version: 66.11
glider: 187
mission: 2
dive: 167
start: 10 20 112 0 20 3
data:
$ID,187
$MISSION,2
$DIVE,167
$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,-1587836.6
$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,27
$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
$GPS1,201012,001230,4737.736,-12525.372,42,1.5,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-77.9
$GPS2,201012,001931,4737.822,-12525.215,14,1.7,14,18.7
$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,233.3,138706,-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,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,85,0.00,0.00,-65.88,0.000,2,0.000,0.000,113,2162,2761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.48,-146.0,3.3,-5.1,11,123,11.25,2.33,-13.07,0.000,4,0.219,0.075,3023,3581,3394,0,0,0,0,0,0,25.21,25.56,25.98
$GC,171,-0.48,-146.0,25.5,-21.0,25,179,0.00,2.15,0.00,0.000,6,0.000,0.043,3023,2180,3396,0,0,0,0,0,0,28.83,25.66,28.83
$GC,488,-0.48,-146.0,71.1,-14.7,86,495,0.00,2.20,0.00,0.000,4,0.000,0.050,3023,767,3399,0,0,0,0,0,0,28.83,25.79,28.83
$GC,559,-0.48,-146.0,80.7,-12.9,99,565,0.00,2.17,0.00,0.000,6,0.000,0.050,3013,2179,3399,0,0,0,0,0,0,28.83,25.81,28.83
$GC,870,-0.48,-146.0,122.7,-13.6,158,871,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2179,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1171,-0.48,-146.0,162.5,-12.9,178,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2179,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1470,-0.48,-146.0,198.0,-10.7,198,1476,0.00,2.22,0.00,0.000,4,0.000,0.062,3002,3595,3400,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1493,-0.48,-146.0,199.6,-10.8,199,1500,0.15,2.15,0.00,0.000,6,0.133,0.043,3045,2164,3399,0,0,0,0,0,0,25.89,26.06,28.83
$GC,1801,-0.48,-146.0,227.7,-8.9,215,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2162,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2100,-0.48,-146.0,257.2,-10.0,230,2106,0.00,2.25,0.00,0.000,4,0.000,0.063,3036,3595,3399,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2162,-0.48,-146.0,263.3,-10.2,233,2166,0.00,2.12,0.00,0.000,6,0.000,0.043,3036,2175,3400,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2475,-0.48,-146.0,295.4,-10.0,249,2480,0.00,2.22,0.00,0.000,4,0.000,0.063,3026,3586,3398,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2523,-0.48,-146.0,299.6,-10.3,251,2527,0.00,2.12,0.00,0.000,6,0.000,0.044,3026,2171,3398,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2830,-0.48,-146.0,332.8,-10.3,266,2836,0.00,2.20,0.00,0.000,4,0.000,0.063,3016,3577,3397,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2872,-0.48,-146.0,337.0,-10.3,268,2876,0.00,2.12,0.00,0.000,6,0.000,0.044,3015,2167,3397,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3185,-0.48,-146.0,370.2,-10.2,284,3186,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2164,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3485,-0.48,-146.0,397.9,-8.9,299,3490,0.00,2.20,0.00,0.000,4,0.000,0.063,3005,3579,3396,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3545,-0.48,-146.0,403.4,-9.2,302,3551,0.12,2.15,0.00,0.000,6,0.138,0.045,3041,2165,3396,0,0,0,0,0,0,26.01,26.17,28.83
$GC,3875,-0.48,-146.0,428.2,-7.6,313,3881,0.00,2.22,0.00,0.000,4,0.000,0.065,3032,3587,3396,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3905,-0.48,-146.0,430.5,-7.6,314,3910,0.00,2.15,0.00,0.000,6,0.000,0.045,3032,2166,3395,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4235,-0.48,-146.0,457.3,-8.8,325,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2164,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4535,-0.48,-146.0,483.8,-9.1,335,4540,0.00,2.25,0.00,0.000,4,0.000,0.065,3022,3592,3394,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4578,-0.48,-146.0,486.6,-9.1,336,4582,0.00,2.15,0.00,0.000,6,0.000,0.046,3022,2167,3394,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4890,-0.48,-146.0,515.6,-9.0,347,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2165,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5190,-0.48,-146.0,542.9,-9.4,357,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2165,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5490,-0.48,-146.0,572.7,-10.0,367,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2165,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5790,-0.48,-146.0,602.1,-9.6,377,5796,0.00,2.25,0.00,0.000,4,0.000,0.066,3012,3591,3392,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5850,-0.48,-146.0,608.1,-9.8,379,5855,0.00,2.15,0.00,0.000,6,0.000,0.047,3012,2174,3392,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6181,-0.48,-146.0,640.4,-9.6,390,6186,0.00,2.20,0.00,0.000,4,0.000,0.067,3001,3580,3391,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6233,-0.48,-146.0,643.3,-9.7,391,6240,0.15,2.12,0.00,0.000,6,0.129,0.047,3045,2172,3391,0,0,0,0,0,0,26.03,26.20,28.83
$GC,6541,-0.48,-146.0,668.8,-7.1,402,6546,0.00,2.25,0.00,0.000,4,0.000,0.067,3037,3587,3391,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6571,-0.48,-146.0,671.0,-7.2,403,6576,0.00,2.12,0.00,0.000,6,0.000,0.047,3037,2175,3391,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6901,-0.48,-146.0,697.5,-8.2,414,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2173,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7200,-0.48,-146.0,722.9,-8.4,424,7206,0.00,2.25,0.00,0.000,4,0.000,0.067,3027,3593,3390,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7268,-0.48,-146.0,728.2,-8.6,426,7272,0.00,2.15,0.00,0.000,6,0.000,0.047,3026,2173,3390,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7586,-0.48,-146.0,755.2,-8.1,437,7591,0.00,2.25,0.00,0.000,4,0.000,0.067,3017,3593,3389,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7634,-0.48,-146.0,757.8,-8.2,438,7638,0.00,2.15,0.00,0.000,6,0.000,0.047,3017,2172,3389,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7941,-0.48,-146.0,783.7,-7.7,448,7945,0.00,2.25,0.00,0.000,4,0.000,0.068,3007,3590,3388,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7981,-0.48,-146.0,786.1,-7.6,449,7985,0.12,2.15,0.00,0.000,6,0.133,0.048,3043,2173,3388,0,0,0,0,0,0,26.05,26.19,28.83
$GC,8299,-0.48,-146.0,806.4,-6.1,460,8304,0.00,2.22,0.00,0.000,4,0.000,0.067,3034,3585,3387,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8367,-0.48,-146.0,810.4,-6.4,462,8371,0.00,2.15,0.00,0.000,6,0.000,0.048,3034,2167,3388,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8685,-0.48,-146.0,832.2,-6.6,473,8691,0.00,2.22,0.00,0.000,4,0.000,0.067,3025,3579,3387,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8728,-0.48,-146.0,834.4,-6.8,474,8732,0.00,2.15,0.00,0.000,6,0.000,0.048,3025,2174,3387,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9045,-0.48,-146.0,860.1,-8.0,485,9050,0.00,2.25,0.00,0.000,4,0.000,0.068,3015,3591,3387,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9093,-0.48,-146.0,862.5,-8.1,486,9097,0.00,2.15,0.00,0.000,6,0.000,0.048,3014,2174,3386,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9400,-0.48,-146.0,889.8,-8.3,496,9406,0.00,2.25,0.00,0.000,4,0.000,0.068,3005,3585,3386,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9483,-0.48,-146.0,894.9,-8.4,498,9490,0.12,2.15,0.00,0.000,6,0.134,0.048,3040,2165,3386,0,0,0,0,0,0,26.03,26.17,28.83
$GC,9790,-0.48,-146.0,915.6,-5.5,509,9795,0.00,2.22,0.00,0.000,4,0.000,0.068,3032,3580,3386,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9828,-0.48,-146.0,917.4,-5.5,510,9832,0.00,2.12,0.00,0.000,6,0.000,0.049,3032,2179,3386,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10146,-0.48,-146.0,934.6,-5.1,521,10147,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2176,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10446,-0.48,-146.0,950.4,-5.4,531,10451,0.00,2.20,0.00,0.000,4,0.000,0.069,3023,3575,3385,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10478,-0.48,-146.0,952.1,-5.4,532,10483,0.00,2.15,0.00,0.000,6,0.000,0.049,3022,2165,3385,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10801,-0.48,-146.0,971.0,-5.5,543,10806,0.00,2.25,0.00,0.000,4,0.000,0.069,3013,3583,3385,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10834,-0.48,-146.0,972.5,-5.3,544,10838,0.00,2.15,0.00,0.000,6,0.000,0.049,3013,2170,3384,0,0,0,0,0,0,28.83,26.16,28.83
$STATE,11123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11124,begin apogee
$GC,11130,-0.22,0.0,990.9,-6.6,554,11262,0.32,0.00,125.70,1.196,6,0.116,0.000,3123,2314,2794,0,0,0,0,0,0,25.96,28.83,23.68
$STATE,11265,end apogee,CONTROL_FINISHED_OK
$STATE,11265,begin climb
$GC,11268,0.48,146.0,993.9,0.0,558,11406,0.65,0.00,133.98,1.163,6,0.080,0.000,3345,2314,2198,0,0,0,0,0,0,24.57,28.83,23.01
$GC,11696,0.48,146.0,958.6,9.5,573,11702,0.00,2.33,0.00,0.000,4,0.000,0.069,3345,3700,2187,0,0,0,0,0,0,28.83,24.97,28.83
$GC,11729,0.48,146.0,955.3,9.7,574,11733,0.00,2.25,0.00,0.000,6,0.000,0.050,3356,2304,2187,0,0,0,0,0,0,28.83,25.09,28.83
$GC,12051,0.48,146.0,922.0,10.1,585,12053,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2298,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12351,0.48,146.0,893.8,9.3,595,12352,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2298,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12651,0.48,146.0,865.0,9.8,605,12657,0.00,2.28,0.00,0.000,4,0.000,0.068,3356,3701,2184,0,0,0,0,0,0,28.83,25.71,28.83
$GC,12704,0.48,146.0,861.8,10.0,606,12711,0.00,2.20,0.00,0.000,6,0.000,0.050,3365,2293,2183,0,0,0,0,0,0,28.83,25.81,28.83
$GC,13011,0.48,146.0,826.2,10.8,617,13017,0.00,2.30,0.00,0.000,4,0.000,0.069,3365,3709,2184,0,0,0,0,0,0,28.83,25.79,28.83
$GC,13071,0.48,146.0,818.5,11.8,619,13077,0.00,2.22,0.00,0.000,6,0.000,0.051,3376,2289,2183,0,0,0,0,0,0,28.83,25.89,28.83
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$STATE,22750,end climb,SURFACE_DEPTH_REACHED
$STATE,22750,begin surface coast
$FINISH,1.0,1.003848
$STATE,22798,end surface coast,CONTROL_FINISHED_OK
$STATE,22798,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.17
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$XPDR_PINGS,0
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$10V_AH,10.2,20.379
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$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,296772
$DATA_FILE_SIZE,73477,1288
$CAP_FILE_SIZE,196041,0
$CFSIZE,260165632,243912704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103,127.5,1
$GPS,201012,064253,4735.934,-12528.555,37,1.9,55,18.7