version: 66.11
glider: 187
mission: 2
dive: 160
start: 10 18 112 10 19 48
data:
$ID,187
$MISSION,2
$DIVE,160
$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,-1587827.5
$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,40
$R_STBD_OVSHOOT,26
$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
$GPS1,181012,100930,4744.255,-12518.687,44,1.2,44,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-75.0
$GPS2,181012,101918,4744.375,-12518.777,13,1.7,18,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,12510.270
$TGT_RADIUS,2500.000
$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,89.9,18672944,-13.4,-7.333,-18.42
$D_GRID,892
$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,14,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,-59.45,0.000,2,0.000,0.000,119,2161,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.48,-146.0,3.0,-2.6,10,117,11.23,2.30,-14.85,0.000,4,0.219,0.071,3026,3591,3391,0,0,0,0,0,0,25.20,25.56,25.96
$GC,217,-0.48,-146.0,30.6,-18.3,33,224,0.00,2.17,0.00,0.000,6,0.000,0.043,3026,2177,3394,0,0,0,0,0,0,28.83,25.70,28.83
$GC,542,-0.48,-146.0,78.0,-14.2,94,548,0.00,2.15,0.00,0.000,4,0.000,0.050,3026,770,3396,0,0,0,0,0,0,28.83,25.82,28.83
$GC,587,-0.48,-146.0,84.6,-14.1,102,594,0.00,2.17,0.00,0.000,6,0.000,0.049,3016,2184,3396,0,0,0,0,0,0,28.83,25.84,28.83
$GC,907,-0.48,-146.0,125.9,-12.1,157,913,0.00,2.17,0.00,0.000,4,0.000,0.061,3006,3584,3397,0,0,0,0,0,0,28.83,25.89,28.83
$GC,929,-0.48,-146.0,127.7,-12.0,158,937,0.08,2.17,0.00,0.000,6,0.119,0.043,3034,2174,3397,0,0,0,0,0,0,25.82,25.98,28.83
$GC,1237,-0.48,-146.0,159.9,-9.6,179,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2171,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1537,-0.48,-146.0,188.1,-9.4,199,1542,0.00,2.20,0.00,0.000,4,0.000,0.062,3026,3579,3396,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1574,-0.48,-146.0,191.1,-9.8,201,1581,0.00,2.12,0.00,0.000,6,0.000,0.044,3026,2168,3397,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1896,-0.48,-146.0,224.8,-10.4,219,1902,0.00,2.22,0.00,0.000,4,0.000,0.062,3015,3584,3396,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1920,-0.48,-146.0,226.9,-10.4,220,1924,0.00,2.15,0.00,0.000,6,0.000,0.044,3015,2169,3396,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2238,-0.48,-146.0,262.5,-11.3,236,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2164,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2536,-0.48,-146.0,298.3,-12.3,251,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2164,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2837,-0.48,-146.0,333.0,-11.2,266,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2164,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3137,-0.48,-146.0,365.3,-10.6,281,3142,0.00,2.10,0.00,0.000,4,0.000,0.052,3015,774,3394,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3176,-0.48,-146.0,369.6,-10.6,283,3183,0.12,2.15,0.00,0.000,6,0.144,0.051,3041,2183,3394,0,0,0,0,0,0,26.03,26.14,28.83
$GC,3497,-0.48,-146.0,395.4,-7.8,299,3502,0.00,2.17,0.00,0.000,4,0.000,0.064,3033,3582,3394,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3569,-0.48,-146.0,400.3,-8.2,302,3574,0.00,2.12,0.00,0.000,6,0.000,0.045,3033,2169,3393,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3882,-0.48,-146.0,426.8,-7.8,313,3888,0.00,2.20,0.00,0.000,4,0.000,0.064,3023,3581,3393,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3925,-0.48,-146.0,429.3,-7.8,314,3929,0.00,2.15,0.00,0.000,6,0.000,0.045,3022,2167,3392,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4237,-0.48,-146.0,456.5,-8.4,325,4242,0.00,2.22,0.00,0.000,4,0.000,0.064,3012,3590,3392,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4260,-0.48,-146.0,456.5,-8.4,325,4267,0.00,2.15,0.00,0.000,6,0.000,0.046,3012,2165,3391,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4567,-0.48,-146.0,487.8,-9.8,336,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2163,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4867,-0.48,-146.0,517.1,-9.6,346,4872,0.00,2.25,0.00,0.000,4,0.000,0.064,3002,3591,3390,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4890,-0.48,-146.0,517.1,-9.6,346,4897,0.15,2.15,0.00,0.000,6,0.129,0.047,3046,2167,3390,0,0,0,0,0,0,26.06,26.22,28.83
$GC,5197,-0.48,-146.0,544.2,-8.0,357,5203,0.00,2.22,0.00,0.000,4,0.000,0.065,3037,3584,3390,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5229,-0.48,-146.0,546.6,-8.0,358,5233,0.00,2.15,0.00,0.000,6,0.000,0.047,3037,2167,3390,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5552,-0.48,-146.0,573.9,-7.9,369,5557,0.00,2.22,0.00,0.000,4,0.000,0.066,3027,3585,3389,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5590,-0.48,-146.0,576.4,-8.0,370,5594,0.00,2.12,0.00,0.000,6,0.000,0.047,3027,2177,3389,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5907,-0.48,-146.0,602.1,-7.8,381,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2174,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6207,-0.48,-146.0,626.6,-8.4,391,6213,0.00,2.22,0.00,0.000,4,0.000,0.066,3017,3583,3388,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6250,-0.48,-146.0,629.2,-8.6,392,6254,0.00,2.12,0.00,0.000,6,0.000,0.047,3017,2175,3388,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6562,-0.48,-146.0,659.9,-9.5,403,6568,0.00,2.22,0.00,0.000,4,0.000,0.067,3007,3582,3387,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6585,-0.48,-146.0,659.9,-9.5,403,6593,0.12,2.12,0.00,0.000,6,0.135,0.047,3042,2176,3387,0,0,0,0,0,0,26.08,26.22,28.83
$GC,6893,-0.48,-146.0,685.1,-7.2,414,6898,0.00,2.20,0.00,0.000,4,0.000,0.067,3034,3581,3387,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6923,-0.48,-146.0,687.3,-7.2,415,6928,0.00,2.12,0.00,0.000,6,0.000,0.048,3034,2176,3387,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7252,-0.48,-146.0,712.7,-7.7,426,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2174,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7553,-0.48,-146.0,733.2,-6.4,436,7558,0.00,2.20,0.00,0.000,4,0.000,0.067,3025,3584,3386,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7583,-0.48,-146.0,735.4,-6.6,437,7588,0.00,2.12,0.00,0.000,6,0.000,0.048,3024,2175,3386,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7912,-0.48,-146.0,760.5,-7.8,448,7918,0.00,2.12,0.00,0.000,4,0.000,0.055,3024,774,3385,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7951,-0.48,-146.0,762.8,-7.8,449,7955,0.00,2.15,0.00,0.000,6,0.000,0.054,3015,2176,3385,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8267,-0.48,-146.0,789.4,-8.2,460,8273,0.00,2.22,0.00,0.000,4,0.000,0.067,3005,3594,3385,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8330,-0.48,-146.0,794.5,-8.5,462,8335,0.12,2.15,0.00,0.000,6,0.135,0.047,3040,2166,3385,0,0,0,0,0,0,26.07,26.22,28.83
$GC,8654,-0.48,-146.0,815.2,-6.1,473,8659,0.00,2.22,0.00,0.000,4,0.000,0.067,3033,3584,3384,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8721,-0.48,-146.0,818.9,-5.9,475,8725,0.00,2.15,0.00,0.000,6,0.000,0.048,3032,2170,3384,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9039,-0.48,-146.0,839.5,-6.8,486,9044,0.00,2.20,0.00,0.000,4,0.000,0.067,3023,3577,3384,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9069,-0.48,-146.0,841.8,-7.0,487,9074,0.00,2.12,0.00,0.000,6,0.000,0.049,3023,2174,3384,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,9366,end dive,NO_VERTICAL_VELOCITY
$STATE,9366,begin apogee
$GC,9373,-0.22,0.0,846.6,0.0,497,9501,0.28,0.00,123.35,1.103,6,0.080,0.000,3133,2305,2794,0,0,0,0,0,0,26.20,28.83,23.82
$STATE,9504,end apogee,CONTROL_FINISHED_OK
$STATE,9504,begin climb
$GC,9507,0.48,146.0,846.6,0.0,501,9648,0.62,2.42,130.70,1.066,4,0.079,0.055,3358,906,2196,0,0,0,0,0,0,24.63,24.03,23.33
$GC,9696,0.48,157.0,836.8,6.9,508,9713,0.00,2.33,10.68,0.932,6,0.000,0.054,3358,2297,2154,0,0,0,0,0,0,28.83,24.49,23.65
$GC,10026,0.48,157.0,803.1,10.4,519,10032,0.00,2.33,0.00,0.000,4,0.000,0.068,3358,3709,2145,0,0,0,0,0,0,28.83,25.20,28.83
$GC,10109,0.48,157.0,796.0,11.0,521,10116,0.00,2.22,0.00,0.000,6,0.000,0.047,3368,2297,2145,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10416,0.48,157.0,760.6,10.5,532,10422,0.00,2.30,0.00,0.000,4,0.000,0.068,3368,3711,2143,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10459,0.48,157.0,756.9,10.8,533,10463,0.00,2.20,0.00,0.000,6,0.000,0.050,3378,2301,2143,0,0,0,0,0,0,28.83,25.65,28.83
$GC,10771,0.48,157.0,721.2,10.6,544,10777,0.00,2.25,0.00,0.000,4,0.000,0.068,3378,3706,2142,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10794,0.48,157.0,721.2,10.6,544,10802,0.15,2.20,0.00,0.000,6,0.155,0.050,3349,2290,2142,0,0,0,0,0,0,25.62,25.80,28.83
$GC,11101,0.48,157.0,691.1,8.6,555,11102,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,2284,2142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11402,0.48,157.0,665.0,8.6,565,11407,0.00,2.28,0.00,0.000,4,0.000,0.069,3349,3715,2142,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11431,0.48,157.0,662.2,8.6,566,11437,0.00,2.20,0.00,0.000,6,0.000,0.050,3356,2298,2142,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11762,0.48,157.0,633.1,8.4,577,11763,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2294,2142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12062,0.48,157.0,608.0,8.5,587,12067,0.00,2.25,0.00,0.000,4,0.000,0.070,3356,3715,2142,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12114,0.48,157.0,605.1,8.8,588,12122,0.00,2.20,0.00,0.000,6,0.000,0.050,3366,2286,2141,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12421,0.48,157.0,575.2,9.1,599,12427,0.00,2.30,0.00,0.000,4,0.000,0.068,3366,3722,2141,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12454,0.48,157.0,572.3,9.1,600,12458,0.00,2.20,0.00,0.000,6,0.000,0.050,3376,2291,2141,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,19286,end climb,SURFACE_DEPTH_REACHED
$STATE,19286,begin surface coast
$FINISH,1.3,1.024231
$STATE,19327,end surface coast,CONTROL_FINISHED_OK
$STATE,19327,begin surface
$SM_CCo,19407,0.00,0.000,0,0,1429,334.83
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$IRIDIUM_FIX,4726.11,-12516.28,181012,101026
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.69
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.50
$XPDR_PINGS,1
$24V_AH,23.3,23.276
$10V_AH,10.2,19.650
$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,21.850,194.325,415.225,0.000,0.000,54.285,110.619,223.354,0.250,0.000,19.740,3007.812,13266.658,513.980,2827.211,368.387,0.000,1837.720,0.000,2418.386,0.000,0.535,0.000
$DEVICE_MAMPS,218.790,86.445,1103.130,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,786.215,682.118,518.954,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296848
$DATA_FILE_SIZE,63542,1144
$CAP_FILE_SIZE,175961,0
$CFSIZE,260165632,244498432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.070,287.4,1
$GPS,181012,154436,4743.979,-12515.797,43,0.8,43,18.7