version: 66.11
glider: 187
mission: 2
dive: 207
start: 10 30 112 23 39 45
data:
$ID,187
$MISSION,2
$DIVE,207
$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,-1588010.4
$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,42
$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
$GPS1,301012,233235,4715.630,-12627.960,29,1.0,29,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-76.0
$GPS2,301012,233913,4715.623,-12627.879,17,1.0,17,18.6
$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,50.2,117556,-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,-67.10,0.000,2,0.000,0.000,108,2171,2771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.48,-146.0,3.2,-4.0,11,123,11.32,2.35,-12.68,0.000,4,0.218,0.075,3028,3583,3393,0,0,0,0,0,0,25.14,25.54,26.03
$GC,204,-0.48,-146.0,30.4,-17.3,31,211,0.00,2.20,0.00,0.000,6,0.000,0.044,3027,2181,3396,0,0,0,0,0,0,28.83,25.66,28.83
$GC,519,-0.48,-146.0,75.8,-13.6,92,526,0.00,2.22,0.00,0.000,4,0.000,0.052,3028,772,3398,0,0,0,0,0,0,28.83,25.72,28.83
$GC,640,-0.48,-146.0,92.4,-12.4,115,646,0.00,2.17,0.00,0.000,6,0.000,0.051,3017,2175,3399,0,0,0,0,0,0,28.83,25.77,28.83
$GC,951,-0.48,-146.0,131.3,-12.0,164,953,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2175,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1252,-0.48,-146.0,166.3,-11.4,184,1257,0.00,2.20,0.00,0.000,4,0.000,0.063,3007,3577,3399,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1328,-0.48,-146.0,174.9,-11.5,189,1334,0.12,2.17,0.00,0.000,6,0.134,0.044,3042,2171,3399,0,0,0,0,0,0,25.79,25.95,28.83
$GC,1655,-0.48,-146.0,204.6,-9.2,210,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2165,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1952,-0.48,-146.0,231.1,-8.8,225,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2166,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2252,-0.48,-146.0,256.2,-8.2,240,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2166,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2552,-0.48,-146.0,280.4,-8.1,255,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2166,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2852,-0.48,-146.0,305.5,-8.5,270,2858,0.00,2.22,0.00,0.000,4,0.000,0.064,3034,3576,3398,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2892,-0.48,-146.0,309.0,-8.8,272,2897,0.00,2.17,0.00,0.000,6,0.000,0.046,3033,2164,3397,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3212,-0.48,-146.0,338.3,-9.1,288,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2161,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3512,-0.48,-146.0,365.4,-9.0,303,3518,0.00,2.28,0.00,0.000,4,0.000,0.065,3023,3582,3397,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3565,-0.48,-146.0,369.2,-9.2,305,3573,0.00,2.17,0.00,0.000,6,0.000,0.046,3023,2161,3396,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3874,-0.48,-146.0,397.9,-8.7,321,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2162,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4182,-0.48,-146.0,424.6,-8.6,332,4188,0.00,2.28,0.00,0.000,4,0.000,0.066,3013,3584,3395,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4220,-0.48,-146.0,427.4,-8.8,333,4224,0.00,2.17,0.00,0.000,6,0.000,0.047,3013,2168,3395,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4537,-0.48,-146.0,457.9,-9.4,344,4539,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2165,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4838,-0.48,-146.0,486.7,-9.6,354,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2165,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5137,-0.48,-146.0,514.1,-8.9,364,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2165,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5438,-0.48,-146.0,540.2,-8.7,374,5439,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2165,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5737,-0.48,-146.0,565.8,-8.5,384,5743,0.00,2.30,0.00,0.000,4,0.000,0.067,3003,3585,3391,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5790,-0.48,-146.0,568.2,-8.4,385,5798,0.12,2.17,0.00,0.000,6,0.135,0.047,3039,2174,3391,0,0,0,0,0,0,25.90,26.06,28.83
$GC,6098,-0.48,-146.0,590.7,-6.4,396,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2172,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6398,-0.48,-146.0,611.1,-7.0,406,6403,0.00,2.30,0.00,0.000,4,0.000,0.067,3030,3591,3391,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6441,-0.48,-146.0,613.3,-7.1,407,6445,0.00,2.20,0.00,0.000,6,0.000,0.048,3030,2171,3391,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6753,-0.48,-146.0,637.6,-7.4,418,6759,0.00,2.25,0.00,0.000,4,0.000,0.067,3020,3580,3391,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6801,-0.48,-146.0,639.8,-7.5,419,6805,0.00,2.17,0.00,0.000,6,0.000,0.048,3020,2171,3390,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7108,-0.48,-146.0,666.5,-8.4,429,7109,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2170,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7408,-0.48,-146.0,691.6,-8.4,439,7414,0.00,2.28,0.00,0.000,4,0.000,0.067,3011,3585,3390,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7456,-0.48,-146.0,694.1,-8.3,440,7460,0.00,2.17,0.00,0.000,6,0.000,0.048,3011,2174,3389,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7763,-0.48,-146.0,722.5,-8.6,450,7765,0.12,0.00,0.00,0.000,6,0.143,0.000,3046,2173,3389,0,0,0,0,0,0,26.15,28.83,28.83
$GC,8064,-0.48,-146.0,741.1,-6.0,460,8069,0.00,2.25,0.00,0.000,4,0.000,0.068,3038,3580,3388,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8123,-0.48,-146.0,745.0,-6.3,462,8129,0.00,2.15,0.00,0.000,6,0.000,0.048,3038,2181,3389,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8453,-0.48,-146.0,765.3,-6.1,473,8458,0.00,2.22,0.00,0.000,4,0.000,0.068,3028,3576,3388,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8496,-0.48,-146.0,767.3,-6.3,474,8501,0.00,2.17,0.00,0.000,6,0.000,0.049,3028,2167,3388,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8809,-0.48,-146.0,790.5,-7.4,485,8814,0.00,2.28,0.00,0.000,4,0.000,0.068,3018,3580,3388,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8832,-0.48,-146.0,790.5,-7.4,485,8839,0.00,2.17,0.00,0.000,6,0.000,0.049,3018,2172,3387,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9139,-0.48,-146.0,817.1,-8.0,496,9145,0.00,2.30,0.00,0.000,4,0.000,0.068,3009,3591,3387,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9171,-0.48,-146.0,819.5,-8.1,497,9176,0.12,2.22,0.00,0.000,6,0.130,0.049,3045,2168,3387,0,0,0,0,0,0,25.87,26.01,28.83
$GC,9494,-0.48,-146.0,841.7,-6.7,508,9500,0.00,2.25,0.00,0.000,4,0.000,0.069,3037,3576,3387,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9543,-0.48,-146.0,843.7,-6.7,509,9547,0.00,2.17,0.00,0.000,6,0.000,0.050,3037,2169,3387,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9849,-0.48,-146.0,866.7,-6.9,519,9855,0.00,2.28,0.00,0.000,4,0.000,0.069,3027,3580,3387,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9882,-0.48,-146.0,869.0,-7.1,520,9886,0.00,2.20,0.00,0.000,6,0.000,0.050,3027,2171,3386,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10205,-0.48,-146.0,893.2,-7.5,531,10210,0.00,2.25,0.00,0.000,4,0.000,0.069,3018,3576,3386,0,0,0,0,0,0,28.83,25.80,28.83
$GC,10242,-0.48,-146.0,895.5,-7.5,532,10246,0.00,2.17,0.00,0.000,6,0.000,0.050,3018,2170,3386,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10559,-0.48,-146.0,919.9,-7.4,543,10565,0.00,2.28,0.00,0.000,4,0.000,0.069,3010,3581,3385,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10597,-0.48,-146.0,922.3,-7.4,544,10602,0.12,2.17,0.00,0.000,6,0.128,0.049,3046,2170,3385,0,0,0,0,0,0,25.86,26.00,28.83
$GC,10916,-0.48,-146.0,941.7,-5.8,555,10922,0.00,2.30,0.00,0.000,4,0.000,0.070,3039,3590,3385,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10946,-0.48,-146.0,943.5,-5.8,556,10952,0.00,2.20,0.00,0.000,6,0.000,0.050,3039,2177,3385,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11276,-0.48,-146.0,964.2,-6.3,567,11281,0.00,2.25,0.00,0.000,4,0.000,0.070,3030,3584,3385,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11306,-0.48,-146.0,966.1,-6.3,568,11311,0.00,2.17,0.00,0.000,6,0.000,0.050,3029,2178,3385,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11636,-0.48,-146.0,987.2,-6.2,579,11641,0.00,2.25,0.00,0.000,4,0.000,0.070,3021,3579,3385,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11684,-0.48,-146.0,989.1,-6.2,580,11688,0.00,2.20,0.00,0.000,6,0.000,0.050,3020,2165,3384,0,0,0,0,0,0,28.83,25.97,28.83
$STATE,11718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11718,begin apogee
$GC,11725,-0.22,0.0,992.8,-6.5,581,11857,0.30,0.00,127.12,1.189,6,0.112,0.000,3123,2305,2793,0,0,0,0,0,0,25.81,28.83,23.56
$STATE,11860,end apogee,CONTROL_FINISHED_OK
$STATE,11860,begin climb
$GC,11863,0.48,146.0,995.8,0.0,585,12003,0.65,0.00,136.18,1.154,6,0.079,0.000,3344,2305,2198,0,0,0,0,0,0,24.51,28.83,22.71
$GC,12290,0.48,146.0,959.9,9.9,600,12296,0.00,2.38,0.00,0.000,4,0.000,0.069,3345,3701,2188,0,0,0,0,0,0,28.83,24.81,28.83
$GC,12344,0.48,146.0,956.7,10.1,601,12351,0.00,2.28,0.00,0.000,6,0.000,0.050,3355,2307,2187,0,0,0,0,0,0,28.83,25.01,28.83
$GC,12650,0.48,146.0,922.8,9.8,612,12652,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2300,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12950,0.48,146.0,894.2,9.2,622,12956,0.00,2.33,0.00,0.000,4,0.000,0.070,3356,3702,2185,0,0,0,0,0,0,28.83,25.47,28.83
$GC,12983,0.48,146.0,891.2,9.3,623,12987,0.00,2.25,0.00,0.000,6,0.000,0.051,3366,2291,2185,0,0,0,0,0,0,28.83,25.60,28.83
$GC,13305,0.48,146.0,858.3,10.1,634,13311,0.00,2.35,0.00,0.000,4,0.000,0.070,3366,3713,2184,0,0,0,0,0,0,28.83,25.58,28.83
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$STATE,23318,end climb,SURFACE_DEPTH_REACHED
$STATE,23318,begin surface coast
$FINISH,1.1,1.014939
$STATE,23360,end surface coast,CONTROL_FINISHED_OK
$STATE,23360,begin surface
$SM_CCo,23439,0.00,0.000,0,0,1261,375.80
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.48
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,22.7,29.810
$10V_AH,10.1,24.948
$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,21.950,197.575,449.050,0.000,0.000,27.913,37.107,200.863,0.000,0.000,18.603,3391.649,16565.797,572.427,2907.473,393.715,0.000,1982.508,0.000,2605.897,0.000,0.535,0.000
$DEVICE_MAMPS,218.025,84.915,1188.810,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,895.895,746.232,514.856,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296764
$DATA_FILE_SIZE,73639,1301
$CAP_FILE_SIZE,191104,0
$CFSIZE,260165632,240443392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056,301.9,1
$GPS,311012,061159,4717.318,-12623.735,57,1.2,57,18.6