version: 66.11
glider: 187
mission: 2
dive: 121
start: 10 7 112 21 25 38
data:
$ID,187
$MISSION,2
$DIVE,121
$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,-1587770.5
$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,31
$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
$GPS1,071012,211859,4721.499,-12617.155,38,1.9,38,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-78.9
$GPS2,071012,212506,4721.522,-12617.209,14,1.9,14,18.6
$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,212.8,67155,-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,-65.68,0.000,2,0.000,0.000,118,2167,2935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.48,-146.0,3.7,-5.9,11,117,11.32,2.28,-8.43,0.000,4,0.225,0.070,3028,3586,3393,0,0,0,0,0,0,25.33,25.63,26.01
$GC,270,-0.48,-146.0,49.9,-14.0,44,277,0.00,2.22,0.00,0.000,6,0.000,0.043,3027,2164,3397,0,0,0,0,0,0,28.83,25.77,28.83
$GC,592,-0.48,-146.0,93.7,-11.9,105,598,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2159,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,903,-0.48,-146.0,129.8,-12.1,156,909,0.00,2.25,0.00,0.000,4,0.000,0.061,3017,3588,3400,0,0,0,0,0,0,28.83,25.94,28.83
$GC,941,-0.48,-146.0,133.7,-12.6,158,949,0.00,2.20,0.00,0.000,6,0.000,0.043,3017,2162,3400,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1250,-0.48,-146.0,172.6,-11.6,179,1255,0.00,2.22,0.00,0.000,4,0.000,0.063,3006,3581,3400,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1279,-0.48,-146.0,176.2,-11.6,181,1285,0.08,2.12,0.00,0.000,6,0.119,0.043,3034,2171,3400,0,0,0,0,0,0,25.94,26.08,28.83
$GC,1600,-0.48,-146.0,208.9,-10.0,201,1605,0.00,2.25,0.00,0.000,4,0.000,0.063,3026,3588,3400,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1632,-0.48,-146.0,211.0,-10.0,202,1639,0.00,2.15,0.00,0.000,6,0.000,0.044,3026,2162,3399,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1940,-0.48,-146.0,244.4,-10.2,218,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2161,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2238,-0.48,-146.0,274.1,-9.6,233,2244,0.00,2.25,0.00,0.000,4,0.000,0.063,3016,3584,3399,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2267,-0.48,-146.0,276.1,-9.6,234,2271,0.00,2.12,0.00,0.000,6,0.000,0.044,3015,2177,3398,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2573,-0.48,-146.0,307.2,-9.5,249,2579,0.00,2.22,0.00,0.000,4,0.000,0.063,3005,3584,3397,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2606,-0.48,-146.0,309.1,-9.4,250,2615,0.12,2.15,0.00,0.000,6,0.140,0.045,3040,2173,3397,0,0,0,0,0,0,26.06,26.20,28.83
$GC,2914,-0.48,-146.0,334.3,-7.8,266,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2173,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3213,-0.48,-146.0,358.8,-8.4,281,3219,0.00,2.22,0.00,0.000,4,0.000,0.065,3032,3584,3396,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3262,-0.48,-146.0,362.4,-8.6,283,3266,0.00,2.12,0.00,0.000,6,0.000,0.045,3032,2178,3396,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3568,-0.48,-146.0,392.2,-9.5,298,3574,0.00,2.12,0.00,0.000,4,0.000,0.053,3032,774,3395,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3597,-0.48,-146.0,394.1,-9.5,299,3601,0.00,2.15,0.00,0.000,6,0.000,0.053,3024,2180,3395,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3904,-0.48,-146.0,423.6,-9.1,310,3909,0.00,2.22,0.00,0.000,4,0.000,0.065,3013,3588,3394,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3963,-0.48,-146.0,429.3,-9.4,312,3969,0.00,2.17,0.00,0.000,6,0.000,0.046,3013,2167,3394,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4294,-0.48,-146.0,460.0,-9.0,323,4299,0.00,2.22,0.00,0.000,4,0.000,0.066,3002,3588,3393,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4347,-0.48,-146.0,462.9,-9.1,324,4354,0.12,2.17,0.00,0.000,6,0.139,0.047,3037,2163,3393,0,0,0,0,0,0,26.12,26.26,28.83
$GC,4654,-0.48,-146.0,487.6,-7.1,335,4655,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2162,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4954,-0.48,-146.0,508.9,-7.2,345,4960,0.00,2.25,0.00,0.000,4,0.000,0.067,3029,3583,3392,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5037,-0.48,-146.0,513.6,-7.4,347,5043,0.00,2.12,0.00,0.000,6,0.000,0.047,3029,2173,3391,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5343,-0.48,-146.0,540.5,-8.3,358,5349,0.00,2.22,0.00,0.000,4,0.000,0.066,3019,3584,3391,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5386,-0.48,-146.0,543.1,-8.4,359,5390,0.00,2.15,0.00,0.000,6,0.000,0.047,3019,2168,3391,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5699,-0.48,-146.0,572.9,-9.2,370,5704,0.00,2.22,0.00,0.000,4,0.000,0.067,3009,3587,3391,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5751,-0.48,-146.0,575.7,-9.2,371,5759,0.12,2.15,0.00,0.000,6,0.135,0.047,3045,2169,3390,0,0,0,0,0,0,26.15,26.27,28.83
$GC,6058,-0.48,-146.0,602.2,-7.9,382,6064,0.00,2.25,0.00,0.000,4,0.000,0.067,3036,3583,3390,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6107,-0.48,-146.0,604.7,-7.9,383,6111,0.00,2.15,0.00,0.000,6,0.000,0.047,3036,2170,3390,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6413,-0.48,-146.0,632.0,-8.5,393,6419,0.00,2.25,0.00,0.000,4,0.000,0.067,3026,3589,3389,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6451,-0.48,-146.0,634.6,-8.6,394,6455,0.00,2.15,0.00,0.000,6,0.000,0.047,3026,2176,3389,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6769,-0.48,-146.0,663.2,-8.8,405,6774,0.00,2.22,0.00,0.000,4,0.000,0.067,3016,3589,3388,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6801,-0.48,-146.0,666.1,-8.9,406,6805,0.00,2.17,0.00,0.000,6,0.000,0.048,3016,2167,3388,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7123,-0.48,-146.0,696.2,-9.3,417,7129,0.00,2.25,0.00,0.000,4,0.000,0.067,3006,3591,3387,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7184,-0.48,-146.0,701.9,-9.3,419,7190,0.08,2.15,0.00,0.000,6,0.116,0.048,3035,2170,3387,0,0,0,0,0,0,26.14,26.28,28.83
$GC,7514,-0.48,-146.0,726.9,-7.3,430,7519,0.00,2.22,0.00,0.000,4,0.000,0.068,3027,3581,3387,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7557,-0.48,-146.0,729.1,-7.3,431,7561,0.00,2.15,0.00,0.000,6,0.000,0.049,3027,2167,3387,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7869,-0.48,-146.0,753.3,-7.2,442,7875,0.00,2.22,0.00,0.000,4,0.000,0.068,3017,3581,3387,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7922,-0.48,-146.0,755.4,-7.2,443,7929,0.00,2.15,0.00,0.000,6,0.000,0.049,3017,2165,3387,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8229,-0.48,-146.0,781.5,-7.9,454,8235,0.00,2.28,0.00,0.000,4,0.000,0.068,3007,3594,3386,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8269,-0.48,-146.0,783.9,-8.0,455,8275,0.12,2.15,0.00,0.000,6,0.135,0.047,3042,2173,3386,0,0,0,0,0,0,26.15,26.27,28.83
$GC,8590,-0.48,-146.0,805.0,-6.1,466,8595,0.00,2.20,0.00,0.000,4,0.000,0.068,3035,3581,3385,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8633,-0.48,-146.0,806.9,-6.1,467,8637,0.00,2.15,0.00,0.000,6,0.000,0.048,3034,2171,3385,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8950,-0.48,-146.0,828.8,-6.6,478,8956,0.00,2.20,0.00,0.000,4,0.000,0.068,3025,3578,3385,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9010,-0.48,-146.0,833.0,-6.8,480,9014,0.00,2.15,0.00,0.000,6,0.000,0.048,3024,2174,3385,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9343,-0.48,-146.0,856.7,-7.2,491,9349,0.00,2.20,0.00,0.000,4,0.000,0.069,3014,3581,3384,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9375,-0.48,-146.0,858.8,-7.0,492,9379,0.00,2.12,0.00,0.000,6,0.000,0.048,3014,2175,3384,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9698,-0.48,-146.0,881.6,-6.7,503,9703,0.00,2.20,0.00,0.000,4,0.000,0.068,3004,3581,3384,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9740,-0.48,-146.0,883.5,-6.7,504,9745,0.12,2.12,0.00,0.000,6,0.137,0.048,3040,2176,3384,0,0,0,0,0,0,26.13,26.27,28.83
$GC,10054,-0.48,-146.0,900.0,-4.7,515,10059,0.00,2.22,0.00,0.000,4,0.000,0.069,3032,3588,3384,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10107,-0.48,-146.0,901.5,-4.9,516,10114,0.00,2.15,0.00,0.000,6,0.000,0.050,3032,2170,3383,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10415,-0.48,-146.0,920.3,-5.9,527,10420,0.00,2.25,0.00,0.000,4,0.000,0.070,3022,3583,3383,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10457,-0.48,-146.0,922.2,-6.0,528,10461,0.00,2.15,0.00,0.000,6,0.000,0.050,3022,2169,3383,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10770,-0.48,-146.0,945.3,-7.3,539,10776,0.00,2.22,0.00,0.000,4,0.000,0.069,3012,3581,3383,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10847,-0.48,-146.0,949.8,-7.5,541,10851,0.00,2.15,0.00,0.000,6,0.000,0.050,3012,2167,3383,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11155,-0.48,-146.0,975.1,-7.8,551,11156,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2164,3383,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11362,begin apogee
$GC,11368,-0.22,0.0,992.5,-8.3,558,11500,0.32,0.00,125.35,1.199,6,0.115,0.000,3122,2310,2793,0,0,0,0,0,0,26.09,28.83,23.73
$STATE,11503,end apogee,CONTROL_FINISHED_OK
$STATE,11503,begin climb
$GC,11506,0.48,146.0,997.2,0.0,562,11649,0.65,2.45,132.60,1.168,4,0.080,0.056,3354,913,2197,0,0,0,0,0,0,24.59,23.95,23.24
$GC,11669,0.49,172.5,989.3,6.3,568,11699,0.00,2.33,24.70,1.101,6,0.000,0.056,3354,2291,2090,0,0,0,0,0,0,28.83,24.27,23.30
$GC,12025,0.49,172.5,955.4,9.6,580,12030,0.00,2.33,0.00,0.000,4,0.000,0.070,3354,3706,2080,0,0,0,0,0,0,28.83,25.15,28.83
$GC,12066,0.49,172.5,952.0,9.8,581,12071,0.00,2.25,0.00,0.000,6,0.000,0.051,3364,2305,2079,0,0,0,0,0,0,28.83,25.25,28.83
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$STATE,22089,end climb,SURFACE_DEPTH_REACHED
$STATE,22089,begin surface coast
$FINISH,0.9,1.000430
$STATE,22130,end surface coast,CONTROL_FINISHED_OK
$STATE,22130,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.93
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,15.00
$XPDR_PINGS,0
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$10V_AH,10.2,15.242
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.950,199.675,489.575,0.000,0.000,25.502,34.944,175.127,0.000,0.000,14.848,3217.325,15573.225,586.023,2805.759,385.734,0.000,2000.416,0.000,2540.092,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,846.497,713.172,481.238,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296904
$DATA_FILE_SIZE,70277,1233
$CAP_FILE_SIZE,188467,0
$CFSIZE,260165632,247848960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102, 24.7,1
$GPS,081012,033705,4720.389,-12620.589,40,1.1,40,18.6