version: 66.11
glider: 187
mission: 2
dive: 599
start: 2 15 113 12 9 21
data:
$ID,187
$MISSION,2
$DIVE,599
$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,-1588774.1
$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,40
$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,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
$GPS1,150213,120136,4711.243,-12634.086,34,1.3,34,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-77.1
$GPS2,150213,120848,4711.280,-12634.065,12,1.4,17,18.6
$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,35.4,128480,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,80,0.00,0.00,-60.60,0.000,2,0.000,0.000,106,2195,2567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.47,-136.3,3.1,-2.6,11,128,11.62,2.22,-23.12,0.000,4,0.211,0.062,3036,789,3353,0,0,0,0,0,0,24.51,25.44,26.26
$GC,323,-0.47,-136.3,33.2,-13.2,56,330,0.00,2.22,0.00,0.000,6,0.000,0.052,3027,2204,3355,0,0,0,0,0,0,28.83,25.48,28.83
$GC,636,-0.47,-136.3,79.6,-15.0,117,642,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2204,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,948,-0.47,-136.3,118.4,-12.5,178,954,0.00,2.28,0.00,0.000,4,0.000,0.063,3017,3619,3355,0,0,0,0,0,0,28.83,25.43,28.83
$GC,1002,-0.47,-136.3,124.7,-11.3,184,1013,0.00,2.28,0.00,0.000,6,0.000,0.043,3017,2188,3355,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1313,-0.47,-136.3,158.6,-10.4,205,1322,0.00,2.35,0.00,0.000,4,0.000,0.061,3006,3609,3355,0,0,0,0,0,0,28.83,25.43,28.83
$GC,1343,-0.47,-136.3,161.6,-10.3,208,1353,0.10,2.22,0.00,0.000,6,0.101,0.043,3044,2199,3356,0,0,0,0,0,0,25.52,25.74,28.83
$GC,1654,-0.47,-136.3,186.1,-8.0,229,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2199,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1953,-0.47,-136.3,208.9,-7.3,247,1958,0.00,2.20,0.00,0.000,4,0.000,0.050,3044,809,3356,0,0,0,0,0,0,28.83,25.57,28.83
$GC,1981,-0.47,-136.3,210.5,-7.3,248,1985,0.00,2.25,0.00,0.000,6,0.000,0.050,3039,2206,3355,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2283,-0.47,-136.3,233.3,-7.2,263,2288,0.00,2.33,0.00,0.000,4,0.000,0.063,3029,3618,3356,0,0,0,0,0,0,28.83,25.41,28.83
$GC,2350,-0.47,-136.3,237.9,-7.6,266,2355,0.00,2.25,0.00,0.000,6,0.000,0.043,3028,2201,3355,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2653,-0.47,-136.3,265.3,-9.4,281,2658,0.00,2.22,0.00,0.000,4,0.000,0.050,3028,801,3355,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2692,-0.47,-136.3,269.1,-9.5,283,2698,0.00,2.28,0.00,0.000,6,0.000,0.050,3020,2212,3355,0,0,0,0,0,0,28.83,25.55,28.83
$GC,3013,-0.47,-136.3,301.4,-10.0,299,3018,0.00,2.30,0.00,0.000,4,0.000,0.063,3010,3608,3356,0,0,0,0,0,0,28.83,25.40,28.83
$GC,3074,-0.47,-136.3,307.4,-10.1,302,3079,0.08,2.22,0.00,0.000,6,0.104,0.044,3041,2191,3355,0,0,0,0,0,0,25.53,25.73,28.83
$GC,3393,-0.47,-136.3,332.7,-7.2,318,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2188,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3694,-0.47,-136.3,353.0,-6.5,333,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2188,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3993,-0.47,-136.3,373.1,-6.7,348,3998,0.00,2.33,0.00,0.000,4,0.000,0.063,3033,3604,3356,0,0,0,0,0,0,28.83,25.37,28.83
$GC,4021,-0.47,-136.3,374.5,-6.7,349,4025,0.00,2.25,0.00,0.000,6,0.000,0.044,3032,2193,3356,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4323,-0.47,-136.3,397.0,-7.1,364,4328,0.00,2.20,0.00,0.000,4,0.000,0.051,3033,807,3355,0,0,0,0,0,0,28.83,25.52,28.83
$GC,4350,-0.47,-136.3,398.6,-7.3,365,4355,0.00,2.25,0.00,0.000,6,0.000,0.052,3025,2201,3355,0,0,0,0,0,0,28.83,25.52,28.83
$GC,4672,-0.47,-136.3,422.9,-7.2,376,4678,0.00,2.33,0.00,0.000,4,0.000,0.064,3015,3608,3355,0,0,0,0,0,0,28.83,25.35,28.83
$GC,4733,-0.47,-136.3,427.5,-7.5,378,4738,0.00,2.22,0.00,0.000,6,0.000,0.044,3015,2203,3355,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5063,-0.47,-136.3,454.9,-8.7,389,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2201,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5363,-0.47,-136.3,480.9,-8.7,399,5368,0.00,2.35,0.00,0.000,4,0.000,0.064,3005,3612,3354,0,0,0,0,0,0,28.83,25.34,28.83
$GC,5400,-0.47,-136.3,483.6,-8.6,400,5405,0.12,2.28,0.00,0.000,6,0.128,0.045,3042,2193,3354,0,0,0,0,0,0,25.51,25.67,28.83
$GC,5715,-0.47,-136.3,505.4,-6.5,411,5719,0.00,2.35,0.00,0.000,4,0.000,0.065,3034,3608,3353,0,0,0,0,0,0,28.83,25.32,28.83
$GC,5744,-0.47,-136.3,507.3,-6.5,412,5749,0.00,2.25,0.00,0.000,6,0.000,0.046,3034,2202,3353,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6074,-0.47,-136.3,530.5,-7.0,423,6080,0.00,2.35,0.00,0.000,4,0.000,0.066,3024,3611,3353,0,0,0,0,0,0,28.83,25.30,28.83
$GC,6104,-0.47,-136.3,532.8,-7.1,424,6109,0.00,2.25,0.00,0.000,6,0.000,0.046,3024,2203,3353,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6434,-0.47,-136.3,559.3,-8.0,435,6435,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2201,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6734,-0.47,-136.3,583.4,-8.0,445,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2201,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7034,-0.47,-136.3,605.7,-7.2,455,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2201,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7334,-0.47,-136.3,627.5,-7.3,465,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2201,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7634,-0.47,-136.3,649.8,-7.5,475,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2201,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7934,-0.47,-136.3,672.0,-7.3,485,7939,0.00,2.38,0.00,0.000,4,0.000,0.067,3013,3617,3351,0,0,0,0,0,0,28.83,25.26,28.83
$GC,7972,-0.47,-136.3,674.3,-7.4,486,7977,0.00,2.28,0.00,0.000,6,0.000,0.045,3014,2197,3351,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8285,-0.47,-136.3,700.3,-8.0,497,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2195,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8585,-0.47,-136.3,724.1,-7.9,507,8591,0.00,2.38,0.00,0.000,4,0.000,0.067,3004,3611,3351,0,0,0,0,0,0,28.83,25.25,28.83
$GC,8622,-0.47,-136.3,726.6,-7.9,508,8627,0.15,2.28,0.00,0.000,6,0.116,0.047,3049,2202,3351,0,0,0,0,0,0,25.44,25.60,28.83
$GC,8937,-0.47,-136.3,745.5,-5.7,519,8938,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2200,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9236,-0.47,-136.3,762.3,-5.4,529,9241,0.00,2.35,0.00,0.000,4,0.000,0.067,3042,3607,3349,0,0,0,0,0,0,28.83,25.23,28.83
$GC,9274,-0.47,-136.3,764.2,-5.6,530,9278,0.00,2.28,0.00,0.000,6,0.000,0.047,3042,2198,3349,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9588,-0.47,-136.3,782.6,-5.8,541,9589,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2195,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9887,-0.47,-136.3,800.2,-5.8,551,9888,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2195,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10187,-0.47,-136.3,818.1,-6.0,561,10192,0.00,2.35,0.00,0.000,4,0.000,0.067,3032,3602,3348,0,0,0,0,0,0,28.83,25.20,28.83
$GC,10225,-0.47,-136.3,819.9,-6.0,562,10231,0.00,2.28,0.00,0.000,6,0.000,0.047,3032,2194,3348,0,0,0,0,0,0,28.83,25.58,28.83
$GC,10547,-0.47,-136.3,841.4,-6.8,573,10552,0.00,2.35,0.00,0.000,4,0.000,0.067,3022,3604,3348,0,0,0,0,0,0,28.83,25.20,28.83
$GC,10577,-0.47,-136.3,843.4,-6.8,574,10582,0.00,2.25,0.00,0.000,6,0.000,0.047,3022,2203,3348,0,0,0,0,0,0,28.83,25.58,28.83
$GC,10907,-0.47,-136.3,867.6,-7.4,585,10908,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2202,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11207,-0.47,-136.3,889.0,-7.0,595,11212,0.00,2.35,0.00,0.000,4,0.000,0.067,3012,3607,3348,0,0,0,0,0,0,28.83,25.20,28.83
$GC,11255,-0.47,-136.3,891.1,-6.9,596,11260,0.12,2.28,0.00,0.000,6,0.120,0.047,3049,2196,3347,0,0,0,0,0,0,25.44,25.57,28.83
$GC,11558,-0.47,-136.3,907.9,-4.9,606,11559,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2194,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11857,-0.47,-136.3,921.8,-4.6,616,11862,0.00,2.35,0.00,0.000,4,0.000,0.068,3041,3603,3347,0,0,0,0,0,0,28.83,25.17,28.83
$GC,11887,-0.47,-136.3,923.4,-4.9,617,11892,0.00,2.25,0.00,0.000,6,0.000,0.048,3041,2203,3347,0,0,0,0,0,0,28.83,25.56,28.83
$GC,12218,-0.47,-136.3,941.8,-5.7,628,12219,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2202,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12517,-0.47,-136.3,959.2,-5.9,638,12522,0.00,2.35,0.00,0.000,4,0.000,0.068,3031,3605,3347,0,0,0,0,0,0,28.83,25.15,28.83
$GC,12565,-0.47,-136.3,961.1,-5.9,639,12569,0.00,2.28,0.00,0.000,6,0.000,0.047,3031,2196,3346,0,0,0,0,0,0,28.83,25.55,28.83
$GC,12868,-0.47,-136.3,980.4,-6.1,649,12872,0.00,2.25,0.00,0.000,4,0.000,0.056,3031,803,3346,0,0,0,0,0,0,28.83,25.33,28.83
$GC,12905,-0.47,-136.3,982.3,-6.1,650,12909,0.00,2.30,0.00,0.000,6,0.000,0.055,3029,2206,3346,0,0,0,0,0,0,28.83,25.32,28.83
$STATE,13034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13034,begin apogee
$GC,13041,-0.22,0.0,991.1,-6.2,655,13173,0.28,0.00,126.95,1.161,6,0.105,0.000,3126,2338,2793,0,0,0,0,0,0,25.64,28.83,22.44
$STATE,13174,end apogee,CONTROL_FINISHED_OK
$STATE,13175,begin climb
$GC,13178,0.47,136.3,995.3,0.0,659,13317,0.65,0.00,134.88,1.127,6,0.067,0.000,3349,2338,2238,0,0,0,0,0,0,24.41,28.83,21.74
$GC,13607,0.47,136.3,970.4,7.2,674,13608,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,2338,2227,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,26362,end climb,SURFACE_DEPTH_REACHED
$STATE,26362,begin surface coast
$FINISH,1.5,1.024157
$STATE,26402,end surface coast,CONTROL_FINISHED_OK
$STATE,26402,begin surface
$SM_CCo,26484,0.00,0.000,0,0,1397,342.68
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$TT8_MAMPS,0.026964,0.026964
$HUMID,47.08
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.10
$XPDR_PINGS,6
$24V_AH,21.7,83.761
$10V_AH,9.8,64.925
$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
$DEVICE_SECS,22.150,216.200,450.100,0.000,0.000,27.799,36.839,215.554,1.500,0.000,18.122,3716.845,19377.439,761.173,2574.436,476.493,0.000,2033.803,0.000,2273.352,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,991.898,739.208,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296896
$DATA_FILE_SIZE,80376,1439
$CAP_FILE_SIZE,200500,0
$CFSIZE,260165632,207204352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,166.9,1
$GPS,150213,193206,4713.100,-12629.562,42,1.5,42,18.6