version: 66.11
glider: 187
mission: 2
dive: 72
start: 9 29 112 23 55 21
data:
$ID,187
$MISSION,2
$DIVE,72
$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,-1587708.6
$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,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
$GPS1,290912,234835,4743.456,-12524.867,29,1.2,29,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-79.4
$GPS2,290912,235449,4743.414,-12524.826,12,2.0,12,18.7
$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,13.0,43822,-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,-146.0,0.0,0.0,0,79,0.00,0.00,-60.20,0.000,2,0.000,0.000,115,2165,2827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.5,-5.5,10,111,11.25,2.25,-11.10,0.000,4,0.223,0.062,3034,757,3393,0,0,0,0,0,0,25.37,25.67,25.99
$GC,186,-0.48,-146.0,27.5,-13.6,28,195,0.00,2.25,0.00,0.000,6,0.000,0.051,3025,2175,3396,0,0,0,0,0,0,28.83,25.72,28.83
$GC,512,-0.48,-146.0,74.9,-13.5,89,519,0.00,2.22,0.00,0.000,4,0.000,0.062,3015,3588,3399,0,0,0,0,0,0,28.83,25.85,28.83
$GC,553,-0.48,-146.0,81.4,-14.7,96,561,0.00,2.20,0.00,0.000,6,0.000,0.043,3015,2170,3399,0,0,0,0,0,0,28.83,25.92,28.83
$GC,880,-0.48,-146.0,122.6,-13.0,156,885,0.00,2.15,0.00,0.000,4,0.000,0.050,3014,764,3399,0,0,0,0,0,0,28.83,25.98,28.83
$GC,918,-0.48,-146.0,126.3,-12.3,158,927,0.10,2.22,0.00,0.000,6,0.119,0.050,3041,2181,3400,0,0,0,0,0,0,25.90,26.00,28.83
$GC,1227,-0.48,-146.0,155.9,-9.3,179,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2181,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1527,-0.48,-146.0,183.8,-9.5,199,1532,0.00,2.17,0.00,0.000,4,0.000,0.063,3032,3580,3400,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1601,-0.48,-146.0,191.8,-10.5,204,1607,0.00,2.12,0.00,0.000,6,0.000,0.044,3032,2174,3399,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1912,-0.48,-146.0,224.5,-10.4,221,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2170,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2211,-0.48,-146.0,254.5,-9.8,236,2217,0.00,2.22,0.00,0.000,4,0.000,0.063,3022,3584,3399,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2240,-0.48,-146.0,256.4,-9.9,237,2244,0.00,2.15,0.00,0.000,6,0.000,0.044,3021,2164,3399,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2546,-0.48,-146.0,288.3,-10.1,252,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2162,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2846,-0.48,-146.0,318.7,-10.2,267,2852,0.00,2.25,0.00,0.000,4,0.000,0.064,3011,3583,3398,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2888,-0.48,-146.0,322.8,-10.2,269,2894,0.00,2.12,0.00,0.000,6,0.000,0.045,3011,2177,3398,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3207,-0.48,-146.0,355.5,-9.9,285,3213,0.12,2.20,0.00,0.000,4,0.154,0.063,3042,3582,3397,0,0,0,0,0,0,26.19,26.21,28.83
$GC,3230,-0.48,-146.0,357.4,-9.6,286,3234,0.00,2.15,0.00,0.000,6,0.000,0.046,3042,2166,3397,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3542,-0.48,-146.0,382.1,-8.3,302,3543,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2163,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3852,-0.48,-146.0,407.8,-8.4,316,3858,0.00,2.28,0.00,0.000,4,0.000,0.066,3031,3589,3396,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3882,-0.48,-146.0,410.4,-8.5,317,3888,0.00,2.15,0.00,0.000,6,0.000,0.046,3031,2168,3396,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4212,-0.48,-146.0,439.2,-8.4,328,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2166,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4512,-0.48,-146.0,465.7,-8.7,338,4518,0.00,2.25,0.00,0.000,4,0.000,0.066,3021,3591,3395,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4542,-0.48,-146.0,468.3,-8.6,339,4548,0.00,2.15,0.00,0.000,6,0.000,0.046,3021,2173,3395,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4872,-0.48,-146.0,497.8,-8.8,350,4878,0.00,2.20,0.00,0.000,4,0.000,0.066,3011,3580,3394,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4902,-0.48,-146.0,500.6,-8.8,351,4907,0.00,2.15,0.00,0.000,6,0.000,0.046,3011,2169,3394,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5232,-0.48,-146.0,531.7,-9.3,362,5238,0.12,2.12,0.00,0.000,4,0.152,0.051,3051,777,3393,0,0,0,0,0,0,26.25,26.29,28.83
$GC,5265,-0.48,-146.0,534.2,-9.1,363,5269,0.00,2.15,0.00,0.000,6,0.000,0.054,3045,2182,3393,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5587,-0.48,-146.0,558.3,-7.7,374,5593,0.00,2.22,0.00,0.000,4,0.000,0.067,3034,3588,3393,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5720,-0.48,-146.0,568.8,-8.7,378,5724,0.00,2.15,0.00,0.000,6,0.000,0.047,3034,2174,3392,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6037,-0.48,-146.0,596.6,-8.3,389,6043,0.00,2.20,0.00,0.000,4,0.000,0.067,3025,3580,3392,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6060,-0.48,-146.0,596.6,-8.3,389,6067,0.00,2.12,0.00,0.000,6,0.000,0.047,3024,2175,3392,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6367,-0.48,-146.0,624.0,-8.2,400,6373,0.00,2.22,0.00,0.000,4,0.000,0.067,3014,3591,3391,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6415,-0.48,-146.0,626.6,-8.3,401,6419,0.00,2.15,0.00,0.000,6,0.000,0.047,3014,2177,3391,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6722,-0.48,-146.0,654.4,-8.4,411,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2174,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7023,-0.48,-146.0,680.0,-8.4,421,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2174,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7322,-0.48,-146.0,705.9,-8.6,431,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2174,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7623,-0.48,-146.0,731.0,-8.3,441,7624,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2174,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7922,-0.48,-146.0,757.0,-8.5,451,7928,0.00,2.28,0.00,0.000,4,0.000,0.068,3004,3595,3390,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7945,-0.48,-146.0,757.0,-8.5,451,7953,0.12,2.17,0.00,0.000,6,0.140,0.046,3039,2165,3390,0,0,0,0,0,0,26.24,26.36,28.83
$GC,8253,-0.48,-146.0,780.5,-7.0,462,8258,0.00,2.28,0.00,0.000,4,0.000,0.068,3031,3593,3389,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8306,-0.48,-146.0,782.6,-7.1,463,8312,0.00,2.15,0.00,0.000,6,0.000,0.047,3030,2174,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8613,-0.48,-146.0,806.3,-6.8,474,8619,0.00,2.20,0.00,0.000,4,0.000,0.068,3021,3577,3389,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8646,-0.48,-146.0,808.4,-6.9,475,8650,0.00,2.12,0.00,0.000,6,0.000,0.048,3021,2179,3389,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8968,-0.48,-146.0,831.7,-7.2,486,8974,0.00,2.20,0.00,0.000,4,0.000,0.069,3011,3577,3388,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9006,-0.48,-146.0,833.9,-7.3,487,9010,0.00,2.15,0.00,0.000,6,0.000,0.048,3011,2168,3388,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9323,-0.48,-146.0,858.6,-7.8,498,9329,0.12,2.25,0.00,0.000,4,0.148,0.067,3043,3583,3388,0,0,0,0,0,0,26.28,26.27,28.83
$GC,9391,-0.48,-146.0,862.5,-7.1,500,9395,0.00,2.17,0.00,0.000,6,0.000,0.049,3043,2170,3388,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9714,-0.48,-146.0,882.4,-6.2,511,9715,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2169,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10014,-0.48,-146.0,901.1,-6.5,521,10020,0.00,2.22,0.00,0.000,4,0.000,0.069,3033,3582,3387,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10074,-0.48,-146.0,905.2,-6.5,523,10079,0.00,2.15,0.00,0.000,6,0.000,0.049,3033,2167,3387,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10404,-0.48,-146.0,927.3,-6.6,534,10409,0.00,2.25,0.00,0.000,4,0.000,0.069,3024,3587,3387,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10442,-0.48,-146.0,929.3,-6.7,535,10446,0.00,2.15,0.00,0.000,6,0.000,0.049,3023,2173,3386,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10760,-0.48,-146.0,951.0,-6.6,546,10765,0.00,2.28,0.00,0.000,4,0.000,0.070,3013,3591,3386,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10792,-0.48,-146.0,953.1,-6.6,547,10796,0.00,2.17,0.00,0.000,6,0.000,0.050,3013,2166,3386,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,11057,end dive,NO_VERTICAL_VELOCITY
$STATE,11057,begin apogee
$GC,11064,-0.22,0.0,955.3,0.0,556,11196,0.30,0.00,125.62,1.180,6,0.083,0.000,3130,2307,2794,0,0,0,0,0,0,26.32,28.83,23.74
$STATE,11198,end apogee,CONTROL_FINISHED_OK
$STATE,11199,begin climb
$GC,11201,0.48,146.0,955.2,0.0,560,11341,0.62,2.42,132.48,1.148,4,0.078,0.056,3355,895,2198,0,0,0,0,0,0,24.60,24.10,23.39
$GC,11364,0.48,160.1,946.1,6.8,566,11383,0.00,2.35,13.32,1.021,6,0.000,0.055,3354,2299,2142,0,0,0,0,0,0,28.83,24.44,23.61
$GC,11692,0.48,160.1,910.1,11.1,577,11697,0.00,2.33,0.00,0.000,4,0.000,0.069,3355,3709,2134,0,0,0,0,0,0,28.83,25.28,28.83
$GC,11770,0.48,160.1,902.7,11.6,579,11774,0.00,2.25,0.00,0.000,6,0.000,0.048,3365,2299,2133,0,0,0,0,0,0,28.83,25.41,28.83
$GC,12077,0.48,160.1,863.6,12.0,589,12078,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2293,2132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12377,0.48,160.1,828.9,10.9,599,12382,0.00,2.30,0.00,0.000,4,0.000,0.069,3365,3711,2132,0,0,0,0,0,0,28.83,25.77,28.83
$GC,12400,0.48,160.1,828.9,10.9,599,12406,0.00,2.22,0.00,0.000,6,0.000,0.050,3375,2298,2131,0,0,0,0,0,0,28.83,25.82,28.83
$GC,12707,0.48,160.1,793.6,10.5,610,12713,0.00,2.28,0.00,0.000,4,0.000,0.070,3375,3712,2131,0,0,0,0,0,0,28.83,25.88,28.83
$GC,12739,0.48,160.1,790.1,10.7,611,12744,0.12,2.22,0.00,0.000,6,0.167,0.050,3356,2300,2131,0,0,0,0,0,0,25.81,25.94,28.83
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$STATE,21544,end climb,SURFACE_DEPTH_REACHED
$STATE,21545,begin surface coast
$FINISH,1.0,1.000224
$STATE,21577,end surface coast,CONTROL_FINISHED_OK
$STATE,21577,begin surface
$SM_CCo,21657,0.00,0.000,0,0,664,522.49
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$TT8_MAMPS,0.026215,0.026215
$HUMID,41.96
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,19.30
$XPDR_PINGS,1
$24V_AH,23.4,12.512
$10V_AH,10.2,11.022
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.275,190.950,564.875,0.000,0.000,25.517,35.964,185.267,0.250,0.000,13.129,3224.295,14956.344,630.756,2855.786,356.716,0.000,2051.106,0.000,2576.760,0.000,0.535,0.000
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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,296976
$DATA_FILE_SIZE,70172,1252
$CAP_FILE_SIZE,184316,0
$CFSIZE,260165632,250974208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033,184.7,1
$GPS,300912,055736,4745.497,-12522.412,40,0.9,40,18.7