version: 66.11
glider: 187
mission: 2
dive: 704
start: 3 17 113 21 56 57
data:
$ID,187
$MISSION,2
$DIVE,704
$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,-1588928.6
$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,32
$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
$GPS1,170313,214823,4718.217,-12617.503,65,1.0,65,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-74.5
$GPS2,170313,215624,4718.208,-12617.479,12,1.8,16,18.6
$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,231.7,63414,-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,-136.3,0.0,0.0,0,72,0.00,0.00,-52.08,0.000,2,0.000,0.000,110,2201,2571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.47,-136.3,3.1,-2.8,9,113,11.62,2.40,-20.45,0.000,4,0.215,0.077,3023,3611,3352,0,0,0,0,0,0,24.57,25.27,26.23
$GC,177,-0.47,-136.3,18.0,-13.8,27,185,0.00,2.22,0.00,0.000,6,0.000,0.044,3022,2187,3355,0,0,0,0,0,0,28.83,25.51,28.83
$GC,491,-0.47,-136.3,67.6,-14.3,88,498,0.00,2.17,0.00,0.000,4,0.000,0.050,3022,791,3355,0,0,0,0,0,0,28.83,25.36,28.83
$GC,520,-0.47,-136.3,72.1,-14.1,93,527,0.00,2.22,0.00,0.000,6,0.000,0.052,3013,2204,3355,0,0,0,0,0,0,28.83,25.33,28.83
$GC,833,-0.47,-136.3,112.7,-12.1,154,840,0.12,2.22,0.00,0.000,4,0.148,0.048,3052,787,3356,0,0,0,0,0,0,25.89,25.36,28.83
$GC,873,-0.47,-136.3,117.2,-9.5,161,879,0.00,2.22,0.00,0.000,6,0.000,0.051,3045,2205,3357,0,0,0,0,0,0,28.83,25.35,28.83
$GC,1195,-0.47,-136.3,146.2,-9.0,186,1202,0.00,2.28,0.00,0.000,4,0.000,0.063,3034,3612,3356,0,0,0,0,0,0,28.83,25.19,28.83
$GC,1282,-0.47,-136.3,154.3,-9.3,195,1292,0.00,2.28,0.00,0.000,6,0.000,0.043,3034,2185,3356,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1593,-0.47,-136.3,181.5,-8.6,216,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2185,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1900,-0.47,-136.3,207.6,-8.6,235,1904,0.00,2.33,0.00,0.000,4,0.000,0.063,3024,3614,3356,0,0,0,0,0,0,28.83,25.18,28.83
$GC,1935,-0.47,-136.3,210.2,-8.6,236,1940,0.00,2.25,0.00,0.000,6,0.000,0.042,3023,2204,3356,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2237,-0.47,-136.3,238.8,-9.1,251,2243,0.00,2.25,0.00,0.000,4,0.000,0.050,3024,801,3356,0,0,0,0,0,0,28.83,25.34,28.83
$GC,2286,-0.47,-136.3,242.6,-9.2,253,2295,0.00,2.28,0.00,0.000,6,0.000,0.050,3016,2206,3356,0,0,0,0,0,0,28.83,25.34,28.83
$GC,2597,-0.47,-136.3,272.9,-9.4,269,2603,0.00,2.35,0.00,0.000,4,0.000,0.062,3007,3616,3356,0,0,0,0,0,0,28.83,25.16,28.83
$GC,2645,-0.47,-136.3,276.7,-9.6,271,2650,0.12,2.28,0.00,0.000,6,0.131,0.043,3044,2199,3356,0,0,0,0,0,0,25.35,25.54,28.83
$GC,2948,-0.47,-136.3,299.8,-7.1,286,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2193,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3249,-0.47,-136.3,320.2,-6.6,301,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2193,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3549,-0.47,-136.3,341.6,-7.5,316,3553,0.00,2.35,0.00,0.000,4,0.000,0.063,3035,3602,3356,0,0,0,0,0,0,28.83,25.12,28.83
$GC,3575,-0.47,-136.3,343.2,-7.7,317,3579,0.00,2.28,0.00,0.000,6,0.000,0.044,3036,2188,3356,0,0,0,0,0,0,28.83,25.52,28.83
$GC,3878,-0.47,-136.3,368.4,-8.3,332,3883,0.00,2.38,0.00,0.000,4,0.000,0.063,3025,3609,3356,0,0,0,0,0,0,28.83,25.12,28.83
$GC,3925,-0.47,-136.3,371.9,-8.4,334,3929,0.00,2.28,0.00,0.000,6,0.000,0.044,3026,2199,3356,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4228,-0.47,-136.3,398.5,-8.3,349,4229,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2197,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4548,-0.47,-136.3,425.3,-8.3,360,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2197,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4847,-0.47,-136.3,450.2,-8.4,370,4853,0.00,2.38,0.00,0.000,4,0.000,0.064,3016,3613,3354,0,0,0,0,0,0,28.83,25.08,28.83
$GC,4886,-0.47,-136.3,452.8,-8.4,371,4892,0.00,2.28,0.00,0.000,6,0.000,0.043,3016,2199,3354,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5207,-0.47,-136.3,481.6,-8.7,382,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2196,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5508,-0.47,-136.3,506.4,-8.2,392,5513,0.00,2.25,0.00,0.000,4,0.000,0.052,3016,801,3354,0,0,0,0,0,0,28.83,25.25,28.83
$GC,5538,-0.47,-136.3,508.9,-8.2,393,5543,0.00,2.28,0.00,0.000,6,0.000,0.054,3016,2199,3353,0,0,0,0,0,0,28.83,25.24,28.83
$GC,5868,-0.47,-136.3,537.6,-8.8,404,5873,0.00,2.35,0.00,0.000,4,0.000,0.066,3013,3612,3353,0,0,0,0,0,0,28.83,25.06,28.83
$GC,5927,-0.47,-136.3,543.0,-9.0,406,5933,0.00,2.28,0.00,0.000,6,0.000,0.045,3013,2203,3353,0,0,0,0,0,0,28.83,25.47,28.83
$GC,6258,-0.47,-136.3,572.3,-8.6,417,6259,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2202,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6557,-0.47,-136.3,597.7,-8.3,427,6563,0.00,2.38,0.00,0.000,4,0.000,0.065,3011,3611,3352,0,0,0,0,0,0,28.83,25.03,28.83
$GC,6595,-0.47,-136.3,600.3,-8.3,428,6600,0.12,2.30,0.00,0.000,6,0.123,0.046,3047,2191,3352,0,0,0,0,0,0,25.29,25.44,28.83
$GC,6909,-0.47,-136.3,620.5,-6.2,439,6914,0.00,2.38,0.00,0.000,4,0.000,0.066,3040,3607,3352,0,0,0,0,0,0,28.83,25.01,28.83
$GC,6940,-0.47,-136.3,622.5,-6.3,440,6944,0.00,2.28,0.00,0.000,6,0.000,0.047,3040,2195,3352,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7269,-0.47,-136.3,644.6,-6.6,451,7270,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2194,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7569,-0.47,-136.3,664.2,-6.6,461,7574,0.00,2.38,0.00,0.000,4,0.000,0.066,3030,3610,3351,0,0,0,0,0,0,28.83,25.00,28.83
$GC,7618,-0.47,-136.3,666.2,-6.6,462,7627,0.00,2.30,0.00,0.000,6,0.000,0.047,3031,2189,3351,0,0,0,0,0,0,28.83,25.42,28.83
$GC,7928,-0.47,-136.3,689.8,-7.1,473,7929,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2189,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8229,-0.47,-136.3,710.3,-6.7,483,8234,0.00,2.40,0.00,0.000,4,0.000,0.066,3021,3614,3351,0,0,0,0,0,0,28.83,24.98,28.83
$GC,8268,-0.47,-136.3,712.2,-6.6,484,8273,0.00,2.30,0.00,0.000,6,0.000,0.045,3021,2190,3350,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8589,-0.47,-136.3,734.0,-6.6,495,8594,0.00,2.40,0.00,0.000,4,0.000,0.066,3011,3614,3350,0,0,0,0,0,0,28.83,24.97,28.83
$GC,8637,-0.47,-136.3,736.1,-6.7,496,8642,0.12,2.28,0.00,0.000,6,0.122,0.044,3048,2202,3350,0,0,0,0,0,0,25.28,25.44,28.83
$GC,8940,-0.47,-136.3,754.9,-6.0,506,8941,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2200,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9239,-0.47,-136.3,772.7,-6.0,516,9240,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2200,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9539,-0.47,-136.3,791.0,-6.1,526,9544,0.00,2.38,0.00,0.000,4,0.000,0.067,3041,3607,3349,0,0,0,0,0,0,28.83,24.94,28.83
$GC,9578,-0.47,-136.3,792.8,-6.1,527,9583,0.00,2.30,0.00,0.000,6,0.000,0.047,3041,2200,3349,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9899,-0.47,-136.3,813.8,-6.3,538,9900,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2200,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10199,-0.47,-136.3,832.6,-6.1,548,10204,0.00,2.38,0.00,0.000,4,0.000,0.067,3031,3603,3348,0,0,0,0,0,0,28.83,24.92,28.83
$GC,10238,-0.47,-136.3,834.6,-6.2,549,10243,0.00,2.30,0.00,0.000,6,0.000,0.047,3031,2194,3348,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10559,-0.47,-136.3,855.6,-6.2,560,10564,0.00,2.38,0.00,0.000,4,0.000,0.067,3022,3602,3347,0,0,0,0,0,0,28.83,24.91,28.83
$GC,10589,-0.47,-136.3,857.8,-6.4,561,10594,0.00,2.28,0.00,0.000,6,0.000,0.047,3022,2201,3347,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10920,-0.47,-136.3,880.5,-6.9,572,10924,0.00,2.35,0.00,0.000,4,0.000,0.067,3012,3618,3347,0,0,0,0,0,0,28.83,24.90,28.83
$GC,10956,-0.47,-136.3,882.8,-7.1,573,10961,0.12,2.33,0.00,0.000,6,0.119,0.047,3048,2196,3347,0,0,0,0,0,0,25.21,25.34,28.83
$GC,11270,-0.47,-136.3,902.1,-6.1,584,11271,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2195,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11571,-0.47,-136.3,920.1,-6.0,594,11575,0.00,2.40,0.00,0.000,4,0.000,0.067,3041,3611,3347,0,0,0,0,0,0,28.83,24.89,28.83
$GC,11608,-0.47,-136.3,922.0,-6.1,595,11612,0.00,2.33,0.00,0.000,6,0.000,0.048,3041,2191,3347,0,0,0,0,0,0,28.83,25.34,28.83
$GC,11920,-0.47,-136.3,941.2,-6.0,606,11921,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2189,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12222,-0.47,-136.3,958.7,-5.8,616,12225,0.00,2.38,0.00,0.000,4,0.000,0.067,3031,3617,3347,0,0,0,0,0,0,28.83,24.87,28.83
$GC,12268,-0.47,-136.3,960.6,-5.9,617,12272,0.00,2.33,0.00,0.000,6,0.000,0.048,3031,2196,3347,0,0,0,0,0,0,28.83,25.33,28.83
$GC,12570,-0.47,-136.3,980.1,-6.0,627,12571,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2195,3346,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12747,begin apogee
$GC,12755,-0.22,0.0,991.2,-6.3,633,12887,0.25,0.00,126.22,1.161,6,0.108,0.000,3120,2336,2793,0,0,0,0,0,0,25.57,28.83,22.46
$STATE,12887,end apogee,CONTROL_FINISHED_OK
$STATE,12888,begin climb
$GC,12890,0.47,136.3,995.7,0.0,637,13029,0.68,0.00,134.60,1.126,6,0.070,0.000,3349,2336,2238,0,0,0,0,0,0,24.40,28.83,21.71
$GC,13340,0.47,136.3,969.1,7.2,653,13341,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,2336,2227,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25595,end climb,SURFACE_DEPTH_REACHED
$STATE,25595,begin surface coast
$FINISH,1.4,1.015763
$STATE,25631,end surface coast,CONTROL_FINISHED_OK
$STATE,25631,begin surface
$SM_CCo,25712,0.00,0.000,0,0,1023,434.43
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$TT8_MAMPS,0.027713,0.027713
$HUMID,47.48
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,19.10
$XPDR_PINGS,7
$24V_AH,21.7,99.036
$10V_AH,9.7,74.880
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.375,254.575,522.650,0.000,0.000,26.330,35.516,260.065,1.750,0.000,17.244,3603.881,18643.711,853.595,2583.534,497.214,0.000,2145.398,0.000,2235.062,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,953.608,713.362,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296908
$DATA_FILE_SIZE,76799,1387
$CAP_FILE_SIZE,207740,0
$CFSIZE,260165632,198287360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106, 76.0,1
$GPS,180313,050700,4717.159,-12621.042,52,1.0,52,18.6