version: 66.11
glider: 187
mission: 2
dive: 63
start: 9 27 112 13 35 24
data:
$ID,187
$MISSION,2
$DIVE,63
$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,-1587697.4
$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,40
$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
$GPS1,270912,132823,4727.975,-12559.526,43,1.0,43,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-78.0
$GPS2,270912,133455,4727.957,-12559.573,14,1.3,14,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$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,41.3,95480,-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,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,85,0.00,0.00,-65.75,0.000,2,0.000,0.000,115,2171,2782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.48,-146.0,3.0,-3.6,11,122,11.32,2.25,-12.38,0.000,4,0.225,0.064,3035,768,3394,0,0,0,0,0,0,25.37,25.63,25.94
$GC,253,-0.48,-146.0,36.2,-13.5,41,260,0.00,2.20,0.00,0.000,6,0.000,0.050,3027,2182,3397,0,0,0,0,0,0,28.83,25.73,28.83
$GC,570,-0.48,-146.0,78.9,-13.6,102,576,0.00,2.20,0.00,0.000,4,0.000,0.061,3016,3583,3400,0,0,0,0,0,0,28.83,25.86,28.83
$GC,610,-0.48,-146.0,84.4,-14.3,109,618,0.00,2.17,0.00,0.000,6,0.000,0.042,3016,2160,3400,0,0,0,0,0,0,28.83,25.93,28.83
$GC,923,-0.48,-146.0,122.2,-12.1,168,924,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2160,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1223,-0.48,-146.0,156.5,-10.8,188,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2160,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1523,-0.48,-146.0,187.2,-10.6,208,1526,0.00,2.12,0.00,0.000,4,0.000,0.050,3016,779,3399,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1570,-0.48,-146.0,192.2,-10.8,211,1576,0.08,2.12,0.00,0.000,6,0.128,0.050,3036,2175,3400,0,0,0,0,0,0,26.03,26.13,28.83
$GC,1880,-0.48,-146.0,221.5,-9.1,228,1885,0.00,2.20,0.00,0.000,4,0.000,0.063,3026,3595,3399,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1913,-0.48,-146.0,223.4,-9.0,229,1920,0.00,2.15,0.00,0.000,6,0.000,0.044,3026,2167,3399,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2220,-0.48,-146.0,254.8,-9.8,245,2225,0.00,2.12,0.00,0.000,4,0.000,0.050,3026,773,3399,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2253,-0.48,-146.0,256.8,-9.9,246,2259,0.00,2.15,0.00,0.000,6,0.000,0.050,3017,2181,3399,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2560,-0.48,-146.0,288.0,-9.6,262,2566,0.00,2.17,0.00,0.000,4,0.000,0.063,3006,3586,3398,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2608,-0.48,-146.0,291.8,-9.5,264,2612,0.12,2.12,0.00,0.000,6,0.140,0.044,3042,2173,3398,0,0,0,0,0,0,26.15,26.25,28.83
$GC,2915,-0.48,-146.0,315.8,-7.5,279,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2171,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3216,-0.48,-146.0,337.5,-7.2,294,3221,0.00,2.20,0.00,0.000,4,0.000,0.064,3034,3581,3397,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3257,-0.48,-146.0,340.6,-7.4,296,3261,0.00,2.12,0.00,0.000,6,0.000,0.045,3034,2179,3396,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3570,-0.48,-146.0,364.4,-7.6,312,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2176,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3870,-0.48,-146.0,386.5,-7.2,327,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2176,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4190,-0.48,-146.0,409.4,-6.9,341,4196,0.00,2.20,0.00,0.000,4,0.000,0.065,3023,3588,3394,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4243,-0.48,-146.0,411.6,-7.0,342,4250,0.00,2.15,0.00,0.000,6,0.000,0.046,3023,2164,3394,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4550,-0.48,-146.0,436.8,-7.4,353,4555,0.00,2.22,0.00,0.000,4,0.000,0.065,3013,3588,3393,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4573,-0.48,-146.0,436.8,-7.4,353,4580,0.00,2.15,0.00,0.000,6,0.000,0.046,3013,2164,3393,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4880,-0.48,-146.0,465.4,-8.9,364,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2164,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5180,-0.48,-146.0,491.9,-8.7,374,5186,0.00,2.25,0.00,0.000,4,0.000,0.066,3003,3588,3392,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5212,-0.48,-146.0,494.7,-8.9,375,5217,0.12,2.15,0.00,0.000,6,0.143,0.046,3038,2169,3392,0,0,0,0,0,0,26.24,26.34,28.83
$GC,5535,-0.48,-146.0,519.0,-7.5,386,5541,0.00,2.12,0.00,0.000,4,0.000,0.054,3038,774,3391,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5568,-0.48,-146.0,521.4,-7.7,387,5572,0.00,2.15,0.00,0.000,6,0.000,0.054,3032,2182,3391,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5890,-0.48,-146.0,548.3,-8.5,398,5896,0.00,2.17,0.00,0.000,4,0.000,0.066,3021,3588,3391,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5968,-0.48,-146.0,553.6,-8.7,400,5972,0.00,2.12,0.00,0.000,6,0.000,0.047,3021,2176,3391,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6276,-0.48,-146.0,582.7,-9.1,410,6277,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2173,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6575,-0.48,-146.0,608.1,-8.1,420,6576,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2173,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6876,-0.48,-146.0,630.4,-7.0,430,6882,0.00,2.20,0.00,0.000,4,0.000,0.067,3011,3585,3389,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6909,-0.48,-146.0,632.7,-7.1,431,6913,0.00,2.12,0.00,0.000,6,0.000,0.047,3011,2177,3389,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7231,-0.48,-146.0,659.2,-8.3,442,7236,0.00,2.17,0.00,0.000,4,0.000,0.067,3001,3578,3389,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7261,-0.48,-146.0,661.8,-8.3,443,7267,0.15,2.15,0.00,0.000,6,0.135,0.047,3045,2165,3389,0,0,0,0,0,0,26.26,26.37,28.83
$GC,7592,-0.48,-146.0,682.8,-6.4,454,7597,0.00,2.22,0.00,0.000,4,0.000,0.067,3036,3586,3388,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7629,-0.48,-146.0,684.7,-6.3,455,7633,0.00,2.15,0.00,0.000,6,0.000,0.047,3036,2168,3388,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7947,-0.48,-146.0,707.1,-6.9,466,7952,0.00,2.25,0.00,0.000,4,0.000,0.067,3026,3592,3387,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8010,-0.48,-146.0,711.5,-7.2,468,8014,0.00,2.15,0.00,0.000,6,0.000,0.048,3026,2174,3387,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8332,-0.48,-146.0,736.0,-7.6,479,8337,0.00,2.22,0.00,0.000,4,0.000,0.068,3016,3584,3387,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8364,-0.48,-146.0,738.5,-7.7,480,8368,0.00,2.15,0.00,0.000,6,0.000,0.047,3016,2173,3387,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8687,-0.48,-146.0,767.3,-8.5,491,8692,0.00,2.25,0.00,0.000,4,0.000,0.068,3007,3583,3386,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8716,-0.48,-146.0,770.0,-8.5,492,8723,0.12,2.15,0.00,0.000,6,0.138,0.048,3042,2173,3386,0,0,0,0,0,0,26.27,26.37,28.83
$GC,9047,-0.48,-146.0,793.0,-6.5,503,9048,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2172,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9347,-0.48,-146.0,813.3,-6.9,513,9353,0.00,2.20,0.00,0.000,4,0.000,0.069,3034,3575,3386,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9395,-0.48,-146.0,815.5,-6.9,514,9399,0.00,2.12,0.00,0.000,6,0.000,0.049,3034,2179,3386,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9702,-0.48,-146.0,839.1,-7.2,524,9703,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2176,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10002,-0.48,-146.0,859.5,-6.5,534,10003,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2176,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10302,-0.48,-146.0,878.0,-6.1,544,10308,0.00,2.20,0.00,0.000,4,0.000,0.069,3025,3580,3384,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10340,-0.48,-146.0,879.9,-6.1,545,10344,0.00,2.17,0.00,0.000,6,0.000,0.049,3025,2163,3384,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10662,-0.48,-146.0,902.2,-6.8,556,10668,0.00,2.22,0.00,0.000,4,0.000,0.069,3015,3584,3384,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10700,-0.48,-146.0,904.2,-6.7,557,10704,0.00,2.15,0.00,0.000,6,0.000,0.049,3015,2173,3384,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11018,-0.48,-146.0,926.8,-6.9,568,11019,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2171,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11318,-0.48,-146.0,947.8,-7.1,578,11323,0.00,2.20,0.00,0.000,4,0.000,0.069,3005,3580,3384,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11360,-0.48,-146.0,950.2,-7.3,579,11365,0.12,2.15,0.00,0.000,6,0.138,0.049,3041,2167,3384,0,0,0,0,0,0,26.28,26.38,28.83
$GC,11674,-0.48,-146.0,969.4,-5.3,590,11680,0.00,2.25,0.00,0.000,4,0.000,0.069,3032,3583,3383,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11697,-0.48,-146.0,969.4,-5.3,590,11703,0.00,2.15,0.00,0.000,6,0.000,0.050,3032,2170,3383,0,0,0,0,0,0,28.83,26.37,28.83
$GC,12004,-0.48,-146.0,989.1,-6.6,601,12009,0.00,2.25,0.00,0.000,4,0.000,0.070,3023,3582,3383,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,12031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12031,begin apogee
$GC,12040,-0.22,0.0,990.7,-6.1,602,12170,0.28,0.00,125.30,1.206,6,0.112,0.000,3119,2292,2795,0,0,0,0,0,0,26.27,28.83,23.70
$STATE,12173,end apogee,CONTROL_FINISHED_OK
$STATE,12173,begin climb
$GC,12175,0.48,146.0,993.8,0.0,606,12313,0.68,0.00,134.15,1.174,6,0.082,0.000,3348,2292,2198,0,0,0,0,0,0,24.58,28.83,23.36
$GC,12604,0.48,146.0,956.1,10.4,621,12609,0.00,2.33,0.00,0.000,4,0.000,0.069,3348,3698,2187,0,0,0,0,0,0,28.83,25.26,28.83
$GC,12651,0.48,146.0,952.7,10.6,622,12656,0.00,2.22,0.00,0.000,6,0.000,0.050,3359,2309,2186,0,0,0,0,0,0,28.83,25.35,28.83
$GC,12958,0.48,146.0,917.8,10.5,632,12960,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,2303,2185,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23138,end climb,SURFACE_DEPTH_REACHED
$STATE,23138,begin surface coast
$FINISH,0.7,1.011084
$STATE,23175,end surface coast,CONTROL_FINISHED_OK
$STATE,23175,begin surface
$SM_CCo,23257,0.00,0.000,0,0,1098,416.03
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$TT8_MAMPS,0.026964,0.026964
$HUMID,42.75
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$10V_AH,10.2,9.984
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.100,202.000,473.725,0.000,0.000,27.126,36.955,199.639,0.000,0.000,15.411,3406.289,16311.151,596.029,2945.747,379.585,0.000,2025.756,0.000,2649.049,0.000,0.536,0.000
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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,296940
$DATA_FILE_SIZE,73570,1314
$CAP_FILE_SIZE,193976,0
$CFSIZE,260165632,251748352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054,311.1,1
$GPS,270912,200405,4730.015,-12556.246,26,1.5,26,18.7