version: 66.11
glider: 187
mission: 2
dive: 107
start: 10 4 112 2 41 40
data:
$ID,187
$MISSION,2
$DIVE,107
$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,-1587752.6
$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,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
$GPS1,041012,023259,4737.979,-12533.110,41,1.0,47,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-74.7
$GPS2,041012,024107,4737.950,-12532.970,16,1.0,16,18.7
$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,234.7,130473,-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,-146.0,0.0,0.0,0,97,0.00,0.00,-78.20,0.000,2,0.000,0.000,127,2161,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.48,-146.0,3.6,-5.9,13,129,11.50,2.30,-8.88,0.000,4,0.231,0.071,3026,3595,3392,0,0,0,0,0,0,25.28,25.56,25.93
$GC,255,-0.48,-146.0,38.6,-12.7,41,262,0.00,2.17,0.00,0.000,6,0.000,0.041,3026,2170,3396,0,0,0,0,0,0,28.83,25.73,28.83
$GC,572,-0.48,-146.0,86.0,-15.7,102,578,0.00,2.12,0.00,0.000,4,0.000,0.049,3026,774,3397,0,0,0,0,0,0,28.83,25.85,28.83
$GC,612,-0.48,-146.0,91.8,-13.8,109,619,0.00,2.17,0.00,0.000,6,0.000,0.050,3017,2187,3398,0,0,0,0,0,0,28.83,25.86,28.83
$GC,934,-0.48,-146.0,128.2,-10.3,162,935,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2187,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1233,-0.48,-146.0,162.4,-12.0,182,1239,0.00,2.20,0.00,0.000,4,0.000,0.063,3006,3594,3397,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1287,-0.48,-146.0,168.1,-12.4,185,1294,0.12,2.15,0.00,0.000,6,0.141,0.043,3040,2163,3398,0,0,0,0,0,0,25.94,26.06,28.83
$GC,1595,-0.48,-146.0,200.7,-10.1,206,1600,0.00,2.20,0.00,0.000,4,0.000,0.063,3032,3580,3398,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1626,-0.48,-146.0,202.6,-10.0,207,1634,0.00,2.12,0.00,0.000,6,0.000,0.043,3032,2163,3397,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1934,-0.48,-146.0,236.3,-10.3,223,1939,0.00,2.20,0.00,0.000,4,0.000,0.063,3022,3577,3397,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1961,-0.48,-146.0,238.4,-10.2,224,1966,0.00,2.10,0.00,0.000,6,0.000,0.044,3021,2178,3397,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2269,-0.48,-146.0,272.3,-10.6,239,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2177,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2570,-0.48,-146.0,304.2,-10.6,254,2576,0.00,2.20,0.00,0.000,4,0.000,0.063,3012,3586,3396,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2609,-0.48,-146.0,308.7,-10.7,256,2614,0.00,2.10,0.00,0.000,6,0.000,0.044,3011,2182,3395,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2929,-0.48,-146.0,344.7,-11.1,272,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2180,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3229,-0.48,-146.0,376.8,-10.7,287,3234,0.00,2.17,0.00,0.000,4,0.000,0.064,3001,3577,3394,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3277,-0.48,-146.0,381.3,-10.8,289,3281,0.15,2.12,0.00,0.000,6,0.135,0.044,3044,2165,3394,0,0,0,0,0,0,26.10,26.24,28.83
$GC,3594,-0.48,-146.0,408.1,-8.1,303,3599,0.00,2.22,0.00,0.000,4,0.000,0.065,3035,3582,3394,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3624,-0.48,-146.0,410.7,-8.1,304,3629,0.00,2.12,0.00,0.000,6,0.000,0.044,3035,2175,3394,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3954,-0.48,-146.0,440.4,-9.2,315,3955,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2172,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4254,-0.48,-146.0,468.3,-9.2,325,4259,0.00,2.20,0.00,0.000,4,0.000,0.066,3025,3578,3393,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4302,-0.48,-146.0,471.2,-9.4,326,4306,0.00,2.12,0.00,0.000,6,0.000,0.045,3025,2165,3393,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4609,-0.48,-146.0,501.3,-9.0,336,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2162,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4909,-0.48,-146.0,528.9,-9.3,346,4914,0.00,2.25,0.00,0.000,4,0.000,0.066,3015,3582,3391,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4932,-0.48,-146.0,528.9,-9.3,346,4939,0.00,2.15,0.00,0.000,6,0.000,0.046,3015,2169,3391,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5239,-0.48,-146.0,562.0,-10.1,357,5242,0.00,2.25,0.00,0.000,4,0.000,0.067,3005,3583,3391,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5270,-0.48,-146.0,565.4,-10.1,358,5277,0.12,2.12,0.00,0.000,6,0.141,0.046,3040,2176,3390,0,0,0,0,0,0,26.15,26.29,28.83
$GC,5601,-0.48,-146.0,592.1,-7.7,369,5606,0.00,2.20,0.00,0.000,4,0.000,0.067,3031,3580,3390,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5638,-0.48,-146.0,594.4,-7.6,370,5643,0.00,2.12,0.00,0.000,6,0.000,0.047,3031,2172,3390,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5956,-0.48,-146.0,619.0,-7.3,381,5957,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2170,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6256,-0.48,-146.0,640.8,-7.2,391,6261,0.00,2.20,0.00,0.000,4,0.000,0.066,3021,3577,3389,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6450,-0.48,-146.0,655.0,-7.9,397,6454,0.00,2.12,0.00,0.000,6,0.000,0.046,3021,2165,3389,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6763,-0.48,-146.0,680.0,-7.7,408,6769,0.00,2.22,0.00,0.000,4,0.000,0.067,3011,3581,3388,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6997,-0.48,-146.0,698.5,-8.9,415,7004,0.00,2.12,0.00,0.000,6,0.000,0.045,3011,2165,3388,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7303,-0.48,-146.0,728.2,-9.1,426,7310,0.10,2.25,0.00,0.000,4,0.161,0.065,3030,3588,3387,0,0,0,0,0,0,26.29,26.22,28.83
$GC,7532,-0.48,-146.0,745.8,-8.1,433,7536,0.00,2.12,0.00,0.000,6,0.000,0.047,3029,2180,3387,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7839,-0.48,-146.0,769.9,-7.1,443,7845,0.00,2.22,0.00,0.000,4,0.000,0.067,3019,3583,3386,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8008,-0.48,-146.0,781.0,-7.4,448,8012,0.00,2.12,0.00,0.000,6,0.000,0.047,3019,2175,3387,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8316,-0.48,-146.0,802.3,-6.2,458,8322,0.00,2.25,0.00,0.000,4,0.000,0.067,3010,3586,3386,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8550,-0.48,-146.0,817.4,-7.2,465,8558,0.12,2.15,0.00,0.000,6,0.136,0.047,3045,2163,3385,0,0,0,0,0,0,26.18,26.31,28.83
$GC,8857,-0.48,-146.0,834.4,-5.0,476,8863,0.00,2.22,0.00,0.000,4,0.000,0.067,3037,3584,3385,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9017,-0.48,-146.0,842.8,-5.7,481,9022,0.00,2.15,0.00,0.000,6,0.000,0.047,3037,2162,3384,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9337,-0.48,-146.0,860.5,-5.4,492,9343,0.00,2.22,0.00,0.000,4,0.000,0.067,3028,3578,3384,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9491,-0.48,-146.0,869.5,-6.0,497,9495,0.00,2.12,0.00,0.000,6,0.000,0.047,3027,2169,3384,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9814,-0.48,-146.0,887.9,-5.4,508,9820,0.00,2.25,0.00,0.000,4,0.000,0.067,3017,3587,3384,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9983,-0.48,-146.0,897.3,-6.4,513,9987,0.00,2.15,0.00,0.000,6,0.000,0.047,3017,2166,3384,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10290,-0.48,-146.0,917.2,-6.0,523,10294,0.00,2.25,0.00,0.000,4,0.000,0.067,3008,3587,3384,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10506,-0.48,-146.0,931.7,-6.9,530,10511,0.12,2.15,0.00,0.000,6,0.135,0.048,3045,2171,3383,0,0,0,0,0,0,26.17,26.29,28.83
$GC,10830,-0.48,-146.0,948.6,-5.1,541,10835,0.00,2.22,0.00,0.000,4,0.000,0.067,3036,3581,3383,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10938,-0.48,-146.0,954.1,-5.8,544,10942,0.00,2.15,0.00,0.000,6,0.000,0.048,3036,2172,3383,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11250,-0.48,-146.0,975.3,-6.6,555,11256,0.00,2.22,0.00,0.000,4,0.000,0.069,3026,3585,3382,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11311,-0.48,-146.0,979.3,-6.6,557,11314,0.00,2.17,0.00,0.000,6,0.000,0.049,3027,2171,3382,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,11460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11460,begin apogee
$GC,11467,-0.22,0.0,990.1,-7.1,562,11598,0.28,0.00,125.57,1.194,6,0.117,0.000,3120,2313,2793,0,0,0,0,0,0,26.15,28.83,23.73
$STATE,11602,end apogee,CONTROL_FINISHED_OK
$STATE,11602,begin climb
$GC,11604,0.48,146.0,993.6,0.0,566,11747,0.65,2.45,132.93,1.162,4,0.083,0.068,3341,3700,2196,0,0,0,0,0,0,24.58,24.00,23.31
$GC,11778,0.48,153.7,984.6,7.0,572,11793,0.00,2.30,7.93,0.939,6,0.000,0.048,3351,2308,2166,0,0,0,0,0,0,28.83,24.44,23.63
$GC,12121,0.48,153.7,948.1,10.0,584,12123,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2308,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12421,0.48,153.7,918.1,10.1,594,12422,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2308,2158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12721,0.48,153.7,888.5,9.6,604,12723,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2308,2158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13021,0.48,153.7,860.0,9.4,614,13022,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2308,2157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13321,0.48,153.7,832.9,8.9,624,13322,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2307,2157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13621,0.48,153.7,805.3,9.2,634,13627,0.00,2.28,0.00,0.000,4,0.000,0.069,3352,3709,2156,0,0,0,0,0,0,28.83,25.96,28.83
$GC,13654,0.48,153.7,802.1,9.4,635,13658,0.00,2.20,0.00,0.000,6,0.000,0.049,3361,2298,2156,0,0,0,0,0,0,28.83,26.03,28.83
$GC,13976,0.48,153.7,771.2,9.5,646,13982,0.00,2.28,0.00,0.000,4,0.000,0.070,3361,3709,2155,0,0,0,0,0,0,28.83,26.01,28.83
$GC,14009,0.48,153.7,767.9,9.8,647,14013,0.00,2.20,0.00,0.000,6,0.000,0.050,3371,2293,2155,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,22624,end climb,SURFACE_DEPTH_REACHED
$STATE,22624,begin surface coast
$FINISH,1.0,1.024193
$STATE,22668,end surface coast,CONTROL_FINISHED_OK
$STATE,22668,begin surface
$SM_CCo,22747,0.00,0.000,0,0,1382,346.36
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.14
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,23.3,16.060
$10V_AH,10.2,13.650
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.075,189.675,424.375,0.000,0.000,25.306,35.565,295.241,0.000,0.000,17.826,3349.085,15677.763,528.312,3248.622,425.377,0.000,2058.395,0.000,2877.244,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,863.241,730.071,504.686,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297068
$DATA_FILE_SIZE,70358,1255
$CAP_FILE_SIZE,198281,0
$CFSIZE,260165632,249057280
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.108, 81.3,1
$GPS,041012,090205,4737.687,-12535.389,40,1.1,40,18.7