version: 66.11
glider: 187
mission: 2
dive: 485
start: 1 12 113 16 16 19
data:
$ID,187
$MISSION,2
$DIVE,485
$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,10
$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,4
$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,-1588599.5
$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,36
$R_STBD_OVSHOOT,25
$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,20
$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
$GPS1,120113,160800,4728.183,-12555.709,52,1.5,52,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-77.7
$GPS2,120113,161548,4728.179,-12555.756,10,1.4,15,18.7
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,10000.000
$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,49.9,71615,-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,16,-0.47,-136.3,0.0,0.0,0,74,0.00,0.00,-55.42,0.000,2,0.000,0.000,110,2190,2777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.47,-136.3,3.3,-1.4,10,110,11.70,2.30,-13.43,0.000,4,0.218,0.073,3031,3609,3351,0,0,0,0,0,0,24.70,25.41,26.20
$GC,330,-0.47,-136.3,40.8,-12.9,58,337,0.00,2.20,0.00,0.000,6,0.000,0.044,3030,2191,3355,0,0,0,0,0,0,28.83,25.67,28.83
$GC,642,-0.47,-136.3,79.3,-10.8,119,649,0.00,2.17,0.00,0.000,4,0.000,0.050,3030,786,3355,0,0,0,0,0,0,28.83,25.60,28.83
$GC,722,-0.47,-136.3,87.9,-10.3,134,728,0.00,2.20,0.00,0.000,6,0.000,0.050,3021,2201,3355,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1033,-0.47,-136.3,121.8,-10.4,193,1042,0.00,2.30,0.00,0.000,4,0.000,0.061,3011,3613,3355,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1093,-0.47,-136.3,128.5,-11.4,199,1102,0.08,2.25,0.00,0.000,6,0.107,0.043,3040,2187,3355,0,0,0,0,0,0,25.61,25.80,28.83
$GC,1405,-0.47,-136.3,158.1,-9.3,220,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2187,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1703,-0.47,-136.3,183.8,-7.9,240,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2187,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2009,-0.47,-136.3,206.8,-7.3,259,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2187,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2308,-0.47,-136.3,229.5,-7.7,274,2313,0.00,2.35,0.00,0.000,4,0.000,0.061,3031,3613,3355,0,0,0,0,0,0,28.83,25.55,28.83
$GC,2348,-0.47,-136.3,232.8,-8.0,276,2353,0.00,2.25,0.00,0.000,6,0.000,0.044,3031,2196,3355,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2668,-0.47,-136.3,260.3,-8.8,292,2673,0.00,2.20,0.00,0.000,4,0.000,0.050,3031,806,3355,0,0,0,0,0,0,28.83,25.66,28.83
$GC,2708,-0.47,-136.3,263.9,-8.8,294,2713,0.00,2.25,0.00,0.000,6,0.000,0.050,3023,2207,3355,0,0,0,0,0,0,28.83,25.66,28.83
$GC,3028,-0.47,-136.3,292.4,-8.8,310,3033,0.00,2.30,0.00,0.000,4,0.000,0.063,3012,3609,3355,0,0,0,0,0,0,28.83,25.52,28.83
$GC,3089,-0.47,-136.3,297.8,-8.9,313,3094,0.00,2.22,0.00,0.000,6,0.000,0.044,3012,2199,3355,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3408,-0.47,-136.3,326.9,-9.1,329,3414,0.12,2.22,0.00,0.000,4,0.141,0.050,3048,793,3355,0,0,0,0,0,0,26.07,25.63,28.83
$GC,3436,-0.47,-136.3,328.7,-8.9,330,3440,0.00,2.28,0.00,0.000,6,0.000,0.051,3042,2206,3356,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3739,-0.47,-136.3,351.1,-7.3,345,3743,0.00,2.30,0.00,0.000,4,0.000,0.064,3031,3611,3355,0,0,0,0,0,0,28.83,25.49,28.83
$GC,3826,-0.47,-136.3,357.4,-7.9,349,3830,0.00,2.25,0.00,0.000,6,0.000,0.044,3031,2199,3355,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4128,-0.47,-136.3,381.3,-7.6,364,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2196,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4448,-0.47,-136.3,406.0,-7.9,379,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2196,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4748,-0.47,-136.3,429.7,-7.9,389,4753,0.00,2.33,0.00,0.000,4,0.000,0.064,3021,3608,3353,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4786,-0.47,-136.3,432.3,-7.9,390,4790,0.00,2.25,0.00,0.000,6,0.000,0.045,3021,2200,3353,0,0,0,0,0,0,28.83,25.78,28.83
$GC,5099,-0.47,-136.3,458.4,-8.1,401,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2198,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5398,-0.47,-136.3,482.5,-8.1,411,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2198,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5698,-0.47,-136.3,505.0,-7.2,421,5704,0.00,2.33,0.00,0.000,4,0.000,0.066,3011,3606,3352,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5747,-0.47,-136.3,507.5,-7.5,422,5752,0.12,2.28,0.00,0.000,6,0.125,0.046,3048,2188,3352,0,0,0,0,0,0,25.60,25.75,28.83
$GC,6048,-0.47,-136.3,526.0,-5.4,432,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2186,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6348,-0.47,-136.3,542.6,-5.6,442,6354,0.00,2.35,0.00,0.000,4,0.000,0.066,3040,3606,3352,0,0,0,0,0,0,28.83,25.42,28.83
$GC,6387,-0.47,-136.3,544.4,-5.6,443,6393,0.00,2.25,0.00,0.000,6,0.000,0.047,3040,2199,3351,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6708,-0.47,-136.3,565.6,-6.6,454,6710,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2198,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7008,-0.47,-136.3,584.3,-6.1,464,7010,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2198,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7308,-0.47,-136.3,603.0,-6.0,474,7314,0.00,2.25,0.00,0.000,4,0.000,0.054,3040,793,3350,0,0,0,0,0,0,28.83,25.56,28.83
$GC,7341,-0.47,-136.3,605.0,-6.2,475,7345,0.00,2.22,0.00,0.000,6,0.000,0.054,3032,2201,3350,0,0,0,0,0,0,28.83,25.55,28.83
$GC,7659,-0.47,-136.3,626.1,-6.7,486,7664,0.00,2.33,0.00,0.000,4,0.000,0.066,3021,3612,3350,0,0,0,0,0,0,28.83,25.40,28.83
$GC,7696,-0.47,-136.3,628.1,-6.8,487,7700,0.00,2.28,0.00,0.000,6,0.000,0.047,3021,2196,3350,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8009,-0.47,-136.3,651.0,-7.3,498,8010,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2194,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8308,-0.47,-136.3,673.5,-7.5,508,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2194,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8608,-0.47,-136.3,695.9,-7.4,518,8615,0.00,2.38,0.00,0.000,4,0.000,0.066,3012,3616,3349,0,0,0,0,0,0,28.83,25.38,28.83
$GC,8669,-0.47,-136.3,700.5,-7.6,520,8675,0.00,2.25,0.00,0.000,6,0.000,0.047,3012,2208,3349,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8998,-0.47,-136.3,725.3,-7.2,531,9005,0.12,2.33,0.00,0.000,4,0.138,0.066,3039,3606,3349,0,0,0,0,0,0,26.08,25.37,28.83
$GC,9029,-0.47,-136.3,727.2,-7.0,532,9034,0.00,2.25,0.00,0.000,6,0.000,0.047,3039,2198,3349,0,0,0,0,0,0,28.83,25.71,28.83
$GC,9360,-0.47,-136.3,745.6,-5.6,543,9361,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2196,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9659,-0.47,-136.3,763.8,-6.2,553,9665,0.00,2.35,0.00,0.000,4,0.000,0.067,3029,3610,3348,0,0,0,0,0,0,28.83,25.35,28.83
$GC,9697,-0.47,-136.3,765.8,-6.3,554,9701,0.00,2.28,0.00,0.000,6,0.000,0.048,3029,2196,3348,0,0,0,0,0,0,28.83,25.69,28.83
$GC,10010,-0.47,-136.3,786.9,-6.4,565,10012,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2195,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10309,-0.47,-136.3,805.6,-6.1,575,10315,0.00,2.35,0.00,0.000,4,0.000,0.067,3020,3607,3348,0,0,0,0,0,0,28.83,25.34,28.83
$GC,10340,-0.47,-136.3,807.7,-6.2,576,10345,0.00,2.25,0.00,0.000,6,0.000,0.047,3020,2195,3347,0,0,0,0,0,0,28.83,25.68,28.83
$GC,10670,-0.47,-136.3,829.8,-6.6,587,10671,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2193,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10970,-0.47,-136.3,849.0,-6.3,597,10971,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2193,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11269,-0.47,-136.3,867.3,-5.9,607,11275,0.00,2.35,0.00,0.000,4,0.000,0.067,3011,3610,3346,0,0,0,0,0,0,28.83,25.33,28.83
$GC,11307,-0.47,-136.3,869.2,-6.0,608,11312,0.12,2.28,0.00,0.000,6,0.123,0.048,3048,2194,3347,0,0,0,0,0,0,25.53,25.67,28.83
$GC,11622,-0.47,-136.3,884.4,-4.9,619,11623,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2192,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11921,-0.47,-136.3,899.9,-5.2,629,11922,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2192,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12222,-0.47,-136.3,915.7,-5.4,639,12223,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2192,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12521,-0.47,-136.3,931.6,-5.2,649,12526,0.00,2.35,0.00,0.000,4,0.000,0.067,3042,3606,3346,0,0,0,0,0,0,28.83,25.29,28.83
$GC,12551,-0.47,-136.3,933.3,-5.2,650,12556,0.00,2.25,0.00,0.000,6,0.000,0.048,3041,2195,3347,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12881,-0.47,-136.3,949.6,-5.0,661,12882,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2195,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13181,-0.47,-136.3,965.2,-5.3,671,13187,0.00,2.35,0.00,0.000,4,0.000,0.067,3032,3603,3345,0,0,0,0,0,0,28.83,25.27,28.83
$GC,13219,-0.47,-136.3,966.8,-5.3,672,13223,0.00,2.28,0.00,0.000,6,0.000,0.049,3032,2193,3345,0,0,0,0,0,0,28.83,25.64,28.83
$GC,13531,-0.47,-136.3,985.7,-5.8,683,13533,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2191,3345,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13618,begin apogee
$GC,13626,-0.22,0.0,990.8,-5.6,686,13757,0.25,0.00,125.62,1.165,6,0.108,0.000,3119,2335,2793,0,0,0,0,0,0,25.73,28.83,22.68
$STATE,13758,end apogee,CONTROL_FINISHED_OK
$STATE,13758,begin climb
$GC,13761,0.47,136.3,994.7,0.0,690,13902,0.68,2.60,133.88,1.130,4,0.071,0.067,3347,3725,2238,0,0,0,0,0,0,24.36,23.31,21.82
$GC,13945,0.47,141.3,985.8,6.8,697,13957,0.00,2.38,5.75,0.820,6,0.000,0.048,3357,2330,2217,0,0,0,0,0,0,28.83,23.96,22.09
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$STATE,26370,end climb,SURFACE_DEPTH_REACHED
$STATE,26370,begin surface coast
$FINISH,1.5,1.012555
$STATE,26412,end surface coast,CONTROL_FINISHED_OK
$STATE,26412,begin surface
$SM_CCo,26493,0.00,0.000,0,0,1520,312.51
$SM_GC,2.41,8.25,0.17,0.00,0.027,0.076,0.000,112,2197,1520,-9.46,1.24,312.51,0,0,0,0,0,0,25.98,26.03,28.83
$IRIDIUM_FIX,4707.04,-12602.58,120113,080825
$TT8_MAMPS,0.027713,0.027713
$HUMID,46.53
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.10
$XPDR_PINGS,2
$24V_AH,21.8,67.430
$10V_AH,9.8,53.864
$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
$DEVICE_SECS,22.175,206.750,415.375,0.000,0.000,26.517,36.030,254.036,0.500,0.000,16.571,3781.752,19357.340,705.101,2637.207,466.503,0.000,1995.396,0.000,2302.100,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1012.313,766.282,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296920
$DATA_FILE_SIZE,80110,1469
$CAP_FILE_SIZE,201365,0
$CFSIZE,260165632,217026560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066,335.3,1
$GPS,120113,233905,4730.202,-12551.987,34,0.9,34,18.7