version: 66.11
glider: 187
mission: 2
dive: 243
start: 11 7 112 23 56 54
data:
$ID,187
$MISSION,2
$DIVE,243
$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,-1588060.6
$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,37
$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
$GPS1,071112,234930,4736.282,-12536.535,65,1.4,65,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-75.0
$GPS2,071112,235624,4736.281,-12536.580,15,1.4,20,18.7
$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,250.8,124966,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,79,0.00,0.00,-59.55,0.000,2,0.000,0.000,106,2193,2768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.1,-2.9,10,111,11.55,0.00,-13.45,0.000,6,0.224,0.000,3033,2188,3390,0,0,0,0,0,0,25.04,28.83,26.01
$GC,429,-0.48,-146.0,59.9,-11.7,74,436,0.00,2.25,0.00,0.000,4,0.000,0.050,3033,771,3396,0,0,0,0,0,0,28.83,25.63,28.83
$GC,503,-0.48,-146.0,68.6,-11.1,87,510,0.00,2.20,0.00,0.000,6,0.000,0.050,3025,2185,3396,0,0,0,0,0,0,28.83,25.67,28.83
$GC,824,-0.48,-146.0,105.7,-11.2,148,831,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2185,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1150,-0.48,-146.0,143.3,-11.8,185,1155,0.00,2.17,0.00,0.000,4,0.000,0.050,3025,771,3396,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1193,-0.48,-146.0,148.8,-12.1,188,1199,0.00,2.17,0.00,0.000,6,0.000,0.050,3016,2180,3396,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1510,-0.48,-146.0,184.7,-10.7,209,1515,0.00,2.20,0.00,0.000,4,0.000,0.061,3005,3583,3396,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1578,-0.48,-146.0,191.4,-11.2,213,1585,0.12,2.17,0.00,0.000,6,0.135,0.043,3041,2168,3396,0,0,0,0,0,0,25.75,25.93,28.83
$GC,1894,-0.48,-146.0,219.0,-8.2,231,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2165,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2194,-0.48,-146.0,245.1,-8.8,246,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2165,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2495,-0.48,-146.0,270.3,-8.4,261,2500,0.00,2.22,0.00,0.000,4,0.000,0.063,3033,3577,3396,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2527,-0.48,-146.0,272.1,-8.6,262,2534,0.00,2.15,0.00,0.000,6,0.000,0.044,3033,2166,3396,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2834,-0.48,-146.0,303.2,-10.1,278,2840,0.00,2.28,0.00,0.000,4,0.000,0.063,3023,3593,3396,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2862,-0.48,-146.0,305.2,-10.2,279,2867,0.00,2.17,0.00,0.000,6,0.000,0.044,3022,2167,3396,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3169,-0.48,-146.0,339.6,-10.7,294,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2164,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3472,-0.48,-146.0,368.8,-9.4,309,3477,0.00,2.25,0.00,0.000,4,0.000,0.063,3012,3583,3395,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3513,-0.48,-146.0,372.8,-9.7,311,3517,0.00,2.15,0.00,0.000,6,0.000,0.044,3012,2172,3395,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3835,-0.48,-146.0,404.0,-9.3,327,3841,0.00,2.25,0.00,0.000,4,0.000,0.063,3002,3583,3395,0,0,0,0,0,0,28.83,25.81,28.83
$GC,3883,-0.48,-146.0,406.8,-9.4,328,3888,0.15,2.15,0.00,0.000,6,0.129,0.044,3045,2172,3395,0,0,0,0,0,0,25.79,26.00,28.83
$GC,4190,-0.48,-146.0,429.8,-6.7,338,4194,0.00,2.17,0.00,0.000,4,0.000,0.052,3045,763,3395,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4226,-0.48,-146.0,432.0,-6.8,339,4230,0.00,2.17,0.00,0.000,6,0.000,0.051,3038,2175,3395,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4548,-0.48,-146.0,457.6,-8.4,350,4553,0.00,2.20,0.00,0.000,4,0.000,0.064,3028,3576,3394,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4650,-0.48,-146.0,465.7,-8.9,353,4654,0.00,2.15,0.00,0.000,6,0.000,0.045,3028,2166,3394,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4962,-0.48,-146.0,496.1,-9.3,364,4968,0.00,2.28,0.00,0.000,4,0.000,0.063,3018,3588,3394,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5016,-0.48,-146.0,499.0,-9.4,365,5023,0.00,2.15,0.00,0.000,6,0.000,0.045,3018,2173,3393,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5323,-0.48,-146.0,532.1,-10.1,376,5324,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2170,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5623,-0.48,-146.0,562.0,-10.0,386,5628,0.00,2.28,0.00,0.000,4,0.000,0.065,3007,3583,3392,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5646,-0.48,-146.0,562.0,-10.0,386,5654,0.12,2.15,0.00,0.000,6,0.132,0.046,3043,2178,3392,0,0,0,0,0,0,25.82,25.98,28.83
$GC,5953,-0.48,-146.0,587.5,-7.2,397,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2175,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6253,-0.48,-146.0,607.1,-6.3,407,6257,0.00,2.17,0.00,0.000,4,0.000,0.054,3043,775,3391,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6300,-0.48,-146.0,609.4,-6.5,408,6306,0.00,2.15,0.00,0.000,6,0.000,0.053,3036,2170,3391,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6615,-0.48,-146.0,633.5,-7.5,419,6621,0.00,2.25,0.00,0.000,4,0.000,0.066,3026,3584,3390,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6678,-0.48,-146.0,638.5,-7.9,421,6682,0.00,2.15,0.00,0.000,6,0.000,0.047,3025,2174,3390,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7000,-0.48,-146.0,666.0,-8.2,432,7006,0.00,2.25,0.00,0.000,4,0.000,0.066,3016,3584,3390,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7053,-0.48,-146.0,668.5,-8.2,433,7060,0.00,2.17,0.00,0.000,6,0.000,0.047,3016,2164,3390,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7360,-0.48,-146.0,695.0,-7.9,444,7366,0.00,2.30,0.00,0.000,4,0.000,0.065,3007,3588,3389,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7404,-0.48,-146.0,697.6,-8.1,445,7409,0.12,2.17,0.00,0.000,6,0.132,0.047,3042,2168,3389,0,0,0,0,0,0,25.79,25.96,28.83
$GC,7717,-0.48,-146.0,720.4,-7.1,456,7722,0.00,2.25,0.00,0.000,4,0.000,0.066,3034,3581,3389,0,0,0,0,0,0,28.83,25.73,28.83
$GC,7747,-0.48,-146.0,722.6,-7.1,457,7753,0.00,2.15,0.00,0.000,6,0.000,0.047,3034,2179,3389,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8077,-0.48,-146.0,747.1,-7.2,468,8083,0.00,2.25,0.00,0.000,4,0.000,0.067,3025,3584,3388,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8109,-0.48,-146.0,749.3,-7.2,469,8114,0.00,2.17,0.00,0.000,6,0.000,0.047,3025,2171,3388,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8432,-0.48,-146.0,772.5,-7.0,480,8438,0.00,2.28,0.00,0.000,4,0.000,0.066,3016,3587,3387,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8470,-0.48,-146.0,774.6,-7.1,481,8474,0.00,2.17,0.00,0.000,6,0.000,0.047,3015,2173,3387,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8787,-0.48,-146.0,799.9,-8.1,492,8793,0.00,2.30,0.00,0.000,4,0.000,0.067,3007,3595,3387,0,0,0,0,0,0,28.83,25.69,28.83
$GC,8818,-0.48,-146.0,802.4,-8.3,493,8825,0.08,2.17,0.00,0.000,6,0.110,0.048,3036,2180,3387,0,0,0,0,0,0,25.75,25.94,28.83
$GC,9148,-0.48,-146.0,827.7,-7.8,504,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2178,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9448,-0.48,-146.0,851.0,-7.6,514,9454,0.00,2.28,0.00,0.000,4,0.000,0.067,3028,3587,3387,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9501,-0.48,-146.0,853.3,-7.6,515,9508,0.00,2.20,0.00,0.000,6,0.000,0.048,3028,2171,3387,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9808,-0.48,-146.0,879.2,-7.6,526,9813,0.00,2.30,0.00,0.000,4,0.000,0.067,3018,3595,3386,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9868,-0.48,-146.0,884.2,-7.9,528,9871,0.00,2.22,0.00,0.000,6,0.000,0.047,3018,2165,3385,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10200,-0.48,-146.0,910.5,-7.6,539,10206,0.00,2.28,0.00,0.000,4,0.000,0.067,3008,3587,3385,0,0,0,0,0,0,28.83,25.67,28.83
$GC,10232,-0.48,-146.0,912.7,-7.5,540,10237,0.12,2.20,0.00,0.000,6,0.131,0.048,3044,2165,3385,0,0,0,0,0,0,25.75,25.91,28.83
$GC,10555,-0.48,-146.0,930.7,-5.2,551,10561,0.00,2.28,0.00,0.000,4,0.000,0.067,3036,3581,3385,0,0,0,0,0,0,28.83,25.65,28.83
$GC,10599,-0.48,-146.0,932.4,-5.3,552,10603,0.00,2.17,0.00,0.000,6,0.000,0.048,3036,2172,3385,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10911,-0.48,-146.0,950.5,-5.6,563,10916,0.00,2.28,0.00,0.000,4,0.000,0.068,3027,3587,3384,0,0,0,0,0,0,28.83,25.64,28.83
$GC,10974,-0.48,-146.0,954.2,-5.8,565,10978,0.00,2.20,0.00,0.000,6,0.000,0.048,3026,2173,3384,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11301,-0.48,-146.0,975.5,-6.7,576,11307,0.00,2.28,0.00,0.000,4,0.000,0.068,3017,3586,3384,0,0,0,0,0,0,28.83,25.63,28.83
$GC,11365,-0.48,-146.0,979.7,-6.8,578,11369,0.00,2.17,0.00,0.000,6,0.000,0.048,3017,2176,3384,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,11504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11504,begin apogee
$GC,11511,-0.22,0.0,990.3,-7.2,583,11643,0.30,0.00,127.20,1.184,6,0.112,0.000,3120,2317,2793,0,0,0,0,0,0,25.74,28.83,23.49
$STATE,11646,end apogee,CONTROL_FINISHED_OK
$STATE,11646,begin climb
$GC,11649,0.48,146.0,993.7,0.0,587,11794,0.68,2.58,136.20,1.147,4,0.078,0.066,3350,3705,2197,0,0,0,0,0,0,24.49,23.45,22.63
$GC,11810,0.48,158.3,984.8,6.9,593,11829,0.00,2.42,12.65,1.008,6,0.000,0.048,3361,2300,2148,0,0,0,0,0,0,28.83,23.82,22.86
$GC,12137,0.48,158.3,951.3,10.0,604,12143,0.00,2.38,0.00,0.000,4,0.000,0.067,3361,3715,2139,0,0,0,0,0,0,28.83,24.87,28.83
$GC,12168,0.48,158.3,947.9,10.4,605,12173,0.00,2.28,0.00,0.000,6,0.000,0.050,3372,2310,2139,0,0,0,0,0,0,28.83,25.04,28.83
$GC,12497,0.48,158.3,909.8,11.6,616,12503,0.00,2.33,0.00,0.000,4,0.000,0.068,3372,3709,2137,0,0,0,0,0,0,28.83,25.30,28.83
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$STATE,22566,end climb,SURFACE_DEPTH_REACHED
$STATE,22566,begin surface coast
$FINISH,1.2,1.013261
$STATE,22616,end surface coast,CONTROL_FINISHED_OK
$STATE,22616,begin surface
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$HUMID,44.05
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$XPDR_PINGS,2
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$10V_AH,10.1,28.616
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.375,210.550,406.375,0.000,0.000,28.857,36.683,207.642,0.500,0.000,22.705,3361.840,15792.646,554.417,2983.307,404.765,0.000,1995.868,0.000,2672.260,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$MEM,296772
$DATA_FILE_SIZE,70293,1265
$CAP_FILE_SIZE,195952,0
$CFSIZE,260165632,237641728
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099,180.7,1
$GPS,081112,061630,4735.152,-12541.650,43,1.5,43,18.7