.9,-12.8,150,824,0.00,2.25,0.00,0.000,4,0.000,0.061,3005,3606,3356,0,0,0,0,0,0,28.83,25.37,28.83
$GC,867,-0.47,-136.3,122.5,-12.7,157,877,0.12,2.22,0.00,0.000,6,0.135,0.043,3041,2198,3356,0,0,0,0,0,0,25.48,25.67,28.83
$GC,1178,-0.47,-136.3,152.3,-9.5,178,1187,0.00,2.20,0.00,0.000,4,0.000,0.050,3041,809,3356,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1217,-0.47,-136.3,156.2,-9.5,182,1227,0.00,2.25,0.00,0.000,6,0.000,0.050,3035,2207,3356,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1527,-0.47,-136.3,183.7,-8.4,203,1536,0.00,2.28,0.00,0.000,4,0.000,0.062,3024,3604,3356,0,0,0,0,0,0,28.83,25.37,28.83
$GC,1568,-0.47,-136.3,187.2,-8.6,207,1576,0.00,2.20,0.00,0.000,6,0.000,0.044,3024,2206,3356,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1892,-0.47,-136.3,218.9,-10.1,226,1898,0.00,2.25,0.00,0.000,4,0.000,0.050,3024,793,3356,0,0,0,0,0,0,28.83,25.50,28.83
$GC,1940,-0.47,-136.3,223.2,-10.5,228,1944,0.00,2.28,0.00,0.000,6,0.000,0.050,3015,2207,3356,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2243,-0.47,-136.3,256.6,-10.9,243,2248,0.00,2.30,0.00,0.000,4,0.000,0.063,3005,3611,3356,0,0,0,0,0,0,28.83,25.35,28.83
$GC,2310,-0.47,-136.3,263.4,-11.2,246,2315,0.12,2.25,0.00,0.000,6,0.129,0.043,3042,2193,3356,0,0,0,0,0,0,25.49,25.67,28.83
$GC,2612,-0.47,-136.3,289.8,-7.9,261,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2188,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2914,-0.47,-136.3,312.4,-7.4,276,2919,0.00,2.30,0.00,0.000,4,0.000,0.063,3033,3611,3356,0,0,0,0,0,0,28.83,25.33,28.83
$GC,2982,-0.47,-136.3,317.8,-7.6,279,2988,0.00,2.22,0.00,0.000,6,0.000,0.044,3033,2202,3356,0,0,0,0,0,0,28.83,25.67,28.83
$GC,3303,-0.47,-136.3,343.9,-8.4,295,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2200,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3602,-0.47,-136.3,369.7,-8.5,310,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2200,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3902,-0.47,-136.3,394.6,-8.3,325,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2200,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4223,-0.47,-136.3,420.4,-8.1,337,4228,0.00,2.35,0.00,0.000,4,0.000,0.064,3023,3612,3355,0,0,0,0,0,0,28.83,25.29,28.83
$GC,4253,-0.47,-136.3,422.9,-8.1,338,4258,0.00,2.25,0.00,0.000,6,0.000,0.046,3024,2203,3355,0,0,0,0,0,0,28.83,25.63,28.83
$GC,4582,-0.47,-136.3,451.7,-8.7,349,4588,0.00,2.35,0.00,0.000,4,0.000,0.064,3013,3612,3354,0,0,0,0,0,0,28.83,25.28,28.83
$GC,4612,-0.47,-136.3,454.5,-8.8,350,4618,0.00,2.28,0.00,0.000,6,0.000,0.045,3013,2195,3354,0,0,0,0,0,0,28.83,25.61,28.83
$GC,4943,-0.47,-136.3,483.4,-8.6,361,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2192,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5242,-0.47,-136.3,507.6,-7.9,371,5248,0.00,2.22,0.00,0.000,4,0.000,0.052,3013,802,3354,0,0,0,0,0,0,28.83,25.41,28.83
$GC,5290,-0.47,-136.3,510.2,-8.0,372,5295,0.15,2.28,0.00,0.000,6,0.125,0.053,3048,2205,3353,0,0,0,0,0,0,25.29,25.42,28.83
$GC,5593,-0.47,-136.3,530.5,-6.3,382,5598,0.00,2.30,0.00,0.000,4,0.000,0.066,3040,3602,3353,0,0,0,0,0,0,28.83,25.25,28.83
$GC,5652,-0.47,-136.3,534.6,-6.7,384,5658,0.00,2.22,0.00,0.000,6,0.000,0.046,3039,2197,3353,0,0,0,0,0,0,28.83,25.61,28.83
$GC,5983,-0.47,-136.3,557.7,-6.9,395,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2195,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6283,-0.47,-136.3,578.4,-6.9,405,6288,0.00,2.35,0.00,0.000,4,0.000,0.066,3029,3609,3352,0,0,0,0,0,0,28.83,25.22,28.83
$GC,6343,-0.47,-136.3,582.5,-6.8,407,6348,0.00,2.25,0.00,0.000,6,0.000,0.047,3029,2199,3352,0,0,0,0,0,0,28.83,25.59,28.83
$GC,6672,-0.47,-136.3,606.0,-7.1,418,6678,0.00,2.35,0.00,0.000,4,0.000,0.067,3019,3609,3351,0,0,0,0,0,0,28.83,25.21,28.83
$GC,6712,-0.47,-136.3,608.1,-7.1,419,6718,0.00,2.25,0.00,0.000,6,0.000,0.047,3019,2202,3351,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7032,-0.47,-136.3,632.3,-7.2,430,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2200,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7332,-0.47,-136.3,653.7,-7.1,440,7338,0.00,2.38,0.00,0.000,4,0.000,0.066,3009,3618,3351,0,0,0,0,0,0,28.83,25.20,28.83
$GC,7370,-0.47,-136.3,656.1,-7.3,441,7375,0.12,2.30,0.00,0.000,6,0.122,0.047,3046,2189,3351,0,0,0,0,0,0,25.42,25.56,28.83
$GC,7684,-0.47,-136.3,675.7,-6.3,452,7685,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2187,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7983,-0.47,-136.3,694.8,-6.5,462,7989,0.00,2.38,0.00,0.000,4,0.000,0.067,3038,3609,3350,0,0,0,0,0,0,28.83,25.18,28.83
$GC,8043,-0.47,-136.3,698.9,-6.6,464,8049,0.00,2.25,0.00,0.000,6,0.000,0.047,3038,2202,3350,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8375,-0.47,-136.3,721.2,-6.9,475,8379,0.00,2.22,0.00,0.000,4,0.000,0.054,3038,794,3350,0,0,0,0,0,0,28.83,25.34,28.83
$GC,8411,-0.47,-136.3,723.3,-6.9,476,8416,0.00,2.30,0.00,0.000,6,0.000,0.055,3030,2203,3350,0,0,0,0,0,0,28.83,25.34,28.83
$GC,8725,-0.47,-136.3,745.8,-6.9,487,8729,0.00,2.30,0.00,0.000,4,0.000,0.067,3021,3615,3349,0,0,0,0,0,0,28.83,25.15,28.83
$GC,8802,-0.47,-136.3,750.0,-6.9,489,8806,0.00,2.28,0.00,0.000,6,0.000,0.045,3020,2195,3349,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9104,-0.47,-136.3,772.7,-7.1,499,9105,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2193,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9404,-0.47,-136.3,794.3,-7.3,509,9410,0.00,2.38,0.00,0.000,4,0.000,0.066,3010,3610,3348,0,0,0,0,0,0,28.83,25.15,28.83
$GC,9465,-0.47,-136.3,799.1,-7.5,511,9470,0.08,2.25,0.00,0.000,6,0.097,0.047,3041,2208,3348,0,0,0,0,0,0,25.37,25.54,28.83
$GC,9794,-0.47,-136.3,819.3,-6.0,522,9795,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2205,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10094,-0.47,-136.3,836.8,-5.8,532,10095,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2205,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10395,-0.47,-136.3,855.2,-6.2,542,10399,0.00,2.35,0.00,0.000,4,0.000,0.068,3041,3607,3347,0,0,0,0,0,0,28.83,25.11,28.83
$GC,10432,-0.47,-136.3,857.2,-6.3,543,10436,0.00,2.30,0.00,0.000,6,0.000,0.048,3041,2186,3347,0,0,0,0,0,0,28.83,25.51,28.83
$GC,10745,-0.47,-136.3,879.1,-7.0,554,10746,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2184,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11046,-0.47,-136.3,900.2,-6.9,564,11050,0.00,2.38,0.00,0.000,4,0.000,0.067,3031,3606,3347,0,0,0,0,0,0,28.83,25.10,28.83
$GC,11104,-0.47,-136.3,904.6,-7.1,566,11110,0.00,2.28,0.00,0.000,6,0.000,0.047,3031,2195,3347,0,0,0,0,0,0,28.83,25.51,28.83
$GC,11435,-0.47,-136.3,927.2,-6.6,577,11436,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2194,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11736,-0.47,-136.3,944.8,-5.6,587,11740,0.00,2.33,0.00,0.000,4,0.000,0.067,3021,3607,3347,0,0,0,0,0,0,28.83,25.09,28.83
$GC,11783,-0.47,-136.3,946.6,-5.5,588,11787,0.00,2.28,0.00,0.000,6,0.000,0.047,3021,2201,3346,0,0,0,0,0,0,28.83,25.49,28.83
$GC,12085,-0.47,-136.3,964.9,-5.7,598,12086,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2198,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12386,-0.47,-136.3,981.2,-5.3,608,12390,0.00,2.35,0.00,0.000,4,0.000,0.068,3011,3627,3346,0,0,0,0,0,0,28.83,25.06,28.83
$GC,12433,-0.47,-136.3,982.8,-5.4,609,12437,0.12,2.33,0.00,0.000,6,0.118,0.048,3048,2190,3346,0,0,0,0,0,0,25.34,25.46,28.83
$STATE,12581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12582,begin apogee
$GC,12590,-0.22,0.0,990.8,-4.3,614,12721,0.20,0.00,126.57,1.165,6,0.109,0.000,3122,2332,2793,0,0,0,0,0,0,25.79,28.83,22.46
$STATE,12722,end apogee,CONTROL_FINISHED_OK
$STATE,12722,begin climb
$GC,12725,0.47,136.3,994.0,0.0,618,12866,0.68,2.55,134.27,1.128,4,0.068,0.054,3362,924,2237,0,0,0,0,0,0,24.41,23.44,21.74
$GC,12908,0.48,145.5,985.3,6.7,625,12923,0.00,2.38,9.75,0.962,6,0.000,0.056,3362,2316,2200,0,0,0,0,0,0,28.83,24.04,22.14
$GC,13225,0.48,145.5,955.4,9.5,635,13231,0.00,2.40,0.00,0.000,4,0.000,0.068,3362,3742,2194,0,0,0,0,0,0,28.83,25.29,28.83
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$STATE,25266,end climb,SURFACE_DEPTH_REACHED
$STATE,25266,begin surface coast
$FINISH,1.4,1.005559
$STATE,25309,end surface coast,CONTROL_FINISHED_OK
$STATE,25310,begin surface
$SM_CCo,25331,145.73,0.510,1,0,470,570.08
$SM_GC,2.16,8.38,2.08,145.73,0.031,0.050,0.510,109,2209,470,-9.48,-0.68,570.08,0,0,0,0,1,0,25.94,25.51,23.77
$IRIDIUM_FIX,4700.70,-12601.41,270213,000008
$TT8_MAMPS,0.027713,0.027713
$HUMID,45.98
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,19.10
$XPDR_PINGS,2
$24V_AH,21.7,89.829
$10V_AH,9.8,68.734
$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,22.425,225.300,412.300,145.725,0.000,133.202,375.529,0.000,0.500,0.000,33.315,3611.357,18629.133,893.297,2800.047,468.176,0.000,2161.477,0.000,2233.746,0.000,0.537,0.000
$DEVICE_MAMPS,214.965,83.385,1165.095,510.255,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,954.525,711.824,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296976
$DATA_FILE_SIZE,76724,1385
$CAP_FILE_SIZE,196729,0
$CFSIZE,260165632,203812864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.072, 76.4,1
$GPS,270213,080136,4717.366,-12613.613,40,1.1,40,18.6