version: 66.11
glider: 187
mission: 2
dive: 644
start: 2 28 113 13 16 3
data:
$ID,187
$MISSION,2
$DIVE,644
$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,10
$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,-1588837.9
$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,44
$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,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
$GPS1,280213,130236,4713.359,-12627.591,28,1.2,28,18.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-75.5
$GPS2,280213,131531,4713.400,-12627.582,17,1.3,17,18.6
$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,224.1,47879,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,88,0.00,0.00,-68.18,0.000,2,0.000,0.000,105,2188,2600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.47,-136.3,3.1,-4.0,12,129,11.68,2.25,-20.27,0.000,4,0.213,0.062,3034,791,3352,0,0,0,0,0,0,24.46,25.44,26.24
$GC,305,-0.47,-136.3,31.5,-14.6,52,311,0.00,2.20,0.00,0.000,6,0.000,0.051,3026,2200,3354,0,0,0,0,0,0,28.83,25.44,28.83
$GC,617,-0.47,-136.3,79.6,-15.9,113,623,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2200,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,939,-0.47,-136.3,122.0,-10.6,174,948,0.00,2.22,0.00,0.000,4,0.000,0.050,3026,799,3354,0,0,0,0,0,0,28.83,25.51,28.83
$GC,978,-0.47,-136.3,126.3,-10.9,178,988,0.00,2.25,0.00,0.000,6,0.000,0.050,3016,2200,3354,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1288,-0.47,-136.3,160.5,-10.7,199,1297,0.00,2.30,0.00,0.000,4,0.000,0.062,3006,3609,3354,0,0,0,0,0,0,28.83,25.36,28.83
$GC,1379,-0.47,-136.3,170.2,-11.3,208,1388,0.10,2.22,0.00,0.000,6,0.100,0.043,3044,2189,3355,0,0,0,0,0,0,25.47,25.69,28.83
$GC,1690,-0.47,-136.3,194.6,-7.5,229,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2188,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2003,-0.47,-136.3,218.8,-7.6,246,2009,0.00,2.35,0.00,0.000,4,0.000,0.061,3035,3621,3355,0,0,0,0,0,0,28.83,25.35,28.83
$GC,2064,-0.47,-136.3,223.6,-7.9,249,2069,0.00,2.22,0.00,0.000,6,0.000,0.041,3035,2201,3355,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2383,-0.47,-136.3,251.9,-9.0,265,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2198,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2683,-0.47,-136.3,278.5,-8.6,280,2689,0.00,2.35,0.00,0.000,4,0.000,0.063,3025,3616,3355,0,0,0,0,0,0,28.83,25.32,28.83
$GC,2724,-0.47,-136.3,281.9,-8.6,282,2729,0.00,2.22,0.00,0.000,6,0.000,0.044,3025,2206,3355,0,0,0,0,0,0,28.83,25.67,28.83
$GC,3043,-0.47,-136.3,311.0,-9.1,298,3049,0.00,2.35,0.00,0.000,4,0.000,0.063,3015,3618,3355,0,0,0,0,0,0,28.83,25.32,28.83
$GC,3071,-0.47,-136.3,312.7,-9.0,299,3075,0.00,2.28,0.00,0.000,6,0.000,0.044,3014,2189,3355,0,0,0,0,0,0,28.83,25.65,28.83
$GC,3374,-0.47,-136.3,342.1,-9.5,314,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2187,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3673,-0.47,-136.3,371.6,-9.7,329,3679,0.00,2.38,0.00,0.000,4,0.000,0.063,3004,3625,3355,0,0,0,0,0,0,28.83,25.30,28.83
$GC,3701,-0.47,-136.3,373.8,-10.0,330,3706,0.15,2.28,0.00,0.000,6,0.119,0.044,3049,2197,3355,0,0,0,0,0,0,25.45,25.65,28.83
$GC,4004,-0.47,-136.3,396.4,-6.7,345,4009,0.00,2.35,0.00,0.000,4,0.000,0.064,3041,3607,3355,0,0,0,0,0,0,28.83,25.29,28.83
$GC,4063,-0.47,-136.3,400.6,-6.9,348,4069,0.00,2.22,0.00,0.000,6,0.000,0.044,3041,2202,3354,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4394,-0.47,-136.3,423.2,-6.8,359,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2200,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4694,-0.47,-136.3,443.2,-6.6,369,4699,0.00,2.33,0.00,0.000,4,0.000,0.065,3030,3604,3354,0,0,0,0,0,0,28.83,25.27,28.83
$GC,4723,-0.47,-136.3,445.1,-6.6,370,4729,0.00,2.22,0.00,0.000,6,0.000,0.045,3030,2200,3354,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5053,-0.47,-136.3,466.7,-6.3,381,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2198,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5355,-0.47,-136.3,485.8,-6.4,391,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2198,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5653,-0.47,-136.3,504.5,-6.3,401,5659,0.00,2.35,0.00,0.000,4,0.000,0.065,3019,3611,3353,0,0,0,0,0,0,28.83,25.23,28.83
$GC,5701,-0.47,-136.3,506.7,-6.5,402,5706,0.00,2.28,0.00,0.000,6,0.000,0.046,3020,2193,3352,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6004,-0.47,-136.3,530.1,-7.6,412,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2191,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6303,-0.47,-136.3,553.7,-8.0,422,6309,0.00,2.25,0.00,0.000,4,0.000,0.052,3020,791,3352,0,0,0,0,0,0,28.83,25.39,28.83
$GC,6333,-0.47,-136.3,556.3,-8.1,423,6339,0.08,2.28,0.00,0.000,6,0.108,0.053,3039,2201,3352,0,0,0,0,0,0,25.24,25.39,28.83
$GC,6664,-0.47,-136.3,578.6,-6.8,434,6669,0.00,2.33,0.00,0.000,4,0.000,0.066,3031,3606,3352,0,0,0,0,0,0,28.83,25.20,28.83
$GC,6731,-0.47,-136.3,583.1,-7.1,436,6735,0.00,2.25,0.00,0.000,6,0.000,0.046,3031,2200,3352,0,0,0,0,0,0,28.83,25.59,28.83
$GC,7043,-0.47,-136.3,607.8,-7.8,447,7045,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2199,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7344,-0.47,-136.3,629.9,-7.3,457,7349,0.00,2.35,0.00,0.000,4,0.000,0.067,3021,3607,3351,0,0,0,0,0,0,28.83,25.19,28.83
$GC,7391,-0.47,-136.3,632.2,-7.2,458,7395,0.00,2.28,0.00,0.000,6,0.000,0.046,3021,2191,3351,0,0,0,0,0,0,28.83,25.57,28.83
$GC,7693,-0.47,-136.3,655.4,-7.1,468,7699,0.00,2.38,0.00,0.000,4,0.000,0.066,3011,3614,3350,0,0,0,0,0,0,28.83,25.18,28.83
$GC,7723,-0.47,-136.3,657.6,-7.2,469,7729,0.12,2.28,0.00,0.000,6,0.120,0.047,3048,2200,3350,0,0,0,0,0,0,25.42,25.56,28.83
$GC,8054,-0.47,-136.3,676.4,-5.7,480,8059,0.00,2.35,0.00,0.000,4,0.000,0.067,3040,3607,3351,0,0,0,0,0,0,28.83,25.17,28.83
$GC,8093,-0.47,-136.3,678.0,-5.6,481,8099,0.00,2.28,0.00,0.000,6,0.000,0.047,3040,2196,3350,0,0,0,0,0,0,28.83,25.55,28.83
$GC,8413,-0.47,-136.3,697.6,-5.9,492,8419,0.00,2.35,0.00,0.000,4,0.000,0.067,3030,3603,3350,0,0,0,0,0,0,28.83,25.15,28.83
$GC,8444,-0.47,-136.3,699.5,-6.0,493,8449,0.00,2.25,0.00,0.000,6,0.000,0.047,3030,2201,3349,0,0,0,0,0,0,28.83,25.54,28.83
$GC,8773,-0.47,-136.3,720.4,-6.4,504,8775,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2199,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9073,-0.47,-136.3,741.0,-7.0,514,9079,0.00,2.38,0.00,0.000,4,0.000,0.067,3020,3609,3348,0,0,0,0,0,0,28.83,25.14,28.83
$GC,9142,-0.47,-136.3,745.7,-7.5,516,9148,0.00,2.28,0.00,0.000,6,0.000,0.047,3020,2196,3348,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9463,-0.47,-136.3,772.1,-8.0,527,9469,0.00,2.38,0.00,0.000,4,0.000,0.067,3010,3613,3349,0,0,0,0,0,0,28.83,25.13,28.83
$GC,9501,-0.47,-136.3,774.4,-8.0,528,9506,0.12,2.30,0.00,0.000,6,0.119,0.047,3047,2189,3347,0,0,0,0,0,0,25.39,25.52,28.83
$GC,9815,-0.47,-136.3,797.3,-7.2,539,9816,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2188,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10114,-0.47,-136.3,817.4,-6.4,549,10120,0.00,2.38,0.00,0.000,4,0.000,0.067,3040,3604,3347,0,0,0,0,0,0,28.83,25.11,28.83
$GC,10152,-0.47,-136.3,819.8,-6.5,550,10156,0.00,2.28,0.00,0.000,6,0.000,0.047,3040,2193,3347,0,0,0,0,0,0,28.83,25.52,28.83
$GC,10466,-0.47,-136.3,840.6,-6.2,561,10467,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2192,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10765,-0.47,-136.3,858.4,-5.9,571,10770,0.00,2.38,0.00,0.000,4,0.000,0.067,3030,3606,3347,0,0,0,0,0,0,28.83,25.10,28.83
$GC,10813,-0.47,-136.3,860.3,-5.9,572,10817,0.00,2.28,0.00,0.000,6,0.000,0.047,3029,2196,3347,0,0,0,0,0,0,28.83,25.51,28.83
$GC,11116,-0.47,-136.3,878.8,-5.5,582,11120,0.00,2.38,0.00,0.000,4,0.000,0.067,3020,3606,3346,0,0,0,0,0,0,28.83,25.08,28.83
$GC,11153,-0.47,-136.3,880.4,-5.5,583,11157,0.00,2.28,0.00,0.000,6,0.000,0.047,3020,2199,3346,0,0,0,0,0,0,28.83,25.50,28.83
$GC,11465,-0.47,-136.3,899.5,-5.8,594,11467,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2197,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11766,-0.47,-136.3,916.3,-5.6,604,11768,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2198,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12065,-0.47,-136.3,933.8,-6.1,614,12071,0.00,2.38,0.00,0.000,4,0.000,0.068,3010,3607,3346,0,0,0,0,0,0,28.83,25.06,28.83
$GC,12125,-0.47,-136.3,937.8,-6.3,616,12132,0.08,2.25,0.00,0.000,6,0.099,0.047,3041,2208,3346,0,0,0,0,0,0,25.30,25.51,28.83
$GC,12457,-0.47,-136.3,956.9,-5.9,627,12461,0.00,2.33,0.00,0.000,4,0.000,0.069,3038,3607,3346,0,0,0,0,0,0,28.83,25.04,28.83
$GC,12493,-0.47,-136.3,958.8,-6.0,628,12498,0.00,2.30,0.00,0.000,6,0.000,0.049,3038,2190,3345,0,0,0,0,0,0,28.83,25.47,28.83
$GC,12806,-0.47,-136.3,979.2,-6.2,639,12808,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2189,3345,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13013,begin apogee
$GC,13021,-0.22,0.0,991.5,-5.8,646,13152,0.25,0.00,126.72,1.154,6,0.106,0.000,3126,2333,2794,0,0,0,0,0,0,25.65,28.83,22.44
$STATE,13153,end apogee,CONTROL_FINISHED_OK
$STATE,13153,begin climb
$GC,13156,0.47,136.3,995.3,0.0,650,13298,0.65,2.60,135.10,1.119,4,0.067,0.067,3349,3733,2237,0,0,0,0,0,0,24.41,23.41,21.73
$GC,13328,0.48,169.0,989.0,5.7,656,13367,0.00,2.42,32.72,1.075,6,0.000,0.049,3359,2330,2104,0,0,0,0,0,0,28.83,23.99,21.92
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$STATE,25287,end climb,SURFACE_DEPTH_REACHED
$STATE,25287,begin surface coast
$FINISH,1.4,1.013321
$STATE,25326,end surface coast,CONTROL_FINISHED_OK
$STATE,25326,begin surface
$SM_CCo,25406,0.00,0.000,0,0,1180,395.67
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$TT8_MAMPS,0.027713,0.027713
$HUMID,47.08
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,18.90
$XPDR_PINGS,3
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$10V_AH,9.8,69.233
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.200,217.375,494.550,0.000,0.000,78.136,105.517,276.808,0.750,0.000,18.724,3554.068,18619.340,792.933,2699.228,502.071,0.000,2045.462,0.000,2195.104,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296876
$DATA_FILE_SIZE,76646,1372
$CAP_FILE_SIZE,200792,0
$CFSIZE,260165632,203399168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.144, 79.4,1
$GPS,280213,202036,4711.876,-12630.563,28,1.4,28,18.6