version: 66.11
glider: 187
mission: 2
dive: 357
start: 12 7 112 8 31 8
data:
$ID,187
$MISSION,2
$DIVE,357
$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,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,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,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,-1588381.5
$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,31
$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,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
$GPS1,071212,082259,4720.668,-12612.802,44,1.4,44,18.6
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-75.4
$GPS2,071212,083037,4720.554,-12612.698,12,1.4,12,18.6
$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,36.8,96917,-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,-136.3,0.0,0.0,0,74,0.00,0.00,-55.17,0.000,2,0.000,0.000,115,2196,2684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.47,-136.3,3.3,-3.6,9,111,11.43,2.20,-15.27,0.000,4,0.216,0.061,3033,789,3351,0,0,0,0,0,0,24.84,25.51,26.11
$GC,335,-0.47,-136.3,46.0,-12.9,57,342,0.00,2.25,0.00,0.000,6,0.000,0.050,3025,2200,3353,0,0,0,0,0,0,28.83,25.58,28.83
$GC,653,-0.47,-136.3,86.4,-12.7,118,659,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2199,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,965,-0.47,-136.3,122.2,-11.2,177,970,0.00,2.15,0.00,0.000,4,0.000,0.048,3025,789,3355,0,0,0,0,0,0,28.83,25.71,28.83
$GC,995,-0.47,-136.3,125.5,-11.1,179,1000,0.00,2.17,0.00,0.000,6,0.000,0.050,3015,2199,3355,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1310,-0.47,-136.3,160.4,-10.9,200,1315,0.00,2.22,0.00,0.000,4,0.000,0.063,3005,3612,3355,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1354,-0.47,-136.3,165.6,-11.2,203,1361,0.12,2.20,0.00,0.000,6,0.132,0.043,3041,2181,3355,0,0,0,0,0,0,25.67,25.86,28.83
$GC,1672,-0.47,-136.3,193.6,-8.7,224,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2177,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1986,-0.47,-136.3,219.9,-8.3,241,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2177,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2286,-0.47,-136.3,243.7,-8.0,256,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2177,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2584,-0.47,-136.3,269.4,-8.6,271,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2177,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2884,-0.47,-136.3,292.7,-7.2,286,2890,0.00,2.30,0.00,0.000,4,0.000,0.063,3033,3613,3355,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2938,-0.47,-136.3,295.9,-7.6,288,2945,0.00,2.17,0.00,0.000,6,0.000,0.044,3032,2192,3355,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3245,-0.47,-136.3,320.3,-7.6,304,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2190,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3544,-0.47,-136.3,343.5,-8.1,319,3550,0.00,2.28,0.00,0.000,4,0.000,0.064,3023,3610,3354,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3578,-0.47,-136.3,345.2,-8.3,320,3585,0.00,2.15,0.00,0.000,6,0.000,0.044,3023,2203,3355,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3885,-0.47,-136.3,374.5,-9.3,336,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2201,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4186,-0.47,-136.3,400.1,-8.3,351,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2201,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4485,-0.47,-136.3,425.1,-8.4,361,4490,0.00,2.22,0.00,0.000,4,0.000,0.065,3012,3599,3353,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4532,-0.47,-136.3,427.7,-8.4,362,4537,0.12,2.15,0.00,0.000,6,0.127,0.045,3049,2198,3354,0,0,0,0,0,0,25.70,25.87,28.83
$GC,4840,-0.47,-136.3,450.1,-6.7,372,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2197,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5140,-0.47,-136.3,469.5,-6.5,382,5146,0.00,2.28,0.00,0.000,4,0.000,0.066,3040,3607,3353,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5178,-0.47,-136.3,471.6,-6.6,383,5182,0.00,2.20,0.00,0.000,6,0.000,0.046,3040,2189,3353,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5500,-0.47,-136.3,495.9,-7.4,394,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2187,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5801,-0.47,-136.3,516.9,-6.7,404,5806,0.00,2.28,0.00,0.000,4,0.000,0.065,3030,3610,3352,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5868,-0.47,-136.3,521.1,-6.9,406,5872,0.00,2.17,0.00,0.000,6,0.000,0.046,3030,2198,3352,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6185,-0.47,-136.3,544.5,-7.1,417,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2197,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6486,-0.47,-136.3,565.7,-7.0,427,6492,0.00,2.30,0.00,0.000,4,0.000,0.066,3019,3612,3351,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6533,-0.47,-136.3,567.9,-7.0,428,6538,0.00,2.17,0.00,0.000,6,0.000,0.047,3020,2202,3351,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6840,-0.47,-136.3,592.2,-7.4,438,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2200,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7141,-0.47,-136.3,615.0,-7.7,448,7147,0.00,2.25,0.00,0.000,4,0.000,0.066,3009,3608,3351,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7178,-0.47,-136.3,617.5,-7.9,449,7183,0.12,2.20,0.00,0.000,6,0.126,0.047,3045,2194,3350,0,0,0,0,0,0,25.65,25.80,28.83
$GC,7497,-0.47,-136.3,638.0,-6.1,460,7502,0.00,2.28,0.00,0.000,4,0.000,0.067,3037,3606,3350,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7535,-0.47,-136.3,640.0,-6.1,461,7539,0.00,2.17,0.00,0.000,6,0.000,0.047,3037,2201,3349,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7853,-0.47,-136.3,661.9,-6.6,472,7854,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2198,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8153,-0.47,-136.3,681.7,-6.8,482,8154,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2199,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8452,-0.47,-136.3,702.1,-6.5,492,8458,0.00,2.28,0.00,0.000,4,0.000,0.067,3027,3609,3348,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8490,-0.47,-136.3,704.1,-6.5,493,8494,0.00,2.20,0.00,0.000,6,0.000,0.047,3028,2193,3348,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8808,-0.47,-136.3,726.7,-7.1,504,8809,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2190,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9108,-0.47,-136.3,748.1,-7.2,514,9113,0.00,2.28,0.00,0.000,4,0.000,0.067,3017,3605,3347,0,0,0,0,0,0,28.83,25.43,28.83
$GC,9185,-0.47,-136.3,752.8,-7.6,516,9189,0.00,2.20,0.00,0.000,6,0.000,0.047,3017,2190,3347,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9493,-0.47,-136.3,778.9,-7.8,526,9498,0.00,2.28,0.00,0.000,4,0.000,0.067,3007,3599,3347,0,0,0,0,0,0,28.83,25.42,28.83
$GC,9515,-0.47,-136.3,778.9,-7.8,526,9523,0.12,2.17,0.00,0.000,6,0.127,0.047,3043,2195,3347,0,0,0,0,0,0,25.60,25.76,28.83
$GC,9823,-0.47,-136.3,800.0,-6.0,537,9824,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2195,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10123,-0.47,-136.3,818.1,-6.1,547,10128,0.00,2.33,0.00,0.000,4,0.000,0.067,3034,3615,3347,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10167,-0.47,-136.3,820.0,-6.2,548,10172,0.00,2.20,0.00,0.000,6,0.000,0.047,3035,2202,3347,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10483,-0.47,-136.3,841.6,-6.5,559,10488,0.00,2.28,0.00,0.000,4,0.000,0.068,3025,3606,3346,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10521,-0.47,-136.3,843.9,-6.6,560,10525,0.00,2.20,0.00,0.000,6,0.000,0.048,3025,2198,3346,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10843,-0.47,-136.3,865.6,-6.3,571,10844,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2197,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11143,-0.47,-136.3,882.6,-5.5,581,11149,0.00,2.28,0.00,0.000,4,0.000,0.068,3015,3604,3346,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11197,-0.47,-136.3,884.4,-5.6,582,11204,0.00,2.20,0.00,0.000,6,0.000,0.047,3015,2188,3345,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11503,-0.47,-136.3,906.0,-6.7,593,11509,0.00,2.30,0.00,0.000,4,0.000,0.067,3004,3606,3345,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11533,-0.47,-136.3,908.1,-6.8,594,11539,0.10,2.20,0.00,0.000,6,0.097,0.048,3043,2196,3345,0,0,0,0,0,0,25.51,25.71,28.83
$GC,11864,-0.47,-136.3,925.8,-5.2,605,11865,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2194,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12163,-0.47,-136.3,941.0,-5.0,615,12164,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2194,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12463,-0.47,-136.3,955.7,-5.0,625,12464,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2194,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12764,-0.47,-136.3,972.4,-5.7,635,12769,0.00,2.30,0.00,0.000,4,0.000,0.069,3034,3607,3345,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12794,-0.47,-136.3,974.2,-5.7,636,12799,0.00,2.20,0.00,0.000,6,0.000,0.048,3034,2194,3345,0,0,0,0,0,0,28.83,25.70,28.83
$STATE,13060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13060,begin apogee
$GC,13068,-0.22,0.0,990.7,-6.2,645,13194,0.28,0.00,121.65,1.174,6,0.106,0.000,3131,2335,2793,0,0,0,0,0,0,25.72,28.83,23.17
$STATE,13197,end apogee,CONTROL_FINISHED_OK
$STATE,13198,begin climb
$GC,13200,0.47,136.3,994.5,0.0,649,13335,0.60,0.00,131.77,1.135,6,0.072,0.000,3342,2335,2238,0,0,0,0,0,0,24.46,28.83,22.18
$GC,13634,0.47,136.3,964.4,8.6,664,13635,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2336,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13933,0.47,136.3,940.0,8.1,674,13934,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2335,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14233,0.47,136.3,916.7,7.8,684,14239,0.00,2.30,0.00,0.000,4,0.000,0.069,3342,3729,2224,0,0,0,0,0,0,28.83,25.47,28.83
$GC,14266,0.47,136.3,913.9,8.1,685,14270,0.00,2.22,0.00,0.000,6,0.000,0.050,3352,2324,2223,0,0,0,0,0,0,28.83,25.65,28.83
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$STATE,25972,end climb,SURFACE_DEPTH_REACHED
$STATE,25972,begin surface coast
$FINISH,1.4,1.024341
$STATE,26013,end surface coast,CONTROL_FINISHED_OK
$STATE,26013,begin surface
$SM_CCo,26093,0.00,0.000,0,0,1373,348.33
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.56
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.20
$XPDR_PINGS,1
$24V_AH,22.2,49.666
$10V_AH,10.0,40.986
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.900,183.625,433.700,0.000,0.000,28.771,41.185,249.412,0.250,0.000,13.686,3716.070,18724.357,562.708,3078.602,456.141,0.000,2046.913,0.000,2731.510,0.000,0.535,0.000
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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,296748
$DATA_FILE_SIZE,80335,1436
$CAP_FILE_SIZE,202693,0
$CFSIZE,260165632,228188160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043,285.1,1
$GPS,071212,154706,4722.912,-12608.845,27,1.8,27,18.6