version: 66.11
glider: 187
mission: 2
dive: 65
start: 9 28 112 3 0 6
data:
$ID,187
$MISSION,2
$DIVE,65
$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,-1587699.9
$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,2175
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$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
$GPS1,280912,024705,4731.655,-12552.212,41,0.9,41,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-76.0
$GPS2,280912,025936,4731.664,-12552.194,13,1.1,18,18.7
$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,50.6,84044,-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,17,-0.48,-146.0,0.0,0.0,0,109,0.00,0.00,-89.75,0.000,2,0.000,0.000,121,2171,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.48,-146.0,3.1,-4.4,15,141,11.32,2.20,-9.38,0.000,4,0.226,0.060,3031,758,3391,0,0,0,0,0,0,25.36,25.63,25.94
$GC,362,-0.48,-146.0,49.0,-12.5,62,370,0.00,2.22,0.00,0.000,6,0.000,0.049,3022,2171,3395,0,0,0,0,0,0,28.83,25.79,28.83
$GC,679,-0.48,-146.0,92.8,-13.1,123,686,0.00,2.22,0.00,0.000,4,0.000,0.060,3011,3589,3397,0,0,0,0,0,0,28.83,25.89,28.83
$GC,708,-0.48,-146.0,96.8,-13.9,128,716,0.00,2.20,0.00,0.000,6,0.000,0.042,3011,2168,3398,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1031,-0.48,-146.0,135.5,-11.1,173,1036,0.00,2.20,0.00,0.000,4,0.000,0.060,3001,3578,3397,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1091,-0.48,-146.0,142.4,-11.6,177,1097,0.10,2.10,0.00,0.000,6,0.116,0.042,3037,2180,3397,0,0,0,0,0,0,25.95,26.06,28.83
$GC,1408,-0.48,-146.0,172.6,-9.7,198,1414,0.00,2.12,0.00,0.000,4,0.000,0.050,3036,778,3397,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1437,-0.48,-146.0,175.6,-9.4,200,1442,0.00,2.15,0.00,0.000,6,0.000,0.050,3030,2178,3397,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1752,-0.48,-146.0,206.2,-9.6,220,1757,0.00,2.20,0.00,0.000,4,0.000,0.062,3020,3592,3396,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1812,-0.48,-146.0,212.3,-10.3,223,1818,0.00,2.15,0.00,0.000,6,0.000,0.044,3020,2167,3395,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2133,-0.48,-146.0,244.9,-10.0,239,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2164,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2432,-0.48,-146.0,275.8,-10.5,254,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2164,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2732,-0.48,-146.0,307.9,-10.6,269,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2164,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3032,-0.48,-146.0,338.6,-10.3,284,3037,0.00,2.22,0.00,0.000,4,0.000,0.063,3010,3583,3391,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3072,-0.48,-146.0,342.8,-10.5,286,3078,0.08,2.10,0.00,0.000,6,0.117,0.044,3038,2180,3391,0,0,0,0,0,0,26.17,26.27,28.83
$GC,3392,-0.48,-146.0,371.4,-8.7,302,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2178,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3692,-0.48,-146.0,397.6,-9.0,317,3697,0.00,2.17,0.00,0.000,4,0.000,0.064,3030,3577,3390,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3740,-0.48,-146.0,401.4,-9.2,319,3744,0.00,2.12,0.00,0.000,6,0.000,0.045,3030,2168,3389,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4047,-0.48,-146.0,430.6,-9.1,329,4053,0.00,2.22,0.00,0.000,4,0.000,0.065,3019,3582,3389,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4070,-0.48,-146.0,430.6,-9.1,329,4077,0.00,2.12,0.00,0.000,6,0.000,0.046,3019,2171,3389,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4377,-0.48,-146.0,461.4,-9.2,340,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2170,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4677,-0.48,-146.0,486.5,-8.2,350,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2171,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4977,-0.48,-146.0,509.9,-7.9,360,4982,0.00,2.25,0.00,0.000,4,0.000,0.066,3009,3590,3386,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5025,-0.48,-146.0,512.3,-7.9,361,5030,0.12,2.15,0.00,0.000,6,0.138,0.046,3044,2166,3386,0,0,0,0,0,0,26.25,26.34,28.83
$GC,5332,-0.48,-146.0,534.3,-6.9,371,5337,0.00,2.20,0.00,0.000,4,0.000,0.066,3036,3577,3386,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5395,-0.48,-146.0,538.5,-6.9,373,5399,0.00,2.12,0.00,0.000,6,0.000,0.047,3036,2172,3386,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5717,-0.48,-146.0,562.8,-7.4,384,5723,0.00,2.22,0.00,0.000,4,0.000,0.067,3026,3584,3385,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5750,-0.48,-146.0,565.0,-7.5,385,5754,0.00,2.15,0.00,0.000,6,0.000,0.047,3026,2166,3384,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6073,-0.48,-146.0,591.7,-8.3,396,6074,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2163,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6373,-0.48,-146.0,614.5,-7.5,406,6378,0.00,2.22,0.00,0.000,4,0.000,0.067,3016,3588,3383,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6402,-0.48,-146.0,616.9,-7.5,407,6408,0.00,2.15,0.00,0.000,6,0.000,0.047,3015,2175,3383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6733,-0.48,-146.0,642.9,-8.0,418,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2172,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7032,-0.48,-146.0,665.5,-7.7,428,7038,0.00,2.22,0.00,0.000,4,0.000,0.067,3007,3585,3381,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7062,-0.48,-146.0,667.9,-7.8,429,7069,0.12,2.15,0.00,0.000,6,0.138,0.047,3042,2172,3381,0,0,0,0,0,0,26.27,26.36,28.83
$GC,7393,-0.48,-146.0,690.0,-6.7,440,7398,0.00,2.20,0.00,0.000,4,0.000,0.068,3034,3580,3381,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7441,-0.48,-146.0,691.9,-6.7,441,7445,0.00,2.12,0.00,0.000,6,0.000,0.047,3034,2179,3381,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7747,-0.48,-146.0,718.3,-8.4,451,7748,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2176,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8048,-0.48,-146.0,741.1,-7.4,461,8053,0.00,2.25,0.00,0.000,4,0.000,0.068,3024,3594,3380,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8077,-0.48,-146.0,743.4,-7.6,462,8083,0.00,2.17,0.00,0.000,6,0.000,0.048,3024,2169,3380,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8407,-0.48,-146.0,770.4,-8.3,473,8413,0.00,2.25,0.00,0.000,4,0.000,0.068,3015,3592,3380,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8445,-0.48,-146.0,772.9,-8.4,474,8450,0.00,2.15,0.00,0.000,6,0.000,0.048,3014,2173,3379,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8763,-0.48,-146.0,801.3,-8.7,485,8768,0.00,2.22,0.00,0.000,4,0.000,0.068,3004,3581,3379,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8806,-0.48,-146.0,803.9,-8.6,486,8810,0.12,2.15,0.00,0.000,6,0.138,0.048,3040,2165,3379,0,0,0,0,0,0,26.27,26.36,28.83
$GC,9119,-0.48,-146.0,826.8,-6.5,497,9125,0.00,2.25,0.00,0.000,4,0.000,0.068,3031,3582,3379,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9162,-0.48,-146.0,828.8,-6.5,498,9166,0.00,2.15,0.00,0.000,6,0.000,0.048,3031,2168,3378,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9475,-0.48,-146.0,850.5,-6.7,509,9480,0.00,2.22,0.00,0.000,4,0.000,0.068,3021,3582,3378,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9528,-0.48,-146.0,852.7,-6.7,510,9535,0.00,2.15,0.00,0.000,6,0.000,0.049,3021,2164,3377,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9835,-0.48,-146.0,875.3,-6.9,521,9836,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2164,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10135,-0.48,-146.0,896.8,-7.5,531,10140,0.00,2.22,0.00,0.000,4,0.000,0.068,3011,3585,3377,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10172,-0.48,-146.0,899.3,-7.7,532,10177,0.00,2.15,0.00,0.000,6,0.000,0.049,3011,2171,3377,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10490,-0.48,-146.0,926.5,-8.5,543,10495,0.00,2.25,0.00,0.000,4,0.000,0.069,3001,3593,3376,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10519,-0.48,-146.0,929.4,-8.8,544,10526,0.15,2.17,0.00,0.000,6,0.132,0.049,3045,2169,3376,0,0,0,0,0,0,26.26,26.36,28.83
$GC,10850,-0.48,-146.0,951.5,-6.7,555,10856,0.00,2.22,0.00,0.000,4,0.000,0.069,3037,3585,3376,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10882,-0.48,-146.0,953.5,-6.6,556,10886,0.00,2.15,0.00,0.000,6,0.000,0.049,3037,2171,3376,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11205,-0.48,-146.0,973.7,-5.9,567,11206,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2168,3376,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11502,begin apogee
$GC,11509,-0.22,0.0,990.0,-5.1,577,11638,0.25,0.00,124.20,1.204,6,0.115,0.000,3124,2314,2794,0,0,0,0,0,0,26.28,28.83,23.71
$STATE,11641,end apogee,CONTROL_FINISHED_OK
$STATE,11641,begin climb
$GC,11644,0.48,146.0,992.3,0.0,581,11786,0.65,2.42,132.07,1.174,4,0.082,0.055,3355,897,2199,0,0,0,0,0,0,24.58,24.11,23.38
$GC,11799,0.48,146.0,981.6,7.9,587,11805,0.00,2.33,0.00,0.000,6,0.000,0.055,3356,2289,2195,0,0,0,0,0,0,28.83,24.41,28.83
$GC,12129,0.48,146.0,947.0,10.5,598,12135,0.00,2.33,0.00,0.000,4,0.000,0.069,3356,3709,2187,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12189,0.48,146.0,940.1,10.9,600,12195,0.00,2.22,0.00,0.000,6,0.000,0.048,3366,2311,2187,0,0,0,0,0,0,28.83,25.45,28.83
$GC,12519,0.48,146.0,903.6,11.2,611,12525,0.00,2.28,0.00,0.000,4,0.000,0.069,3366,3713,2186,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12572,0.48,146.0,899.9,11.4,612,12579,0.00,2.22,0.00,0.000,6,0.000,0.050,3377,2300,2185,0,0,0,0,0,0,28.83,25.75,28.83
$GC,12879,0.48,146.0,859.9,11.8,623,12885,0.00,2.20,0.00,0.000,4,0.000,0.058,3387,891,2185,0,0,0,0,0,0,28.83,25.85,28.83
$GC,12898,0.48,146.0,859.9,11.8,623,12908,0.15,2.22,0.00,0.000,6,0.158,0.057,3349,2305,2185,0,0,0,0,0,0,25.75,25.85,28.83
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$STATE,22846,end climb,SURFACE_DEPTH_REACHED
$STATE,22846,begin surface coast
$FINISH,0.8,0.999517
$STATE,22889,end surface coast,CONTROL_FINISHED_OK
$STATE,22890,begin surface
$SM_CCo,22970,0.00,0.000,0,0,969,447.67
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$TT8_MAMPS,0.026964,0.026964
$HUMID,42.51
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,16.00
$XPDR_PINGS,0
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$10V_AH,10.3,10.221
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.125,204.200,495.975,0.000,0.000,51.840,73.962,398.467,0.000,0.000,19.650,3376.169,16052.082,595.319,3296.019,390.664,0.000,2090.089,0.000,2706.826,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,895.735,764.093,555.051,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296896
$DATA_FILE_SIZE,73545,1305
$CAP_FILE_SIZE,196556,0
$CFSIZE,260165632,251576320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,355.1,1
$GPS,280912,092405,4733.609,-12547.989,31,0.9,31,18.7