version: 66.11
glider: 187
mission: 2
dive: 70
start: 9 29 112 11 14 14
data:
$ID,187
$MISSION,2
$DIVE,70
$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,-1587706.1
$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,23
$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
$GPS1,290912,110729,4739.822,-12529.584,43,1.7,43,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-76.0
$GPS2,290912,111342,4739.797,-12529.548,11,1.7,16,18.7
$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,2.6,52588,-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,-146.0,0.0,0.0,0,79,0.00,0.00,-60.42,0.000,2,0.000,0.000,118,2163,2733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.0,-3.7,10,117,11.25,2.20,-13.62,0.000,4,0.223,0.064,3034,778,3394,0,0,0,0,0,0,25.38,25.65,25.98
$GC,171,-0.48,-146.0,25.1,-15.4,25,179,0.00,2.17,0.00,0.000,6,0.000,0.051,3026,2178,3397,0,0,0,0,0,0,28.83,25.70,28.83
$GC,488,-0.48,-146.0,71.7,-12.1,86,495,0.00,2.25,0.00,0.000,4,0.000,0.062,3015,3580,3400,0,0,0,0,0,0,28.83,25.84,28.83
$GC,604,-0.48,-146.0,86.8,-13.3,108,611,0.00,2.17,0.00,0.000,6,0.000,0.042,3015,2171,3400,0,0,0,0,0,0,28.83,25.95,28.83
$GC,923,-0.48,-146.0,127.6,-11.6,162,924,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2170,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1223,-0.48,-146.0,163.5,-11.6,182,1228,0.00,2.20,0.00,0.000,4,0.000,0.062,3005,3581,3400,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1283,-0.48,-146.0,170.7,-12.1,186,1289,0.12,2.15,0.00,0.000,6,0.140,0.043,3040,2166,3400,0,0,0,0,0,0,26.00,26.10,28.83
$GC,1600,-0.48,-146.0,201.4,-9.2,207,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2161,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1898,-0.48,-146.0,227.9,-8.9,222,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2161,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2197,-0.48,-146.0,255.6,-9.4,237,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2161,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2497,-0.48,-146.0,283.8,-8.8,252,2501,0.00,2.25,0.00,0.000,4,0.000,0.063,3031,3590,3399,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2540,-0.48,-146.0,287.6,-9.0,254,2544,0.00,2.17,0.00,0.000,6,0.000,0.044,3031,2165,3399,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2862,-0.48,-146.0,318.1,-9.3,270,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2163,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3162,-0.48,-146.0,348.1,-10.0,285,3167,0.00,2.25,0.00,0.000,4,0.000,0.064,3021,3583,3397,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3194,-0.48,-146.0,350.2,-10.0,286,3201,0.00,2.12,0.00,0.000,6,0.000,0.045,3020,2173,3398,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3504,-0.48,-146.0,383.7,-10.1,302,3509,0.00,2.12,0.00,0.000,4,0.000,0.052,3021,770,3397,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3525,-0.48,-146.0,385.8,-10.0,303,3529,0.00,2.17,0.00,0.000,6,0.000,0.054,3011,2182,3397,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3857,-0.48,-146.0,420.8,-10.6,317,3861,0.00,2.22,0.00,0.000,4,0.000,0.065,3001,3594,3396,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3903,-0.48,-146.0,424.2,-10.6,318,3910,0.15,2.15,0.00,0.000,6,0.134,0.046,3044,2167,3396,0,0,0,0,0,0,26.19,26.30,28.83
$GC,4219,-0.48,-146.0,452.7,-8.3,329,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2165,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4519,-0.48,-146.0,477.4,-8.2,339,4525,0.00,2.25,0.00,0.000,4,0.000,0.066,3035,3586,3395,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4582,-0.48,-146.0,482.5,-8.3,341,4586,0.00,2.12,0.00,0.000,6,0.000,0.047,3035,2178,3395,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4904,-0.48,-146.0,510.3,-8.5,352,4910,0.00,2.22,0.00,0.000,4,0.000,0.067,3025,3587,3394,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4934,-0.48,-146.0,512.8,-8.5,353,4940,0.00,2.12,0.00,0.000,6,0.000,0.047,3025,2177,3393,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5264,-0.48,-146.0,541.9,-8.5,364,5268,0.00,2.15,0.00,0.000,4,0.000,0.054,3025,773,3393,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5289,-0.48,-146.0,541.9,-8.5,364,5295,0.00,2.15,0.00,0.000,6,0.000,0.054,3016,2179,3392,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5596,-0.48,-146.0,573.4,-9.8,375,5602,0.00,2.22,0.00,0.000,4,0.000,0.067,3006,3591,3392,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5649,-0.48,-146.0,576.4,-9.9,376,5656,0.12,2.15,0.00,0.000,6,0.137,0.047,3041,2168,3392,0,0,0,0,0,0,26.23,26.34,28.83
$GC,5956,-0.48,-146.0,603.5,-8.0,387,5962,0.00,2.22,0.00,0.000,4,0.000,0.067,3033,3588,3392,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5999,-0.48,-146.0,606.0,-8.2,388,6002,0.00,2.15,0.00,0.000,6,0.000,0.047,3033,2176,3392,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6316,-0.48,-146.0,633.2,-8.1,399,6321,0.00,2.22,0.00,0.000,4,0.000,0.067,3023,3584,3391,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6346,-0.48,-146.0,635.7,-8.1,400,6351,0.00,2.15,0.00,0.000,6,0.000,0.047,3023,2173,3391,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6676,-0.48,-146.0,663.4,-8.4,411,6678,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2170,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6976,-0.48,-146.0,688.0,-8.1,421,6981,0.00,2.22,0.00,0.000,4,0.000,0.067,3013,3582,3390,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7006,-0.48,-146.0,690.6,-8.1,422,7012,0.00,2.12,0.00,0.000,6,0.000,0.047,3013,2177,3390,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7336,-0.48,-146.0,718.9,-8.4,433,7341,0.00,2.15,0.00,0.000,4,0.000,0.054,3013,760,3390,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7368,-0.48,-146.0,721.7,-8.6,434,7374,0.10,2.15,0.00,0.000,6,0.121,0.055,3041,2167,3390,0,0,0,0,0,0,26.22,26.32,28.83
$GC,7697,-0.48,-146.0,744.8,-7.0,445,7703,0.00,2.25,0.00,0.000,4,0.000,0.069,3033,3594,3389,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7849,-0.48,-146.0,756.5,-7.8,450,7854,0.00,2.15,0.00,0.000,6,0.000,0.046,3032,2164,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8177,-0.48,-146.0,782.5,-7.8,461,8183,0.00,2.25,0.00,0.000,4,0.000,0.067,3022,3586,3388,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8245,-0.48,-146.0,787.5,-8.0,463,8249,0.00,2.15,0.00,0.000,6,0.000,0.048,3022,2174,3388,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8563,-0.48,-146.0,814.4,-8.2,474,8568,0.00,2.20,0.00,0.000,4,0.000,0.068,3012,3577,3388,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8615,-0.48,-146.0,817.0,-8.3,475,8622,0.00,2.12,0.00,0.000,6,0.000,0.048,3012,2173,3388,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8923,-0.48,-146.0,847.1,-9.4,486,8924,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2171,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9222,-0.48,-146.0,874.9,-8.9,496,9223,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2171,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9523,-0.48,-146.0,901.3,-8.5,506,9529,0.00,2.25,0.00,0.000,4,0.000,0.069,3002,3584,3387,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9566,-0.48,-146.0,903.9,-8.5,507,9571,0.15,2.15,0.00,0.000,6,0.132,0.049,3046,2170,3387,0,0,0,0,0,0,26.25,26.36,28.83
$GC,9880,-0.48,-146.0,926.4,-6.7,518,9885,0.00,2.22,0.00,0.000,4,0.000,0.069,3037,3586,3387,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9902,-0.48,-146.0,926.4,-6.7,518,9909,0.00,2.15,0.00,0.000,6,0.000,0.049,3037,2170,3386,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10210,-0.48,-146.0,948.5,-6.9,529,10216,0.00,2.22,0.00,0.000,4,0.000,0.070,3028,3587,3386,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10240,-0.48,-146.0,950.6,-7.0,530,10245,0.00,2.12,0.00,0.000,6,0.000,0.049,3027,2182,3386,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10569,-0.48,-146.0,975.7,-7.3,541,10570,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2180,3386,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10776,begin apogee
$GC,10784,-0.22,0.0,991.0,-7.4,548,10915,0.28,0.00,126.47,1.206,6,0.117,0.000,3122,2310,2793,0,0,0,0,0,0,26.24,28.83,23.72
$STATE,10918,end apogee,CONTROL_FINISHED_OK
$STATE,10918,begin climb
$GC,10921,0.48,146.0,995.1,0.0,552,11058,0.65,0.00,133.38,1.176,6,0.083,0.000,3343,2310,2198,0,0,0,0,0,0,24.58,28.83,23.37
$GC,11349,0.48,146.0,960.3,9.6,567,11350,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2309,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11649,0.48,146.0,932.6,9.1,577,11655,0.00,2.28,0.00,0.000,4,0.000,0.070,3343,3701,2186,0,0,0,0,0,0,28.83,25.56,28.83
$GC,11717,0.48,146.0,926.1,10.0,579,11721,0.00,2.20,0.00,0.000,6,0.000,0.050,3353,2307,2185,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12035,0.48,146.0,894.0,9.9,590,12036,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2301,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12334,0.48,146.0,863.4,10.4,600,12335,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2301,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12635,0.48,146.0,831.0,10.6,610,12636,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2301,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12934,0.48,146.0,800.6,9.9,620,12940,0.00,2.25,0.00,0.000,4,0.000,0.070,3353,3702,2184,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12995,0.48,146.0,793.9,10.4,622,13000,0.00,2.17,0.00,0.000,6,0.000,0.051,3363,2299,2183,0,0,0,0,0,0,28.83,26.07,28.83
$GC,13324,0.48,146.0,760.4,9.9,633,13330,0.00,2.28,0.00,0.000,4,0.000,0.070,3363,3709,2183,0,0,0,0,0,0,28.83,26.06,28.83
$GC,13355,0.48,146.0,757.2,10.0,634,13360,0.00,2.17,0.00,0.000,6,0.000,0.051,3374,2300,2182,0,0,0,0,0,0,28.83,26.11,28.83
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$STATE,22346,end climb,SURFACE_DEPTH_REACHED
$STATE,22346,begin surface coast
$FINISH,1.0,1.011479
$STATE,22414,end surface coast,CONTROL_FINISHED_OK
$STATE,22414,begin surface
$SM_CCo,22433,9.45,0.102,1,0,1571,300.00
$SM_GC,2.97,8.35,0.17,9.45,0.032,0.077,0.102,116,2168,1571,-9.47,1.19,300.00,0,0,0,0,1,0,25.94,25.90,24.94
$IRIDIUM_FIX,4719.74,-12540.05,290912,040459
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.30
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,23.4,12.227
$10V_AH,10.2,10.796
$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,21.875,193.850,378.575,9.450,0.000,25.961,40.347,174.265,0.000,0.000,17.542,3403.385,15528.665,546.052,2957.114,381.562,0.000,1962.932,0.000,2683.473,0.000,0.536,0.000
$DEVICE_MAMPS,223.380,87.210,1206.405,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,891.862,763.184,561.259,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296976
$DATA_FILE_SIZE,73499,1295
$CAP_FILE_SIZE,188030,0
$CFSIZE,260165632,251142144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.108,153.3,1
$GPS,290912,172953,4741.630,-12527.028,39,1.5,50,18.7