version: 66.11
glider: 187
mission: 2
dive: 223
start: 11 4 112 9 11 3
data:
$ID,187
$MISSION,2
$DIVE,223
$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,-1588031.1
$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,33
$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
$GPS1,041112,085905,4742.293,-12526.071,55,1.2,55,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-75.7
$GPS2,041112,091031,4742.424,-12526.245,15,1.8,15,18.7
$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,11.4,26532,-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,-146.0,0.0,0.0,0,80,0.00,0.00,-61.55,0.000,2,0.000,0.000,110,2177,2688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.48,-146.0,3.4,-4.5,10,118,11.38,2.30,-16.00,0.000,4,0.216,0.073,3026,3587,3392,0,0,0,0,0,0,25.03,25.45,25.98
$GC,317,-0.48,-146.0,44.5,-14.6,52,326,0.00,2.22,0.00,0.000,6,0.000,0.044,3026,2175,3394,0,0,0,0,0,0,28.83,25.65,28.83
$GC,642,-0.48,-146.0,91.8,-12.3,113,649,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2170,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,971,-0.48,-146.0,130.4,-11.2,164,972,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2170,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1271,-0.48,-146.0,162.9,-10.5,184,1276,0.00,2.25,0.00,0.000,4,0.000,0.062,3016,3584,3396,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1310,-0.48,-146.0,166.2,-10.8,186,1317,0.00,2.20,0.00,0.000,6,0.000,0.044,3015,2168,3396,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1618,-0.48,-146.0,201.5,-11.4,207,1623,0.00,2.12,0.00,0.000,4,0.000,0.050,3015,779,3396,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1645,-0.48,-146.0,203.9,-11.6,208,1649,0.12,2.17,0.00,0.000,6,0.141,0.050,3041,2186,3396,0,0,0,0,0,0,25.72,25.85,28.83
$GC,1952,-0.48,-146.0,233.3,-9.0,223,1957,0.00,2.22,0.00,0.000,4,0.000,0.063,3032,3591,3396,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2005,-0.48,-146.0,237.1,-9.3,225,2012,0.00,2.15,0.00,0.000,6,0.000,0.044,3032,2174,3396,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2312,-0.48,-146.0,267.4,-9.1,241,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2173,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2612,-0.48,-146.0,295.6,-9.3,256,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2173,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2912,-0.48,-146.0,322.8,-8.8,271,2917,0.00,2.22,0.00,0.000,4,0.000,0.063,3022,3580,3394,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2971,-0.48,-146.0,328.1,-8.9,274,2977,0.00,2.15,0.00,0.000,6,0.000,0.045,3022,2171,3394,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3294,-0.48,-146.0,355.9,-8.2,290,3299,0.00,2.25,0.00,0.000,4,0.000,0.064,3012,3589,3394,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3320,-0.48,-146.0,357.7,-8.3,291,3325,0.00,2.17,0.00,0.000,6,0.000,0.045,3011,2167,3394,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3628,-0.48,-146.0,387.7,-10.0,306,3630,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2164,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3947,-0.48,-146.0,419.3,-9.9,319,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2165,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4248,-0.48,-146.0,448.5,-9.6,329,4251,0.00,2.17,0.00,0.000,4,0.000,0.054,3012,771,3391,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4279,-0.48,-146.0,452.0,-9.9,330,4286,0.12,2.20,0.00,0.000,6,0.145,0.053,3038,2182,3391,0,0,0,0,0,0,25.77,25.91,28.83
$GC,4610,-0.48,-146.0,479.3,-8.2,341,4616,0.00,2.22,0.00,0.000,4,0.000,0.066,3029,3588,3391,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4688,-0.48,-146.0,484.3,-8.2,343,4692,0.00,2.17,0.00,0.000,6,0.000,0.046,3029,2167,3390,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4995,-0.48,-146.0,512.8,-9.0,353,5001,0.00,2.30,0.00,0.000,4,0.000,0.066,3019,3584,3390,0,0,0,0,0,0,28.83,25.80,28.83
$GC,5033,-0.48,-146.0,515.5,-8.9,354,5037,0.00,2.17,0.00,0.000,6,0.000,0.047,3020,2176,3390,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5355,-0.48,-146.0,546.4,-9.1,365,5360,0.00,2.22,0.00,0.000,4,0.000,0.066,3010,3579,3390,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5392,-0.48,-146.0,549.3,-9.2,366,5397,0.12,2.15,0.00,0.000,6,0.132,0.047,3045,2178,3389,0,0,0,0,0,0,25.83,25.99,28.83
$GC,5711,-0.48,-146.0,574.4,-7.6,377,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2176,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6010,-0.48,-146.0,598.5,-8.1,387,6016,0.00,2.28,0.00,0.000,4,0.000,0.067,3037,3588,3389,0,0,0,0,0,0,28.83,25.78,28.83
$GC,6058,-0.48,-146.0,600.8,-8.0,388,6063,0.00,2.17,0.00,0.000,6,0.000,0.047,3037,2173,3388,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6366,-0.48,-146.0,625.2,-6.9,398,6372,0.00,2.30,0.00,0.000,4,0.000,0.067,3026,3589,3387,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6398,-0.48,-146.0,627.4,-6.9,399,6402,0.00,2.20,0.00,0.000,6,0.000,0.047,3026,2166,3387,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6726,-0.48,-146.0,653.3,-8.0,410,6731,0.00,2.28,0.00,0.000,4,0.000,0.066,3016,3588,3386,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6748,-0.48,-146.0,653.3,-8.0,410,6755,0.00,2.20,0.00,0.000,6,0.000,0.047,3016,2162,3387,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7056,-0.48,-146.0,681.7,-8.5,421,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2161,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7355,-0.48,-146.0,705.8,-8.0,431,7361,0.00,2.30,0.00,0.000,4,0.000,0.067,3007,3583,3386,0,0,0,0,0,0,28.83,25.76,28.83
$GC,7428,-0.48,-146.0,710.8,-8.1,433,7433,0.12,2.17,0.00,0.000,6,0.132,0.047,3043,2172,3386,0,0,0,0,0,0,25.82,25.98,28.83
$GC,7742,-0.48,-146.0,732.4,-6.2,444,7747,0.00,2.25,0.00,0.000,4,0.000,0.067,3034,3577,3385,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7816,-0.48,-146.0,736.2,-6.3,446,7822,0.00,2.17,0.00,0.000,6,0.000,0.048,3034,2170,3385,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8133,-0.48,-146.0,757.7,-6.6,457,8138,0.00,2.25,0.00,0.000,4,0.000,0.067,3025,3576,3385,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8165,-0.48,-146.0,759.9,-6.6,458,8169,0.00,2.17,0.00,0.000,6,0.000,0.048,3025,2169,3385,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8488,-0.48,-146.0,783.4,-7.3,469,8493,0.00,2.28,0.00,0.000,4,0.000,0.067,3015,3584,3384,0,0,0,0,0,0,28.83,25.73,28.83
$GC,8517,-0.48,-146.0,785.7,-7.4,470,8523,0.00,2.17,0.00,0.000,6,0.000,0.048,3015,2173,3384,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8848,-0.48,-146.0,811.3,-7.5,481,8853,0.00,2.25,0.00,0.000,4,0.000,0.067,3005,3578,3384,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8900,-0.48,-146.0,813.6,-7.4,482,8907,0.12,2.17,0.00,0.000,6,0.133,0.049,3041,2171,3384,0,0,0,0,0,0,25.78,25.95,28.83
$GC,9208,-0.48,-146.0,834.7,-6.2,493,9213,0.00,2.33,0.00,0.000,4,0.000,0.068,3032,3594,3384,0,0,0,0,0,0,28.83,25.71,28.83
$GC,9245,-0.48,-146.0,836.7,-6.3,494,9249,0.00,2.22,0.00,0.000,6,0.000,0.049,3032,2170,3384,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9563,-0.48,-146.0,859.1,-6.7,505,9568,0.00,2.28,0.00,0.000,4,0.000,0.068,3023,3583,3383,0,0,0,0,0,0,28.83,25.71,28.83
$GC,9586,-0.48,-146.0,859.1,-6.7,505,9593,0.00,2.17,0.00,0.000,6,0.000,0.049,3023,2174,3383,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9892,-0.48,-146.0,882.0,-6.8,516,9898,0.00,2.25,0.00,0.000,4,0.000,0.068,3013,3581,3383,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9925,-0.48,-146.0,884.3,-6.9,517,9929,0.00,2.17,0.00,0.000,6,0.000,0.049,3013,2176,3383,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10248,-0.48,-146.0,909.9,-8.0,528,10253,0.00,2.25,0.00,0.000,4,0.000,0.068,3004,3577,3382,0,0,0,0,0,0,28.83,25.69,28.83
$GC,10277,-0.48,-146.0,912.3,-8.1,529,10283,0.10,2.17,0.00,0.000,6,0.107,0.050,3041,2171,3382,0,0,0,0,0,0,25.72,25.93,28.83
$GC,10608,-0.48,-146.0,932.3,-6.0,540,10609,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2168,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10907,-0.48,-146.0,951.0,-6.2,550,10913,0.00,2.28,0.00,0.000,4,0.000,0.069,3033,3581,3382,0,0,0,0,0,0,28.83,25.67,28.83
$GC,10945,-0.48,-146.0,953.1,-6.3,551,10950,0.00,2.17,0.00,0.000,6,0.000,0.050,3032,2176,3381,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11263,-0.48,-146.0,974.1,-6.5,562,11269,0.00,2.25,0.00,0.000,4,0.000,0.069,3023,3582,3381,0,0,0,0,0,0,28.83,25.67,28.83
$GC,11295,-0.48,-146.0,975.9,-6.4,563,11299,0.00,2.17,0.00,0.000,6,0.000,0.050,3023,2176,3381,0,0,0,0,0,0,28.83,25.91,28.83
$STATE,11555,end dive,NO_VERTICAL_VELOCITY
$STATE,11555,begin apogee
$GC,11562,-0.22,0.0,978.3,0.0,572,11694,0.28,0.00,126.95,1.170,6,0.075,0.000,3135,2302,2793,0,0,0,0,0,0,26.06,28.83,23.55
$STATE,11697,end apogee,CONTROL_FINISHED_OK
$STATE,11697,begin climb
$GC,11700,0.48,146.0,978.2,0.0,576,11844,0.60,2.60,134.60,1.140,4,0.069,0.067,3348,3705,2197,0,0,0,0,0,0,24.54,23.50,22.70
$GC,11927,0.48,146.0,963.7,9.1,584,11932,0.00,2.35,0.00,0.000,6,0.000,0.049,3358,2308,2192,0,0,0,0,0,0,28.83,24.29,28.83
$GC,12245,0.48,146.0,929.9,10.2,595,12250,0.00,2.35,0.00,0.000,4,0.000,0.068,3358,3714,2187,0,0,0,0,0,0,28.83,25.02,28.83
$GC,12275,0.48,146.0,926.3,10.4,596,12280,0.00,2.30,0.00,0.000,6,0.000,0.050,3369,2299,2187,0,0,0,0,0,0,28.83,25.17,28.83
$GC,12605,0.48,146.0,897.5,8.3,607,12611,0.00,2.35,0.00,0.000,4,0.000,0.067,3369,3721,2185,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12697,0.48,146.0,889.5,8.9,610,12702,0.00,2.28,0.00,0.000,6,0.000,0.050,3379,2293,2185,0,0,0,0,0,0,28.83,25.51,28.83
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$STATE,23728,end climb,SURFACE_DEPTH_REACHED
$STATE,23728,begin surface coast
$FINISH,1.3,1.013643
$STATE,23766,end surface coast,CONTROL_FINISHED_OK
$STATE,23766,begin surface
$SM_CCo,23846,0.00,0.000,0,0,1350,354.21
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$TT8_MAMPS,0.026964,0.026964
$HUMID,45.31
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,15.40
$XPDR_PINGS,5
$24V_AH,22.7,32.006
$10V_AH,10.1,26.791
$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
$DEVICE_SECS,21.850,228.800,441.775,0.000,0.000,50.133,74.422,237.615,1.250,0.000,16.327,3444.228,16571.172,564.250,3506.838,435.946,0.000,2184.054,0.000,2981.278,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,873.375,713.957,466.615,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73560,1267
$CAP_FILE_SIZE,211111,0
$CFSIZE,260165632,239022080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.138,209.8,1
$GPS,041112,154953,4743.587,-12524.264,28,1.6,46,18.7