version: 66.11
glider: 187
mission: 2
dive: 41
start: 9 21 112 13 22 12
data:
$ID,187
$MISSION,2
$DIVE,41
$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,-1587669.9
$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,43
$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
$GPS1,210912,131505,4709.000,-12639.757,37,0.9,37,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-78.6
$GPS2,210912,132143,4708.999,-12639.793,13,1.4,13,18.6
$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,212.6,30482,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-65.43,0.000,2,0.000,0.000,111,2168,2939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.48,-146.0,3.7,-7.3,11,116,11.30,2.28,-8.07,0.000,4,0.226,0.070,3027,3595,3392,0,0,0,0,0,0,25.45,25.67,25.98
$GC,216,-0.48,-146.0,39.6,-12.9,33,223,0.00,2.17,0.00,0.000,6,0.000,0.043,3027,2179,3397,0,0,0,0,0,0,28.83,25.78,28.83
$GC,539,-0.48,-146.0,85.9,-12.7,94,548,0.00,2.20,0.00,0.000,4,0.000,0.050,3027,773,3400,0,0,0,0,0,0,28.83,25.91,28.83
$GC,615,-0.48,-146.0,94.9,-11.5,107,622,0.00,2.17,0.00,0.000,6,0.000,0.049,3017,2190,3400,0,0,0,0,0,0,28.83,25.94,28.83
$GC,936,-0.48,-146.0,133.4,-12.3,154,937,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2190,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1235,-0.48,-146.0,169.5,-11.4,174,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2190,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1535,-0.48,-146.0,202.0,-10.4,194,1541,0.00,2.17,0.00,0.000,4,0.000,0.063,3006,3584,3400,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1569,-0.48,-146.0,205.1,-10.2,196,1573,0.12,2.15,0.00,0.000,6,0.141,0.044,3041,2162,3400,0,0,0,0,0,0,26.08,26.17,28.83
$GC,1877,-0.48,-146.0,230.5,-7.9,216,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2159,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2176,-0.48,-146.0,255.5,-8.7,236,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2159,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2475,-0.48,-146.0,281.4,-8.5,256,2481,0.00,2.25,0.00,0.000,4,0.000,0.064,3032,3592,3398,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2505,-0.48,-146.0,284.1,-8.6,258,2511,0.00,2.15,0.00,0.000,6,0.000,0.045,3032,2170,3398,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2821,-0.48,-146.0,312.5,-8.9,279,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2167,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3121,-0.48,-146.0,338.9,-8.7,299,3126,0.00,2.20,0.00,0.000,4,0.000,0.065,3022,3581,3397,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3153,-0.48,-146.0,341.5,-8.8,301,3157,0.00,2.12,0.00,0.000,6,0.000,0.046,3022,2175,3396,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3461,-0.48,-146.0,370.9,-9.4,321,3466,0.00,2.12,0.00,0.000,4,0.000,0.054,3022,777,3396,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3498,-0.48,-146.0,373.8,-9.5,323,3505,0.00,2.15,0.00,0.000,6,0.000,0.053,3013,2184,3395,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3821,-0.48,-146.0,407.0,-10.1,343,3826,0.00,2.15,0.00,0.000,4,0.000,0.065,3002,3579,3395,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3858,-0.48,-146.0,410.1,-10.2,344,3863,0.15,2.12,0.00,0.000,6,0.136,0.047,3045,2175,3394,0,0,0,0,0,0,26.25,26.34,28.83
$GC,4176,-0.48,-146.0,436.2,-7.6,355,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2172,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4476,-0.48,-146.0,459.1,-7.5,365,4477,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2172,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4777,-0.48,-146.0,480.9,-7.2,375,4780,0.00,2.25,0.00,0.000,4,0.000,0.067,3037,3588,3392,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4809,-0.48,-146.0,483.4,-7.2,376,4815,0.00,2.15,0.00,0.000,6,0.000,0.047,3037,2170,3392,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5139,-0.48,-146.0,508.3,-7.6,387,5140,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2168,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5438,-0.48,-146.0,532.1,-8.0,397,5445,0.00,2.22,0.00,0.000,4,0.000,0.067,3027,3582,3391,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5487,-0.48,-146.0,534.7,-8.1,398,5491,0.00,2.15,0.00,0.000,6,0.000,0.047,3027,2167,3391,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5794,-0.48,-146.0,562.7,-8.6,408,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2165,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6093,-0.48,-146.0,588.2,-8.4,418,6095,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2165,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6393,-0.48,-146.0,613.1,-8.3,428,6400,0.00,2.25,0.00,0.000,4,0.000,0.068,3017,3592,3388,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6423,-0.48,-146.0,615.7,-8.4,429,6429,0.00,2.15,0.00,0.000,6,0.000,0.049,3017,2176,3388,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6754,-0.48,-146.0,643.2,-8.0,440,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2173,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7053,-0.48,-146.0,666.6,-7.8,450,7059,0.00,2.22,0.00,0.000,4,0.000,0.068,3007,3585,3387,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7101,-0.48,-146.0,668.9,-7.7,451,7106,0.12,2.15,0.00,0.000,6,0.141,0.049,3042,2169,3387,0,0,0,0,0,0,26.32,26.40,28.83
$GC,7409,-0.48,-146.0,689.2,-6.0,461,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2167,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7709,-0.48,-146.0,707.9,-6.3,471,7713,0.00,2.25,0.00,0.000,4,0.000,0.069,3034,3581,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7749,-0.48,-146.0,710.1,-6.5,472,7753,0.00,2.15,0.00,0.000,6,0.000,0.049,3034,2175,3387,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8072,-0.48,-146.0,733.4,-7.0,483,8073,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2173,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8371,-0.48,-146.0,754.4,-7.1,493,8377,0.00,2.20,0.00,0.000,4,0.000,0.069,3023,3575,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8409,-0.48,-146.0,756.7,-7.2,494,8413,0.00,2.15,0.00,0.000,6,0.000,0.050,3024,2168,3385,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8732,-0.48,-146.0,781.3,-7.4,505,8737,0.00,2.22,0.00,0.000,4,0.000,0.069,3014,3579,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8761,-0.48,-146.0,783.6,-7.5,506,8767,0.00,2.15,0.00,0.000,6,0.000,0.050,3014,2175,3385,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9091,-0.48,-146.0,808.7,-7.5,517,9093,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2172,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9392,-0.48,-146.0,831.2,-7.4,527,9397,0.00,2.22,0.00,0.000,4,0.000,0.069,3005,3584,3384,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9424,-0.48,-146.0,833.5,-7.5,528,9429,0.12,2.17,0.00,0.000,6,0.141,0.050,3039,2165,3384,0,0,0,0,0,0,26.33,26.41,28.83
$GC,9747,-0.48,-146.0,853.0,-5.9,539,9753,0.00,2.22,0.00,0.000,4,0.000,0.069,3031,3582,3384,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9795,-0.48,-146.0,854.9,-5.9,540,9799,0.00,2.15,0.00,0.000,6,0.000,0.050,3031,2173,3384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10102,-0.48,-146.0,875.4,-6.3,550,10103,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2171,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10402,-0.48,-146.0,893.9,-6.2,560,10406,0.00,2.25,0.00,0.000,4,0.000,0.070,3021,3592,3383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10457,-0.48,-146.0,895.8,-6.2,561,10464,0.00,2.17,0.00,0.000,6,0.000,0.050,3021,2166,3383,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10764,-0.48,-146.0,918.4,-7.0,572,10765,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2165,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11064,-0.48,-146.0,939.6,-7.2,582,11070,0.00,2.25,0.00,0.000,4,0.000,0.070,3011,3582,3383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11124,-0.48,-146.0,944.4,-7.5,584,11129,0.00,2.15,0.00,0.000,6,0.000,0.050,3011,2176,3382,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11455,-0.48,-146.0,970.9,-8.1,595,11456,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2175,3382,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11721,begin apogee
$GC,11728,-0.22,0.0,991.9,-7.7,604,11860,0.32,0.00,125.75,1.207,6,0.119,0.000,3121,2307,2794,0,0,0,0,0,0,26.34,28.83,23.62
$STATE,11863,end apogee,CONTROL_FINISHED_OK
$STATE,11863,begin climb
$GC,11866,0.48,146.0,995.5,0.0,608,12004,0.65,0.00,133.25,1.174,6,0.082,0.000,3343,2307,2198,0,0,0,0,0,0,24.55,28.83,23.32
$GC,12294,0.48,146.0,960.7,9.6,623,12300,0.00,2.30,0.00,0.000,4,0.000,0.070,3343,3699,2187,0,0,0,0,0,0,28.83,25.27,28.83
$GC,12317,0.48,146.0,960.7,9.6,623,12324,0.00,2.22,0.00,0.000,6,0.000,0.050,3353,2311,2186,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12624,0.48,146.0,927.0,9.9,634,12630,0.00,2.30,0.00,0.000,4,0.000,0.070,3354,3705,2185,0,0,0,0,0,0,28.83,25.60,28.83
$GC,12647,0.48,146.0,927.0,9.9,634,12654,0.00,2.22,0.00,0.000,6,0.000,0.052,3364,2299,2185,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12954,0.48,146.0,893.1,10.2,645,12960,0.00,2.30,0.00,0.000,4,0.000,0.070,3364,3705,2183,0,0,0,0,0,0,28.83,25.77,28.83
$GC,12987,0.48,146.0,889.5,10.5,646,12991,0.00,2.22,0.00,0.000,6,0.000,0.051,3374,2300,2184,0,0,0,0,0,0,28.83,25.82,28.83
$GC,13309,0.48,146.0,853.2,11.1,657,13315,0.00,2.28,0.00,0.000,4,0.000,0.070,3374,3703,2183,0,0,0,0,0,0,28.83,25.90,28.83
$GC,13352,0.48,146.0,849.5,11.3,658,13357,0.15,2.20,0.00,0.000,6,0.168,0.052,3347,2300,2183,0,0,0,0,0,0,25.84,25.95,28.83
$GC,13665,0.48,146.0,817.7,9.5,669,13670,0.00,2.28,0.00,0.000,4,0.000,0.070,3347,3721,2183,0,0,0,0,0,0,28.83,25.98,28.83
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$STATE,22973,end climb,SURFACE_DEPTH_REACHED
$STATE,22973,begin surface coast
$FINISH,0.7,1.012075
$STATE,23016,end surface coast,CONTROL_FINISHED_OK
$STATE,23016,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,43.42
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,16.50
$XPDR_PINGS,0
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$10V_AH,10.2,7.327
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.000,185.900,443.600,0.000,0.000,26.050,39.793,202.081,0.000,0.000,14.533,3512.963,16037.251,544.328,3006.244,380.175,0.000,1989.556,0.000,2712.715,0.000,0.535,0.000
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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,297068
$DATA_FILE_SIZE,76846,1357
$CAP_FILE_SIZE,192946,0
$CFSIZE,260165632,253669376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057, 76.6,1
$GPS,210912,194823,4707.007,-12642.798,38,1.5,38,18.6