version: 66.11
glider: 187
mission: 2
dive: 206
start: 10 30 112 17 6 2
data:
$ID,187
$MISSION,2
$DIVE,206
$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,-1588009
$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,37
$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
$GPS1,301012,165905,4714.082,-12631.967,30,1.2,30,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-75.6
$GPS2,301012,170531,4714.167,-12632.004,14,1.3,14,18.6
$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,53.0,123305,-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,-146.0,0.0,0.0,0,91,0.00,0.00,-71.85,0.000,2,0.000,0.000,110,2184,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.48,-146.0,3.1,-2.9,12,130,11.35,2.28,-16.38,0.000,4,0.219,0.073,3023,3582,3391,0,0,0,0,0,0,25.08,25.48,25.98
$GC,159,-0.48,-146.0,17.4,-21.2,22,167,0.00,2.25,0.00,0.000,6,0.000,0.044,3022,2177,3393,0,0,0,0,0,0,28.83,25.58,28.83
$GC,486,-0.48,-146.0,71.2,-13.8,83,493,0.00,2.28,0.00,0.000,4,0.000,0.061,3012,3585,3395,0,0,0,0,0,0,28.83,25.62,28.83
$GC,545,-0.48,-146.0,79.5,-13.4,94,553,0.00,2.20,0.00,0.000,6,0.000,0.044,3012,2162,3395,0,0,0,0,0,0,28.83,25.77,28.83
$GC,861,-0.48,-146.0,120.3,-12.2,155,862,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2158,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1162,-0.48,-146.0,158.1,-12.2,175,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2158,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1462,-0.48,-146.0,192.9,-11.2,195,1467,0.00,2.12,0.00,0.000,4,0.000,0.050,3012,768,3396,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1483,-0.48,-146.0,194.4,-10.9,196,1491,0.08,2.22,0.00,0.000,6,0.126,0.050,3041,2178,3396,0,0,0,0,0,0,25.70,25.89,28.83
$GC,1797,-0.48,-146.0,221.1,-8.1,213,1802,0.00,2.22,0.00,0.000,4,0.000,0.063,3032,3593,3395,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1868,-0.48,-146.0,226.2,-8.4,216,1875,0.00,2.17,0.00,0.000,6,0.000,0.044,3032,2166,3395,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2176,-0.48,-146.0,254.5,-8.8,232,2181,0.00,2.28,0.00,0.000,4,0.000,0.062,3022,3590,3395,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2208,-0.48,-146.0,256.2,-8.8,233,2215,0.00,2.17,0.00,0.000,6,0.000,0.044,3022,2169,3395,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2515,-0.48,-146.0,286.9,-9.9,249,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2167,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2816,-0.48,-146.0,317.2,-10.0,264,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2167,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3116,-0.48,-146.0,347.7,-10.0,279,3121,0.00,2.25,0.00,0.000,4,0.000,0.064,3011,3587,3394,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3144,-0.48,-146.0,349.7,-10.1,280,3148,0.00,2.17,0.00,0.000,6,0.000,0.045,3012,2167,3394,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3453,-0.48,-146.0,382.3,-10.3,295,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2163,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3750,-0.48,-146.0,413.4,-10.3,308,3756,0.00,2.28,0.00,0.000,4,0.000,0.064,3001,3588,3393,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3783,-0.48,-146.0,416.6,-10.4,309,3788,0.15,2.17,0.00,0.000,6,0.128,0.046,3045,2174,3393,0,0,0,0,0,0,25.86,26.05,28.83
$GC,4106,-0.48,-146.0,442.2,-7.6,320,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2168,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4406,-0.48,-146.0,464.2,-7.2,330,4412,0.00,2.25,0.00,0.000,4,0.000,0.065,3036,3588,3391,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4436,-0.48,-146.0,466.4,-7.1,331,4442,0.00,2.17,0.00,0.000,6,0.000,0.047,3036,2167,3391,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4766,-0.48,-146.0,491.9,-7.7,342,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2165,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5066,-0.48,-146.0,515.6,-8.0,352,5071,0.00,2.28,0.00,0.000,4,0.000,0.066,3026,3587,3390,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5089,-0.48,-146.0,515.6,-8.0,352,5096,0.00,2.17,0.00,0.000,6,0.000,0.047,3026,2169,3390,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5397,-0.48,-146.0,544.1,-8.7,363,5398,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2168,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5696,-0.48,-146.0,571.0,-9.1,373,5702,0.00,2.25,0.00,0.000,4,0.000,0.067,3017,3583,3388,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5749,-0.48,-146.0,573.8,-9.1,374,5756,0.00,2.17,0.00,0.000,6,0.000,0.047,3016,2165,3388,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6056,-0.48,-146.0,605.6,-9.7,385,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2164,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6357,-0.48,-146.0,633.3,-9.1,395,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2164,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6656,-0.48,-146.0,658.7,-8.1,405,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2164,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6956,-0.48,-146.0,681.6,-7.6,415,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2164,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7256,-0.48,-146.0,704.9,-7.9,425,7262,0.00,2.28,0.00,0.000,4,0.000,0.067,3007,3590,3386,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7299,-0.48,-146.0,707.3,-8.0,426,7304,0.12,2.17,0.00,0.000,6,0.132,0.048,3043,2178,3386,0,0,0,0,0,0,25.89,26.03,28.83
$GC,7612,-0.48,-146.0,728.4,-6.4,437,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2175,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7913,-0.48,-146.0,746.7,-6.1,447,7919,0.00,2.22,0.00,0.000,4,0.000,0.068,3035,3581,3385,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7945,-0.48,-146.0,748.4,-5.9,448,7949,0.00,2.17,0.00,0.000,6,0.000,0.049,3035,2171,3385,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8268,-0.48,-146.0,769.3,-6.4,459,8273,0.00,2.25,0.00,0.000,4,0.000,0.068,3025,3580,3384,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8298,-0.48,-146.0,771.2,-6.5,460,8304,0.00,2.17,0.00,0.000,6,0.000,0.049,3025,2168,3384,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8628,-0.48,-146.0,795.1,-7.4,471,8634,0.00,2.25,0.00,0.000,4,0.000,0.068,3016,3579,3384,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8660,-0.48,-146.0,797.6,-7.5,472,8664,0.00,2.17,0.00,0.000,6,0.000,0.049,3015,2173,3384,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8983,-0.48,-146.0,823.9,-8.0,483,8984,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2171,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9282,-0.48,-146.0,847.6,-7.8,493,9284,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2171,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9583,-0.48,-146.0,870.7,-7.6,503,9588,0.00,2.30,0.00,0.000,4,0.000,0.068,3007,3594,3383,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9643,-0.48,-146.0,875.5,-7.8,505,9649,0.08,2.20,0.00,0.000,6,0.112,0.050,3037,2171,3383,0,0,0,0,0,0,25.83,26.01,28.83
$GC,9973,-0.48,-146.0,897.4,-6.7,516,9974,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2169,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10273,-0.48,-146.0,918.2,-7.0,526,10278,0.00,2.28,0.00,0.000,4,0.000,0.069,3029,3584,3383,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10316,-0.48,-146.0,920.5,-7.2,527,10320,0.00,2.20,0.00,0.000,6,0.000,0.050,3028,2167,3382,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10628,-0.48,-146.0,946.3,-8.0,538,10634,0.00,2.30,0.00,0.000,4,0.000,0.069,3019,3586,3382,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10658,-0.48,-146.0,948.7,-8.0,539,10664,0.00,2.20,0.00,0.000,6,0.000,0.050,3019,2176,3382,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10989,-0.48,-146.0,975.1,-7.8,550,10990,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2174,3382,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11196,begin apogee
$GC,11203,-0.22,0.0,991.2,-7.7,557,11335,0.30,0.00,126.53,1.187,6,0.112,0.000,3122,2316,2793,0,0,0,0,0,0,25.82,28.83,23.58
$STATE,11338,end apogee,CONTROL_FINISHED_OK
$STATE,11338,begin climb
$GC,11341,0.48,146.0,995.2,0.0,561,11480,0.65,0.00,134.80,1.153,6,0.080,0.000,3344,2316,2198,0,0,0,0,0,0,24.52,28.83,22.73
$GC,11768,0.48,146.0,962.9,9.3,576,11769,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2316,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12069,0.48,146.0,934.6,9.3,586,12074,0.00,2.33,0.00,0.000,4,0.000,0.070,3344,3703,2186,0,0,0,0,0,0,28.83,25.25,28.83
$GC,12099,0.48,146.0,931.5,9.4,587,12104,0.00,2.22,0.00,0.000,6,0.000,0.051,3354,2312,2186,0,0,0,0,0,0,28.83,25.39,28.83
$GC,12428,0.48,146.0,899.0,9.8,598,12429,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2306,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12729,0.48,146.0,869.9,9.7,608,12730,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2306,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13028,0.48,146.0,841.8,9.2,618,13034,0.00,2.30,0.00,0.000,4,0.000,0.070,3355,3704,2184,0,0,0,0,0,0,28.83,25.64,28.83
$GC,13068,0.48,146.0,838.6,9.4,619,13074,0.00,2.22,0.00,0.000,6,0.000,0.051,3365,2294,2183,0,0,0,0,0,0,28.83,25.77,28.83
$GC,13389,0.48,146.0,804.9,10.2,630,13390,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2289,2183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13688,0.48,146.0,773.0,10.7,640,13694,0.00,2.33,0.00,0.000,4,0.000,0.070,3365,3715,2183,0,0,0,0,0,0,28.83,25.71,28.83
$GC,13748,0.48,146.0,765.7,11.4,642,13754,0.00,2.25,0.00,0.000,6,0.000,0.051,3375,2292,2183,0,0,0,0,0,0,28.83,25.85,28.83
$GC,14079,0.48,146.0,728.9,10.9,653,14084,0.00,2.28,0.00,0.000,4,0.000,0.069,3375,3695,2183,0,0,0,0,0,0,28.83,25.74,28.83
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$STATE,23005,end climb,SURFACE_DEPTH_REACHED
$STATE,23005,begin surface coast
$FINISH,1.1,1.001913
$STATE,23046,end surface coast,CONTROL_FINISHED_OK
$STATE,23046,begin surface
$SM_CCo,23126,0.00,0.000,0,0,1275,372.61
$SM_GC,2.00,8.32,0.17,0.00,0.026,0.079,0.000,108,2171,1275,-9.48,1.16,372.61,0,0,0,0,0,0,25.88,25.84,28.83
$IRIDIUM_FIX,4651.23,-12637.00,301012,101002
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.21
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,22.7,29.673
$10V_AH,10.2,24.836
$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,21.625,170.425,455.150,0.000,0.000,26.664,38.894,187.901,0.000,0.000,15.524,3288.401,16479.371,551.436,2802.087,381.531,0.000,1921.826,0.000,2521.161,0.000,0.535,0.000
$DEVICE_MAMPS,218.790,84.150,1186.515,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,873.919,724.817,495.947,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70087,1270
$CAP_FILE_SIZE,182731,0
$CFSIZE,260165632,240537600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061,293.4,1
$GPS,301012,233235,4715.630,-12627.960,29,1.0,29,18.6