version: 66.11
glider: 187
mission: 2
dive: 35
start: 9 19 112 22 4 36
data:
$ID,187
$MISSION,2
$DIVE,35
$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,-1587662.4
$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,36
$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,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
$GPS1,190912,215605,4718.728,-12620.688,32,1.4,32,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-78.0
$GPS2,190912,220331,4718.743,-12620.652,14,1.8,14,18.6
$SPEED_LIMITS,0.127,0.220
$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,205.9,60620,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-66.03,0.000,2,0.000,0.000,114,2177,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.48,-146.0,3.3,-5.9,11,117,11.30,2.28,-8.98,0.000,4,0.226,0.063,3036,756,3394,0,0,0,0,0,0,25.44,25.66,25.96
$GC,131,-0.48,-146.0,20.3,-39.1,17,137,0.00,2.25,0.00,0.000,6,0.000,0.050,3027,2188,3396,0,0,0,0,0,0,28.83,25.67,28.83
$GC,455,-0.48,-146.0,72.3,-14.0,78,462,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2187,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,781,-0.48,-146.0,113.9,-9.9,139,788,0.00,2.22,0.00,0.000,4,0.000,0.062,3017,3593,3401,0,0,0,0,0,0,28.83,25.96,28.83
$GC,839,-0.48,-146.0,119.7,-9.9,149,846,0.00,2.15,0.00,0.000,6,0.000,0.043,3017,2166,3402,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1143,-0.48,-146.0,153.2,-10.7,170,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2164,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1443,-0.48,-146.0,185.9,-10.6,190,1448,0.00,2.22,0.00,0.000,4,0.000,0.062,3006,3582,3402,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1497,-0.48,-146.0,191.1,-11.1,193,1504,0.12,2.12,0.00,0.000,6,0.143,0.044,3041,2168,3401,0,0,0,0,0,0,26.06,26.15,28.83
$GC,1806,-0.48,-146.0,219.0,-9.0,214,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2168,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2104,-0.48,-146.0,246.8,-8.9,234,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2168,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2404,-0.48,-146.0,271.7,-8.2,254,2407,0.00,2.25,0.00,0.000,4,0.000,0.064,3032,3590,3400,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2468,-0.48,-146.0,277.0,-8.6,258,2472,0.00,2.12,0.00,0.000,6,0.000,0.045,3032,2178,3399,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2776,-0.48,-146.0,303.2,-8.4,278,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2176,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3075,-0.48,-146.0,329.4,-8.7,298,3079,0.00,2.22,0.00,0.000,4,0.000,0.065,3022,3585,3397,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3122,-0.48,-146.0,333.6,-8.8,301,3128,0.00,2.12,0.00,0.000,6,0.000,0.046,3022,2172,3397,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3437,-0.48,-146.0,363.1,-9.2,322,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2170,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3737,-0.48,-146.0,390.8,-9.2,342,3743,0.00,2.22,0.00,0.000,4,0.000,0.065,3012,3589,3396,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3760,-0.48,-146.0,392.2,-9.4,343,3767,0.00,2.12,0.00,0.000,6,0.000,0.047,3012,2174,3396,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4082,-0.48,-146.0,426.6,-10.6,357,4088,0.00,2.12,0.00,0.000,4,0.000,0.054,3012,775,3395,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4120,-0.48,-146.0,430.0,-10.8,358,4125,0.12,2.15,0.00,0.000,6,0.153,0.053,3038,2183,3396,0,0,0,0,0,0,26.25,26.32,28.83
$GC,4438,-0.48,-146.0,460.3,-9.1,369,4444,0.00,2.17,0.00,0.000,4,0.000,0.066,3029,3582,3395,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4491,-0.48,-146.0,463.2,-9.1,370,4498,0.00,2.12,0.00,0.000,6,0.000,0.047,3029,2165,3395,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4798,-0.48,-146.0,492.8,-8.5,381,4802,0.00,2.22,0.00,0.000,4,0.000,0.067,3019,3582,3394,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4830,-0.48,-146.0,495.6,-8.5,382,4836,0.00,2.12,0.00,0.000,6,0.000,0.047,3019,2178,3393,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5160,-0.48,-146.0,523.9,-8.4,393,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2176,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5460,-0.48,-146.0,549.3,-8.5,403,5464,0.00,2.22,0.00,0.000,4,0.000,0.067,3010,3582,3392,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5505,-0.48,-146.0,552.2,-8.6,404,5510,0.12,2.12,0.00,0.000,6,0.140,0.047,3045,2173,3392,0,0,0,0,0,0,26.29,26.38,28.83
$GC,5819,-0.48,-146.0,575.7,-7.1,415,5824,0.00,2.20,0.00,0.000,4,0.000,0.067,3036,3579,3391,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5857,-0.48,-146.0,578.0,-7.2,416,5861,0.00,2.12,0.00,0.000,6,0.000,0.048,3036,2171,3391,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6174,-0.48,-146.0,602.4,-7.4,427,6180,0.00,2.20,0.00,0.000,4,0.000,0.067,3027,3582,3391,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6204,-0.48,-146.0,604.7,-7.5,428,6209,0.00,2.12,0.00,0.000,6,0.000,0.048,3026,2175,3391,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6535,-0.48,-146.0,628.8,-6.9,439,6538,0.00,2.22,0.00,0.000,4,0.000,0.067,3017,3584,3390,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6560,-0.48,-146.0,628.8,-6.9,439,6566,0.00,2.15,0.00,0.000,6,0.000,0.048,3017,2163,3390,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6866,-0.48,-146.0,654.2,-7.7,450,6868,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2162,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7166,-0.48,-146.0,678.6,-8.3,460,7172,0.00,2.25,0.00,0.000,4,0.000,0.068,3006,3585,3389,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7196,-0.48,-146.0,681.2,-8.5,461,7203,0.12,2.12,0.00,0.000,6,0.139,0.049,3042,2172,3389,0,0,0,0,0,0,26.32,26.40,28.83
$GC,7526,-0.48,-146.0,706.0,-7.6,472,7528,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2172,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7826,-0.48,-146.0,729.2,-7.7,482,7830,0.00,2.25,0.00,0.000,4,0.000,0.069,3034,3588,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7866,-0.48,-146.0,731.8,-7.7,483,7870,0.00,2.15,0.00,0.000,6,0.000,0.049,3034,2166,3387,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8188,-0.48,-146.0,757.3,-7.5,494,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2164,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8489,-0.48,-146.0,778.3,-6.9,504,8494,0.00,2.22,0.00,0.000,4,0.000,0.069,3024,3587,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8532,-0.48,-146.0,780.3,-6.9,505,8536,0.00,2.15,0.00,0.000,6,0.000,0.050,3024,2168,3386,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8849,-0.48,-146.0,803.6,-7.1,516,8854,0.00,2.22,0.00,0.000,4,0.000,0.069,3014,3588,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8879,-0.48,-146.0,805.9,-7.2,517,8884,0.00,2.15,0.00,0.000,6,0.000,0.050,3014,2167,3386,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9209,-0.48,-146.0,831.4,-7.7,528,9214,0.00,2.22,0.00,0.000,4,0.000,0.069,3004,3588,3386,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9239,-0.48,-146.0,833.9,-7.8,529,9245,0.12,2.15,0.00,0.000,6,0.140,0.050,3039,2176,3385,0,0,0,0,0,0,26.33,26.41,28.83
$GC,9569,-0.48,-146.0,854.8,-6.4,540,9575,0.00,2.20,0.00,0.000,4,0.000,0.070,3031,3581,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9602,-0.48,-146.0,856.7,-6.4,541,9606,0.00,2.15,0.00,0.000,6,0.000,0.050,3031,2165,3385,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9925,-0.48,-146.0,878.8,-6.9,552,9926,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2162,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10225,-0.48,-146.0,899.2,-6.7,562,10230,0.00,2.22,0.00,0.000,4,0.000,0.070,3021,3579,3384,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10289,-0.48,-146.0,903.5,-7.0,564,10295,0.00,2.15,0.00,0.000,6,0.000,0.050,3021,2162,3384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10614,-0.48,-146.0,928.1,-7.5,575,10618,0.00,2.25,0.00,0.000,4,0.000,0.070,3011,3581,3384,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10647,-0.48,-146.0,930.6,-7.7,576,10653,0.00,2.15,0.00,0.000,6,0.000,0.050,3011,2169,3384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10977,-0.48,-146.0,957.4,-8.0,587,10979,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2168,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11276,-0.48,-146.0,981.0,-7.9,597,11283,0.00,2.25,0.00,0.000,4,0.000,0.070,3001,3594,3383,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11325,-0.48,-146.0,983.3,-7.8,598,11330,0.15,2.15,0.00,0.000,6,0.132,0.048,3045,2170,3383,0,0,0,0,0,0,26.34,26.42,28.83
$STATE,11419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11419,begin apogee
$GC,11426,-0.22,0.0,991.2,-7.1,601,11558,0.22,0.00,126.03,1.209,6,0.118,0.000,3126,2313,2794,0,0,0,0,0,0,26.36,28.83,23.61
$STATE,11561,end apogee,CONTROL_FINISHED_OK
$STATE,11561,begin climb
$GC,11564,0.48,146.0,994.6,0.0,605,11702,0.65,0.00,133.60,1.172,6,0.080,0.000,3348,2313,2198,0,0,0,0,0,0,24.54,28.83,23.33
$GC,11991,0.48,146.0,958.8,10.0,620,11997,0.00,2.33,0.00,0.000,4,0.000,0.069,3348,3708,2187,0,0,0,0,0,0,28.83,25.28,28.83
$GC,12035,0.48,146.0,955.3,10.2,621,12039,0.00,2.25,0.00,0.000,6,0.000,0.050,3357,2303,2186,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12347,0.48,146.0,919.0,11.0,632,12348,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,2298,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12647,0.48,146.0,886.8,10.6,642,12653,0.00,2.28,0.00,0.000,4,0.000,0.069,3358,3702,2184,0,0,0,0,0,0,28.83,25.79,28.83
$GC,12696,0.48,146.0,883.3,10.8,643,12700,0.00,2.20,0.00,0.000,6,0.000,0.051,3369,2298,2184,0,0,0,0,0,0,28.83,25.84,28.83
$GC,13002,0.48,146.0,847.0,11.0,653,13003,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2294,2183,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22481,end climb,SURFACE_DEPTH_REACHED
$STATE,22481,begin surface coast
$FINISH,0.7,1.000358
$STATE,22528,end surface coast,CONTROL_FINISHED_OK
$STATE,22528,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,42.91
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.20
$XPDR_PINGS,1
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$10V_AH,10.3,6.599
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.875,176.225,411.525,0.000,0.000,28.651,41.066,238.942,0.250,0.000,15.315,3457.193,15671.752,511.765,3024.602,375.843,33.237,1934.202,0.000,2690.993,0.000,0.536,0.000
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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,297128
$DATA_FILE_SIZE,76730,1334
$CAP_FILE_SIZE,188676,0
$CFSIZE,260165632,254193664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083, 35.5,1
$GPS,200912,042235,4717.021,-12623.584,33,1.0,33,18.6