version: 66.11
glider: 187
mission: 2
dive: 367
start: 12 10 112 9 3 40
data:
$ID,187
$MISSION,2
$DIVE,367
$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,470
$T_MISSION,520
$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,140
$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,-1588398.2
$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,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$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
$GPS1,101212,085635,4736.812,-12539.085,39,0.9,44,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-76.9
$GPS2,101212,090307,4736.802,-12539.060,14,1.7,14,18.7
$SPEED_LIMITS,0.122,0.210
$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,52.6,45436,-13.3,-7.021,-18.50
$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,17,-0.47,-136.3,0.0,0.0,0,71,0.00,0.00,-52.22,0.000,2,0.000,0.000,104,2198,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.47,-136.3,3.2,-2.3,9,110,11.48,2.28,-17.85,0.000,4,0.216,0.065,3035,795,3352,0,0,0,0,0,0,24.89,25.54,26.17
$GC,247,-0.47,-136.3,30.3,-14.2,40,254,0.00,2.20,0.00,0.000,6,0.000,0.051,3027,2199,3355,0,0,0,0,0,0,28.83,25.55,28.83
$GC,562,-0.47,-136.3,77.1,-13.2,101,568,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2199,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,874,-0.47,-136.3,114.4,-10.0,162,880,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2199,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1188,-0.47,-136.3,142.9,-9.3,190,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2199,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1488,-0.47,-136.3,171.3,-9.7,210,1494,0.00,2.15,0.00,0.000,4,0.000,0.050,3027,800,3357,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1535,-0.47,-136.3,175.9,-10.1,213,1539,0.00,2.17,0.00,0.000,6,0.000,0.050,3017,2201,3357,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1849,-0.47,-136.3,209.1,-10.8,232,1854,0.00,2.22,0.00,0.000,4,0.000,0.063,3007,3606,3357,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1880,-0.47,-136.3,211.2,-10.8,233,1888,0.12,2.17,0.00,0.000,6,0.132,0.044,3042,2185,3357,0,0,0,0,0,0,25.68,25.86,28.83
$GC,2188,-0.47,-136.3,238.2,-7.9,249,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2184,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2488,-0.47,-136.3,261.5,-7.8,264,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2184,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2787,-0.47,-136.3,285.6,-7.8,279,2793,0.00,2.30,0.00,0.000,4,0.000,0.063,3034,3613,3357,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2830,-0.47,-136.3,288.9,-8.1,281,2834,0.00,2.17,0.00,0.000,6,0.000,0.045,3034,2200,3357,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3143,-0.47,-136.3,315.6,-8.5,297,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2197,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3443,-0.47,-136.3,342.8,-9.1,312,3448,0.00,2.25,0.00,0.000,4,0.000,0.065,3025,3601,3357,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3470,-0.47,-136.3,344.7,-9.2,313,3475,0.00,2.15,0.00,0.000,6,0.000,0.046,3024,2201,3357,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3779,-0.47,-136.3,374.9,-9.5,328,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2199,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4077,-0.47,-136.3,401.7,-9.0,343,4083,0.00,2.20,0.00,0.000,4,0.000,0.054,3024,793,3356,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4108,-0.47,-136.3,404.4,-9.0,344,4114,0.00,2.20,0.00,0.000,6,0.000,0.054,3016,2202,3355,0,0,0,0,0,0,28.83,25.68,28.83
$GC,4438,-0.47,-136.3,435.2,-9.4,355,4443,0.00,2.22,0.00,0.000,4,0.000,0.065,3007,3605,3355,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4475,-0.47,-136.3,438.1,-9.5,356,4480,0.12,2.17,0.00,0.000,6,0.131,0.047,3043,2191,3355,0,0,0,0,0,0,25.65,25.82,28.83
$GC,4793,-0.47,-136.3,464.1,-7.7,367,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2188,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5094,-0.47,-136.3,486.4,-7.4,377,5099,0.00,2.28,0.00,0.000,4,0.000,0.066,3034,3608,3353,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5126,-0.47,-136.3,488.8,-7.5,378,5130,0.00,2.17,0.00,0.000,6,0.000,0.047,3034,2194,3353,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5448,-0.47,-136.3,513.5,-7.6,389,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2193,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5749,-0.47,-136.3,535.8,-7.3,399,5755,0.00,2.30,0.00,0.000,4,0.000,0.067,3025,3609,3353,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5771,-0.47,-136.3,535.8,-7.3,399,5779,0.00,2.17,0.00,0.000,6,0.000,0.047,3025,2199,3353,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6079,-0.47,-136.3,559.2,-6.9,410,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2199,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6379,-0.47,-136.3,580.6,-7.3,420,6385,0.00,2.30,0.00,0.000,4,0.000,0.067,3014,3609,3352,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6422,-0.47,-136.3,582.9,-7.4,421,6426,0.00,2.17,0.00,0.000,6,0.000,0.047,3014,2203,3352,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6735,-0.47,-136.3,609.4,-8.3,432,6740,0.00,2.17,0.00,0.000,4,0.000,0.054,3014,797,3351,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6757,-0.47,-136.3,609.4,-8.3,432,6765,0.12,2.20,0.00,0.000,6,0.138,0.054,3040,2201,3351,0,0,0,0,0,0,25.50,25.62,28.83
$GC,7064,-0.47,-136.3,632.6,-6.7,443,7070,0.00,2.25,0.00,0.000,4,0.000,0.067,3032,3606,3351,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7117,-0.47,-136.3,634.7,-6.7,444,7124,0.00,2.17,0.00,0.000,6,0.000,0.048,3032,2197,3351,0,0,0,0,0,0,28.83,25.78,28.83
$GC,7424,-0.47,-136.3,657.9,-7.1,455,7426,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2197,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7724,-0.47,-136.3,678.3,-6.7,465,7725,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2197,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8024,-0.47,-136.3,697.2,-6.4,475,8030,0.00,2.28,0.00,0.000,4,0.000,0.067,3022,3606,3350,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8048,-0.47,-136.3,697.2,-6.4,475,8055,0.00,2.17,0.00,0.000,6,0.000,0.048,3022,2202,3350,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8354,-0.47,-136.3,720.6,-7.1,486,8355,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2202,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8655,-0.47,-136.3,741.6,-6.7,496,8660,0.00,2.30,0.00,0.000,4,0.000,0.068,3012,3609,3350,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8684,-0.47,-136.3,743.7,-6.8,497,8691,0.08,2.20,0.00,0.000,6,0.103,0.048,3042,2199,3350,0,0,0,0,0,0,25.59,25.74,28.83
$GC,9015,-0.47,-136.3,763.2,-5.9,508,9016,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2197,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9314,-0.47,-136.3,780.7,-5.8,518,9320,0.00,2.28,0.00,0.000,4,0.000,0.068,3034,3606,3348,0,0,0,0,0,0,28.83,25.40,28.83
$GC,9348,-0.47,-136.3,782.5,-5.9,519,9352,0.00,2.20,0.00,0.000,6,0.000,0.049,3034,2192,3348,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9670,-0.47,-136.3,803.1,-6.2,530,9671,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2190,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9971,-0.47,-136.3,821.0,-5.8,540,9976,0.00,2.30,0.00,0.000,4,0.000,0.067,3024,3612,3348,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10004,-0.47,-136.3,822.8,-5.8,541,10008,0.00,2.20,0.00,0.000,6,0.000,0.049,3024,2197,3347,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10327,-0.47,-136.3,842.3,-6.0,552,10328,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2196,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10626,-0.47,-136.3,862.1,-6.6,562,10632,0.00,2.30,0.00,0.000,4,0.000,0.068,3014,3612,3347,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10665,-0.47,-136.3,864.3,-6.6,563,10669,0.00,2.22,0.00,0.000,6,0.000,0.050,3013,2192,3347,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10982,-0.47,-136.3,887.9,-7.5,574,10988,0.00,2.33,0.00,0.000,4,0.000,0.067,3004,3612,3347,0,0,0,0,0,0,28.83,25.36,28.83
$GC,11005,-0.47,-136.3,887.9,-7.5,574,11012,0.15,2.20,0.00,0.000,6,0.119,0.049,3049,2200,3347,0,0,0,0,0,0,25.51,25.68,28.83
$GC,11313,-0.47,-136.3,907.5,-5.7,585,11314,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2199,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11612,-0.47,-136.3,924.3,-5.7,595,11613,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2199,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11912,-0.47,-136.3,942.1,-5.9,605,11913,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2199,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12213,-0.47,-136.3,958.4,-5.1,615,12214,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2199,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12512,-0.47,-136.3,973.3,-4.9,625,12513,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2199,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12812,-0.47,-136.3,987.0,-4.3,635,12813,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2199,3346,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12899,begin apogee
$GC,12907,-0.22,0.0,990.8,-4.3,638,13033,0.20,0.00,121.70,1.174,6,0.111,0.000,3122,2339,2793,0,0,0,0,0,0,25.89,28.83,23.15
$STATE,13036,end apogee,CONTROL_FINISHED_OK
$STATE,13036,begin climb
$GC,13039,0.47,136.3,993.4,0.0,642,13179,0.65,2.58,130.95,1.135,4,0.073,0.067,3347,3722,2237,0,0,0,0,0,0,24.45,23.34,22.16
$GC,13195,0.48,148.3,986.5,6.5,647,13214,0.00,2.40,12.57,0.994,6,0.000,0.049,3357,2328,2189,0,0,0,0,0,0,28.83,23.71,22.32
$GC,13532,0.48,148.3,950.9,10.1,659,13538,0.00,2.30,0.00,0.000,4,0.000,0.058,3368,920,2179,0,0,0,0,0,0,28.83,25.04,28.83
$GC,13555,0.48,148.3,950.9,10.1,659,13563,0.00,2.30,0.00,0.000,6,0.000,0.058,3368,2328,2179,0,0,0,0,0,0,28.83,25.10,28.83
$GC,13863,0.48,148.3,915.8,10.7,670,13868,0.00,2.30,0.00,0.000,4,0.000,0.070,3368,3737,2178,0,0,0,0,0,0,28.83,25.38,28.83
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$STATE,25283,end climb,SURFACE_DEPTH_REACHED
$STATE,25283,begin surface coast
$FINISH,1.4,1.001252
$STATE,25344,end surface coast,CONTROL_FINISHED_OK
$STATE,25344,begin surface
$SM_CCo,25364,8.50,0.086,1,0,1571,300.00
$SM_GC,3.13,8.25,0.15,8.50,0.024,0.079,0.086,105,2213,1571,-9.48,1.30,300.00,0,0,0,0,1,0,25.98,26.01,25.43
$IRIDIUM_FIX,4716.56,-12547.10,101212,010139
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.47
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.30
$XPDR_PINGS,4
$24V_AH,22.2,50.969
$10V_AH,9.9,42.140
$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
$DEVICE_SECS,22.050,206.725,393.750,8.500,0.000,26.540,35.783,190.898,1.000,0.000,15.319,3679.562,18086.754,563.051,2997.619,435.634,0.000,2050.854,0.000,2708.198,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,971.401,742.899,388.881,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296760
$DATA_FILE_SIZE,76848,1410
$CAP_FILE_SIZE,205743,0
$CFSIZE,260165632,227282944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.103,289.9,1
$GPS,101212,160828,4738.728,-12535.464,48,2.3,67,18.7