version: 66.11
glider: 187
mission: 2
dive: 556
start: 2 2 113 23 13 21
data:
$ID,187
$MISSION,2
$DIVE,556
$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,-1588701.5
$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,35
$R_STBD_OVSHOOT,29
$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
$GPS1,020213,230529,4744.933,-12522.766,36,1.3,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-77.1
$GPS2,020213,231248,4744.875,-12522.734,11,1.3,16,18.7
$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,29.1,20263,-13.3,-7.021,-18.50
$D_GRID,874
$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,-136.3,0.0,0.0,0,95,0.00,0.00,-75.15,0.000,2,0.000,0.000,108,2193,2611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.47,-136.3,3.1,-1.4,13,136,11.62,2.20,-18.67,0.000,4,0.215,0.061,3034,792,3351,0,0,0,0,0,0,24.58,25.49,26.24
$GC,292,-0.47,-136.3,30.9,-12.7,49,299,0.00,2.20,0.00,0.000,6,0.000,0.051,3026,2198,3352,0,0,0,0,0,0,28.83,25.55,28.83
$GC,605,-0.47,-136.3,72.1,-12.1,110,611,0.00,2.20,0.00,0.000,4,0.000,0.050,3026,782,3352,0,0,0,0,0,0,28.83,25.61,28.83
$GC,654,-0.47,-136.3,78.0,-11.2,119,660,0.00,2.22,0.00,0.000,6,0.000,0.051,3016,2209,3353,0,0,0,0,0,0,28.83,25.61,28.83
$GC,965,-0.47,-136.3,114.7,-10.3,180,973,0.00,2.20,0.00,0.000,4,0.000,0.049,3016,792,3352,0,0,0,0,0,0,28.83,25.64,28.83
$GC,997,-0.47,-136.3,118.1,-10.9,185,1004,0.12,2.20,0.00,0.000,6,0.135,0.050,3043,2200,3352,0,0,0,0,0,0,25.51,25.64,28.83
$GC,1320,-0.47,-136.3,143.4,-7.8,208,1328,0.00,2.25,0.00,0.000,4,0.000,0.062,3034,3614,3353,0,0,0,0,0,0,28.83,25.52,28.83
$GC,1397,-0.47,-136.3,150.1,-8.3,216,1407,0.00,2.25,0.00,0.000,6,0.000,0.043,3034,2187,3353,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1710,-0.47,-136.3,177.8,-9.4,237,1717,0.00,2.15,0.00,0.000,4,0.000,0.050,3034,802,3353,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1777,-0.47,-136.3,184.3,-9.5,244,1787,0.00,2.25,0.00,0.000,6,0.000,0.050,3026,2203,3353,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2094,-0.47,-136.3,214.4,-9.5,263,2098,0.00,2.28,0.00,0.000,4,0.000,0.062,3017,3606,3353,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2161,-0.47,-136.3,220.1,-9.6,266,2165,0.00,2.22,0.00,0.000,6,0.000,0.042,3016,2197,3353,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2463,-0.47,-136.3,250.9,-10.0,281,2468,0.00,2.20,0.00,0.000,4,0.000,0.049,3017,808,3353,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2502,-0.47,-136.3,254.7,-9.8,283,2509,0.12,2.25,0.00,0.000,6,0.133,0.050,3046,2207,3353,0,0,0,0,0,0,25.52,25.63,28.83
$GC,2825,-0.47,-136.3,277.8,-6.9,299,2829,0.00,2.25,0.00,0.000,4,0.000,0.063,3037,3613,3353,0,0,0,0,0,0,28.83,25.50,28.83
$GC,2873,-0.47,-136.3,281.5,-7.2,301,2878,0.00,2.22,0.00,0.000,6,0.000,0.043,3037,2197,3353,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3193,-0.47,-136.3,305.5,-7.7,317,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2195,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3493,-0.47,-136.3,328.7,-7.8,332,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2195,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3792,-0.47,-136.3,351.9,-8.0,347,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2195,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4092,-0.47,-136.3,374.9,-7.4,362,4098,0.00,2.35,0.00,0.000,4,0.000,0.063,3028,3608,3352,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4141,-0.47,-136.3,378.1,-7.6,364,4145,0.00,2.25,0.00,0.000,6,0.000,0.044,3027,2197,3353,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4454,-0.47,-136.3,403.8,-8.4,379,4458,0.00,2.28,0.00,0.000,4,0.000,0.063,3017,3607,3352,0,0,0,0,0,0,28.83,25.44,28.83
$GC,4482,-0.47,-136.3,406.3,-8.6,380,4488,0.00,2.25,0.00,0.000,6,0.000,0.044,3017,2195,3352,0,0,0,0,0,0,28.83,25.76,28.83
$GC,4813,-0.47,-136.3,435.7,-8.8,391,4818,0.00,2.33,0.00,0.000,4,0.000,0.063,3007,3605,3352,0,0,0,0,0,0,28.83,25.44,28.83
$GC,4842,-0.47,-136.3,438.4,-8.9,392,4849,0.12,2.25,0.00,0.000,6,0.126,0.044,3044,2193,3352,0,0,0,0,0,0,25.59,25.75,28.83
$GC,5172,-0.47,-136.3,463.8,-7.7,403,5178,0.00,2.38,0.00,0.000,4,0.000,0.063,3036,3618,3352,0,0,0,0,0,0,28.83,25.43,28.83
$GC,5202,-0.47,-136.3,466.2,-7.6,404,5208,0.00,2.28,0.00,0.000,6,0.000,0.044,3036,2193,3352,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5533,-0.47,-136.3,491.3,-7.4,415,5538,0.00,2.35,0.00,0.000,4,0.000,0.063,3026,3612,3351,0,0,0,0,0,0,28.83,25.42,28.83
$GC,5570,-0.47,-136.3,493.5,-7.4,416,5574,0.00,2.25,0.00,0.000,6,0.000,0.045,3026,2200,3351,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5882,-0.47,-136.3,517.6,-7.5,427,5888,0.00,2.35,0.00,0.000,4,0.000,0.064,3017,3607,3351,0,0,0,0,0,0,28.83,25.41,28.83
$GC,5913,-0.47,-136.3,520.0,-7.8,428,5918,0.00,2.25,0.00,0.000,6,0.000,0.045,3017,2193,3351,0,0,0,0,0,0,28.83,25.73,28.83
$GC,6242,-0.47,-136.3,546.8,-8.0,439,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2191,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6543,-0.47,-136.3,569.9,-7.7,449,6548,0.00,2.35,0.00,0.000,4,0.000,0.064,3007,3610,3350,0,0,0,0,0,0,28.83,25.40,28.83
$GC,6590,-0.47,-136.3,572.2,-7.8,450,6595,0.12,2.28,0.00,0.000,6,0.123,0.045,3045,2189,3350,0,0,0,0,0,0,25.57,25.72,28.83
$GC,6894,-0.47,-136.3,592.1,-6.1,460,6898,0.00,2.35,0.00,0.000,4,0.000,0.065,3037,3605,3350,0,0,0,0,0,0,28.83,25.39,28.83
$GC,6923,-0.47,-136.3,593.9,-6.0,461,6928,0.00,2.22,0.00,0.000,6,0.000,0.046,3037,2209,3350,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7253,-0.47,-136.3,614.1,-6.2,472,7255,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2207,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7553,-0.47,-136.3,631.5,-5.7,482,7558,0.00,2.33,0.00,0.000,4,0.000,0.065,3027,3605,3349,0,0,0,0,0,0,28.83,25.37,28.83
$GC,7601,-0.47,-136.3,633.4,-5.8,483,7605,0.00,2.28,0.00,0.000,6,0.000,0.046,3027,2187,3349,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7903,-0.47,-136.3,654.6,-7.0,493,7908,0.00,2.35,0.00,0.000,4,0.000,0.066,3017,3605,3348,0,0,0,0,0,0,28.83,25.35,28.83
$GC,7963,-0.47,-136.3,659.5,-7.6,495,7969,0.00,2.25,0.00,0.000,6,0.000,0.047,3017,2192,3348,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8292,-0.47,-136.3,684.0,-7.6,506,8293,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2190,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8592,-0.47,-136.3,707.2,-7.9,516,8598,0.00,2.38,0.00,0.000,4,0.000,0.066,3007,3610,3347,0,0,0,0,0,0,28.83,25.33,28.83
$GC,8641,-0.47,-136.3,709.5,-7.8,517,8646,0.12,2.28,0.00,0.000,6,0.122,0.047,3045,2193,3347,0,0,0,0,0,0,25.53,25.67,28.83
$GC,8943,-0.47,-136.3,729.8,-6.0,527,8948,0.00,2.35,0.00,0.000,4,0.000,0.066,3037,3607,3347,0,0,0,0,0,0,28.83,25.32,28.83
$GC,8973,-0.47,-136.3,731.6,-6.2,528,8978,0.00,2.25,0.00,0.000,6,0.000,0.047,3037,2201,3347,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9303,-0.47,-136.3,752.2,-6.2,539,9305,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2200,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9603,-0.47,-136.3,769.5,-5.7,549,9608,0.00,2.33,0.00,0.000,4,0.000,0.067,3027,3603,3347,0,0,0,0,0,0,28.83,25.31,28.83
$GC,9641,-0.47,-136.3,771.5,-5.8,550,9645,0.00,2.28,0.00,0.000,6,0.000,0.047,3027,2191,3345,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9954,-0.47,-136.3,792.3,-6.5,561,9958,0.00,2.33,0.00,0.000,4,0.000,0.067,3017,3615,3346,0,0,0,0,0,0,28.83,25.29,28.83
$GC,9993,-0.47,-136.3,794.5,-6.7,562,9999,0.00,2.28,0.00,0.000,6,0.000,0.046,3017,2194,3345,0,0,0,0,0,0,28.83,25.67,28.83
$GC,10313,-0.47,-136.3,817.2,-6.9,573,10318,0.00,2.35,0.00,0.000,4,0.000,0.066,3007,3606,3346,0,0,0,0,0,0,28.83,25.29,28.83
$GC,10362,-0.47,-136.3,819.4,-6.8,574,10372,0.12,2.28,0.00,0.000,6,0.122,0.047,3045,2189,3345,0,0,0,0,0,0,25.51,25.65,28.83
$GC,10673,-0.47,-136.3,837.4,-5.1,585,10675,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2189,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10973,-0.47,-136.3,852.3,-4.9,595,10979,0.00,2.38,0.00,0.000,4,0.000,0.067,3038,3606,3345,0,0,0,0,0,0,28.83,25.27,28.83
$GC,11012,-0.47,-136.3,853.8,-5.0,596,11018,0.00,2.28,0.00,0.000,6,0.000,0.047,3038,2198,3345,0,0,0,0,0,0,28.83,25.65,28.83
$GC,11333,-0.47,-136.3,871.9,-5.6,607,11334,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2197,3344,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11390,begin apogee
$GC,11397,-0.22,0.0,875.1,-5.4,609,11525,0.25,0.00,124.00,1.085,6,0.107,0.000,3125,2339,2794,0,0,0,0,0,0,25.72,28.83,22.71
$STATE,11526,end apogee,CONTROL_FINISHED_OK
$STATE,11526,begin climb
$GC,11530,0.47,136.3,878.7,0.0,613,11669,0.62,2.55,131.10,1.050,4,0.072,0.066,3344,3724,2237,0,0,0,0,0,0,24.52,23.57,22.02
$GC,11685,0.49,177.4,872.3,5.4,619,11730,0.00,2.38,39.72,1.012,6,0.000,0.047,3355,2329,2070,0,0,0,0,0,0,28.83,23.95,22.01
$GC,12034,0.49,177.4,841.0,9.0,630,12039,0.00,2.33,0.00,0.000,4,0.000,0.056,3365,920,2060,0,0,0,0,0,0,28.83,25.35,28.83
$GC,12111,0.49,177.4,835.8,8.7,632,12115,0.00,2.30,0.00,0.000,6,0.000,0.056,3365,2318,2059,0,0,0,0,0,0,28.83,25.44,28.83
$GC,12413,0.49,177.4,806.4,9.5,642,12418,0.00,2.38,0.00,0.000,4,0.000,0.067,3365,3735,2058,0,0,0,0,0,0,28.83,25.48,28.83
$GC,12451,0.49,177.4,803.2,9.6,643,12456,0.00,2.30,0.00,0.000,6,0.000,0.049,3375,2323,2057,0,0,0,0,0,0,28.83,25.69,28.83
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$STATE,22310,end climb,SURFACE_DEPTH_REACHED
$STATE,22310,begin surface coast
$FINISH,2.9,1.024933
$STATE,22321,end surface coast,CONTROL_FINISHED_OK
$STATE,22321,begin surface
$SM_CCo,22403,0.00,0.000,0,0,1258,376.54
$SM_GC,2.57,8.20,2.08,0.00,0.024,0.049,0.000,105,2209,1258,-9.47,-0.62,376.54,0,0,0,0,0,0,26.03,25.61,28.83
$IRIDIUM_FIX,4729.30,-12527.05,020213,161642
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.57
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.20
$XPDR_PINGS,4
$24V_AH,22.0,77.685
$10V_AH,9.8,60.841
$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,22.150,215.350,469.125,0.000,0.000,26.210,35.336,226.823,1.000,0.000,17.221,3328.449,15898.640,777.999,2401.247,426.696,0.000,1975.327,0.000,2085.041,0.000,0.535,0.000
$DEVICE_MAMPS,214.965,82.620,1084.770,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,890.595,696.485,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70229,1297
$CAP_FILE_SIZE,183041,0
$CFSIZE,260165632,210911232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092,227.0,1
$GPS,030213,052805,4746.382,-12519.959,38,0.9,43,18.7