version: 66.11
glider: 187
mission: 2
dive: 143
start: 10 13 112 20 3 8
data:
$ID,187
$MISSION,2
$DIVE,143
$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,-1587804.2
$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,43
$R_STBD_OVSHOOT,27
$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
$GPS1,131012,195553,4714.590,-12628.281,40,1.1,40,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-75.8
$GPS2,131012,200236,4714.575,-12628.177,9,1.1,14,18.6
$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,42.7,138748,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-67.95,0.000,2,0.000,0.000,111,2155,2705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.48,-146.0,3.0,-3.3,11,124,11.18,2.28,-14.40,0.000,4,0.219,0.071,3023,3583,3392,0,0,0,0,0,0,25.29,25.60,26.00
$GC,356,-0.48,-146.0,55.1,-12.3,61,364,0.00,2.17,0.00,0.000,6,0.000,0.042,3023,2168,3396,0,0,0,0,0,0,28.83,25.82,28.83
$GC,671,-0.48,-146.0,95.9,-13.0,122,678,0.00,2.25,0.00,0.000,4,0.000,0.060,3013,3591,3399,0,0,0,0,0,0,28.83,25.86,28.83
$GC,701,-0.48,-146.0,99.9,-13.0,127,708,0.00,2.15,0.00,0.000,6,0.000,0.042,3012,2174,3399,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1011,-0.48,-146.0,138.5,-11.9,168,1015,0.00,2.15,0.00,0.000,4,0.000,0.050,3012,767,3399,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1067,-0.48,-146.0,144.1,-12.1,171,1075,0.15,2.15,0.00,0.000,6,0.138,0.049,3046,2176,3399,0,0,0,0,0,0,25.87,25.98,28.83
$GC,1373,-0.48,-146.0,172.0,-8.1,192,1379,0.00,2.20,0.00,0.000,4,0.000,0.062,3037,3584,3399,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1421,-0.48,-146.0,175.8,-8.4,195,1426,0.00,2.10,0.00,0.000,6,0.000,0.043,3037,2179,3399,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1729,-0.48,-146.0,204.5,-9.3,215,1735,0.00,2.20,0.00,0.000,4,0.000,0.062,3027,3581,3398,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1752,-0.48,-146.0,206.4,-9.3,216,1756,0.00,2.12,0.00,0.000,6,0.000,0.044,3026,2175,3398,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2064,-0.48,-146.0,237.3,-9.9,232,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2171,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2366,-0.48,-146.0,267.9,-10.2,247,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2171,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2665,-0.48,-146.0,298.2,-10.2,262,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2171,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2964,-0.48,-146.0,327.5,-9.4,277,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2171,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3264,-0.48,-146.0,354.2,-8.4,292,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2171,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3564,-0.48,-146.0,379.5,-8.4,307,3570,0.00,2.25,0.00,0.000,4,0.000,0.065,3016,3584,3393,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3597,-0.48,-146.0,381.3,-8.5,308,3604,0.00,2.15,0.00,0.000,6,0.000,0.046,3016,2167,3393,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3924,-0.48,-146.0,412.4,-9.3,323,3930,0.00,2.28,0.00,0.000,4,0.000,0.065,3006,3592,3392,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3942,-0.48,-146.0,412.4,-9.3,323,3947,0.12,2.15,0.00,0.000,6,0.136,0.046,3041,2175,3392,0,0,0,0,0,0,26.10,26.22,28.83
$GC,4249,-0.48,-146.0,437.4,-7.7,333,4255,0.00,2.25,0.00,0.000,4,0.000,0.066,3033,3591,3391,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4272,-0.48,-146.0,437.4,-7.7,333,4279,0.00,2.15,0.00,0.000,6,0.000,0.047,3033,2173,3391,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4579,-0.48,-146.0,463.9,-7.9,344,4585,0.00,2.22,0.00,0.000,4,0.000,0.066,3023,3581,3391,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4617,-0.48,-146.0,466.3,-8.0,345,4621,0.00,2.15,0.00,0.000,6,0.000,0.047,3022,2172,3390,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4939,-0.48,-146.0,495.5,-9.0,356,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2170,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5240,-0.48,-146.0,522.3,-8.9,366,5245,0.00,2.20,0.00,0.000,4,0.000,0.066,3012,3576,3389,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5307,-0.48,-146.0,527.8,-9.0,368,5311,0.00,2.12,0.00,0.000,6,0.000,0.047,3012,2177,3388,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5624,-0.48,-146.0,556.8,-8.7,379,5630,0.00,2.20,0.00,0.000,4,0.000,0.066,3002,3578,3388,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5654,-0.48,-146.0,559.5,-8.8,380,5661,0.15,2.15,0.00,0.000,6,0.129,0.047,3046,2170,3387,0,0,0,0,0,0,26.10,26.25,28.83
$GC,5984,-0.48,-146.0,581.9,-6.8,391,5990,0.00,2.25,0.00,0.000,4,0.000,0.067,3037,3584,3387,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6028,-0.48,-146.0,583.9,-6.9,392,6032,0.00,2.15,0.00,0.000,6,0.000,0.047,3037,2168,3387,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6341,-0.48,-146.0,607.7,-7.2,403,6346,0.00,2.22,0.00,0.000,4,0.000,0.067,3027,3583,3387,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6371,-0.48,-146.0,609.9,-7.3,404,6376,0.00,2.12,0.00,0.000,6,0.000,0.047,3027,2182,3386,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6700,-0.48,-146.0,636.0,-8.1,415,6701,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2181,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7000,-0.48,-146.0,659.5,-7.7,425,7006,0.00,2.22,0.00,0.000,4,0.000,0.067,3017,3588,3385,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7038,-0.48,-146.0,661.8,-7.6,426,7042,0.00,2.15,0.00,0.000,6,0.000,0.048,3017,2171,3385,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7356,-0.48,-146.0,687.4,-7.9,437,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2169,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7656,-0.48,-146.0,710.9,-7.8,447,7661,0.00,2.22,0.00,0.000,4,0.000,0.067,3007,3581,3384,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7694,-0.48,-146.0,713.3,-7.9,448,7698,0.12,2.15,0.00,0.000,6,0.135,0.048,3043,2166,3384,0,0,0,0,0,0,26.12,26.25,28.83
$GC,8012,-0.48,-146.0,733.1,-5.8,459,8017,0.00,2.22,0.00,0.000,4,0.000,0.068,3035,3581,3383,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8042,-0.48,-146.0,734.7,-5.7,460,8047,0.00,2.15,0.00,0.000,6,0.000,0.049,3034,2168,3384,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8372,-0.48,-146.0,755.1,-6.1,471,8377,0.00,2.28,0.00,0.000,4,0.000,0.069,3024,3589,3383,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8405,-0.48,-146.0,757.1,-6.2,472,8409,0.00,2.17,0.00,0.000,6,0.000,0.049,3024,2171,3383,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8727,-0.48,-146.0,779.3,-7.0,483,8732,0.00,2.22,0.00,0.000,4,0.000,0.068,3014,3580,3382,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8757,-0.48,-146.0,781.5,-7.1,484,8763,0.00,2.12,0.00,0.000,6,0.000,0.049,3014,2182,3383,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9087,-0.48,-146.0,807.6,-8.0,495,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2180,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9387,-0.48,-146.0,832.5,-8.3,505,9392,0.00,2.22,0.00,0.000,4,0.000,0.067,3004,3584,3382,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9450,-0.48,-146.0,837.8,-8.5,507,9455,0.12,2.15,0.00,0.000,6,0.135,0.049,3040,2171,3381,0,0,0,0,0,0,26.10,26.24,28.83
$GC,9773,-0.48,-146.0,859.9,-6.6,518,9779,0.00,2.22,0.00,0.000,4,0.000,0.069,3032,3581,3381,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9826,-0.48,-146.0,862.1,-6.7,519,9833,0.00,2.15,0.00,0.000,6,0.000,0.049,3032,2168,3381,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10134,-0.48,-146.0,884.0,-6.4,530,10139,0.00,2.22,0.00,0.000,4,0.000,0.068,3022,3583,3381,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10186,-0.48,-146.0,886.0,-6.3,531,10193,0.00,2.15,0.00,0.000,6,0.000,0.049,3022,2168,3381,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10493,-0.48,-146.0,909.2,-7.0,542,10499,0.00,2.22,0.00,0.000,4,0.000,0.069,3012,3584,3380,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10523,-0.48,-146.0,911.4,-7.0,543,10529,0.00,2.12,0.00,0.000,6,0.000,0.050,3012,2182,3380,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10853,-0.48,-146.0,935.9,-7.5,554,10854,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2179,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11153,-0.48,-146.0,957.0,-6.8,564,11158,0.00,2.20,0.00,0.000,4,0.000,0.068,3002,3579,3380,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11183,-0.48,-146.0,959.1,-6.7,565,11189,0.10,2.15,0.00,0.000,6,0.107,0.050,3038,2171,3380,0,0,0,0,0,0,26.09,26.23,28.83
$GC,11513,-0.48,-146.0,977.1,-5.4,576,11518,0.00,2.22,0.00,0.000,4,0.000,0.069,3031,3578,3379,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11556,-0.48,-146.0,978.9,-5.6,577,11560,0.00,2.15,0.00,0.000,6,0.000,0.050,3030,2171,3379,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,11745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11746,begin apogee
$GC,11753,-0.22,0.0,991.3,-6.1,584,11882,0.28,0.00,124.80,1.191,6,0.116,0.000,3126,2313,2794,0,0,0,0,0,0,26.08,28.83,23.72
$STATE,11885,end apogee,CONTROL_FINISHED_OK
$STATE,11885,begin climb
$GC,11888,0.48,146.0,994.3,0.0,588,12025,0.65,0.00,133.70,1.159,6,0.079,0.000,3347,2313,2198,0,0,0,0,0,0,24.56,28.83,23.16
$GC,12313,0.48,146.0,960.2,9.4,603,12319,0.00,2.33,0.00,0.000,4,0.000,0.069,3348,3701,2187,0,0,0,0,0,0,28.83,25.06,28.83
$GC,12351,0.48,146.0,957.0,9.5,604,12355,0.00,2.25,0.00,0.000,6,0.000,0.050,3358,2309,2186,0,0,0,0,0,0,28.83,25.17,28.83
$GC,12669,0.48,146.0,923.6,10.2,615,12670,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,2303,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12968,0.48,146.0,893.0,10.2,625,12974,0.00,2.28,0.00,0.000,4,0.000,0.069,3358,3702,2184,0,0,0,0,0,0,28.83,25.65,28.83
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$STATE,23419,end climb,SURFACE_DEPTH_REACHED
$STATE,23420,begin surface coast
$FINISH,1.1,1.023579
$STATE,23456,end surface coast,CONTROL_FINISHED_OK
$STATE,23456,begin surface
$SM_CCo,23536,0.00,0.000,0,0,1330,358.87
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$IRIDIUM_FIX,4651.23,-12643.97,131012,131356
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.81
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,23.2,20.961
$10V_AH,10.2,17.724
$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,21.875,194.700,435.675,0.000,0.000,28.917,39.730,201.299,0.000,0.000,15.402,3431.952,16590.064,589.528,2937.560,380.901,0.000,2000.095,0.000,2630.118,0.000,0.535,0.000
$DEVICE_MAMPS,218.790,83.385,1191.105,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,905.477,758.434,533.833,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296972
$DATA_FILE_SIZE,73381,1316
$CAP_FILE_SIZE,192045,0
$CFSIZE,260165632,245940224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.018,180.4,1
$GPS,141012,023705,4715.831,-12623.870,63,1.2,63,18.6