version: 66.11
glider: 187
mission: 2
dive: 14
start: 9 14 112 6 20 37
data:
$ID,187
$MISSION,2
$DIVE,14
$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,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-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,-1587628.1
$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,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$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,2732
$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
$GPS1,140912,061230,4741.114,-12525.263,66,1.3,66,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-76.2
$GPS2,140912,061936,4741.046,-12525.277,11,0.8,15,18.7
$SPEED_LIMITS,0.127,0.235
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.204,-0.117
$KALMAN_X,4943.7,-444.1,-194.7,-28947.8,1509.7
$KALMAN_Y,1002.3,521.7,382.5,-16661.1,567.4
$MHEAD_RNG_PITCHd_Wd,229.4,141748,-14.3,-7.333,-17.34
$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,-0.51,-146.0,0.0,0.0,0,82,0.00,0.00,-63.28,0.000,2,0.000,0.000,131,2180,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.51,-146.0,3.6,-8.3,10,109,11.27,2.35,-5.75,0.000,4,0.230,0.081,3015,3583,3331,0,0,0,0,0,0,25.38,25.58,25.91
$GC,226,-0.51,-146.0,35.2,-13.6,37,234,0.00,2.22,0.00,0.000,6,0.000,0.044,3015,2167,3335,0,0,0,0,0,0,28.83,25.74,28.83
$GC,555,-0.51,-146.0,85.5,-13.2,102,562,0.00,2.17,0.00,0.000,4,0.000,0.050,3015,774,3337,0,0,0,0,0,0,28.83,25.89,28.83
$GC,651,-0.51,-146.0,97.5,-11.9,120,659,0.00,2.20,0.00,0.000,6,0.000,0.050,3005,2175,3338,0,0,0,0,0,0,28.83,25.91,28.83
$GC,968,-0.51,-146.0,134.9,-11.8,153,977,0.00,2.20,0.00,0.000,4,0.000,0.063,2994,3592,3337,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1020,-0.51,-146.0,141.7,-12.7,158,1031,0.12,2.17,0.00,0.000,6,0.154,0.043,3026,2161,3338,0,0,0,0,0,0,25.93,26.04,28.83
$GC,1332,-0.51,-146.0,175.0,-10.2,189,1340,0.00,2.10,0.00,0.000,4,0.000,0.051,3026,771,3337,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1384,-0.51,-146.0,180.4,-10.2,194,1394,0.00,2.15,0.00,0.000,6,0.000,0.051,3019,2178,3338,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1695,-0.51,-146.0,213.4,-10.7,225,1704,0.00,2.20,0.00,0.000,4,0.000,0.064,3009,3583,3337,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1759,-0.51,-146.0,220.9,-11.5,231,1767,0.00,2.10,0.00,0.000,6,0.000,0.044,3009,2173,3337,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2069,-0.51,-146.0,257.6,-12.3,262,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2172,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2372,-0.51,-146.0,290.6,-10.7,292,2382,0.00,2.10,0.00,0.000,4,0.000,0.052,3008,779,3337,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2406,-0.51,-146.0,294.4,-10.4,295,2415,0.08,2.12,0.00,0.000,6,0.141,0.052,3026,2172,3337,0,0,0,0,0,0,26.12,26.21,28.83
$GC,2715,-0.51,-146.0,321.6,-8.4,326,2724,0.00,2.22,0.00,0.000,4,0.000,0.066,3018,3583,3336,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2759,-0.51,-146.0,325.4,-9.1,330,2767,0.00,2.17,0.00,0.000,6,0.000,0.045,3018,2175,3336,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3068,-0.51,-146.0,353.8,-9.3,361,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2175,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3370,-0.51,-146.0,381.6,-9.3,391,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2175,3335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3680,-0.51,-146.0,410.2,-9.2,422,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2175,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3989,-0.51,-146.0,439.1,-9.2,453,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2175,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4300,-0.51,-146.0,467.8,-9.5,484,4309,0.00,2.17,0.00,0.000,4,0.000,0.067,3008,3579,3332,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4345,-0.51,-146.0,472.1,-9.7,488,4353,0.00,2.12,0.00,0.000,6,0.000,0.047,3008,2170,3333,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4652,-0.51,-146.0,501.7,-9.6,519,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2169,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4954,-0.51,-146.0,529.6,-9.4,549,4964,0.00,2.10,0.00,0.000,4,0.000,0.054,3008,771,3332,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4987,-0.51,-146.0,532.8,-9.0,552,4998,0.12,2.15,0.00,0.000,6,0.160,0.055,3032,2180,3332,0,0,0,0,0,0,26.26,26.34,28.83
$GC,5298,-0.51,-146.0,556.5,-7.5,583,5306,0.00,2.17,0.00,0.000,4,0.000,0.068,3023,3583,3332,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5343,-0.51,-146.0,560.0,-8.4,587,5349,0.00,2.12,0.00,0.000,6,0.000,0.047,3024,2171,3331,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5650,-0.51,-146.0,584.5,-8.4,618,5660,0.00,2.22,0.00,0.000,4,0.000,0.067,3013,3589,3330,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5713,-0.51,-146.0,589.4,-8.1,624,5717,0.00,2.15,0.00,0.000,6,0.000,0.047,3013,2174,3330,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6025,-0.51,-146.0,616.3,-8.8,643,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2170,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6325,-0.51,-146.0,643.7,-9.3,653,6326,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2170,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6624,-0.51,-146.0,672.6,-9.4,663,6630,0.00,2.25,0.00,0.000,4,0.000,0.069,3003,3592,3328,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6655,-0.51,-146.0,675.5,-9.5,664,6661,0.00,2.15,0.00,0.000,6,0.000,0.048,3004,2176,3328,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6984,-0.51,-146.0,707.4,-9.6,675,6986,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2173,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7285,-0.51,-146.0,733.9,-8.6,685,7291,0.00,2.20,0.00,0.000,4,0.000,0.069,2994,3583,3328,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7317,-0.51,-146.0,736.8,-8.7,686,7322,0.15,2.15,0.00,0.000,6,0.147,0.048,3035,2166,3327,0,0,0,0,0,0,26.29,26.41,28.83
$GC,7641,-0.51,-146.0,759.3,-6.6,697,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2162,3327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7941,-0.51,-146.0,779.1,-6.5,707,7946,0.00,2.22,0.00,0.000,4,0.000,0.070,3027,3583,3327,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8003,-0.51,-146.0,783.2,-6.6,709,8008,0.00,2.12,0.00,0.000,6,0.000,0.049,3027,2172,3326,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8331,-0.51,-146.0,806.0,-6.9,720,8332,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2170,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8631,-0.51,-146.0,827.2,-6.8,730,8637,0.00,2.25,0.00,0.000,4,0.000,0.070,3017,3587,3326,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8684,-0.51,-146.0,829.5,-7.0,731,8691,0.00,2.15,0.00,0.000,6,0.000,0.049,3017,2165,3326,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8991,-0.51,-146.0,852.3,-6.3,742,8997,0.00,2.08,0.00,0.000,4,0.000,0.055,3016,777,3326,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9190,-0.51,-146.0,866.0,-7.6,748,9194,0.00,2.17,0.00,0.000,6,0.000,0.058,3008,2180,3325,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9502,-0.51,-146.0,890.1,-7.2,759,9508,0.00,2.10,0.00,0.000,4,0.000,0.054,3008,780,3325,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9735,-0.51,-146.0,907.1,-8.2,766,9743,0.12,2.15,0.00,0.000,6,0.157,0.058,3033,2179,3325,0,0,0,0,0,0,26.32,26.39,28.83
$GC,10043,-0.51,-146.0,928.8,-6.2,777,10047,0.00,2.15,0.00,0.000,4,0.000,0.056,3032,775,3324,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10195,-0.51,-146.0,939.0,-6.7,782,10200,0.00,2.17,0.00,0.000,6,0.000,0.058,3026,2176,3324,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10526,-0.51,-146.0,960.0,-6.5,793,10531,0.00,2.10,0.00,0.000,4,0.000,0.056,3027,777,3324,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10585,-0.51,-146.0,964.1,-6.6,795,10591,0.00,2.12,0.00,0.000,6,0.000,0.057,3018,2171,3324,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10915,-0.51,-146.0,984.9,-6.1,806,10921,0.00,2.20,0.00,0.000,4,0.000,0.071,3008,3581,3324,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,11003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11003,begin apogee
$GC,11012,-0.22,0.0,990.7,-6.4,809,11146,0.32,0.00,128.20,1.241,6,0.123,0.000,3118,2392,2731,0,0,0,0,0,0,26.32,28.83,23.44
$STATE,11149,end apogee,CONTROL_FINISHED_OK
$STATE,11149,begin climb
$GC,11152,0.51,146.0,993.9,0.0,813,11298,0.70,2.42,134.95,1.204,4,0.088,0.057,3362,1009,2135,0,0,0,0,0,0,24.42,24.04,23.21
$GC,11389,0.51,146.0,976.4,10.1,821,11396,0.00,2.30,0.00,0.000,6,0.000,0.057,3362,2404,2128,0,0,0,0,0,0,28.83,24.86,28.83
$GC,11696,0.51,146.0,940.4,10.9,832,11702,0.00,2.28,0.00,0.000,4,0.000,0.070,3362,3796,2124,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11734,0.51,146.0,936.6,11.4,833,11739,0.00,2.20,0.00,0.000,6,0.000,0.051,3372,2408,2123,0,0,0,0,0,0,28.83,25.48,28.83
$GC,12051,0.51,146.0,898.2,11.4,844,12057,0.00,2.22,0.00,0.000,4,0.000,0.059,3383,996,2122,0,0,0,0,0,0,28.83,25.69,28.83
$GC,12094,0.51,146.0,894.9,11.2,845,12099,0.00,2.25,0.00,0.000,6,0.000,0.058,3383,2410,2122,0,0,0,0,0,0,28.83,25.71,28.83
$GC,12407,0.51,146.0,854.8,12.6,856,12408,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2410,2121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12707,0.51,146.0,815.9,12.9,866,12708,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2410,2121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13006,0.51,146.0,774.9,13.9,876,13008,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2410,2121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13307,0.51,146.0,733.6,13.6,886,13312,0.00,2.22,0.00,0.000,4,0.000,0.058,3394,990,2120,0,0,0,0,0,0,28.83,26.06,28.83
$GC,13324,0.51,146.0,733.6,13.6,886,13329,0.15,2.22,0.00,0.000,6,0.163,0.059,3356,2409,2120,0,0,0,0,0,0,25.96,26.06,28.83
$GC,13632,0.51,146.0,697.8,10.6,896,13633,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2409,2120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13932,0.51,146.0,667.6,10.0,906,13933,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2409,2120,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,21356,end climb,SURFACE_DEPTH_REACHED
$STATE,21356,begin surface coast
$FINISH,0.4,1.001634
$STATE,21414,end surface coast,CONTROL_FINISHED_OK
$STATE,21414,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,41.61
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,23.2,4.454
$10V_AH,10.3,3.073
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.150,182.525,438.725,0.000,0.000,25.689,36.670,224.455,0.000,0.000,15.895,4352.173,12392.686,653.840,4065.676,436.203,33.230,2375.994,0.000,3759.588,0.000,0.536,0.000
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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,296936
$DATA_FILE_SIZE,96830,1749
$CAP_FILE_SIZE,206154,0
$CFSIZE,260165632,256249856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110,131.7,1
$GPS,140912,122005,4739.259,-12527.726,34,1.6,34,18.7