version: 66.11
glider: 187
mission: 2
dive: 141
start: 10 13 112 7 12 44
data:
$ID,187
$MISSION,2
$DIVE,141
$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,-1587801.8
$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,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
$GPS1,131012,070605,4711.139,-12636.069,38,1.1,38,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-75.5
$GPS2,131012,071212,4711.146,-12636.062,10,1.6,15,18.6
$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,44.4,150397,-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,-146.0,0.0,0.0,0,91,0.00,0.00,-71.65,0.000,2,0.000,0.000,111,2159,2789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.48,-146.0,3.3,-4.8,12,123,11.30,2.35,-11.80,0.000,4,0.222,0.073,3026,3586,3392,0,0,0,0,0,0,25.29,25.61,26.00
$GC,293,-0.48,-146.0,47.7,-15.1,48,301,0.00,2.20,0.00,0.000,6,0.000,0.043,3026,2180,3398,0,0,0,0,0,0,28.83,25.78,28.83
$GC,614,-0.48,-146.0,91.6,-13.1,109,620,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2174,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,927,-0.48,-146.0,128.4,-10.9,160,933,0.00,2.15,0.00,0.000,4,0.000,0.050,3025,769,3400,0,0,0,0,0,0,28.83,25.95,28.83
$GC,991,-0.48,-146.0,135.3,-11.4,164,995,0.00,2.17,0.00,0.000,6,0.000,0.049,3016,2188,3400,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1298,-0.48,-146.0,170.0,-11.1,184,1304,0.00,2.15,0.00,0.000,4,0.000,0.062,3006,3580,3400,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1331,-0.48,-146.0,173.6,-11.2,186,1336,0.12,2.15,0.00,0.000,6,0.137,0.043,3041,2164,3400,0,0,0,0,0,0,25.93,26.06,28.83
$GC,1656,-0.48,-146.0,206.2,-10.1,206,1661,0.00,2.22,0.00,0.000,4,0.000,0.062,3033,3587,3400,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1674,-0.48,-146.0,208.2,-10.0,207,1680,0.00,2.15,0.00,0.000,6,0.000,0.044,3033,2168,3399,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1994,-0.48,-146.0,242.1,-10.4,223,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2164,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2296,-0.48,-146.0,270.9,-9.2,238,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2165,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2594,-0.48,-146.0,298.8,-9.5,253,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2164,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2894,-0.48,-146.0,328.2,-9.9,268,2900,0.00,2.25,0.00,0.000,4,0.000,0.063,3023,3594,3396,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2922,-0.48,-146.0,330.1,-9.9,269,2926,0.00,2.15,0.00,0.000,6,0.000,0.045,3022,2174,3396,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3229,-0.48,-146.0,362.2,-10.2,284,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2170,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3531,-0.48,-146.0,391.1,-9.4,299,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2170,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3840,-0.48,-146.0,419.3,-8.9,311,3845,0.00,2.20,0.00,0.000,4,0.000,0.065,3012,3577,3394,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3882,-0.48,-146.0,422.0,-8.9,312,3886,0.00,2.12,0.00,0.000,6,0.000,0.047,3012,2173,3394,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4194,-0.48,-146.0,453.8,-10.0,323,4200,0.00,2.10,0.00,0.000,4,0.000,0.054,3012,781,3393,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4237,-0.48,-146.0,456.9,-10.0,324,4242,0.12,2.15,0.00,0.000,6,0.148,0.053,3039,2185,3393,0,0,0,0,0,0,26.08,26.18,28.83
$GC,4550,-0.48,-146.0,482.9,-7.7,335,4556,0.00,2.17,0.00,0.000,4,0.000,0.066,3030,3581,3392,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4610,-0.48,-146.0,487.7,-7.8,337,4615,0.00,2.15,0.00,0.000,6,0.000,0.046,3031,2169,3392,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4940,-0.48,-146.0,514.0,-7.7,348,4946,0.00,2.22,0.00,0.000,4,0.000,0.066,3019,3587,3391,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4983,-0.48,-146.0,516.3,-7.7,349,4987,0.00,2.15,0.00,0.000,6,0.000,0.047,3020,2170,3391,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5295,-0.48,-146.0,541.3,-7.5,360,5301,0.00,2.28,0.00,0.000,4,0.000,0.066,3009,3592,3391,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5318,-0.48,-146.0,541.3,-7.5,360,5326,0.12,2.15,0.00,0.000,6,0.135,0.047,3046,2173,3391,0,0,0,0,0,0,26.11,26.24,28.83
$GC,5626,-0.48,-146.0,561.5,-5.9,371,5631,0.00,2.25,0.00,0.000,4,0.000,0.067,3037,3587,3390,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5655,-0.48,-146.0,563.4,-6.0,372,5661,0.00,2.17,0.00,0.000,6,0.000,0.047,3037,2167,3390,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5986,-0.48,-146.0,586.3,-7.2,383,5991,0.00,2.22,0.00,0.000,4,0.000,0.067,3027,3580,3389,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6018,-0.48,-146.0,588.5,-7.3,384,6022,0.00,2.15,0.00,0.000,6,0.000,0.048,3026,2169,3389,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6341,-0.48,-146.0,615.3,-8.3,395,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2167,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6641,-0.48,-146.0,641.9,-8.9,405,6646,0.00,2.22,0.00,0.000,4,0.000,0.067,3016,3582,3387,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6693,-0.48,-146.0,644.7,-9.0,406,6701,0.00,2.15,0.00,0.000,6,0.000,0.048,3017,2167,3387,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7000,-0.48,-146.0,674.3,-8.7,417,7001,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2167,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7301,-0.48,-146.0,699.1,-8.3,427,7307,0.00,2.25,0.00,0.000,4,0.000,0.067,3006,3581,3387,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7333,-0.48,-146.0,701.6,-8.3,428,7338,0.12,2.15,0.00,0.000,6,0.134,0.048,3043,2178,3386,0,0,0,0,0,0,26.12,26.25,28.83
$GC,7657,-0.48,-146.0,722.5,-6.1,439,7662,0.00,2.20,0.00,0.000,4,0.000,0.068,3035,3574,3386,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7690,-0.48,-146.0,724.5,-6.2,440,7694,0.00,2.15,0.00,0.000,6,0.000,0.049,3034,2166,3386,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8013,-0.48,-146.0,744.5,-6.0,451,8018,0.00,2.22,0.00,0.000,4,0.000,0.069,3025,3577,3385,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8060,-0.48,-146.0,746.4,-6.2,452,8064,0.00,2.15,0.00,0.000,6,0.000,0.050,3025,2167,3385,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8368,-0.48,-146.0,767.5,-6.6,462,8373,0.00,2.28,0.00,0.000,4,0.000,0.068,3014,3590,3385,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8400,-0.48,-146.0,769.6,-6.7,463,8404,0.00,2.17,0.00,0.000,6,0.000,0.049,3014,2169,3384,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8722,-0.48,-146.0,793.9,-7.5,474,8728,0.00,2.25,0.00,0.000,4,0.000,0.068,3004,3583,3384,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8754,-0.48,-146.0,796.3,-7.6,475,8760,0.10,2.15,0.00,0.000,6,0.108,0.050,3041,2170,3384,0,0,0,0,0,0,26.08,26.24,28.83
$GC,9083,-0.48,-146.0,816.7,-6.4,486,9088,0.00,2.22,0.00,0.000,4,0.000,0.069,3033,3577,3383,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9113,-0.48,-146.0,818.7,-6.5,487,9119,0.00,2.12,0.00,0.000,6,0.000,0.050,3033,2184,3383,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9443,-0.48,-146.0,842.2,-7.3,498,9449,0.00,2.20,0.00,0.000,4,0.000,0.068,3023,3580,3383,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9475,-0.48,-146.0,844.5,-7.4,499,9479,0.00,2.15,0.00,0.000,6,0.000,0.050,3023,2167,3383,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9798,-0.48,-146.0,871.2,-8.2,510,9804,0.00,2.28,0.00,0.000,4,0.000,0.069,3013,3587,3383,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9830,-0.48,-146.0,873.8,-8.3,511,9834,0.00,2.17,0.00,0.000,6,0.000,0.050,3013,2175,3383,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10158,-0.48,-146.0,903.1,-8.8,522,10163,0.00,2.25,0.00,0.000,4,0.000,0.069,3003,3588,3382,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10188,-0.48,-146.0,905.9,-8.9,523,10194,0.10,2.15,0.00,0.000,6,0.106,0.050,3040,2173,3382,0,0,0,0,0,0,26.08,26.22,28.83
$GC,10518,-0.48,-146.0,930.1,-7.0,534,10524,0.00,2.22,0.00,0.000,4,0.000,0.069,3032,3583,3381,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10550,-0.48,-146.0,932.3,-7.1,535,10555,0.00,2.15,0.00,0.000,6,0.000,0.050,3032,2176,3381,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10873,-0.48,-146.0,955.8,-7.0,546,10879,0.00,2.22,0.00,0.000,4,0.000,0.070,3022,3584,3381,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10916,-0.48,-146.0,958.0,-7.1,547,10920,0.00,2.17,0.00,0.000,6,0.000,0.050,3022,2166,3381,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11228,-0.48,-146.0,981.1,-6.9,558,11234,0.00,2.28,0.00,0.000,4,0.000,0.070,3012,3591,3381,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11277,-0.48,-146.0,983.4,-7.0,559,11281,0.00,2.17,0.00,0.000,6,0.000,0.050,3012,2171,3381,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,11370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11370,begin apogee
$GC,11377,-0.22,0.0,992.2,-7.6,562,11507,0.32,0.00,125.05,1.198,6,0.113,0.000,3123,2314,2794,0,0,0,0,0,0,26.03,28.83,23.71
$STATE,11510,end apogee,CONTROL_FINISHED_OK
$STATE,11510,begin climb
$GC,11513,0.48,146.0,995.6,0.0,566,11655,0.65,2.50,134.07,1.164,4,0.080,0.068,3344,3697,2196,0,0,0,0,0,0,24.56,23.85,23.14
$GC,11679,0.48,158.8,986.7,6.8,572,11699,0.00,2.33,12.70,1.028,6,0.000,0.050,3355,2304,2145,0,0,0,0,0,0,28.83,24.20,23.32
$GC,11999,0.48,158.8,952.8,10.2,583,12000,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2303,2137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12299,0.48,158.8,922.7,9.9,593,12304,0.00,2.33,0.00,0.000,4,0.000,0.070,3355,3711,2135,0,0,0,0,0,0,28.83,25.44,28.83
$GC,12367,0.48,158.8,915.7,10.8,595,12371,0.00,2.25,0.00,0.000,6,0.000,0.051,3366,2298,2135,0,0,0,0,0,0,28.83,25.55,28.83
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$STATE,22498,end climb,SURFACE_DEPTH_REACHED
$STATE,22498,begin surface coast
$FINISH,1.0,1.022195
$STATE,22533,end surface coast,CONTROL_FINISHED_OK
$STATE,22533,begin surface
$SM_CCo,22613,0.00,0.000,0,0,1180,395.91
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.85
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,23.1,20.687
$10V_AH,10.2,17.497
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.900,190.950,459.225,0.000,0.000,28.765,39.557,168.444,0.000,0.000,16.501,3322.543,15827.092,556.135,2882.975,384.051,0.000,1977.805,0.000,2615.753,0.000,0.536,0.000
$DEVICE_MAMPS,221.850,83.385,1197.990,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,873.492,739.875,523.215,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296888
$DATA_FILE_SIZE,73373,1270
$CAP_FILE_SIZE,187642,0
$CFSIZE,260165632,246116352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.015,237.6,1
$GPS,131012,133053,4712.427,-12631.929,38,1.7,38,18.6