version: 66.11
glider: 187
mission: 2
dive: 31
start: 9 18 112 20 16 42
data:
$ID,187
$MISSION,2
$DIVE,31
$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,-1587657.4
$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,38
$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
$GPS1,180912,200829,4724.853,-12607.458,40,1.5,40,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-78.0
$GPS2,180912,201537,4724.894,-12607.425,11,1.7,11,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.077,-0.206
$KALMAN_X,29700.3,890.4,-596.1,-107058.2,731.4
$KALMAN_Y,15119.0,-494.7,-587.9,-58686.6,4624.6
$MHEAD_RNG_PITCHd_Wd,212.3,80840,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-72.80,0.000,2,0.000,0.000,121,2168,2933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.48,-146.0,3.6,-6.7,12,123,11.35,2.28,-8.48,0.000,4,0.229,0.067,3026,3587,3392,0,0,0,0,0,0,25.41,25.62,25.94
$GC,209,-0.48,-146.0,33.1,-14.9,32,216,0.00,2.25,0.00,0.000,6,0.000,0.044,3026,2169,3396,0,0,0,0,0,0,28.83,25.73,28.83
$GC,524,-0.48,-146.0,77.3,-12.9,93,531,0.00,2.15,0.00,0.000,4,0.000,0.050,3026,771,3399,0,0,0,0,0,0,28.83,25.87,28.83
$GC,569,-0.48,-146.0,82.8,-11.5,101,576,0.00,2.17,0.00,0.000,6,0.000,0.050,3016,2180,3399,0,0,0,0,0,0,28.83,25.89,28.83
$GC,896,-0.48,-146.0,123.6,-11.6,160,900,0.00,2.22,0.00,0.000,4,0.000,0.062,3005,3587,3399,0,0,0,0,0,0,28.83,25.97,28.83
$GC,936,-0.48,-146.0,127.5,-11.5,162,944,0.10,2.20,0.00,0.000,6,0.119,0.043,3051,2168,3399,0,0,0,0,0,0,25.94,26.03,28.83
$GC,1246,-0.48,-146.0,157.5,-9.9,183,1251,0.00,2.12,0.00,0.000,4,0.000,0.050,3052,778,3399,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1277,-0.48,-146.0,160.8,-10.4,185,1281,0.00,2.15,0.00,0.000,6,0.000,0.050,3046,2179,3399,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1585,-0.48,-146.0,190.3,-8.6,205,1591,0.00,2.17,0.00,0.000,4,0.000,0.063,3035,3586,3399,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1615,-0.48,-146.0,192.9,-8.7,207,1619,0.00,2.15,0.00,0.000,6,0.000,0.044,3035,2169,3399,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1933,-0.48,-146.0,221.1,-8.7,228,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2166,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2232,-0.48,-146.0,247.9,-8.7,248,2238,0.00,2.20,0.00,0.000,4,0.000,0.063,3024,3582,3398,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2270,-0.48,-146.0,250.6,-8.8,250,2278,0.00,2.17,0.00,0.000,6,0.000,0.045,3025,2176,3398,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2578,-0.48,-146.0,279.2,-9.0,271,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2175,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2878,-0.48,-146.0,306.0,-9.2,291,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2175,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3178,-0.48,-146.0,335.5,-10.1,311,3183,0.00,2.17,0.00,0.000,4,0.000,0.064,3014,3578,3395,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3215,-0.48,-146.0,338.8,-10.5,313,3222,0.00,2.12,0.00,0.000,6,0.000,0.046,3014,2174,3395,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3522,-0.48,-146.0,375.2,-11.3,334,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2172,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3822,-0.48,-146.0,406.3,-9.6,354,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2173,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4123,-0.48,-146.0,433.0,-8.4,374,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2173,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4422,-0.48,-146.0,457.3,-8.0,394,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2173,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4722,-0.48,-146.0,481.7,-8.3,414,4728,0.00,2.22,0.00,0.000,4,0.000,0.066,3004,3589,3392,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4776,-0.48,-146.0,485.8,-8.8,417,4783,0.12,2.15,0.00,0.000,6,0.145,0.047,3038,2168,3391,0,0,0,0,0,0,26.28,26.36,28.83
$GC,5085,-0.48,-146.0,507.6,-7.3,438,5090,0.00,2.20,0.00,0.000,4,0.000,0.066,3030,3582,3391,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5131,-0.48,-146.0,511.2,-7.7,441,5135,0.00,2.12,0.00,0.000,6,0.000,0.047,3030,2178,3391,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5439,-0.48,-146.0,537.1,-8.4,461,5445,0.00,2.20,0.00,0.000,4,0.000,0.067,3020,3585,3390,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5499,-0.48,-146.0,542.3,-8.6,465,5505,0.00,2.12,0.00,0.000,6,0.000,0.047,3020,2170,3390,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5814,-0.48,-146.0,570.8,-9.1,486,5820,0.00,2.22,0.00,0.000,4,0.000,0.067,3010,3583,3390,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5844,-0.48,-146.0,573.6,-9.5,488,5850,0.00,2.12,0.00,0.000,6,0.000,0.047,3010,2170,3389,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6160,-0.48,-146.0,603.9,-9.3,508,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2168,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6459,-0.48,-146.0,630.7,-8.9,518,6461,0.12,0.00,0.00,0.000,6,0.151,0.000,3045,2167,3388,0,0,0,0,0,0,26.33,28.83,28.83
$GC,6759,-0.48,-146.0,651.2,-6.9,528,6765,0.00,2.25,0.00,0.000,4,0.000,0.067,3036,3590,3387,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6822,-0.48,-146.0,655.8,-7.3,530,6826,0.00,2.15,0.00,0.000,6,0.000,0.048,3036,2170,3387,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7144,-0.48,-146.0,681.3,-7.9,541,7150,0.00,2.22,0.00,0.000,4,0.000,0.067,3026,3582,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7174,-0.48,-146.0,683.7,-8.0,542,7180,0.00,2.15,0.00,0.000,6,0.000,0.048,3026,2163,3387,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7504,-0.48,-146.0,712.3,-8.6,553,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2161,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7804,-0.48,-146.0,737.2,-8.2,563,7810,0.00,2.25,0.00,0.000,4,0.000,0.068,3016,3582,3386,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7864,-0.48,-146.0,742.2,-8.3,565,7870,0.00,2.15,0.00,0.000,6,0.000,0.048,3017,2167,3385,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8195,-0.48,-146.0,770.0,-8.3,576,8196,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2164,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8494,-0.48,-146.0,792.2,-7.4,586,8500,0.00,2.25,0.00,0.000,4,0.000,0.068,3006,3593,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8542,-0.48,-146.0,794.7,-7.4,587,8547,0.12,2.17,0.00,0.000,6,0.138,0.049,3042,2164,3385,0,0,0,0,0,0,26.34,26.41,28.83
$GC,8850,-0.48,-146.0,815.8,-6.3,597,8854,0.00,2.28,0.00,0.000,4,0.000,0.069,3034,3594,3384,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8890,-0.48,-146.0,818.0,-6.5,598,8894,0.00,2.17,0.00,0.000,6,0.000,0.050,3034,2171,3384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9207,-0.48,-146.0,840.4,-6.8,609,9213,0.00,2.20,0.00,0.000,4,0.000,0.069,3025,3576,3384,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9240,-0.48,-146.0,842.4,-6.8,610,9244,0.00,2.12,0.00,0.000,6,0.000,0.050,3025,2174,3384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9562,-0.48,-146.0,867.2,-7.9,621,9568,0.00,2.22,0.00,0.000,4,0.000,0.069,3014,3582,3383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9595,-0.48,-146.0,869.8,-8.0,622,9599,0.00,2.15,0.00,0.000,6,0.000,0.050,3014,2173,3383,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9918,-0.48,-146.0,897.4,-8.7,633,9921,0.00,2.25,0.00,0.000,4,0.000,0.070,3004,3586,3383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9949,-0.48,-146.0,900.0,-8.6,634,9956,0.12,2.15,0.00,0.000,6,0.142,0.050,3040,2172,3383,0,0,0,0,0,0,26.33,26.41,28.83
$GC,10280,-0.48,-146.0,922.3,-6.4,645,10286,0.00,2.20,0.00,0.000,4,0.000,0.070,3031,3581,3382,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10313,-0.48,-146.0,924.4,-6.4,646,10317,0.00,2.12,0.00,0.000,6,0.000,0.050,3031,2179,3382,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10635,-0.48,-146.0,944.6,-6.0,657,10636,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2177,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10935,-0.48,-146.0,962.1,-5.9,667,10941,0.00,2.20,0.00,0.000,4,0.000,0.070,3022,3582,3382,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11003,-0.48,-146.0,966.1,-6.3,669,11007,0.00,2.15,0.00,0.000,6,0.000,0.050,3021,2166,3382,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11321,-0.48,-146.0,988.0,-6.7,680,11327,0.00,2.22,0.00,0.000,4,0.000,0.070,3012,3579,3381,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,11378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11378,begin apogee
$GC,11387,-0.22,0.0,992.0,-6.8,682,11517,0.32,0.00,125.68,1.210,6,0.115,0.000,3124,2294,2794,0,0,0,0,0,0,26.34,28.83,23.60
$STATE,11520,end apogee,CONTROL_FINISHED_OK
$STATE,11520,begin climb
$GC,11523,0.48,146.0,995.1,0.0,686,11662,0.65,0.00,134.12,1.174,6,0.082,0.000,3344,2294,2198,0,0,0,0,0,0,24.51,28.83,23.33
$GC,11982,0.48,146.0,953.8,10.2,702,11988,0.00,2.33,0.00,0.000,4,0.000,0.069,3345,3706,2187,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12043,0.48,146.0,946.7,11.1,704,12048,0.00,2.22,0.00,0.000,6,0.000,0.050,3355,2312,2187,0,0,0,0,0,0,28.83,25.44,28.83
$GC,12371,0.48,146.0,909.1,11.1,715,12372,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2306,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12671,0.48,146.0,876.9,10.5,725,12677,0.00,2.30,0.00,0.000,4,0.000,0.070,3355,3717,2184,0,0,0,0,0,0,28.83,25.82,28.83
$GC,12689,0.48,146.0,876.9,10.5,725,12693,0.00,2.28,0.00,0.000,6,0.000,0.052,3365,2286,2184,0,0,0,0,0,0,28.83,25.86,28.83
$GC,12996,0.48,146.0,842.6,10.1,735,12997,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2281,2183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13296,0.48,146.0,811.3,10.5,745,13302,0.00,2.33,0.00,0.000,4,0.000,0.070,3366,3714,2183,0,0,0,0,0,0,28.83,26.00,28.83
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$STATE,22403,end climb,SURFACE_DEPTH_REACHED
$STATE,22403,begin surface coast
$FINISH,0.6,1.000615
$STATE,22446,end surface coast,CONTROL_FINISHED_OK
$STATE,22446,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,42.04
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$TCM_TEMP,15.30
$XPDR_PINGS,0
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$10V_AH,10.2,6.029
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.025,185.200,461.300,0.000,0.000,26.323,39.454,229.310,0.000,0.000,12.414,3788.000,14732.759,581.245,3440.429,399.600,33.241,2082.170,0.000,3133.863,0.000,0.535,0.000
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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,297172
$DATA_FILE_SIZE,83578,1481
$CAP_FILE_SIZE,196519,0
$CFSIZE,260165632,254558208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.024,341.1,1
$GPS,190912,023323,4723.264,-12611.376,37,1.8,37,18.6