version: 66.11
glider: 187
mission: 2
dive: 618
start: 2 21 113 3 22 21
data:
$ID,187
$MISSION,2
$DIVE,618
$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,-1588803
$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,44
$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
$GPS1,210213,031123,4746.795,-12524.313,38,1.5,38,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-74.8
$GPS2,210213,032149,4746.798,-12524.380,15,1.5,15,18.7
$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,59.3,19942,-13.3,-7.021,-18.50
$D_GRID,778
$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,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,114,0.00,0.00,-94.80,0.000,2,0.000,0.000,106,2191,2603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.47,-136.3,3.1,-2.2,17,156,11.55,2.33,-18.73,0.000,4,0.211,0.074,3029,3611,3352,0,0,0,0,0,0,24.57,25.37,26.25
$GC,174,-0.47,-136.3,12.6,-15.6,26,180,0.00,2.20,0.00,0.000,6,0.000,0.044,3029,2198,3353,0,0,0,0,0,0,28.83,25.59,28.83
$GC,486,-0.47,-136.3,59.0,-14.5,87,493,0.00,2.17,0.00,0.000,4,0.000,0.050,3028,798,3354,0,0,0,0,0,0,28.83,25.53,28.83
$GC,532,-0.47,-136.3,65.2,-13.4,95,540,0.00,2.20,0.00,0.000,6,0.000,0.052,3019,2205,3354,0,0,0,0,0,0,28.83,25.55,28.83
$GC,846,-0.47,-136.3,103.7,-11.6,156,853,0.00,2.25,0.00,0.000,4,0.000,0.063,3009,3611,3354,0,0,0,0,0,0,28.83,25.46,28.83
$GC,915,-0.47,-136.3,112.5,-12.4,169,923,0.12,2.17,0.00,0.000,6,0.132,0.044,3045,2193,3354,0,0,0,0,0,0,25.56,25.75,28.83
$GC,1236,-0.47,-136.3,140.4,-8.0,200,1244,0.00,2.20,0.00,0.000,4,0.000,0.050,3045,804,3354,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1266,-0.47,-136.3,143.0,-8.2,203,1275,0.00,2.22,0.00,0.000,6,0.000,0.050,3039,2200,3354,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1576,-0.47,-136.3,168.2,-8.0,224,1584,0.00,2.30,0.00,0.000,4,0.000,0.062,3028,3611,3354,0,0,0,0,0,0,28.83,25.46,28.83
$GC,1616,-0.47,-136.3,171.4,-8.1,228,1624,0.00,2.25,0.00,0.000,6,0.000,0.043,3028,2191,3354,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1926,-0.47,-136.3,200.0,-9.5,249,1931,0.00,2.20,0.00,0.000,4,0.000,0.050,3029,804,3354,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1965,-0.47,-136.3,203.8,-9.5,251,1971,0.00,2.25,0.00,0.000,6,0.000,0.050,3020,2202,3354,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2286,-0.47,-136.3,234.3,-9.7,267,2291,0.00,2.33,0.00,0.000,4,0.000,0.062,3010,3617,3354,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2375,-0.47,-136.3,242.4,-10.1,271,2385,0.12,2.25,0.00,0.000,6,0.126,0.043,3047,2199,3354,0,0,0,0,0,0,25.58,25.75,28.83
$GC,2687,-0.47,-136.3,268.8,-8.3,287,2691,0.00,2.28,0.00,0.000,4,0.000,0.063,3039,3609,3354,0,0,0,0,0,0,28.83,25.42,28.83
$GC,2735,-0.47,-136.3,272.4,-8.6,289,2744,0.00,2.25,0.00,0.000,6,0.000,0.044,3039,2192,3354,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3047,-0.47,-136.3,301.1,-8.8,305,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2192,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3348,-0.47,-136.3,327.3,-8.3,320,3352,0.00,2.30,0.00,0.000,4,0.000,0.063,3028,3618,3354,0,0,0,0,0,0,28.83,25.40,28.83
$GC,3397,-0.47,-136.3,331.5,-8.3,322,3401,0.00,2.22,0.00,0.000,6,0.000,0.044,3028,2210,3354,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3716,-0.47,-136.3,358.2,-8.2,338,3721,0.00,2.25,0.00,0.000,4,0.000,0.050,3028,791,3353,0,0,0,0,0,0,28.83,25.53,28.83
$GC,3764,-0.47,-136.3,361.5,-8.2,340,3768,0.00,2.28,0.00,0.000,6,0.000,0.051,3020,2201,3353,0,0,0,0,0,0,28.83,25.54,28.83
$GC,4068,-0.47,-136.3,387.0,-8.1,355,4072,0.00,2.28,0.00,0.000,4,0.000,0.064,3010,3612,3353,0,0,0,0,0,0,28.83,25.38,28.83
$GC,4124,-0.47,-136.3,391.2,-8.3,357,4129,0.12,2.28,0.00,0.000,6,0.123,0.044,3047,2189,3353,0,0,0,0,0,0,25.55,25.70,28.83
$GC,4446,-0.47,-136.3,412.4,-6.5,370,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2186,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4747,-0.47,-136.3,433.3,-7.3,380,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2186,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5046,-0.47,-136.3,456.5,-7.9,390,5052,0.00,2.35,0.00,0.000,4,0.000,0.063,3039,3606,3352,0,0,0,0,0,0,28.83,25.35,28.83
$GC,5075,-0.47,-136.3,458.9,-8.0,391,5081,0.00,2.25,0.00,0.000,6,0.000,0.044,3040,2202,3352,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5406,-0.47,-136.3,487.5,-8.9,402,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2200,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5707,-0.47,-136.3,512.5,-8.1,412,5711,0.00,2.33,0.00,0.000,4,0.000,0.065,3029,3602,3351,0,0,0,0,0,0,28.83,25.33,28.83
$GC,5754,-0.47,-136.3,514.9,-8.0,413,5758,0.00,2.25,0.00,0.000,6,0.000,0.045,3029,2201,3351,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6056,-0.47,-136.3,539.7,-7.6,423,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2199,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6357,-0.47,-136.3,561.4,-7.1,433,6361,0.00,2.35,0.00,0.000,4,0.000,0.066,3019,3611,3351,0,0,0,0,0,0,28.83,25.31,28.83
$GC,6404,-0.47,-136.3,563.4,-7.1,434,6408,0.00,2.28,0.00,0.000,6,0.000,0.046,3019,2199,3351,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6706,-0.47,-136.3,589.0,-8.2,444,6711,0.00,2.25,0.00,0.000,4,0.000,0.054,3019,797,3350,0,0,0,0,0,0,28.83,25.44,28.83
$GC,6744,-0.47,-136.3,591.7,-8.3,445,6748,0.12,2.28,0.00,0.000,6,0.129,0.054,3046,2200,3350,0,0,0,0,0,0,25.36,25.45,28.83
$GC,7059,-0.47,-136.3,612.8,-6.4,456,7063,0.00,2.33,0.00,0.000,4,0.000,0.066,3038,3607,3350,0,0,0,0,0,0,28.83,25.29,28.83
$GC,7118,-0.47,-136.3,616.9,-6.5,458,7123,0.00,2.25,0.00,0.000,6,0.000,0.045,3038,2199,3350,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7449,-0.47,-136.3,639.3,-6.7,469,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2198,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7748,-0.47,-136.3,658.8,-6.4,479,7753,0.00,2.35,0.00,0.000,4,0.000,0.067,3028,3609,3350,0,0,0,0,0,0,28.83,25.27,28.83
$GC,7796,-0.47,-136.3,660.7,-6.4,480,7800,0.00,2.28,0.00,0.000,6,0.000,0.047,3028,2199,3349,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8097,-0.47,-136.3,682.9,-7.1,490,8103,0.00,2.25,0.00,0.000,4,0.000,0.054,3026,803,3349,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8136,-0.47,-136.3,685.2,-7.2,491,8140,0.00,2.28,0.00,0.000,6,0.000,0.054,3020,2201,3349,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8449,-0.47,-136.3,706.7,-6.3,502,8454,0.00,2.33,0.00,0.000,4,0.000,0.067,3009,3604,3349,0,0,0,0,0,0,28.83,25.25,28.83
$GC,8527,-0.47,-136.3,710.8,-6.4,504,8532,0.12,2.28,0.00,0.000,6,0.122,0.047,3047,2191,3349,0,0,0,0,0,0,25.47,25.61,28.83
$GC,8830,-0.47,-136.3,727.4,-5.4,514,8831,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2188,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9129,-0.47,-136.3,742.7,-4.3,524,9130,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2188,3348,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9306,end dive,NO_VERTICAL_VELOCITY
$STATE,9306,begin apogee
$GC,9313,-0.22,0.0,742.8,0.0,530,9437,0.20,0.00,120.70,1.004,6,0.093,0.000,3130,2330,2794,0,0,0,0,0,0,25.93,28.83,22.93
$STATE,9438,end apogee,CONTROL_FINISHED_OK
$STATE,9438,begin climb
$GC,9442,0.47,136.3,742.6,0.0,534,9576,0.60,2.45,127.28,0.972,4,0.073,0.067,3344,3728,2237,0,0,0,0,0,0,24.70,23.99,22.47
$GC,9710,0.47,136.9,733.9,7.0,544,9714,0.00,2.25,0.00,0.000,6,0.000,0.047,3354,2330,2231,0,0,0,0,0,0,28.83,25.23,28.83
$GC,10038,0.47,136.9,706.7,7.8,555,10039,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2326,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10338,0.47,136.9,682.1,7.9,565,10344,0.00,2.35,0.00,0.000,4,0.000,0.067,3354,3731,2226,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10377,0.47,136.9,679.5,7.9,566,10381,0.00,2.30,0.00,0.000,6,0.000,0.049,3364,2312,2226,0,0,0,0,0,0,28.83,25.69,28.83
$GC,10690,0.47,137.3,655.4,7.0,577,10695,0.00,2.25,0.00,0.000,4,0.000,0.057,3374,921,2225,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10727,0.47,143.9,653.4,6.8,578,10738,0.00,2.28,5.78,0.731,6,0.000,0.056,3374,2320,2208,0,0,0,0,0,0,28.83,25.57,23.86
$GC,11041,0.48,147.4,630.9,6.9,588,11051,0.00,2.38,5.10,0.688,4,0.000,0.067,3375,3733,2193,0,0,0,0,0,0,28.83,25.58,23.87
$GC,11107,0.48,147.4,627.0,7.1,590,11112,0.15,2.28,0.00,0.000,6,0.145,0.048,3345,2329,2192,0,0,0,0,0,0,25.48,25.72,28.83
$GC,11410,0.49,190.4,609.6,5.3,600,11452,0.00,0.00,40.28,0.923,6,0.000,0.000,3345,2325,2017,0,0,0,0,0,0,28.83,28.83,23.60
$GC,11740,0.50,218.3,590.5,5.9,611,11770,0.00,2.42,24.92,0.887,4,0.000,0.067,3345,3742,1903,0,0,0,0,0,0,28.83,25.30,23.74
$GC,11789,0.51,242.6,587.2,6.1,613,11819,0.00,2.33,23.17,0.851,6,0.000,0.049,3353,2315,1804,0,0,0,0,0,0,28.83,25.45,23.58
$GC,12120,0.51,242.8,564.7,7.0,624,12125,0.00,2.25,0.00,0.000,4,0.000,0.056,3362,926,1797,0,0,0,0,0,0,28.83,25.50,28.83
$GC,12158,0.51,242.8,562.4,7.1,625,12162,0.00,2.30,0.00,0.000,6,0.000,0.055,3362,2332,1797,0,0,0,0,0,0,28.83,25.51,28.83
$GC,12471,0.51,242.8,535.8,8.7,636,12476,0.00,2.33,0.00,0.000,4,0.000,0.068,3362,3732,1795,0,0,0,0,0,0,28.83,25.46,28.83
$GC,12518,0.51,242.8,532.9,8.8,637,12523,0.00,2.30,0.00,0.000,6,0.000,0.049,3371,2319,1795,0,0,0,0,0,0,28.83,25.68,28.83
$GC,12821,0.51,242.8,502.6,9.1,647,12826,0.00,2.25,0.00,0.000,4,0.000,0.057,3382,926,1794,0,0,0,0,0,0,28.83,25.56,28.83
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$STATE,18875,end climb,SURFACE_DEPTH_REACHED
$STATE,18875,begin surface coast
$FINISH,1.3,1.016114
$STATE,18913,end surface coast,CONTROL_FINISHED_OK
$STATE,18913,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,47.16
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$TCM_TEMP,18.90
$XPDR_PINGS,3
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$10V_AH,9.7,66.733
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296848
$DATA_FILE_SIZE,63557,1172
$CAP_FILE_SIZE,163646,0
$CFSIZE,260165632,205635584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.138,297.2,1
$GPS,210213,084006,4747.778,-12521.442,34,1.2,34,18.7