version: 66.11
glider: 187
mission: 2
dive: 377
start: 12 13 112 4 37 32
data:
$ID,187
$MISSION,2
$DIVE,377
$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,470
$T_MISSION,520
$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,140
$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,570.07721
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,3
$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,-1588411.1
$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,37
$R_STBD_OVSHOOT,26
$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
$GPS1,131212,042206,4739.554,-12529.077,39,0.9,39,18.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-79.2
$GPS2,131212,043701,4739.642,-12529.290,11,2.0,11,18.7
$SPEED_LIMITS,0.122,0.210
$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,231.3,136076,-13.3,-7.021,-18.50
$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,17,-0.47,-136.3,0.0,0.0,0,80,0.00,0.00,-61.17,0.000,2,0.000,0.000,116,2196,2769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.47,-136.3,3.3,-3.4,11,116,11.38,2.20,-12.98,0.000,4,0.213,0.062,3034,793,3351,0,0,0,0,0,0,24.91,25.56,26.21
$GC,254,-0.47,-136.3,33.5,-15.3,42,260,0.00,2.20,0.00,0.000,6,0.000,0.051,3026,2201,3353,0,0,0,0,0,0,28.83,25.56,28.83
$GC,565,-0.47,-136.3,82.8,-13.3,103,572,0.00,2.25,0.00,0.000,4,0.000,0.061,3015,3610,3354,0,0,0,0,0,0,28.83,25.53,28.83
$GC,614,-0.47,-136.3,89.5,-13.5,112,621,0.00,2.17,0.00,0.000,6,0.000,0.044,3015,2194,3355,0,0,0,0,0,0,28.83,25.76,28.83
$GC,936,-0.47,-136.3,131.1,-11.8,163,942,0.00,2.15,0.00,0.000,4,0.000,0.050,3015,801,3355,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1149,-0.47,-136.3,153.3,-10.4,177,1154,0.12,2.17,0.00,0.000,6,0.142,0.050,3040,2203,3356,0,0,0,0,0,0,25.56,25.70,28.83
$GC,1458,-0.47,-136.3,180.8,-8.7,197,1464,0.00,2.22,0.00,0.000,4,0.000,0.062,3032,3612,3355,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1502,-0.47,-136.3,184.8,-8.8,200,1507,0.00,2.17,0.00,0.000,6,0.000,0.044,3032,2198,3355,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1822,-0.47,-136.3,211.4,-8.1,219,1828,0.00,2.15,0.00,0.000,4,0.000,0.050,3032,793,3355,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1862,-0.47,-136.3,214.7,-8.2,221,1867,0.00,2.20,0.00,0.000,6,0.000,0.051,3025,2211,3355,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2182,-0.47,-136.3,242.5,-8.6,237,2188,0.00,2.22,0.00,0.000,4,0.000,0.063,3015,3611,3355,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2250,-0.47,-136.3,248.1,-9.1,240,2254,0.00,2.17,0.00,0.000,6,0.000,0.044,3015,2194,3355,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2557,-0.47,-136.3,278.1,-9.5,255,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2190,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2858,-0.47,-136.3,305.3,-8.7,270,2864,0.00,2.30,0.00,0.000,4,0.000,0.063,3005,3617,3355,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2880,-0.47,-136.3,307.1,-8.7,271,2885,0.12,2.17,0.00,0.000,6,0.132,0.044,3041,2203,3355,0,0,0,0,0,0,25.67,25.85,28.83
$GC,3193,-0.47,-136.3,329.8,-7.1,287,3199,0.00,2.17,0.00,0.000,4,0.000,0.052,3041,795,3354,0,0,0,0,0,0,28.83,25.69,28.83
$GC,3262,-0.47,-136.3,334.3,-7.3,290,3266,0.00,2.20,0.00,0.000,6,0.000,0.052,3034,2207,3354,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3568,-0.47,-136.3,359.1,-8.0,305,3574,0.00,2.25,0.00,0.000,4,0.000,0.064,3024,3611,3354,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3622,-0.47,-136.3,362.6,-8.6,307,3629,0.00,2.17,0.00,0.000,6,0.000,0.045,3024,2195,3353,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3928,-0.47,-136.3,392.7,-9.7,323,3934,0.00,2.17,0.00,0.000,4,0.000,0.053,3024,797,3353,0,0,0,0,0,0,28.83,25.67,28.83
$GC,3968,-0.47,-136.3,396.7,-9.8,325,3974,0.00,2.20,0.00,0.000,6,0.000,0.053,3015,2201,3353,0,0,0,0,0,0,28.83,25.68,28.83
$GC,4279,-0.47,-136.3,426.4,-9.2,336,4284,0.00,2.22,0.00,0.000,4,0.000,0.065,3005,3603,3352,0,0,0,0,0,0,28.83,25.54,28.83
$GC,4321,-0.47,-136.3,429.2,-9.0,337,4326,0.12,2.17,0.00,0.000,6,0.131,0.046,3041,2191,3352,0,0,0,0,0,0,25.65,25.82,28.83
$GC,4634,-0.47,-136.3,452.6,-7.2,348,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2188,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4935,-0.47,-136.3,475.2,-7.5,358,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2188,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5235,-0.47,-136.3,495.5,-6.5,368,5240,0.00,2.30,0.00,0.000,4,0.000,0.065,3033,3608,3351,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5295,-0.47,-136.3,499.3,-6.4,370,5300,0.00,2.17,0.00,0.000,6,0.000,0.047,3033,2192,3350,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5625,-0.47,-136.3,520.4,-6.5,381,5631,0.00,2.28,0.00,0.000,4,0.000,0.065,3023,3600,3351,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5648,-0.47,-136.3,520.4,-6.5,381,5655,0.00,2.17,0.00,0.000,6,0.000,0.047,3023,2191,3350,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5954,-0.47,-136.3,545.5,-7.9,392,5960,0.00,2.30,0.00,0.000,4,0.000,0.065,3013,3611,3350,0,0,0,0,0,0,28.83,25.49,28.83
$GC,5985,-0.47,-136.3,547.9,-7.9,393,5990,0.00,2.17,0.00,0.000,6,0.000,0.047,3013,2204,3350,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6314,-0.47,-136.3,574.6,-8.3,404,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2201,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6615,-0.47,-136.3,598.6,-7.8,414,6616,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2201,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6915,-0.47,-136.3,620.9,-7.6,424,6916,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2201,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7215,-0.47,-136.3,644.7,-8.0,434,7216,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2201,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7514,-0.47,-136.3,667.9,-7.8,444,7515,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2201,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7815,-0.47,-136.3,692.2,-8.2,454,7816,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2201,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8115,-0.47,-136.3,716.1,-7.8,464,8120,0.00,2.30,0.00,0.000,4,0.000,0.067,3003,3612,3346,0,0,0,0,0,0,28.83,25.42,28.83
$GC,8144,-0.47,-136.3,718.4,-7.8,465,8151,0.15,2.22,0.00,0.000,6,0.120,0.048,3048,2189,3347,0,0,0,0,0,0,25.56,25.74,28.83
$GC,8475,-0.47,-136.3,736.4,-5.1,476,8480,0.00,2.30,0.00,0.000,4,0.000,0.067,3040,3610,3346,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8513,-0.47,-136.3,738.0,-5.1,477,8517,0.00,2.20,0.00,0.000,6,0.000,0.048,3040,2194,3346,0,0,0,0,0,0,28.83,25.74,28.83
$GC,8831,-0.47,-136.3,757.2,-6.1,488,8832,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2192,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9132,-0.47,-136.3,775.1,-5.9,498,9133,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2192,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9431,-0.47,-136.3,792.7,-6.0,508,9436,0.00,2.30,0.00,0.000,4,0.000,0.067,3030,3608,3345,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9479,-0.47,-136.3,794.3,-5.8,509,9483,0.00,2.20,0.00,0.000,6,0.000,0.048,3030,2195,3345,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9786,-0.47,-136.3,813.1,-5.6,519,9787,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2194,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10086,-0.47,-136.3,829.1,-5.2,529,10087,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2193,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10386,-0.47,-136.3,845.3,-5.3,539,10391,0.00,2.33,0.00,0.000,4,0.000,0.068,3020,3611,3344,0,0,0,0,0,0,28.83,25.36,28.83
$GC,10434,-0.47,-136.3,846.9,-5.2,540,10438,0.00,2.20,0.00,0.000,6,0.000,0.049,3020,2202,3344,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10741,-0.47,-136.3,865.6,-5.6,550,10742,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2200,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11041,-0.47,-136.3,882.3,-5.7,560,11046,0.00,2.28,0.00,0.000,4,0.000,0.068,3011,3611,3343,0,0,0,0,0,0,28.83,25.35,28.83
$GC,11071,-0.47,-136.3,884.1,-5.7,561,11077,0.08,2.20,0.00,0.000,6,0.102,0.050,3041,2196,3343,0,0,0,0,0,0,25.51,25.69,28.83
$GC,11401,-0.47,-136.3,900.2,-4.8,572,11402,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2194,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11701,-0.47,-136.3,914.3,-4.4,582,11706,0.00,2.30,0.00,0.000,4,0.000,0.068,3033,3608,3343,0,0,0,0,0,0,28.83,25.32,28.83
$GC,11734,-0.47,-136.3,915.8,-4.5,583,11738,0.00,2.20,0.00,0.000,6,0.000,0.050,3032,2199,3343,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12057,-0.47,-136.3,932.6,-5.2,594,12058,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2196,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12357,-0.47,-136.3,949.6,-5.8,604,12358,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2195,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12658,-0.47,-136.3,966.8,-5.5,614,12659,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2195,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12957,-0.47,-136.3,983.7,-5.5,624,12962,0.00,2.30,0.00,0.000,4,0.000,0.069,3022,3608,3342,0,0,0,0,0,0,28.83,25.29,28.83
$GC,13000,-0.47,-136.3,985.4,-5.6,625,13004,0.00,2.22,0.00,0.000,6,0.000,0.050,3022,2189,3342,0,0,0,0,0,0,28.83,25.65,28.83
$STATE,13069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13069,begin apogee
$GC,13077,-0.22,0.0,990.4,-5.8,628,13203,0.30,0.00,121.38,1.174,6,0.106,0.000,3125,2328,2794,0,0,0,0,0,0,25.65,28.83,23.08
$STATE,13206,end apogee,CONTROL_FINISHED_OK
$STATE,13206,begin climb
$GC,13209,0.47,136.3,993.0,0.0,632,13352,0.62,2.60,130.38,1.135,4,0.073,0.067,3343,3726,2237,0,0,0,0,0,0,24.44,23.33,22.11
$GC,13368,0.48,163.6,986.9,5.9,637,13405,0.00,2.40,26.85,1.072,6,0.000,0.049,3354,2329,2126,0,0,0,0,0,0,28.83,23.75,22.20
$GC,13705,0.48,163.6,953.8,9.1,649,13711,0.00,2.30,0.00,0.000,4,0.000,0.058,3364,921,2118,0,0,0,0,0,0,28.83,25.00,28.83
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$STATE,25288,end climb,SURFACE_DEPTH_REACHED
$STATE,25288,begin surface coast
$FINISH,1.3,1.001547
$STATE,25331,end surface coast,CONTROL_FINISHED_OK
$STATE,25331,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.44
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,19.30
$XPDR_PINGS,2
$24V_AH,22.1,52.309
$10V_AH,9.9,43.187
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.175,215.725,492.000,88.050,0.000,133.572,377.898,0.000,0.500,0.000,12.320,3660.809,18315.670,701.529,3204.631,446.642,0.000,2255.628,0.000,2636.037,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,966.397,737.977,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297020
$DATA_FILE_SIZE,76761,1406
$CAP_FILE_SIZE,210712,0
$CFSIZE,260165632,226365440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.058, 20.9,1
$GPS,131212,114300,4739.188,-12533.752,42,1.5,42,18.7