version: 66.11
glider: 187
mission: 2
dive: 115
start: 10 6 112 6 39 57
data:
$ID,187
$MISSION,2
$DIVE,115
$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,-1587762.9
$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,33
$R_STBD_OVSHOOT,26
$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
$GPS1,061012,063305,4729.150,-12557.388,30,1.2,30,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-77.4
$GPS2,061012,063925,4729.133,-12557.386,15,1.1,15,18.7
$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,220.5,95737,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-66.88,0.000,2,0.000,0.000,112,2169,2945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.48,-146.0,3.5,-5.4,11,118,11.25,2.28,-8.45,0.000,4,0.223,0.070,3023,3595,3392,0,0,0,0,0,0,25.37,25.68,26.06
$GC,248,-0.48,-146.0,44.5,-15.4,40,255,0.00,2.25,0.00,0.000,6,0.000,0.044,3021,2166,3396,0,0,0,0,0,0,28.83,25.82,28.83
$GC,563,-0.48,-146.0,90.7,-11.2,101,571,0.00,2.28,0.00,0.000,4,0.000,0.061,3012,3595,3397,0,0,0,0,0,0,28.83,25.87,28.83
$GC,584,-0.48,-146.0,93.4,-12.1,104,591,0.00,2.22,0.00,0.000,6,0.000,0.042,3012,2168,3398,0,0,0,0,0,0,28.83,25.95,28.83
$GC,907,-0.48,-146.0,135.1,-12.2,151,913,0.00,2.12,0.00,0.000,4,0.000,0.049,3012,765,3399,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1027,-0.48,-146.0,150.2,-12.4,159,1034,0.10,2.17,0.00,0.000,6,0.123,0.050,3039,2177,3398,0,0,0,0,0,0,25.89,26.01,28.83
$GC,1343,-0.48,-146.0,181.8,-9.4,180,1349,0.00,2.17,0.00,0.000,4,0.000,0.063,3030,3580,3398,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1395,-0.48,-146.0,186.4,-10.0,183,1402,0.00,2.12,0.00,0.000,6,0.000,0.043,3030,2167,3398,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1718,-0.48,-146.0,219.6,-10.4,202,1723,0.00,2.20,0.00,0.000,4,0.000,0.063,3020,3578,3398,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1757,-0.48,-146.0,223.9,-10.5,204,1763,0.00,2.12,0.00,0.000,6,0.000,0.044,3020,2170,3398,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2077,-0.48,-146.0,260.4,-11.0,220,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2167,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2377,-0.48,-146.0,292.7,-10.5,235,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2167,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2677,-0.48,-146.0,322.6,-10.2,250,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2167,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2977,-0.48,-146.0,354.8,-11.0,265,2981,0.00,2.25,0.00,0.000,4,0.000,0.064,3010,3583,3395,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3001,-0.48,-146.0,357.4,-11.2,266,3006,0.12,2.15,0.00,0.000,6,0.137,0.044,3044,2167,3395,0,0,0,0,0,0,26.10,26.23,28.83
$GC,3315,-0.48,-146.0,386.0,-8.5,282,3320,0.00,2.22,0.00,0.000,4,0.000,0.065,3036,3581,3395,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3342,-0.48,-146.0,387.6,-8.4,283,3346,0.00,2.12,0.00,0.000,6,0.000,0.045,3036,2177,3395,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3669,-0.48,-146.0,415.9,-8.3,296,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2174,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3970,-0.48,-146.0,440.4,-7.9,306,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2174,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4269,-0.48,-146.0,463.7,-7.8,316,4275,0.00,2.20,0.00,0.000,4,0.000,0.066,3025,3581,3393,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4299,-0.48,-146.0,466.2,-7.9,317,4305,0.00,2.15,0.00,0.000,6,0.000,0.046,3025,2167,3393,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4629,-0.48,-146.0,493.8,-8.2,328,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2165,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4930,-0.48,-146.0,518.5,-8.1,338,4935,0.00,2.22,0.00,0.000,4,0.000,0.066,3016,3587,3391,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4962,-0.48,-146.0,521.1,-8.3,339,4966,0.00,2.15,0.00,0.000,6,0.000,0.046,3015,2167,3391,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5285,-0.48,-146.0,550.5,-9.2,350,5290,0.00,2.22,0.00,0.000,4,0.000,0.066,3005,3583,3390,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5332,-0.48,-146.0,553.3,-9.3,351,5337,0.12,2.12,0.00,0.000,6,0.139,0.047,3040,2177,3391,0,0,0,0,0,0,26.15,26.28,28.83
$GC,5640,-0.48,-146.0,577.7,-7.3,361,5645,0.00,2.25,0.00,0.000,4,0.000,0.067,3032,3588,3390,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5677,-0.48,-146.0,579.9,-7.3,362,5681,0.00,2.17,0.00,0.000,6,0.000,0.047,3032,2166,3390,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6000,-0.48,-146.0,606.7,-8.1,373,6005,0.00,2.22,0.00,0.000,4,0.000,0.067,3022,3581,3389,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6029,-0.48,-146.0,609.3,-8.1,374,6035,0.00,2.15,0.00,0.000,6,0.000,0.047,3022,2169,3390,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6359,-0.48,-146.0,636.9,-8.4,385,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2167,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6660,-0.48,-146.0,661.5,-8.3,395,6665,0.00,2.22,0.00,0.000,4,0.000,0.067,3012,3587,3389,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6702,-0.48,-146.0,664.0,-8.4,396,6706,0.00,2.15,0.00,0.000,6,0.000,0.047,3012,2169,3389,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7014,-0.48,-146.0,694.1,-9.2,407,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2167,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7315,-0.48,-146.0,721.6,-9.1,417,7316,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2166,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7614,-0.48,-146.0,747.3,-8.4,427,7620,0.00,2.25,0.00,0.000,4,0.000,0.067,3002,3587,3387,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7705,-0.48,-146.0,754.9,-8.5,430,7711,0.10,2.12,0.00,0.000,6,0.113,0.047,3038,2177,3387,0,0,0,0,0,0,26.13,26.29,28.83
$GC,8035,-0.48,-146.0,775.2,-6.0,441,8040,0.00,2.22,0.00,0.000,4,0.000,0.068,3030,3584,3386,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8065,-0.48,-146.0,777.1,-6.1,442,8070,0.00,2.12,0.00,0.000,6,0.000,0.048,3030,2178,3387,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8394,-0.48,-146.0,801.3,-7.6,453,8400,0.00,2.25,0.00,0.000,4,0.000,0.069,3020,3593,3386,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8433,-0.48,-146.0,803.7,-7.7,454,8437,0.00,2.17,0.00,0.000,6,0.000,0.048,3020,2165,3386,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8750,-0.48,-146.0,832.6,-9.1,465,8751,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2162,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9050,-0.48,-146.0,859.8,-9.0,475,9056,0.00,2.28,0.00,0.000,4,0.000,0.069,3010,3583,3385,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9088,-0.48,-146.0,862.5,-9.0,476,9093,0.12,2.17,0.00,0.000,6,0.132,0.048,3047,2163,3385,0,0,0,0,0,0,26.16,26.29,28.83
$GC,9406,-0.48,-146.0,885.5,-6.7,487,9412,0.00,2.22,0.00,0.000,4,0.000,0.069,3038,3578,3385,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9459,-0.48,-146.0,887.5,-6.6,488,9466,0.00,2.15,0.00,0.000,6,0.000,0.048,3037,2162,3384,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9766,-0.48,-146.0,908.0,-5.7,499,9772,0.00,2.22,0.00,0.000,4,0.000,0.069,3028,3577,3384,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9826,-0.48,-146.0,911.9,-6.0,501,9830,0.00,2.15,0.00,0.000,6,0.000,0.049,3028,2173,3384,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10158,-0.48,-146.0,932.4,-6.1,512,10164,0.00,2.22,0.00,0.000,4,0.000,0.069,3017,3580,3384,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10211,-0.48,-146.0,934.3,-6.2,513,10218,0.00,2.15,0.00,0.000,6,0.000,0.048,3017,2166,3384,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10518,-0.48,-146.0,956.8,-7.1,524,10519,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2166,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10819,-0.48,-146.0,979.3,-7.6,534,10825,0.00,2.25,0.00,0.000,4,0.000,0.069,3008,3587,3383,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10912,-0.48,-146.0,986.8,-8.1,537,10919,0.12,2.15,0.00,0.000,6,0.134,0.049,3043,2173,3383,0,0,0,0,0,0,26.15,26.28,28.83
$STATE,10965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10965,begin apogee
$GC,10972,-0.22,0.0,991.2,-7.9,539,11103,0.22,0.00,125.38,1.199,6,0.116,0.000,3124,2302,2794,0,0,0,0,0,0,26.16,28.83,23.73
$STATE,11107,end apogee,CONTROL_FINISHED_OK
$STATE,11107,begin climb
$GC,11109,0.48,146.0,995.3,0.0,543,11247,0.65,0.00,133.88,1.166,6,0.081,0.000,3345,2302,2198,0,0,0,0,0,0,24.59,28.83,23.28
$GC,11538,0.48,146.0,963.2,8.9,558,11544,0.00,2.33,0.00,0.000,4,0.000,0.069,3345,3705,2188,0,0,0,0,0,0,28.83,25.15,28.83
$GC,11606,0.48,146.0,956.9,9.7,560,11610,0.00,2.22,0.00,0.000,6,0.000,0.050,3355,2312,2187,0,0,0,0,0,0,28.83,25.29,28.83
$GC,11923,0.48,146.0,922.7,10.7,571,11929,0.00,2.30,0.00,0.000,4,0.000,0.070,3355,3708,2185,0,0,0,0,0,0,28.83,25.54,28.83
$GC,11953,0.48,146.0,919.2,11.0,572,11959,0.00,2.25,0.00,0.000,6,0.000,0.050,3366,2294,2185,0,0,0,0,0,0,28.83,25.61,28.83
$GC,12283,0.48,146.0,881.1,11.6,583,12289,0.00,2.33,0.00,0.000,4,0.000,0.070,3366,3709,2184,0,0,0,0,0,0,28.83,25.72,28.83
$GC,12321,0.48,146.0,877.1,11.9,584,12325,0.00,2.22,0.00,0.000,6,0.000,0.050,3377,2299,2184,0,0,0,0,0,0,28.83,25.79,28.83
$GC,12638,0.48,146.0,836.2,12.3,595,12644,0.00,2.28,0.00,0.000,4,0.000,0.070,3377,3701,2183,0,0,0,0,0,0,28.83,25.84,28.83
$GC,12668,0.48,146.0,832.2,12.6,596,12674,0.15,2.20,0.00,0.000,6,0.163,0.051,3349,2301,2183,0,0,0,0,0,0,25.75,25.91,28.83
$GC,12998,0.48,146.0,799.1,9.6,607,12999,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,2295,2183,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22444,end climb,SURFACE_DEPTH_REACHED
$STATE,22444,begin surface coast
$FINISH,1.0,1.009458
$STATE,22481,end surface coast,CONTROL_FINISHED_OK
$STATE,22481,begin surface
$SM_CCo,22561,0.00,0.000,0,0,1275,372.61
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.06
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.30
$XPDR_PINGS,1
$24V_AH,23.3,17.169
$10V_AH,10.2,14.568
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.050,203.525,442.375,0.000,0.000,27.948,39.795,180.010,0.250,0.000,16.373,3366.707,15580.641,568.066,3029.972,387.398,0.000,2036.231,0.000,2739.756,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,869.813,736.500,529.751,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296944
$DATA_FILE_SIZE,70022,1264
$CAP_FILE_SIZE,194696,0
$CFSIZE,260165632,248360960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063, 66.1,1
$GPS,061012,125705,4727.724,-12600.485,29,0.8,29,18.7