version: 66.11
glider: 187
mission: 2
dive: 151
start: 10 16 112 0 8 24
data:
$ID,187
$MISSION,2
$DIVE,151
$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,-1587816.2
$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,30
$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
$GPS1,151012,235435,4729.653,-12556.545,103,0.9,103,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-74.7
$GPS2,161012,000754,4729.761,-12556.191,13,1.0,17,18.7
$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,49.0,90126,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.48,-146.0,0.0,0.0,0,75,0.00,0.00,-54.80,0.000,2,0.000,0.000,129,2164,2840,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.48,-146.0,3.6,-6.3,9,107,11.27,2.35,-10.40,0.000,4,0.223,0.073,3025,3597,3394,0,0,0,0,0,0,25.27,25.61,26.01
$GC,345,-0.48,-146.0,60.1,-14.1,58,352,0.00,2.22,0.00,0.000,6,0.000,0.041,3025,2163,3398,0,0,0,0,0,0,28.83,25.82,28.83
$GC,667,-0.48,-146.0,105.1,-12.8,119,673,0.00,2.25,0.00,0.000,4,0.000,0.059,3014,3591,3400,0,0,0,0,0,0,28.83,25.86,28.83
$GC,723,-0.48,-146.0,112.4,-13.0,129,730,0.00,2.15,0.00,0.000,6,0.000,0.041,3014,2166,3400,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1038,-0.48,-146.0,152.2,-11.4,156,1043,0.00,2.10,0.00,0.000,4,0.000,0.049,3014,771,3400,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1069,-0.48,-146.0,155.9,-11.6,158,1074,0.12,2.15,0.00,0.000,6,0.146,0.049,3039,2178,3400,0,0,0,0,0,0,25.86,25.99,28.83
$GC,1379,-0.48,-146.0,186.1,-9.0,178,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2178,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1681,-0.48,-146.0,212.2,-8.5,196,1687,0.00,2.22,0.00,0.000,4,0.000,0.062,3030,3592,3399,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1709,-0.48,-146.0,214.1,-8.5,197,1713,0.00,2.15,0.00,0.000,6,0.000,0.043,3030,2166,3399,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2017,-0.48,-146.0,244.0,-9.6,212,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2163,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2316,-0.48,-146.0,273.8,-10.5,227,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2163,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2616,-0.48,-146.0,304.8,-10.1,242,2620,0.00,2.25,0.00,0.000,4,0.000,0.063,3019,3582,3396,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2686,-0.48,-146.0,311.2,-10.5,245,2690,0.00,2.15,0.00,0.000,6,0.000,0.044,3019,2165,3396,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2993,-0.48,-146.0,343.3,-10.0,260,2999,0.00,2.25,0.00,0.000,4,0.000,0.063,3009,3591,3395,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3033,-0.48,-146.0,347.2,-10.0,262,3040,0.12,2.15,0.00,0.000,6,0.137,0.045,3045,2173,3395,0,0,0,0,0,0,26.06,26.20,28.83
$GC,3353,-0.48,-146.0,373.7,-8.4,278,3359,0.00,2.25,0.00,0.000,4,0.000,0.063,3036,3584,3393,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3386,-0.48,-146.0,375.3,-8.4,279,3393,0.00,2.15,0.00,0.000,6,0.000,0.045,3036,2168,3394,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3713,-0.48,-146.0,406.4,-9.2,295,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2166,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4014,-0.48,-146.0,433.1,-8.6,305,4019,0.00,2.25,0.00,0.000,4,0.000,0.065,3025,3584,3392,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4043,-0.48,-146.0,436.1,-8.9,306,4049,0.00,2.15,0.00,0.000,6,0.000,0.046,3025,2174,3391,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4374,-0.48,-146.0,466.2,-9.1,317,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2171,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4673,-0.48,-146.0,493.8,-9.3,327,4679,0.00,2.25,0.00,0.000,4,0.000,0.066,3015,3593,3390,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4722,-0.48,-146.0,496.8,-9.5,328,4726,0.00,2.17,0.00,0.000,6,0.000,0.047,3015,2166,3390,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5028,-0.48,-146.0,529.5,-10.1,338,5029,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2163,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5329,-0.48,-146.0,559.2,-10.0,348,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2163,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5628,-0.48,-146.0,587.4,-9.3,358,5634,0.00,2.25,0.00,0.000,4,0.000,0.066,3005,3584,3388,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5651,-0.48,-146.0,587.4,-9.3,358,5659,0.12,2.15,0.00,0.000,6,0.138,0.047,3041,2173,3388,0,0,0,0,0,0,26.09,26.24,28.83
$GC,5959,-0.48,-146.0,612.2,-7.0,369,5963,0.00,2.25,0.00,0.000,4,0.000,0.067,3033,3581,3387,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5999,-0.48,-146.0,614.6,-6.9,370,6003,0.00,2.15,0.00,0.000,6,0.000,0.047,3032,2178,3387,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6322,-0.48,-146.0,639.9,-7.5,381,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2176,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6621,-0.48,-146.0,663.8,-8.0,391,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2175,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6921,-0.48,-146.0,686.9,-7.7,401,6927,0.00,2.22,0.00,0.000,4,0.000,0.067,3022,3586,3385,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6981,-0.48,-146.0,691.7,-7.8,403,6987,0.00,2.17,0.00,0.000,6,0.000,0.048,3022,2166,3385,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7312,-0.48,-146.0,718.3,-8.0,414,7313,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2163,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7612,-0.48,-146.0,740.9,-7.2,424,7617,0.00,2.22,0.00,0.000,4,0.000,0.067,3011,3583,3384,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7675,-0.48,-146.0,745.6,-7.4,426,7679,0.00,2.15,0.00,0.000,6,0.000,0.048,3012,2167,3384,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7998,-0.48,-146.0,769.3,-7.2,437,8004,0.00,2.22,0.00,0.000,4,0.000,0.067,3002,3580,3384,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8059,-0.48,-146.0,774.0,-7.6,439,8064,0.15,2.15,0.00,0.000,6,0.130,0.048,3045,2170,3383,0,0,0,0,0,0,26.08,26.24,28.83
$GC,8383,-0.48,-146.0,793.5,-5.9,450,8388,0.00,2.22,0.00,0.000,4,0.000,0.067,3037,3583,3383,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8435,-0.48,-146.0,795.3,-5.9,451,8442,0.00,2.15,0.00,0.000,6,0.000,0.048,3037,2167,3382,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8742,-0.48,-146.0,816.9,-6.6,462,8748,0.00,2.28,0.00,0.000,4,0.000,0.068,3027,3586,3382,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8810,-0.48,-146.0,821.1,-6.9,464,8814,0.00,2.15,0.00,0.000,6,0.000,0.048,3027,2173,3382,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9128,-0.48,-146.0,844.0,-7.1,475,9133,0.00,2.22,0.00,0.000,4,0.000,0.068,3017,3579,3382,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9166,-0.48,-146.0,846.2,-7.0,476,9170,0.00,2.15,0.00,0.000,6,0.000,0.049,3017,2168,3382,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9483,-0.48,-146.0,871.3,-7.6,487,9489,0.00,2.28,0.00,0.000,4,0.000,0.068,3007,3586,3381,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9516,-0.48,-146.0,873.5,-7.5,488,9521,0.12,2.17,0.00,0.000,6,0.135,0.048,3043,2167,3381,0,0,0,0,0,0,26.08,26.22,28.83
$GC,9839,-0.48,-146.0,895.0,-6.8,499,9840,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2164,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10140,-0.48,-146.0,916.8,-7.2,509,10145,0.00,2.25,0.00,0.000,4,0.000,0.069,3034,3586,3381,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10207,-0.48,-146.0,921.6,-7.6,511,10211,0.00,2.15,0.00,0.000,6,0.000,0.049,3034,2175,3381,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10524,-0.48,-146.0,946.1,-7.3,522,10529,0.00,2.22,0.00,0.000,4,0.000,0.069,3025,3580,3380,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10577,-0.48,-146.0,948.3,-7.3,523,10584,0.00,2.15,0.00,0.000,6,0.000,0.049,3024,2170,3380,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10884,-0.48,-146.0,972.8,-7.4,534,10889,0.00,2.28,0.00,0.000,4,0.000,0.068,3014,3586,3380,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10927,-0.48,-146.0,975.0,-7.4,535,10931,0.00,2.15,0.00,0.000,6,0.000,0.049,3014,2177,3380,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,11116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11116,begin apogee
$GC,11124,-0.22,0.0,990.6,-7.6,542,11255,0.32,0.00,124.72,1.194,6,0.116,0.000,3124,2304,2793,0,0,0,0,0,0,26.02,28.83,23.72
$STATE,11257,end apogee,CONTROL_FINISHED_OK
$STATE,11258,begin climb
$GC,11261,0.48,146.0,993.9,0.0,546,11398,0.65,0.00,133.02,1.160,6,0.082,0.000,3346,2304,2198,0,0,0,0,0,0,24.60,28.83,23.15
$GC,11691,0.48,146.0,958.1,9.6,561,11692,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,2304,2189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11989,0.48,146.0,928.9,9.9,571,11995,0.00,2.30,0.00,0.000,4,0.000,0.069,3345,3708,2187,0,0,0,0,0,0,28.83,25.43,28.83
$GC,12022,0.48,146.0,925.5,10.3,572,12027,0.00,2.22,0.00,0.000,6,0.000,0.050,3355,2307,2186,0,0,0,0,0,0,28.83,25.52,28.83
$GC,12345,0.48,146.0,890.1,10.9,583,12350,0.00,2.33,0.00,0.000,4,0.000,0.069,3355,3709,2186,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12375,0.48,146.0,886.6,11.2,584,12381,0.00,2.22,0.00,0.000,6,0.000,0.051,3365,2302,2185,0,0,0,0,0,0,28.83,25.73,28.83
$GC,12705,0.48,146.0,851.1,10.1,595,12710,0.00,2.20,0.00,0.000,4,0.000,0.058,3376,889,2185,0,0,0,0,0,0,28.83,25.80,28.83
$GC,12723,0.48,146.0,851.1,10.1,595,12727,0.00,2.22,0.00,0.000,6,0.000,0.057,3376,2305,2184,0,0,0,0,0,0,28.83,25.81,28.83
$GC,13030,0.48,146.0,817.3,10.6,605,13035,0.00,2.22,0.00,0.000,4,0.000,0.069,3376,3704,2184,0,0,0,0,0,0,28.83,25.84,28.83
$GC,13103,0.48,146.0,810.1,11.3,607,13108,0.15,2.20,0.00,0.000,6,0.155,0.051,3348,2295,2184,0,0,0,0,0,0,25.75,25.94,28.83
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$STATE,22798,end climb,SURFACE_DEPTH_REACHED
$STATE,22798,begin surface coast
$FINISH,0.9,1.014819
$STATE,22841,end surface coast,CONTROL_FINISHED_OK
$STATE,22841,begin surface
$SM_CCo,22921,0.00,0.000,0,0,1116,411.61
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.26
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,23.1,22.067
$10V_AH,10.2,18.637
$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
$DEVICE_SECS,22.000,199.800,472.275,0.000,0.000,58.653,85.449,424.557,0.000,0.000,17.943,3366.732,16098.360,559.713,3279.324,404.876,0.000,2004.836,0.000,2655.056,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,887.947,757.269,535.917,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296908
$DATA_FILE_SIZE,73437,1292
$CAP_FILE_SIZE,193853,0
$CFSIZE,260165632,245248000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.011,117.5,1
$GPS,161012,063135,4730.821,-12551.538,32,0.9,32,18.7