version: 66.11
glider: 187
mission: 2
dive: 123
start: 10 8 112 10 18 27
data:
$ID,187
$MISSION,2
$DIVE,123
$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,-1587773
$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,42
$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
$GPS1,081012,101129,4718.194,-12622.986,41,1.4,41,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-78.3
$GPS2,081012,101755,4718.173,-12622.962,15,1.8,15,18.6
$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,216.0,57631,-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,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,79,0.00,0.00,-59.55,0.000,2,0.000,0.000,114,2168,2864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.5,-5.4,10,111,11.32,2.30,-9.98,0.000,4,0.223,0.070,3027,3597,3392,0,0,0,0,0,0,25.31,25.62,25.98
$GC,258,-0.48,-146.0,45.0,-14.4,41,265,0.00,2.17,0.00,0.000,6,0.000,0.043,3027,2177,3397,0,0,0,0,0,0,28.83,25.78,28.83
$GC,580,-0.48,-146.0,89.0,-13.6,102,586,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2171,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,900,-0.48,-146.0,127.0,-11.0,155,905,0.00,2.12,0.00,0.000,4,0.000,0.050,3026,766,3399,0,0,0,0,0,0,28.83,25.97,28.83
$GC,937,-0.48,-146.0,130.2,-10.8,157,944,0.00,2.17,0.00,0.000,6,0.000,0.050,3017,2186,3399,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1245,-0.48,-146.0,163.0,-10.8,178,1250,0.00,2.15,0.00,0.000,4,0.000,0.062,3007,3576,3399,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1313,-0.48,-146.0,169.9,-11.3,182,1322,0.08,2.17,0.00,0.000,6,0.119,0.044,3035,2163,3399,0,0,0,0,0,0,25.94,26.08,28.83
$GC,1627,-0.48,-146.0,201.8,-9.0,203,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2163,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1925,-0.48,-146.0,228.2,-8.9,218,1931,0.00,2.22,0.00,0.000,4,0.000,0.063,3026,3582,3399,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1948,-0.48,-146.0,230.0,-8.9,219,1952,0.00,2.12,0.00,0.000,6,0.000,0.044,3026,2173,3399,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2261,-0.48,-146.0,260.8,-9.9,235,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2170,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2560,-0.48,-146.0,289.1,-9.3,250,2566,0.00,2.22,0.00,0.000,4,0.000,0.063,3016,3581,3397,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2608,-0.48,-146.0,293.0,-9.4,252,2612,0.00,2.12,0.00,0.000,6,0.000,0.045,3016,2173,3397,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2916,-0.48,-146.0,324.8,-10.4,267,2921,0.00,2.10,0.00,0.000,4,0.000,0.052,3016,779,3396,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2948,-0.48,-146.0,327.0,-10.4,268,2957,0.12,2.12,0.00,0.000,6,0.139,0.052,3043,2173,3396,0,0,0,0,0,0,26.09,26.18,28.83
$GC,3255,-0.48,-146.0,352.7,-7.5,284,3261,0.00,2.12,0.00,0.000,4,0.000,0.050,3043,774,3396,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3278,-0.48,-146.0,354.4,-7.8,285,3282,0.00,2.17,0.00,0.000,6,0.000,0.054,3035,2184,3396,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3597,-0.48,-146.0,379.9,-7.9,301,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2184,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3915,-0.48,-146.0,405.6,-7.9,316,3919,0.00,2.17,0.00,0.000,4,0.000,0.052,3035,764,3394,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4145,-0.48,-146.0,423.7,-8.7,323,4149,0.00,2.17,0.00,0.000,6,0.000,0.054,3026,2186,3394,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4453,-0.48,-146.0,453.2,-9.1,333,4456,0.00,2.17,0.00,0.000,4,0.000,0.053,3026,764,3393,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4568,-0.48,-146.0,461.9,-9.3,336,4576,0.00,2.20,0.00,0.000,6,0.000,0.054,3017,2188,3392,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4874,-0.48,-146.0,492.6,-9.3,347,4880,0.00,2.20,0.00,0.000,4,0.000,0.067,3007,3594,3392,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4943,-0.48,-146.0,498.3,-9.4,349,4947,0.12,2.15,0.00,0.000,6,0.138,0.047,3042,2171,3392,0,0,0,0,0,0,26.14,26.27,28.83
$GC,5260,-0.48,-146.0,523.4,-7.5,360,5266,0.00,2.22,0.00,0.000,4,0.000,0.066,3034,3581,3391,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5291,-0.48,-146.0,525.7,-7.6,361,5296,0.00,2.12,0.00,0.000,6,0.000,0.047,3034,2173,3391,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5621,-0.48,-146.0,552.7,-8.2,372,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2171,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5920,-0.48,-146.0,576.5,-7.9,382,5924,0.00,2.25,0.00,0.000,4,0.000,0.067,3024,3591,3389,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5985,-0.48,-146.0,581.6,-8.1,384,5989,0.00,2.15,0.00,0.000,6,0.000,0.047,3024,2174,3390,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6307,-0.48,-146.0,608.9,-8.6,395,6313,0.00,2.20,0.00,0.000,4,0.000,0.067,3014,3580,3389,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6355,-0.48,-146.0,611.6,-8.7,396,6359,0.00,2.15,0.00,0.000,6,0.000,0.048,3013,2166,3388,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6662,-0.48,-146.0,642.1,-9.6,406,6668,0.00,2.25,0.00,0.000,4,0.000,0.067,3003,3583,3387,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6692,-0.48,-146.0,645.1,-9.6,407,6699,0.12,2.15,0.00,0.000,6,0.138,0.048,3039,2173,3387,0,0,0,0,0,0,26.14,26.27,28.83
$GC,7022,-0.48,-146.0,671.7,-7.8,418,7028,0.00,2.22,0.00,0.000,4,0.000,0.067,3031,3581,3387,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7065,-0.48,-146.0,674.1,-7.8,419,7069,0.00,2.17,0.00,0.000,6,0.000,0.049,3031,2167,3387,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7383,-0.48,-146.0,700.2,-7.8,430,7388,0.00,2.22,0.00,0.000,4,0.000,0.067,3021,3581,3387,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7446,-0.48,-146.0,705.2,-8.0,432,7450,0.00,2.15,0.00,0.000,6,0.000,0.049,3021,2169,3387,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7768,-0.48,-146.0,732.4,-8.4,443,7774,0.00,2.25,0.00,0.000,4,0.000,0.067,3010,3587,3386,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7806,-0.48,-146.0,735.1,-8.6,444,7810,0.00,2.17,0.00,0.000,6,0.000,0.049,3010,2166,3386,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8128,-0.48,-146.0,765.0,-8.9,455,8134,0.12,2.25,0.00,0.000,4,0.146,0.067,3043,3585,3386,0,0,0,0,0,0,26.22,26.17,28.83
$GC,8166,-0.48,-146.0,767.4,-8.7,456,8170,0.00,2.15,0.00,0.000,6,0.000,0.049,3043,2171,3386,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8484,-0.48,-146.0,789.5,-6.8,467,8489,0.00,2.20,0.00,0.000,4,0.000,0.068,3033,3578,3385,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8526,-0.48,-146.0,791.3,-6.8,468,8530,0.00,2.15,0.00,0.000,6,0.000,0.050,3033,2168,3385,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8839,-0.48,-146.0,813.4,-6.6,479,8845,0.00,2.25,0.00,0.000,4,0.000,0.069,3023,3581,3385,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8877,-0.48,-146.0,815.5,-6.6,480,8880,0.00,2.15,0.00,0.000,6,0.000,0.050,3023,2173,3384,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9199,-0.48,-146.0,838.6,-7.0,491,9204,0.00,2.22,0.00,0.000,4,0.000,0.068,3013,3585,3384,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9237,-0.48,-146.0,840.9,-7.2,492,9241,0.00,2.15,0.00,0.000,6,0.000,0.049,3013,2173,3384,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9554,-0.48,-146.0,866.0,-7.9,503,9560,0.00,2.25,0.00,0.000,4,0.000,0.068,3003,3592,3384,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9584,-0.48,-146.0,868.7,-8.1,504,9590,0.12,2.17,0.00,0.000,6,0.137,0.049,3039,2171,3383,0,0,0,0,0,0,26.13,26.26,28.83
$GC,9915,-0.48,-146.0,891.0,-6.7,515,9920,0.00,2.22,0.00,0.000,4,0.000,0.069,3030,3576,3383,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9967,-0.48,-146.0,893.2,-6.9,516,9974,0.00,2.15,0.00,0.000,6,0.000,0.050,3030,2174,3384,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10274,-0.48,-146.0,916.1,-6.8,527,10278,0.00,2.25,0.00,0.000,4,0.000,0.069,3020,3586,3383,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10320,-0.48,-146.0,918.5,-6.8,528,10324,0.00,2.15,0.00,0.000,6,0.000,0.050,3020,2177,3383,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10633,-0.48,-146.0,941.7,-7.2,539,10638,0.00,2.20,0.00,0.000,4,0.000,0.069,3011,3581,3383,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10676,-0.48,-146.0,944.0,-7.1,540,10680,0.00,2.15,0.00,0.000,6,0.000,0.050,3011,2173,3382,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10988,-0.48,-146.0,967.6,-7.0,551,10994,0.12,2.22,0.00,0.000,4,0.143,0.067,3044,3583,3382,0,0,0,0,0,0,26.22,26.15,28.83
$GC,11050,-0.48,-146.0,971.3,-6.6,553,11054,0.00,2.17,0.00,0.000,6,0.000,0.050,3043,2170,3382,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11378,-0.48,-146.0,988.7,-5.4,564,11384,0.00,2.22,0.00,0.000,4,0.000,0.070,3034,3580,3382,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,11405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11405,begin apogee
$GC,11414,-0.22,0.0,990.4,-5.5,565,11544,0.25,0.00,125.53,1.199,6,0.111,0.000,3121,2296,2793,0,0,0,0,0,0,26.13,28.83,23.72
$STATE,11547,end apogee,CONTROL_FINISHED_OK
$STATE,11547,begin climb
$GC,11550,0.48,146.0,993.6,0.0,569,11688,0.65,0.00,133.90,1.164,6,0.081,0.000,3343,2295,2197,0,0,0,0,0,0,24.57,28.83,23.23
$GC,11978,0.48,146.0,959.0,9.2,584,11983,0.00,2.38,0.00,0.000,4,0.000,0.069,3344,3710,2187,0,0,0,0,0,0,28.83,25.11,28.83
$GC,12017,0.48,146.0,955.9,9.4,585,12023,0.00,2.25,0.00,0.000,6,0.000,0.051,3354,2310,2186,0,0,0,0,0,0,28.83,25.21,28.83
$GC,12338,0.48,146.0,923.6,9.6,596,12344,0.00,2.30,0.00,0.000,4,0.000,0.069,3354,3704,2185,0,0,0,0,0,0,28.83,25.50,28.83
$GC,12361,0.48,146.0,923.6,9.6,596,12368,0.00,2.22,0.00,0.000,6,0.000,0.051,3364,2298,2185,0,0,0,0,0,0,28.83,25.56,28.83
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$STATE,23190,end climb,SURFACE_DEPTH_REACHED
$STATE,23190,begin surface coast
$FINISH,0.8,1.000627
$STATE,23241,end surface coast,CONTROL_FINISHED_OK
$STATE,23242,begin surface
$SM_CCo,23321,0.00,0.000,0,0,1265,375.06
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.26
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,16.90
$XPDR_PINGS,1
$24V_AH,23.2,18.254
$10V_AH,10.2,15.476
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.975,194.275,449.125,0.000,0.000,28.791,40.349,183.370,0.250,0.000,16.039,3444.674,16270.567,588.069,2992.181,402.809,0.000,2028.000,0.000,2713.063,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,901.974,763.511,542.145,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296932
$DATA_FILE_SIZE,73635,1311
$CAP_FILE_SIZE,193235,0
$CFSIZE,260165632,247672832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067, 34.4,1
$GPS,081012,164823,4717.017,-12626.128,37,1.9,37,18.6