version: 66.11
glider: 187
mission: 2
dive: 296
start: 11 22 112 14 44 14
data:
$ID,187
$MISSION,2
$DIVE,296
$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,450
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,150
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$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,-1588130.9
$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,35
$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,22
$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
$GPS1,221112,143706,4742.560,-12525.921,38,1.1,38,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-72.6
$GPS2,221112,144342,4742.658,-12525.965,10,1.9,10,18.7
$SPEED_LIMITS,0.127,0.220
$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,29.2,25984,-13.4,-7.333,-18.42
$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,-0.48,-146.0,0.0,0.0,0,85,0.00,0.00,-66.22,0.000,2,0.000,0.000,124,2197,2682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.48,-146.0,3.1,-1.9,11,129,11.48,2.35,-17.10,0.000,4,0.221,0.075,3022,3610,3393,0,0,0,0,0,0,24.96,25.47,26.08
$GC,277,-0.48,-146.0,36.9,-15.7,45,285,0.00,2.17,0.00,0.000,6,0.000,0.042,3022,2190,3395,0,0,0,0,0,0,28.83,25.65,28.83
$GC,593,-0.48,-146.0,81.3,-12.8,106,600,0.00,2.28,0.00,0.000,4,0.000,0.061,3012,3610,3396,0,0,0,0,0,0,28.83,25.54,28.83
$GC,674,-0.48,-146.0,92.0,-13.5,121,682,0.00,2.15,0.00,0.000,6,0.000,0.042,3012,2199,3396,0,0,0,0,0,0,28.83,25.77,28.83
$GC,992,-0.48,-146.0,132.8,-11.5,169,997,0.00,2.12,0.00,0.000,4,0.000,0.049,3012,799,3397,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1070,-0.48,-146.0,142.0,-11.9,174,1076,0.10,2.15,0.00,0.000,6,0.119,0.050,3039,2200,3397,0,0,0,0,0,0,25.51,25.71,28.83
$GC,1387,-0.48,-146.0,173.8,-9.7,195,1392,0.00,2.20,0.00,0.000,4,0.000,0.061,3031,3608,3397,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1440,-0.48,-146.0,178.5,-10.1,198,1448,0.00,2.17,0.00,0.000,6,0.000,0.042,3031,2198,3397,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1756,-0.48,-146.0,211.6,-10.1,218,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2196,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2055,-0.48,-146.0,239.9,-9.4,233,2061,0.00,2.15,0.00,0.000,4,0.000,0.050,3031,793,3397,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2084,-0.48,-146.0,241.9,-9.5,234,2088,0.00,2.17,0.00,0.000,6,0.000,0.050,3021,2201,3397,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2390,-0.48,-146.0,272.2,-9.5,249,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2202,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2690,-0.48,-146.0,300.5,-9.4,264,2696,0.00,2.25,0.00,0.000,4,0.000,0.063,3012,3611,3397,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2751,-0.48,-146.0,306.3,-9.6,267,2756,0.00,2.12,0.00,0.000,6,0.000,0.043,3011,2201,3396,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3070,-0.48,-146.0,338.3,-10.2,283,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2196,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3371,-0.48,-146.0,370.1,-10.7,298,3372,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2197,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3670,-0.48,-146.0,400.0,-10.0,313,3676,0.00,2.25,0.00,0.000,4,0.000,0.063,3001,3608,3395,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3701,-0.48,-146.0,403.1,-10.1,314,3707,0.10,2.15,0.00,0.000,6,0.112,0.044,3037,2191,3394,0,0,0,0,0,0,25.64,25.90,28.83
$GC,4031,-0.48,-146.0,429.6,-7.9,325,4037,0.00,2.28,0.00,0.000,4,0.000,0.063,3029,3615,3394,0,0,0,0,0,0,28.83,25.63,28.83
$GC,4061,-0.48,-146.0,432.2,-8.0,326,4066,0.00,2.17,0.00,0.000,6,0.000,0.044,3029,2196,3394,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4390,-0.48,-146.0,459.5,-8.3,337,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2194,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4690,-0.48,-146.0,483.4,-7.9,347,4696,0.00,2.28,0.00,0.000,4,0.000,0.065,3018,3611,3393,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4729,-0.48,-146.0,485.8,-7.8,348,4733,0.00,2.17,0.00,0.000,6,0.000,0.045,3019,2194,3394,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5046,-0.48,-146.0,513.9,-8.8,359,5052,0.00,2.28,0.00,0.000,4,0.000,0.064,3009,3606,3393,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5076,-0.48,-146.0,516.7,-8.8,360,5082,0.12,2.17,0.00,0.000,6,0.132,0.044,3044,2188,3393,0,0,0,0,0,0,25.70,25.88,28.83
$GC,5407,-0.48,-146.0,540.0,-7.0,371,5412,0.00,2.25,0.00,0.000,4,0.000,0.065,3036,3601,3392,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5429,-0.48,-146.0,540.0,-7.0,371,5436,0.00,2.15,0.00,0.000,6,0.000,0.045,3035,2192,3392,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5736,-0.48,-146.0,564.7,-7.4,382,5742,0.00,2.25,0.00,0.000,4,0.000,0.065,3026,3602,3391,0,0,0,0,0,0,28.83,25.57,28.83
$GC,5774,-0.48,-146.0,567.1,-7.5,383,5778,0.00,2.15,0.00,0.000,6,0.000,0.044,3025,2193,3391,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6092,-0.48,-146.0,594.2,-8.3,394,6093,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2190,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6391,-0.48,-146.0,618.0,-8.0,404,6397,0.00,2.30,0.00,0.000,4,0.000,0.065,3015,3616,3390,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6430,-0.48,-146.0,620.5,-8.1,405,6434,0.00,2.17,0.00,0.000,6,0.000,0.046,3015,2199,3390,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6747,-0.48,-146.0,649.4,-9.1,416,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2197,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7047,-0.48,-146.0,676.9,-9.2,426,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2196,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7347,-0.48,-146.0,703.9,-8.9,436,7353,0.00,2.30,0.00,0.000,4,0.000,0.067,3005,3613,3389,0,0,0,0,0,0,28.83,25.52,28.83
$GC,7409,-0.48,-146.0,709.7,-9.1,438,7414,0.12,2.17,0.00,0.000,6,0.132,0.047,3041,2200,3389,0,0,0,0,0,0,25.65,25.83,28.83
$GC,7732,-0.48,-146.0,733.3,-7.2,449,7738,0.00,2.25,0.00,0.000,4,0.000,0.067,3034,3601,3389,0,0,0,0,0,0,28.83,25.50,28.83
$GC,7765,-0.48,-146.0,735.4,-7.2,450,7769,0.00,2.15,0.00,0.000,6,0.000,0.045,3034,2194,3389,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8088,-0.48,-146.0,758.9,-6.9,461,8089,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2191,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8389,-0.48,-146.0,780.5,-7.3,471,8394,0.00,2.30,0.00,0.000,4,0.000,0.067,3024,3614,3387,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8411,-0.48,-146.0,780.5,-7.3,471,8418,0.00,2.17,0.00,0.000,6,0.000,0.047,3024,2199,3387,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8718,-0.48,-146.0,804.8,-7.0,482,8724,0.00,2.30,0.00,0.000,4,0.000,0.067,3014,3612,3387,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8751,-0.48,-146.0,807.1,-7.2,483,8755,0.00,2.17,0.00,0.000,6,0.000,0.047,3014,2201,3387,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9074,-0.48,-146.0,831.0,-7.5,494,9079,0.00,2.25,0.00,0.000,4,0.000,0.067,3005,3603,3387,0,0,0,0,0,0,28.83,25.47,28.83
$GC,9103,-0.48,-146.0,833.2,-7.5,495,9109,0.12,2.17,0.00,0.000,6,0.132,0.047,3040,2194,3387,0,0,0,0,0,0,25.62,25.79,28.83
$GC,9434,-0.48,-146.0,854.0,-6.1,506,9439,0.00,2.28,0.00,0.000,4,0.000,0.067,3033,3606,3386,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9463,-0.48,-146.0,856.0,-6.3,507,9469,0.00,2.15,0.00,0.000,6,0.000,0.047,3033,2203,3386,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9794,-0.48,-146.0,877.4,-6.2,518,9795,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2201,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10094,-0.48,-146.0,895.3,-6.0,528,10099,0.00,2.25,0.00,0.000,4,0.000,0.067,3023,3604,3385,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10136,-0.48,-146.0,897.1,-6.0,529,10140,0.00,2.17,0.00,0.000,6,0.000,0.047,3023,2193,3385,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10449,-0.48,-146.0,918.9,-6.7,540,10450,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2190,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10750,-0.48,-146.0,940.0,-7.1,550,10755,0.00,2.30,0.00,0.000,4,0.000,0.067,3013,3609,3385,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10817,-0.48,-146.0,944.3,-7.1,552,10821,0.00,2.17,0.00,0.000,6,0.000,0.047,3013,2201,3384,0,0,0,0,0,0,28.83,25.76,28.83
$GC,11134,-0.48,-146.0,967.8,-7.3,563,11136,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2199,3384,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11401,end dive,NO_VERTICAL_VELOCITY
$STATE,11402,begin apogee
$GC,11409,-0.22,0.0,970.9,0.0,572,11542,0.30,0.00,128.68,1.163,6,0.083,0.000,3130,2328,2794,0,0,0,0,0,0,25.91,28.83,23.31
$STATE,11545,end apogee,CONTROL_FINISHED_OK
$STATE,11545,begin climb
$GC,11548,0.48,146.0,970.6,0.0,576,11689,0.62,0.00,137.73,1.128,6,0.076,0.000,3345,2328,2198,0,0,0,0,0,0,24.45,28.83,22.37
$GC,11972,0.48,146.0,938.1,9.1,591,11977,0.00,2.33,0.00,0.000,4,0.000,0.067,3345,3720,2187,0,0,0,0,0,0,28.83,24.82,28.83
$GC,12000,0.48,146.0,935.2,9.2,592,12007,0.00,2.25,0.00,0.000,6,0.000,0.048,3355,2334,2187,0,0,0,0,0,0,28.83,25.01,28.83
$GC,12331,0.48,146.0,903.2,9.6,603,12332,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2328,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12630,0.48,146.0,875.3,9.4,613,12636,0.00,2.30,0.00,0.000,4,0.000,0.068,3355,3730,2184,0,0,0,0,0,0,28.83,25.45,28.83
$GC,12661,0.48,146.0,872.3,9.6,614,12666,0.00,2.20,0.00,0.000,6,0.000,0.050,3365,2329,2184,0,0,0,0,0,0,28.83,25.63,28.83
$GC,12991,0.48,146.0,839.1,9.7,625,12996,0.00,2.20,0.00,0.000,4,0.000,0.057,3376,921,2184,0,0,0,0,0,0,28.83,25.59,28.83
$GC,13021,0.48,146.0,836.2,9.7,626,13026,0.00,2.20,0.00,0.000,6,0.000,0.057,3376,2312,2183,0,0,0,0,0,0,28.83,25.60,28.83
$GC,13350,0.48,146.0,802.6,10.3,637,13356,0.00,2.33,0.00,0.000,4,0.000,0.069,3376,3746,2183,0,0,0,0,0,0,28.83,25.54,28.83
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$STATE,23280,end climb,SURFACE_DEPTH_REACHED
$STATE,23280,begin surface coast
$FINISH,1.3,1.006942
$STATE,23334,end surface coast,CONTROL_FINISHED_OK
$STATE,23335,begin surface
$SM_CCo,23416,0.00,0.000,0,0,930,457.24
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.01
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,16.10
$XPDR_PINGS,1
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$10V_AH,10.1,34.631
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296768
$DATA_FILE_SIZE,76767,1333
$CAP_FILE_SIZE,195415,0
$CFSIZE,260165632,233050112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.015,296.8,1
$GPS,221112,211536,4745.018,-12522.498,28,1.5,28,18.7