version: 66.11
glider: 187
mission: 2
dive: 16
start: 9 14 112 18 28 43
data:
$ID,187
$MISSION,2
$DIVE,16
$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,1
$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,-1587630.6
$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,2175
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$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
$GPS1,140912,182023,4738.410,-12530.769,53,1.9,53,18.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-76.4
$GPS2,140912,182737,4738.397,-12530.719,15,2.0,15,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.209,-0.070
$KALMAN_X,9184.3,665.5,-528.2,-40727.8,2460.6
$KALMAN_Y,1677.7,-884.1,374.9,-20829.1,-148.2
$MHEAD_RNG_PITCHd_Wd,244.2,133317,-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,-146.0,0.0,0.0,0,83,0.00,0.00,-64.12,0.000,2,0.000,0.000,131,2186,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.48,-146.0,3.7,-8.2,10,110,11.35,2.30,-6.72,0.000,4,0.231,0.070,3023,3591,3393,0,0,0,0,0,0,25.36,25.59,25.90
$GC,170,-0.48,-146.0,27.9,-14.1,25,177,0.00,2.22,0.00,0.000,6,0.000,0.044,3023,2177,3397,0,0,0,0,0,0,28.83,25.68,28.83
$GC,509,-0.48,-146.0,76.3,-13.0,93,516,0.00,2.20,0.00,0.000,4,0.000,0.051,3022,771,3400,0,0,0,0,0,0,28.83,25.85,28.83
$GC,587,-0.48,-146.0,87.2,-13.4,107,594,0.00,2.22,0.00,0.000,6,0.000,0.051,3013,2181,3400,0,0,0,0,0,0,28.83,25.89,28.83
$GC,899,-0.48,-146.0,125.7,-11.5,147,907,0.00,2.17,0.00,0.000,4,0.000,0.063,3002,3582,3400,0,0,0,0,0,0,28.83,25.99,28.83
$GC,943,-0.48,-146.0,131.0,-12.2,151,951,0.15,2.17,0.00,0.000,6,0.140,0.043,3044,2161,3400,0,0,0,0,0,0,25.91,26.02,28.83
$GC,1251,-0.48,-146.0,159.2,-8.7,182,1261,0.00,2.10,0.00,0.000,4,0.000,0.050,3044,776,3400,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1285,-0.48,-146.0,162.1,-9.1,185,1294,0.00,2.12,0.00,0.000,6,0.000,0.050,3036,2176,3400,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1594,-0.48,-146.0,190.9,-9.2,216,1604,0.00,2.20,0.00,0.000,4,0.000,0.064,3026,3584,3400,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1649,-0.48,-146.0,196.1,-9.8,221,1657,0.00,2.12,0.00,0.000,6,0.000,0.044,3026,2173,3400,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1957,-0.48,-146.0,227.9,-10.7,252,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2173,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2259,-0.48,-146.0,259.7,-10.8,282,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2173,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2570,-0.48,-146.0,292.7,-10.2,313,2576,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2173,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2879,-0.48,-146.0,324.5,-9.6,344,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2173,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3190,-0.48,-146.0,351.9,-8.1,375,3197,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2173,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3500,-0.48,-146.0,376.3,-7.5,406,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2173,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3810,-0.48,-146.0,399.8,-7.7,437,3818,0.00,2.17,0.00,0.000,4,0.000,0.066,3015,3578,3397,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3862,-0.48,-146.0,404.0,-8.4,442,3866,0.00,2.12,0.00,0.000,6,0.000,0.046,3015,2177,3397,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4174,-0.48,-146.0,431.1,-8.8,473,4183,0.00,2.10,0.00,0.000,4,0.000,0.054,3015,777,3397,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4219,-0.48,-146.0,434.9,-9.1,477,4227,0.08,2.17,0.00,0.000,6,0.135,0.054,3034,2172,3396,0,0,0,0,0,0,26.24,26.32,28.83
$GC,4527,-0.48,-146.0,459.5,-8.0,508,4536,0.00,2.17,0.00,0.000,4,0.000,0.067,3025,3577,3396,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4600,-0.48,-146.0,465.8,-8.6,515,4609,0.00,2.12,0.00,0.000,6,0.000,0.047,3026,2162,3396,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4910,-0.48,-146.0,492.8,-8.7,546,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2162,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5214,-0.48,-146.0,519.4,-9.1,576,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2162,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5523,-0.48,-146.0,548.3,-9.2,607,5531,0.00,2.20,0.00,0.000,4,0.000,0.067,3015,3583,3395,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5568,-0.48,-146.0,552.6,-9.9,611,5574,0.00,2.12,0.00,0.000,6,0.000,0.047,3016,2167,3395,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5874,-0.48,-146.0,582.4,-9.1,642,5875,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2166,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6194,-0.48,-146.0,611.5,-9.0,666,6200,0.00,2.22,0.00,0.000,4,0.000,0.067,3006,3590,3394,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6237,-0.48,-146.0,614.2,-9.1,667,6242,0.12,2.12,0.00,0.000,6,0.145,0.047,3040,2174,3394,0,0,0,0,0,0,26.30,26.39,28.83
$GC,6550,-0.48,-146.0,638.6,-7.1,678,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2171,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6850,-0.48,-146.0,659.9,-7.4,688,6856,0.00,2.22,0.00,0.000,4,0.000,0.068,3032,3583,3393,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6903,-0.48,-146.0,662.1,-7.5,689,6910,0.00,2.12,0.00,0.000,6,0.000,0.048,3032,2169,3393,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7210,-0.48,-146.0,688.6,-7.9,700,7216,0.00,2.12,0.00,0.000,4,0.000,0.055,3032,767,3392,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7233,-0.48,-146.0,688.6,-7.9,700,7240,0.00,2.17,0.00,0.000,6,0.000,0.055,3023,2177,3392,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7540,-0.48,-146.0,714.2,-7.7,711,7544,0.00,2.22,0.00,0.000,4,0.000,0.069,3013,3591,3391,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7620,-0.48,-146.0,719.2,-7.7,713,7624,0.00,2.15,0.00,0.000,6,0.000,0.048,3013,2175,3391,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7927,-0.48,-146.0,743.8,-7.4,723,7928,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2173,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8227,-0.48,-146.0,765.8,-7.4,733,8233,0.00,2.25,0.00,0.000,4,0.000,0.069,3004,3594,3391,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8257,-0.48,-146.0,768.3,-7.5,734,8264,0.12,2.15,0.00,0.000,6,0.146,0.049,3038,2171,3391,0,0,0,0,0,0,26.32,26.41,28.83
$GC,8588,-0.48,-146.0,787.0,-5.6,745,8593,0.00,2.20,0.00,0.000,4,0.000,0.069,3030,3580,3391,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8625,-0.48,-146.0,788.7,-5.7,746,8629,0.00,2.12,0.00,0.000,6,0.000,0.049,3030,2180,3391,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8943,-0.48,-146.0,809.4,-6.2,757,8944,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2177,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9243,-0.48,-146.0,830.1,-6.9,767,9248,0.00,2.20,0.00,0.000,4,0.000,0.070,3020,3585,3390,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9275,-0.48,-146.0,832.2,-6.9,768,9280,0.00,2.15,0.00,0.000,6,0.000,0.049,3020,2164,3390,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9598,-0.48,-146.0,855.9,-7.3,779,9603,0.00,2.22,0.00,0.000,4,0.000,0.070,3011,3584,3390,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9628,-0.48,-146.0,858.2,-7.4,780,9633,0.00,2.12,0.00,0.000,6,0.000,0.050,3011,2173,3389,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9957,-0.48,-146.0,883.1,-7.4,791,9963,0.00,2.22,0.00,0.000,4,0.000,0.069,3001,3586,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10000,-0.48,-146.0,885.3,-7.4,792,10005,0.15,2.15,0.00,0.000,6,0.137,0.049,3044,2165,3389,0,0,0,0,0,0,26.32,26.42,28.83
$GC,10314,-0.48,-146.0,904.2,-5.5,803,10317,0.00,2.25,0.00,0.000,4,0.000,0.070,3036,3583,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10348,-0.48,-146.0,906.2,-5.7,804,10352,0.00,2.15,0.00,0.000,6,0.000,0.050,3036,2174,3388,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10676,-0.48,-146.0,925.6,-5.7,815,10682,0.00,2.20,0.00,0.000,4,0.000,0.070,3027,3583,3388,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10714,-0.48,-146.0,927.4,-5.7,816,10718,0.00,2.15,0.00,0.000,6,0.000,0.050,3027,2170,3387,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11031,-0.48,-146.0,947.2,-6.1,827,11033,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2167,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11332,-0.48,-146.0,966.0,-6.5,837,11337,0.00,2.20,0.00,0.000,4,0.000,0.070,3017,3580,3387,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11391,-0.48,-146.0,970.0,-6.6,839,11397,0.00,2.12,0.00,0.000,6,0.000,0.050,3017,2171,3387,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,11689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11689,begin apogee
$GC,11696,-0.22,0.0,990.4,-6.7,849,11827,0.30,0.00,127.45,1.241,6,0.124,0.000,3119,2315,2794,0,0,0,0,0,0,26.34,28.83,23.46
$STATE,11831,end apogee,CONTROL_FINISHED_OK
$STATE,11831,begin climb
$GC,11833,0.48,146.0,993.4,0.0,853,11973,0.68,0.00,135.90,1.192,6,0.086,0.000,3344,2315,2198,0,0,0,0,0,0,24.43,28.83,23.25
$GC,12261,0.48,146.0,955.3,10.4,868,12267,0.00,2.30,0.00,0.000,4,0.000,0.070,3344,3702,2187,0,0,0,0,0,0,28.83,25.27,28.83
$GC,12292,0.48,146.0,952.1,10.5,869,12297,0.00,2.22,0.00,0.000,6,0.000,0.050,3354,2306,2186,0,0,0,0,0,0,28.83,25.36,28.83
$GC,12621,0.48,146.0,917.3,10.4,880,12622,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2300,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12921,0.48,146.0,886.6,10.3,890,12927,0.00,2.28,0.00,0.000,4,0.000,0.070,3354,3705,2185,0,0,0,0,0,0,28.83,25.77,28.83
$GC,12954,0.48,146.0,883.1,10.5,891,12958,0.00,2.22,0.00,0.000,6,0.000,0.051,3364,2286,2183,0,0,0,0,0,0,28.83,25.82,28.83
$GC,13276,0.48,146.0,847.3,10.7,902,13282,0.00,2.30,0.00,0.000,4,0.000,0.070,3364,3707,2184,0,0,0,0,0,0,28.83,25.89,28.83
$GC,13324,0.48,146.0,843.6,11.1,903,13328,0.00,2.20,0.00,0.000,6,0.000,0.051,3374,2294,2184,0,0,0,0,0,0,28.83,25.94,28.83
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$STATE,22973,end climb,SURFACE_DEPTH_REACHED
$STATE,22973,begin surface coast
$FINISH,0.4,1.023331
$STATE,23037,end surface coast,CONTROL_FINISHED_OK
$STATE,23037,begin surface
$SM_CCo,23117,0.00,0.000,0,0,1371,348.82
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$TT8_MAMPS,0.026964,0.026964
$HUMID,41.65
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,23.2,4.718
$10V_AH,10.3,3.431
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.125,175.975,427.425,0.000,0.000,26.102,37.126,235.054,0.000,0.000,16.109,4657.075,13586.394,646.962,4194.444,452.527,33.243,2381.827,0.000,3884.124,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296976
$DATA_FILE_SIZE,106865,1873
$CAP_FILE_SIZE,213571,0
$CFSIZE,260165632,256028672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130,134.4,1
$GPS,150912,005506,4737.048,-12533.695,28,1.9,28,18.7