version: 66.11
glider: 187
mission: 2
dive: 140
start: 10 13 112 0 43 37
data:
$ID,187
$MISSION,2
$DIVE,140
$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,-1587800.5
$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,2175
$C_ROLL_CLIMB,2300
$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,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
$GPS1,131012,003635,4709.088,-12639.698,39,1.1,45,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-77.7
$GPS2,131012,004306,4709.111,-12639.673,15,1.6,15,18.6
$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,38.1,156230,-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,-146.0,0.0,0.0,0,79,0.00,0.00,-59.55,0.000,2,0.000,0.000,111,2178,2757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.3,-4.7,10,117,11.23,2.28,-12.75,0.000,4,0.220,0.064,3031,761,3393,0,0,0,0,0,0,25.29,25.63,26.00
$GC,358,-0.48,-146.0,59.3,-15.8,60,366,0.00,2.22,0.00,0.000,6,0.000,0.049,3023,2173,3398,0,0,0,0,0,0,28.83,25.79,28.83
$GC,680,-0.48,-146.0,107.6,-10.6,121,686,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2173,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,994,-0.48,-146.0,138.9,-9.6,156,996,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2173,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1292,-0.48,-146.0,169.3,-10.5,176,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2173,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1593,-0.48,-146.0,201.4,-10.6,196,1598,0.00,2.17,0.00,0.000,4,0.000,0.062,3012,3578,3399,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1620,-0.48,-146.0,203.6,-10.6,197,1624,0.00,2.15,0.00,0.000,6,0.000,0.044,3012,2166,3399,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1929,-0.48,-146.0,239.9,-11.6,212,1934,0.00,2.12,0.00,0.000,4,0.000,0.050,3012,778,3399,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1981,-0.48,-146.0,244.5,-11.4,214,1988,0.12,2.15,0.00,0.000,6,0.147,0.050,3038,2183,3399,0,0,0,0,0,0,25.98,26.10,28.83
$GC,2287,-0.48,-146.0,274.6,-9.1,230,2293,0.00,2.20,0.00,0.000,4,0.000,0.063,3029,3586,3399,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2361,-0.48,-146.0,280.5,-9.7,233,2368,0.00,2.15,0.00,0.000,6,0.000,0.044,3029,2168,3398,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2668,-0.48,-146.0,311.9,-9.7,249,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2167,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2969,-0.48,-146.0,340.3,-9.4,264,2974,0.00,2.22,0.00,0.000,4,0.000,0.063,3019,3584,3396,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2997,-0.48,-146.0,342.3,-9.3,265,3006,0.00,2.15,0.00,0.000,6,0.000,0.045,3019,2167,3396,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3308,-0.48,-146.0,373.3,-9.5,281,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2167,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3607,-0.48,-146.0,400.7,-8.9,296,3613,0.00,2.25,0.00,0.000,4,0.000,0.065,3009,3584,3395,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3651,-0.48,-146.0,403.5,-9.1,297,3656,0.12,2.15,0.00,0.000,6,0.136,0.046,3044,2170,3395,0,0,0,0,0,0,26.09,26.22,28.83
$GC,3964,-0.48,-146.0,428.1,-7.2,308,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2166,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4265,-0.48,-146.0,449.0,-6.8,318,4270,0.00,2.22,0.00,0.000,4,0.000,0.066,3036,3583,3393,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4298,-0.48,-146.0,451.1,-6.9,319,4302,0.00,2.15,0.00,0.000,6,0.000,0.047,3035,2168,3393,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4620,-0.48,-146.0,475.9,-7.7,330,4626,0.00,2.25,0.00,0.000,4,0.000,0.066,3025,3586,3392,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4653,-0.48,-146.0,478.4,-7.9,331,4657,0.00,2.15,0.00,0.000,6,0.000,0.047,3025,2173,3392,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4975,-0.48,-146.0,506.3,-8.6,342,4981,0.00,2.28,0.00,0.000,4,0.000,0.066,3015,3595,3391,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4998,-0.48,-146.0,506.3,-8.6,342,5004,0.00,2.17,0.00,0.000,6,0.000,0.047,3015,2168,3391,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5305,-0.48,-146.0,535.9,-8.9,353,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2167,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5605,-0.48,-146.0,562.8,-9.1,363,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2166,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5905,-0.48,-146.0,591.3,-9.5,373,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2166,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6205,-0.48,-146.0,620.0,-9.7,383,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2166,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6505,-0.48,-146.0,649.4,-9.8,393,6511,0.00,2.28,0.00,0.000,4,0.000,0.067,3004,3586,3389,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6543,-0.48,-146.0,652.4,-9.8,394,6548,0.12,2.17,0.00,0.000,6,0.136,0.048,3040,2170,3388,0,0,0,0,0,0,26.13,26.26,28.83
$GC,6861,-0.48,-146.0,678.5,-7.7,405,6867,0.00,2.22,0.00,0.000,4,0.000,0.067,3032,3580,3388,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6884,-0.48,-146.0,678.5,-7.7,405,6891,0.00,2.15,0.00,0.000,6,0.000,0.048,3032,2171,3388,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7191,-0.48,-146.0,703.9,-7.5,416,7197,0.00,2.22,0.00,0.000,4,0.000,0.067,3022,3581,3388,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7229,-0.48,-146.0,706.1,-7.4,417,7233,0.00,2.17,0.00,0.000,6,0.000,0.049,3022,2170,3388,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7551,-0.48,-146.0,731.2,-7.7,428,7552,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2167,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7851,-0.48,-146.0,753.4,-7.4,438,7857,0.00,2.22,0.00,0.000,4,0.000,0.068,3012,3579,3386,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7904,-0.48,-146.0,755.8,-7.6,439,7911,0.00,2.15,0.00,0.000,6,0.000,0.049,3012,2171,3386,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8211,-0.48,-146.0,783.3,-8.1,450,8217,0.00,2.25,0.00,0.000,4,0.000,0.068,3001,3584,3386,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8259,-0.48,-146.0,785.6,-8.0,451,8264,0.15,2.15,0.00,0.000,6,0.129,0.049,3045,2178,3386,0,0,0,0,0,0,26.10,26.25,28.83
$GC,8567,-0.48,-146.0,805.5,-5.7,461,8572,0.00,2.25,0.00,0.000,4,0.000,0.069,3037,3590,3385,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8614,-0.48,-146.0,807.4,-5.8,462,8618,0.00,2.17,0.00,0.000,6,0.000,0.049,3037,2168,3385,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8922,-0.48,-146.0,828.1,-6.6,472,8923,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2166,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9221,-0.48,-146.0,848.2,-6.8,482,9227,0.00,2.22,0.00,0.000,4,0.000,0.069,3027,3579,3384,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9289,-0.48,-146.0,852.7,-7.0,484,9293,0.00,2.15,0.00,0.000,6,0.000,0.050,3027,2174,3384,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9607,-0.48,-146.0,876.7,-7.3,495,9612,0.00,2.22,0.00,0.000,4,0.000,0.069,3017,3585,3384,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9654,-0.48,-146.0,878.9,-7.5,496,9659,0.00,2.17,0.00,0.000,6,0.000,0.050,3017,2165,3383,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9961,-0.48,-146.0,904.3,-7.8,506,9967,0.00,2.28,0.00,0.000,4,0.000,0.069,3006,3584,3383,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10000,-0.48,-146.0,906.9,-7.9,507,10005,0.12,2.17,0.00,0.000,6,0.133,0.050,3043,2171,3383,0,0,0,0,0,0,26.11,26.23,28.83
$GC,10318,-0.48,-146.0,929.0,-6.5,518,10323,0.00,2.22,0.00,0.000,4,0.000,0.070,3035,3580,3382,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10351,-0.48,-146.0,930.9,-6.5,519,10355,0.00,2.15,0.00,0.000,6,0.000,0.050,3036,2174,3382,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10673,-0.48,-146.0,953.7,-7.0,530,10678,0.00,2.22,0.00,0.000,4,0.000,0.070,3026,3576,3382,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10726,-0.48,-146.0,955.9,-7.1,531,10733,0.00,2.15,0.00,0.000,6,0.000,0.050,3025,2171,3382,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11033,-0.48,-146.0,980.6,-7.5,542,11039,0.00,2.28,0.00,0.000,4,0.000,0.070,3016,3581,3382,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11065,-0.48,-146.0,982.8,-7.5,543,11069,0.00,2.17,0.00,0.000,6,0.000,0.050,3016,2176,3381,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,11180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11180,begin apogee
$GC,11187,-0.22,0.0,992.0,-7.7,547,11316,0.30,0.00,125.30,1.195,6,0.117,0.000,3119,2301,2794,0,0,0,0,0,0,26.05,28.83,23.72
$STATE,11320,end apogee,CONTROL_FINISHED_OK
$STATE,11320,begin climb
$GC,11322,0.48,146.0,995.6,0.0,551,11460,0.68,0.00,134.18,1.162,6,0.081,0.000,3347,2301,2198,0,0,0,0,0,0,24.56,28.83,23.15
$GC,11748,0.48,146.0,959.5,9.9,566,11753,0.00,2.35,0.00,0.000,4,0.000,0.069,3348,3705,2187,0,0,0,0,0,0,28.83,25.06,28.83
$GC,11796,0.48,146.0,956.2,10.1,567,11800,0.00,2.25,0.00,0.000,6,0.000,0.050,3358,2312,2186,0,0,0,0,0,0,28.83,25.18,28.83
$GC,12103,0.48,146.0,920.7,10.8,577,12104,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,2306,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12403,0.48,146.0,889.1,10.5,587,12409,0.00,2.30,0.00,0.000,4,0.000,0.070,3358,3708,2184,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12441,0.48,146.0,885.7,10.6,588,12445,0.00,2.25,0.00,0.000,6,0.000,0.051,3368,2297,2183,0,0,0,0,0,0,28.83,25.72,28.83
$GC,12758,0.48,146.0,850.7,10.5,599,12764,0.00,2.30,0.00,0.000,4,0.000,0.070,3368,3705,2183,0,0,0,0,0,0,28.83,25.77,28.83
$GC,12788,0.48,146.0,847.2,10.7,600,12794,0.00,2.22,0.00,0.000,6,0.000,0.052,3379,2297,2183,0,0,0,0,0,0,28.83,25.84,28.83
$GC,13118,0.48,146.0,811.9,10.3,611,13120,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2291,2183,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22755,end climb,SURFACE_DEPTH_REACHED
$STATE,22755,begin surface coast
$FINISH,0.9,1.015634
$STATE,22792,end surface coast,CONTROL_FINISHED_OK
$STATE,22792,begin surface
$SM_CCo,22872,0.00,0.000,0,0,1102,415.05
$SM_GC,1.96,8.32,0.20,0.00,0.028,0.073,0.000,112,2160,1102,-9.47,0.96,415.05,0,0,0,0,0,0,25.83,25.78,28.83
$IRIDIUM_FIX,4651.23,-12639.54,121012,181802
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.56
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,23.1,20.550
$10V_AH,10.2,17.386
$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,21.750,169.150,474.975,0.000,0.000,27.319,42.495,190.183,0.000,0.000,15.947,3289.668,16187.197,577.843,2812.734,386.832,0.000,1935.920,0.000,2531.539,0.000,0.536,0.000
$DEVICE_MAMPS,220.320,87.975,1194.930,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,876.617,743.206,506.356,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296932
$DATA_FILE_SIZE,73547,1276
$CAP_FILE_SIZE,180619,0
$CFSIZE,260165632,246206464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.045,279.4,1
$GPS,131012,070605,4711.139,-12636.069,38,1.1,38,18.6