version: 66.11
glider: 187
mission: 2
dive: 372
start: 12 11 112 20 28 57
data:
$ID,187
$MISSION,2
$DIVE,372
$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,3
$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,-1588404.9
$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,45
$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
$GPS1,111212,201654,4745.427,-12519.953,46,1.8,46,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-74.6
$GPS2,111212,202824,4745.386,-12519.813,12,1.6,17,18.7
$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,47.5,16956,-13.3,-7.021,-18.50
$D_GRID,828
$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,-136.3,0.0,0.0,0,82,0.00,0.00,-62.80,0.000,2,0.000,0.000,114,2192,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.47,-136.3,3.1,-2.8,11,118,11.57,2.25,-14.50,0.000,4,0.220,0.065,3030,804,3352,0,0,0,0,0,0,24.87,25.49,26.12
$GC,348,-0.47,-136.3,46.5,-16.4,61,356,0.00,2.17,0.00,0.000,6,0.000,0.050,3022,2202,3354,0,0,0,0,0,0,28.83,25.58,28.83
$GC,661,-0.47,-136.3,90.4,-13.3,122,668,0.00,2.17,0.00,0.000,4,0.000,0.050,3023,803,3355,0,0,0,0,0,0,28.83,25.63,28.83
$GC,811,-0.47,-136.3,108.1,-11.5,150,818,0.12,2.20,0.00,0.000,6,0.142,0.050,3047,2205,3356,0,0,0,0,0,0,25.53,25.67,28.83
$GC,1132,-0.47,-136.3,138.3,-9.1,187,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2205,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1433,-0.47,-136.3,163.8,-8.4,207,1438,0.00,2.20,0.00,0.000,4,0.000,0.062,3039,3601,3356,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1469,-0.47,-136.3,166.3,-8.3,209,1477,0.00,2.15,0.00,0.000,6,0.000,0.044,3039,2190,3356,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1779,-0.47,-136.3,193.3,-9.1,230,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2190,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2091,-0.47,-136.3,221.6,-9.0,247,2097,0.00,2.28,0.00,0.000,4,0.000,0.063,3028,3611,3356,0,0,0,0,0,0,28.83,25.61,28.83
$GC,2131,-0.47,-136.3,225.1,-8.9,249,2137,0.00,2.15,0.00,0.000,6,0.000,0.044,3028,2203,3356,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2452,-0.47,-136.3,255.2,-9.7,265,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2201,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2751,-0.47,-136.3,283.3,-9.4,280,2757,0.00,2.17,0.00,0.000,4,0.000,0.051,3028,794,3356,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2812,-0.47,-136.3,288.9,-9.4,283,2817,0.00,2.17,0.00,0.000,6,0.000,0.051,3019,2206,3355,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3134,-0.47,-136.3,319.6,-9.5,299,3139,0.00,2.22,0.00,0.000,4,0.000,0.063,3009,3611,3355,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3165,-0.47,-136.3,321.5,-9.4,300,3173,0.12,2.17,0.00,0.000,6,0.130,0.044,3044,2189,3355,0,0,0,0,0,0,25.70,25.86,28.83
$GC,3473,-0.47,-136.3,345.5,-7.4,316,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2187,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3772,-0.47,-136.3,368.5,-8.1,331,3778,0.00,2.30,0.00,0.000,4,0.000,0.064,3036,3610,3354,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3814,-0.47,-136.3,371.9,-8.4,333,3819,0.00,2.15,0.00,0.000,6,0.000,0.045,3036,2196,3354,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4133,-0.47,-136.3,398.5,-7.9,349,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2193,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4452,-0.47,-136.3,423.7,-7.8,360,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2193,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4752,-0.47,-136.3,446.5,-7.9,370,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2193,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5053,-0.47,-136.3,470.7,-8.1,380,5054,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2193,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5352,-0.47,-136.3,494.4,-7.7,390,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2193,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5652,-0.47,-136.3,517.2,-7.6,400,5656,0.00,2.17,0.00,0.000,4,0.000,0.054,3036,800,3352,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5684,-0.47,-136.3,519.8,-7.7,401,5690,0.00,2.20,0.00,0.000,6,0.000,0.053,3028,2202,3351,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6014,-0.47,-136.3,548.2,-8.6,412,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2202,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6315,-0.47,-136.3,571.8,-7.9,422,6321,0.00,2.25,0.00,0.000,4,0.000,0.066,3017,3612,3351,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6352,-0.47,-136.3,574.3,-8.0,423,6356,0.00,2.17,0.00,0.000,6,0.000,0.047,3017,2203,3350,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6671,-0.47,-136.3,601.6,-8.2,434,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2200,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6969,-0.47,-136.3,626.6,-8.3,444,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2200,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7270,-0.47,-136.3,650.3,-8.0,454,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2200,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7570,-0.47,-136.3,672.9,-7.4,464,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2200,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7870,-0.47,-136.3,694.5,-7.3,474,7875,0.00,2.30,0.00,0.000,4,0.000,0.067,3007,3615,3348,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7912,-0.47,-136.3,696.9,-7.5,475,7917,0.12,2.20,0.00,0.000,6,0.128,0.048,3043,2197,3348,0,0,0,0,0,0,25.61,25.77,28.83
$GC,8227,-0.47,-136.3,717.2,-6.1,486,8228,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2196,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8526,-0.47,-136.3,736.0,-6.3,496,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2196,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8826,-0.47,-136.3,754.2,-6.0,506,8827,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2196,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9126,-0.47,-136.3,771.7,-5.9,516,9132,0.00,2.22,0.00,0.000,4,0.000,0.056,3043,789,3347,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9159,-0.47,-136.3,773.5,-5.9,517,9163,0.00,2.25,0.00,0.000,6,0.000,0.055,3038,2205,3347,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9481,-0.47,-136.3,792.4,-5.9,528,9486,0.00,2.25,0.00,0.000,4,0.000,0.067,3027,3605,3346,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9535,-0.47,-136.3,794.2,-6.0,529,9542,0.00,2.22,0.00,0.000,6,0.000,0.049,3027,2188,3346,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9841,-0.47,-136.3,815.4,-6.5,540,9842,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2188,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10141,-0.47,-136.3,826.0,-0.0,550,10147,0.00,2.30,0.00,0.000,4,0.000,0.069,3027,3608,3345,0,0,0,0,0,0,28.83,25.38,28.83
$STATE,10228,end dive,NO_VERTICAL_VELOCITY
$STATE,10228,begin apogee
$GC,10238,-0.22,0.0,825.9,0.0,553,10362,0.25,0.00,119.25,1.065,6,0.081,0.000,3126,2325,2795,0,0,0,0,0,0,25.95,28.83,23.35
$STATE,10365,end apogee,CONTROL_FINISHED_OK
$STATE,10365,begin climb
$GC,10368,0.47,136.3,825.8,0.0,557,10506,0.62,2.47,126.25,1.032,4,0.064,0.055,3361,932,2237,0,0,0,0,0,0,24.65,23.59,22.45
$GC,10522,0.49,181.0,820.4,5.2,562,10571,0.00,2.40,41.97,0.994,6,0.000,0.054,3361,2328,2056,0,0,0,0,0,0,28.83,23.87,22.39
$GC,10897,0.49,181.0,783.2,9.7,575,10902,0.00,2.33,0.00,0.000,4,0.000,0.069,3361,3735,2046,0,0,0,0,0,0,28.83,25.06,28.83
$GC,10933,0.49,181.0,780.0,9.9,576,10938,0.00,2.25,0.00,0.000,6,0.000,0.050,3371,2333,2045,0,0,0,0,0,0,28.83,25.26,28.83
$GC,11251,0.49,181.0,743.8,11.1,587,11252,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,2328,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11551,0.49,181.0,711.6,10.3,597,11556,0.00,2.22,0.00,0.000,4,0.000,0.058,3381,917,2043,0,0,0,0,0,0,28.83,25.59,28.83
$GC,11583,0.49,181.0,708.5,10.2,598,11587,0.00,2.25,0.00,0.000,6,0.000,0.057,3381,2328,2044,0,0,0,0,0,0,28.83,25.60,28.83
$GC,11906,0.49,181.0,672.8,11.3,609,11911,0.00,2.30,0.00,0.000,4,0.000,0.069,3381,3735,2043,0,0,0,0,0,0,28.83,25.56,28.83
$GC,11954,0.49,181.0,668.9,11.7,610,11959,0.15,2.22,0.00,0.000,6,0.146,0.051,3351,2320,2042,0,0,0,0,0,0,25.51,25.75,28.83
$GC,12261,0.49,181.0,637.8,9.0,620,12262,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2315,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12561,0.49,181.0,611.6,8.6,630,12566,0.00,2.33,0.00,0.000,4,0.000,0.069,3352,3741,2042,0,0,0,0,0,0,28.83,25.58,28.83
$GC,12584,0.49,181.0,611.6,8.6,630,12592,0.00,2.22,0.00,0.000,6,0.000,0.050,3359,2322,2041,0,0,0,0,0,0,28.83,25.78,28.83
$GC,12891,0.49,181.0,584.3,7.9,641,12897,0.00,2.20,0.00,0.000,4,0.000,0.057,3370,920,2041,0,0,0,0,0,0,28.83,25.66,28.83
$GC,12934,0.49,181.0,582.1,7.7,642,12938,0.00,2.22,0.00,0.000,6,0.000,0.057,3369,2331,2041,0,0,0,0,0,0,28.83,25.67,28.83
$GC,13246,0.49,181.0,555.1,8.6,653,13252,0.00,2.25,0.00,0.000,4,0.000,0.070,3369,3730,2041,0,0,0,0,0,0,28.83,25.58,28.83
$GC,13306,0.49,181.0,548.8,9.6,655,13312,0.00,2.22,0.00,0.000,6,0.000,0.050,3379,2321,2040,0,0,0,0,0,0,28.83,25.78,28.83
$GC,13636,0.49,181.0,516.5,9.6,666,13642,0.00,2.20,0.00,0.000,4,0.000,0.058,3389,918,2040,0,0,0,0,0,0,28.83,25.65,28.83
$GC,13667,0.49,181.0,513.7,9.6,667,13673,0.10,2.22,0.00,0.000,6,0.116,0.057,3355,2325,2040,0,0,0,0,0,0,25.48,25.66,28.83
$GC,13996,0.49,181.0,487.6,7.7,678,14002,0.00,2.30,0.00,0.000,4,0.000,0.069,3355,3746,2040,0,0,0,0,0,0,28.83,25.55,28.83
$GC,14056,0.49,181.0,482.1,8.4,680,14062,0.00,2.25,0.00,0.000,6,0.000,0.050,3363,2320,2040,0,0,0,0,0,0,28.83,25.78,28.83
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$STATE,20088,end climb,SURFACE_DEPTH_REACHED
$STATE,20089,begin surface coast
$FINISH,1.3,1.024758
$STATE,20117,end surface coast,CONTROL_FINISHED_OK
$STATE,20118,begin surface
$SM_CCo,20199,0.00,0.000,0,0,1214,387.57
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.68
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.50
$XPDR_PINGS,1
$24V_AH,22.4,51.631
$10V_AH,9.9,42.691
$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,21.825,160.400,457.475,0.000,0.000,54.299,80.547,323.729,0.250,0.000,18.956,3088.895,14162.095,547.660,2701.788,379.396,0.000,1830.322,0.000,2185.841,0.000,0.535,0.000
$DEVICE_MAMPS,219.555,69.615,1064.880,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,823.482,651.872,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296736
$DATA_FILE_SIZE,66778,1200
$CAP_FILE_SIZE,170675,0
$CFSIZE,260165632,226873344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,255.1,1
$GPS,121212,020724,4746.167,-12516.918,70,0.9,70,18.7