version: 66.11
glider: 187
mission: 2
dive: 105
start: 10 3 112 13 39 31
data:
$ID,187
$MISSION,2
$DIVE,105
$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,-1587749.9
$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,42
$R_STBD_OVSHOOT,28
$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
$GPS1,031012,132905,4740.234,-12526.939,65,0.9,65,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-76.2
$GPS2,031012,133900,4740.234,-12526.817,11,1.5,11,18.7
$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,233.9,139300,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-72.72,0.000,2,0.000,0.000,114,2162,2801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.48,-146.0,3.1,-4.1,12,130,11.38,2.35,-12.65,0.000,4,0.226,0.073,3023,3582,3394,0,0,0,0,0,0,25.29,25.56,25.94
$GC,235,-0.48,-146.0,31.0,-14.7,36,242,0.00,2.22,0.00,0.000,6,0.000,0.043,3023,2175,3396,0,0,0,0,0,0,28.83,25.71,28.83
$GC,564,-0.48,-146.0,76.1,-12.3,97,570,0.00,2.17,0.00,0.000,4,0.000,0.049,3023,760,3398,0,0,0,0,0,0,28.83,25.85,28.83
$GC,593,-0.48,-146.0,79.6,-12.0,102,601,0.00,2.20,0.00,0.000,6,0.000,0.050,3013,2174,3398,0,0,0,0,0,0,28.83,25.86,28.83
$GC,907,-0.48,-146.0,115.3,-12.7,163,914,0.00,2.22,0.00,0.000,4,0.000,0.062,3003,3588,3398,0,0,0,0,0,0,28.83,25.91,28.83
$GC,973,-0.48,-146.0,123.8,-12.7,172,979,0.15,2.15,0.00,0.000,6,0.135,0.042,3045,2171,3398,0,0,0,0,0,0,25.86,26.00,28.83
$GC,1291,-0.48,-146.0,156.7,-9.8,193,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2165,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1589,-0.48,-146.0,184.5,-9.2,213,1595,0.00,2.22,0.00,0.000,4,0.000,0.063,3036,3586,3398,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1626,-0.48,-146.0,187.3,-9.1,215,1633,0.00,2.15,0.00,0.000,6,0.000,0.043,3036,2165,3398,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1934,-0.48,-146.0,216.8,-9.1,233,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2164,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2233,-0.48,-146.0,243.2,-9.2,248,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2164,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2534,-0.48,-146.0,270.8,-9.2,263,2540,0.00,2.25,0.00,0.000,4,0.000,0.063,3026,3581,3397,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2576,-0.48,-146.0,274.6,-9.4,265,2581,0.00,2.12,0.00,0.000,6,0.000,0.044,3025,2175,3397,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2889,-0.48,-146.0,305.7,-9.8,281,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2169,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3188,-0.48,-146.0,333.4,-8.9,296,3192,0.00,2.25,0.00,0.000,4,0.000,0.064,3016,3587,3396,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3218,-0.48,-146.0,335.4,-8.9,297,3222,0.00,2.15,0.00,0.000,6,0.000,0.044,3015,2167,3395,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3525,-0.48,-146.0,363.7,-8.9,312,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2164,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3826,-0.48,-146.0,391.0,-9.2,327,3831,0.00,2.22,0.00,0.000,4,0.000,0.064,3005,3583,3394,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3888,-0.48,-146.0,397.2,-10.1,330,3893,0.12,2.12,0.00,0.000,6,0.142,0.045,3040,2175,3395,0,0,0,0,0,0,26.13,26.26,28.83
$GC,4221,-0.48,-146.0,423.8,-8.0,342,4227,0.00,2.22,0.00,0.000,4,0.000,0.065,3032,3584,3394,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4259,-0.48,-146.0,426.2,-7.9,343,4263,0.00,2.15,0.00,0.000,6,0.000,0.045,3032,2165,3394,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4577,-0.48,-146.0,452.0,-7.7,354,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2163,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4876,-0.48,-146.0,476.1,-8.4,364,4882,0.00,2.25,0.00,0.000,4,0.000,0.066,3022,3588,3392,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4914,-0.48,-146.0,478.5,-8.3,365,4918,0.00,2.15,0.00,0.000,6,0.000,0.046,3022,2168,3392,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5231,-0.48,-146.0,507.3,-9.1,376,5237,0.00,2.22,0.00,0.000,4,0.000,0.065,3011,3584,3392,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5254,-0.48,-146.0,507.3,-9.1,376,5261,0.00,2.15,0.00,0.000,6,0.000,0.046,3011,2176,3391,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5562,-0.48,-146.0,539.4,-9.8,387,5563,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2175,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5862,-0.48,-146.0,566.8,-8.9,397,5867,0.00,2.20,0.00,0.000,4,0.000,0.067,3001,3583,3391,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5899,-0.48,-146.0,569.5,-8.9,398,5904,0.15,2.12,0.00,0.000,6,0.134,0.047,3045,2177,3390,0,0,0,0,0,0,26.16,26.30,28.83
$GC,6218,-0.48,-146.0,590.5,-6.4,409,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2174,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6518,-0.48,-146.0,609.0,-6.2,419,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2174,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6818,-0.48,-146.0,628.8,-6.8,429,6819,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2174,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7117,-0.48,-146.0,650.8,-7.5,439,7123,0.00,2.20,0.00,0.000,4,0.000,0.067,3036,3579,3388,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7200,-0.48,-146.0,655.7,-7.7,441,7207,0.00,2.12,0.00,0.000,6,0.000,0.047,3036,2172,3388,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7507,-0.48,-146.0,683.6,-8.6,452,7513,0.00,2.25,0.00,0.000,4,0.000,0.068,3026,3591,3388,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7575,-0.48,-146.0,689.2,-9.0,454,7579,0.00,2.15,0.00,0.000,6,0.000,0.047,3026,2172,3388,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7893,-0.48,-146.0,719.4,-9.3,465,7894,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2170,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8193,-0.48,-146.0,747.0,-9.1,475,8199,0.00,2.22,0.00,0.000,4,0.000,0.067,3016,3584,3387,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8270,-0.48,-146.0,752.7,-9.3,477,8274,0.00,2.15,0.00,0.000,6,0.000,0.047,3016,2166,3387,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8578,-0.48,-146.0,782.7,-9.2,487,8583,0.00,2.22,0.00,0.000,4,0.000,0.068,3006,3584,3386,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8607,-0.48,-146.0,785.7,-9.3,488,8613,0.12,2.15,0.00,0.000,6,0.137,0.047,3042,2172,3387,0,0,0,0,0,0,26.18,26.31,28.83
$GC,8938,-0.48,-146.0,811.6,-7.6,499,8939,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2171,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9238,-0.48,-146.0,833.6,-7.1,509,9243,0.00,2.22,0.00,0.000,4,0.000,0.068,3034,3582,3385,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9311,-0.48,-146.0,838.0,-7.1,511,9315,0.00,2.15,0.00,0.000,6,0.000,0.047,3034,2165,3385,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9623,-0.48,-146.0,860.6,-6.7,522,9629,0.00,2.22,0.00,0.000,4,0.000,0.068,3023,3580,3385,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9655,-0.48,-146.0,862.7,-6.7,523,9659,0.00,2.12,0.00,0.000,6,0.000,0.048,3023,2176,3385,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9978,-0.48,-146.0,886.0,-7.2,534,9983,0.00,2.20,0.00,0.000,4,0.000,0.069,3013,3580,3384,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10046,-0.48,-146.0,890.5,-7.4,536,10051,0.00,2.15,0.00,0.000,6,0.000,0.048,3013,2167,3385,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10364,-0.48,-146.0,917.0,-8.5,547,10370,0.00,2.22,0.00,0.000,4,0.000,0.068,3003,3579,3384,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10393,-0.48,-146.0,919.8,-8.8,548,10400,0.12,2.15,0.00,0.000,6,0.138,0.048,3039,2170,3384,0,0,0,0,0,0,26.17,26.31,28.83
$GC,10725,-0.48,-146.0,942.5,-6.7,559,10730,0.00,2.22,0.00,0.000,4,0.000,0.069,3030,3583,3384,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10756,-0.48,-146.0,944.5,-6.7,560,10760,0.00,2.17,0.00,0.000,6,0.000,0.049,3030,2168,3384,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11080,-0.48,-146.0,966.0,-6.5,571,11085,0.00,2.22,0.00,0.000,4,0.000,0.069,3021,3579,3384,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11147,-0.48,-146.0,970.2,-6.9,573,11151,0.00,2.15,0.00,0.000,6,0.000,0.049,3021,2175,3384,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,11436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11436,begin apogee
$GC,11443,-0.22,0.0,992.0,-7.3,583,11575,0.30,0.00,125.70,1.198,6,0.117,0.000,3123,2302,2793,0,0,0,0,0,0,26.15,28.83,23.73
$STATE,11578,end apogee,CONTROL_FINISHED_OK
$STATE,11578,begin climb
$GC,11581,0.48,146.0,995.8,0.0,587,11723,0.65,2.42,132.62,1.165,4,0.084,0.055,3354,902,2196,0,0,0,0,0,0,24.58,24.03,23.31
$GC,11759,0.48,153.7,986.6,7.0,593,11773,0.00,2.33,7.68,0.941,6,0.000,0.055,3354,2294,2166,0,0,0,0,0,0,28.83,24.45,23.67
$GC,12101,0.48,153.7,950.4,10.1,605,12107,0.00,2.35,0.00,0.000,4,0.000,0.069,3354,3719,2160,0,0,0,0,0,0,28.83,25.27,28.83
$GC,12185,0.48,153.7,943.4,10.8,607,12191,0.00,2.25,0.00,0.000,6,0.000,0.050,3364,2307,2159,0,0,0,0,0,0,28.83,25.41,28.83
$GC,12491,0.48,153.7,907.5,10.9,618,12497,0.00,2.33,0.00,0.000,4,0.000,0.069,3364,3715,2159,0,0,0,0,0,0,28.83,25.60,28.83
$GC,12522,0.48,153.7,903.9,11.2,619,12528,0.00,2.22,0.00,0.000,6,0.000,0.050,3375,2297,2159,0,0,0,0,0,0,28.83,25.68,28.83
$GC,12852,0.48,153.7,864.5,11.7,630,12857,0.00,2.28,0.00,0.000,4,0.000,0.069,3376,3706,2158,0,0,0,0,0,0,28.83,25.77,28.83
$GC,12904,0.48,153.7,860.6,12.0,631,12912,0.15,2.22,0.00,0.000,6,0.161,0.050,3348,2300,2158,0,0,0,0,0,0,25.69,25.84,28.83
$GC,13211,0.48,153.7,828.5,8.9,642,13217,0.00,2.20,0.00,0.000,4,0.000,0.058,3356,892,2157,0,0,0,0,0,0,28.83,25.89,28.83
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$STATE,22825,end climb,SURFACE_DEPTH_REACHED
$STATE,22825,begin surface coast
$FINISH,1.0,1.000738
$STATE,22864,end surface coast,CONTROL_FINISHED_OK
$STATE,22864,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,43.18
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,15.00
$XPDR_PINGS,1
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$10V_AH,10.2,13.418
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.125,194.625,468.050,0.000,0.000,54.856,114.829,231.010,0.250,0.000,11.915,3394.191,16017.662,579.152,3133.249,404.842,0.000,2051.702,0.000,2719.775,0.000,0.535,0.000
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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,297000
$DATA_FILE_SIZE,73564,1303
$CAP_FILE_SIZE,194239,0
$CFSIZE,260165632,249233408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079,104.2,1
$GPS,031012,200305,4739.148,-12530.071,32,1.1,32,18.7