version: 66.11
glider: 187
mission: 2
dive: 654
start: 3 3 113 14 14 58
data:
$ID,187
$MISSION,2
$DIVE,654
$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,-1588857.5
$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,23
$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
$GPS1,030313,140706,4701.950,-12654.606,48,0.8,48,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-75.2
$GPS2,030313,141425,4701.917,-12654.558,14,1.5,14,18.6
$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,206.6,7737,-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,-136.3,0.0,0.0,0,69,0.00,0.00,-49.95,0.000,2,0.000,0.000,106,2200,2637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.47,-136.3,3.1,-1.7,9,111,11.60,2.33,-18.15,0.000,4,0.211,0.075,3027,3611,3351,0,0,0,0,0,0,24.47,25.26,26.24
$GC,202,-0.47,-136.3,21.8,-14.8,32,209,0.00,2.20,0.00,0.000,6,0.000,0.045,3027,2201,3352,0,0,0,0,0,0,28.83,25.52,28.83
$GC,515,-0.47,-136.3,69.9,-15.8,93,521,0.00,2.20,0.00,0.000,4,0.000,0.051,3026,788,3353,0,0,0,0,0,0,28.83,25.41,28.83
$GC,574,-0.47,-136.3,78.9,-13.9,104,581,0.00,2.22,0.00,0.000,6,0.000,0.052,3017,2204,3353,0,0,0,0,0,0,28.83,25.40,28.83
$GC,897,-0.47,-136.3,122.5,-12.6,165,905,0.00,2.30,0.00,0.000,4,0.000,0.062,3006,3605,3353,0,0,0,0,0,0,28.83,25.28,28.83
$GC,996,-0.47,-136.3,134.8,-12.0,175,1006,0.12,2.25,0.00,0.000,6,0.130,0.043,3042,2189,3353,0,0,0,0,0,0,25.44,25.62,28.83
$GC,1309,-0.47,-136.3,164.4,-8.9,196,1316,0.00,2.15,0.00,0.000,4,0.000,0.050,3042,804,3353,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1366,-0.47,-136.3,169.6,-8.5,202,1375,0.00,2.25,0.00,0.000,6,0.000,0.050,3035,2202,3353,0,0,0,0,0,0,28.83,25.45,28.83
$GC,1676,-0.47,-136.3,195.1,-8.0,223,1685,0.00,2.33,0.00,0.000,4,0.000,0.062,3025,3611,3353,0,0,0,0,0,0,28.83,25.27,28.83
$GC,1717,-0.47,-136.3,198.4,-8.1,227,1726,0.00,2.22,0.00,0.000,6,0.000,0.044,3025,2204,3353,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2041,-0.47,-136.3,226.7,-8.8,244,2046,0.00,2.22,0.00,0.000,4,0.000,0.050,3025,803,3353,0,0,0,0,0,0,28.83,25.43,28.83
$GC,2089,-0.47,-136.3,230.2,-9.0,246,2093,0.00,2.25,0.00,0.000,6,0.000,0.050,3017,2201,3353,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2392,-0.47,-136.3,258.4,-9.2,261,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2201,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2693,-0.47,-136.3,287.0,-9.7,276,2697,0.00,2.28,0.00,0.000,4,0.000,0.063,3007,3612,3353,0,0,0,0,0,0,28.83,25.26,28.83
$GC,2729,-0.47,-136.3,290.0,-9.9,277,2734,0.12,2.25,0.00,0.000,6,0.128,0.044,3044,2200,3353,0,0,0,0,0,0,25.44,25.61,28.83
$GC,3032,-0.47,-136.3,315.2,-7.8,292,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2198,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3331,-0.47,-136.3,337.3,-7.1,307,3336,0.00,2.38,0.00,0.000,4,0.000,0.063,3035,3614,3353,0,0,0,0,0,0,28.83,25.24,28.83
$GC,3360,-0.47,-136.3,338.9,-7.2,308,3369,0.00,2.28,0.00,0.000,6,0.000,0.045,3035,2197,3353,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3672,-0.47,-136.3,363.1,-7.6,324,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2197,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3971,-0.47,-136.3,385.2,-7.3,339,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2197,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4281,-0.47,-136.3,407.8,-7.3,353,4286,0.00,2.35,0.00,0.000,4,0.000,0.064,3025,3608,3353,0,0,0,0,0,0,28.83,25.20,28.83
$GC,4312,-0.47,-136.3,410.2,-7.5,354,4317,0.00,2.25,0.00,0.000,6,0.000,0.045,3025,2201,3352,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4641,-0.47,-136.3,437.5,-8.4,365,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2199,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4941,-0.47,-136.3,463.5,-8.7,375,4947,0.00,2.38,0.00,0.000,4,0.000,0.064,3015,3626,3352,0,0,0,0,0,0,28.83,25.19,28.83
$GC,4980,-0.47,-136.3,466.1,-8.7,376,4984,0.00,2.30,0.00,0.000,6,0.000,0.045,3015,2197,3352,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5292,-0.47,-136.3,495.1,-9.1,387,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2196,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5592,-0.47,-136.3,522.3,-8.9,397,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2195,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5892,-0.47,-136.3,547.0,-7.8,407,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2195,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6193,-0.47,-136.3,569.8,-7.5,417,6198,0.00,2.35,0.00,0.000,4,0.000,0.065,3004,3605,3351,0,0,0,0,0,0,28.83,25.17,28.83
$GC,6252,-0.47,-136.3,574.4,-7.5,419,6258,0.15,2.28,0.00,0.000,6,0.118,0.045,3049,2192,3351,0,0,0,0,0,0,25.37,25.55,28.83
$GC,6582,-0.47,-136.3,591.8,-5.1,430,6588,0.00,2.38,0.00,0.000,4,0.000,0.065,3041,3611,3351,0,0,0,0,0,0,28.83,25.15,28.83
$GC,6621,-0.47,-136.3,593.4,-5.1,431,6627,0.00,2.28,0.00,0.000,6,0.000,0.046,3041,2200,3351,0,0,0,0,0,0,28.83,25.54,28.83
$GC,6942,-0.47,-136.3,612.2,-5.8,442,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2200,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7243,-0.47,-136.3,630.0,-6.0,452,7248,0.00,2.35,0.00,0.000,4,0.000,0.066,3031,3605,3350,0,0,0,0,0,0,28.83,25.13,28.83
$GC,7281,-0.47,-136.3,631.7,-5.9,453,7287,0.00,2.28,0.00,0.000,6,0.000,0.047,3031,2203,3350,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7603,-0.47,-136.3,653.1,-6.3,464,7604,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2200,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7902,-0.47,-136.3,673.5,-7.1,474,7908,0.00,2.38,0.00,0.000,4,0.000,0.066,3021,3608,3350,0,0,0,0,0,0,28.83,25.12,28.83
$GC,7963,-0.47,-136.3,678.1,-7.3,476,7968,0.00,2.28,0.00,0.000,6,0.000,0.047,3021,2200,3350,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8292,-0.47,-136.3,704.8,-8.2,487,8298,0.00,2.28,0.00,0.000,4,0.000,0.054,3021,800,3350,0,0,0,0,0,0,28.83,25.28,28.83
$GC,8324,-0.47,-136.3,707.4,-8.3,488,8328,0.00,2.25,0.00,0.000,6,0.000,0.055,3014,2203,3349,0,0,0,0,0,0,28.83,25.29,28.83
$GC,8653,-0.47,-136.3,735.5,-8.5,499,8658,0.00,2.35,0.00,0.000,4,0.000,0.066,3003,3612,3349,0,0,0,0,0,0,28.83,25.10,28.83
$GC,8742,-0.47,-136.3,743.7,-9.0,502,8749,0.15,2.30,0.00,0.000,6,0.116,0.047,3049,2191,3349,0,0,0,0,0,0,25.32,25.50,28.83
$GC,9072,-0.47,-136.3,765.8,-6.6,513,9078,0.00,2.38,0.00,0.000,4,0.000,0.067,3041,3604,3348,0,0,0,0,0,0,28.83,25.08,28.83
$GC,9103,-0.47,-136.3,767.7,-6.5,514,9108,0.00,2.25,0.00,0.000,6,0.000,0.047,3041,2207,3348,0,0,0,0,0,0,28.83,25.49,28.83
$GC,9432,-0.47,-136.3,789.9,-6.7,525,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2204,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9732,-0.47,-136.3,809.5,-6.4,535,9738,0.00,2.35,0.00,0.000,4,0.000,0.067,3031,3604,3347,0,0,0,0,0,0,28.83,25.07,28.83
$GC,9763,-0.47,-136.3,811.5,-6.4,536,9768,0.00,2.28,0.00,0.000,6,0.000,0.048,3030,2192,3347,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10092,-0.47,-136.3,833.9,-6.6,547,10098,0.00,2.38,0.00,0.000,4,0.000,0.067,3021,3603,3347,0,0,0,0,0,0,28.83,25.05,28.83
$GC,10123,-0.47,-136.3,835.9,-6.7,548,10128,0.00,2.28,0.00,0.000,6,0.000,0.047,3021,2194,3347,0,0,0,0,0,0,28.83,25.47,28.83
$GC,10453,-0.47,-136.3,858.6,-6.8,559,10458,0.00,2.25,0.00,0.000,4,0.000,0.054,3021,802,3346,0,0,0,0,0,0,28.83,25.25,28.83
$GC,10484,-0.47,-136.3,860.7,-6.9,560,10488,0.00,2.22,0.00,0.000,6,0.000,0.055,3014,2200,3346,0,0,0,0,0,0,28.83,25.25,28.83
$GC,10802,-0.47,-136.3,882.5,-6.8,571,10808,0.00,2.35,0.00,0.000,4,0.000,0.067,3004,3608,3346,0,0,0,0,0,0,28.83,25.04,28.83
$GC,10840,-0.47,-136.3,884.9,-6.9,572,10845,0.15,2.30,0.00,0.000,6,0.116,0.048,3048,2195,3346,0,0,0,0,0,0,25.27,25.45,28.83
$GC,11155,-0.47,-136.3,901.2,-5.0,583,11156,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2193,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11454,-0.47,-136.3,916.9,-5.2,593,11455,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2193,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11755,-0.47,-136.3,933.3,-5.5,603,11760,0.00,2.38,0.00,0.000,4,0.000,0.067,3041,3605,3346,0,0,0,0,0,0,28.83,25.03,28.83
$GC,11784,-0.47,-136.3,935.1,-5.6,604,11789,0.00,2.25,0.00,0.000,6,0.000,0.048,3041,2211,3346,0,0,0,0,0,0,28.83,25.45,28.83
$GC,12114,-0.47,-136.3,953.6,-5.5,615,12115,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2209,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12415,-0.47,-136.3,971.0,-5.9,625,12419,0.00,2.35,0.00,0.000,4,0.000,0.068,3031,3602,3345,0,0,0,0,0,0,28.83,24.99,28.83
$GC,12452,-0.47,-136.3,972.8,-6.0,626,12456,0.00,2.30,0.00,0.000,6,0.000,0.048,3031,2191,3344,0,0,0,0,0,0,28.83,25.44,28.83
$STATE,12732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12732,begin apogee
$GC,12739,-0.22,0.0,991.8,-6.7,636,12871,0.25,0.00,126.55,1.159,6,0.106,0.000,3119,2331,2793,0,0,0,0,0,0,25.62,28.83,22.41
$STATE,12872,end apogee,CONTROL_FINISHED_OK
$STATE,12872,begin climb
$GC,12876,0.47,136.3,996.8,0.0,640,13018,0.68,2.60,135.15,1.124,4,0.069,0.067,3349,3730,2237,0,0,0,0,0,0,24.41,23.40,21.70
$GC,13059,0.49,179.0,990.7,5.3,647,13106,0.00,2.38,41.90,1.085,6,0.000,0.047,3360,2322,2064,0,0,0,0,0,0,28.83,24.11,21.95
$GC,13407,0.49,179.0,962.3,8.2,658,13412,0.00,2.30,0.00,0.000,4,0.000,0.057,3371,921,2055,0,0,0,0,0,0,28.83,25.34,28.83
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$STATE,24944,end climb,SURFACE_DEPTH_REACHED
$STATE,24944,begin surface coast
$FINISH,1.4,1.004924
$STATE,24988,end surface coast,CONTROL_FINISHED_OK
$STATE,24988,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,47.59
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$TCM_TEMP,19.00
$XPDR_PINGS,3
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$10V_AH,9.8,70.204
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.325,226.400,446.250,0.000,0.000,27.080,40.698,216.943,0.750,0.000,17.067,3540.513,18227.098,752.267,2484.060,490.687,0.000,2005.047,0.000,2190.289,0.000,0.535,0.000
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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,296920
$DATA_FILE_SIZE,76721,1367
$CAP_FILE_SIZE,196084,0
$CFSIZE,260165632,202530816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128, 54.2,1
$GPS,030313,211406,4659.629,-12656.396,42,2.0,42,18.6