version: 66.11
glider: 187
mission: 2
dive: 551
start: 2 1 113 10 19 15
data:
$ID,187
$MISSION,2
$DIVE,551
$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,-1588694.9
$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,42
$R_STBD_OVSHOOT,24
$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
$GPS1,010213,101106,4737.637,-12542.165,30,1.2,30,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-78.8
$GPS2,010213,101842,4737.678,-12542.164,14,1.1,19,18.7
$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,38.7,47614,-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,17,-0.47,-136.3,0.0,0.0,0,75,0.00,0.00,-55.58,0.000,2,0.000,0.000,109,2192,2668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.47,-136.3,3.0,-1.7,10,116,11.65,2.20,-17.88,0.000,4,0.215,0.063,3033,797,3352,0,0,0,0,0,0,24.52,25.45,26.25
$GC,326,-0.47,-136.3,37.1,-13.8,57,333,0.00,2.20,0.00,0.000,6,0.000,0.052,3025,2202,3353,0,0,0,0,0,0,28.83,25.51,28.83
$GC,637,-0.47,-136.3,84.0,-12.4,118,643,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2203,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,949,-0.47,-136.3,121.8,-10.6,177,950,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2203,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1248,-0.47,-136.3,152.3,-9.9,197,1256,0.00,2.30,0.00,0.000,4,0.000,0.062,3014,3613,3354,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1288,-0.47,-136.3,156.3,-10.0,201,1296,0.00,2.22,0.00,0.000,6,0.000,0.043,3014,2192,3354,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1598,-0.47,-136.3,188.1,-10.0,222,1606,0.00,2.20,0.00,0.000,4,0.000,0.050,3014,802,3354,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1637,-0.47,-136.3,192.0,-9.8,226,1647,0.12,2.25,0.00,0.000,6,0.135,0.050,3041,2203,3354,0,0,0,0,0,0,25.49,25.61,28.83
$GC,1958,-0.47,-136.3,217.8,-8.4,244,1963,0.00,2.28,0.00,0.000,4,0.000,0.063,3032,3604,3354,0,0,0,0,0,0,28.83,25.49,28.83
$GC,2005,-0.47,-136.3,221.4,-8.5,246,2009,0.00,2.22,0.00,0.000,6,0.000,0.043,3032,2196,3354,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2308,-0.47,-136.3,252.7,-10.4,261,2313,0.00,2.20,0.00,0.000,4,0.000,0.050,3032,801,3354,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2347,-0.47,-136.3,256.7,-10.2,263,2353,0.00,2.25,0.00,0.000,6,0.000,0.050,3029,2202,3354,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2668,-0.47,-136.3,287.8,-9.4,279,2673,0.00,2.30,0.00,0.000,4,0.000,0.063,3019,3611,3354,0,0,0,0,0,0,28.83,25.46,28.83
$GC,2708,-0.47,-136.3,291.7,-9.4,281,2713,0.00,2.22,0.00,0.000,6,0.000,0.044,3019,2202,3354,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3028,-0.47,-136.3,321.6,-9.1,297,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2200,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3330,-0.47,-136.3,348.2,-8.8,312,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2200,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3627,-0.47,-136.3,373.6,-8.4,327,3633,0.00,2.33,0.00,0.000,4,0.000,0.063,3009,3608,3354,0,0,0,0,0,0,28.83,25.44,28.83
$GC,3668,-0.47,-136.3,377.2,-8.5,329,3674,0.08,2.22,0.00,0.000,6,0.107,0.044,3039,2200,3354,0,0,0,0,0,0,25.55,25.75,28.83
$GC,3988,-0.47,-136.3,401.4,-8.1,345,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2198,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4287,-0.47,-136.3,427.0,-8.5,355,4293,0.00,2.35,0.00,0.000,4,0.000,0.064,3031,3612,3354,0,0,0,0,0,0,28.83,25.41,28.83
$GC,4325,-0.47,-136.3,429.6,-8.6,356,4329,0.00,2.28,0.00,0.000,6,0.000,0.045,3031,2189,3354,0,0,0,0,0,0,28.83,25.73,28.83
$GC,4638,-0.47,-136.3,457.6,-8.4,367,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2186,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4938,-0.47,-136.3,480.7,-7.2,377,4943,0.00,2.35,0.00,0.000,4,0.000,0.064,3021,3610,3352,0,0,0,0,0,0,28.83,25.41,28.83
$GC,4975,-0.47,-136.3,482.9,-7.1,378,4979,0.00,2.25,0.00,0.000,6,0.000,0.045,3021,2199,3353,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5289,-0.47,-136.3,505.1,-6.6,389,5293,0.00,2.22,0.00,0.000,4,0.000,0.053,3021,803,3353,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5317,-0.47,-136.3,507.3,-6.7,390,5323,0.00,2.22,0.00,0.000,6,0.000,0.053,3013,2192,3353,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5648,-0.47,-136.3,531.4,-7.6,401,5654,0.12,2.33,0.00,0.000,4,0.141,0.065,3040,3607,3352,0,0,0,0,0,0,26.05,25.37,28.83
$GC,5708,-0.47,-136.3,535.4,-7.1,403,5713,0.00,2.22,0.00,0.000,6,0.000,0.046,3040,2201,3352,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6038,-0.47,-136.3,555.4,-6.1,414,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2199,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6338,-0.47,-136.3,575.8,-6.9,424,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2199,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6638,-0.47,-136.3,595.5,-6.5,434,6643,0.00,2.33,0.00,0.000,4,0.000,0.066,3030,3602,3351,0,0,0,0,0,0,28.83,25.35,28.83
$GC,6667,-0.47,-136.3,597.7,-6.5,435,6673,0.00,2.22,0.00,0.000,6,0.000,0.047,3030,2203,3351,0,0,0,0,0,0,28.83,25.69,28.83
$GC,6998,-0.47,-136.3,619.8,-6.9,446,7003,0.00,2.25,0.00,0.000,4,0.000,0.054,3030,797,3351,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7028,-0.47,-136.3,621.9,-6.9,447,7033,0.00,2.28,0.00,0.000,6,0.000,0.054,3023,2203,3351,0,0,0,0,0,0,28.83,25.50,28.83
$GC,7358,-0.47,-136.3,643.8,-6.4,458,7363,0.00,2.33,0.00,0.000,4,0.000,0.067,3013,3611,3351,0,0,0,0,0,0,28.83,25.34,28.83
$GC,7397,-0.47,-136.3,645.7,-6.5,459,7403,0.00,2.28,0.00,0.000,6,0.000,0.046,3013,2189,3351,0,0,0,0,0,0,28.83,25.68,28.83
$GC,7717,-0.47,-136.3,668.7,-7.1,470,7718,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2187,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8018,-0.47,-136.3,689.0,-6.6,480,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2188,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8318,-0.47,-136.3,708.8,-6.7,490,8323,0.00,2.38,0.00,0.000,4,0.000,0.065,3004,3613,3349,0,0,0,0,0,0,28.83,25.33,28.83
$GC,8356,-0.47,-136.3,711.0,-6.8,491,8361,0.15,2.28,0.00,0.000,6,0.119,0.047,3049,2201,3349,0,0,0,0,0,0,25.48,25.66,28.83
$GC,8670,-0.47,-136.3,728.5,-5.3,502,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2199,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8969,-0.47,-136.3,744.7,-5.5,512,8970,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2199,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9269,-0.47,-136.3,761.0,-5.5,522,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2199,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9570,-0.47,-136.3,778.0,-5.8,532,9574,0.00,2.35,0.00,0.000,4,0.000,0.067,3041,3605,3348,0,0,0,0,0,0,28.83,25.29,28.83
$GC,9599,-0.47,-136.3,780.0,-5.9,533,9604,0.00,2.25,0.00,0.000,6,0.000,0.048,3041,2206,3347,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9929,-0.47,-136.3,799.9,-6.1,544,9930,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2205,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10230,-0.47,-136.3,817.7,-6.0,554,10235,0.00,2.35,0.00,0.000,4,0.000,0.067,3031,3606,3347,0,0,0,0,0,0,28.83,25.27,28.83
$GC,10259,-0.47,-136.3,819.6,-6.0,555,10264,0.00,2.28,0.00,0.000,6,0.000,0.047,3031,2190,3347,0,0,0,0,0,0,28.83,25.64,28.83
$GC,10589,-0.47,-136.3,840.3,-6.3,566,10590,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2188,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10890,-0.47,-136.3,859.3,-6.3,576,10894,0.00,2.38,0.00,0.000,4,0.000,0.068,3022,3612,3347,0,0,0,0,0,0,28.83,25.25,28.83
$GC,10937,-0.47,-136.3,861.3,-6.4,577,10941,0.00,2.30,0.00,0.000,6,0.000,0.047,3021,2192,3346,0,0,0,0,0,0,28.83,25.63,28.83
$GC,11239,-0.47,-136.3,882.2,-6.4,587,11240,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2189,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11540,-0.47,-136.3,901.0,-6.2,597,11544,0.00,2.33,0.00,0.000,4,0.000,0.067,3012,3610,3346,0,0,0,0,0,0,28.83,25.25,28.83
$GC,11599,-0.47,-136.3,905.1,-6.5,599,11605,0.08,2.28,0.00,0.000,6,0.099,0.048,3043,2191,3346,0,0,0,0,0,0,25.45,25.61,28.83
$GC,11930,-0.47,-136.3,922.4,-5.3,610,11931,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2191,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12230,-0.47,-136.3,938.7,-5.3,620,12234,0.00,2.38,0.00,0.000,4,0.000,0.068,3035,3609,3345,0,0,0,0,0,0,28.83,25.22,28.83
$GC,12260,-0.47,-136.3,940.4,-5.4,621,12264,0.00,2.28,0.00,0.000,6,0.000,0.049,3035,2195,3345,0,0,0,0,0,0,28.83,25.60,28.83
$GC,12589,-0.47,-136.3,959.6,-5.9,632,12590,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2193,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12890,-0.47,-136.3,977.4,-6.2,642,12891,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2192,3345,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13096,begin apogee
$GC,13103,-0.22,0.0,990.4,-6.1,649,13235,0.25,0.00,126.47,1.159,6,0.107,0.000,3123,2335,2794,0,0,0,0,0,0,25.71,28.83,22.54
$STATE,13236,end apogee,CONTROL_FINISHED_OK
$STATE,13236,begin climb
$GC,13239,0.47,136.3,994.3,0.0,653,13381,0.68,2.60,134.65,1.121,4,0.071,0.067,3352,3725,2237,0,0,0,0,0,0,24.37,23.34,21.76
$GC,13430,0.48,145.5,985.8,6.7,660,13450,0.00,2.42,9.68,0.960,6,0.000,0.048,3362,2326,2200,0,0,0,0,0,0,28.83,24.09,22.13
$GC,13749,0.48,145.5,956.4,9.3,671,13755,0.00,2.33,0.00,0.000,4,0.000,0.057,3373,916,2195,0,0,0,0,0,0,28.83,25.35,28.83
$GC,13810,0.48,145.5,950.7,9.3,673,13815,0.00,2.30,0.00,0.000,6,0.000,0.058,3372,2317,2193,0,0,0,0,0,0,28.83,25.41,28.83
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$STATE,26246,end climb,SURFACE_DEPTH_REACHED
$STATE,26246,begin surface coast
$FINISH,1.5,1.024376
$STATE,26295,end surface coast,CONTROL_FINISHED_OK
$STATE,26295,begin surface
$SM_CCo,26374,0.00,0.000,0,0,1487,320.61
$SM_GC,2.54,8.32,0.22,0.00,0.030,0.069,0.000,105,2186,1487,-9.48,0.65,320.61,0,0,0,0,0,0,26.03,26.05,28.83
$IRIDIUM_FIX,4719.74,-12551.55,010213,020207
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.12
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,18.90
$XPDR_PINGS,4
$24V_AH,21.8,76.966
$10V_AH,9.8,60.347
$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
$DEVICE_SECS,22.175,239.225,436.150,0.000,0.000,26.644,38.279,235.406,1.000,0.000,20.648,3708.163,19194.680,760.879,2663.956,492.912,0.000,2083.103,0.000,2340.563,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,980.674,724.051,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296912
$DATA_FILE_SIZE,80081,1423
$CAP_FILE_SIZE,208544,0
$CFSIZE,260165632,211320832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.107,255.2,1
$GPS,010213,174006,4739.158,-12539.203,38,0.9,38,18.7