version: 66.11
glider: 187
mission: 2
dive: 179
start: 10 23 112 6 11 34
data:
$ID,187
$MISSION,2
$DIVE,179
$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,-1587851.9
$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,32
$R_STBD_OVSHOOT,25
$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
$GPS1,231012,060305,4726.039,-12557.361,37,1.0,43,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-77.6
$GPS2,231012,061101,4726.054,-12557.405,17,1.3,17,18.6
$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,204.2,92622,-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,-146.0,0.0,0.0,0,81,0.00,0.00,-62.60,0.000,2,0.000,0.000,108,2173,2829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.48,-146.0,3.6,-4.6,10,114,11.35,2.35,-11.25,0.000,4,0.221,0.072,3023,3597,3393,0,0,0,0,0,0,25.17,25.53,25.96
$GC,155,-0.48,-146.0,23.4,-23.4,21,162,0.00,2.20,0.00,0.000,6,0.000,0.041,3022,2170,3396,0,0,0,0,0,0,28.83,25.63,28.83
$GC,477,-0.48,-146.0,72.3,-12.3,82,484,0.00,2.20,0.00,0.000,4,0.000,0.050,3022,763,3399,0,0,0,0,0,0,28.83,25.76,28.83
$GC,606,-0.48,-146.0,89.3,-12.7,106,613,0.00,2.20,0.00,0.000,6,0.000,0.049,3013,2178,3399,0,0,0,0,0,0,28.83,25.81,28.83
$GC,925,-0.48,-146.0,129.5,-12.4,157,930,0.00,2.17,0.00,0.000,4,0.000,0.061,3003,3578,3400,0,0,0,0,0,0,28.83,25.84,28.83
$GC,976,-0.48,-146.0,135.3,-12.7,160,985,0.10,2.17,0.00,0.000,6,0.111,0.042,3038,2165,3400,0,0,0,0,0,0,25.77,25.95,28.83
$GC,1287,-0.48,-146.0,166.9,-9.2,181,1292,0.00,2.10,0.00,0.000,4,0.000,0.050,3038,778,3400,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1347,-0.48,-146.0,172.8,-9.5,185,1352,0.00,2.12,0.00,0.000,6,0.000,0.049,3031,2171,3400,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1670,-0.48,-146.0,204.8,-10.1,206,1676,0.00,2.22,0.00,0.000,4,0.000,0.062,3021,3590,3399,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1718,-0.48,-146.0,209.2,-10.6,208,1722,0.00,2.12,0.00,0.000,6,0.000,0.043,3020,2180,3399,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2025,-0.48,-146.0,242.2,-10.3,223,2031,0.00,2.15,0.00,0.000,4,0.000,0.051,3020,762,3399,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2073,-0.48,-146.0,246.4,-10.6,225,2077,0.00,2.17,0.00,0.000,6,0.000,0.050,3010,2182,3399,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2381,-0.48,-146.0,279.8,-10.7,240,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2182,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2680,-0.48,-146.0,310.3,-9.9,255,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2182,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2980,-0.48,-146.0,339.6,-10.1,270,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2182,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3281,-0.48,-146.0,370.3,-10.2,285,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2182,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3580,-0.48,-146.0,400.7,-10.0,300,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2182,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3880,-0.48,-146.0,430.7,-9.9,310,3886,0.00,2.20,0.00,0.000,4,0.000,0.065,3000,3583,3395,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3940,-0.48,-146.0,437.0,-10.4,312,3947,0.15,2.15,0.00,0.000,6,0.128,0.046,3045,2168,3395,0,0,0,0,0,0,25.99,26.16,28.83
$GC,4270,-0.48,-146.0,462.4,-7.5,323,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2165,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4570,-0.48,-146.0,484.3,-7.4,333,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2165,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4871,-0.48,-146.0,506.1,-7.2,343,4875,0.00,2.28,0.00,0.000,4,0.000,0.066,3037,3590,3392,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4933,-0.48,-146.0,510.7,-7.1,345,4938,0.00,2.12,0.00,0.000,6,0.000,0.047,3037,2181,3392,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5263,-0.48,-146.0,533.3,-6.9,356,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2179,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5563,-0.48,-146.0,553.6,-6.9,366,5569,0.00,2.20,0.00,0.000,4,0.000,0.067,3027,3577,3391,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5601,-0.48,-146.0,555.8,-6.8,367,5605,0.00,2.12,0.00,0.000,6,0.000,0.047,3027,2170,3391,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5918,-0.48,-146.0,581.2,-7.8,378,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2167,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6218,-0.48,-146.0,605.1,-8.1,388,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2167,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6518,-0.48,-146.0,629.9,-8.3,398,6524,0.00,2.25,0.00,0.000,4,0.000,0.067,3016,3587,3389,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6591,-0.48,-146.0,635.5,-8.8,400,6595,0.00,2.15,0.00,0.000,6,0.000,0.047,3016,2165,3390,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6903,-0.48,-146.0,665.7,-9.2,411,6909,0.00,2.22,0.00,0.000,4,0.000,0.067,3006,3579,3390,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6941,-0.48,-146.0,668.6,-9.3,412,6946,0.12,2.15,0.00,0.000,6,0.132,0.047,3043,2164,3390,0,0,0,0,0,0,26.02,26.16,28.83
$GC,7259,-0.48,-146.0,693.9,-7.5,423,7264,0.00,2.25,0.00,0.000,4,0.000,0.067,3034,3584,3389,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7302,-0.48,-146.0,696.4,-7.6,424,7306,0.00,2.15,0.00,0.000,6,0.000,0.047,3034,2167,3389,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7614,-0.48,-146.0,721.9,-7.9,435,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2164,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7914,-0.48,-146.0,745.2,-7.7,445,7919,0.00,2.22,0.00,0.000,4,0.000,0.068,3025,3578,3388,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7957,-0.48,-146.0,747.5,-7.6,446,7961,0.00,2.12,0.00,0.000,6,0.000,0.048,3025,2175,3388,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8269,-0.48,-146.0,773.3,-8.0,457,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2173,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8569,-0.48,-146.0,797.4,-8.1,467,8575,0.00,2.25,0.00,0.000,4,0.000,0.068,3015,3584,3387,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8659,-0.48,-146.0,805.2,-8.6,470,8665,0.00,2.15,0.00,0.000,6,0.000,0.048,3015,2174,3387,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8990,-0.48,-146.0,833.8,-8.5,481,8995,0.00,2.22,0.00,0.000,4,0.000,0.068,3005,3578,3387,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9042,-0.48,-146.0,836.4,-8.5,482,9050,0.12,2.15,0.00,0.000,6,0.133,0.048,3040,2163,3387,0,0,0,0,0,0,26.00,26.14,28.83
$GC,9350,-0.48,-146.0,859.7,-6.7,493,9353,0.00,2.28,0.00,0.000,4,0.000,0.068,3033,3580,3387,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9375,-0.48,-146.0,859.7,-6.7,493,9381,0.00,2.15,0.00,0.000,6,0.000,0.048,3032,2165,3386,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9682,-0.48,-146.0,883.0,-6.9,504,9686,0.00,2.28,0.00,0.000,4,0.000,0.069,3023,3580,3386,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9722,-0.48,-146.0,885.4,-7.0,505,9726,0.00,2.15,0.00,0.000,6,0.000,0.049,3023,2175,3386,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10044,-0.48,-146.0,908.6,-7.0,516,10046,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2173,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10345,-0.48,-146.0,929.5,-7.0,526,10351,0.00,2.22,0.00,0.000,4,0.000,0.069,3013,3577,3385,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10382,-0.48,-146.0,931.8,-7.2,527,10386,0.00,2.15,0.00,0.000,6,0.000,0.049,3013,2176,3385,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10704,-0.48,-146.0,957.2,-7.7,538,10706,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2174,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11005,-0.48,-146.0,979.9,-7.5,548,11011,0.00,2.22,0.00,0.000,4,0.000,0.070,3003,3579,3384,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11037,-0.48,-146.0,982.2,-7.6,549,11042,0.12,2.15,0.00,0.000,6,0.133,0.048,3039,2169,3384,0,0,0,0,0,0,25.98,26.13,28.83
$STATE,11147,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11147,begin apogee
$GC,11154,-0.22,0.0,990.2,-6.8,553,11286,0.22,0.00,126.35,1.186,6,0.116,0.000,3119,2312,2793,0,0,0,0,0,0,26.01,28.83,23.66
$STATE,11290,end apogee,CONTROL_FINISHED_OK
$STATE,11290,begin climb
$GC,11292,0.48,146.0,994.2,0.0,557,11434,0.68,2.47,134.50,1.153,4,0.083,0.067,3348,3704,2196,0,0,0,0,0,0,24.56,23.66,22.94
$GC,11450,0.48,161.6,985.9,6.7,563,11471,0.00,2.38,15.10,1.037,6,0.000,0.049,3358,2298,2135,0,0,0,0,0,0,28.83,23.95,23.04
$GC,11773,0.48,161.6,951.9,10.8,573,11774,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,2298,2127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12072,0.48,161.6,919.3,11.0,583,12073,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,2298,2126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12372,0.48,161.6,886.9,10.7,593,12374,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,2297,2125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12672,0.48,161.6,854.8,10.6,603,12678,0.00,2.30,0.00,0.000,4,0.000,0.069,3358,3701,2124,0,0,0,0,0,0,28.83,25.66,28.83
$GC,12705,0.48,161.6,851.4,10.8,604,12709,0.00,2.20,0.00,0.000,6,0.000,0.050,3368,2296,2124,0,0,0,0,0,0,28.83,25.77,28.83
$GC,13027,0.48,161.6,815.1,10.8,615,13033,0.00,2.30,0.00,0.000,4,0.000,0.069,3368,3707,2124,0,0,0,0,0,0,28.83,25.75,28.83
$GC,13060,0.48,161.6,811.4,11.2,616,13064,0.00,2.20,0.00,0.000,6,0.000,0.049,3379,2294,2123,0,0,0,0,0,0,28.83,25.86,28.83
$GC,13382,0.48,161.6,774.4,11.2,627,13388,0.00,2.30,0.00,0.000,4,0.000,0.069,3379,3710,2123,0,0,0,0,0,0,28.83,25.79,28.83
$GC,13435,0.48,161.6,770.8,11.4,628,13444,0.15,2.20,0.00,0.000,6,0.158,0.049,3350,2293,2123,0,0,0,0,0,0,25.70,25.91,28.83
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$STATE,22212,end climb,SURFACE_DEPTH_REACHED
$STATE,22212,begin surface coast
$FINISH,0.9,1.021781
$STATE,22261,end surface coast,CONTROL_FINISHED_OK
$STATE,22261,begin surface
$SM_CCo,22340,0.00,0.000,0,0,1151,402.78
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$TT8_MAMPS,0.026964,0.026964
$HUMID,45.03
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$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,22.9,25.847
$10V_AH,10.2,21.734
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.925,186.450,467.525,0.000,0.000,26.781,36.592,278.278,0.000,0.000,18.709,3263.072,15671.689,594.933,2867.871,412.137,0.000,1956.440,0.000,2526.983,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,866.142,738.783,520.959,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296796
$DATA_FILE_SIZE,70159,1261
$CAP_FILE_SIZE,184685,0
$CFSIZE,260165632,242872320
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069, 40.5,1
$GPS,231012,122506,4723.989,-12600.049,34,1.1,34,18.6