version: 66.11
glider: 187
mission: 2
dive: 136
start: 10 11 112 22 23 32
data:
$ID,187
$MISSION,2
$DIVE,136
$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,-1587791.2
$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,29
$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
$GPS1,111012,221659,4701.910,-12655.980,39,1.3,39,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-78.7
$GPS2,111012,222301,4701.914,-12655.938,13,1.2,13,18.6
$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,39.1,180392,-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,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,91,0.00,0.00,-71.45,0.000,2,0.000,0.000,114,2172,2887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.48,-146.0,3.7,-5.4,12,123,11.30,2.28,-9.45,0.000,4,0.223,0.070,3023,3599,3393,0,0,0,0,0,0,25.31,25.64,26.01
$GC,282,-0.48,-146.0,48.6,-12.5,46,291,0.00,2.25,0.00,0.000,6,0.000,0.044,3023,2166,3397,0,0,0,0,0,0,28.83,25.79,28.83
$GC,602,-0.48,-146.0,95.0,-14.4,107,608,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2163,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,920,-0.48,-146.0,133.8,-11.1,153,921,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2163,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1220,-0.48,-146.0,164.2,-9.4,173,1225,0.00,2.22,0.00,0.000,4,0.000,0.063,3013,3583,3399,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1252,-0.48,-146.0,167.2,-9.6,175,1257,0.00,2.15,0.00,0.000,6,0.000,0.044,3013,2170,3400,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1561,-0.48,-146.0,200.7,-11.6,195,1566,0.00,2.10,0.00,0.000,4,0.000,0.051,3012,776,3399,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1592,-0.48,-146.0,203.2,-11.9,196,1600,0.12,2.15,0.00,0.000,6,0.145,0.050,3038,2180,3399,0,0,0,0,0,0,25.96,26.06,28.83
$GC,1900,-0.48,-146.0,236.9,-10.6,212,1905,0.00,2.17,0.00,0.000,4,0.000,0.063,3030,3580,3399,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1932,-0.48,-146.0,239.1,-10.7,213,1939,0.00,2.12,0.00,0.000,6,0.000,0.045,3029,2171,3399,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2239,-0.48,-146.0,273.6,-10.7,229,2245,0.00,2.22,0.00,0.000,4,0.000,0.063,3019,3582,3398,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2262,-0.48,-146.0,275.7,-10.7,230,2267,0.00,2.12,0.00,0.000,6,0.000,0.045,3019,2179,3398,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2575,-0.48,-146.0,310.6,-10.6,246,2580,0.00,2.15,0.00,0.000,4,0.000,0.053,3019,764,3398,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2614,-0.48,-146.0,314.9,-10.7,248,2621,0.12,2.17,0.00,0.000,6,0.140,0.051,3046,2185,3398,0,0,0,0,0,0,26.05,26.14,28.83
$GC,2935,-0.48,-146.0,341.1,-7.9,264,2940,0.00,2.17,0.00,0.000,4,0.000,0.064,3037,3581,3397,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3023,-0.48,-146.0,347.6,-8.2,268,3027,0.00,2.15,0.00,0.000,6,0.000,0.045,3037,2163,3397,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3330,-0.48,-146.0,373.7,-8.4,283,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2160,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3630,-0.48,-146.0,399.4,-8.6,298,3635,0.00,2.25,0.00,0.000,4,0.000,0.065,3026,3581,3395,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3692,-0.48,-146.0,404.8,-8.9,301,3696,0.00,2.15,0.00,0.000,6,0.000,0.046,3027,2166,3395,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4015,-0.48,-146.0,434.2,-8.9,312,4020,0.00,2.22,0.00,0.000,4,0.000,0.066,3016,3580,3394,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4044,-0.48,-146.0,436.9,-9.0,313,4050,0.00,2.15,0.00,0.000,6,0.000,0.047,3016,2173,3394,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4375,-0.48,-146.0,466.8,-8.8,324,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2171,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4675,-0.48,-146.0,492.0,-8.3,334,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2171,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4975,-0.48,-146.0,516.6,-8.2,344,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2171,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5275,-0.48,-146.0,541.2,-8.3,354,5280,0.00,2.25,0.00,0.000,4,0.000,0.067,3006,3587,3392,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5307,-0.48,-146.0,543.8,-8.3,355,5312,0.12,2.17,0.00,0.000,6,0.135,0.047,3041,2167,3392,0,0,0,0,0,0,26.13,26.25,28.83
$GC,5631,-0.48,-146.0,565.1,-6.4,366,5636,0.00,2.22,0.00,0.000,4,0.000,0.067,3033,3579,3391,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5678,-0.48,-146.0,567.0,-6.4,367,5682,0.00,2.15,0.00,0.000,6,0.000,0.048,3033,2170,3391,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5985,-0.48,-146.0,589.6,-7.0,377,5991,0.00,2.22,0.00,0.000,4,0.000,0.067,3023,3580,3391,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6008,-0.48,-146.0,589.6,-7.0,377,6015,0.00,2.15,0.00,0.000,6,0.000,0.048,3023,2168,3391,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6315,-0.48,-146.0,615.5,-8.0,388,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2167,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6615,-0.48,-146.0,641.0,-8.5,398,6621,0.00,2.28,0.00,0.000,4,0.000,0.067,3013,3588,3389,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6648,-0.48,-146.0,643.6,-8.6,399,6652,0.00,2.17,0.00,0.000,6,0.000,0.048,3013,2168,3389,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6975,-0.48,-146.0,673.5,-9.0,410,6981,0.00,2.22,0.00,0.000,4,0.000,0.067,3003,3579,3389,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6998,-0.48,-146.0,673.5,-9.0,410,7006,0.12,2.17,0.00,0.000,6,0.137,0.048,3039,2165,3389,0,0,0,0,0,0,26.13,26.25,28.83
$GC,7305,-0.48,-146.0,699.2,-7.5,421,7311,0.00,2.22,0.00,0.000,4,0.000,0.068,3030,3575,3388,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7335,-0.48,-146.0,701.6,-7.5,422,7340,0.00,2.15,0.00,0.000,6,0.000,0.050,3030,2170,3388,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7665,-0.48,-146.0,728.8,-8.2,433,7670,0.00,2.25,0.00,0.000,4,0.000,0.069,3020,3582,3387,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7703,-0.48,-146.0,731.2,-8.2,434,7707,0.00,2.15,0.00,0.000,6,0.000,0.049,3020,2171,3387,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8020,-0.48,-146.0,757.8,-7.8,445,8026,0.00,2.25,0.00,0.000,4,0.000,0.068,3010,3582,3387,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8053,-0.48,-146.0,760.2,-7.9,446,8058,0.12,2.15,0.00,0.000,6,0.132,0.049,3046,2169,3387,0,0,0,0,0,0,26.13,26.25,28.83
$GC,8376,-0.48,-146.0,779.0,-5.6,457,8382,0.00,2.28,0.00,0.000,4,0.000,0.069,3037,3581,3387,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8419,-0.48,-146.0,780.9,-5.7,458,8424,0.00,2.15,0.00,0.000,6,0.000,0.049,3038,2176,3387,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8732,-0.48,-146.0,800.5,-6.1,469,8737,0.00,2.22,0.00,0.000,4,0.000,0.069,3028,3577,3387,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8755,-0.48,-146.0,800.5,-6.1,469,8762,0.00,2.15,0.00,0.000,6,0.000,0.050,3028,2174,3386,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9062,-0.48,-146.0,821.3,-6.3,480,9068,0.00,2.22,0.00,0.000,4,0.000,0.069,3018,3576,3386,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9100,-0.48,-146.0,823.3,-6.3,481,9104,0.00,2.17,0.00,0.000,6,0.000,0.050,3018,2170,3386,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9422,-0.48,-146.0,846.8,-7.2,492,9428,0.00,2.22,0.00,0.000,4,0.000,0.069,3007,3574,3385,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9465,-0.48,-146.0,849.0,-7.2,493,9470,0.12,2.15,0.00,0.000,6,0.134,0.050,3044,2170,3385,0,0,0,0,0,0,26.12,26.24,28.83
$GC,9779,-0.48,-146.0,868.8,-6.0,504,9784,0.00,2.25,0.00,0.000,4,0.000,0.069,3035,3585,3385,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9808,-0.48,-146.0,870.4,-5.9,505,9814,0.00,2.17,0.00,0.000,6,0.000,0.050,3036,2162,3385,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10138,-0.48,-146.0,891.7,-6.3,516,10144,0.00,2.30,0.00,0.000,4,0.000,0.069,3026,3588,3384,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10192,-0.48,-146.0,893.6,-6.3,517,10198,0.00,2.17,0.00,0.000,6,0.000,0.050,3026,2165,3385,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10498,-0.48,-146.0,915.5,-6.4,528,10504,0.00,2.25,0.00,0.000,4,0.000,0.069,3016,3583,3384,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10551,-0.48,-146.0,917.3,-6.3,529,10558,0.00,2.17,0.00,0.000,6,0.000,0.050,3015,2165,3384,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10859,-0.48,-146.0,939.7,-6.7,540,10864,0.00,2.25,0.00,0.000,4,0.000,0.069,3006,3584,3384,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10918,-0.48,-146.0,944.0,-7.0,542,10925,0.12,2.17,0.00,0.000,6,0.132,0.050,3043,2177,3383,0,0,0,0,0,0,26.10,26.23,28.83
$GC,11249,-0.48,-146.0,963.6,-5.9,553,11254,0.00,2.22,0.00,0.000,4,0.000,0.070,3034,3580,3383,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11286,-0.48,-146.0,965.6,-6.1,554,11290,0.00,2.17,0.00,0.000,6,0.000,0.050,3034,2173,3383,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11608,-0.48,-146.0,988.0,-6.8,565,11614,0.00,2.25,0.00,0.000,4,0.000,0.070,3025,3585,3383,0,0,0,0,0,0,28.83,26.11,28.83
$STATE,11635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11636,begin apogee
$GC,11644,-0.22,0.0,990.1,-6.8,566,11775,0.28,0.00,125.78,1.196,6,0.111,0.000,3120,2287,2793,0,0,0,0,0,0,26.08,28.83,23.71
$STATE,11777,end apogee,CONTROL_FINISHED_OK
$STATE,11778,begin climb
$GC,11780,0.48,146.0,994.2,0.0,570,11918,0.65,0.00,133.90,1.164,6,0.081,0.000,3343,2287,2198,0,0,0,0,0,0,24.55,28.83,23.15
$GC,12208,0.48,146.0,959.8,9.5,585,12214,0.00,2.40,0.00,0.000,4,0.000,0.070,3343,3708,2187,0,0,0,0,0,0,28.83,25.06,28.83
$GC,12251,0.48,146.0,956.6,9.8,586,12256,0.00,2.28,0.00,0.000,6,0.000,0.051,3353,2304,2186,0,0,0,0,0,0,28.83,25.17,28.83
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$STATE,23405,end climb,SURFACE_DEPTH_REACHED
$STATE,23408,begin surface coast
$FINISH,0.9,1.013990
$STATE,23445,end surface coast,CONTROL_FINISHED_OK
$STATE,23445,begin surface
$SM_CCo,23525,0.00,0.000,0,0,1341,356.42
$SM_GC,1.75,8.38,0.17,0.00,0.028,0.074,0.000,118,2182,1341,-9.45,1.27,356.42,0,0,0,0,0,0,25.80,25.77,28.83
$IRIDIUM_FIX,4641.78,-12656.61,111012,161609
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.69
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,23.1,20.016
$10V_AH,10.2,16.931
$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,22.200,225.850,429.950,0.000,0.000,28.176,35.035,170.609,0.000,0.000,14.642,3455.093,16417.895,584.369,3023.374,398.514,0.000,2081.089,0.000,2751.022,0.000,0.535,0.000
$DEVICE_MAMPS,223.380,74.205,1196.460,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,905.885,760.147,531.984,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296888
$DATA_FILE_SIZE,73559,1317
$CAP_FILE_SIZE,200835,0
$CFSIZE,260165632,246538240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035,326.3,1
$GPS,121012,045723,4703.831,-12651.984,51,1.3,68,18.6