version: 66.11
glider: 187
mission: 2
dive: 47
start: 9 23 112 4 41 38
data:
$ID,187
$MISSION,2
$DIVE,47
$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,-1587677.4
$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,46
$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
$GPS1,230912,043405,4700.693,-12659.799,28,1.7,28,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-78.7
$GPS2,230912,044106,4700.722,-12659.724,14,1.8,19,18.6
$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,28.8,185504,-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,17,-0.48,-146.0,0.0,0.0,0,78,0.00,0.00,-59.60,0.000,2,0.000,0.000,113,2162,2879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.48,-146.0,3.3,-4.9,10,110,11.38,2.25,-9.50,0.000,4,0.228,0.067,3023,3588,3392,0,0,0,0,0,0,25.44,25.66,25.98
$GC,247,-0.48,-146.0,43.7,-14.3,39,253,0.00,2.17,0.00,0.000,6,0.000,0.043,3023,2176,3396,0,0,0,0,0,0,28.83,25.79,28.83
$GC,571,-0.48,-146.0,88.8,-11.2,100,579,0.00,2.20,0.00,0.000,4,0.000,0.050,3023,776,3399,0,0,0,0,0,0,28.83,25.93,28.83
$GC,646,-0.48,-146.0,97.1,-10.9,113,653,0.00,2.15,0.00,0.000,6,0.000,0.048,3014,2179,3399,0,0,0,0,0,0,28.83,25.95,28.83
$GC,971,-0.48,-146.0,133.3,-10.7,159,972,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2179,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1271,-0.48,-146.0,168.0,-12.1,179,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2179,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1571,-0.48,-146.0,201.6,-11.1,199,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2179,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1870,-0.48,-146.0,232.8,-10.0,219,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2179,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2170,-0.48,-146.0,262.9,-10.0,239,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2179,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2470,-0.48,-146.0,292.4,-9.6,259,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2179,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2770,-0.48,-146.0,321.0,-9.3,279,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2179,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3070,-0.48,-146.0,349.1,-9.1,299,3075,0.00,2.17,0.00,0.000,4,0.000,0.052,3014,764,3396,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3103,-0.48,-146.0,351.9,-9.4,301,3107,0.12,2.15,0.00,0.000,6,0.152,0.051,3039,2175,3395,0,0,0,0,0,0,26.21,26.29,28.83
$GC,3412,-0.48,-146.0,375.5,-7.5,321,3417,0.00,2.17,0.00,0.000,4,0.000,0.065,3031,3588,3395,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3471,-0.48,-146.0,380.3,-8.0,325,3477,0.00,2.17,0.00,0.000,6,0.000,0.045,3030,2167,3395,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3785,-0.48,-146.0,405.5,-7.9,344,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2165,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4085,-0.48,-146.0,430.1,-8.2,354,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2165,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4386,-0.48,-146.0,454.9,-8.3,364,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2165,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4685,-0.48,-146.0,478.5,-7.7,374,4691,0.00,2.25,0.00,0.000,4,0.000,0.066,3020,3589,3391,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4718,-0.48,-146.0,480.8,-7.8,375,4722,0.00,2.15,0.00,0.000,6,0.000,0.047,3020,2174,3391,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5045,-0.48,-146.0,507.2,-8.0,386,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2172,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5345,-0.48,-146.0,533.1,-8.8,396,5346,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2172,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5645,-0.48,-146.0,561.4,-9.6,406,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2172,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5945,-0.48,-146.0,589.2,-9.1,416,5949,0.00,2.17,0.00,0.000,4,0.000,0.055,3020,767,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5980,-0.48,-146.0,592.1,-9.2,417,5984,0.00,2.17,0.00,0.000,6,0.000,0.054,3012,2178,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6307,-0.48,-146.0,622.6,-9.1,428,6313,0.00,2.20,0.00,0.000,4,0.000,0.067,3001,3587,3388,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6338,-0.48,-146.0,625.5,-9.2,429,6344,0.10,2.10,0.00,0.000,6,0.113,0.048,3038,2179,3388,0,0,0,0,0,0,26.31,26.39,28.83
$GC,6667,-0.48,-146.0,650.7,-7.6,440,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2177,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6967,-0.48,-146.0,673.9,-7.8,450,6973,0.00,2.22,0.00,0.000,4,0.000,0.068,3030,3594,3386,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7020,-0.48,-146.0,676.4,-7.9,451,7027,0.00,2.15,0.00,0.000,6,0.000,0.047,3030,2164,3386,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7327,-0.48,-146.0,703.2,-8.0,462,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2164,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7627,-0.48,-146.0,725.9,-7.5,472,7633,0.00,2.22,0.00,0.000,4,0.000,0.067,3020,3582,3385,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7689,-0.48,-146.0,730.3,-7.5,474,7694,0.00,2.10,0.00,0.000,6,0.000,0.050,3020,2183,3385,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8018,-0.48,-146.0,754.0,-7.0,485,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2180,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8318,-0.48,-146.0,775.5,-7.1,495,8323,0.00,2.22,0.00,0.000,4,0.000,0.069,3011,3584,3383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8348,-0.48,-146.0,777.9,-7.2,496,8354,0.00,2.15,0.00,0.000,6,0.000,0.050,3011,2170,3384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8678,-0.48,-146.0,803.8,-7.9,507,8679,0.12,0.00,0.00,0.000,6,0.148,0.000,3046,2168,3384,0,0,0,0,0,0,26.35,28.83,28.83
$GC,8978,-0.48,-146.0,821.5,-5.7,517,8979,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2168,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9278,-0.48,-146.0,838.9,-5.8,527,9283,0.00,2.25,0.00,0.000,4,0.000,0.069,3037,3586,3383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9316,-0.48,-146.0,840.8,-5.8,528,9320,0.00,2.15,0.00,0.000,6,0.000,0.050,3037,2175,3383,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9638,-0.48,-146.0,862.3,-6.5,539,9639,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2174,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9938,-0.48,-146.0,882.5,-6.8,549,9939,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2175,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10238,-0.48,-146.0,902.9,-6.8,559,10239,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2174,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10538,-0.48,-146.0,923.4,-7.0,569,10542,0.00,2.22,0.00,0.000,4,0.000,0.070,3028,3582,3381,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10563,-0.48,-146.0,923.4,-7.0,569,10570,0.00,2.15,0.00,0.000,6,0.000,0.050,3027,2176,3381,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10870,-0.48,-146.0,947.8,-7.5,580,10876,0.00,2.25,0.00,0.000,4,0.000,0.070,3017,3586,3381,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10893,-0.48,-146.0,947.8,-7.5,580,10900,0.00,2.15,0.00,0.000,6,0.000,0.050,3018,2173,3381,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11200,-0.48,-146.0,973.4,-7.7,591,11201,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2173,3380,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11437,begin apogee
$GC,11445,-0.22,0.0,991.3,-7.5,599,11576,0.30,0.00,125.50,1.206,6,0.118,0.000,3121,2305,2794,0,0,0,0,0,0,26.33,28.83,23.65
$STATE,11579,end apogee,CONTROL_FINISHED_OK
$STATE,11579,begin climb
$GC,11582,0.48,146.0,995.1,0.0,603,11719,0.65,0.00,134.05,1.174,6,0.083,0.000,3342,2305,2198,0,0,0,0,0,0,24.57,28.83,23.34
$GC,12010,0.48,146.0,960.6,9.5,618,12016,0.00,2.33,0.00,0.000,4,0.000,0.070,3342,3711,2187,0,0,0,0,0,0,28.83,25.27,28.83
$GC,12033,0.48,146.0,960.6,9.5,618,12040,0.00,2.28,0.00,0.000,6,0.000,0.050,3351,2300,2186,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12340,0.48,146.0,926.7,10.3,629,12346,0.00,2.28,0.00,0.000,4,0.000,0.069,3352,3697,2186,0,0,0,0,0,0,28.83,25.59,28.83
$GC,12370,0.48,146.0,923.3,10.5,630,12376,0.00,2.22,0.00,0.000,6,0.000,0.051,3362,2294,2185,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12700,0.48,146.0,886.3,11.1,641,12702,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2289,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13000,0.48,146.0,852.6,11.2,651,13006,0.00,2.30,0.00,0.000,4,0.000,0.070,3362,3709,2183,0,0,0,0,0,0,28.83,25.90,28.83
$GC,13053,0.48,146.0,848.9,11.4,652,13061,0.00,2.22,0.00,0.000,6,0.000,0.050,3372,2290,2183,0,0,0,0,0,0,28.83,25.96,28.83
$GC,13360,0.48,146.0,808.9,12.1,663,13366,0.00,2.28,0.00,0.000,4,0.000,0.070,3372,3701,2183,0,0,0,0,0,0,28.83,25.98,28.83
$GC,13378,0.48,146.0,808.9,12.1,663,13383,0.12,2.20,0.00,0.000,6,0.168,0.051,3352,2295,2183,0,0,0,0,0,0,25.92,26.03,28.83
$GC,13686,0.48,146.0,773.3,10.6,673,13687,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2290,2183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13985,0.48,146.0,742.8,10.0,683,13991,0.00,2.28,0.00,0.000,4,0.000,0.070,3352,3706,2183,0,0,0,0,0,0,28.83,26.09,28.83
$GC,14028,0.48,146.0,739.7,10.1,684,14032,0.00,2.20,0.00,0.000,6,0.000,0.052,3359,2291,2182,0,0,0,0,0,0,28.83,26.13,28.83
$GC,14340,0.48,146.0,705.8,10.3,695,14346,0.00,2.28,0.00,0.000,4,0.000,0.070,3360,3708,2182,0,0,0,0,0,0,28.83,26.13,28.83
$GC,14363,0.48,146.0,705.8,10.3,695,14370,0.00,2.20,0.00,0.000,6,0.000,0.051,3370,2296,2182,0,0,0,0,0,0,28.83,26.16,28.83
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$STATE,22637,end climb,SURFACE_DEPTH_REACHED
$STATE,22637,begin surface coast
$FINISH,0.7,0.999737
$STATE,22681,end surface coast,CONTROL_FINISHED_OK
$STATE,22681,begin surface
$SM_CCo,22761,0.00,0.000,0,0,1238,381.69
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$IRIDIUM_FIX,4641.78,-12701.03,220912,222220
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.26
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,23.3,8.983
$10V_AH,10.2,8.053
$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,21.675,155.250,451.650,0.000,0.000,25.779,38.011,220.862,0.000,0.000,20.535,3462.438,15840.616,551.329,2952.048,365.246,0.000,1922.211,0.000,2640.490,0.000,0.535,0.000
$DEVICE_MAMPS,227.970,87.975,1206.405,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297076
$DATA_FILE_SIZE,76781,1358
$CAP_FILE_SIZE,181331,0
$CFSIZE,260165632,253161472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.054,182.6,1
$GPS,230912,110205,4702.469,-12656.072,28,1.0,28,18.6