version: 66.11
glider: 187
mission: 2
dive: 538
start: 1 28 113 9 52 39
data:
$ID,187
$MISSION,2
$DIVE,538
$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,-1588673.8
$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,29
$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,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
$GPS1,280113,094429,4711.050,-12634.305,43,1.7,43,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-75.6
$GPS2,280113,095207,4711.031,-12634.199,12,1.6,12,18.6
$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,12.9,128885,-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,-136.3,0.0,0.0,0,69,0.00,0.00,-49.72,0.000,2,0.000,0.000,109,2194,2404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.47,-136.3,3.0,-3.1,9,122,11.65,2.20,-31.05,0.000,4,0.213,0.061,3038,785,3351,0,0,0,0,0,0,24.53,25.46,26.24
$GC,284,-0.47,-136.3,24.5,-10.3,48,290,0.00,2.22,0.00,0.000,6,0.000,0.052,3030,2202,3353,0,0,0,0,0,0,28.83,25.49,28.83
$GC,595,-0.47,-136.3,70.0,-13.1,109,602,0.00,2.25,0.00,0.000,4,0.000,0.063,3020,3610,3353,0,0,0,0,0,0,28.83,25.45,28.83
$GC,660,-0.47,-136.3,78.7,-12.2,121,667,0.00,2.20,0.00,0.000,6,0.000,0.044,3019,2178,3353,0,0,0,0,0,0,28.83,25.73,28.83
$GC,972,-0.47,-136.3,114.6,-11.1,182,978,0.00,2.12,0.00,0.000,4,0.000,0.050,3019,800,3353,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1006,-0.47,-136.3,118.5,-11.3,188,1014,0.12,2.20,0.00,0.000,6,0.135,0.051,3045,2210,3353,0,0,0,0,0,0,25.48,25.60,28.83
$GC,1325,-0.47,-136.3,145.4,-8.2,210,1331,0.00,2.25,0.00,0.000,4,0.000,0.063,3037,3616,3353,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1372,-0.47,-136.3,149.8,-8.9,215,1381,0.00,2.25,0.00,0.000,6,0.000,0.044,3037,2190,3353,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1682,-0.47,-136.3,177.6,-8.7,236,1691,0.00,2.20,0.00,0.000,4,0.000,0.050,3037,800,3353,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1723,-0.47,-136.3,181.1,-8.9,240,1731,0.00,2.22,0.00,0.000,6,0.000,0.051,3028,2199,3353,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2049,-0.47,-136.3,211.2,-9.3,260,2053,0.00,2.28,0.00,0.000,4,0.000,0.063,3018,3618,3353,0,0,0,0,0,0,28.83,25.48,28.83
$GC,2137,-0.47,-136.3,219.7,-9.5,264,2143,0.00,2.22,0.00,0.000,6,0.000,0.043,3018,2206,3353,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2458,-0.47,-136.3,250.4,-9.5,280,2463,0.00,2.22,0.00,0.000,4,0.000,0.050,3018,800,3353,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2517,-0.47,-136.3,256.3,-9.7,283,2523,0.12,2.25,0.00,0.000,6,0.133,0.050,3045,2201,3353,0,0,0,0,0,0,25.50,25.62,28.83
$GC,2838,-0.47,-136.3,278.7,-6.5,299,2843,0.00,2.30,0.00,0.000,4,0.000,0.063,3037,3610,3353,0,0,0,0,0,0,28.83,25.47,28.83
$GC,2917,-0.47,-136.3,284.3,-6.9,303,2923,0.00,2.22,0.00,0.000,6,0.000,0.044,3037,2194,3353,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3239,-0.47,-136.3,307.1,-7.5,319,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2192,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3538,-0.47,-136.3,329.9,-7.5,334,3543,0.00,2.33,0.00,0.000,4,0.000,0.063,3027,3604,3353,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3617,-0.47,-136.3,336.1,-7.7,338,3623,0.00,2.25,0.00,0.000,6,0.000,0.044,3027,2189,3353,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3937,-0.47,-136.3,361.1,-7.9,354,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2187,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4239,-0.47,-136.3,383.4,-7.4,369,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2187,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4547,-0.47,-136.3,407.3,-7.9,383,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2187,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4847,-0.47,-136.3,431.4,-8.0,393,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2187,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5148,-0.47,-136.3,454.2,-7.4,403,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2187,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5447,-0.47,-136.3,476.7,-7.5,413,5448,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2187,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5748,-0.47,-136.3,499.5,-7.7,423,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2187,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6047,-0.47,-136.3,522.7,-7.7,433,6053,0.00,2.38,0.00,0.000,4,0.000,0.064,3017,3607,3351,0,0,0,0,0,0,28.83,25.39,28.83
$GC,6078,-0.47,-136.3,525.1,-7.8,434,6083,0.00,2.25,0.00,0.000,6,0.000,0.045,3017,2196,3351,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6407,-0.47,-136.3,552.1,-8.2,445,6413,0.00,2.25,0.00,0.000,4,0.000,0.053,3016,802,3351,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6445,-0.47,-136.3,554.8,-8.3,446,6450,0.12,2.28,0.00,0.000,6,0.131,0.053,3044,2206,3351,0,0,0,0,0,0,25.44,25.53,28.83
$GC,6759,-0.47,-136.3,576.7,-6.7,457,6763,0.00,2.30,0.00,0.000,4,0.000,0.066,3035,3605,3351,0,0,0,0,0,0,28.83,25.38,28.83
$GC,6818,-0.47,-136.3,581.0,-7.0,459,6824,0.00,2.25,0.00,0.000,6,0.000,0.046,3035,2193,3351,0,0,0,0,0,0,28.83,25.71,28.83
$GC,7148,-0.47,-136.3,604.9,-7.3,470,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2190,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7449,-0.47,-136.3,626.7,-7.3,480,7454,0.00,2.35,0.00,0.000,4,0.000,0.066,3025,3608,3350,0,0,0,0,0,0,28.83,25.36,28.83
$GC,7478,-0.47,-136.3,628.9,-7.4,481,7483,0.00,2.28,0.00,0.000,6,0.000,0.047,3025,2191,3350,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7808,-0.47,-136.3,655.3,-8.1,492,7814,0.00,2.35,0.00,0.000,4,0.000,0.066,3015,3608,3349,0,0,0,0,0,0,28.83,25.35,28.83
$GC,7838,-0.47,-136.3,657.6,-8.0,493,7844,0.00,2.28,0.00,0.000,6,0.000,0.046,3015,2192,3349,0,0,0,0,0,0,28.83,25.69,28.83
$GC,8169,-0.47,-136.3,683.4,-7.7,504,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2190,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8468,-0.47,-136.3,706.1,-7.7,514,8474,0.00,2.38,0.00,0.000,4,0.000,0.066,3006,3621,3348,0,0,0,0,0,0,28.83,25.33,28.83
$GC,8506,-0.47,-136.3,708.5,-7.7,515,8511,0.12,2.30,0.00,0.000,6,0.126,0.047,3042,2192,3348,0,0,0,0,0,0,25.51,25.67,28.83
$GC,8820,-0.47,-136.3,728.7,-6.2,526,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2190,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9119,-0.47,-136.3,747.7,-6.3,536,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2190,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9419,-0.47,-136.3,766.9,-6.4,546,9420,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2189,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9720,-0.47,-136.3,785.4,-6.1,556,9725,0.00,2.35,0.00,0.000,4,0.000,0.068,3035,3605,3347,0,0,0,0,0,0,28.83,25.30,28.83
$GC,9757,-0.47,-136.3,787.1,-6.1,557,9761,0.00,2.28,0.00,0.000,6,0.000,0.047,3035,2196,3346,0,0,0,0,0,0,28.83,25.65,28.83
$GC,10070,-0.47,-136.3,806.7,-6.0,568,10071,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2194,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10370,-0.47,-136.3,823.5,-5.5,578,10375,0.00,2.35,0.00,0.000,4,0.000,0.067,3025,3605,3346,0,0,0,0,0,0,28.83,25.29,28.83
$GC,10408,-0.47,-136.3,825.2,-5.6,579,10412,0.00,2.28,0.00,0.000,6,0.000,0.047,3025,2192,3346,0,0,0,0,0,0,28.83,25.64,28.83
$GC,10720,-0.47,-136.3,844.6,-6.1,590,10721,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2191,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11021,-0.47,-136.3,863.2,-6.1,600,11026,0.00,2.33,0.00,0.000,4,0.000,0.067,3015,3613,3345,0,0,0,0,0,0,28.83,25.27,28.83
$GC,11068,-0.47,-136.3,865.0,-6.1,601,11072,0.00,2.28,0.00,0.000,6,0.000,0.048,3015,2203,3345,0,0,0,0,0,0,28.83,25.63,28.83
$GC,11370,-0.47,-136.3,885.3,-6.4,611,11371,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2201,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11671,-0.47,-136.3,904.2,-6.3,621,11676,0.00,2.35,0.00,0.000,4,0.000,0.067,3006,3606,3345,0,0,0,0,0,0,28.83,25.25,28.83
$GC,11708,-0.47,-136.3,906.2,-6.4,622,11713,0.12,2.28,0.00,0.000,6,0.122,0.047,3044,2194,3345,0,0,0,0,0,0,25.48,25.63,28.83
$GC,12022,-0.47,-136.3,923.0,-5.0,633,12027,0.00,2.38,0.00,0.000,4,0.000,0.067,3036,3610,3345,0,0,0,0,0,0,28.83,25.25,28.83
$GC,12052,-0.47,-136.3,924.8,-5.2,634,12057,0.00,2.28,0.00,0.000,6,0.000,0.049,3036,2194,3345,0,0,0,0,0,0,28.83,25.61,28.83
$GC,12382,-0.47,-136.3,942.6,-5.4,645,12383,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2193,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12682,-0.47,-136.3,958.8,-5.3,655,12687,0.00,2.38,0.00,0.000,4,0.000,0.068,3027,3606,3344,0,0,0,0,0,0,28.83,25.24,28.83
$GC,12730,-0.47,-136.3,960.3,-5.3,656,12740,0.00,2.28,0.00,0.000,6,0.000,0.048,3027,2198,3345,0,0,0,0,0,0,28.83,25.60,28.83
$GC,13043,-0.47,-136.3,979.2,-5.5,667,13044,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2198,3344,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13249,begin apogee
$GC,13256,-0.22,0.0,991.5,-5.9,674,13387,0.28,0.00,126.03,1.161,6,0.104,0.000,3123,2329,2793,0,0,0,0,0,0,25.67,28.83,22.49
$STATE,13388,end apogee,CONTROL_FINISHED_OK
$STATE,13388,begin climb
$GC,13392,0.47,136.3,995.7,0.0,678,13533,0.68,2.62,134.07,1.126,4,0.069,0.067,3352,3734,2238,0,0,0,0,0,0,24.38,23.32,21.74
$GC,13574,0.48,153.2,987.8,6.3,685,13601,0.00,2.40,17.23,1.033,6,0.000,0.049,3362,2325,2168,0,0,0,0,0,0,28.83,23.99,22.05
$GC,13903,0.48,153.2,959.1,8.7,696,13907,0.00,2.30,0.00,0.000,4,0.000,0.057,3374,921,2162,0,0,0,0,0,0,28.83,25.31,28.83
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$STATE,25926,end climb,SURFACE_DEPTH_REACHED
$STATE,25926,begin surface coast
$FINISH,1.4,1.024883
$STATE,25975,end surface coast,CONTROL_FINISHED_OK
$STATE,25975,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,46.33
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,18.90
$XPDR_PINGS,5
$24V_AH,21.7,75.136
$10V_AH,9.8,59.049
$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
$SENSOR_SECS,973.688,724.943,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296912
$DATA_FILE_SIZE,76787,1415
$CAP_FILE_SIZE,202714,0
$CFSIZE,260165632,212463616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,181.0,1
$GPS,280113,170806,4713.318,-12631.100,34,1.2,34,18.6