version: 66.11
glider: 187
mission: 2
dive: 456
start: 1 3 113 17 28 23
data:
$ID,187
$MISSION,2
$DIVE,456
$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,300
$N_FILEKB,4
$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,-1588562.2
$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,41
$R_STBD_OVSHOOT,22
$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,20
$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
$GPS1,030113,172029,4717.682,-12614.454,60,0.9,60,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-74.0
$GPS2,030113,172749,4717.718,-12614.467,13,1.2,13,18.6
$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,208.8,66214,-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,16,-0.47,-136.3,0.0,0.0,0,80,0.00,0.00,-61.20,0.000,2,0.000,0.000,104,2206,2692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.47,-136.3,3.2,-2.5,11,121,11.62,2.28,-16.58,0.000,4,0.216,0.063,3038,798,3353,0,0,0,0,0,0,24.74,25.52,26.20
$GC,300,-0.47,-136.3,36.6,-14.9,52,307,0.00,2.20,0.00,0.000,6,0.000,0.051,3030,2203,3354,0,0,0,0,0,0,28.83,25.55,28.83
$GC,613,-0.47,-136.3,78.0,-13.1,113,619,0.00,2.25,0.00,0.000,4,0.000,0.062,3020,3611,3355,0,0,0,0,0,0,28.83,25.51,28.83
$GC,657,-0.47,-136.3,83.6,-12.1,121,663,0.00,2.17,0.00,0.000,6,0.000,0.044,3019,2198,3355,0,0,0,0,0,0,28.83,25.76,28.83
$GC,970,-0.47,-136.3,120.2,-11.4,182,971,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2194,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1269,-0.47,-136.3,152.1,-10.6,202,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2194,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1569,-0.47,-136.3,181.1,-9.3,222,1575,0.00,2.12,0.00,0.000,4,0.000,0.050,3020,803,3355,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1622,-0.47,-136.3,185.3,-9.2,225,1630,0.12,2.17,0.00,0.000,6,0.136,0.051,3045,2202,3355,0,0,0,0,0,0,25.57,25.70,28.83
$GC,1930,-0.47,-136.3,210.6,-8.0,244,1935,0.00,2.22,0.00,0.000,4,0.000,0.063,3037,3606,3355,0,0,0,0,0,0,28.83,25.57,28.83
$GC,2012,-0.47,-136.3,217.3,-8.4,248,2016,0.00,2.15,0.00,0.000,6,0.000,0.044,3037,2197,3356,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2324,-0.47,-136.3,243.8,-8.7,264,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2195,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2625,-0.47,-136.3,269.9,-8.8,279,2630,0.00,2.25,0.00,0.000,4,0.000,0.063,3026,3605,3355,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2652,-0.47,-136.3,271.7,-8.8,280,2656,0.00,2.17,0.00,0.000,6,0.000,0.044,3026,2190,3356,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2961,-0.47,-136.3,299.9,-8.7,295,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2188,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3260,-0.47,-136.3,326.3,-8.6,310,3265,0.00,2.30,0.00,0.000,4,0.000,0.063,3016,3613,3356,0,0,0,0,0,0,28.83,25.54,28.83
$GC,3302,-0.47,-136.3,329.9,-8.8,312,3307,0.00,2.17,0.00,0.000,6,0.000,0.044,3016,2201,3355,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3615,-0.47,-136.3,359.4,-9.5,328,3621,0.00,2.15,0.00,0.000,4,0.000,0.051,3016,806,3355,0,0,0,0,0,0,28.83,25.66,28.83
$GC,3648,-0.47,-136.3,361.2,-9.4,329,3655,0.12,2.17,0.00,0.000,6,0.138,0.052,3043,2200,3355,0,0,0,0,0,0,25.53,25.66,28.83
$GC,3955,-0.47,-136.3,384.6,-6.8,345,3960,0.00,2.22,0.00,0.000,4,0.000,0.064,3034,3610,3355,0,0,0,0,0,0,28.83,25.52,28.83
$GC,4038,-0.47,-136.3,390.4,-7.2,349,4042,0.00,2.17,0.00,0.000,6,0.000,0.045,3034,2195,3355,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4350,-0.47,-136.3,413.6,-7.4,362,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2194,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4650,-0.47,-136.3,436.1,-7.6,372,4656,0.00,2.30,0.00,0.000,4,0.000,0.064,3025,3612,3354,0,0,0,0,0,0,28.83,25.50,28.83
$GC,4689,-0.47,-136.3,438.4,-7.7,373,4693,0.00,2.20,0.00,0.000,6,0.000,0.046,3025,2196,3354,0,0,0,0,0,0,28.83,25.80,28.83
$GC,5006,-0.47,-136.3,465.4,-8.2,384,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2194,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5306,-0.47,-136.3,488.9,-7.6,394,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2194,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5607,-0.47,-136.3,511.7,-7.5,404,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2194,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5906,-0.47,-136.3,534.1,-7.5,414,5912,0.00,2.30,0.00,0.000,4,0.000,0.065,3014,3614,3352,0,0,0,0,0,0,28.83,25.46,28.83
$GC,5936,-0.47,-136.3,536.3,-7.5,415,5942,0.00,2.20,0.00,0.000,6,0.000,0.047,3014,2202,3352,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6267,-0.47,-136.3,562.9,-8.0,426,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2199,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6566,-0.47,-136.3,587.0,-8.1,436,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2200,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6866,-0.47,-136.3,611.5,-8.1,446,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2199,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7166,-0.47,-136.3,635.7,-8.2,456,7167,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2199,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7467,-0.47,-136.3,661.5,-8.5,466,7472,0.00,2.28,0.00,0.000,4,0.000,0.067,3005,3609,3351,0,0,0,0,0,0,28.83,25.42,28.83
$GC,7509,-0.47,-136.3,664.2,-8.6,467,7514,0.12,2.20,0.00,0.000,6,0.129,0.047,3041,2201,3351,0,0,0,0,0,0,25.58,25.75,28.83
$GC,7822,-0.47,-136.3,687.3,-6.7,478,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2198,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8122,-0.47,-136.3,706.3,-6.1,488,8128,0.00,2.28,0.00,0.000,4,0.000,0.067,3033,3604,3350,0,0,0,0,0,0,28.83,25.40,28.83
$GC,8152,-0.47,-136.3,708.2,-6.1,489,8158,0.00,2.17,0.00,0.000,6,0.000,0.048,3033,2202,3350,0,0,0,0,0,0,28.83,25.73,28.83
$GC,8482,-0.47,-136.3,728.5,-6.0,500,8487,0.00,2.28,0.00,0.000,4,0.000,0.067,3023,3607,3349,0,0,0,0,0,0,28.83,25.39,28.83
$GC,8513,-0.47,-136.3,730.5,-6.1,501,8518,0.00,2.17,0.00,0.000,6,0.000,0.048,3024,2206,3349,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8842,-0.47,-136.3,750.6,-6.0,512,8847,0.00,2.28,0.00,0.000,4,0.000,0.067,3014,3609,3349,0,0,0,0,0,0,28.83,25.38,28.83
$GC,8872,-0.47,-136.3,752.6,-6.0,513,8878,0.00,2.17,0.00,0.000,6,0.000,0.047,3014,2202,3349,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9203,-0.47,-136.3,773.7,-6.3,524,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2200,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9502,-0.47,-136.3,792.7,-6.2,534,9508,0.00,2.30,0.00,0.000,4,0.000,0.067,3005,3611,3348,0,0,0,0,0,0,28.83,25.37,28.83
$GC,9532,-0.47,-136.3,794.5,-6.2,535,9539,0.10,2.20,0.00,0.000,6,0.101,0.048,3042,2192,3348,0,0,0,0,0,0,25.49,25.70,28.83
$GC,9863,-0.47,-136.3,810.2,-4.7,546,9868,0.00,2.30,0.00,0.000,4,0.000,0.067,3035,3609,3348,0,0,0,0,0,0,28.83,25.36,28.83
$GC,9885,-0.47,-136.3,810.2,-4.7,546,9894,0.00,2.22,0.00,0.000,6,0.000,0.047,3035,2191,3347,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10193,-0.47,-136.3,826.8,-5.1,557,10194,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2191,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10492,-0.47,-136.3,843.0,-5.5,567,10498,0.00,2.33,0.00,0.000,4,0.000,0.068,3026,3608,3348,0,0,0,0,0,0,28.83,25.34,28.83
$GC,10540,-0.47,-136.3,844.6,-5.5,568,10544,0.00,2.20,0.00,0.000,6,0.000,0.048,3026,2197,3347,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10848,-0.47,-136.3,864.2,-6.0,578,10849,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2194,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11147,-0.47,-136.3,882.1,-6.1,588,11153,0.00,2.28,0.00,0.000,4,0.000,0.067,3017,3598,3347,0,0,0,0,0,0,28.83,25.34,28.83
$GC,11177,-0.47,-136.3,884.1,-6.1,589,11182,0.00,2.17,0.00,0.000,6,0.000,0.049,3017,2201,3346,0,0,0,0,0,0,28.83,25.69,28.83
$GC,11508,-0.47,-136.3,904.9,-6.1,600,11513,0.00,2.28,0.00,0.000,4,0.000,0.068,3012,3601,3346,0,0,0,0,0,0,28.83,25.32,28.83
$GC,11537,-0.47,-136.3,906.9,-6.2,601,11543,0.00,2.17,0.00,0.000,6,0.000,0.049,3012,2205,3347,0,0,0,0,0,0,28.83,25.67,28.83
$GC,11867,-0.47,-136.3,928.5,-6.4,612,11869,0.12,0.00,0.00,0.000,6,0.137,0.000,3048,2202,3346,0,0,0,0,0,0,26.08,28.83,28.83
$GC,12168,-0.47,-136.3,942.2,-4.4,622,12169,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2202,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12467,-0.47,-136.3,955.3,-4.3,632,12468,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2202,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12767,-0.47,-136.3,969.1,-4.7,642,12772,0.00,2.28,0.00,0.000,4,0.000,0.069,3040,3604,3346,0,0,0,0,0,0,28.83,25.29,28.83
$GC,12806,-0.47,-136.3,970.4,-4.6,643,12812,0.00,2.20,0.00,0.000,6,0.000,0.049,3040,2195,3346,0,0,0,0,0,0,28.83,25.65,28.83
$GC,13127,-0.47,-136.3,987.4,-5.3,654,13132,0.00,2.17,0.00,0.000,4,0.000,0.055,3040,802,3346,0,0,0,0,0,0,28.83,25.45,28.83
$GC,13159,-0.47,-136.3,989.2,-5.5,655,13164,0.00,2.20,0.00,0.000,6,0.000,0.056,3032,2200,3345,0,0,0,0,0,0,28.83,25.46,28.83
$STATE,13185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13185,begin apogee
$GC,13193,-0.22,0.0,990.9,-5.7,656,13323,0.25,0.00,124.55,1.168,6,0.108,0.000,3120,2335,2793,0,0,0,0,0,0,25.73,28.83,22.73
$STATE,13326,end apogee,CONTROL_FINISHED_OK
$STATE,13326,begin climb
$GC,13329,0.47,136.3,994.7,0.0,660,13470,0.65,2.50,134.50,1.129,4,0.073,0.055,3355,925,2237,0,0,0,0,0,0,24.37,23.32,21.85
$GC,13487,0.49,181.4,988.7,5.2,666,13537,0.00,2.42,44.15,1.089,6,0.000,0.055,3355,2317,2054,0,0,0,0,0,0,28.83,23.64,21.88
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$STATE,25068,end climb,SURFACE_DEPTH_REACHED
$STATE,25068,begin surface coast
$FINISH,1.3,1.012977
$STATE,25105,end surface coast,CONTROL_FINISHED_OK
$STATE,25105,begin surface
$SM_CCo,25184,0.00,0.000,0,0,1430,334.59
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$TT8_MAMPS,0.026964,0.026964
$HUMID,45.70
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,18.90
$XPDR_PINGS,2
$24V_AH,21.9,63.348
$10V_AH,9.8,50.864
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296908
$DATA_FILE_SIZE,76818,1389
$CAP_FILE_SIZE,209331,0
$CFSIZE,260165632,219656192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.118, 42.5,1
$GPS,040113,002936,4716.134,-12617.457,50,1.2,50,18.6