version: 66.11
glider: 187
mission: 2
dive: 712
start: 3 20 113 8 7 34
data:
$ID,187
$MISSION,2
$DIVE,712
$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,10
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,3
$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,-1588938.9
$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,46
$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,20
$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
$GPS1,200313,075724,4710.567,-12641.632,65,1.9,65,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-71.6
$GPS2,200313,080703,4710.605,-12641.459,9,2.4,28,18.6
$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,214.8,30565,-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,-136.3,0.0,0.0,0,76,0.00,0.00,-57.03,0.000,2,0.000,0.000,111,2191,2631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.47,-136.3,3.3,-3.8,10,117,11.62,2.35,-18.08,0.000,4,0.213,0.076,3026,3618,3351,0,0,0,0,0,0,24.47,25.25,26.24
$GC,136,-0.47,-136.3,11.8,-12.5,19,143,0.00,2.22,0.00,0.000,6,0.000,0.044,3026,2195,3352,0,0,0,0,0,0,28.83,25.50,28.83
$GC,448,-0.47,-136.3,58.8,-15.0,80,455,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2190,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,760,-0.47,-136.3,102.2,-12.4,141,766,0.00,2.33,0.00,0.000,4,0.000,0.062,3016,3608,3353,0,0,0,0,0,0,28.83,25.18,28.83
$GC,800,-0.47,-136.3,107.1,-12.3,148,808,0.00,2.20,0.00,0.000,6,0.000,0.044,3016,2189,3353,0,0,0,0,0,0,28.83,25.54,28.83
$GC,1121,-0.47,-136.3,145.0,-11.2,183,1130,0.00,2.22,0.00,0.000,4,0.000,0.050,3016,802,3354,0,0,0,0,0,0,28.83,25.34,28.83
$GC,1143,-0.47,-136.3,147.2,-11.3,185,1151,0.12,2.25,0.00,0.000,6,0.135,0.051,3044,2202,3354,0,0,0,0,0,0,25.25,25.34,28.83
$GC,1453,-0.47,-136.3,174.2,-8.9,206,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2202,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1752,-0.47,-136.3,200.8,-8.9,226,1757,0.00,2.33,0.00,0.000,4,0.000,0.063,3035,3610,3354,0,0,0,0,0,0,28.83,25.15,28.83
$GC,1779,-0.47,-136.3,202.5,-8.7,227,1783,0.00,2.25,0.00,0.000,6,0.000,0.043,3035,2202,3354,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2081,-0.47,-136.3,232.8,-9.8,242,2087,0.00,2.25,0.00,0.000,4,0.000,0.050,3035,801,3354,0,0,0,0,0,0,28.83,25.31,28.83
$GC,2111,-0.47,-136.3,234.8,-9.9,243,2120,0.00,2.28,0.00,0.000,6,0.000,0.050,3026,2203,3354,0,0,0,0,0,0,28.83,25.32,28.83
$GC,2422,-0.47,-136.3,266.6,-9.4,259,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2203,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2721,-0.47,-136.3,292.2,-8.1,274,2727,0.00,2.35,0.00,0.000,4,0.000,0.063,3016,3626,3354,0,0,0,0,0,0,28.83,25.12,28.83
$GC,2749,-0.47,-136.3,293.8,-8.2,275,2753,0.00,2.30,0.00,0.000,6,0.000,0.043,3016,2195,3354,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3052,-0.47,-136.3,321.9,-9.1,290,3057,0.00,2.22,0.00,0.000,4,0.000,0.051,3016,800,3354,0,0,0,0,0,0,28.83,25.29,28.83
$GC,3091,-0.47,-136.3,325.5,-9.0,292,3098,0.12,2.28,0.00,0.000,6,0.133,0.051,3044,2200,3354,0,0,0,0,0,0,25.17,25.29,28.83
$GC,3411,-0.47,-136.3,349.4,-7.5,308,3417,0.00,2.35,0.00,0.000,4,0.000,0.063,3035,3623,3354,0,0,0,0,0,0,28.83,25.08,28.83
$GC,3440,-0.47,-136.3,350.9,-7.6,309,3449,0.00,2.30,0.00,0.000,6,0.000,0.044,3035,2188,3354,0,0,0,0,0,0,28.83,25.49,28.83
$GC,3752,-0.47,-136.3,377.5,-8.4,325,3757,0.00,2.38,0.00,0.000,4,0.000,0.063,3026,3614,3353,0,0,0,0,0,0,28.83,25.08,28.83
$GC,3791,-0.47,-136.3,381.0,-8.7,327,3797,0.00,2.28,0.00,0.000,6,0.000,0.042,3025,2193,3354,0,0,0,0,0,0,28.83,25.52,28.83
$GC,4103,-0.47,-136.3,407.8,-8.4,341,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2189,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4401,-0.47,-136.3,431.1,-7.3,351,4407,0.00,2.35,0.00,0.000,4,0.000,0.063,3015,3603,3353,0,0,0,0,0,0,28.83,25.07,28.83
$GC,4439,-0.47,-136.3,433.2,-7.3,352,4443,0.00,2.25,0.00,0.000,6,0.000,0.044,3014,2202,3354,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4752,-0.47,-136.3,456.5,-7.3,363,4757,0.00,2.25,0.00,0.000,4,0.000,0.052,3015,802,3353,0,0,0,0,0,0,28.83,25.25,28.83
$GC,4789,-0.47,-136.3,458.7,-7.3,364,4794,0.12,2.28,0.00,0.000,6,0.135,0.052,3041,2200,3353,0,0,0,0,0,0,25.12,25.24,28.83
$GC,5103,-0.47,-136.3,477.4,-5.8,375,5108,0.00,2.35,0.00,0.000,4,0.000,0.065,3033,3610,3353,0,0,0,0,0,0,28.83,25.03,28.83
$GC,5182,-0.47,-136.3,481.1,-6.0,377,5190,0.00,2.28,0.00,0.000,6,0.000,0.045,3033,2199,3352,0,0,0,0,0,0,28.83,25.46,28.83
$GC,5492,-0.47,-136.3,504.0,-7.4,388,5498,0.00,2.38,0.00,0.000,4,0.000,0.064,3023,3615,3352,0,0,0,0,0,0,28.83,25.03,28.83
$GC,5552,-0.47,-136.3,508.9,-7.9,390,5558,0.00,2.28,0.00,0.000,6,0.000,0.043,3023,2197,3352,0,0,0,0,0,0,28.83,25.48,28.83
$GC,5884,-0.47,-136.3,536.3,-8.3,401,5885,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2196,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6182,-0.47,-136.3,559.5,-7.7,411,6183,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2196,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6483,-0.47,-136.3,581.8,-7.5,421,6488,0.00,2.38,0.00,0.000,4,0.000,0.066,3013,3611,3351,0,0,0,0,0,0,28.83,25.00,28.83
$GC,6542,-0.47,-136.3,586.6,-7.7,423,6548,0.00,2.30,0.00,0.000,6,0.000,0.046,3013,2192,3351,0,0,0,0,0,0,28.83,25.42,28.83
$GC,6873,-0.47,-136.3,614.1,-8.5,434,6874,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2190,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7172,-0.47,-136.3,638.4,-8.0,444,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2190,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7472,-0.47,-136.3,662.3,-8.1,454,7473,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2190,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7773,-0.47,-136.3,686.0,-7.8,464,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2190,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8072,-0.47,-136.3,709.1,-7.6,474,8078,0.00,2.40,0.00,0.000,4,0.000,0.065,3004,3610,3350,0,0,0,0,0,0,28.83,24.96,28.83
$GC,8132,-0.47,-136.3,713.9,-7.7,476,8139,0.15,2.30,0.00,0.000,6,0.119,0.047,3049,2202,3350,0,0,0,0,0,0,25.20,25.39,28.83
$GC,8464,-0.47,-136.3,731.7,-5.1,487,8465,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2199,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8763,-0.47,-136.3,746.3,-4.8,497,8768,0.00,2.38,0.00,0.000,4,0.000,0.067,3041,3603,3348,0,0,0,0,0,0,28.83,24.93,28.83
$GC,8801,-0.47,-136.3,747.8,-4.8,498,8805,0.00,2.30,0.00,0.000,6,0.000,0.047,3041,2195,3348,0,0,0,0,0,0,28.83,25.38,28.83
$GC,9115,-0.47,-136.3,765.2,-5.7,509,9116,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2192,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9413,-0.47,-136.3,783.1,-5.9,519,9419,0.00,2.40,0.00,0.000,4,0.000,0.067,3031,3610,3348,0,0,0,0,0,0,28.83,24.91,28.83
$GC,9461,-0.47,-136.3,784.8,-5.9,520,9466,0.00,2.33,0.00,0.000,6,0.000,0.047,3031,2189,3347,0,0,0,0,0,0,28.83,25.36,28.83
$GC,9764,-0.47,-136.3,805.2,-6.3,530,9766,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2187,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10063,-0.47,-136.3,823.4,-6.1,540,10069,0.00,2.40,0.00,0.000,4,0.000,0.067,3021,3606,3347,0,0,0,0,0,0,28.83,24.89,28.83
$GC,10111,-0.47,-136.3,825.2,-6.1,541,10116,0.00,2.30,0.00,0.000,6,0.000,0.048,3021,2199,3346,0,0,0,0,0,0,28.83,25.34,28.83
$GC,10415,-0.47,-136.3,845.7,-6.4,551,10416,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2197,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10714,-0.47,-136.3,865.8,-6.8,561,10719,0.00,2.38,0.00,0.000,4,0.000,0.067,3012,3602,3347,0,0,0,0,0,0,28.83,24.88,28.83
$GC,10783,-0.47,-136.3,870.2,-7.0,563,10790,0.12,2.30,0.00,0.000,6,0.119,0.047,3048,2193,3347,0,0,0,0,0,0,25.20,25.33,28.83
$GC,11105,-0.47,-136.3,888.1,-5.1,574,11109,0.00,2.35,0.00,0.000,4,0.000,0.067,3041,3609,3347,0,0,0,0,0,0,28.83,24.85,28.83
$GC,11133,-0.47,-136.3,889.8,-5.3,575,11139,0.00,2.30,0.00,0.000,6,0.000,0.047,3040,2197,3346,0,0,0,0,0,0,28.83,25.33,28.83
$GC,11463,-0.47,-136.3,908.0,-5.5,586,11469,0.00,2.40,0.00,0.000,4,0.000,0.068,3031,3606,3346,0,0,0,0,0,0,28.83,24.84,28.83
$GC,11503,-0.47,-136.3,909.5,-5.4,587,11508,0.00,2.30,0.00,0.000,6,0.000,0.048,3031,2199,3345,0,0,0,0,0,0,28.83,25.32,28.83
$GC,11824,-0.47,-136.3,927.6,-5.3,598,11829,0.00,2.38,0.00,0.000,4,0.000,0.067,3021,3599,3345,0,0,0,0,0,0,28.83,24.84,28.83
$GC,11853,-0.47,-136.3,929.5,-5.5,599,11859,0.00,2.28,0.00,0.000,6,0.000,0.048,3022,2203,3346,0,0,0,0,0,0,28.83,25.30,28.83
$GC,12185,-0.47,-136.3,950.3,-6.4,610,12186,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2202,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12483,-0.47,-136.3,969.9,-6.6,620,12489,0.00,2.38,0.00,0.000,4,0.000,0.067,3012,3603,3345,0,0,0,0,0,0,28.83,24.83,28.83
$GC,12543,-0.47,-136.3,974.0,-6.6,622,12549,0.00,2.30,0.00,0.000,6,0.000,0.048,3012,2191,3345,0,0,0,0,0,0,28.83,25.29,28.83
$STATE,12780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12780,begin apogee
$GC,12789,-0.22,0.0,990.2,-6.7,630,12920,0.32,0.00,126.07,1.158,6,0.106,0.000,3123,2332,2793,0,0,0,0,0,0,25.38,28.83,22.44
$STATE,12921,end apogee,CONTROL_FINISHED_OK
$STATE,12921,begin climb
$GC,12924,0.47,136.3,993.6,0.0,634,13063,0.65,0.00,135.05,1.118,6,0.070,0.000,3345,2332,2238,0,0,0,0,0,0,24.39,28.83,21.71
$GC,13358,0.47,136.3,965.2,8.2,649,13360,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2331,2227,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25639,end climb,SURFACE_DEPTH_REACHED
$STATE,25639,begin surface coast
$FINISH,1.1,1.025348
$STATE,25676,end surface coast,CONTROL_FINISHED_OK
$STATE,25676,begin surface
$SM_CCo,25756,0.00,0.000,0,0,1309,364.03
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$TT8_MAMPS,0.027713,0.027713
$HUMID,47.63
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$TCM_TEMP,19.00
$XPDR_PINGS,3
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$10V_AH,9.7,75.673
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.250,222.775,466.325,0.000,0.000,51.967,49.472,240.384,0.750,0.000,30.651,3623.825,18799.801,760.571,2629.267,506.384,0.000,2047.179,0.000,2253.522,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296900
$DATA_FILE_SIZE,76795,1394
$CAP_FILE_SIZE,200535,0
$CFSIZE,260165632,197595136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126, 42.0,1
$GPS,200313,151823,4709.529,-12644.133,37,1.1,54,18.6