version: 66.11
glider: 187
mission: 2
dive: 519
start: 1 22 113 14 53 20
data:
$ID,187
$MISSION,2
$DIVE,519
$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,570.07721
$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,-1588647.4
$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,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
$GPS1,220113,143736,4715.864,-12621.541,40,0.9,40,18.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-76.2
$GPS2,220113,145249,4715.956,-12621.530,17,0.9,17,18.6
$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,202.4,56869,-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,-136.3,0.0,0.0,0,87,0.00,0.00,-67.65,0.000,2,0.000,0.000,115,2190,2790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.47,-136.3,3.5,-2.8,12,121,11.55,0.00,-12.98,0.000,6,0.215,0.000,3031,2190,3351,0,0,0,0,0,0,24.64,28.83,26.27
$GC,427,-0.47,-136.3,54.0,-14.1,77,432,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2190,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,737,-0.47,-136.3,95.2,-12.2,138,744,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2190,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1059,-0.47,-136.3,132.2,-11.2,187,1067,0.00,2.33,0.00,0.000,4,0.000,0.063,3023,3606,3354,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1110,-0.47,-136.3,138.0,-11.7,192,1118,0.00,2.22,0.00,0.000,6,0.000,0.044,3023,2195,3354,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1421,-0.47,-136.3,168.9,-8.4,213,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2195,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1719,-0.47,-136.3,192.5,-8.1,233,1727,0.00,2.33,0.00,0.000,4,0.000,0.063,3012,3608,3354,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1759,-0.47,-136.3,196.1,-9.1,237,1768,0.12,2.22,0.00,0.000,6,0.125,0.044,3049,2199,3354,0,0,0,0,0,0,25.64,25.80,28.83
$GC,2074,-0.47,-136.3,220.1,-8.1,254,2079,0.00,2.30,0.00,0.000,4,0.000,0.063,3040,3606,3354,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2113,-0.47,-136.3,223.4,-8.2,256,2119,0.00,2.22,0.00,0.000,6,0.000,0.044,3040,2202,3354,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2434,-0.47,-136.3,250.2,-8.1,272,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2201,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2734,-0.47,-136.3,272.2,-7.1,287,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2201,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3034,-0.47,-136.3,293.1,-7.0,302,3040,0.00,2.30,0.00,0.000,4,0.000,0.063,3031,3601,3354,0,0,0,0,0,0,28.83,25.48,28.83
$GC,3073,-0.47,-136.3,296.0,-7.1,304,3079,0.00,2.22,0.00,0.000,6,0.000,0.044,3031,2201,3354,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3394,-0.47,-136.3,320.1,-7.7,320,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2199,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3694,-0.47,-136.3,344.7,-8.6,335,3699,0.00,2.30,0.00,0.000,4,0.000,0.064,3021,3601,3354,0,0,0,0,0,0,28.83,25.47,28.83
$GC,3742,-0.47,-136.3,348.3,-8.9,337,3746,0.00,2.25,0.00,0.000,6,0.000,0.045,3021,2194,3354,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4044,-0.47,-136.3,377.4,-9.5,352,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2191,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4365,-0.47,-136.3,407.2,-9.3,367,4369,0.00,2.33,0.00,0.000,4,0.000,0.065,3011,3605,3353,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4432,-0.47,-136.3,412.9,-9.3,369,4437,0.12,2.25,0.00,0.000,6,0.124,0.045,3047,2198,3353,0,0,0,0,0,0,25.61,25.77,28.83
$GC,4745,-0.47,-136.3,437.0,-7.2,380,4746,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2196,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5046,-0.47,-136.3,456.9,-6.5,390,5051,0.00,2.33,0.00,0.000,4,0.000,0.065,3040,3601,3353,0,0,0,0,0,0,28.83,25.43,28.83
$GC,5084,-0.47,-136.3,458.9,-6.6,391,5088,0.00,2.25,0.00,0.000,6,0.000,0.046,3040,2198,3353,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5397,-0.47,-136.3,481.3,-7.1,402,5401,0.00,2.33,0.00,0.000,4,0.000,0.066,3029,3601,3353,0,0,0,0,0,0,28.83,25.42,28.83
$GC,5426,-0.47,-136.3,483.6,-7.2,403,5431,0.00,2.25,0.00,0.000,6,0.000,0.047,3029,2200,3352,0,0,0,0,0,0,28.83,25.74,28.83
$GC,5756,-0.47,-136.3,509.1,-7.8,414,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2198,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6057,-0.47,-136.3,532.3,-7.6,424,6062,0.00,2.35,0.00,0.000,4,0.000,0.066,3020,3606,3352,0,0,0,0,0,0,28.83,25.40,28.83
$GC,6086,-0.47,-136.3,534.7,-7.8,425,6091,0.00,2.28,0.00,0.000,6,0.000,0.046,3020,2194,3351,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6416,-0.47,-136.3,561.3,-8.0,436,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2193,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6717,-0.47,-136.3,586.9,-8.7,446,6721,0.00,2.35,0.00,0.000,4,0.000,0.066,3010,3607,3351,0,0,0,0,0,0,28.83,25.39,28.83
$GC,6784,-0.47,-136.3,592.4,-9.1,448,6789,0.12,2.28,0.00,0.000,6,0.123,0.046,3047,2193,3351,0,0,0,0,0,0,25.56,25.72,28.83
$GC,7097,-0.47,-136.3,615.9,-7.1,459,7098,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2191,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7398,-0.47,-136.3,635.5,-6.4,469,7399,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2191,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7697,-0.47,-136.3,653.1,-5.6,479,7703,0.00,2.35,0.00,0.000,4,0.000,0.067,3039,3603,3350,0,0,0,0,0,0,28.83,25.37,28.83
$GC,7735,-0.47,-136.3,654.9,-5.7,480,7739,0.00,2.28,0.00,0.000,6,0.000,0.047,3039,2193,3349,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8049,-0.47,-136.3,673.7,-5.9,491,8053,0.00,2.30,0.00,0.000,4,0.000,0.067,3029,3606,3349,0,0,0,0,0,0,28.83,25.35,28.83
$GC,8096,-0.47,-136.3,675.6,-6.0,492,8101,0.00,2.28,0.00,0.000,6,0.000,0.046,3029,2193,3348,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8398,-0.47,-136.3,696.9,-6.8,502,8399,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2191,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8698,-0.47,-136.3,718.4,-7.0,512,8703,0.00,2.38,0.00,0.000,4,0.000,0.067,3019,3609,3348,0,0,0,0,0,0,28.83,25.34,28.83
$GC,8758,-0.47,-136.3,722.8,-7.2,514,8764,0.00,2.25,0.00,0.000,6,0.000,0.048,3019,2201,3348,0,0,0,0,0,0,28.83,25.68,28.83
$GC,9088,-0.47,-136.3,746.7,-7.1,525,9089,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2198,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9388,-0.47,-136.3,767.3,-6.9,535,9393,0.00,2.33,0.00,0.000,4,0.000,0.067,3010,3601,3347,0,0,0,0,0,0,28.83,25.33,28.83
$GC,9467,-0.47,-136.3,771.8,-7.1,537,9472,0.12,2.28,0.00,0.000,6,0.123,0.047,3046,2189,3347,0,0,0,0,0,0,25.53,25.67,28.83
$GC,9768,-0.47,-136.3,789.9,-5.5,547,9774,0.00,2.35,0.00,0.000,4,0.000,0.067,3038,3602,3347,0,0,0,0,0,0,28.83,25.32,28.83
$GC,9806,-0.47,-136.3,791.7,-5.5,548,9810,0.00,2.28,0.00,0.000,6,0.000,0.047,3039,2190,3347,0,0,0,0,0,0,28.83,25.67,28.83
$GC,10120,-0.47,-136.3,811.0,-6.1,559,10121,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2189,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10419,-0.47,-136.3,828.7,-5.9,569,10424,0.00,2.35,0.00,0.000,4,0.000,0.067,3029,3600,3347,0,0,0,0,0,0,28.83,25.30,28.83
$GC,10456,-0.47,-136.3,830.5,-6.0,570,10461,0.00,2.25,0.00,0.000,6,0.000,0.047,3029,2202,3347,0,0,0,0,0,0,28.83,25.66,28.83
$GC,10770,-0.47,-136.3,849.9,-6.0,581,10771,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2201,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11069,-0.47,-136.3,867.2,-5.7,591,11074,0.00,2.33,0.00,0.000,4,0.000,0.067,3020,3601,3346,0,0,0,0,0,0,28.83,25.29,28.83
$GC,11107,-0.47,-136.3,868.9,-5.8,592,11111,0.00,2.28,0.00,0.000,6,0.000,0.047,3020,2190,3346,0,0,0,0,0,0,28.83,25.64,28.83
$GC,11421,-0.47,-136.3,888.8,-6.3,603,11425,0.00,2.35,0.00,0.000,4,0.000,0.067,3010,3626,3346,0,0,0,0,0,0,28.83,25.28,28.83
$GC,11457,-0.47,-136.3,890.9,-6.3,604,11462,0.12,2.30,0.00,0.000,6,0.121,0.047,3048,2198,3346,0,0,0,0,0,0,25.50,25.64,28.83
$GC,11771,-0.47,-136.3,908.5,-5.6,615,11772,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2195,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12072,-0.47,-136.3,926.4,-6.1,625,12077,0.00,2.35,0.00,0.000,4,0.000,0.069,3040,3602,3346,0,0,0,0,0,0,28.83,25.26,28.83
$GC,12109,-0.47,-136.3,928.2,-6.2,626,12113,0.00,2.28,0.00,0.000,6,0.000,0.048,3040,2191,3345,0,0,0,0,0,0,28.83,25.63,28.83
$GC,12421,-0.47,-136.3,948.6,-6.3,637,12427,0.00,2.22,0.00,0.000,4,0.000,0.055,3040,803,3345,0,0,0,0,0,0,28.83,25.42,28.83
$GC,12452,-0.47,-136.3,950.7,-6.4,638,12457,0.00,2.25,0.00,0.000,6,0.000,0.055,3038,2190,3345,0,0,0,0,0,0,28.83,25.44,28.83
$GC,12781,-0.47,-136.3,971.6,-6.2,649,12787,0.00,2.35,0.00,0.000,4,0.000,0.068,3027,3605,3345,0,0,0,0,0,0,28.83,25.25,28.83
$GC,12841,-0.47,-136.3,975.7,-6.5,651,12847,0.00,2.25,0.00,0.000,6,0.000,0.049,3027,2200,3345,0,0,0,0,0,0,28.83,25.62,28.83
$STATE,13078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13079,begin apogee
$GC,13086,-0.22,0.0,990.4,-6.0,659,13218,0.28,0.00,126.07,1.164,6,0.106,0.000,3123,2340,2793,0,0,0,0,0,0,25.67,28.83,22.60
$STATE,13219,end apogee,CONTROL_FINISHED_OK
$STATE,13219,begin climb
$GC,13222,0.47,136.3,993.9,0.0,663,13363,0.68,2.60,134.10,1.128,4,0.070,0.067,3351,3732,2238,0,0,0,0,0,0,24.37,23.32,21.78
$GC,13392,0.48,167.0,987.5,5.8,669,13432,0.00,2.45,30.52,1.073,6,0.000,0.048,3362,2329,2112,0,0,0,0,0,0,28.83,23.87,21.92
$GC,13731,0.48,167.0,953.6,9.3,681,13737,0.00,2.35,0.00,0.000,4,0.000,0.057,3372,917,2104,0,0,0,0,0,0,28.83,25.25,28.83
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$STATE,25320,end climb,SURFACE_DEPTH_REACHED
$STATE,25320,begin surface coast
$FINISH,1.3,1.025144
$STATE,25364,end surface coast,CONTROL_FINISHED_OK
$STATE,25364,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,45.07
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,18.80
$XPDR_PINGS,3
$24V_AH,21.8,72.290
$10V_AH,9.8,57.175
$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
$SENSOR_SECS,959.089,720.484,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297004
$DATA_FILE_SIZE,76809,1392
$CAP_FILE_SIZE,199915,0
$CFSIZE,260165632,214081536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.149, 35.5,1
$GPS,220113,220005,4714.188,-12624.023,45,2.0,45,18.6