version: 66.11
glider: 187
mission: 2
dive: 109
start: 10 4 112 15 41 45
data:
$ID,187
$MISSION,2
$DIVE,109
$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,-1587755.4
$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,35
$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
$GPS1,041012,153253,4736.836,-12538.065,41,1.6,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-77.3
$GPS2,041012,154113,4736.873,-12538.005,14,1.6,14,18.7
$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,225.6,124052,-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,-59.42,0.000,2,0.000,0.000,110,2174,2857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.48,-146.0,3.8,-7.0,10,111,11.35,2.35,-10.25,0.000,4,0.224,0.074,3026,3591,3393,0,0,0,0,0,0,25.29,25.58,25.95
$GC,197,-0.48,-146.0,33.1,-14.1,30,204,0.00,2.25,0.00,0.000,6,0.000,0.043,3026,2164,3397,0,0,0,0,0,0,28.83,25.72,28.83
$GC,511,-0.48,-146.0,76.4,-14.0,91,517,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2158,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,822,-0.48,-146.0,112.9,-10.2,152,828,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2158,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1133,-0.48,-146.0,147.0,-11.1,181,1138,0.00,2.22,0.00,0.000,4,0.000,0.060,3016,3585,3399,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1162,-0.48,-146.0,150.6,-11.5,183,1168,0.00,2.12,0.00,0.000,6,0.000,0.042,3016,2170,3400,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1477,-0.48,-146.0,187.8,-11.6,204,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2164,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1777,-0.48,-146.0,220.8,-10.8,221,1782,0.00,2.25,0.00,0.000,4,0.000,0.062,3006,3594,3399,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1805,-0.48,-146.0,223.0,-10.6,222,1809,0.12,2.15,0.00,0.000,6,0.142,0.043,3040,2170,3399,0,0,0,0,0,0,26.01,26.15,28.83
$GC,2112,-0.48,-146.0,250.4,-8.4,237,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2165,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2412,-0.48,-146.0,276.0,-8.5,252,2417,0.00,2.25,0.00,0.000,4,0.000,0.063,3031,3589,3397,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2452,-0.48,-146.0,279.6,-8.8,254,2458,0.00,2.15,0.00,0.000,6,0.000,0.044,3031,2169,3397,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2772,-0.48,-146.0,309.4,-9.4,270,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2166,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3072,-0.48,-146.0,337.4,-9.3,285,3077,0.00,2.25,0.00,0.000,4,0.000,0.064,3021,3584,3396,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3120,-0.48,-146.0,341.2,-9.3,287,3124,0.00,2.12,0.00,0.000,6,0.000,0.044,3021,2174,3396,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3429,-0.48,-146.0,371.3,-9.6,302,3434,0.00,2.20,0.00,0.000,4,0.000,0.064,3010,3580,3395,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3457,-0.48,-146.0,373.1,-9.5,303,3465,0.00,2.12,0.00,0.000,6,0.000,0.044,3011,2164,3395,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3787,-0.48,-146.0,407.4,-10.2,319,3793,0.12,2.22,0.00,0.000,4,0.151,0.063,3042,3583,3395,0,0,0,0,0,0,26.18,26.18,28.83
$GC,3817,-0.48,-146.0,410.2,-10.0,320,3823,0.00,2.12,0.00,0.000,6,0.000,0.044,3042,2178,3395,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4147,-0.48,-146.0,437.2,-8.1,331,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2175,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4447,-0.48,-146.0,462.1,-8.7,341,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2175,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4747,-0.48,-146.0,488.1,-8.4,351,4753,0.00,2.25,0.00,0.000,4,0.000,0.067,3032,3595,3393,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4825,-0.48,-146.0,493.1,-8.4,353,4829,0.00,2.15,0.00,0.000,6,0.000,0.044,3031,2165,3393,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5132,-0.48,-146.0,519.5,-8.1,363,5138,0.00,2.25,0.00,0.000,4,0.000,0.066,3021,3584,3392,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5170,-0.48,-146.0,521.9,-8.0,364,5174,0.00,2.15,0.00,0.000,6,0.000,0.046,3021,2165,3392,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5487,-0.48,-146.0,549.4,-8.5,375,5488,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2163,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5787,-0.48,-146.0,576.2,-9.1,385,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2163,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6087,-0.48,-146.0,602.6,-8.8,395,6093,0.00,2.25,0.00,0.000,4,0.000,0.067,3011,3587,3391,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6120,-0.48,-146.0,605.3,-8.8,396,6124,0.00,2.15,0.00,0.000,6,0.000,0.046,3011,2166,3390,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6442,-0.48,-146.0,635.9,-9.0,407,6449,0.12,2.22,0.00,0.000,4,0.151,0.065,3043,3578,3390,0,0,0,0,0,0,26.23,26.22,28.83
$GC,6495,-0.48,-146.0,638.3,-8.8,408,6502,0.00,2.12,0.00,0.000,6,0.000,0.046,3043,2169,3390,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6802,-0.48,-146.0,659.2,-6.2,419,6808,0.00,2.28,0.00,0.000,4,0.000,0.067,3032,3594,3390,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6836,-0.48,-146.0,661.2,-6.2,420,6840,0.00,2.15,0.00,0.000,6,0.000,0.047,3032,2177,3389,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7158,-0.48,-146.0,683.0,-6.7,431,7159,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2174,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7458,-0.48,-146.0,702.7,-6.7,441,7464,0.00,2.22,0.00,0.000,4,0.000,0.067,3022,3591,3388,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7501,-0.48,-146.0,704.8,-6.8,442,7505,0.00,2.17,0.00,0.000,6,0.000,0.047,3022,2164,3388,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7818,-0.48,-146.0,730.4,-7.8,453,7819,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2163,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8118,-0.48,-146.0,753.3,-7.7,463,8124,0.00,2.28,0.00,0.000,4,0.000,0.068,3012,3587,3387,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8156,-0.48,-146.0,755.7,-7.7,464,8160,0.00,2.15,0.00,0.000,6,0.000,0.047,3012,2166,3387,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8473,-0.48,-146.0,783.6,-8.8,475,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2164,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8773,-0.48,-146.0,809.7,-8.7,485,8779,0.00,2.25,0.00,0.000,4,0.000,0.068,3002,3584,3386,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8826,-0.48,-146.0,812.3,-8.8,486,8834,0.15,2.15,0.00,0.000,6,0.133,0.047,3046,2165,3386,0,0,0,0,0,0,26.16,26.31,28.83
$GC,9133,-0.48,-146.0,835.1,-6.4,497,9139,0.00,2.28,0.00,0.000,4,0.000,0.069,3037,3594,3385,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9166,-0.48,-146.0,837.0,-6.3,498,9170,0.00,2.15,0.00,0.000,6,0.000,0.048,3037,2175,3385,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9494,-0.48,-146.0,857.6,-6.1,509,9499,0.00,2.22,0.00,0.000,4,0.000,0.069,3027,3582,3386,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9526,-0.48,-146.0,859.4,-6.1,510,9530,0.00,2.15,0.00,0.000,6,0.000,0.048,3027,2167,3385,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9848,-0.48,-146.0,880.4,-6.2,521,9854,0.00,2.22,0.00,0.000,4,0.000,0.068,3017,3580,3385,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9897,-0.48,-146.0,882.5,-6.5,522,9901,0.00,2.12,0.00,0.000,6,0.000,0.047,3017,2174,3385,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10203,-0.48,-146.0,903.8,-6.4,532,10209,0.00,2.22,0.00,0.000,4,0.000,0.069,3007,3587,3384,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10252,-0.48,-146.0,905.8,-6.5,533,10257,0.12,2.15,0.00,0.000,6,0.135,0.048,3043,2170,3384,0,0,0,0,0,0,26.17,26.30,28.83
$GC,10559,-0.48,-146.0,922.6,-5.1,543,10564,0.00,2.22,0.00,0.000,4,0.000,0.069,3035,3580,3384,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10591,-0.48,-146.0,924.4,-5.2,544,10595,0.00,2.12,0.00,0.000,6,0.000,0.048,3034,2174,3384,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10914,-0.48,-146.0,944.0,-6.3,555,10919,0.00,2.22,0.00,0.000,4,0.000,0.070,3025,3581,3384,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10962,-0.48,-146.0,945.9,-6.4,556,10966,0.00,2.15,0.00,0.000,6,0.000,0.048,3025,2164,3383,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11269,-0.48,-146.0,969.5,-7.3,566,11275,0.00,2.28,0.00,0.000,4,0.000,0.069,3014,3594,3383,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11322,-0.48,-146.0,971.8,-7.2,567,11329,0.00,2.17,0.00,0.000,6,0.000,0.049,3014,2164,3383,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,11536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11536,begin apogee
$GC,11543,-0.22,0.0,990.1,-7.4,575,11672,0.32,0.00,125.10,1.198,6,0.118,0.000,3125,2309,2794,0,0,0,0,0,0,26.12,28.83,23.74
$STATE,11675,end apogee,CONTROL_FINISHED_OK
$STATE,11675,begin climb
$GC,11678,0.48,146.0,993.3,0.0,579,11815,0.65,0.00,133.48,1.164,6,0.082,0.000,3345,2309,2199,0,0,0,0,0,0,24.57,28.83,23.32
$GC,12104,0.48,146.0,957.9,9.8,594,12110,0.00,2.33,0.00,0.000,4,0.000,0.069,3344,3708,2187,0,0,0,0,0,0,28.83,25.17,28.83
$GC,12151,0.48,146.0,954.7,9.9,595,12156,0.00,2.25,0.00,0.000,6,0.000,0.049,3355,2304,2187,0,0,0,0,0,0,28.83,25.28,28.83
$GC,12459,0.48,146.0,922.2,9.8,605,12460,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2299,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12758,0.48,146.0,893.5,9.4,615,12764,0.00,2.28,0.00,0.000,4,0.000,0.069,3355,3701,2185,0,0,0,0,0,0,28.83,25.70,28.83
$GC,12788,0.48,146.0,890.4,9.6,616,12794,0.00,2.22,0.00,0.000,6,0.000,0.050,3365,2290,2184,0,0,0,0,0,0,28.83,25.77,28.83
$GC,13119,0.48,146.0,856.2,10.5,627,13124,0.00,2.28,0.00,0.000,4,0.000,0.068,3365,3697,2184,0,0,0,0,0,0,28.83,25.83,28.83
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$STATE,23249,end climb,SURFACE_DEPTH_REACHED
$STATE,23249,begin surface coast
$FINISH,1.1,1.024075
$STATE,23287,end surface coast,CONTROL_FINISHED_OK
$STATE,23287,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.46
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,23.3,16.337
$10V_AH,10.2,13.885
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.200,203.825,448.725,0.000,0.000,27.153,38.191,297.776,0.000,0.000,15.041,3438.307,16381.132,575.361,3044.548,417.453,0.000,2017.029,0.000,2674.423,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,895.344,759.805,534.011,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296984
$DATA_FILE_SIZE,73640,1301
$CAP_FILE_SIZE,198134,0
$CFSIZE,260165632,248877056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070, 49.6,1
$GPS,041012,221229,4736.207,-12541.405,40,1.4,40,18.7