version: 66.11
glider: 187
mission: 2
dive: 294
start: 11 22 112 1 35 57
data:
$ID,187
$MISSION,2
$DIVE,294
$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,-1588128.1
$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,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$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
$GPS1,221112,012836,4738.013,-12533.714,35,1.1,35,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-75.8
$GPS2,221112,013525,4738.109,-12533.778,13,2.0,13,18.7
$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,28.8,38838,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,80,0.00,0.00,-61.00,0.000,2,0.000,0.000,112,2209,2669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.48,-146.0,3.0,-2.0,10,124,11.48,2.25,-18.23,0.000,4,0.220,0.063,3032,794,3393,0,0,0,0,0,0,24.94,25.53,26.07
$GC,282,-0.48,-146.0,34.4,-15.5,45,288,0.00,2.20,0.00,0.000,6,0.000,0.051,3024,2200,3394,0,0,0,0,0,0,28.83,25.55,28.83
$GC,606,-0.48,-146.0,77.3,-12.7,106,612,0.00,2.25,0.00,0.000,4,0.000,0.062,3013,3618,3395,0,0,0,0,0,0,28.83,25.56,28.83
$GC,763,-0.48,-146.0,97.2,-11.4,135,770,0.00,2.15,0.00,0.000,6,0.000,0.041,3013,2192,3396,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1085,-0.48,-146.0,136.2,-11.5,179,1090,0.00,2.28,0.00,0.000,4,0.000,0.062,3003,3612,3396,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1129,-0.48,-146.0,141.3,-11.3,182,1136,0.12,2.15,0.00,0.000,6,0.138,0.043,3038,2191,3396,0,0,0,0,0,0,25.65,25.85,28.83
$GC,1447,-0.48,-146.0,168.2,-7.7,203,1452,0.00,2.10,0.00,0.000,4,0.000,0.049,3038,803,3396,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1495,-0.48,-146.0,172.1,-8.3,206,1499,0.00,2.17,0.00,0.000,6,0.000,0.050,3031,2204,3396,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1801,-0.48,-146.0,200.5,-9.2,226,1807,0.00,2.22,0.00,0.000,4,0.000,0.062,3020,3610,3396,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1834,-0.48,-146.0,202.6,-9.6,227,1841,0.00,2.15,0.00,0.000,6,0.000,0.043,3020,2186,3396,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2142,-0.48,-146.0,235.9,-10.0,243,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2185,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2443,-0.48,-146.0,266.1,-10.2,258,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2185,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2742,-0.48,-146.0,295.6,-9.3,273,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2185,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3042,-0.48,-146.0,323.1,-9.1,288,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2185,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3341,-0.48,-146.0,349.3,-8.6,303,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2185,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3643,-0.48,-146.0,374.8,-8.8,318,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2185,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3952,-0.48,-146.0,403.5,-9.4,333,3957,0.00,2.30,0.00,0.000,4,0.000,0.064,3010,3617,3395,0,0,0,0,0,0,28.83,25.64,28.83
$GC,3994,-0.48,-146.0,406.4,-9.4,334,3999,0.12,2.15,0.00,0.000,6,0.129,0.043,3045,2198,3395,0,0,0,0,0,0,25.75,25.93,28.83
$GC,4309,-0.48,-146.0,430.9,-7.2,345,4314,0.00,2.25,0.00,0.000,4,0.000,0.064,3037,3608,3394,0,0,0,0,0,0,28.83,25.63,28.83
$GC,4356,-0.48,-146.0,433.2,-7.2,346,4360,0.00,2.15,0.00,0.000,6,0.000,0.044,3037,2191,3394,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4662,-0.48,-146.0,459.0,-8.0,356,4668,0.00,2.30,0.00,0.000,4,0.000,0.065,3027,3614,3394,0,0,0,0,0,0,28.83,25.61,28.83
$GC,4693,-0.48,-146.0,461.5,-8.1,357,4699,0.00,2.15,0.00,0.000,6,0.000,0.045,3027,2200,3394,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5022,-0.48,-146.0,491.0,-8.9,368,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2198,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5322,-0.48,-146.0,518.4,-9.1,378,5328,0.00,2.15,0.00,0.000,4,0.000,0.052,3027,802,3393,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5353,-0.48,-146.0,521.3,-9.2,379,5358,0.00,2.15,0.00,0.000,6,0.000,0.053,3018,2192,3393,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5682,-0.48,-146.0,552.4,-9.3,390,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2192,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5982,-0.48,-146.0,579.2,-8.8,400,5988,0.00,2.28,0.00,0.000,4,0.000,0.065,3007,3614,3392,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6056,-0.48,-146.0,585.0,-9.3,402,6061,0.12,2.17,0.00,0.000,6,0.132,0.045,3044,2190,3391,0,0,0,0,0,0,25.69,25.86,28.83
$GC,6370,-0.48,-146.0,609.3,-7.3,413,6375,0.00,2.25,0.00,0.000,4,0.000,0.066,3035,3602,3391,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6407,-0.48,-146.0,611.6,-7.4,414,6411,0.00,2.15,0.00,0.000,6,0.000,0.045,3035,2192,3391,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6730,-0.48,-146.0,638.0,-8.1,425,6735,0.00,2.28,0.00,0.000,4,0.000,0.067,3025,3613,3391,0,0,0,0,0,0,28.83,25.54,28.83
$GC,6762,-0.48,-146.0,640.5,-8.1,426,6766,0.00,2.15,0.00,0.000,6,0.000,0.046,3025,2204,3391,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7084,-0.48,-146.0,668.7,-8.6,437,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2201,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7385,-0.48,-146.0,693.8,-8.3,447,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2201,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7684,-0.48,-146.0,717.8,-7.9,457,7690,0.00,2.25,0.00,0.000,4,0.000,0.066,3015,3609,3390,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7707,-0.48,-146.0,717.8,-7.9,457,7714,0.00,2.17,0.00,0.000,6,0.000,0.046,3015,2188,3390,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8015,-0.48,-146.0,744.5,-8.0,468,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2187,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8314,-0.48,-146.0,767.8,-7.8,478,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2186,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8615,-0.48,-146.0,790.0,-7.3,488,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2187,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8914,-0.48,-146.0,812.6,-7.4,498,8920,0.00,2.30,0.00,0.000,4,0.000,0.067,3005,3608,3388,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8953,-0.48,-146.0,814.9,-7.5,499,8958,0.12,2.17,0.00,0.000,6,0.129,0.047,3041,2197,3387,0,0,0,0,0,0,25.63,25.81,28.83
$GC,9271,-0.48,-146.0,834.6,-5.9,510,9276,0.00,2.28,0.00,0.000,4,0.000,0.067,3033,3610,3387,0,0,0,0,0,0,28.83,25.45,28.83
$GC,9304,-0.48,-146.0,836.4,-5.9,511,9308,0.00,2.17,0.00,0.000,6,0.000,0.047,3033,2195,3387,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9627,-0.48,-146.0,856.2,-5.8,522,9628,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2194,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9926,-0.48,-146.0,873.3,-5.6,532,9932,0.00,2.28,0.00,0.000,4,0.000,0.067,3023,3604,3387,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9949,-0.48,-146.0,873.3,-5.6,532,9958,0.00,2.17,0.00,0.000,6,0.000,0.047,3023,2188,3387,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10257,-0.48,-146.0,893.0,-6.0,543,10263,0.00,2.28,0.00,0.000,4,0.000,0.068,3013,3601,3387,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10289,-0.48,-146.0,895.0,-6.1,544,10294,0.00,2.15,0.00,0.000,6,0.000,0.047,3013,2203,3386,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10613,-0.48,-146.0,917.1,-7.0,555,10614,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2201,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10912,-0.48,-146.0,938.7,-7.3,565,10917,0.00,2.28,0.00,0.000,4,0.000,0.068,3004,3611,3385,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10990,-0.48,-146.0,943.4,-7.8,567,10994,0.12,2.17,0.00,0.000,6,0.130,0.047,3040,2199,3385,0,0,0,0,0,0,25.58,25.76,28.83
$GC,11298,-0.48,-146.0,963.5,-6.2,577,11304,0.00,2.28,0.00,0.000,4,0.000,0.068,3032,3606,3385,0,0,0,0,0,0,28.83,25.40,28.83
$GC,11335,-0.48,-146.0,965.4,-6.1,578,11339,0.00,2.20,0.00,0.000,6,0.000,0.048,3032,2191,3385,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11653,-0.48,-146.0,986.7,-6.4,589,11654,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2188,3385,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11709,begin apogee
$GC,11717,-0.22,0.0,990.3,-6.1,591,11850,0.25,0.00,128.88,1.178,6,0.112,0.000,3119,2332,2794,0,0,0,0,0,0,25.76,28.83,23.30
$STATE,11853,end apogee,CONTROL_FINISHED_OK
$STATE,11853,begin climb
$GC,11856,0.48,146.0,993.8,0.0,595,12008,0.68,2.58,138.20,1.139,4,0.077,0.066,3348,3724,2195,0,0,0,0,0,0,24.43,23.37,22.36
$GC,12036,0.49,167.3,985.8,6.5,601,12064,0.00,2.35,20.75,1.061,6,0.000,0.048,3359,2331,2112,0,0,0,0,0,0,28.83,23.90,22.62
$GC,12374,0.49,167.3,947.4,10.5,613,12375,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,2331,2103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12674,0.49,167.3,916.9,10.1,623,12679,0.00,2.28,0.00,0.000,4,0.000,0.069,3359,3721,2102,0,0,0,0,0,0,28.83,25.29,28.83
$GC,12696,0.49,167.3,916.9,10.1,623,12703,0.00,2.20,0.00,0.000,6,0.000,0.050,3370,2329,2101,0,0,0,0,0,0,28.83,25.46,28.83
$GC,13003,0.49,167.3,880.7,11.0,634,13004,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2324,2101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13304,0.49,167.3,847.5,10.8,644,13305,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2324,2100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13603,0.49,167.3,816.2,10.1,654,13604,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2324,2100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13903,0.49,167.3,785.9,10.1,664,13909,0.00,2.30,0.00,0.000,4,0.000,0.069,3369,3733,2099,0,0,0,0,0,0,28.83,25.55,28.83
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$STATE,23222,end climb,SURFACE_DEPTH_REACHED
$STATE,23222,begin surface coast
$FINISH,1.3,1.008405
$STATE,23260,end surface coast,CONTROL_FINISHED_OK
$STATE,23260,begin surface
$SM_CCo,23340,0.00,0.000,0,0,1325,360.59
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$IRIDIUM_FIX,4719.74,-12533.00,211112,181837
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.60
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,22.4,41.386
$10V_AH,10.1,34.402
$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
$DEVICE_SECS,21.775,156.250,445.375,0.000,0.000,25.744,34.421,214.937,0.000,0.000,14.276,3319.151,16689.412,544.071,2797.007,389.973,0.000,1879.907,0.000,2496.669,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,888.254,751.050,516.927,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296772
$DATA_FILE_SIZE,73536,1291
$CAP_FILE_SIZE,178701,0
$CFSIZE,260165632,233238528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,185.4,1
$GPS,221112,080605,4740.010,-12529.785,30,1.2,30,18.7