version: 66.11
glider: 187
mission: 2
dive: 318
start: 11 25 112 23 47 28
data:
$ID,187
$MISSION,2
$DIVE,318
$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,-1588162.5
$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,2200
$C_ROLL_CLIMB,2325
$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
$GPS1,251112,233936,4740.639,-12532.039,39,1.0,39,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-77.0
$GPS2,251112,234655,4740.632,-12532.033,17,1.2,17,18.7
$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,227.9,134192,-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,-78.25,0.000,2,0.000,0.000,109,2194,2887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.48,-146.0,3.5,-4.0,13,130,11.38,2.25,-10.32,0.000,4,0.216,0.060,3034,800,3394,0,0,0,0,0,0,24.93,25.53,26.06
$GC,362,-0.48,-146.0,51.3,-12.4,62,370,0.00,2.22,0.00,0.000,6,0.000,0.050,3025,2199,3397,0,0,0,0,0,0,28.83,25.60,28.83
$GC,679,-0.48,-146.0,92.5,-11.7,123,686,0.00,2.17,0.00,0.000,4,0.000,0.047,3025,793,3397,0,0,0,0,0,0,28.83,25.67,28.83
$GC,719,-0.48,-146.0,97.2,-11.2,130,726,0.00,2.20,0.00,0.000,6,0.000,0.050,3016,2208,3398,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1036,-0.48,-146.0,132.5,-11.6,178,1042,0.00,2.25,0.00,0.000,4,0.000,0.062,3006,3619,3397,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1113,-0.48,-146.0,141.2,-11.7,183,1118,0.12,2.17,0.00,0.000,6,0.133,0.041,3042,2195,3397,0,0,0,0,0,0,25.67,25.85,28.83
$GC,1424,-0.48,-146.0,169.5,-9.1,203,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2189,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1722,-0.48,-146.0,196.5,-8.9,223,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2189,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2026,-0.48,-146.0,222.6,-7.9,239,2031,0.00,2.28,0.00,0.000,4,0.000,0.062,3034,3608,3397,0,0,0,0,0,0,28.83,25.66,28.83
$GC,2049,-0.48,-146.0,224.2,-7.7,240,2053,0.00,2.15,0.00,0.000,6,0.000,0.042,3034,2194,3398,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2362,-0.48,-146.0,252.0,-8.8,256,2367,0.00,2.12,0.00,0.000,4,0.000,0.048,3033,796,3397,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2434,-0.48,-146.0,257.6,-9.3,259,2442,0.00,2.17,0.00,0.000,6,0.000,0.050,3026,2203,3397,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2742,-0.48,-146.0,286.5,-8.8,275,2747,0.00,2.22,0.00,0.000,4,0.000,0.063,3015,3612,3398,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2789,-0.48,-146.0,290.2,-9.0,277,2793,0.00,2.15,0.00,0.000,6,0.000,0.043,3015,2201,3397,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3097,-0.48,-146.0,318.8,-9.0,292,3102,0.00,2.12,0.00,0.000,4,0.000,0.050,3015,810,3397,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3150,-0.48,-146.0,322.3,-8.9,294,3158,0.12,2.17,0.00,0.000,6,0.138,0.050,3043,2201,3397,0,0,0,0,0,0,25.65,25.77,28.83
$GC,3458,-0.48,-146.0,347.0,-7.4,310,3463,0.00,2.22,0.00,0.000,4,0.000,0.063,3034,3612,3397,0,0,0,0,0,0,28.83,25.64,28.83
$GC,3540,-0.48,-146.0,353.2,-7.7,314,3544,0.00,2.15,0.00,0.000,6,0.000,0.043,3034,2199,3396,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3852,-0.48,-146.0,378.9,-8.7,330,3858,0.00,2.28,0.00,0.000,4,0.000,0.064,3024,3610,3396,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3885,-0.48,-146.0,380.7,-8.7,331,3892,0.00,2.17,0.00,0.000,6,0.000,0.044,3024,2200,3396,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4212,-0.48,-146.0,412.5,-9.4,346,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2198,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4512,-0.48,-146.0,441.7,-9.6,356,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2198,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4812,-0.48,-146.0,469.2,-9.1,366,4818,0.00,2.28,0.00,0.000,4,0.000,0.065,3013,3611,3395,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4850,-0.48,-146.0,472.0,-9.2,367,4854,0.00,2.17,0.00,0.000,6,0.000,0.044,3013,2201,3395,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5167,-0.48,-146.0,501.2,-8.9,378,5173,0.00,2.25,0.00,0.000,4,0.000,0.064,3003,3606,3395,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5197,-0.48,-146.0,503.9,-8.8,379,5203,0.12,2.17,0.00,0.000,6,0.135,0.044,3039,2193,3395,0,0,0,0,0,0,25.70,25.89,28.83
$GC,5528,-0.48,-146.0,527.9,-7.1,390,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2188,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5828,-0.48,-146.0,547.2,-6.2,400,5833,0.00,2.30,0.00,0.000,4,0.000,0.065,3031,3613,3393,0,0,0,0,0,0,28.83,25.57,28.83
$GC,5880,-0.48,-146.0,549.1,-6.3,401,5887,0.00,2.17,0.00,0.000,6,0.000,0.045,3031,2193,3393,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6188,-0.48,-146.0,572.7,-7.2,412,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2192,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6487,-0.48,-146.0,595.8,-7.4,422,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2191,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6788,-0.48,-146.0,617.3,-7.1,432,6789,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2192,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7087,-0.48,-146.0,639.6,-7.6,442,7093,0.00,2.30,0.00,0.000,4,0.000,0.066,3021,3612,3391,0,0,0,0,0,0,28.83,25.54,28.83
$GC,7140,-0.48,-146.0,641.9,-7.7,443,7148,0.00,2.17,0.00,0.000,6,0.000,0.045,3020,2195,3391,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7447,-0.48,-146.0,668.4,-7.9,454,7453,0.00,2.30,0.00,0.000,4,0.000,0.066,3010,3616,3391,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7485,-0.48,-146.0,670.8,-8.0,455,7489,0.00,2.17,0.00,0.000,6,0.000,0.047,3010,2204,3391,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7803,-0.48,-146.0,698.7,-8.8,466,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2202,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8103,-0.48,-146.0,725.5,-9.3,476,8109,0.12,2.28,0.00,0.000,4,0.142,0.065,3044,3608,3391,0,0,0,0,0,0,26.07,25.50,28.83
$GC,8155,-0.48,-146.0,728.0,-9.0,477,8162,0.00,2.20,0.00,0.000,6,0.000,0.045,3044,2191,3391,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8463,-0.48,-146.0,750.4,-6.4,488,8464,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2191,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8762,-0.48,-146.0,770.3,-6.7,498,8768,0.00,2.28,0.00,0.000,4,0.000,0.067,3034,3601,3390,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8826,-0.48,-146.0,774.7,-6.9,500,8830,0.00,2.15,0.00,0.000,6,0.000,0.045,3034,2205,3390,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9148,-0.48,-146.0,797.1,-6.7,511,9154,0.00,2.28,0.00,0.000,4,0.000,0.067,3025,3602,3389,0,0,0,0,0,0,28.83,25.48,28.83
$GC,9178,-0.48,-146.0,799.3,-6.8,512,9184,0.00,2.15,0.00,0.000,6,0.000,0.046,3025,2199,3389,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9509,-0.48,-146.0,822.5,-6.8,523,9510,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2197,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9808,-0.48,-146.0,842.1,-6.3,533,9813,0.00,2.28,0.00,0.000,4,0.000,0.067,3015,3607,3388,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9861,-0.48,-146.0,844.2,-6.4,534,9869,0.00,2.17,0.00,0.000,6,0.000,0.046,3015,2195,3388,0,0,0,0,0,0,28.83,25.80,28.83
$GC,10169,-0.48,-146.0,867.5,-7.1,545,10170,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2195,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10468,-0.48,-146.0,889.0,-7.4,555,10469,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2195,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10768,-0.48,-146.0,913.2,-8.1,565,10774,0.00,2.30,0.00,0.000,4,0.000,0.067,3005,3607,3387,0,0,0,0,0,0,28.83,25.43,28.83
$GC,10817,-0.48,-146.0,915.7,-8.1,566,10822,0.12,2.17,0.00,0.000,6,0.129,0.047,3041,2204,3387,0,0,0,0,0,0,25.60,25.78,28.83
$GC,11123,-0.48,-146.0,936.9,-6.1,576,11125,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2202,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11423,-0.48,-146.0,955.7,-6.7,586,11428,0.00,2.28,0.00,0.000,4,0.000,0.067,3034,3606,3386,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11454,-0.48,-146.0,957.7,-6.8,587,11459,0.00,2.17,0.00,0.000,6,0.000,0.047,3034,2197,3386,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11783,-0.48,-146.0,980.3,-6.4,598,11784,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2194,3386,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11960,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11960,begin apogee
$GC,11967,-0.22,0.0,992.0,-6.5,604,12103,0.25,0.00,129.75,1.179,6,0.110,0.000,3122,2339,2794,0,0,0,0,0,0,25.77,28.83,23.23
$STATE,12107,end apogee,CONTROL_FINISHED_OK
$STATE,12107,begin climb
$GC,12110,0.48,146.0,995.7,0.0,608,12253,0.65,0.00,138.65,1.141,6,0.074,0.000,3345,2339,2198,0,0,0,0,0,0,24.42,28.83,22.30
$GC,12533,0.48,146.0,964.6,8.6,623,12534,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2339,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12833,0.48,146.0,938.8,8.4,633,12834,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2339,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13133,0.48,146.0,912.5,9.0,643,13134,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2339,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13434,0.48,146.0,885.0,9.0,653,13435,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2339,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13733,0.48,146.0,860.8,7.9,663,13739,0.00,2.25,0.00,0.000,4,0.000,0.068,3346,3726,2184,0,0,0,0,0,0,28.83,25.55,28.83
$GC,13771,0.48,146.0,858.2,8.0,664,13776,0.00,2.20,0.00,0.000,6,0.000,0.048,3355,2324,2183,0,0,0,0,0,0,28.83,25.75,28.83
$GC,14089,0.48,146.0,829.8,8.6,675,14090,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2321,2183,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,24014,end climb,SURFACE_DEPTH_REACHED
$STATE,24014,begin surface coast
$FINISH,1.2,1.008885
$STATE,24056,end surface coast,CONTROL_FINISHED_OK
$STATE,24056,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,44.17
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,16.10
$XPDR_PINGS,5
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$10V_AH,10.1,36.486
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.825,183.275,508.600,0.000,0.000,27.036,47.562,222.301,1.250,0.000,20.237,3466.998,17062.338,602.941,3018.047,415.104,0.000,2063.705,0.000,2683.068,0.000,0.535,0.000
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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,296748
$DATA_FILE_SIZE,73585,1341
$CAP_FILE_SIZE,196022,0
$CFSIZE,260165632,231673856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.133,132.5,1
$GPS,261112,063100,4738.334,-12535.105,38,1.9,38,18.7