version: 66.11
glider: 187
mission: 2
dive: 138
start: 10 12 112 11 43 16
data:
$ID,187
$MISSION,2
$DIVE,138
$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,-1587797.9
$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,33
$R_STBD_OVSHOOT,26
$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
$GPS1,121012,113605,4705.644,-12647.576,92,1.1,92,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-76.9
$GPS2,121012,114244,4705.642,-12647.515,15,2.0,15,18.6
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$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,42.1,167878,-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,-146.0,0.0,0.0,0,73,0.00,0.00,-54.75,0.000,2,0.000,0.000,130,2173,2788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.48,-146.0,3.1,-4.3,9,111,11.25,2.35,-11.90,0.000,4,0.223,0.076,3025,3594,3393,0,0,0,0,0,0,25.31,25.61,26.01
$GC,282,-0.48,-146.0,49.6,-12.6,47,290,0.00,2.20,0.00,0.000,6,0.000,0.043,3025,2156,3397,0,0,0,0,0,0,28.83,25.79,28.83
$GC,598,-0.48,-146.0,95.2,-14.4,108,605,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2153,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,911,-0.48,-146.0,132.3,-11.7,155,916,0.00,2.25,0.00,0.000,4,0.000,0.061,3015,3585,3400,0,0,0,0,0,0,28.83,25.93,28.83
$GC,941,-0.48,-146.0,135.8,-11.6,157,946,0.00,2.12,0.00,0.000,6,0.000,0.043,3015,2178,3400,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1255,-0.48,-146.0,171.7,-11.5,178,1261,0.00,2.15,0.00,0.000,4,0.000,0.051,3015,769,3400,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1331,-0.48,-146.0,180.4,-11.7,183,1337,0.10,2.12,0.00,0.000,6,0.118,0.050,3041,2169,3400,0,0,0,0,0,0,25.91,26.04,28.83
$GC,1645,-0.48,-146.0,212.2,-10.1,202,1651,0.00,2.20,0.00,0.000,4,0.000,0.063,3033,3587,3400,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1693,-0.48,-146.0,216.3,-10.1,204,1697,0.00,2.15,0.00,0.000,6,0.000,0.044,3033,2165,3399,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2000,-0.48,-146.0,246.4,-9.3,219,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2163,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2300,-0.48,-146.0,274.1,-9.0,234,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2163,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2600,-0.48,-146.0,300.6,-8.9,249,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2163,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2901,-0.48,-146.0,327.8,-9.3,264,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2163,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3200,-0.48,-146.0,356.1,-9.4,279,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2163,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3500,-0.48,-146.0,383.8,-9.0,294,3506,0.00,2.28,0.00,0.000,4,0.000,0.065,3022,3592,3395,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3542,-0.48,-146.0,387.6,-9.2,296,3547,0.00,2.15,0.00,0.000,6,0.000,0.047,3022,2177,3395,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3861,-0.48,-146.0,417.1,-9.0,309,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2174,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4160,-0.48,-146.0,444.5,-9.2,319,4166,0.00,2.25,0.00,0.000,4,0.000,0.066,3012,3592,3394,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4191,-0.48,-146.0,447.4,-9.4,320,4196,0.00,2.15,0.00,0.000,6,0.000,0.047,3011,2174,3394,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4520,-0.48,-146.0,480.1,-9.7,331,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2171,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4820,-0.48,-146.0,508.6,-9.4,341,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2171,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5120,-0.48,-146.0,535.6,-8.8,351,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2171,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5420,-0.48,-146.0,562.6,-9.0,361,5426,0.00,2.25,0.00,0.000,4,0.000,0.067,3001,3591,3391,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5454,-0.48,-146.0,565.4,-9.1,362,5459,0.15,2.17,0.00,0.000,6,0.131,0.048,3045,2171,3391,0,0,0,0,0,0,26.11,26.26,28.83
$GC,5777,-0.48,-146.0,587.6,-6.6,373,5782,0.00,2.22,0.00,0.000,4,0.000,0.067,3036,3587,3391,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5815,-0.48,-146.0,589.7,-6.7,374,5819,0.00,2.15,0.00,0.000,6,0.000,0.048,3036,2174,3390,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6132,-0.48,-146.0,612.3,-6.9,385,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2173,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6432,-0.48,-146.0,632.8,-6.8,395,6438,0.00,2.20,0.00,0.000,4,0.000,0.067,3026,3576,3390,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6511,-0.48,-146.0,637.1,-7.0,397,6515,0.00,2.15,0.00,0.000,6,0.000,0.049,3026,2167,3389,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6817,-0.48,-146.0,660.0,-6.9,407,6823,0.00,2.22,0.00,0.000,4,0.000,0.068,3016,3578,3388,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6848,-0.48,-146.0,661.9,-6.8,408,6853,0.00,2.15,0.00,0.000,6,0.000,0.049,3015,2168,3388,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7178,-0.48,-146.0,685.8,-7.1,419,7183,0.00,2.22,0.00,0.000,4,0.000,0.068,3005,3581,3387,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7208,-0.48,-146.0,688.2,-7.2,420,7214,0.10,2.15,0.00,0.000,6,0.109,0.049,3042,2171,3387,0,0,0,0,0,0,26.11,26.26,28.83
$GC,7537,-0.48,-146.0,708.6,-6.4,431,7543,0.00,2.22,0.00,0.000,4,0.000,0.068,3034,3578,3387,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7561,-0.48,-146.0,708.6,-6.4,431,7568,0.00,2.15,0.00,0.000,6,0.000,0.049,3034,2169,3387,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7867,-0.48,-146.0,733.2,-7.4,442,7873,0.00,2.25,0.00,0.000,4,0.000,0.068,3024,3584,3387,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7897,-0.48,-146.0,735.6,-7.5,443,7903,0.00,2.17,0.00,0.000,6,0.000,0.049,3024,2167,3386,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8227,-0.48,-146.0,762.1,-8.1,454,8233,0.00,2.22,0.00,0.000,4,0.000,0.068,3014,3578,3387,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8270,-0.48,-146.0,764.6,-8.1,455,8274,0.00,2.15,0.00,0.000,6,0.000,0.050,3013,2173,3386,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8582,-0.48,-146.0,791.7,-8.0,466,8583,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2171,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8883,-0.48,-146.0,814.5,-7.6,476,8888,0.00,2.28,0.00,0.000,4,0.000,0.069,3003,3592,3385,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8915,-0.48,-146.0,816.8,-7.6,477,8920,0.12,2.17,0.00,0.000,6,0.135,0.050,3040,2175,3385,0,0,0,0,0,0,26.11,26.25,28.83
$GC,9238,-0.48,-146.0,835.7,-5.9,488,9240,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2172,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9538,-0.48,-146.0,854.3,-6.2,498,9544,0.00,2.22,0.00,0.000,4,0.000,0.070,3031,3582,3385,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9601,-0.48,-146.0,858.3,-6.4,500,9605,0.00,2.15,0.00,0.000,6,0.000,0.050,3031,2174,3384,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9923,-0.48,-146.0,880.6,-6.7,511,9929,0.00,2.22,0.00,0.000,4,0.000,0.070,3021,3580,3384,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9967,-0.48,-146.0,882.8,-6.8,512,9971,0.00,2.15,0.00,0.000,6,0.000,0.050,3021,2173,3383,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10279,-0.48,-146.0,906.0,-7.1,523,10285,0.00,2.28,0.00,0.000,4,0.000,0.069,3011,3588,3383,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10302,-0.48,-146.0,906.0,-7.1,523,10309,0.00,2.17,0.00,0.000,6,0.000,0.050,3011,2166,3383,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10609,-0.48,-146.0,931.7,-7.9,534,10615,0.12,2.28,0.00,0.000,4,0.145,0.068,3043,3584,3383,0,0,0,0,0,0,26.19,26.12,28.83
$GC,10648,-0.48,-146.0,933.8,-7.7,535,10654,0.00,2.17,0.00,0.000,6,0.000,0.050,3043,2166,3383,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10969,-0.48,-146.0,954.9,-6.4,546,10975,0.00,2.25,0.00,0.000,4,0.000,0.070,3034,3584,3382,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11007,-0.48,-146.0,956.9,-6.6,547,11011,0.00,2.17,0.00,0.000,6,0.000,0.050,3034,2167,3382,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11324,-0.48,-146.0,979.8,-7.1,558,11330,0.00,2.25,0.00,0.000,4,0.000,0.070,3023,3584,3382,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11373,-0.48,-146.0,982.1,-7.2,559,11377,0.00,2.17,0.00,0.000,6,0.000,0.050,3024,2166,3382,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,11466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11467,begin apogee
$GC,11473,-0.22,0.0,991.2,-7.8,562,11605,0.28,0.00,125.28,1.199,6,0.114,0.000,3118,2307,2794,0,0,0,0,0,0,26.07,28.83,23.70
$STATE,11608,end apogee,CONTROL_FINISHED_OK
$STATE,11608,begin climb
$GC,11611,0.48,146.0,995.8,0.0,566,11748,0.68,0.00,134.00,1.166,6,0.083,0.000,3345,2307,2198,0,0,0,0,0,0,24.58,28.83,23.15
$GC,12039,0.48,146.0,963.9,9.0,581,12045,0.00,2.38,0.00,0.000,4,0.000,0.070,3345,3709,2187,0,0,0,0,0,0,28.83,25.06,28.83
$GC,12102,0.48,146.0,957.8,9.6,583,12106,0.00,2.28,0.00,0.000,6,0.000,0.051,3356,2302,2186,0,0,0,0,0,0,28.83,25.20,28.83
$GC,12425,0.48,146.0,926.3,9.6,594,12430,0.00,2.30,0.00,0.000,4,0.000,0.070,3355,3703,2185,0,0,0,0,0,0,28.83,25.48,28.83
$GC,12454,0.48,146.0,923.1,9.8,595,12460,0.00,2.25,0.00,0.000,6,0.000,0.051,3366,2296,2185,0,0,0,0,0,0,28.83,25.56,28.83
$GC,12785,0.48,146.0,888.1,10.6,606,12790,0.00,2.30,0.00,0.000,4,0.000,0.070,3366,3706,2184,0,0,0,0,0,0,28.83,25.68,28.83
$GC,12807,0.48,146.0,888.1,10.6,606,12814,0.00,2.22,0.00,0.000,6,0.000,0.052,3377,2298,2184,0,0,0,0,0,0,28.83,25.75,28.83
$GC,13114,0.48,146.0,850.7,11.3,617,13120,0.00,2.30,0.00,0.000,4,0.000,0.070,3377,3705,2184,0,0,0,0,0,0,28.83,25.79,28.83
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$STATE,22819,end climb,SURFACE_DEPTH_REACHED
$STATE,22819,begin surface coast
$FINISH,0.9,1.001875
$STATE,22879,end surface coast,CONTROL_FINISHED_OK
$STATE,22879,begin surface
$SM_CCo,22959,0.00,0.000,0,0,1392,343.91
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.69
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,23.1,20.282
$10V_AH,10.2,17.163
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.900,199.800,424.300,0.000,0.000,24.973,47.197,195.266,0.000,0.000,18.583,3412.696,16030.443,548.846,2973.357,383.882,0.000,1989.329,0.000,2666.175,0.000,0.535,0.000
$DEVICE_MAMPS,222.615,84.150,1198.755,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,894.372,751.511,538.090,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296900
$DATA_FILE_SIZE,73493,1299
$CAP_FILE_SIZE,193069,0
$CFSIZE,260165632,246366208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,338.7,1
$GPS,121012,180705,4707.788,-12643.710,32,1.4,32,18.6