version: 66.11
glider: 187
mission: 2
dive: 339
start: 12 2 112 1 21 1
data:
$ID,187
$MISSION,2
$DIVE,339
$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,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,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,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,-1588192.9
$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,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$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
$GPS1,021212,011301,4707.801,-12643.681,47,1.2,47,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-77.0
$GPS2,021212,012030,4707.801,-12643.591,14,1.7,25,18.6
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$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,222.8,25264,-13.3,-7.021,-18.50
$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,17,-0.47,-136.3,0.0,0.0,0,86,0.00,0.00,-67.12,0.000,2,0.000,0.000,113,2179,2739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.47,-136.3,3.4,-4.6,11,123,11.30,2.17,-13.32,0.000,4,0.212,0.062,3036,802,3351,0,0,0,0,0,0,24.90,25.53,26.11
$GC,192,-0.47,-136.3,25.7,-17.1,29,199,0.00,2.20,0.00,0.000,6,0.000,0.050,3028,2208,3354,0,0,0,0,0,0,28.83,25.54,28.83
$GC,509,-0.47,-136.3,74.8,-13.9,90,516,0.00,2.28,0.00,0.000,4,0.000,0.061,3017,3606,3355,0,0,0,0,0,0,28.83,25.57,28.83
$GC,539,-0.47,-136.3,79.0,-14.2,95,546,0.00,2.20,0.00,0.000,6,0.000,0.042,3017,2198,3356,0,0,0,0,0,0,28.83,25.77,28.83
$GC,854,-0.47,-136.3,120.1,-11.6,156,860,0.00,2.28,0.00,0.000,4,0.000,0.061,3007,3611,3356,0,0,0,0,0,0,28.83,25.61,28.83
$GC,907,-0.47,-136.3,125.2,-11.2,159,916,0.10,2.20,0.00,0.000,6,0.109,0.042,3043,2202,3356,0,0,0,0,0,0,25.60,25.84,28.83
$GC,1216,-0.47,-136.3,153.8,-8.7,180,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2201,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1514,-0.47,-136.3,179.9,-8.7,200,1520,0.00,2.15,0.00,0.000,4,0.000,0.050,3043,800,3356,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1552,-0.47,-136.3,182.5,-8.6,202,1559,0.00,2.17,0.00,0.000,6,0.000,0.050,3035,2206,3357,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1859,-0.47,-136.3,211.0,-9.1,221,1865,0.00,2.22,0.00,0.000,4,0.000,0.062,3025,3608,3356,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1920,-0.47,-136.3,216.7,-9.3,224,1925,0.00,2.15,0.00,0.000,6,0.000,0.043,3025,2194,3357,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2241,-0.47,-136.3,246.7,-9.3,240,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2190,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2539,-0.47,-136.3,274.1,-8.7,255,2545,0.00,2.28,0.00,0.000,4,0.000,0.062,3014,3610,3355,0,0,0,0,0,0,28.83,25.66,28.83
$GC,2563,-0.47,-136.3,276.0,-8.9,256,2567,0.00,2.15,0.00,0.000,6,0.000,0.044,3014,2201,3356,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2875,-0.47,-136.3,306.0,-9.4,272,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2196,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3176,-0.47,-136.3,333.8,-9.1,287,3177,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2196,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3477,-0.47,-136.3,360.5,-8.9,302,3482,0.00,2.25,0.00,0.000,4,0.000,0.063,3004,3608,3354,0,0,0,0,0,0,28.83,25.64,28.83
$GC,3518,-0.47,-136.3,364.2,-9.1,304,3523,0.15,2.17,0.00,0.000,6,0.125,0.044,3047,2193,3353,0,0,0,0,0,0,25.69,25.89,28.83
$GC,3832,-0.47,-136.3,386.5,-7.2,320,3837,0.00,2.12,0.00,0.000,4,0.000,0.051,3047,806,3353,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3859,-0.47,-136.3,388.1,-7.1,321,3863,0.00,2.17,0.00,0.000,6,0.000,0.052,3042,2204,3353,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4187,-0.47,-136.3,414.0,-7.7,334,4192,0.00,2.25,0.00,0.000,4,0.000,0.064,3030,3607,3352,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4247,-0.47,-136.3,418.9,-8.0,336,4252,0.00,2.15,0.00,0.000,6,0.000,0.044,3030,2198,3352,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4576,-0.47,-136.3,446.6,-8.5,347,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2195,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4876,-0.47,-136.3,471.9,-8.3,357,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2195,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5177,-0.47,-136.3,495.8,-7.8,367,5182,0.00,2.25,0.00,0.000,4,0.000,0.065,3020,3606,3350,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5229,-0.47,-136.3,498.2,-7.9,368,5236,0.00,2.17,0.00,0.000,6,0.000,0.046,3020,2193,3350,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5536,-0.47,-136.3,524.1,-7.7,379,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2191,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5837,-0.47,-136.3,547.9,-8.0,389,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2191,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6136,-0.47,-136.3,572.0,-8.2,399,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2191,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6436,-0.47,-136.3,596.8,-8.4,409,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2191,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6736,-0.47,-136.3,621.9,-8.3,419,6742,0.00,2.30,0.00,0.000,4,0.000,0.066,3010,3611,3348,0,0,0,0,0,0,28.83,25.52,28.83
$GC,6775,-0.47,-136.3,624.4,-8.3,420,6780,0.12,2.17,0.00,0.000,6,0.127,0.047,3046,2203,3348,0,0,0,0,0,0,25.67,25.82,28.83
$GC,7093,-0.47,-136.3,646.2,-6.5,431,7099,0.00,2.25,0.00,0.000,4,0.000,0.067,3037,3599,3347,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7136,-0.47,-136.3,648.2,-6.6,432,7140,0.00,2.17,0.00,0.000,6,0.000,0.047,3037,2197,3347,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7449,-0.47,-136.3,670.5,-6.8,443,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2195,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7749,-0.47,-136.3,690.9,-6.7,453,7754,0.00,2.28,0.00,0.000,4,0.000,0.067,3027,3606,3347,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7809,-0.47,-136.3,695.3,-7.0,455,7815,0.00,2.20,0.00,0.000,6,0.000,0.047,3027,2199,3347,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8139,-0.47,-136.3,719.5,-7.4,466,8140,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2197,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8438,-0.47,-136.3,741.1,-7.1,476,8444,0.00,2.30,0.00,0.000,4,0.000,0.067,3017,3606,3346,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8501,-0.47,-136.3,745.5,-7.3,478,8505,0.00,2.20,0.00,0.000,6,0.000,0.047,3017,2191,3346,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8823,-0.47,-136.3,770.1,-7.6,489,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2189,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9123,-0.47,-136.3,792.6,-7.4,499,9129,0.00,2.30,0.00,0.000,4,0.000,0.067,3007,3606,3345,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9177,-0.47,-136.3,794.9,-7.6,500,9184,0.12,2.20,0.00,0.000,6,0.129,0.047,3043,2191,3345,0,0,0,0,0,0,25.60,25.77,28.83
$GC,9484,-0.47,-136.3,815.4,-5.8,511,9489,0.00,2.33,0.00,0.000,4,0.000,0.067,3034,3610,3345,0,0,0,0,0,0,28.83,25.43,28.83
$GC,9517,-0.47,-136.3,817.5,-6.0,512,9521,0.00,2.20,0.00,0.000,6,0.000,0.047,3034,2203,3344,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9845,-0.47,-136.3,838.5,-6.2,523,9846,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2202,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10144,-0.47,-136.3,856.6,-6.0,533,10150,0.00,2.28,0.00,0.000,4,0.000,0.067,3025,3606,3344,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10192,-0.47,-136.3,858.5,-6.1,534,10196,0.00,2.20,0.00,0.000,6,0.000,0.048,3024,2195,3344,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10500,-0.47,-136.3,880.0,-6.6,544,10505,0.00,2.28,0.00,0.000,4,0.000,0.067,3014,3598,3344,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10542,-0.47,-136.3,882.0,-6.6,545,10546,0.00,2.17,0.00,0.000,6,0.000,0.048,3014,2201,3343,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10854,-0.47,-136.3,905.3,-7.3,556,10855,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2198,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11155,-0.47,-136.3,926.9,-7.1,566,11160,0.00,2.28,0.00,0.000,4,0.000,0.067,3004,3598,3343,0,0,0,0,0,0,28.83,25.39,28.83
$GC,11187,-0.47,-136.3,929.1,-7.1,567,11192,0.15,2.17,0.00,0.000,6,0.120,0.047,3048,2196,3342,0,0,0,0,0,0,25.55,25.74,28.83
$GC,11511,-0.47,-136.3,946.8,-5.4,578,11512,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2194,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11811,-0.47,-136.3,963.0,-5.4,588,11817,0.00,2.33,0.00,0.000,4,0.000,0.068,3040,3609,3343,0,0,0,0,0,0,28.83,25.36,28.83
$GC,11850,-0.47,-136.3,964.6,-5.5,589,11856,0.00,2.20,0.00,0.000,6,0.000,0.048,3040,2200,3342,0,0,0,0,0,0,28.83,25.71,28.83
$GC,12171,-0.47,-136.3,983.7,-5.9,600,12172,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2199,3342,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12287,begin apogee
$GC,12294,-0.22,0.0,990.6,-5.7,604,12421,0.22,0.00,120.45,1.176,6,0.112,0.000,3120,2327,2793,0,0,0,0,0,0,25.81,28.83,23.22
$STATE,12424,end apogee,CONTROL_FINISHED_OK
$STATE,12424,begin climb
$GC,12426,0.47,136.3,994.0,0.0,608,12561,0.65,0.00,130.90,1.136,6,0.074,0.000,3344,2327,2238,0,0,0,0,0,0,24.48,28.83,22.25
$GC,12861,0.47,136.3,962.6,8.5,623,12866,0.00,2.35,0.00,0.000,4,0.000,0.068,3344,3725,2228,0,0,0,0,0,0,28.83,24.89,28.83
$GC,12898,0.47,136.3,959.8,8.7,624,12902,0.00,2.28,0.00,0.000,6,0.000,0.049,3355,2325,2226,0,0,0,0,0,0,28.83,25.10,28.83
$GC,13216,0.47,136.3,930.3,9.1,635,13217,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2321,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13515,0.47,136.3,902.9,9.2,645,13521,0.00,2.33,0.00,0.000,4,0.000,0.068,3354,3737,2225,0,0,0,0,0,0,28.83,25.47,28.83
$GC,13553,0.47,136.3,899.8,9.4,646,13557,0.00,2.25,0.00,0.000,6,0.000,0.050,3365,2317,2225,0,0,0,0,0,0,28.83,25.65,28.83
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$STATE,24540,end climb,SURFACE_DEPTH_REACHED
$STATE,24540,begin surface coast
$FINISH,0.9,1.024923
$STATE,24584,end surface coast,CONTROL_FINISHED_OK
$STATE,24584,begin surface
$SM_CCo,24664,0.00,0.000,0,0,1502,316.93
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$TT8_MAMPS,0.026964,0.026964
$HUMID,45.27
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$TCM_TEMP,19.10
$XPDR_PINGS,4
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$10V_AH,10.0,38.907
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$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,296772
$DATA_FILE_SIZE,76804,1364
$CAP_FILE_SIZE,186867,0
$CFSIZE,260165632,229818368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134, 82.1,1
$GPS,021212,081400,4706.145,-12646.224,77,1.3,77,18.6