version: 66.11
glider: 187
mission: 2
dive: 203
start: 10 29 112 21 8 51
data:
$ID,187
$MISSION,2
$DIVE,203
$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,-1588005
$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,38
$R_STBD_OVSHOOT,23
$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
$GPS1,291012,210136,4708.438,-12644.146,108,1.0,108,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-75.3
$GPS2,291012,210819,4708.484,-12644.197,15,1.2,15,18.6
$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,47.9,141751,-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,-146.0,0.0,0.0,0,81,0.00,0.00,-62.12,0.000,2,0.000,0.000,130,2161,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.48,-146.0,3.1,-3.3,10,120,11.35,2.40,-16.83,0.000,4,0.221,0.076,3028,3593,3392,0,0,0,0,0,0,25.13,25.50,25.98
$GC,273,-0.48,-146.0,37.9,-12.5,43,279,0.00,2.20,0.00,0.000,6,0.000,0.044,3027,2175,3395,0,0,0,0,0,0,28.83,25.67,28.83
$GC,594,-0.48,-146.0,83.7,-14.7,104,602,0.00,2.22,0.00,0.000,4,0.000,0.051,3028,770,3397,0,0,0,0,0,0,28.83,25.75,28.83
$GC,620,-0.48,-146.0,87.3,-13.8,108,629,0.00,2.22,0.00,0.000,6,0.000,0.050,3018,2175,3397,0,0,0,0,0,0,28.83,25.77,28.83
$GC,946,-0.48,-146.0,130.2,-13.2,160,952,0.00,2.22,0.00,0.000,4,0.000,0.061,3007,3586,3397,0,0,0,0,0,0,28.83,25.78,28.83
$GC,985,-0.48,-146.0,134.3,-13.3,162,993,0.08,2.22,0.00,0.000,6,0.115,0.043,3045,2164,3397,0,0,0,0,0,0,25.72,25.91,28.83
$GC,1293,-0.48,-146.0,166.2,-9.7,183,1298,0.00,2.12,0.00,0.000,4,0.000,0.050,3044,772,3397,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1314,-0.48,-146.0,167.6,-9.5,184,1323,0.00,2.22,0.00,0.000,6,0.000,0.050,3037,2181,3397,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1623,-0.48,-146.0,198.0,-9.4,205,1629,0.00,2.20,0.00,0.000,4,0.000,0.063,3026,3584,3397,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1670,-0.48,-146.0,202.0,-9.8,208,1674,0.00,2.15,0.00,0.000,6,0.000,0.044,3026,2175,3397,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1977,-0.48,-146.0,234.1,-10.1,223,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2169,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2279,-0.48,-146.0,263.8,-9.9,238,2284,0.00,2.12,0.00,0.000,4,0.000,0.052,3026,777,3396,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2306,-0.48,-146.0,265.9,-9.8,239,2315,0.00,2.17,0.00,0.000,6,0.000,0.051,3017,2185,3397,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2617,-0.48,-146.0,299.6,-10.7,255,2623,0.00,2.22,0.00,0.000,4,0.000,0.063,3006,3592,3396,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2658,-0.48,-146.0,304.0,-10.8,257,2664,0.08,2.15,0.00,0.000,6,0.114,0.045,3035,2169,3396,0,0,0,0,0,0,25.88,26.06,28.83
$GC,2978,-0.48,-146.0,333.6,-8.8,273,2983,0.00,2.25,0.00,0.000,4,0.000,0.063,3027,3588,3396,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3000,-0.48,-146.0,335.5,-8.9,274,3004,0.00,2.17,0.00,0.000,6,0.000,0.045,3026,2164,3396,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3313,-0.48,-146.0,363.2,-8.7,290,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2161,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3614,-0.48,-146.0,388.4,-8.3,305,3615,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2161,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3923,-0.48,-146.0,413.8,-8.2,318,3928,0.00,2.25,0.00,0.000,4,0.000,0.065,3017,3582,3393,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3952,-0.48,-146.0,416.4,-8.2,319,3958,0.00,2.17,0.00,0.000,6,0.000,0.047,3016,2166,3394,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4282,-0.48,-146.0,446.2,-9.3,330,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2165,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4583,-0.48,-146.0,473.4,-9.0,340,4588,0.00,2.25,0.00,0.000,4,0.000,0.066,3006,3585,3392,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4615,-0.48,-146.0,476.2,-9.0,341,4620,0.12,2.17,0.00,0.000,6,0.135,0.047,3042,2169,3392,0,0,0,0,0,0,25.92,26.08,28.83
$GC,4938,-0.48,-146.0,499.2,-6.9,352,4939,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2164,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5238,-0.48,-146.0,520.3,-7.2,362,5244,0.00,2.25,0.00,0.000,4,0.000,0.067,3034,3581,3391,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5307,-0.48,-146.0,524.9,-7.5,364,5313,0.00,2.17,0.00,0.000,6,0.000,0.047,3034,2162,3390,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5628,-0.48,-146.0,550.5,-7.9,375,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2160,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5928,-0.48,-146.0,573.0,-7.4,385,5934,0.00,2.30,0.00,0.000,4,0.000,0.067,3024,3591,3390,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5951,-0.48,-146.0,573.0,-7.4,385,5957,0.00,2.17,0.00,0.000,6,0.000,0.048,3024,2172,3390,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6258,-0.48,-146.0,598.8,-7.6,396,6259,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2171,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6558,-0.48,-146.0,621.7,-7.7,406,6563,0.00,2.30,0.00,0.000,4,0.000,0.067,3014,3593,3389,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6588,-0.48,-146.0,624.2,-7.8,407,6594,0.00,2.20,0.00,0.000,6,0.000,0.048,3013,2168,3389,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6918,-0.48,-146.0,652.2,-8.4,418,6919,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2165,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7218,-0.48,-146.0,677.6,-8.5,428,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2165,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7518,-0.48,-146.0,702.9,-8.2,438,7524,0.00,2.28,0.00,0.000,4,0.000,0.068,3003,3592,3386,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7561,-0.48,-146.0,705.4,-8.3,439,7566,0.12,2.17,0.00,0.000,6,0.135,0.049,3039,2176,3386,0,0,0,0,0,0,25.91,26.06,28.83
$GC,7874,-0.48,-146.0,727.1,-6.5,450,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2173,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8175,-0.48,-146.0,746.3,-6.4,460,8180,0.00,2.25,0.00,0.000,4,0.000,0.069,3030,3585,3386,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8234,-0.48,-146.0,750.3,-6.6,462,8240,0.00,2.17,0.00,0.000,6,0.000,0.049,3031,2178,3386,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8564,-0.48,-146.0,773.4,-7.1,473,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2176,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8864,-0.48,-146.0,795.8,-7.5,483,8870,0.00,2.25,0.00,0.000,4,0.000,0.068,3021,3584,3385,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8907,-0.48,-146.0,798.1,-7.6,484,8911,0.00,2.17,0.00,0.000,6,0.000,0.050,3021,2171,3384,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9219,-0.48,-146.0,824.2,-8.2,495,9225,0.00,2.28,0.00,0.000,4,0.000,0.068,3011,3587,3385,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9249,-0.48,-146.0,826.5,-8.1,496,9255,0.00,2.15,0.00,0.000,6,0.000,0.049,3011,2182,3385,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9579,-0.48,-146.0,854.5,-8.4,507,9580,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2181,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9879,-0.48,-146.0,878.1,-7.6,517,9885,0.00,2.25,0.00,0.000,4,0.000,0.069,3001,3580,3384,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9923,-0.48,-146.0,880.4,-7.6,518,9927,0.15,2.17,0.00,0.000,6,0.126,0.049,3045,2171,3384,0,0,0,0,0,0,25.86,26.03,28.83
$GC,10236,-0.48,-146.0,898.6,-5.3,529,10241,0.00,2.25,0.00,0.000,4,0.000,0.070,3037,3577,3384,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10274,-0.48,-146.0,900.4,-5.4,530,10278,0.00,2.17,0.00,0.000,6,0.000,0.050,3037,2168,3384,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10592,-0.48,-146.0,919.7,-5.9,541,10597,0.00,2.25,0.00,0.000,4,0.000,0.070,3027,3576,3384,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10621,-0.48,-146.0,921.7,-6.1,542,10626,0.00,2.17,0.00,0.000,6,0.000,0.050,3027,2176,3383,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10952,-0.48,-146.0,944.2,-7.0,553,10953,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2173,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11251,-0.48,-146.0,965.6,-7.1,563,11257,0.00,2.30,0.00,0.000,4,0.000,0.070,3018,3592,3383,0,0,0,0,0,0,28.83,25.81,28.83
$GC,11294,-0.48,-146.0,968.0,-7.3,564,11298,0.00,2.20,0.00,0.000,6,0.000,0.050,3018,2170,3383,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,11574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11574,begin apogee
$GC,11581,-0.22,0.0,990.3,-7.5,574,11713,0.30,0.00,126.40,1.185,6,0.116,0.000,3119,2312,2793,0,0,0,0,0,0,25.82,28.83,23.60
$STATE,11716,end apogee,CONTROL_FINISHED_OK
$STATE,11716,begin climb
$GC,11719,0.48,146.0,994.2,0.0,578,11858,0.68,0.00,134.95,1.151,6,0.080,0.000,3348,2311,2198,0,0,0,0,0,0,24.52,28.83,22.76
$GC,12148,0.48,146.0,959.5,9.7,593,12149,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2311,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12446,0.48,146.0,931.1,9.4,603,12452,0.00,2.30,0.00,0.000,4,0.000,0.070,3348,3702,2186,0,0,0,0,0,0,28.83,25.27,28.83
$GC,12494,0.48,146.0,928.1,9.5,604,12499,0.00,2.22,0.00,0.000,6,0.000,0.051,3358,2310,2186,0,0,0,0,0,0,28.83,25.41,28.83
$GC,12802,0.48,146.0,895.3,10.0,614,12803,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,2305,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13101,0.48,146.0,865.6,9.8,624,13107,0.00,2.30,0.00,0.000,4,0.000,0.070,3358,3707,2185,0,0,0,0,0,0,28.83,25.60,28.83
$GC,13145,0.48,146.0,862.4,10.1,625,13149,0.00,2.22,0.00,0.000,6,0.000,0.050,3368,2300,2184,0,0,0,0,0,0,28.83,25.72,28.83
$GC,13457,0.48,146.0,827.8,10.5,636,13458,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2294,2184,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23433,end climb,SURFACE_DEPTH_REACHED
$STATE,23433,begin surface coast
$FINISH,1.1,1.011367
$STATE,23482,end surface coast,CONTROL_FINISHED_OK
$STATE,23482,begin surface
$SM_CCo,23562,0.00,0.000,0,0,1449,329.93
$SM_GC,1.95,8.48,0.20,0.00,0.032,0.071,0.000,129,2176,1449,-9.46,0.99,329.93,0,0,0,0,0,0,25.75,25.72,28.83
$IRIDIUM_FIX,4648.08,-12649.03,291012,141401
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.81
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,22.8,29.268
$10V_AH,10.2,24.501
$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,21.950,187.775,415.250,0.000,0.000,28.778,39.910,200.172,0.000,0.000,16.225,3441.117,16635.258,543.620,2940.254,397.339,0.000,1964.945,0.000,2644.188,0.000,0.535,0.000
$DEVICE_MAMPS,221.085,84.915,1184.985,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,906.300,765.188,544.419,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296800
$DATA_FILE_SIZE,73453,1316
$CAP_FILE_SIZE,189115,0
$CFSIZE,260165632,240787456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032, 33.0,1
$GPS,301012,034253,4709.728,-12639.515,42,1.3,42,18.6