version: 66.11
glider: 187
mission: 2
dive: 133
start: 10 11 112 3 1 51
data:
$ID,187
$MISSION,2
$DIVE,133
$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,-1587787.5
$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,43
$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
$GPS1,111012,025505,4703.407,-12654.982,40,1.0,40,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-78.3
$GPS2,111012,030119,4703.420,-12654.979,12,1.8,12,18.6
$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,210.3,8962,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-67.25,0.000,2,0.000,0.000,117,2159,2787,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.48,-146.0,3.1,-3.8,11,123,11.35,2.35,-11.98,0.000,4,0.223,0.075,3026,3584,3394,0,0,0,0,0,0,25.29,25.61,26.01
$GC,248,-0.48,-146.0,43.4,-17.4,40,255,0.00,2.20,0.00,0.000,6,0.000,0.044,3026,2185,3397,0,0,0,0,0,0,28.83,25.76,28.83
$GC,565,-0.48,-146.0,87.8,-14.4,101,572,0.00,2.17,0.00,0.000,4,0.000,0.050,3026,765,3399,0,0,0,0,0,0,28.83,25.86,28.83
$GC,642,-0.48,-146.0,98.3,-12.2,115,649,0.00,2.17,0.00,0.000,6,0.000,0.050,3016,2179,3400,0,0,0,0,0,0,28.83,25.89,28.83
$GC,958,-0.48,-146.0,141.7,-12.6,155,960,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2179,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1259,-0.48,-146.0,177.6,-11.8,175,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2179,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1573,-0.48,-146.0,214.0,-11.6,194,1577,0.00,2.20,0.00,0.000,4,0.000,0.062,3006,3584,3400,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1623,-0.48,-146.0,219.3,-11.9,196,1628,0.12,2.15,0.00,0.000,6,0.138,0.044,3041,2165,3400,0,0,0,0,0,0,25.97,26.10,28.83
$GC,1930,-0.48,-146.0,249.9,-8.9,211,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2162,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2230,-0.48,-146.0,275.7,-8.6,226,2236,0.00,2.25,0.00,0.000,4,0.000,0.063,3033,3584,3399,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2258,-0.48,-146.0,277.4,-8.5,227,2262,0.00,2.15,0.00,0.000,6,0.000,0.045,3033,2167,3398,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2566,-0.48,-146.0,304.4,-8.8,242,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2165,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2865,-0.48,-146.0,332.3,-9.6,257,2871,0.00,2.25,0.00,0.000,4,0.000,0.064,3022,3590,3397,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2918,-0.48,-146.0,336.2,-9.8,259,2925,0.00,2.15,0.00,0.000,6,0.000,0.046,3022,2171,3397,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3225,-0.48,-146.0,370.1,-10.4,275,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2169,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3525,-0.48,-146.0,400.3,-9.7,290,3531,0.00,2.22,0.00,0.000,4,0.000,0.065,3011,3587,3396,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3585,-0.48,-146.0,406.5,-9.9,292,3591,0.00,2.15,0.00,0.000,6,0.000,0.046,3011,2175,3395,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3915,-0.48,-146.0,439.1,-10.0,303,3921,0.00,2.15,0.00,0.000,4,0.000,0.053,3011,767,3395,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3948,-0.48,-146.0,442.3,-10.0,304,3953,0.12,2.17,0.00,0.000,6,0.144,0.054,3038,2183,3395,0,0,0,0,0,0,26.09,26.19,28.83
$GC,4271,-0.48,-146.0,469.4,-8.3,315,4275,0.00,2.22,0.00,0.000,4,0.000,0.067,3029,3590,3394,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4346,-0.48,-146.0,474.8,-8.5,317,4350,0.00,2.15,0.00,0.000,6,0.000,0.047,3029,2175,3393,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4658,-0.48,-146.0,503.1,-8.6,328,4663,0.00,2.25,0.00,0.000,4,0.000,0.067,3019,3594,3393,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4701,-0.48,-146.0,505.8,-8.7,329,4705,0.00,2.17,0.00,0.000,6,0.000,0.047,3019,2166,3393,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5013,-0.48,-146.0,535.6,-9.0,340,5019,0.00,2.28,0.00,0.000,4,0.000,0.067,3009,3587,3392,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5046,-0.48,-146.0,538.4,-9.0,341,5051,0.12,2.17,0.00,0.000,6,0.136,0.047,3044,2167,3392,0,0,0,0,0,0,26.12,26.25,28.83
$GC,5370,-0.48,-146.0,559.6,-5.7,352,5375,0.00,2.12,0.00,0.000,4,0.000,0.054,3044,772,3391,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5383,-0.48,-146.0,559.6,-5.7,352,5387,0.00,2.15,0.00,0.000,6,0.000,0.054,3039,2176,3391,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5695,-0.48,-146.0,579.1,-6.1,363,5700,0.00,2.20,0.00,0.000,4,0.000,0.067,3029,3584,3391,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5840,-0.48,-146.0,587.2,-6.7,367,5847,0.00,2.15,0.00,0.000,6,0.000,0.047,3029,2168,3391,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6145,-0.48,-146.0,610.8,-7.4,378,6150,0.00,2.28,0.00,0.000,4,0.000,0.067,3019,3588,3390,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6188,-0.48,-146.0,613.1,-7.5,379,6192,0.00,2.15,0.00,0.000,6,0.000,0.048,3019,2175,3390,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6501,-0.48,-146.0,639.9,-8.5,390,6502,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2174,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6800,-0.48,-146.0,667.2,-9.4,400,6806,0.00,2.25,0.00,0.000,4,0.000,0.068,3008,3591,3389,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6853,-0.48,-146.0,670.1,-9.5,401,6862,0.12,2.17,0.00,0.000,6,0.135,0.048,3044,2164,3389,0,0,0,0,0,0,26.13,26.25,28.83
$GC,7160,-0.48,-146.0,696.4,-7.6,412,7166,0.00,2.25,0.00,0.000,4,0.000,0.068,3036,3582,3387,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7208,-0.48,-146.0,698.8,-7.6,413,7213,0.00,2.15,0.00,0.000,6,0.000,0.049,3036,2174,3387,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7516,-0.48,-146.0,722.3,-6.9,423,7521,0.00,2.22,0.00,0.000,4,0.000,0.068,3026,3585,3387,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7575,-0.48,-146.0,726.5,-6.9,425,7581,0.00,2.17,0.00,0.000,6,0.000,0.049,3026,2171,3387,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7905,-0.48,-146.0,748.9,-6.8,436,7911,0.00,2.22,0.00,0.000,4,0.000,0.068,3016,3579,3387,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7959,-0.48,-146.0,751.2,-6.9,437,7966,0.00,2.17,0.00,0.000,6,0.000,0.049,3015,2166,3386,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8265,-0.48,-146.0,776.1,-7.8,448,8266,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2167,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8566,-0.48,-146.0,799.7,-7.9,458,8571,0.00,2.22,0.00,0.000,4,0.000,0.068,3005,3577,3386,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8625,-0.48,-146.0,805.0,-8.4,460,8632,0.12,2.15,0.00,0.000,6,0.133,0.050,3042,2175,3386,0,0,0,0,0,0,26.13,26.25,28.83
$GC,8955,-0.48,-146.0,828.9,-7.3,471,8961,0.00,2.22,0.00,0.000,4,0.000,0.069,3034,3581,3385,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9008,-0.48,-146.0,831.3,-7.5,472,9015,0.00,2.17,0.00,0.000,6,0.000,0.050,3033,2168,3385,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9315,-0.48,-146.0,857.9,-8.0,483,9321,0.00,2.28,0.00,0.000,4,0.000,0.070,3023,3591,3385,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9353,-0.48,-146.0,860.5,-7.9,484,9357,0.00,2.17,0.00,0.000,6,0.000,0.050,3024,2176,3385,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9670,-0.48,-146.0,888.2,-8.3,495,9671,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2174,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9970,-0.48,-146.0,912.3,-7.8,505,9976,0.00,2.22,0.00,0.000,4,0.000,0.070,3013,3580,3384,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10038,-0.48,-146.0,917.1,-7.7,507,10042,0.00,2.15,0.00,0.000,6,0.000,0.050,3013,2171,3384,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10356,-0.48,-146.0,941.2,-7.1,518,10362,0.00,2.22,0.00,0.000,4,0.000,0.069,3003,3578,3384,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10398,-0.48,-146.0,943.5,-7.2,519,10403,0.12,2.15,0.00,0.000,6,0.133,0.050,3040,2177,3383,0,0,0,0,0,0,26.12,26.24,28.83
$GC,10712,-0.48,-146.0,961.7,-5.3,530,10717,0.00,2.22,0.00,0.000,4,0.000,0.070,3031,3580,3383,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10755,-0.48,-146.0,963.3,-5.3,531,10759,0.00,2.15,0.00,0.000,6,0.000,0.050,3031,2173,3383,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11068,-0.48,-146.0,981.7,-5.7,542,11073,0.00,2.25,0.00,0.000,4,0.000,0.070,3021,3577,3383,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11127,-0.48,-146.0,985.3,-5.8,544,11133,0.00,2.17,0.00,0.000,6,0.000,0.050,3021,2164,3383,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,11216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11216,begin apogee
$GC,11223,-0.22,0.0,991.2,-6.4,547,11354,0.30,0.00,125.45,1.197,6,0.111,0.000,3124,2305,2793,0,0,0,0,0,0,26.08,28.83,23.72
$STATE,11356,end apogee,CONTROL_FINISHED_OK
$STATE,11356,begin climb
$GC,11359,0.48,146.0,993.9,0.0,551,11497,0.65,0.00,133.98,1.164,6,0.080,0.000,3344,2305,2197,0,0,0,0,0,0,24.56,28.83,23.18
$GC,11788,0.48,146.0,958.4,9.5,566,11793,0.00,2.33,0.00,0.000,4,0.000,0.070,3344,3704,2187,0,0,0,0,0,0,28.83,25.09,28.83
$GC,11830,0.48,146.0,955.3,9.7,567,11835,0.00,2.28,0.00,0.000,6,0.000,0.050,3355,2309,2186,0,0,0,0,0,0,28.83,25.19,28.83
$GC,12143,0.48,146.0,922.1,10.1,578,12144,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2302,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12443,0.48,146.0,891.8,10.1,588,12449,0.00,2.30,0.00,0.000,4,0.000,0.070,3355,3710,2184,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12491,0.48,146.0,888.4,10.4,589,12495,0.00,2.22,0.00,0.000,6,0.000,0.051,3365,2299,2184,0,0,0,0,0,0,28.83,25.74,28.83
$GC,12798,0.48,146.0,852.3,11.1,599,12799,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,2294,2184,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22387,end climb,SURFACE_DEPTH_REACHED
$STATE,22388,begin surface coast
$FINISH,1.0,1.000405
$STATE,22430,end surface coast,CONTROL_FINISHED_OK
$STATE,22430,begin surface
$SM_CCo,22510,0.00,0.000,0,0,1234,382.67
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$IRIDIUM_FIX,4648.08,-12649.03,101012,202001
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.09
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,23.2,19.612
$10V_AH,10.2,16.595
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.100,199.600,448.075,0.000,0.000,27.436,38.935,179.778,0.000,0.000,13.086,3298.267,15716.762,576.599,2906.289,378.334,0.000,1996.849,0.000,2621.806,0.000,0.535,0.000
$DEVICE_MAMPS,223.380,84.150,1197.225,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296900
$DATA_FILE_SIZE,70225,1254
$CAP_FILE_SIZE,190549,0
$CFSIZE,260165632,246808576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098, 59.0,1
$GPS,111012,091805,4701.738,-12657.556,26,1.5,26,18.6