version: 66.11
glider: 187
mission: 2
dive: 30
start: 9 18 112 13 48 47
data:
$ID,187
$MISSION,2
$DIVE,30
$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,-1587656.1
$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,34
$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,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
$GPS1,180912,134035,4726.862,-12604.319,33,0.9,33,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-79.1
$GPS2,180912,134742,4726.867,-12604.320,10,1.1,16,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.169,-0.141
$KALMAN_X,28895.9,-251.1,646.1,-102472.2,-300.1
$KALMAN_Y,15974.5,-320.7,-1627.3,-55054.5,7838.2
$MHEAD_RNG_PITCHd_Wd,205.0,86149,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,87,0.00,0.00,-67.50,0.000,2,0.000,0.000,115,2167,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.48,-146.0,3.5,-6.6,11,119,11.27,2.33,-8.93,0.000,4,0.226,0.072,3026,3588,3393,0,0,0,0,0,0,25.47,25.67,25.98
$GC,241,-0.48,-146.0,38.0,-13.6,38,249,0.00,2.22,0.00,0.000,6,0.000,0.044,3025,2170,3396,0,0,0,0,0,0,28.83,25.79,28.83
$GC,570,-0.48,-146.0,80.4,-11.4,99,577,0.00,2.25,0.00,0.000,4,0.000,0.061,3015,3591,3399,0,0,0,0,0,0,28.83,25.90,28.83
$GC,590,-0.48,-146.0,82.8,-11.5,102,598,0.00,2.20,0.00,0.000,6,0.000,0.044,3014,2174,3400,0,0,0,0,0,0,28.83,25.96,28.83
$GC,928,-0.48,-146.0,125.9,-12.5,159,933,0.00,2.12,0.00,0.000,4,0.000,0.051,3014,779,3399,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1002,-0.48,-146.0,135.2,-12.3,164,1009,0.12,2.15,0.00,0.000,6,0.152,0.050,3039,2182,3399,0,0,0,0,0,0,25.97,26.04,28.83
$GC,1320,-0.48,-146.0,164.3,-8.4,185,1326,0.00,2.17,0.00,0.000,4,0.000,0.063,3030,3581,3399,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1394,-0.48,-146.0,170.8,-8.6,190,1400,0.00,2.12,0.00,0.000,6,0.000,0.044,3030,2173,3399,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1711,-0.48,-146.0,195.9,-8.4,211,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2171,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2011,-0.48,-146.0,224.4,-10.5,231,2017,0.00,2.12,0.00,0.000,4,0.000,0.052,3030,772,3399,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2040,-0.48,-146.0,227.7,-10.5,233,2046,0.00,2.12,0.00,0.000,6,0.000,0.051,3021,2174,3399,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2355,-0.48,-146.0,259.2,-9.6,254,2361,0.00,2.20,0.00,0.000,4,0.000,0.063,3010,3586,3398,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2419,-0.48,-146.0,265.2,-9.8,258,2424,0.12,2.12,0.00,0.000,6,0.141,0.044,3045,2174,3398,0,0,0,0,0,0,26.17,26.25,28.83
$GC,2728,-0.48,-146.0,289.5,-8.0,278,2732,0.00,2.15,0.00,0.000,4,0.000,0.053,3045,777,3397,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2763,-0.48,-146.0,292.3,-8.1,280,2768,0.00,2.15,0.00,0.000,6,0.000,0.051,3038,2183,3397,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3070,-0.48,-146.0,319.4,-8.9,300,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2183,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3370,-0.48,-146.0,347.7,-9.6,320,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2183,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3670,-0.48,-146.0,375.4,-8.8,340,3674,0.00,2.20,0.00,0.000,4,0.000,0.066,3028,3586,3395,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3755,-0.48,-146.0,382.5,-9.4,345,3762,0.00,2.12,0.00,0.000,6,0.000,0.046,3027,2174,3395,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4062,-0.48,-146.0,408.9,-7.8,366,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2173,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4362,-0.48,-146.0,432.6,-7.7,386,4366,0.00,2.15,0.00,0.000,4,0.000,0.054,3027,768,3394,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4388,-0.48,-146.0,434.0,-7.8,387,4394,0.00,2.15,0.00,0.000,6,0.000,0.053,3018,2175,3394,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4695,-0.48,-146.0,461.9,-8.9,408,4700,0.00,2.20,0.00,0.000,4,0.000,0.066,3008,3591,3393,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4757,-0.48,-146.0,467.5,-9.4,412,4763,0.08,2.12,0.00,0.000,6,0.122,0.047,3036,2169,3393,0,0,0,0,0,0,26.27,26.36,28.83
$GC,5074,-0.48,-146.0,491.4,-7.8,433,5075,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2167,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5372,-0.48,-146.0,514.3,-7.7,453,5377,0.00,2.20,0.00,0.000,4,0.000,0.067,3028,3585,3391,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5404,-0.48,-146.0,516.5,-7.5,455,5408,0.00,2.12,0.00,0.000,6,0.000,0.047,3028,2175,3391,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5713,-0.48,-146.0,541.4,-8.1,475,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2173,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6013,-0.48,-146.0,565.0,-8.0,495,6018,0.00,2.20,0.00,0.000,4,0.000,0.067,3017,3582,3390,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6034,-0.48,-146.0,566.2,-8.0,496,6042,0.00,2.17,0.00,0.000,6,0.000,0.047,3017,2176,3390,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6342,-0.48,-146.0,596.0,-9.4,517,6348,0.00,2.12,0.00,0.000,4,0.000,0.055,3017,768,3390,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6373,-0.48,-146.0,599.0,-9.6,519,6379,0.12,2.17,0.00,0.000,6,0.150,0.054,3042,2178,3390,0,0,0,0,0,0,26.30,26.36,28.83
$GC,6688,-0.48,-146.0,623.3,-7.2,530,6693,0.00,2.17,0.00,0.000,4,0.000,0.067,3034,3579,3390,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6755,-0.48,-146.0,627.9,-7.4,532,6759,0.00,2.12,0.00,0.000,6,0.000,0.048,3034,2174,3389,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7073,-0.48,-146.0,649.2,-6.1,543,7074,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2171,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7372,-0.48,-146.0,667.5,-6.3,553,7378,0.00,2.25,0.00,0.000,4,0.000,0.068,3024,3593,3388,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7410,-0.48,-146.0,669.5,-6.4,554,7414,0.00,2.15,0.00,0.000,6,0.000,0.049,3024,2177,3388,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7733,-0.48,-146.0,695.4,-8.2,565,7734,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2174,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8033,-0.48,-146.0,721.2,-8.8,575,8034,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2174,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8332,-0.48,-146.0,747.6,-8.8,585,8336,0.00,2.22,0.00,0.000,4,0.000,0.068,3014,3589,3387,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8372,-0.48,-146.0,750.6,-8.9,586,8376,0.00,2.17,0.00,0.000,6,0.000,0.049,3014,2164,3386,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8694,-0.48,-146.0,781.5,-9.1,597,8700,0.00,2.20,0.00,0.000,4,0.000,0.068,3004,3574,3386,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8727,-0.48,-146.0,784.5,-9.2,598,8732,0.12,2.12,0.00,0.000,6,0.142,0.049,3039,2170,3386,0,0,0,0,0,0,26.33,26.41,28.83
$GC,9050,-0.48,-146.0,807.6,-6.5,609,9056,0.00,2.20,0.00,0.000,4,0.000,0.068,3030,3581,3386,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9083,-0.48,-146.0,809.8,-6.5,610,9087,0.00,2.12,0.00,0.000,6,0.000,0.049,3030,2174,3386,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9405,-0.48,-146.0,829.8,-5.9,621,9409,0.00,2.25,0.00,0.000,4,0.000,0.069,3021,3590,3386,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9446,-0.48,-146.0,831.9,-6.0,622,9450,0.00,2.17,0.00,0.000,6,0.000,0.049,3020,2165,3385,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9768,-0.48,-146.0,852.5,-6.1,633,9773,0.00,2.22,0.00,0.000,4,0.000,0.069,3011,3588,3385,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9806,-0.48,-146.0,854.6,-6.3,634,9810,0.00,2.15,0.00,0.000,6,0.000,0.049,3011,2173,3385,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10123,-0.48,-146.0,879.0,-7.9,645,10124,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2171,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10423,-0.48,-146.0,903.4,-8.3,655,10429,0.00,2.20,0.00,0.000,4,0.000,0.069,3001,3579,3384,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10466,-0.48,-146.0,906.0,-8.4,656,10471,0.15,2.15,0.00,0.000,6,0.133,0.050,3045,2165,3384,0,0,0,0,0,0,26.34,26.42,28.83
$GC,10780,-0.48,-146.0,929.5,-7.1,667,10785,0.00,2.22,0.00,0.000,4,0.000,0.070,3037,3581,3384,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10809,-0.48,-146.0,931.6,-7.0,668,10815,0.00,2.15,0.00,0.000,6,0.000,0.050,3037,2165,3384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11139,-0.48,-146.0,954.1,-6.7,679,11145,0.00,2.28,0.00,0.000,4,0.000,0.070,3027,3592,3383,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11169,-0.48,-146.0,955.9,-6.6,680,11175,0.00,2.15,0.00,0.000,6,0.000,0.050,3027,2170,3384,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11499,-0.48,-146.0,977.0,-6.3,691,11505,0.00,2.20,0.00,0.000,4,0.000,0.070,3018,3575,3383,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11532,-0.48,-146.0,979.0,-6.3,692,11536,0.00,2.12,0.00,0.000,6,0.000,0.050,3017,2176,3383,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,11701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11701,begin apogee
$GC,11709,-0.22,0.0,990.2,-6.3,698,11840,0.30,0.00,126.25,1.211,6,0.119,0.000,3120,2306,2794,0,0,0,0,0,0,26.34,28.83,23.58
$STATE,11843,end apogee,CONTROL_FINISHED_OK
$STATE,11843,begin climb
$GC,11846,0.48,146.0,992.8,0.0,702,11984,0.68,0.00,134.62,1.170,6,0.083,0.000,3347,2306,2198,0,0,0,0,0,0,24.52,28.83,23.32
$GC,12274,0.48,146.0,956.0,9.7,717,12280,0.00,2.33,0.00,0.000,4,0.000,0.070,3348,3709,2187,0,0,0,0,0,0,28.83,25.29,28.83
$GC,12307,0.48,146.0,952.8,9.9,718,12311,0.00,2.25,0.00,0.000,6,0.000,0.050,3358,2310,2187,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12629,0.48,146.0,918.4,10.7,729,12630,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,2306,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12929,0.48,146.0,885.0,11.3,739,12935,0.00,2.28,0.00,0.000,4,0.000,0.070,3358,3707,2184,0,0,0,0,0,0,28.83,25.79,28.83
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$STATE,22581,end climb,SURFACE_DEPTH_REACHED
$STATE,22582,begin surface coast
$FINISH,0.6,0.999427
$STATE,22624,end surface coast,CONTROL_FINISHED_OK
$STATE,22624,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,42.12
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,23.3,6.652
$10V_AH,10.2,5.881
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.075,207.050,460.025,0.000,0.000,27.236,45.553,215.667,0.000,0.000,16.977,3872.599,14715.823,591.790,3535.753,402.622,33.246,2147.490,0.000,3222.360,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1033.741,1224.672,1249.757,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297168
$DATA_FILE_SIZE,86828,1498
$CAP_FILE_SIZE,205845,0
$CFSIZE,260165632,254636032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.026, 16.9,1
$GPS,180912,200829,4724.853,-12607.458,40,1.5,40,18.7