version: 66.11
glider: 187
mission: 2
dive: 674
start: 3 9 113 16 9 53
data:
$ID,187
$MISSION,2
$DIVE,674
$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,-1588885.4
$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,39
$R_STBD_OVSHOOT,26
$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
$GPS1,090313,155536,4736.491,-12544.355,43,1.0,43,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-79.1
$GPS2,090313,160919,4736.484,-12544.298,12,2.0,12,18.7
$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,64.8,51047,-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,18,-0.47,-136.3,0.0,0.0,0,75,0.00,0.00,-55.28,0.000,2,0.000,0.000,108,2206,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.47,-136.3,3.2,-2.0,10,116,11.80,2.28,-16.10,0.000,4,0.217,0.065,3034,805,3353,0,0,0,0,0,0,24.47,25.39,26.25
$GC,306,-0.47,-136.3,35.8,-13.2,53,313,0.00,2.20,0.00,0.000,6,0.000,0.053,3026,2202,3355,0,0,0,0,0,0,28.83,25.35,28.83
$GC,621,-0.47,-136.3,82.0,-15.3,114,627,0.00,2.28,0.00,0.000,4,0.000,0.062,3016,3617,3355,0,0,0,0,0,0,28.83,25.25,28.83
$GC,640,-0.47,-136.3,85.3,-15.8,117,648,0.00,2.22,0.00,0.000,6,0.000,0.044,3015,2189,3355,0,0,0,0,0,0,28.83,25.58,28.83
$GC,958,-0.47,-136.3,124.8,-10.4,173,967,0.00,2.20,0.00,0.000,4,0.000,0.050,3015,797,3355,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1027,-0.47,-136.3,132.4,-10.6,180,1037,0.12,2.28,0.00,0.000,6,0.140,0.050,3041,2205,3355,0,0,0,0,0,0,25.26,25.39,28.83
$GC,1338,-0.47,-136.3,160.5,-8.6,201,1347,0.00,2.30,0.00,0.000,4,0.000,0.063,3032,3606,3355,0,0,0,0,0,0,28.83,25.24,28.83
$GC,1388,-0.47,-136.3,165.1,-9.3,206,1396,0.00,2.22,0.00,0.000,6,0.000,0.044,3032,2193,3355,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1699,-0.47,-136.3,193.7,-9.8,227,1706,0.00,2.30,0.00,0.000,4,0.000,0.063,3022,3616,3355,0,0,0,0,0,0,28.83,25.23,28.83
$GC,1729,-0.47,-136.3,196.6,-9.4,230,1736,0.00,2.25,0.00,0.000,6,0.000,0.044,3022,2196,3355,0,0,0,0,0,0,28.83,25.59,28.83
$GC,2048,-0.47,-136.3,228.6,-10.2,247,2053,0.00,2.22,0.00,0.000,4,0.000,0.050,3022,804,3355,0,0,0,0,0,0,28.83,25.39,28.83
$GC,2075,-0.47,-136.3,230.7,-10.1,248,2079,0.00,2.25,0.00,0.000,6,0.000,0.050,3013,2200,3355,0,0,0,0,0,0,28.83,25.39,28.83
$GC,2378,-0.47,-136.3,264.6,-10.8,263,2384,0.12,2.35,0.00,0.000,4,0.143,0.063,3040,3610,3355,0,0,0,0,0,0,25.98,25.21,28.83
$GC,2445,-0.47,-136.3,270.0,-9.5,266,2449,0.00,2.25,0.00,0.000,6,0.000,0.043,3040,2200,3355,0,0,0,0,0,0,28.83,25.59,28.83
$GC,2747,-0.47,-136.3,295.9,-8.1,281,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2198,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3048,-0.47,-136.3,319.7,-7.8,296,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2198,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3347,-0.47,-136.3,342.5,-7.6,311,3353,0.00,2.38,0.00,0.000,4,0.000,0.063,3029,3623,3355,0,0,0,0,0,0,28.83,25.19,28.83
$GC,3375,-0.47,-136.3,344.1,-7.5,312,3380,0.00,2.30,0.00,0.000,6,0.000,0.044,3029,2191,3355,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3678,-0.47,-136.3,369.6,-8.5,327,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2188,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3979,-0.47,-136.3,395.3,-8.5,342,3983,0.00,2.30,0.00,0.000,4,0.000,0.063,3019,3606,3355,0,0,0,0,0,0,28.83,25.18,28.83
$GC,4015,-0.47,-136.3,397.9,-8.4,343,4019,0.00,2.25,0.00,0.000,6,0.000,0.044,3019,2199,3355,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4339,-0.47,-136.3,428.5,-9.3,354,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2197,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4637,-0.47,-136.3,456.1,-9.2,364,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2197,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4938,-0.47,-136.3,483.0,-9.0,374,4943,0.00,2.35,0.00,0.000,4,0.000,0.063,3010,3606,3355,0,0,0,0,0,0,28.83,25.15,28.83
$GC,4967,-0.47,-136.3,485.9,-9.1,375,4974,0.12,2.28,0.00,0.000,6,0.125,0.044,3047,2194,3355,0,0,0,0,0,0,25.37,25.53,28.83
$GC,5299,-0.47,-136.3,508.9,-6.7,386,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2190,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5598,-0.47,-136.3,527.3,-5.8,396,5603,0.00,2.38,0.00,0.000,4,0.000,0.065,3039,3607,3354,0,0,0,0,0,0,28.83,25.12,28.83
$GC,5646,-0.47,-136.3,528.9,-5.7,397,5650,0.00,2.28,0.00,0.000,6,0.000,0.046,3039,2195,3353,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5949,-0.47,-136.3,548.4,-6.3,407,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2193,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6248,-0.47,-136.3,567.8,-6.5,417,6253,0.00,2.35,0.00,0.000,4,0.000,0.065,3029,3603,3353,0,0,0,0,0,0,28.83,25.10,28.83
$GC,6326,-0.47,-136.3,571.8,-6.5,419,6330,0.00,2.28,0.00,0.000,6,0.000,0.046,3029,2192,3353,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6628,-0.47,-136.3,595.0,-7.4,429,6630,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2191,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6927,-0.47,-136.3,616.4,-7.0,439,6933,0.00,2.35,0.00,0.000,4,0.000,0.065,3020,3599,3352,0,0,0,0,0,0,28.83,25.10,28.83
$GC,6965,-0.47,-136.3,618.5,-7.1,440,6970,0.00,2.28,0.00,0.000,6,0.000,0.046,3020,2193,3352,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7279,-0.47,-136.3,642.5,-7.6,451,7283,0.00,2.38,0.00,0.000,4,0.000,0.066,3010,3609,3352,0,0,0,0,0,0,28.83,25.08,28.83
$GC,7337,-0.47,-136.3,647.3,-7.7,453,7344,0.12,2.28,0.00,0.000,6,0.121,0.046,3047,2200,3352,0,0,0,0,0,0,25.34,25.48,28.83
$GC,7668,-0.47,-136.3,667.6,-6.0,464,7673,0.00,2.35,0.00,0.000,4,0.000,0.066,3039,3602,3352,0,0,0,0,0,0,28.83,25.06,28.83
$GC,7699,-0.47,-136.3,669.5,-6.0,465,7704,0.00,2.25,0.00,0.000,6,0.000,0.047,3039,2199,3351,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8028,-0.47,-136.3,691.3,-6.8,476,8029,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2197,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8328,-0.47,-136.3,712.5,-7.1,486,8333,0.00,2.35,0.00,0.000,4,0.000,0.067,3029,3599,3351,0,0,0,0,0,0,28.83,25.04,28.83
$GC,8366,-0.47,-136.3,714.5,-7.1,487,8370,0.00,2.28,0.00,0.000,6,0.000,0.047,3029,2195,3351,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8679,-0.47,-136.3,737.7,-7.3,498,8683,0.00,2.38,0.00,0.000,4,0.000,0.067,3020,3607,3350,0,0,0,0,0,0,28.83,25.04,28.83
$GC,8726,-0.47,-136.3,740.0,-7.4,499,8730,0.00,2.28,0.00,0.000,6,0.000,0.047,3020,2201,3350,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9028,-0.47,-136.3,765.8,-8.1,509,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2199,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9329,-0.47,-136.3,790.8,-8.3,519,9333,0.00,2.35,0.00,0.000,4,0.000,0.067,3011,3603,3350,0,0,0,0,0,0,28.83,25.03,28.83
$GC,9388,-0.47,-136.3,796.0,-8.5,521,9394,0.12,2.28,0.00,0.000,6,0.120,0.047,3047,2195,3350,0,0,0,0,0,0,25.30,25.44,28.83
$GC,9718,-0.47,-136.3,818.2,-6.5,532,9723,0.00,2.38,0.00,0.000,4,0.000,0.067,3040,3610,3350,0,0,0,0,0,0,28.83,25.01,28.83
$GC,9749,-0.47,-136.3,820.2,-6.6,533,9754,0.00,2.28,0.00,0.000,6,0.000,0.047,3039,2197,3349,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10078,-0.47,-136.3,842.1,-6.6,544,10079,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2196,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10378,-0.47,-136.3,862.2,-6.6,554,10383,0.00,2.38,0.00,0.000,4,0.000,0.067,3030,3603,3349,0,0,0,0,0,0,28.83,24.99,28.83
$GC,10417,-0.47,-136.3,864.3,-6.7,555,10423,0.00,2.30,0.00,0.000,6,0.000,0.047,3030,2191,3349,0,0,0,0,0,0,28.83,25.43,28.83
$GC,10738,-0.47,-136.3,885.9,-6.5,566,10740,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2189,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11038,-0.47,-136.3,904.5,-6.0,576,11044,0.00,2.38,0.00,0.000,4,0.000,0.067,3021,3600,3348,0,0,0,0,0,0,28.83,24.98,28.83
$GC,11087,-0.47,-136.3,906.4,-6.0,577,11097,0.00,2.28,0.00,0.000,6,0.000,0.047,3020,2199,3348,0,0,0,0,0,0,28.83,25.42,28.83
$GC,11398,-0.47,-136.3,928.0,-6.6,588,11399,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2200,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11698,-0.47,-136.3,947.4,-6.2,598,11703,0.00,2.35,0.00,0.000,4,0.000,0.067,3011,3600,3347,0,0,0,0,0,0,28.83,24.97,28.83
$GC,11746,-0.47,-136.3,949.4,-6.2,599,11751,0.12,2.28,0.00,0.000,6,0.122,0.048,3048,2201,3347,0,0,0,0,0,0,25.25,25.39,28.83
$GC,12048,-0.47,-136.3,965.8,-5.3,609,12049,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2199,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12348,-0.47,-136.3,982.0,-5.5,619,12353,0.00,2.38,0.00,0.000,4,0.000,0.068,3041,3604,3347,0,0,0,0,0,0,28.83,24.94,28.83
$GC,12378,-0.47,-136.3,983.7,-5.7,620,12384,0.00,2.28,0.00,0.000,6,0.000,0.047,3041,2199,3347,0,0,0,0,0,0,28.83,25.39,28.83
$STATE,12495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12495,begin apogee
$GC,12503,-0.22,0.0,990.8,-5.9,624,12635,0.22,0.00,127.00,1.161,6,0.109,0.000,3120,2338,2793,0,0,0,0,0,0,25.65,28.83,22.40
$STATE,12636,end apogee,CONTROL_FINISHED_OK
$STATE,12636,begin climb
$GC,12638,0.47,136.3,995.5,0.0,628,12781,0.68,2.58,135.05,1.128,4,0.073,0.067,3348,3728,2237,0,0,0,0,0,0,24.38,23.42,21.70
$GC,12927,0.47,136.3,980.3,8.8,638,12931,0.00,2.33,0.00,0.000,6,0.000,0.047,3359,2332,2229,0,0,0,0,0,0,28.83,25.06,28.83
$GC,13229,0.47,136.3,953.9,8.1,648,13230,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,2325,2226,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,24959,end climb,SURFACE_DEPTH_REACHED
$STATE,24959,begin surface coast
$FINISH,1.5,1.000641
$STATE,25004,end surface coast,CONTROL_FINISHED_OK
$STATE,25004,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,48.03
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,18.90
$XPDR_PINGS,2
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$10V_AH,9.8,72.145
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,296904
$DATA_FILE_SIZE,76776,1367
$CAP_FILE_SIZE,199856,0
$CFSIZE,260165632,200781824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097,231.5,1
$GPS,090313,230906,4736.866,-12540.699,31,1.1,31,18.7