version: 66.11
glider: 187
mission: 2
dive: 714
start: 3 20 113 22 24 26
data:
$ID,187
$MISSION,2
$DIVE,714
$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,300
$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,-1588941.5
$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,34
$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,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
$GPS1,200313,221553,4707.839,-12646.017,28,1.3,43,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-66.9
$GPS2,200313,222353,4707.791,-12645.960,12,2.2,31,18.6
$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,211.1,22862,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,78,0.00,0.00,-58.78,0.000,2,0.000,0.000,106,2207,2536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.47,-136.3,3.3,-5.3,10,125,11.73,2.35,-20.92,0.000,4,0.216,0.076,3021,3604,3352,0,0,0,0,0,0,24.44,25.26,26.24
$GC,256,-0.47,-136.3,25.7,-11.1,42,262,0.00,2.20,0.00,0.000,6,0.000,0.044,3021,2195,3353,0,0,0,0,0,0,28.83,25.50,28.83
$GC,568,-0.47,-136.3,79.4,-15.9,103,574,0.00,2.17,0.00,0.000,4,0.000,0.050,3021,800,3354,0,0,0,0,0,0,28.83,25.34,28.83
$GC,683,-0.47,-136.3,95.2,-12.7,125,691,0.12,2.20,0.00,0.000,6,0.140,0.051,3046,2202,3353,0,0,0,0,0,0,25.22,25.35,28.83
$GC,1007,-0.47,-136.3,130.7,-9.4,174,1015,0.00,2.30,0.00,0.000,4,0.000,0.062,3037,3602,3354,0,0,0,0,0,0,28.83,25.19,28.83
$GC,1048,-0.47,-136.3,134.4,-9.4,178,1056,0.00,2.17,0.00,0.000,6,0.000,0.043,3038,2193,3353,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1357,-0.47,-136.3,162.7,-8.5,199,1365,0.00,2.20,0.00,0.000,4,0.000,0.050,3038,809,3354,0,0,0,0,0,0,28.83,25.34,28.83
$GC,1396,-0.47,-136.3,166.2,-8.5,203,1405,0.00,2.25,0.00,0.000,6,0.000,0.050,3029,2200,3353,0,0,0,0,0,0,28.83,25.34,28.83
$GC,1708,-0.47,-136.3,196.2,-10.3,224,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2200,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2013,-0.47,-136.3,227.9,-10.1,240,2017,0.00,2.30,0.00,0.000,4,0.000,0.062,3019,3605,3354,0,0,0,0,0,0,28.83,25.16,28.83
$GC,2039,-0.47,-136.3,229.9,-10.0,241,2044,0.00,2.25,0.00,0.000,6,0.000,0.042,3019,2196,3354,0,0,0,0,0,0,28.83,25.54,28.83
$GC,2342,-0.47,-136.3,261.8,-9.7,256,2347,0.00,2.22,0.00,0.000,4,0.000,0.050,3019,803,3354,0,0,0,0,0,0,28.83,25.32,28.83
$GC,2383,-0.47,-136.3,265.7,-9.8,258,2388,0.08,2.25,0.00,0.000,6,0.115,0.050,3054,2200,3353,0,0,0,0,0,0,25.13,25.32,28.83
$GC,2702,-0.47,-136.3,287.9,-6.7,274,2707,0.00,2.33,0.00,0.000,4,0.000,0.063,3045,3610,3354,0,0,0,0,0,0,28.83,25.13,28.83
$GC,2761,-0.47,-136.3,292.3,-7.0,277,2767,0.00,2.28,0.00,0.000,6,0.000,0.043,3045,2190,3354,0,0,0,0,0,0,28.83,25.54,28.83
$GC,3083,-0.47,-136.3,316.3,-7.6,293,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2188,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3381,-0.47,-136.3,339.1,-7.6,308,3387,0.00,2.38,0.00,0.000,4,0.000,0.063,3035,3615,3354,0,0,0,0,0,0,28.83,25.10,28.83
$GC,3422,-0.47,-136.3,342.3,-7.8,310,3427,0.00,2.28,0.00,0.000,6,0.000,0.044,3035,2196,3354,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3743,-0.47,-136.3,369.1,-8.4,326,3744,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2194,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4041,-0.47,-136.3,393.9,-8.1,341,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2194,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4361,-0.47,-136.3,419.7,-8.1,353,4367,0.00,2.38,0.00,0.000,4,0.000,0.063,3025,3613,3353,0,0,0,0,0,0,28.83,25.08,28.83
$GC,4393,-0.47,-136.3,422.3,-8.3,354,4397,0.00,2.28,0.00,0.000,6,0.000,0.045,3025,2195,3353,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4721,-0.47,-136.3,449.8,-7.9,365,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2192,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5021,-0.47,-136.3,472.6,-7.5,375,5027,0.00,2.28,0.00,0.000,4,0.000,0.051,3025,797,3352,0,0,0,0,0,0,28.83,25.24,28.83
$GC,5060,-0.47,-136.3,474.8,-7.5,376,5066,0.00,2.30,0.00,0.000,6,0.000,0.053,3016,2205,3352,0,0,0,0,0,0,28.83,25.23,28.83
$GC,5381,-0.47,-136.3,500.0,-7.6,387,5387,0.00,2.35,0.00,0.000,4,0.000,0.064,3007,3613,3352,0,0,0,0,0,0,28.83,25.04,28.83
$GC,5411,-0.47,-136.3,502.3,-7.6,388,5418,0.12,2.30,0.00,0.000,6,0.128,0.045,3044,2192,3352,0,0,0,0,0,0,25.28,25.45,28.83
$GC,5743,-0.47,-136.3,521.6,-5.7,399,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2189,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6042,-0.47,-136.3,540.0,-6.5,409,6047,0.00,2.38,0.00,0.000,4,0.000,0.065,3036,3606,3352,0,0,0,0,0,0,28.83,25.03,28.83
$GC,6090,-0.47,-136.3,542.0,-6.6,410,6094,0.00,2.30,0.00,0.000,6,0.000,0.046,3036,2190,3352,0,0,0,0,0,0,28.83,25.44,28.83
$GC,6392,-0.47,-136.3,566.1,-7.6,420,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2188,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6692,-0.47,-136.3,589.2,-7.7,430,6698,0.00,2.38,0.00,0.000,4,0.000,0.065,3026,3605,3351,0,0,0,0,0,0,28.83,25.01,28.83
$GC,6751,-0.47,-136.3,593.9,-7.7,432,6758,0.00,2.30,0.00,0.000,6,0.000,0.045,3026,2187,3351,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7081,-0.47,-136.3,619.3,-7.5,443,7083,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2186,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7383,-0.47,-136.3,641.8,-7.5,453,7384,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2186,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7682,-0.47,-136.3,665.1,-7.9,463,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2186,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7981,-0.47,-136.3,689.3,-7.9,473,7988,0.00,2.38,0.00,0.000,4,0.000,0.065,3017,3602,3349,0,0,0,0,0,0,28.83,24.97,28.83
$GC,8052,-0.47,-136.3,694.5,-8.1,475,8057,0.00,2.25,0.00,0.000,6,0.000,0.046,3017,2211,3349,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8372,-0.47,-136.3,721.6,-8.2,486,8377,0.00,2.30,0.00,0.000,4,0.000,0.053,3017,790,3349,0,0,0,0,0,0,28.83,25.15,28.83
$GC,8409,-0.47,-136.3,724.0,-8.1,487,8414,0.12,2.33,0.00,0.000,6,0.132,0.054,3043,2205,3349,0,0,0,0,0,0,25.05,25.15,28.83
$GC,8724,-0.47,-136.3,744.1,-5.8,498,8728,0.00,2.33,0.00,0.000,4,0.000,0.067,3035,3617,3348,0,0,0,0,0,0,28.83,24.94,28.83
$GC,8783,-0.47,-136.3,747.6,-5.7,500,8788,0.00,2.30,0.00,0.000,6,0.000,0.047,3035,2202,3348,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9113,-0.47,-136.3,765.6,-5.0,511,9114,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2201,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9414,-0.47,-136.3,779.3,-4.4,521,9418,0.00,2.33,0.00,0.000,4,0.000,0.067,3025,3609,3347,0,0,0,0,0,0,28.83,24.93,28.83
$GC,9473,-0.47,-136.3,782.1,-4.5,523,9478,0.00,2.30,0.00,0.000,6,0.000,0.047,3025,2195,3347,0,0,0,0,0,0,28.83,25.35,28.83
$GC,9803,-0.47,-136.3,798.0,-5.1,534,9804,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2193,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10104,-0.47,-136.3,814.7,-5.9,544,10108,0.00,2.35,0.00,0.000,4,0.000,0.067,3016,3612,3347,0,0,0,0,0,0,28.83,24.90,28.83
$GC,10151,-0.47,-136.3,816.8,-6.2,545,10155,0.00,2.33,0.00,0.000,6,0.000,0.047,3015,2191,3347,0,0,0,0,0,0,28.83,25.35,28.83
$GC,10452,-0.47,-136.3,840.7,-7.8,555,10454,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2189,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10753,-0.47,-136.3,863.5,-7.6,565,10755,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2189,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11052,-0.47,-136.3,886.2,-7.4,575,11058,0.00,2.40,0.00,0.000,4,0.000,0.067,3009,3606,3346,0,0,0,0,0,0,28.83,24.89,28.83
$GC,11090,-0.47,-136.3,888.4,-7.3,576,11095,0.12,2.30,0.00,0.000,6,0.125,0.047,3046,2199,3345,0,0,0,0,0,0,25.18,25.34,28.83
$GC,11404,-0.47,-136.3,906.9,-5.7,587,11405,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2197,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11705,-0.47,-136.3,924.2,-5.8,597,11706,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2197,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12004,-0.47,-136.3,940.9,-5.5,607,12005,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2197,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12304,-0.47,-136.3,956.4,-5.2,617,12305,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2197,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12605,-0.47,-136.3,972.0,-5.2,627,12606,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2197,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12904,-0.47,-136.3,987.5,-5.2,637,12909,0.00,2.30,0.00,0.000,4,0.000,0.056,3046,795,3345,0,0,0,0,0,0,28.83,25.03,28.83
$GC,12934,-0.47,-136.3,989.1,-5.1,638,12939,0.00,2.30,0.00,0.000,6,0.000,0.056,3044,2193,3345,0,0,0,0,0,0,28.83,25.04,28.83
$STATE,12961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12961,begin apogee
$GC,12969,-0.22,0.0,990.6,-5.1,639,13100,0.22,0.00,126.20,1.159,6,0.109,0.000,3123,2338,2793,0,0,0,0,0,0,25.62,28.83,22.43
$STATE,13101,end apogee,CONTROL_FINISHED_OK
$STATE,13101,begin climb
$GC,13104,0.47,136.3,994.2,0.0,643,13245,0.68,2.60,134.82,1.119,4,0.071,0.067,3352,3735,2237,0,0,0,0,0,0,24.38,23.42,21.69
$GC,13263,0.48,164.3,987.6,5.9,649,13296,0.00,2.47,28.08,1.060,6,0.000,0.049,3362,2330,2124,0,0,0,0,0,0,28.83,23.87,21.84
$GC,13605,0.48,164.3,954.7,9.4,661,13610,0.00,2.35,0.00,0.000,4,0.000,0.057,3373,904,2116,0,0,0,0,0,0,28.83,25.32,28.83
$GC,13642,0.48,164.3,951.8,9.6,662,13647,0.00,2.35,0.00,0.000,6,0.000,0.057,3373,2323,2116,0,0,0,0,0,0,28.83,25.34,28.83
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$STATE,25256,end climb,SURFACE_DEPTH_REACHED
$STATE,25256,begin surface coast
$FINISH,2.7,1.025190
$STATE,25287,end surface coast,CONTROL_FINISHED_OK
$STATE,25288,begin surface
$SM_CCo,25371,0.00,0.000,0,0,1458,327.48
$SM_GC,2.46,8.68,2.08,0.00,0.043,0.050,0.000,135,2204,1458,-9.45,-0.76,327.48,0,0,0,0,0,0,25.67,25.39,28.83
$IRIDIUM_FIX,4654.38,-12643.33,200313,151545
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.74
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.10
$XPDR_PINGS,2
$24V_AH,21.7,100.469
$10V_AH,9.7,75.863
$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,22.425,194.575,434.000,0.000,0.000,25.004,34.771,248.348,0.500,0.000,33.054,3609.018,18481.795,717.601,2551.179,482.564,0.000,1955.151,0.000,2209.946,0.000,0.535,0.000
$DEVICE_MAMPS,215.730,84.150,1158.975,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,957.641,720.041,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296896
$DATA_FILE_SIZE,76855,1389
$CAP_FILE_SIZE,190713,0
$CFSIZE,260165632,197431296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077, 58.5,1
$GPS,210313,052906,4706.309,-12648.934,71,1.0,71,18.6