version: 66.11
glider: 187
mission: 2
dive: 282
start: 11 18 112 18 54 58
data:
$ID,187
$MISSION,2
$DIVE,282
$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,-1588112.2
$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
$GPS1,181112,184653,4728.359,-12603.938,80,1.2,80,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-72.1
$GPS2,181112,185427,4728.484,-12603.986,11,2.4,30,18.7
$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,64.8,79622,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-67.35,0.000,2,0.000,0.000,114,2191,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.48,-146.0,3.2,-2.2,11,124,11.45,2.33,-13.52,0.000,4,0.220,0.078,3028,3615,3392,0,0,0,0,0,0,24.94,25.46,26.07
$GC,265,-0.48,-146.0,40.2,-18.1,43,271,0.00,2.20,0.00,0.000,6,0.000,0.043,3028,2198,3395,0,0,0,0,0,0,28.83,25.63,28.83
$GC,582,-0.48,-146.0,87.1,-13.7,104,589,0.00,2.22,0.00,0.000,4,0.000,0.050,3027,791,3396,0,0,0,0,0,0,28.83,25.64,28.83
$GC,634,-0.48,-146.0,93.7,-12.6,113,642,0.00,2.20,0.00,0.000,6,0.000,0.049,3017,2206,3396,0,0,0,0,0,0,28.83,25.65,28.83
$GC,947,-0.48,-146.0,131.3,-11.9,162,952,0.00,2.22,0.00,0.000,4,0.000,0.060,3007,3612,3396,0,0,0,0,0,0,28.83,25.62,28.83
$GC,995,-0.48,-146.0,136.7,-11.9,165,1001,0.08,2.15,0.00,0.000,6,0.116,0.043,3035,2194,3396,0,0,0,0,0,0,25.62,25.83,28.83
$GC,1311,-0.48,-146.0,170.3,-11.3,186,1316,0.00,2.12,0.00,0.000,4,0.000,0.049,3035,803,3396,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1339,-0.48,-146.0,173.8,-11.2,188,1345,0.00,2.17,0.00,0.000,6,0.000,0.050,3028,2207,3397,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1655,-0.48,-146.0,207.7,-10.7,208,1660,0.00,2.20,0.00,0.000,4,0.000,0.061,3018,3602,3397,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1724,-0.48,-146.0,214.1,-10.7,211,1733,0.00,2.15,0.00,0.000,6,0.000,0.042,3018,2192,3396,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2035,-0.48,-146.0,250.3,-11.2,227,2040,0.00,2.12,0.00,0.000,4,0.000,0.050,3018,805,3397,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2063,-0.48,-146.0,252.6,-11.3,228,2067,0.12,2.17,0.00,0.000,6,0.138,0.050,3044,2208,3396,0,0,0,0,0,0,25.65,25.77,28.83
$GC,2371,-0.48,-146.0,280.7,-8.4,243,2376,0.00,2.22,0.00,0.000,4,0.000,0.062,3035,3613,3396,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2432,-0.48,-146.0,285.8,-8.7,246,2436,0.00,2.15,0.00,0.000,6,0.000,0.044,3035,2204,3396,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2745,-0.48,-146.0,313.2,-8.6,262,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2202,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3044,-0.48,-146.0,339.2,-8.8,277,3050,0.00,2.17,0.00,0.000,4,0.000,0.050,3035,793,3395,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3085,-0.48,-146.0,342.8,-8.9,279,3090,0.00,2.17,0.00,0.000,6,0.000,0.051,3026,2202,3395,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3404,-0.48,-146.0,372.9,-9.6,295,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2202,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3705,-0.48,-146.0,400.2,-8.9,310,3710,0.00,2.22,0.00,0.000,4,0.000,0.063,3016,3610,3394,0,0,0,0,0,0,28.83,25.65,28.83
$GC,3764,-0.48,-146.0,405.8,-9.2,312,3768,0.00,2.17,0.00,0.000,6,0.000,0.044,3015,2201,3394,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4096,-0.48,-146.0,436.8,-9.6,323,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2199,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4396,-0.48,-146.0,466.9,-10.2,333,4402,0.00,2.30,0.00,0.000,4,0.000,0.065,3005,3617,3393,0,0,0,0,0,0,28.83,25.63,28.83
$GC,4419,-0.48,-146.0,466.9,-10.2,333,4427,0.12,2.17,0.00,0.000,6,0.134,0.045,3041,2200,3393,0,0,0,0,0,0,25.72,25.90,28.83
$GC,4726,-0.48,-146.0,494.2,-7.8,344,4732,0.00,2.30,0.00,0.000,4,0.000,0.065,3032,3614,3392,0,0,0,0,0,0,28.83,25.62,28.83
$GC,4749,-0.48,-146.0,494.2,-7.8,344,4756,0.00,2.20,0.00,0.000,6,0.000,0.046,3033,2199,3392,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5056,-0.48,-146.0,520.4,-8.0,355,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2198,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5356,-0.48,-146.0,545.1,-8.3,365,5362,0.00,2.30,0.00,0.000,4,0.000,0.066,3023,3612,3391,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5394,-0.48,-146.0,547.6,-8.3,366,5398,0.00,2.20,0.00,0.000,6,0.000,0.047,3022,2192,3390,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5712,-0.48,-146.0,574.6,-8.1,377,5717,0.00,2.28,0.00,0.000,4,0.000,0.065,3012,3610,3390,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5749,-0.48,-146.0,577.1,-8.1,378,5753,0.00,2.17,0.00,0.000,6,0.000,0.045,3012,2196,3390,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6066,-0.48,-146.0,603.0,-7.7,389,6067,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2194,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6367,-0.48,-146.0,625.3,-7.2,399,6368,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2194,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6667,-0.48,-146.0,647.6,-7.5,409,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2193,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6966,-0.48,-146.0,670.4,-7.8,419,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2194,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7266,-0.48,-146.0,695.5,-8.5,429,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2194,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7566,-0.48,-146.0,720.9,-8.6,439,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2194,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7866,-0.48,-146.0,747.8,-9.0,449,7872,0.00,2.33,0.00,0.000,4,0.000,0.067,3002,3616,3387,0,0,0,0,0,0,28.83,25.54,28.83
$GC,7896,-0.48,-146.0,750.6,-9.2,450,7903,0.10,2.17,0.00,0.000,6,0.104,0.047,3040,2206,3387,0,0,0,0,0,0,25.61,25.84,28.83
$GC,8226,-0.48,-146.0,776.1,-7.8,461,8228,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2204,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8526,-0.48,-146.0,798.6,-7.4,471,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2205,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8826,-0.48,-146.0,819.7,-6.9,481,8832,0.00,2.30,0.00,0.000,4,0.000,0.067,3031,3617,3386,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8887,-0.48,-146.0,824.2,-7.1,483,8892,0.00,2.20,0.00,0.000,6,0.000,0.048,3031,2194,3386,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9216,-0.48,-146.0,848.7,-7.5,494,9222,0.00,2.28,0.00,0.000,4,0.000,0.067,3021,3606,3385,0,0,0,0,0,0,28.83,25.49,28.83
$GC,9254,-0.48,-146.0,850.9,-7.5,495,9258,0.00,2.17,0.00,0.000,6,0.000,0.047,3021,2199,3385,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9572,-0.48,-146.0,875.5,-7.4,506,9573,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2198,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9871,-0.48,-146.0,897.7,-7.2,516,9877,0.00,2.28,0.00,0.000,4,0.000,0.067,3012,3605,3385,0,0,0,0,0,0,28.83,25.48,28.83
$GC,9909,-0.48,-146.0,899.9,-7.4,517,9913,0.00,2.17,0.00,0.000,6,0.000,0.046,3011,2194,3384,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10227,-0.48,-146.0,924.8,-7.9,528,10228,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2192,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10526,-0.48,-146.0,949.0,-8.1,538,10532,0.00,2.28,0.00,0.000,4,0.000,0.067,3001,3602,3384,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10579,-0.48,-146.0,951.3,-8.1,539,10586,0.15,2.17,0.00,0.000,6,0.123,0.047,3045,2197,3384,0,0,0,0,0,0,25.58,25.78,28.83
$GC,10887,-0.48,-146.0,973.7,-6.6,550,10889,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2196,3384,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11154,begin apogee
$GC,11160,-0.22,0.0,991.8,-6.6,559,11293,0.22,0.00,128.27,1.180,6,0.108,0.000,3128,2340,2794,0,0,0,0,0,0,25.88,28.83,23.35
$STATE,11297,end apogee,CONTROL_FINISHED_OK
$STATE,11297,begin climb
$GC,11299,0.48,146.0,996.5,0.0,563,11445,0.62,2.50,137.70,1.144,4,0.077,0.065,3343,3722,2196,0,0,0,0,0,0,24.45,23.37,22.44
$GC,11463,0.51,223.9,992.2,4.3,568,11542,0.00,2.38,72.15,1.120,6,0.000,0.047,3353,2335,1881,0,0,0,0,0,0,28.83,23.77,22.41
$GC,11871,0.51,223.9,949.0,9.8,582,11876,0.00,2.30,0.00,0.000,4,0.000,0.057,3364,920,1872,0,0,0,0,0,0,28.83,24.94,28.83
$GC,11918,0.51,223.9,946.0,9.8,583,11922,0.00,2.28,0.00,0.000,6,0.000,0.056,3364,2316,1871,0,0,0,0,0,0,28.83,25.04,28.83
$GC,12226,0.51,223.9,912.2,10.6,593,12231,0.00,2.33,0.00,0.000,4,0.000,0.068,3364,3741,1871,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12288,0.51,223.9,905.1,11.2,595,12292,0.00,2.25,0.00,0.000,6,0.000,0.050,3373,2332,1870,0,0,0,0,0,0,28.83,25.51,28.83
$GC,12611,0.51,223.9,868.5,11.1,606,12617,0.00,2.22,0.00,0.000,4,0.000,0.057,3384,917,1869,0,0,0,0,0,0,28.83,25.56,28.83
$GC,12648,0.51,223.9,865.2,11.0,607,12653,0.00,2.25,0.00,0.000,6,0.000,0.057,3384,2331,1870,0,0,0,0,0,0,28.83,25.56,28.83
$GC,12966,0.51,223.9,825.3,12.6,618,12972,0.00,2.30,0.00,0.000,4,0.000,0.069,3384,3737,1869,0,0,0,0,0,0,28.83,25.54,28.83
$GC,13014,0.51,223.9,821.1,12.8,619,13019,0.12,2.25,0.00,0.000,6,0.161,0.050,3362,2317,1869,0,0,0,0,0,0,25.50,25.71,28.83
$GC,13321,0.51,223.9,785.5,10.5,629,13326,0.00,2.22,0.00,0.000,4,0.000,0.058,3370,909,1869,0,0,0,0,0,0,28.83,25.64,28.83
$GC,13351,0.51,223.9,782.3,10.4,630,13356,0.00,2.22,0.00,0.000,6,0.000,0.057,3370,2317,1868,0,0,0,0,0,0,28.83,25.65,28.83
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$STATE,21468,end climb,SURFACE_DEPTH_REACHED
$STATE,21469,begin surface coast
$FINISH,1.1,1.024244
$STATE,21502,end surface coast,CONTROL_FINISHED_OK
$STATE,21502,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.64
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,15.80
$XPDR_PINGS,0
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$10V_AH,10.1,33.024
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,296772
$DATA_FILE_SIZE,66868,1207
$CAP_FILE_SIZE,174175,0
$CFSIZE,260165632,234291200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.149,295.1,1
$GPS,191112,005559,4729.464,-12601.399,41,2.0,41,18.7