version: 66.11
glider: 187
mission: 2
dive: 422
start: 12 26 112 21 10 56
data:
$ID,187
$MISSION,2
$DIVE,422
$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,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,-1588519.6
$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,45
$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,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
$GPS1,261212,205507,4739.456,-12532.121,63,1.0,63,18.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-69.0
$GPS2,261212,211024,4739.444,-12531.972,19,1.1,19,18.7
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,3000.000
$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,64.1,35522,-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,-136.3,0.0,0.0,0,70,0.00,0.00,-50.95,0.000,2,0.000,0.000,130,2192,2277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.47,-136.3,3.0,-3.9,9,129,11.60,2.38,-33.80,0.000,4,0.219,0.078,3034,3611,3352,0,0,0,0,0,0,24.84,25.44,26.20
$GC,346,-0.47,-136.3,29.7,-13.6,60,353,0.00,2.17,0.00,0.000,6,0.000,0.043,3034,2204,3354,0,0,0,0,0,0,28.83,25.71,28.83
$GC,659,-0.47,-136.3,71.8,-11.6,121,665,0.00,2.17,0.00,0.000,4,0.000,0.051,3034,800,3353,0,0,0,0,0,0,28.83,25.66,28.83
$GC,788,-0.47,-136.3,87.3,-11.1,146,795,0.00,2.17,0.00,0.000,6,0.000,0.050,3025,2202,3354,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1099,-0.47,-136.3,119.5,-9.7,207,1107,0.00,2.25,0.00,0.000,4,0.000,0.061,3015,3615,3354,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1152,-0.47,-136.3,124.6,-9.8,211,1156,0.00,2.20,0.00,0.000,6,0.000,0.043,3015,2187,3354,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1460,-0.47,-136.3,156.0,-10.2,231,1466,0.00,2.12,0.00,0.000,4,0.000,0.050,3015,801,3355,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1519,-0.47,-136.3,162.0,-10.2,235,1526,0.12,2.17,0.00,0.000,6,0.140,0.050,3040,2200,3354,0,0,0,0,0,0,25.60,25.75,28.83
$GC,1838,-0.47,-136.3,187.4,-8.3,256,1843,0.00,2.22,0.00,0.000,4,0.000,0.063,3032,3607,3354,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1904,-0.47,-136.3,192.9,-9.1,260,1911,0.00,2.17,0.00,0.000,6,0.000,0.043,3031,2185,3354,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2227,-0.47,-136.3,222.3,-8.7,278,2231,0.00,2.17,0.00,0.000,4,0.000,0.050,3031,790,3354,0,0,0,0,0,0,28.83,25.73,28.83
$GC,2269,-0.47,-136.3,226.1,-8.8,280,2275,0.00,2.20,0.00,0.000,6,0.000,0.051,3028,2202,3354,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2589,-0.47,-136.3,254.2,-9.0,296,2595,0.00,2.22,0.00,0.000,4,0.000,0.063,3017,3611,3354,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2629,-0.47,-136.3,258.0,-9.2,298,2635,0.00,2.15,0.00,0.000,6,0.000,0.044,3017,2203,3354,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2949,-0.47,-136.3,287.9,-9.1,314,2954,0.00,2.17,0.00,0.000,4,0.000,0.050,3017,796,3354,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2997,-0.47,-136.3,291.6,-9.1,316,3002,0.12,2.17,0.00,0.000,6,0.139,0.050,3043,2200,3354,0,0,0,0,0,0,25.60,25.74,28.83
$GC,3305,-0.47,-136.3,316.7,-7.9,331,3310,0.00,2.20,0.00,0.000,4,0.000,0.063,3034,3600,3354,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3327,-0.47,-136.3,318.3,-8.0,332,3331,0.00,2.15,0.00,0.000,6,0.000,0.044,3034,2198,3354,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3639,-0.47,-136.3,343.7,-7.9,348,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2196,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3941,-0.47,-136.3,366.8,-7.6,363,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2196,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4239,-0.47,-136.3,389.3,-7.6,378,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2196,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4559,-0.47,-136.3,414.4,-7.9,391,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2196,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4860,-0.47,-136.3,436.9,-7.2,401,4865,0.00,2.25,0.00,0.000,4,0.000,0.065,3024,3604,3352,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4907,-0.47,-136.3,439.1,-7.3,402,4911,0.00,2.17,0.00,0.000,6,0.000,0.046,3024,2196,3352,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5215,-0.47,-136.3,462.0,-6.7,412,5220,0.00,2.30,0.00,0.000,4,0.000,0.064,3014,3611,3352,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5253,-0.47,-136.3,464.3,-6.9,413,5259,0.00,2.20,0.00,0.000,6,0.000,0.046,3014,2195,3352,0,0,0,0,0,0,28.83,25.83,28.83
$GC,5574,-0.47,-136.3,488.1,-7.2,424,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2192,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5874,-0.47,-136.3,510.8,-7.6,434,5875,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2192,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6175,-0.47,-136.3,534.7,-8.0,444,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2192,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6474,-0.47,-136.3,559.1,-8.2,454,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2192,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6775,-0.47,-136.3,583.0,-7.9,464,6780,0.00,2.30,0.00,0.000,4,0.000,0.065,3004,3608,3350,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6808,-0.47,-136.3,585.5,-7.9,465,6813,0.15,2.17,0.00,0.000,6,0.123,0.047,3049,2203,3350,0,0,0,0,0,0,25.61,25.80,28.83
$GC,7131,-0.47,-136.3,606.4,-6.2,476,7137,0.00,2.17,0.00,0.000,4,0.000,0.054,3048,798,3350,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7163,-0.47,-136.3,608.5,-6.3,477,7168,0.00,2.20,0.00,0.000,6,0.000,0.054,3045,2200,3349,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7487,-0.47,-136.3,629.2,-6.3,488,7492,0.00,2.22,0.00,0.000,4,0.000,0.067,3034,3603,3348,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7529,-0.47,-136.3,631.1,-6.2,489,7533,0.00,2.17,0.00,0.000,6,0.000,0.047,3034,2198,3349,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7842,-0.47,-136.3,652.4,-6.6,500,7843,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2197,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8142,-0.47,-136.3,671.0,-6.1,510,8148,0.00,2.33,0.00,0.000,4,0.000,0.067,3025,3618,3347,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8180,-0.47,-136.3,673.2,-6.3,511,8184,0.00,2.20,0.00,0.000,6,0.000,0.046,3025,2193,3347,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8497,-0.47,-136.3,694.8,-6.8,522,8499,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2190,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8798,-0.47,-136.3,714.3,-6.3,532,8799,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2190,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9097,-0.47,-136.3,732.7,-6.2,542,9103,0.00,2.28,0.00,0.000,4,0.000,0.066,3016,3603,3347,0,0,0,0,0,0,28.83,25.45,28.83
$GC,9135,-0.47,-136.3,734.4,-6.1,543,9140,0.00,2.17,0.00,0.000,6,0.000,0.047,3015,2204,3347,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9454,-0.47,-136.3,755.8,-6.6,554,9455,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2202,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9753,-0.47,-136.3,776.9,-7.3,564,9758,0.00,2.28,0.00,0.000,4,0.000,0.067,3006,3611,3346,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9800,-0.47,-136.3,779.2,-7.4,565,9805,0.12,2.20,0.00,0.000,6,0.129,0.048,3043,2197,3346,0,0,0,0,0,0,25.58,25.75,28.83
$GC,10109,-0.47,-136.3,799.1,-5.9,575,10110,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2195,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10408,-0.47,-136.3,816.3,-5.6,585,10409,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2195,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10708,-0.47,-136.3,833.6,-5.9,595,10712,0.00,2.20,0.00,0.000,4,0.000,0.055,3043,794,3345,0,0,0,0,0,0,28.83,25.55,28.83
$GC,10741,-0.47,-136.3,835.4,-5.9,596,10747,0.00,2.20,0.00,0.000,6,0.000,0.055,3037,2197,3344,0,0,0,0,0,0,28.83,25.57,28.83
$GC,11070,-0.47,-136.3,855.6,-6.3,607,11075,0.00,2.28,0.00,0.000,4,0.000,0.067,3027,3608,3344,0,0,0,0,0,0,28.83,25.39,28.83
$GC,11130,-0.47,-136.3,859.5,-6.4,609,11134,0.00,2.22,0.00,0.000,6,0.000,0.048,3027,2193,3344,0,0,0,0,0,0,28.83,25.73,28.83
$GC,11463,-0.47,-136.3,880.4,-6.2,620,11464,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2192,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11762,-0.47,-136.3,899.0,-6.2,630,11768,0.00,2.33,0.00,0.000,4,0.000,0.067,3019,3610,3344,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11801,-0.47,-136.3,900.8,-6.1,631,11805,0.00,2.22,0.00,0.000,6,0.000,0.048,3019,2191,3344,0,0,0,0,0,0,28.83,25.70,28.83
$GC,12123,-0.47,-136.3,922.4,-6.5,642,12124,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2190,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12424,-0.47,-136.3,942.7,-6.9,652,12429,0.00,2.30,0.00,0.000,4,0.000,0.067,3010,3611,3343,0,0,0,0,0,0,28.83,25.36,28.83
$GC,12466,-0.47,-136.3,944.7,-7.1,653,12471,0.12,2.20,0.00,0.000,6,0.125,0.049,3046,2202,3343,0,0,0,0,0,0,25.56,25.70,28.83
$GC,12780,-0.47,-136.3,963.8,-5.7,664,12781,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2200,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13080,-0.47,-136.3,980.2,-5.5,674,13081,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2200,3343,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13287,begin apogee
$GC,13295,-0.22,0.0,991.5,-5.3,681,13422,0.20,0.00,122.95,1.169,6,0.112,0.000,3120,2334,2794,0,0,0,0,0,0,25.88,28.83,22.91
$STATE,13425,end apogee,CONTROL_FINISHED_OK
$STATE,13425,begin climb
$GC,13428,0.47,136.3,995.0,0.0,685,13571,0.65,2.53,132.05,1.132,4,0.074,0.066,3345,3725,2236,0,0,0,0,0,0,24.40,23.33,21.98
$GC,13587,0.48,168.2,987.8,5.8,691,13626,0.00,2.40,31.27,1.079,6,0.000,0.048,3355,2328,2107,0,0,0,0,0,0,28.83,23.74,22.05
$GC,13947,0.48,168.2,954.8,9.1,703,13952,0.00,2.25,0.00,0.000,4,0.000,0.057,3366,927,2098,0,0,0,0,0,0,28.83,25.15,28.83
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$STATE,25147,end climb,SURFACE_DEPTH_REACHED
$STATE,25147,begin surface coast
$FINISH,1.3,1.012021
$STATE,25211,end surface coast,CONTROL_FINISHED_OK
$STATE,25211,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,45.62
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,18.90
$XPDR_PINGS,3
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$10V_AH,9.8,47.937
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,296924
$DATA_FILE_SIZE,76923,1392
$CAP_FILE_SIZE,215777,0
$CFSIZE,260165632,222277632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.026,323.9,1
$GPS,271212,041335,4740.326,-12527.554,29,1.2,29,18.7