version: 66.11
glider: 187
mission: 2
dive: 805
start: 4 16 113 14 36 34
data:
$ID,187
$MISSION,2
$DIVE,805
$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,-1589997
$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,46
$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,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
$GPS1,160413,142835,4748.895,-12518.612,30,1.0,30,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-77.8
$GPS2,160413,143601,4748.891,-12518.523,13,1.9,13,18.7
$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,23.7,11699,-13.3,-7.021,-18.50
$D_GRID,539
$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,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,74,0.00,0.00,-55.10,0.000,2,0.000,0.000,112,2182,2616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.47,-136.3,3.3,-2.7,10,115,11.62,2.25,-16.42,0.000,4,0.214,0.064,3034,802,3352,0,0,0,0,0,0,24.49,25.32,26.20
$GC,196,-0.47,-136.3,26.0,-15.1,31,203,0.00,2.22,0.00,0.000,6,0.000,0.051,3026,2205,3354,0,0,0,0,0,0,28.83,25.18,28.83
$GC,510,-0.47,-136.3,73.7,-15.8,92,516,0.00,2.20,0.00,0.000,4,0.000,0.050,3026,805,3355,0,0,0,0,0,0,28.83,25.12,28.83
$GC,605,-0.47,-136.3,87.8,-14.5,110,612,0.00,2.22,0.00,0.000,6,0.000,0.051,3016,2209,3355,0,0,0,0,0,0,28.83,25.10,28.83
$GC,930,-0.47,-136.3,128.4,-10.8,163,936,0.00,2.22,0.00,0.000,4,0.000,0.049,3016,797,3355,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1017,-0.47,-136.3,138.2,-10.7,172,1026,0.00,2.30,0.00,0.000,6,0.000,0.050,3015,2204,3355,0,0,0,0,0,0,28.83,25.08,28.83
$GC,1327,-0.47,-136.3,169.9,-10.2,193,1337,0.00,2.35,0.00,0.000,4,0.000,0.061,3004,3618,3355,0,0,0,0,0,0,28.83,24.87,28.83
$GC,1419,-0.47,-136.3,179.7,-11.0,202,1427,0.15,2.22,0.00,0.000,6,0.123,0.042,3048,2196,3356,0,0,0,0,0,0,25.07,25.31,28.83
$GC,1727,-0.47,-136.3,205.0,-7.7,222,1733,0.00,2.25,0.00,0.000,4,0.000,0.049,3048,795,3355,0,0,0,0,0,0,28.83,25.05,28.83
$GC,1796,-0.47,-136.3,209.6,-7.7,225,1805,0.00,2.30,0.00,0.000,6,0.000,0.050,3042,2204,3355,0,0,0,0,0,0,28.83,25.05,28.83
$GC,2109,-0.47,-136.3,235.4,-8.2,241,2113,0.00,2.30,0.00,0.000,4,0.000,0.062,3030,3612,3355,0,0,0,0,0,0,28.83,24.82,28.83
$GC,2187,-0.47,-136.3,242.6,-9.0,245,2193,0.00,2.28,0.00,0.000,6,0.000,0.042,3030,2198,3355,0,0,0,0,0,0,28.83,25.29,28.83
$GC,2508,-0.47,-136.3,272.0,-9.3,261,2513,0.00,2.22,0.00,0.000,4,0.000,0.050,3030,809,3355,0,0,0,0,0,0,28.83,25.02,28.83
$GC,2535,-0.47,-136.3,273.8,-9.3,262,2539,0.00,2.28,0.00,0.000,6,0.000,0.050,3027,2202,3355,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2837,-0.47,-136.3,302.0,-8.9,277,2843,0.00,2.35,0.00,0.000,4,0.000,0.062,3016,3611,3355,0,0,0,0,0,0,28.83,24.79,28.83
$GC,2877,-0.47,-136.3,305.7,-9.0,279,2883,0.00,2.28,0.00,0.000,6,0.000,0.043,3016,2201,3355,0,0,0,0,0,0,28.83,25.27,28.83
$GC,3198,-0.47,-136.3,338.0,-10.5,295,3203,0.00,2.25,0.00,0.000,4,0.000,0.050,3016,803,3355,0,0,0,0,0,0,28.83,24.99,28.83
$GC,3265,-0.47,-136.3,344.4,-10.7,298,3270,0.12,2.30,0.00,0.000,6,0.134,0.050,3042,2208,3355,0,0,0,0,0,0,24.85,24.98,28.83
$GC,3568,-0.47,-136.3,369.7,-8.0,313,3573,0.00,2.35,0.00,0.000,4,0.000,0.063,3033,3609,3355,0,0,0,0,0,0,28.83,24.75,28.83
$GC,3627,-0.47,-136.3,374.7,-8.3,316,3633,0.00,2.28,0.00,0.000,6,0.000,0.044,3034,2200,3355,0,0,0,0,0,0,28.83,25.24,28.83
$GC,3957,-0.47,-136.3,403.0,-8.2,332,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2197,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4259,-0.47,-136.3,427.4,-8.4,342,4263,0.00,2.25,0.00,0.000,4,0.000,0.051,3034,801,3355,0,0,0,0,0,0,28.83,24.96,28.83
$GC,4317,-0.47,-136.3,432.1,-7.9,344,4323,0.00,2.30,0.00,0.000,6,0.000,0.051,3029,2201,3355,0,0,0,0,0,0,28.83,24.94,28.83
$GC,4647,-0.47,-136.3,459.7,-8.5,355,4653,0.00,2.38,0.00,0.000,4,0.000,0.063,3019,3613,3354,0,0,0,0,0,0,28.83,24.69,28.83
$GC,4685,-0.47,-136.3,462.1,-8.4,356,4689,0.00,2.30,0.00,0.000,6,0.000,0.043,3019,2191,3353,0,0,0,0,0,0,28.83,25.23,28.83
$GC,4998,-0.47,-136.3,490.7,-9.0,367,5003,0.00,2.40,0.00,0.000,4,0.000,0.063,3010,3607,3353,0,0,0,0,0,0,28.83,24.70,28.83
$GC,5045,-0.47,-136.3,493.6,-9.1,368,5050,0.12,2.30,0.00,0.000,6,0.125,0.044,3045,2194,3353,0,0,0,0,0,0,25.01,25.19,28.83
$GC,5348,-0.47,-136.3,517.6,-7.0,378,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2189,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5649,-0.47,-136.3,538.4,-6.9,388,5653,0.00,2.38,0.00,0.000,4,0.000,0.065,3038,3619,3352,0,0,0,0,0,0,28.83,24.65,28.83
$STATE,5675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5675,begin apogee
$GC,5684,-0.22,0.0,540.5,-6.8,389,5807,0.25,0.00,119.43,0.868,6,0.107,0.000,3125,2323,2794,0,0,0,0,0,0,25.41,28.83,23.32
$STATE,5808,end apogee,CONTROL_FINISHED_OK
$STATE,5808,begin climb
$GC,5812,0.47,136.3,544.9,0.0,393,5941,0.62,2.53,122.38,0.840,4,0.075,0.065,3344,3741,2237,0,0,0,0,0,0,24.69,24.49,23.17
$GC,5960,0.50,207.1,540.1,4.2,399,6028,0.00,2.35,62.10,0.822,6,0.000,0.047,3355,2328,1949,0,0,0,0,0,0,28.83,24.89,23.15
$GC,6341,0.50,207.1,512.1,7.5,412,6345,0.00,2.30,0.00,0.000,4,0.000,0.054,3364,920,1939,0,0,0,0,0,0,28.83,25.40,28.83
$GC,6407,0.50,207.1,507.6,7.6,414,6412,0.00,2.30,0.00,0.000,6,0.000,0.053,3365,2326,1939,0,0,0,0,0,0,28.83,25.39,28.83
$GC,6721,0.50,207.1,482.2,7.9,425,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2326,1938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7021,0.50,207.1,459.9,7.4,435,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2326,1937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7322,0.50,207.1,436.9,7.8,445,7327,0.00,2.38,0.00,0.000,4,0.000,0.066,3365,3732,1936,0,0,0,0,0,0,28.83,25.04,28.83
$GC,7359,0.50,207.1,434.2,8.0,446,7363,0.00,2.30,0.00,0.000,6,0.000,0.047,3374,2330,1936,0,0,0,0,0,0,28.83,25.37,28.83
$GC,7671,0.50,207.1,405.6,9.3,457,7677,0.00,2.33,0.00,0.000,4,0.000,0.054,3384,918,1936,0,0,0,0,0,0,28.83,25.13,28.83
$GC,7733,0.50,207.1,400.4,8.9,459,7737,0.00,2.25,0.00,0.000,6,0.000,0.054,3384,2326,1935,0,0,0,0,0,0,28.83,25.15,28.83
$GC,8041,0.50,207.1,373.7,8.4,474,8042,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2326,1935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8342,0.50,207.1,349.4,7.8,489,8344,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2326,1935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8642,0.50,207.1,324.4,8.4,504,8647,0.00,2.33,0.00,0.000,4,0.000,0.054,3394,918,1935,0,0,0,0,0,0,28.83,25.06,28.83
$GC,8669,0.50,207.1,322.7,8.3,505,8674,0.15,2.33,0.00,0.000,6,0.122,0.054,3353,2326,1935,0,0,0,0,0,0,24.93,25.06,28.83
$GC,8971,0.51,237.9,303.2,5.8,520,9000,0.00,0.00,26.38,0.731,6,0.000,0.000,3353,2326,1824,0,0,0,0,0,0,28.83,28.83,23.88
$GC,9291,0.52,251.0,283.2,6.5,536,9310,0.00,0.00,12.70,0.680,6,0.000,0.000,3353,2326,1769,0,0,0,0,0,0,28.83,28.83,23.96
$GC,9611,0.52,251.0,261.0,7.1,552,9617,0.00,2.33,0.00,0.000,4,0.000,0.054,3359,914,1766,0,0,0,0,0,0,28.83,25.23,28.83
$GC,9651,0.52,251.0,258.0,7.3,554,9656,0.00,2.33,0.00,0.000,6,0.000,0.053,3359,2330,1765,0,0,0,0,0,0,28.83,25.25,28.83
$GC,9972,0.52,251.0,231.8,8.3,570,9973,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,2330,1764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10271,0.52,251.0,207.5,7.9,585,10272,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,2330,1764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10582,0.53,270.6,184.6,6.2,604,10610,0.00,2.38,17.83,0.648,4,0.000,0.054,3362,916,1688,0,0,0,0,0,0,28.83,25.32,24.02
$GC,10641,0.54,312.3,181.1,5.4,610,10683,0.00,2.30,36.80,0.646,6,0.000,0.053,3362,2330,1520,0,0,0,0,0,0,28.83,25.39,23.80
$GC,10982,0.55,336.5,160.7,6.1,634,11011,0.00,2.28,20.88,0.633,4,0.000,0.053,3365,919,1421,0,0,0,0,0,0,28.83,25.35,23.99
$GC,11051,0.57,393.0,157.2,4.8,641,11105,0.00,2.28,48.38,0.620,6,0.000,0.051,3365,2325,1190,0,0,0,0,0,0,28.83,25.39,23.79
$GC,11401,0.57,393.1,136.3,7.0,666,11410,0.00,2.30,0.00,0.000,4,0.000,0.054,3366,923,1182,0,0,0,0,0,0,28.83,25.26,28.83
$GC,11442,0.58,405.0,133.7,6.6,670,11461,0.00,2.28,10.02,0.568,6,0.000,0.051,3366,2327,1142,0,0,0,0,0,0,28.83,25.29,24.06
$GC,11764,0.58,405.0,102.3,10.0,714,11771,0.00,2.33,0.00,0.000,4,0.000,0.065,3366,3737,1139,0,0,0,0,0,0,28.83,25.14,28.83
$GC,11844,0.58,405.0,93.2,11.2,729,11851,0.00,2.22,0.00,0.000,6,0.000,0.046,3366,2318,1138,0,0,0,0,0,0,28.83,25.44,28.83
$GC,12157,0.58,405.0,58.8,11.1,790,12164,0.00,2.33,0.00,0.000,4,0.000,0.063,3366,3734,1137,0,0,0,0,0,0,28.83,25.03,28.83
$GC,12197,0.58,405.0,54.1,11.3,797,12204,0.00,2.22,0.00,0.000,6,0.000,0.045,3366,2318,1136,0,0,0,0,0,0,28.83,25.42,28.83
$GC,12511,0.58,405.0,21.8,8.9,858,12517,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,2318,1136,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12705,end climb,SURFACE_DEPTH_REACHED
$STATE,12705,begin surface coast
$FINISH,1.3,1.021031
$STATE,12747,end surface coast,CONTROL_FINISHED_OK
$STATE,12747,begin surface
$SM_CCo,12827,0.00,0.000,0,0,1133,407.44
$SM_GC,2.46,8.30,0.17,0.00,0.024,0.076,0.000,111,2191,1133,-9.46,1.13,407.44,0,0,0,0,0,0,25.76,25.96,28.83
$IRIDIUM_FIX,4735.69,-12521.07,160413,090949
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.33
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,18.80
$XPDR_PINGS,4
$24V_AH,23.1,113.284
$10V_AH,9.8,84.603
$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,21.350,114.925,476.875,0.000,0.000,27.268,47.655,225.705,1.000,0.000,14.485,2272.652,8323.541,653.510,1708.820,310.444,0.000,1447.299,0.000,1409.040,0.000,0.536,0.000
$DEVICE_MAMPS,214.200,76.500,868.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,619.559,538.938,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296684
$DATA_FILE_SIZE,50218,904
$CAP_FILE_SIZE,113516,0
$CFSIZE,260165632,189730816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.198,206.6,1
$GPS,160413,181135,4749.924,-12516.352,35,1.5,35,18.7