version: 66.11
glider: 187
mission: 2
dive: 62
start: 9 27 112 7 8 19
data:
$ID,187
$MISSION,2
$DIVE,62
$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,-1587696.1
$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,41
$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
$GPS1,270912,070123,4726.289,-12603.036,39,1.5,39,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-77.9
$GPS2,270912,070749,4726.289,-12603.009,13,1.8,13,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$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,40.6,100743,-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,-146.0,0.0,0.0,0,91,0.00,0.00,-71.95,0.000,2,0.000,0.000,112,2167,2849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.48,-146.0,3.3,-5.4,12,123,11.35,2.25,-10.45,0.000,4,0.226,0.063,3033,761,3393,0,0,0,0,0,0,25.39,25.65,25.96
$GC,194,-0.48,-146.0,32.5,-21.5,29,200,0.00,2.20,0.00,0.000,6,0.000,0.049,3024,2178,3396,0,0,0,0,0,0,28.83,25.71,28.83
$GC,518,-0.48,-146.0,79.3,-14.1,90,524,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2178,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,831,-0.48,-146.0,118.5,-11.6,151,838,0.00,2.15,0.00,0.000,4,0.000,0.049,3024,773,3400,0,0,0,0,0,0,28.83,25.98,28.83
$GC,891,-0.48,-146.0,124.4,-11.7,156,898,0.00,2.20,0.00,0.000,6,0.000,0.050,3014,2175,3400,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1197,-0.48,-146.0,160.8,-11.8,177,1202,0.00,2.17,0.00,0.000,4,0.000,0.062,3003,3581,3400,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1229,-0.48,-146.0,164.4,-12.0,179,1234,0.12,2.15,0.00,0.000,6,0.142,0.043,3038,2162,3400,0,0,0,0,0,0,25.99,26.10,28.83
$GC,1540,-0.48,-146.0,195.5,-9.7,199,1546,0.00,2.22,0.00,0.000,4,0.000,0.062,3029,3588,3400,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1577,-0.48,-146.0,198.4,-9.6,201,1583,0.00,2.15,0.00,0.000,6,0.000,0.043,3029,2163,3400,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1900,-0.48,-146.0,229.5,-9.4,218,1905,0.00,2.22,0.00,0.000,4,0.000,0.062,3019,3591,3399,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1939,-0.48,-146.0,233.6,-9.6,220,1944,0.00,2.15,0.00,0.000,6,0.000,0.044,3019,2173,3400,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2259,-0.48,-146.0,266.0,-10.0,236,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2170,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2559,-0.48,-146.0,296.5,-10.4,251,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2171,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2859,-0.48,-146.0,327.9,-10.2,266,2864,0.00,2.25,0.00,0.000,4,0.000,0.064,3008,3596,3397,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2887,-0.48,-146.0,330.0,-10.2,267,2891,0.12,2.15,0.00,0.000,6,0.138,0.044,3044,2175,3397,0,0,0,0,0,0,26.17,26.27,28.83
$GC,3194,-0.48,-146.0,355.8,-7.9,282,3199,0.00,2.22,0.00,0.000,4,0.000,0.064,3035,3589,3396,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3222,-0.48,-146.0,357.3,-7.9,283,3226,0.00,2.15,0.00,0.000,6,0.000,0.045,3035,2168,3396,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3529,-0.48,-146.0,383.3,-8.1,298,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2166,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3839,-0.48,-146.0,407.9,-8.0,312,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2166,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4139,-0.48,-146.0,431.3,-7.8,322,4144,0.00,2.25,0.00,0.000,4,0.000,0.066,3025,3585,3394,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4177,-0.48,-146.0,433.7,-7.9,323,4180,0.00,2.15,0.00,0.000,6,0.000,0.046,3025,2175,3394,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4499,-0.48,-146.0,461.1,-8.2,334,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2173,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4799,-0.48,-146.0,485.0,-7.8,344,4805,0.00,2.22,0.00,0.000,4,0.000,0.066,3015,3585,3392,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4847,-0.48,-146.0,487.7,-8.0,345,4851,0.00,2.15,0.00,0.000,6,0.000,0.046,3015,2167,3392,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5154,-0.48,-146.0,515.3,-8.5,355,5159,0.00,2.20,0.00,0.000,4,0.000,0.066,3005,3578,3391,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5186,-0.48,-146.0,517.9,-8.5,356,5191,0.12,2.12,0.00,0.000,6,0.139,0.047,3040,2176,3391,0,0,0,0,0,0,26.25,26.34,28.83
$GC,5510,-0.48,-146.0,539.5,-6.3,367,5515,0.00,2.22,0.00,0.000,4,0.000,0.067,3032,3583,3391,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5539,-0.48,-146.0,541.5,-6.4,368,5545,0.00,2.15,0.00,0.000,6,0.000,0.047,3032,2170,3391,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5870,-0.48,-146.0,565.2,-7.3,379,5875,0.00,2.20,0.00,0.000,4,0.000,0.067,3022,3579,3391,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5899,-0.48,-146.0,567.6,-7.5,380,5905,0.00,2.15,0.00,0.000,6,0.000,0.047,3022,2171,3390,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6230,-0.48,-146.0,595.3,-8.6,391,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2168,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6529,-0.48,-146.0,621.7,-9.2,401,6535,0.00,2.22,0.00,0.000,4,0.000,0.067,3013,3583,3389,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6559,-0.48,-146.0,624.5,-9.2,402,6565,0.00,2.15,0.00,0.000,6,0.000,0.047,3012,2173,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6889,-0.48,-146.0,657.5,-9.9,413,6895,0.00,2.22,0.00,0.000,4,0.000,0.067,3002,3596,3388,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6927,-0.48,-146.0,660.5,-9.9,414,6932,0.15,2.17,0.00,0.000,6,0.132,0.047,3046,2166,3388,0,0,0,0,0,0,26.26,26.36,28.83
$GC,7245,-0.48,-146.0,687.7,-8.1,425,7251,0.00,2.25,0.00,0.000,4,0.000,0.067,3037,3587,3388,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7283,-0.48,-146.0,690.2,-8.1,426,7287,0.00,2.15,0.00,0.000,6,0.000,0.048,3037,2173,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7600,-0.48,-146.0,717.1,-8.2,437,7606,0.00,2.25,0.00,0.000,4,0.000,0.068,3027,3586,3387,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7648,-0.48,-146.0,719.5,-8.1,438,7652,0.00,2.15,0.00,0.000,6,0.000,0.048,3027,2172,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7956,-0.48,-146.0,746.8,-8.5,448,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2170,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8255,-0.48,-146.0,772.0,-8.3,458,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2170,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8555,-0.48,-146.0,795.9,-7.7,468,8561,0.00,2.22,0.00,0.000,4,0.000,0.068,3017,3582,3386,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8615,-0.48,-146.0,800.8,-7.9,470,8621,0.00,2.15,0.00,0.000,6,0.000,0.048,3017,2176,3386,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8946,-0.48,-146.0,827.1,-8.0,481,8951,0.00,2.22,0.00,0.000,4,0.000,0.068,3007,3586,3385,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8978,-0.48,-146.0,829.8,-8.1,482,8983,0.12,2.15,0.00,0.000,6,0.137,0.048,3043,2173,3385,0,0,0,0,0,0,26.28,26.38,28.83
$GC,9302,-0.48,-146.0,852.2,-6.8,493,9303,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2170,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9602,-0.48,-146.0,872.3,-6.7,503,9607,0.00,2.25,0.00,0.000,4,0.000,0.069,3034,3587,3385,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9661,-0.48,-146.0,876.6,-6.9,505,9667,0.00,2.17,0.00,0.000,6,0.000,0.049,3034,2166,3385,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9992,-0.48,-146.0,900.5,-7.2,516,9997,0.00,2.22,0.00,0.000,4,0.000,0.068,3024,3581,3384,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10021,-0.48,-146.0,902.6,-7.2,517,10027,0.00,2.15,0.00,0.000,6,0.000,0.049,3025,2170,3384,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10351,-0.48,-146.0,928.8,-7.9,528,10357,0.00,2.25,0.00,0.000,4,0.000,0.068,3014,3592,3384,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10394,-0.48,-146.0,931.2,-7.8,529,10398,0.00,2.17,0.00,0.000,6,0.000,0.049,3015,2166,3384,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10706,-0.48,-146.0,957.0,-7.7,540,10712,0.00,2.28,0.00,0.000,4,0.000,0.068,3004,3592,3383,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10779,-0.48,-146.0,962.2,-8.3,542,10784,0.12,2.17,0.00,0.000,6,0.137,0.049,3040,2167,3383,0,0,0,0,0,0,26.28,26.38,28.83
$GC,11093,-0.48,-146.0,984.0,-6.6,553,11094,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2164,3383,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11210,begin apogee
$GC,11216,-0.22,0.0,991.7,-6.4,557,11348,0.22,0.00,125.60,1.209,6,0.117,0.000,3121,2312,2794,0,0,0,0,0,0,26.29,28.83,23.69
$STATE,11351,end apogee,CONTROL_FINISHED_OK
$STATE,11351,begin climb
$GC,11354,0.48,146.0,995.7,0.0,561,11491,0.65,0.00,133.32,1.177,6,0.083,0.000,3342,2312,2198,0,0,0,0,0,0,24.59,28.83,23.36
$GC,11782,0.48,146.0,964.5,8.5,576,11783,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2312,2187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12082,0.48,146.0,938.1,9.0,586,12088,0.00,2.28,0.00,0.000,4,0.000,0.069,3343,3699,2185,0,0,0,0,0,0,28.83,25.57,28.83
$GC,12145,0.48,146.0,931.7,9.7,588,12149,0.00,2.20,0.00,0.000,6,0.000,0.050,3352,2312,2184,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12468,0.48,146.0,900.3,9.5,599,12469,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2306,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12767,0.48,146.0,871.0,9.7,609,12769,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2305,2183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13068,0.48,146.0,842.0,9.8,619,13073,0.00,2.22,0.00,0.000,4,0.000,0.069,3353,3699,2183,0,0,0,0,0,0,28.83,25.97,28.83
$GC,13097,0.48,146.0,838.7,10.0,620,13103,0.00,2.20,0.00,0.000,6,0.000,0.050,3363,2298,2183,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,22601,end climb,SURFACE_DEPTH_REACHED
$STATE,22601,begin surface coast
$FINISH,1.0,1.023872
$STATE,22643,end surface coast,CONTROL_FINISHED_OK
$STATE,22643,begin surface
$SM_CCo,22723,0.00,0.000,0,0,1258,377.03
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$IRIDIUM_FIX,4710.21,-12604.45,270912,000055
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.83
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.40
$XPDR_PINGS,1
$24V_AH,23.4,11.092
$10V_AH,10.2,9.868
$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,22.100,185.300,445.200,0.000,0.000,26.493,34.808,197.261,0.250,0.000,14.128,3288.146,16017.064,546.467,2858.948,388.400,0.000,1947.395,0.000,2584.045,0.000,0.536,0.000
$DEVICE_MAMPS,226.440,84.150,1209.465,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,872.607,746.479,519.043,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296940
$DATA_FILE_SIZE,70230,1268
$CAP_FILE_SIZE,186763,0
$CFSIZE,260165632,251842560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,264.2,1
$GPS,270912,132823,4727.975,-12559.526,43,1.0,43,18.7