version: 66.11
glider: 187
mission: 2
dive: 605
start: 2 17 113 7 37 30
data:
$ID,187
$MISSION,2
$DIVE,605
$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,-1588781.9
$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,47
$R_STBD_OVSHOOT,27
$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
$GPS1,170213,072906,4723.837,-12610.616,33,1.4,33,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-75.8
$GPS2,170213,073657,4723.818,-12610.612,12,3.1,31,18.6
$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,27.8,91277,-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,-136.3,0.0,0.0,0,82,0.00,0.00,-62.72,0.000,2,0.000,0.000,107,2190,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.47,-136.3,3.2,-2.8,11,124,11.60,2.28,-15.52,0.000,4,0.210,0.064,3034,804,3354,0,0,0,0,0,0,24.44,25.41,26.25
$GC,200,-0.47,-136.3,20.3,-13.4,31,206,0.00,2.20,0.00,0.000,6,0.000,0.052,3026,2198,3355,0,0,0,0,0,0,28.83,25.42,28.83
$GC,512,-0.47,-136.3,69.6,-15.1,92,519,0.00,2.28,0.00,0.000,4,0.000,0.062,3016,3610,3355,0,0,0,0,0,0,28.83,25.37,28.83
$GC,537,-0.47,-136.3,73.6,-15.9,96,543,0.00,2.17,0.00,0.000,6,0.000,0.044,3015,2206,3356,0,0,0,0,0,0,28.83,25.67,28.83
$GC,848,-0.47,-136.3,112.9,-10.6,157,854,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2203,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1168,-0.47,-136.3,147.9,-10.6,186,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2203,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1469,-0.47,-136.3,179.2,-10.8,206,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2203,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1777,-0.47,-136.3,211.7,-10.2,225,1783,0.00,2.25,0.00,0.000,4,0.000,0.050,3015,794,3356,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1825,-0.47,-136.3,216.0,-10.4,227,1830,0.12,2.28,0.00,0.000,6,0.133,0.050,3042,2205,3356,0,0,0,0,0,0,25.41,25.53,28.83
$GC,2128,-0.47,-136.3,241.8,-8.2,242,2133,0.00,2.30,0.00,0.000,4,0.000,0.063,3033,3614,3356,0,0,0,0,0,0,28.83,25.39,28.83
$GC,2175,-0.47,-136.3,245.3,-8.4,244,2179,0.00,2.25,0.00,0.000,6,0.000,0.044,3034,2196,3356,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2477,-0.47,-136.3,272.2,-8.6,259,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2195,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2778,-0.47,-136.3,297.2,-8.3,274,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2195,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3077,-0.47,-136.3,322.6,-8.4,289,3083,0.00,2.35,0.00,0.000,4,0.000,0.063,3023,3609,3356,0,0,0,0,0,0,28.83,25.35,28.83
$GC,3105,-0.47,-136.3,324.4,-8.5,290,3109,0.00,2.25,0.00,0.000,6,0.000,0.044,3023,2200,3356,0,0,0,0,0,0,28.83,25.69,28.83
$GC,3408,-0.47,-136.3,350.8,-8.0,305,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2198,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3707,-0.47,-136.3,374.1,-7.7,320,3713,0.00,2.35,0.00,0.000,4,0.000,0.063,3013,3608,3356,0,0,0,0,0,0,28.83,25.33,28.83
$GC,3755,-0.47,-136.3,377.3,-8.0,322,3759,0.00,2.25,0.00,0.000,6,0.000,0.044,3013,2199,3356,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4078,-0.47,-136.3,406.9,-9.1,337,4084,0.12,2.35,0.00,0.000,4,0.139,0.064,3041,3613,3356,0,0,0,0,0,0,26.03,25.32,28.83
$GC,4125,-0.47,-136.3,409.3,-8.8,338,4129,0.00,2.28,0.00,0.000,6,0.000,0.045,3041,2192,3356,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4428,-0.47,-136.3,432.3,-7.0,348,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2190,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4729,-0.47,-136.3,453.8,-7.5,358,4733,0.00,2.35,0.00,0.000,4,0.000,0.064,3031,3606,3355,0,0,0,0,0,0,28.83,25.32,28.83
$GC,4795,-0.47,-136.3,458.5,-7.6,360,4799,0.00,2.25,0.00,0.000,6,0.000,0.045,3031,2201,3354,0,0,0,0,0,0,28.83,25.66,28.83
$GC,5107,-0.47,-136.3,485.0,-8.3,371,5113,0.00,2.35,0.00,0.000,4,0.000,0.064,3021,3607,3354,0,0,0,0,0,0,28.83,25.29,28.83
$GC,5157,-0.47,-136.3,487.5,-8.3,372,5165,0.00,2.28,0.00,0.000,6,0.000,0.045,3021,2186,3354,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5467,-0.47,-136.3,515.5,-8.5,383,5473,0.00,2.22,0.00,0.000,4,0.000,0.052,3021,803,3354,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5515,-0.47,-136.3,518.1,-8.5,384,5519,0.00,2.28,0.00,0.000,6,0.000,0.053,3013,2203,3354,0,0,0,0,0,0,28.83,25.45,28.83
$GC,5818,-0.47,-136.3,545.6,-8.5,394,5823,0.00,2.33,0.00,0.000,4,0.000,0.065,3003,3611,3353,0,0,0,0,0,0,28.83,25.29,28.83
$GC,5886,-0.47,-136.3,550.7,-8.5,396,5891,0.15,2.28,0.00,0.000,6,0.121,0.045,3048,2194,3352,0,0,0,0,0,0,25.44,25.63,28.83
$GC,6199,-0.47,-136.3,571.1,-6.1,407,6205,0.00,2.22,0.00,0.000,4,0.000,0.053,3048,805,3352,0,0,0,0,0,0,28.83,25.44,28.83
$GC,6229,-0.47,-136.3,573.1,-6.2,408,6235,0.00,2.25,0.00,0.000,6,0.000,0.053,3043,2199,3352,0,0,0,0,0,0,28.83,25.43,28.83
$GC,6560,-0.47,-136.3,594.8,-6.5,419,6565,0.00,2.33,0.00,0.000,4,0.000,0.067,3036,3604,3352,0,0,0,0,0,0,28.83,25.26,28.83
$GC,6627,-0.47,-136.3,598.9,-6.7,421,6632,0.00,2.25,0.00,0.000,6,0.000,0.046,3036,2203,3352,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6941,-0.47,-136.3,620.9,-6.8,432,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2202,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7240,-0.47,-136.3,640.9,-6.6,442,7242,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2202,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7540,-0.47,-136.3,660.5,-6.4,452,7546,0.00,2.35,0.00,0.000,4,0.000,0.066,3026,3609,3351,0,0,0,0,0,0,28.83,25.24,28.83
$GC,7588,-0.47,-136.3,662.5,-6.5,453,7592,0.00,2.28,0.00,0.000,6,0.000,0.047,3026,2201,3351,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7891,-0.47,-136.3,684.3,-7.0,463,7896,0.00,2.35,0.00,0.000,4,0.000,0.066,3016,3607,3351,0,0,0,0,0,0,28.83,25.22,28.83
$GC,7920,-0.47,-136.3,686.7,-7.2,464,7925,0.00,2.28,0.00,0.000,6,0.000,0.047,3016,2199,3351,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8250,-0.47,-136.3,713.0,-8.1,475,8251,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2197,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8551,-0.47,-136.3,736.0,-7.5,485,8552,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2196,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8850,-0.47,-136.3,758.2,-7.4,495,8855,0.00,2.38,0.00,0.000,4,0.000,0.067,3007,3609,3350,0,0,0,0,0,0,28.83,25.20,28.83
$GC,8898,-0.47,-136.3,760.5,-7.5,496,8903,0.12,2.28,0.00,0.000,6,0.122,0.047,3045,2201,3350,0,0,0,0,0,0,25.44,25.58,28.83
$GC,9201,-0.47,-136.3,779.8,-5.8,506,9202,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2199,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9500,-0.47,-136.3,796.5,-5.5,516,9506,0.00,2.35,0.00,0.000,4,0.000,0.067,3037,3608,3350,0,0,0,0,0,0,28.83,25.19,28.83
$GC,9548,-0.47,-136.3,798.2,-5.5,517,9552,0.00,2.28,0.00,0.000,6,0.000,0.048,3037,2202,3349,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9851,-0.47,-136.3,818.4,-6.4,527,9852,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2200,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10150,-0.47,-136.3,837.8,-6.6,537,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2200,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10450,-0.47,-136.3,857.1,-6.3,547,10456,0.00,2.35,0.00,0.000,4,0.000,0.067,3027,3606,3349,0,0,0,0,0,0,28.83,25.17,28.83
$GC,10488,-0.47,-136.3,859.2,-6.6,548,10492,0.00,2.28,0.00,0.000,6,0.000,0.048,3027,2201,3348,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10801,-0.47,-136.3,879.5,-6.1,559,10806,0.00,2.35,0.00,0.000,4,0.000,0.067,3017,3604,3348,0,0,0,0,0,0,28.83,25.18,28.83
$GC,10830,-0.47,-136.3,881.4,-6.1,560,10836,0.00,2.25,0.00,0.000,6,0.000,0.048,3017,2205,3348,0,0,0,0,0,0,28.83,25.54,28.83
$GC,11160,-0.47,-136.3,902.3,-6.2,571,11166,0.00,2.35,0.00,0.000,4,0.000,0.067,3007,3610,3348,0,0,0,0,0,0,28.83,25.16,28.83
$GC,11199,-0.47,-136.3,904.3,-6.4,572,11206,0.12,2.30,0.00,0.000,6,0.122,0.048,3045,2189,3348,0,0,0,0,0,0,25.39,25.53,28.83
$GC,11520,-0.47,-136.3,920.4,-4.7,583,11522,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2187,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11820,-0.47,-136.3,935.7,-5.2,593,11826,0.00,2.38,0.00,0.000,4,0.000,0.067,3037,3603,3347,0,0,0,0,0,0,28.83,25.15,28.83
$GC,11859,-0.47,-136.3,937.2,-5.1,594,11865,0.00,2.28,0.00,0.000,6,0.000,0.048,3037,2201,3347,0,0,0,0,0,0,28.83,25.53,28.83
$GC,12180,-0.47,-136.3,954.4,-4.9,605,12186,0.00,2.25,0.00,0.000,4,0.000,0.054,3037,807,3347,0,0,0,0,0,0,28.83,25.31,28.83
$GC,12229,-0.47,-136.3,956.1,-5.1,606,12233,0.00,2.30,0.00,0.000,6,0.000,0.055,3031,2207,3347,0,0,0,0,0,0,28.83,25.30,28.83
$GC,12531,-0.47,-136.3,971.9,-4.8,616,12536,0.00,2.33,0.00,0.000,4,0.000,0.067,3021,3604,3347,0,0,0,0,0,0,28.83,25.12,28.83
$GC,12598,-0.47,-136.3,975.2,-5.1,618,12603,0.00,2.28,0.00,0.000,6,0.000,0.048,3021,2200,3346,0,0,0,0,0,0,28.83,25.52,28.83
$STATE,12878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12878,begin apogee
$GC,12886,-0.22,0.0,990.3,-5.3,628,13017,0.30,0.00,127.55,1.154,6,0.103,0.000,3126,2339,2793,0,0,0,0,0,0,25.59,28.83,22.39
$STATE,13018,end apogee,CONTROL_FINISHED_OK
$STATE,13018,begin climb
$GC,13021,0.47,136.3,992.8,0.0,632,13164,0.65,2.60,135.35,1.117,4,0.067,0.067,3349,3734,2237,0,0,0,0,0,0,24.37,23.36,21.70
$GC,13193,0.48,156.5,985.5,6.2,638,13219,0.00,2.45,20.60,1.033,6,0.000,0.048,3359,2327,2156,0,0,0,0,0,0,28.83,23.94,21.94
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$STATE,25373,end climb,SURFACE_DEPTH_REACHED
$STATE,25373,begin surface coast
$FINISH,1.4,1.025349
$STATE,25415,end surface coast,CONTROL_FINISHED_OK
$STATE,25415,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,46.92
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,19.10
$XPDR_PINGS,0
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$10V_AH,9.7,65.503
$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,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296920
$DATA_FILE_SIZE,76862,1398
$CAP_FILE_SIZE,201779,0
$CFSIZE,260165632,206684160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,256.1,1
$GPS,170213,144406,4726.510,-12607.027,62,1.0,62,18.7