version: 66.11
glider: 187
mission: 2
dive: 142
start: 10 13 112 13 37 39
data:
$ID,187
$MISSION,2
$DIVE,142
$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,-1587803
$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,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
$GPS1,131012,133053,4712.427,-12631.929,38,1.7,38,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-76.5
$GPS2,131012,133707,4712.430,-12631.873,14,1.6,14,18.6
$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,35.9,144786,-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,-67.00,0.000,2,0.000,0.000,129,2170,2758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.48,-146.0,3.4,-4.8,11,123,11.48,2.33,-12.73,0.000,4,0.229,0.074,3026,3588,3394,0,0,0,0,0,0,25.22,25.56,25.95
$GC,355,-0.48,-146.0,53.6,-13.0,61,363,0.00,2.17,0.00,0.000,6,0.000,0.043,3027,2165,3398,0,0,0,0,0,0,28.83,25.77,28.83
$GC,671,-0.48,-146.0,96.6,-13.3,122,677,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2162,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,983,-0.48,-146.0,133.8,-11.1,167,989,0.00,2.10,0.00,0.000,4,0.000,0.050,3026,776,3400,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1073,-0.48,-146.0,143.3,-10.5,173,1079,0.00,2.12,0.00,0.000,6,0.000,0.049,3017,2173,3400,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1388,-0.48,-146.0,178.3,-11.5,194,1394,0.00,2.17,0.00,0.000,4,0.000,0.062,3007,3579,3400,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1435,-0.48,-146.0,183.6,-11.9,197,1441,0.08,2.10,0.00,0.000,6,0.117,0.044,3035,2175,3400,0,0,0,0,0,0,25.92,26.07,28.83
$GC,1759,-0.48,-146.0,216.7,-9.8,216,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2173,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2059,-0.48,-146.0,246.4,-10.0,231,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2173,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2361,-0.48,-146.0,276.6,-10.0,246,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2173,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2659,-0.48,-146.0,303.9,-8.7,261,2663,0.00,2.22,0.00,0.000,4,0.000,0.064,3026,3584,3398,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2721,-0.48,-146.0,309.5,-9.0,264,2726,0.00,2.15,0.00,0.000,6,0.000,0.044,3027,2171,3398,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3041,-0.48,-146.0,336.8,-8.1,280,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2168,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3341,-0.48,-146.0,361.9,-8.6,295,3347,0.00,2.25,0.00,0.000,4,0.000,0.064,3016,3589,3396,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3369,-0.48,-146.0,363.7,-8.7,296,3373,0.00,2.15,0.00,0.000,6,0.000,0.046,3016,2174,3396,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3676,-0.48,-146.0,394.3,-9.9,311,3677,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2171,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3976,-0.48,-146.0,424.6,-10.1,322,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2171,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4276,-0.48,-146.0,453.4,-9.4,332,4281,0.00,2.25,0.00,0.000,4,0.000,0.066,3006,3594,3394,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4306,-0.48,-146.0,456.3,-9.5,333,4312,0.12,2.17,0.00,0.000,6,0.135,0.047,3043,2172,3394,0,0,0,0,0,0,26.10,26.23,28.83
$GC,4636,-0.48,-146.0,482.6,-8.1,344,4641,0.00,2.20,0.00,0.000,4,0.000,0.066,3034,3577,3393,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4669,-0.48,-146.0,485.2,-8.2,345,4673,0.00,2.15,0.00,0.000,6,0.000,0.047,3034,2165,3393,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4991,-0.48,-146.0,514.6,-8.8,356,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2164,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5291,-0.48,-146.0,539.3,-8.1,366,5297,0.00,2.22,0.00,0.000,4,0.000,0.067,3024,3580,3391,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5334,-0.48,-146.0,541.7,-8.1,367,5338,0.00,2.15,0.00,0.000,6,0.000,0.047,3024,2170,3392,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5647,-0.48,-146.0,568.6,-8.2,378,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2168,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5946,-0.48,-146.0,592.7,-8.0,388,5952,0.00,2.28,0.00,0.000,4,0.000,0.067,3014,3589,3390,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5969,-0.48,-146.0,592.7,-8.0,388,5975,0.00,2.17,0.00,0.000,6,0.000,0.047,3013,2165,3391,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6276,-0.48,-146.0,620.9,-8.4,399,6281,0.00,2.28,0.00,0.000,4,0.000,0.067,3003,3584,3389,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6314,-0.48,-146.0,623.5,-8.5,400,6319,0.12,2.17,0.00,0.000,6,0.137,0.048,3039,2167,3390,0,0,0,0,0,0,26.10,26.24,28.83
$GC,6632,-0.48,-146.0,647.0,-7.2,411,6638,0.00,2.25,0.00,0.000,4,0.000,0.067,3031,3585,3389,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6665,-0.48,-146.0,649.3,-7.3,412,6669,0.00,2.15,0.00,0.000,6,0.000,0.048,3031,2175,3389,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6987,-0.48,-146.0,674.2,-7.6,423,6993,0.00,2.22,0.00,0.000,4,0.000,0.068,3021,3584,3388,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7035,-0.48,-146.0,676.6,-7.7,424,7039,0.00,2.15,0.00,0.000,6,0.000,0.048,3021,2173,3388,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7343,-0.48,-146.0,702.9,-8.0,434,7348,0.00,2.25,0.00,0.000,4,0.000,0.067,3011,3584,3387,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7375,-0.48,-146.0,705.4,-8.0,435,7379,0.00,2.17,0.00,0.000,6,0.000,0.048,3011,2170,3387,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7703,-0.48,-146.0,731.6,-7.6,446,7705,0.12,0.00,0.00,0.000,6,0.144,0.000,3046,2169,3387,0,0,0,0,0,0,26.22,28.83,28.83
$GC,8003,-0.48,-146.0,747.9,-5.3,456,8008,0.00,2.22,0.00,0.000,4,0.000,0.068,3038,3581,3387,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8071,-0.48,-146.0,751.4,-5.5,458,8075,0.00,2.15,0.00,0.000,6,0.000,0.049,3038,2177,3386,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8388,-0.48,-146.0,770.3,-5.9,469,8394,0.00,2.22,0.00,0.000,4,0.000,0.069,3027,3581,3386,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8419,-0.48,-146.0,772.2,-5.9,470,8425,0.00,2.15,0.00,0.000,6,0.000,0.049,3027,2175,3386,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8749,-0.48,-146.0,794.3,-6.8,481,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2173,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9048,-0.48,-146.0,816.9,-7.8,491,9054,0.00,2.25,0.00,0.000,4,0.000,0.069,3017,3587,3385,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9108,-0.48,-146.0,821.8,-8.1,493,9114,0.00,2.17,0.00,0.000,6,0.000,0.049,3017,2170,3385,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9438,-0.48,-146.0,850.9,-9.0,504,9439,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2167,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9739,-0.48,-146.0,877.7,-8.9,514,9744,0.00,2.22,0.00,0.000,4,0.000,0.069,3007,3580,3384,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9768,-0.48,-146.0,880.5,-8.9,515,9774,0.12,2.17,0.00,0.000,6,0.133,0.049,3044,2166,3384,0,0,0,0,0,0,26.10,26.23,28.83
$GC,10099,-0.48,-146.0,904.1,-6.7,526,10104,0.00,2.25,0.00,0.000,4,0.000,0.069,3035,3587,3383,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10146,-0.48,-146.0,905.9,-6.7,527,10150,0.00,2.17,0.00,0.000,6,0.000,0.050,3036,2165,3384,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10454,-0.48,-146.0,928.7,-6.8,537,10459,0.00,2.28,0.00,0.000,4,0.000,0.069,3025,3581,3384,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10506,-0.48,-146.0,930.9,-6.8,538,10513,0.00,2.17,0.00,0.000,6,0.000,0.050,3025,2163,3383,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10813,-0.48,-146.0,954.4,-7.0,549,10819,0.00,2.25,0.00,0.000,4,0.000,0.069,3016,3583,3383,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10847,-0.48,-146.0,956.6,-7.1,550,10851,0.00,2.15,0.00,0.000,6,0.000,0.050,3015,2177,3383,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11169,-0.48,-146.0,979.5,-6.8,561,11175,0.00,2.22,0.00,0.000,4,0.000,0.069,3005,3580,3382,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11192,-0.48,-146.0,979.5,-6.8,561,11200,0.12,2.15,0.00,0.000,6,0.132,0.050,3042,2171,3383,0,0,0,0,0,0,26.09,26.22,28.83
$STATE,11376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11376,begin apogee
$GC,11383,-0.22,0.0,990.8,-4.9,568,11515,0.22,0.00,125.20,1.193,6,0.114,0.000,3123,2303,2793,0,0,0,0,0,0,26.12,28.83,23.72
$STATE,11517,end apogee,CONTROL_FINISHED_OK
$STATE,11518,begin climb
$GC,11520,0.48,146.0,993.1,0.0,572,11658,0.65,0.00,133.93,1.158,6,0.080,0.000,3345,2302,2197,0,0,0,0,0,0,24.58,28.83,23.15
$GC,11949,0.48,146.0,955.5,9.8,587,11955,0.00,2.35,0.00,0.000,4,0.000,0.068,3345,3712,2187,0,0,0,0,0,0,28.83,25.06,28.83
$GC,11997,0.48,146.0,952.1,10.0,588,12001,0.00,2.28,0.00,0.000,6,0.000,0.050,3355,2305,2186,0,0,0,0,0,0,28.83,25.18,28.83
$GC,12305,0.48,146.0,918.8,10.0,598,12310,0.00,2.30,0.00,0.000,4,0.000,0.069,3355,3706,2185,0,0,0,0,0,0,28.83,25.47,28.83
$GC,12342,0.48,146.0,915.3,10.3,599,12346,0.00,2.25,0.00,0.000,6,0.000,0.050,3365,2293,2184,0,0,0,0,0,0,28.83,25.56,28.83
$GC,12659,0.48,146.0,881.0,10.6,610,12665,0.00,2.28,0.00,0.000,4,0.000,0.069,3366,3695,2184,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12712,0.48,146.0,877.5,10.8,611,12719,0.00,2.20,0.00,0.000,6,0.000,0.050,3376,2298,2183,0,0,0,0,0,0,28.83,25.76,28.83
$GC,13019,0.48,146.0,839.6,11.5,622,13025,0.00,2.30,0.00,0.000,4,0.000,0.069,3377,3704,2183,0,0,0,0,0,0,28.83,25.79,28.83
$GC,13052,0.48,146.0,835.7,11.9,623,13057,0.15,2.22,0.00,0.000,6,0.161,0.051,3349,2297,2183,0,0,0,0,0,0,25.69,25.86,28.83
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$STATE,22473,end climb,SURFACE_DEPTH_REACHED
$STATE,22475,begin surface coast
$FINISH,0.8,1.010136
$STATE,22536,end surface coast,CONTROL_FINISHED_OK
$STATE,22536,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.32
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.30
$XPDR_PINGS,0
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$10V_AH,10.2,17.610
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.150,195.275,475.200,0.000,0.000,25.557,44.140,174.178,0.000,0.000,15.298,3337.481,15751.321,590.366,2910.563,391.745,0.000,2014.665,0.000,2637.910,0.000,0.536,0.000
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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,296912
$DATA_FILE_SIZE,73612,1278
$CAP_FILE_SIZE,189442,0
$CFSIZE,260165632,246026240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035,282.2,1
$GPS,131012,195553,4714.590,-12628.281,40,1.1,40,18.6