version: 66.11
glider: 187
mission: 2
dive: 66
start: 9 28 112 9 31 33
data:
$ID,187
$MISSION,2
$DIVE,66
$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,-1587701.1
$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
$GPS1,280912,092405,4733.609,-12547.989,31,0.9,31,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-78.1
$GPS2,280912,093101,4733.614,-12548.022,14,1.5,14,18.7
$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,48.8,77735,-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,-146.0,0.0,0.0,0,102,0.00,0.00,-83.22,0.000,2,0.000,0.000,109,2159,2947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.48,-146.0,3.9,-8.1,14,134,11.40,2.22,-8.12,0.000,4,0.226,0.063,3036,763,3394,0,0,0,0,0,0,25.34,25.60,25.91
$GC,358,-0.48,-146.0,52.4,-12.8,60,366,0.00,2.22,0.00,0.000,6,0.000,0.049,3028,2172,3399,0,0,0,0,0,0,28.83,25.77,28.83
$GC,684,-0.48,-146.0,91.4,-10.7,121,690,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2172,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1003,-0.48,-146.0,127.5,-11.7,174,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2172,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1303,-0.48,-146.0,158.6,-10.1,194,1308,0.00,2.22,0.00,0.000,4,0.000,0.062,3017,3596,3400,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1349,-0.48,-146.0,163.1,-10.2,197,1355,0.00,2.15,0.00,0.000,6,0.000,0.043,3017,2163,3400,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1663,-0.48,-146.0,196.1,-10.7,218,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2161,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1968,-0.48,-146.0,228.8,-10.6,234,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2161,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2268,-0.48,-146.0,262.2,-11.6,249,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2161,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2569,-0.48,-146.0,295.1,-10.4,264,2575,0.00,2.20,0.00,0.000,4,0.000,0.063,3007,3578,3398,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2591,-0.48,-146.0,297.1,-10.3,265,2596,0.12,2.15,0.00,0.000,6,0.138,0.044,3042,2165,3398,0,0,0,0,0,0,26.14,26.25,28.83
$GC,2906,-0.48,-146.0,321.9,-7.3,281,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2162,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3205,-0.48,-146.0,342.3,-6.7,296,3210,0.00,2.25,0.00,0.000,4,0.000,0.064,3034,3586,3397,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3252,-0.48,-146.0,345.3,-7.0,298,3256,0.00,2.12,0.00,0.000,6,0.000,0.045,3034,2175,3396,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3559,-0.48,-146.0,369.6,-7.8,313,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2172,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3859,-0.48,-146.0,394.1,-8.5,328,3864,0.00,2.22,0.00,0.000,4,0.000,0.065,3023,3586,3395,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3902,-0.48,-146.0,397.7,-8.8,330,3906,0.00,2.12,0.00,0.000,6,0.000,0.045,3023,2174,3395,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4234,-0.48,-146.0,431.7,-10.6,342,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2172,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4534,-0.48,-146.0,462.8,-10.2,352,4540,0.00,2.25,0.00,0.000,4,0.000,0.065,3013,3592,3393,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4578,-0.48,-146.0,465.9,-10.3,353,4582,0.00,2.15,0.00,0.000,6,0.000,0.046,3013,2168,3393,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4890,-0.48,-146.0,499.7,-10.1,364,4895,0.00,2.12,0.00,0.000,4,0.000,0.053,3013,769,3393,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4933,-0.48,-146.0,502.8,-10.1,365,4938,0.12,2.15,0.00,0.000,6,0.148,0.054,3039,2179,3392,0,0,0,0,0,0,26.22,26.31,28.83
$GC,5246,-0.48,-146.0,529.1,-8.0,376,5251,0.00,2.20,0.00,0.000,4,0.000,0.066,3030,3590,3392,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5324,-0.48,-146.0,534.3,-8.2,378,5328,0.00,2.15,0.00,0.000,6,0.000,0.046,3030,2165,3392,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5631,-0.48,-146.0,561.6,-8.2,388,5632,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2163,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5931,-0.48,-146.0,585.4,-7.9,398,5936,0.00,2.22,0.00,0.000,4,0.000,0.066,3020,3581,3391,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5984,-0.48,-146.0,587.8,-8.0,399,5990,0.00,2.12,0.00,0.000,6,0.000,0.047,3020,2174,3391,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6291,-0.48,-146.0,613.5,-7.9,410,6296,0.00,2.22,0.00,0.000,4,0.000,0.067,3010,3589,3390,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6334,-0.48,-146.0,615.9,-7.8,411,6339,0.12,2.15,0.00,0.000,6,0.135,0.047,3046,2167,3390,0,0,0,0,0,0,26.26,26.36,28.83
$GC,6647,-0.48,-146.0,638.4,-6.7,422,6652,0.00,2.22,0.00,0.000,4,0.000,0.067,3038,3585,3389,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6695,-0.48,-146.0,640.7,-6.9,423,6699,0.00,2.15,0.00,0.000,6,0.000,0.047,3037,2166,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7002,-0.48,-146.0,664.5,-7.4,433,7008,0.00,2.22,0.00,0.000,4,0.000,0.067,3027,3585,3389,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7031,-0.48,-146.0,666.8,-7.4,434,7037,0.00,2.15,0.00,0.000,6,0.000,0.047,3027,2170,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7362,-0.48,-146.0,693.5,-7.8,445,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2168,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7662,-0.48,-146.0,715.5,-6.7,455,7667,0.00,2.20,0.00,0.000,4,0.000,0.067,3017,3577,3387,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7705,-0.48,-146.0,717.5,-6.7,456,7709,0.00,2.12,0.00,0.000,6,0.000,0.048,3017,2171,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8017,-0.48,-146.0,740.2,-7.2,467,8023,0.00,2.20,0.00,0.000,4,0.000,0.068,3008,3577,3387,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8090,-0.48,-146.0,745.1,-7.7,469,8095,0.12,2.12,0.00,0.000,6,0.138,0.048,3043,2170,3387,0,0,0,0,0,0,26.26,26.36,28.83
$GC,8404,-0.48,-146.0,766.8,-6.2,480,8409,0.00,2.20,0.00,0.000,4,0.000,0.068,3035,3579,3386,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8452,-0.48,-146.0,768.7,-6.3,481,8456,0.00,2.12,0.00,0.000,6,0.000,0.048,3035,2173,3386,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8759,-0.48,-146.0,790.6,-6.8,491,8764,0.00,2.25,0.00,0.000,4,0.000,0.069,3026,3585,3386,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8797,-0.48,-146.0,792.7,-6.8,492,8801,0.00,2.15,0.00,0.000,6,0.000,0.048,3025,2174,3386,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9119,-0.48,-146.0,816.4,-7.2,503,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2171,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9419,-0.48,-146.0,837.9,-7.5,513,9425,0.00,2.20,0.00,0.000,4,0.000,0.068,3016,3577,3385,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9512,-0.48,-146.0,845.6,-8.3,516,9516,0.00,2.12,0.00,0.000,6,0.000,0.049,3016,2174,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9835,-0.48,-146.0,873.4,-8.3,527,9836,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2172,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10135,-0.48,-146.0,896.7,-7.3,537,10136,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2172,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10434,-0.48,-146.0,919.7,-8.1,547,10440,0.00,2.25,0.00,0.000,4,0.000,0.070,3006,3586,3384,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10488,-0.48,-146.0,922.3,-8.3,548,10496,0.12,2.15,0.00,0.000,6,0.136,0.049,3042,2165,3384,0,0,0,0,0,0,26.27,26.37,28.83
$GC,10795,-0.48,-146.0,946.0,-7.2,559,10800,0.00,2.22,0.00,0.000,4,0.000,0.069,3033,3583,3383,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10833,-0.48,-146.0,948.1,-7.2,560,10837,0.00,2.15,0.00,0.000,6,0.000,0.050,3033,2178,3383,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11155,-0.48,-146.0,972.3,-7.4,571,11160,0.00,2.20,0.00,0.000,4,0.000,0.070,3024,3582,3383,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11178,-0.48,-146.0,972.3,-7.4,571,11184,0.00,2.15,0.00,0.000,6,0.000,0.050,3024,2167,3383,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,11422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11422,begin apogee
$GC,11429,-0.22,0.0,991.9,-7.2,580,11561,0.28,0.00,125.60,1.206,6,0.114,0.000,3118,2314,2794,0,0,0,0,0,0,26.27,28.83,23.70
$STATE,11564,end apogee,CONTROL_FINISHED_OK
$STATE,11564,begin climb
$GC,11566,0.48,146.0,995.9,0.0,584,11704,0.68,0.00,133.07,1.175,6,0.082,0.000,3347,2313,2198,0,0,0,0,0,0,24.59,28.83,23.37
$GC,11994,0.48,146.0,963.9,8.6,599,11996,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,2313,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12295,0.48,146.0,936.4,9.2,609,12300,0.00,2.28,0.00,0.000,4,0.000,0.069,3347,3699,2186,0,0,0,0,0,0,28.83,25.58,28.83
$GC,12332,0.48,146.0,933.4,9.3,610,12337,0.00,2.22,0.00,0.000,6,0.000,0.050,3356,2305,2186,0,0,0,0,0,0,28.83,25.64,28.83
$GC,12655,0.48,146.0,900.0,10.0,621,12656,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2299,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12955,0.48,146.0,870.1,9.9,631,12961,0.00,2.28,0.00,0.000,4,0.000,0.069,3357,3711,2184,0,0,0,0,0,0,28.83,25.88,28.83
$GC,12984,0.48,146.0,866.6,10.3,632,12990,0.00,2.22,0.00,0.000,6,0.000,0.050,3366,2293,2183,0,0,0,0,0,0,28.83,25.93,28.83
$GC,13315,0.48,146.0,830.7,10.8,643,13320,0.00,2.28,0.00,0.000,4,0.000,0.069,3367,3705,2183,0,0,0,0,0,0,28.83,25.97,28.83
$GC,13362,0.48,146.0,827.3,10.9,644,13367,0.00,2.20,0.00,0.000,6,0.000,0.051,3377,2290,2183,0,0,0,0,0,0,28.83,26.02,28.83
$GC,13670,0.48,146.0,791.3,10.6,654,13671,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,2285,2183,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22523,end climb,SURFACE_DEPTH_REACHED
$STATE,22523,begin surface coast
$FINISH,0.8,1.012608
$STATE,22585,end surface coast,CONTROL_FINISHED_OK
$STATE,22585,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.42
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,16.10
$XPDR_PINGS,1
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$10V_AH,10.2,10.335
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.075,189.525,401.825,0.000,0.000,25.752,42.893,212.365,0.250,0.000,15.572,3366.455,15821.293,517.357,2985.616,380.397,0.000,1949.760,0.000,2671.772,0.000,0.536,0.000
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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,296952
$DATA_FILE_SIZE,73551,1283
$CAP_FILE_SIZE,187852,0
$CFSIZE,260165632,251494400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.025, 25.1,1
$GPS,280912,155035,4734.917,-12543.265,40,1.2,40,18.7