version: 66.11
glider: 187
mission: 2
dive: 323
start: 11 27 112 9 12 4
data:
$ID,187
$MISSION,2
$DIVE,323
$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,-1588169.1
$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,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,28
$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
$GPS1,271112,090435,4734.241,-12553.094,33,0.9,33,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-77.4
$GPS2,271112,091131,4734.273,-12553.082,13,1.3,13,18.7
$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,217.0,105702,-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,-146.0,0.0,0.0,0,90,0.00,0.00,-71.62,0.000,2,0.000,0.000,125,2190,2802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.48,-146.0,3.2,-3.0,12,129,11.52,2.22,-12.73,0.000,4,0.223,0.063,3035,801,3392,0,0,0,0,0,0,24.94,25.55,26.11
$GC,265,-0.48,-146.0,36.7,-16.6,43,273,0.00,2.20,0.00,0.000,6,0.000,0.050,3026,2198,3394,0,0,0,0,0,0,28.83,25.57,28.83
$GC,582,-0.48,-146.0,79.1,-11.7,104,589,0.00,2.28,0.00,0.000,4,0.000,0.062,3016,3600,3396,0,0,0,0,0,0,28.83,25.56,28.83
$GC,637,-0.48,-146.0,85.4,-11.4,114,645,0.00,2.17,0.00,0.000,6,0.000,0.042,3016,2187,3396,0,0,0,0,0,0,28.83,25.78,28.83
$GC,960,-0.48,-146.0,126.0,-13.2,171,966,0.00,2.10,0.00,0.000,4,0.000,0.049,3016,802,3395,0,0,0,0,0,0,28.83,25.71,28.83
$GC,991,-0.48,-146.0,129.9,-13.1,173,997,0.08,2.12,0.00,0.000,6,0.124,0.050,3035,2193,3396,0,0,0,0,0,0,25.53,25.72,28.83
$GC,1309,-0.48,-146.0,159.9,-8.8,194,1314,0.00,2.22,0.00,0.000,4,0.000,0.063,3026,3603,3396,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1415,-0.48,-146.0,169.8,-9.4,201,1419,0.00,2.15,0.00,0.000,6,0.000,0.042,3026,2196,3396,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1732,-0.48,-146.0,203.4,-10.7,222,1736,0.00,2.15,0.00,0.000,4,0.000,0.050,3026,795,3396,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1777,-0.48,-146.0,207.8,-10.8,224,1781,0.00,2.17,0.00,0.000,6,0.000,0.050,3017,2203,3396,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2090,-0.48,-146.0,241.7,-10.4,240,2096,0.00,2.20,0.00,0.000,4,0.000,0.063,3007,3600,3396,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2122,-0.48,-146.0,243.9,-10.7,241,2130,0.12,2.12,0.00,0.000,6,0.135,0.043,3043,2198,3396,0,0,0,0,0,0,25.72,25.91,28.83
$GC,2430,-0.48,-146.0,270.6,-7.9,257,2435,0.00,2.12,0.00,0.000,4,0.000,0.050,3042,804,3395,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2457,-0.48,-146.0,272.3,-7.9,258,2462,0.00,2.17,0.00,0.000,6,0.000,0.050,3036,2209,3396,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2766,-0.48,-146.0,298.3,-8.7,273,2771,0.00,2.20,0.00,0.000,4,0.000,0.063,3025,3605,3395,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2827,-0.48,-146.0,303.6,-8.8,276,2831,0.00,2.12,0.00,0.000,6,0.000,0.043,3025,2202,3395,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3141,-0.48,-146.0,333.8,-9.5,292,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2200,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3439,-0.48,-146.0,362.5,-9.4,307,3445,0.00,2.25,0.00,0.000,4,0.000,0.063,3015,3611,3395,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3468,-0.48,-146.0,364.3,-9.2,308,3472,0.00,2.15,0.00,0.000,6,0.000,0.044,3015,2202,3395,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3774,-0.48,-146.0,394.2,-9.4,323,3780,0.00,2.17,0.00,0.000,4,0.000,0.051,3015,789,3395,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3807,-0.48,-146.0,396.2,-9.4,324,3815,0.12,2.20,0.00,0.000,6,0.137,0.052,3041,2205,3394,0,0,0,0,0,0,25.63,25.74,28.83
$GC,4125,-0.48,-146.0,420.6,-7.1,336,4131,0.00,2.22,0.00,0.000,4,0.000,0.064,3033,3612,3394,0,0,0,0,0,0,28.83,25.61,28.83
$GC,4188,-0.48,-146.0,425.0,-7.2,338,4192,0.00,2.17,0.00,0.000,6,0.000,0.044,3033,2190,3394,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4510,-0.48,-146.0,450.9,-8.1,349,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2187,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4810,-0.48,-146.0,473.8,-7.5,359,4815,0.00,2.30,0.00,0.000,4,0.000,0.064,3023,3619,3393,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4848,-0.48,-146.0,476.3,-7.6,360,4852,0.00,2.17,0.00,0.000,6,0.000,0.044,3023,2193,3393,0,0,0,0,0,0,28.83,25.90,28.83
$GC,5165,-0.48,-146.0,502.0,-7.9,371,5171,0.00,2.28,0.00,0.000,4,0.000,0.064,3012,3613,3392,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5197,-0.48,-146.0,504.7,-8.1,372,5201,0.00,2.17,0.00,0.000,6,0.000,0.045,3012,2196,3392,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5520,-0.48,-146.0,534.8,-9.6,383,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2194,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5820,-0.48,-146.0,565.5,-10.4,393,5826,0.00,2.28,0.00,0.000,4,0.000,0.065,3002,3609,3391,0,0,0,0,0,0,28.83,25.57,28.83
$GC,5864,-0.48,-146.0,568.6,-10.3,394,5869,0.15,2.17,0.00,0.000,6,0.125,0.045,3046,2192,3391,0,0,0,0,0,0,25.65,25.86,28.83
$GC,6177,-0.48,-146.0,594.6,-7.7,405,6182,0.00,2.30,0.00,0.000,4,0.000,0.066,3038,3613,3390,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6206,-0.48,-146.0,596.9,-7.6,406,6212,0.00,2.20,0.00,0.000,6,0.000,0.046,3037,2191,3390,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6537,-0.48,-146.0,622.7,-7.8,417,6538,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2189,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6837,-0.48,-146.0,644.5,-7.0,427,6842,0.00,2.28,0.00,0.000,4,0.000,0.066,3027,3611,3390,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6875,-0.48,-146.0,646.8,-7.1,428,6879,0.00,2.17,0.00,0.000,6,0.000,0.047,3027,2200,3389,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7193,-0.48,-146.0,670.9,-7.2,439,7198,0.00,2.28,0.00,0.000,4,0.000,0.067,3017,3608,3389,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7240,-0.48,-146.0,673.2,-7.2,440,7244,0.00,2.17,0.00,0.000,6,0.000,0.047,3017,2198,3388,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7548,-0.48,-146.0,697.2,-7.4,450,7553,0.00,2.30,0.00,0.000,4,0.000,0.067,3007,3615,3388,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7607,-0.48,-146.0,701.8,-7.4,452,7614,0.08,2.20,0.00,0.000,6,0.110,0.047,3036,2196,3388,0,0,0,0,0,0,25.65,25.82,28.83
$GC,7937,-0.48,-146.0,721.7,-5.9,463,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2195,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8238,-0.48,-146.0,739.9,-6.0,473,8243,0.00,2.28,0.00,0.000,4,0.000,0.067,3028,3606,3387,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8305,-0.48,-146.0,743.8,-6.3,475,8310,0.00,2.17,0.00,0.000,6,0.000,0.047,3028,2197,3387,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8623,-0.48,-146.0,764.7,-6.5,486,8629,0.00,2.15,0.00,0.000,4,0.000,0.054,3029,804,3387,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8666,-0.48,-146.0,766.9,-6.7,487,8671,0.00,2.20,0.00,0.000,6,0.000,0.054,3020,2207,3387,0,0,0,0,0,0,28.83,25.61,28.83
$GC,8978,-0.48,-146.0,790.9,-7.6,498,8984,0.00,2.28,0.00,0.000,4,0.000,0.067,3010,3616,3386,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9026,-0.48,-146.0,793.3,-7.6,499,9031,0.12,2.20,0.00,0.000,6,0.127,0.047,3046,2194,3386,0,0,0,0,0,0,25.63,25.79,28.83
$GC,9334,-0.48,-146.0,815.2,-6.7,509,9340,0.00,2.33,0.00,0.000,4,0.000,0.067,3037,3611,3386,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9387,-0.48,-146.0,817.2,-6.7,510,9393,0.00,2.20,0.00,0.000,6,0.000,0.047,3038,2192,3386,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9694,-0.48,-146.0,838.8,-6.3,521,9695,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2191,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9995,-0.48,-146.0,856.8,-5.9,531,10000,0.00,2.33,0.00,0.000,4,0.000,0.067,3027,3621,3385,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10032,-0.48,-146.0,858.8,-6.1,532,10036,0.00,2.22,0.00,0.000,6,0.000,0.047,3028,2191,3385,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10350,-0.48,-146.0,879.3,-6.3,543,10351,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2189,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10649,-0.48,-146.0,899.0,-6.7,553,10655,0.00,2.30,0.00,0.000,4,0.000,0.067,3018,3610,3384,0,0,0,0,0,0,28.83,25.42,28.83
$GC,10713,-0.48,-146.0,903.4,-7.1,555,10717,0.00,2.22,0.00,0.000,6,0.000,0.047,3018,2192,3384,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11035,-0.48,-146.0,928.1,-7.7,566,11041,0.00,2.30,0.00,0.000,4,0.000,0.067,3007,3611,3384,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11097,-0.48,-146.0,932.9,-7.9,568,11102,0.12,2.20,0.00,0.000,6,0.129,0.048,3043,2197,3384,0,0,0,0,0,0,25.58,25.75,28.83
$GC,11421,-0.48,-146.0,953.0,-6.0,579,11426,0.00,2.30,0.00,0.000,4,0.000,0.068,3035,3612,3383,0,0,0,0,0,0,28.83,25.39,28.83
$GC,11458,-0.48,-146.0,954.8,-6.1,580,11463,0.00,2.20,0.00,0.000,6,0.000,0.049,3035,2199,3384,0,0,0,0,0,0,28.83,25.74,28.83
$GC,11777,-0.48,-146.0,974.6,-5.8,591,11782,0.00,2.33,0.00,0.000,4,0.000,0.069,3025,3610,3384,0,0,0,0,0,0,28.83,25.38,28.83
$GC,11807,-0.48,-146.0,976.5,-5.9,592,11812,0.00,2.17,0.00,0.000,6,0.000,0.049,3025,2206,3384,0,0,0,0,0,0,28.83,25.73,28.83
$STATE,12043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12043,begin apogee
$GC,12050,-0.22,0.0,991.7,-6.5,600,12187,0.28,0.00,129.43,1.179,6,0.103,0.000,3122,2335,2794,0,0,0,0,0,0,25.73,28.83,23.21
$STATE,12188,end apogee,CONTROL_FINISHED_OK
$STATE,12188,begin climb
$GC,12190,0.48,146.0,995.2,0.0,604,12333,0.65,0.00,139.45,1.141,6,0.075,0.000,3345,2334,2198,0,0,0,0,0,0,24.41,28.83,22.26
$GC,12611,0.48,146.0,962.7,9.2,619,12617,0.00,2.35,0.00,0.000,4,0.000,0.068,3345,3741,2188,0,0,0,0,0,0,28.83,24.83,28.83
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$STATE,23583,end climb,SURFACE_DEPTH_REACHED
$STATE,23583,begin surface coast
$FINISH,1.2,1.024448
$STATE,23623,end surface coast,CONTROL_FINISHED_OK
$STATE,23623,begin surface
$SM_CCo,23702,0.00,0.000,0,0,941,454.54
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.25
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.20
$XPDR_PINGS,1
$24V_AH,22.3,44.905
$10V_AH,10.0,37.064
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.150,196.300,523.525,0.000,0.000,26.905,35.964,219.054,0.250,0.000,14.472,3401.129,16697.986,644.347,2949.458,415.834,0.000,2079.423,0.000,2639.814,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,899.641,760.483,519.518,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296772
$DATA_FILE_SIZE,73418,1309
$CAP_FILE_SIZE,195001,0
$CFSIZE,260165632,231231488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042,319.0,1
$GPS,271112,154824,4732.566,-12557.819,40,1.5,40,18.7