version: 66.11
glider: 187
mission: 2
dive: 666
start: 3 7 113 5 44 40
data:
$ID,187
$MISSION,2
$DIVE,666
$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,-1588872.9
$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,41
$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
$GPS1,070313,053654,4723.616,-12617.498,42,1.1,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-77.4
$GPS2,070313,054407,4723.611,-12617.518,12,2.0,12,18.7
$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,34.6,98650,-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,-136.3,0.0,0.0,0,86,0.00,0.00,-66.90,0.000,2,0.000,0.000,104,2201,2800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.47,-136.3,3.3,-2.8,12,121,11.85,2.22,-12.57,0.000,4,0.219,0.064,3032,800,3351,0,0,0,0,0,0,24.46,25.38,26.23
$GC,277,-0.47,-136.3,35.5,-13.5,47,284,0.00,2.20,0.00,0.000,6,0.000,0.052,3024,2200,3354,0,0,0,0,0,0,28.83,25.38,28.83
$GC,591,-0.47,-136.3,84.4,-15.4,108,597,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2199,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,903,-0.47,-136.3,121.6,-10.2,167,912,0.00,2.30,0.00,0.000,4,0.000,0.062,3013,3606,3354,0,0,0,0,0,0,28.83,25.29,28.83
$GC,952,-0.47,-136.3,127.3,-11.0,172,961,0.00,2.22,0.00,0.000,6,0.000,0.043,3013,2190,3354,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1262,-0.47,-136.3,162.7,-11.0,193,1271,0.00,2.22,0.00,0.000,4,0.000,0.050,3013,801,3354,0,0,0,0,0,0,28.83,25.43,28.83
$GC,1363,-0.47,-136.3,173.9,-10.7,203,1372,0.10,2.22,0.00,0.000,6,0.108,0.050,3040,2192,3354,0,0,0,0,0,0,25.25,25.44,28.83
$GC,1677,-0.47,-136.3,201.9,-8.9,224,1683,0.00,2.33,0.00,0.000,4,0.000,0.063,3032,3605,3354,0,0,0,0,0,0,28.83,25.26,28.83
$GC,1737,-0.47,-136.3,207.4,-9.2,227,1742,0.00,2.25,0.00,0.000,6,0.000,0.043,3032,2191,3354,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2057,-0.47,-136.3,236.6,-9.0,243,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2189,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2357,-0.47,-136.3,263.4,-9.1,258,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2189,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2657,-0.47,-136.3,290.4,-9.1,273,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2189,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2958,-0.47,-136.3,316.1,-8.3,288,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2189,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3258,-0.47,-136.3,341.5,-8.4,303,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2189,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3557,-0.47,-136.3,367.0,-8.4,318,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2189,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3858,-0.47,-136.3,392.8,-8.5,333,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2189,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4167,-0.47,-136.3,419.7,-8.5,345,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2189,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4467,-0.47,-136.3,443.5,-7.6,355,4473,0.00,2.40,0.00,0.000,4,0.000,0.064,3021,3630,3354,0,0,0,0,0,0,28.83,25.17,28.83
$GC,4498,-0.47,-136.3,445.9,-7.6,356,4503,0.00,2.28,0.00,0.000,6,0.000,0.046,3021,2209,3354,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4827,-0.47,-136.3,472.7,-8.1,367,4833,0.00,2.28,0.00,0.000,4,0.000,0.052,3021,798,3353,0,0,0,0,0,0,28.83,25.33,28.83
$GC,4865,-0.47,-136.3,475.1,-8.0,368,4869,0.00,2.28,0.00,0.000,6,0.000,0.053,3013,2199,3353,0,0,0,0,0,0,28.83,25.34,28.83
$GC,5178,-0.47,-136.3,500.5,-7.5,379,5183,0.00,2.33,0.00,0.000,4,0.000,0.064,3003,3604,3353,0,0,0,0,0,0,28.83,25.16,28.83
$GC,5237,-0.47,-136.3,505.1,-7.6,381,5243,0.15,2.28,0.00,0.000,6,0.122,0.045,3048,2188,3352,0,0,0,0,0,0,25.34,25.54,28.83
$GC,5568,-0.47,-136.3,522.2,-5.3,392,5573,0.00,2.38,0.00,0.000,4,0.000,0.065,3040,3611,3352,0,0,0,0,0,0,28.83,25.15,28.83
$GC,5628,-0.47,-136.3,525.8,-5.7,394,5633,0.00,2.25,0.00,0.000,6,0.000,0.047,3040,2208,3352,0,0,0,0,0,0,28.83,25.54,28.83
$GC,5957,-0.47,-136.3,548.1,-7.1,405,5958,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2206,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6257,-0.47,-136.3,568.7,-6.7,415,6263,0.00,2.35,0.00,0.000,4,0.000,0.066,3030,3608,3352,0,0,0,0,0,0,28.83,25.13,28.83
$GC,6306,-0.47,-136.3,570.8,-6.8,416,6315,0.00,2.28,0.00,0.000,6,0.000,0.047,3030,2192,3352,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6617,-0.47,-136.3,594.5,-7.1,427,6618,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2193,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6917,-0.47,-136.3,615.8,-7.1,437,6918,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2193,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7217,-0.47,-136.3,638.0,-7.4,447,7218,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2193,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7518,-0.47,-136.3,660.7,-7.5,457,7523,0.00,2.38,0.00,0.000,4,0.000,0.067,3021,3608,3351,0,0,0,0,0,0,28.83,25.09,28.83
$GC,7555,-0.47,-136.3,663.1,-7.6,458,7559,0.00,2.28,0.00,0.000,6,0.000,0.047,3021,2203,3351,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7867,-0.47,-136.3,687.5,-7.5,469,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2201,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8168,-0.47,-136.3,710.4,-7.8,479,8173,0.00,2.35,0.00,0.000,4,0.000,0.067,3011,3603,3350,0,0,0,0,0,0,28.83,25.08,28.83
$GC,8215,-0.47,-136.3,712.9,-7.9,480,8220,0.12,2.28,0.00,0.000,6,0.119,0.047,3048,2194,3350,0,0,0,0,0,0,25.34,25.48,28.83
$GC,8518,-0.47,-136.3,732.9,-5.8,490,8523,0.00,2.38,0.00,0.000,4,0.000,0.067,3041,3604,3349,0,0,0,0,0,0,28.83,25.06,28.83
$GC,8556,-0.47,-136.3,734.8,-5.8,491,8562,0.00,2.28,0.00,0.000,6,0.000,0.047,3041,2197,3349,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8877,-0.47,-136.3,753.6,-5.4,502,8879,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2196,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9178,-0.47,-136.3,768.7,-5.0,512,9183,0.00,2.38,0.00,0.000,4,0.000,0.067,3030,3606,3348,0,0,0,0,0,0,28.83,25.04,28.83
$GC,9215,-0.47,-136.3,770.4,-5.1,513,9220,0.00,2.28,0.00,0.000,6,0.000,0.047,3031,2199,3348,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9529,-0.47,-136.3,789.2,-5.9,524,9533,0.00,2.33,0.00,0.000,4,0.000,0.067,3022,3608,3347,0,0,0,0,0,0,28.83,25.02,28.83
$GC,9558,-0.47,-136.3,791.1,-6.1,525,9564,0.00,2.28,0.00,0.000,6,0.000,0.048,3021,2196,3348,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9888,-0.47,-136.3,814.1,-7.2,536,9893,0.00,2.25,0.00,0.000,4,0.000,0.054,3021,800,3347,0,0,0,0,0,0,28.83,25.22,28.83
$GC,9918,-0.47,-136.3,816.4,-7.4,537,9923,0.00,2.28,0.00,0.000,6,0.000,0.055,3016,2196,3347,0,0,0,0,0,0,28.83,25.22,28.83
$GC,10248,-0.47,-136.3,840.9,-7.3,548,10254,0.00,2.35,0.00,0.000,4,0.000,0.067,3009,3606,3347,0,0,0,0,0,0,28.83,25.02,28.83
$GC,10296,-0.47,-136.3,843.1,-7.5,549,10301,0.12,2.28,0.00,0.000,6,0.122,0.047,3046,2196,3347,0,0,0,0,0,0,25.29,25.44,28.83
$GC,10599,-0.47,-136.3,862.1,-5.7,559,10600,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2195,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10898,-0.47,-136.3,879.6,-6.0,569,10904,0.00,2.38,0.00,0.000,4,0.000,0.067,3039,3607,3346,0,0,0,0,0,0,28.83,25.01,28.83
$GC,10936,-0.47,-136.3,881.4,-6.0,570,10940,0.00,2.30,0.00,0.000,6,0.000,0.048,3039,2191,3346,0,0,0,0,0,0,28.83,25.43,28.83
$GC,11250,-0.47,-136.3,901.1,-6.1,581,11251,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2189,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11549,-0.47,-136.3,919.2,-5.9,591,11554,0.00,2.40,0.00,0.000,4,0.000,0.067,3029,3610,3346,0,0,0,0,0,0,28.83,24.98,28.83
$GC,11587,-0.47,-136.3,921.0,-6.0,592,11591,0.00,2.30,0.00,0.000,6,0.000,0.048,3029,2195,3346,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11900,-0.47,-136.3,941.4,-6.4,603,11901,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2193,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12199,-0.47,-136.3,960.9,-6.5,613,12200,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2193,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12499,-0.47,-136.3,979.7,-6.2,623,12505,0.00,2.40,0.00,0.000,4,0.000,0.067,3020,3612,3346,0,0,0,0,0,0,28.83,24.97,28.83
$GC,12548,-0.47,-136.3,981.4,-6.1,624,12557,0.00,2.30,0.00,0.000,6,0.000,0.049,3020,2196,3346,0,0,0,0,0,0,28.83,25.39,28.83
$STATE,12676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12676,begin apogee
$GC,12683,-0.22,0.0,990.9,-6.2,629,12815,0.30,0.00,126.85,1.158,6,0.105,0.000,3124,2336,2794,0,0,0,0,0,0,25.50,28.83,22.40
$STATE,12816,end apogee,CONTROL_FINISHED_OK
$STATE,12816,begin climb
$GC,12819,0.47,136.3,994.1,0.0,633,12961,0.65,2.60,135.07,1.125,4,0.069,0.067,3346,3733,2238,0,0,0,0,0,0,24.40,23.39,21.70
$GC,13003,0.47,136.3,984.8,7.2,640,13007,0.00,2.38,0.00,0.000,6,0.000,0.049,3357,2330,2234,0,0,0,0,0,0,28.83,24.12,28.83
$GC,13319,0.47,136.3,954.7,9.6,651,13325,0.00,2.33,0.00,0.000,4,0.000,0.057,3367,919,2228,0,0,0,0,0,0,28.83,25.36,28.83
$GC,13338,0.47,136.3,954.7,9.6,651,13343,0.00,2.33,0.00,0.000,6,0.000,0.057,3367,2329,2228,0,0,0,0,0,0,28.83,25.38,28.83
$GC,13639,0.47,136.3,923.0,9.7,661,13645,0.00,2.38,0.00,0.000,4,0.000,0.070,3367,3748,2226,0,0,0,0,0,0,28.83,25.36,28.83
$GC,13699,0.47,136.3,916.5,10.2,663,13706,0.12,2.33,0.00,0.000,6,0.159,0.050,3348,2323,2225,0,0,0,0,0,0,25.36,25.58,28.83
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$STATE,25512,end climb,SURFACE_DEPTH_REACHED
$STATE,25512,begin surface coast
$FINISH,1.3,1.012845
$STATE,25559,end surface coast,CONTROL_FINISHED_OK
$STATE,25559,begin surface
$SM_CCo,25639,0.00,0.000,0,0,1484,321.34
$SM_GC,2.38,8.35,0.20,0.00,0.031,0.076,0.000,116,2188,1484,-9.47,1.02,321.34,0,0,0,0,0,0,25.75,25.99,28.83
$IRIDIUM_FIX,4700.70,-12624.27,060313,222240
$TT8_MAMPS,0.027713,0.027713
$HUMID,47.44
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,18.90
$XPDR_PINGS,4
$24V_AH,21.7,93.725
$10V_AH,9.8,71.365
$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,22.425,203.900,433.200,0.000,0.000,27.531,37.826,214.320,1.000,0.000,13.111,3588.032,18757.424,735.968,2501.441,476.893,0.000,1981.750,0.000,2209.046,0.000,0.535,0.000
$DEVICE_MAMPS,218.790,84.150,1158.210,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,957.408,709.839,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296936
$DATA_FILE_SIZE,76940,1390
$CAP_FILE_SIZE,193994,0
$CFSIZE,260165632,201482240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,239.4,1
$GPS,070313,125306,4725.669,-12613.746,29,1.2,29,18.7