version: 66.11
glider: 187
mission: 2
dive: 569
start: 2 6 113 9 42 16
data:
$ID,187
$MISSION,2
$DIVE,569
$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,-1588720.4
$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,46
$R_STBD_OVSHOOT,25
$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
$GPS1,060213,093300,4733.201,-12548.829,59,1.4,59,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-76.8
$GPS2,060213,094142,4733.208,-12548.856,13,1.5,30,18.7
$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,205.2,108889,-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,-136.3,0.0,0.0,0,76,0.00,0.00,-56.85,0.000,2,0.000,0.000,123,2188,2548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.47,-136.3,3.2,-3.6,10,119,11.62,2.40,-21.95,0.000,4,0.214,0.075,3026,3610,3351,0,0,0,0,0,0,24.49,25.36,26.25
$GC,173,-0.47,-136.3,15.5,-12.8,26,181,0.00,2.20,0.00,0.000,6,0.000,0.044,3025,2206,3354,0,0,0,0,0,0,28.83,25.60,28.83
$GC,487,-0.47,-136.3,62.5,-15.6,87,494,0.00,2.17,0.00,0.000,4,0.000,0.052,3026,800,3354,0,0,0,0,0,0,28.83,25.53,28.83
$GC,554,-0.47,-136.3,72.9,-15.1,99,560,0.00,2.20,0.00,0.000,6,0.000,0.051,3016,2205,3354,0,0,0,0,0,0,28.83,25.55,28.83
$GC,867,-0.47,-136.3,112.1,-11.7,160,874,0.00,2.20,0.00,0.000,4,0.000,0.050,3016,794,3354,0,0,0,0,0,0,28.83,25.58,28.83
$GC,937,-0.47,-136.3,120.4,-10.4,173,946,0.12,2.28,0.00,0.000,6,0.137,0.050,3043,2205,3354,0,0,0,0,0,0,25.45,25.58,28.83
$GC,1248,-0.47,-136.3,145.1,-7.3,194,1256,0.00,2.30,0.00,0.000,4,0.000,0.063,3034,3614,3354,0,0,0,0,0,0,28.83,25.46,28.83
$GC,1327,-0.47,-136.3,151.3,-7.8,202,1336,0.00,2.25,0.00,0.000,6,0.000,0.043,3034,2192,3355,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1639,-0.47,-136.3,178.6,-8.7,223,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2192,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1953,-0.47,-136.3,206.3,-9.0,243,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2192,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2252,-0.47,-136.3,233.7,-9.3,258,2258,0.00,2.22,0.00,0.000,4,0.000,0.050,3034,803,3354,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2292,-0.47,-136.3,237.6,-9.4,260,2297,0.00,2.25,0.00,0.000,6,0.000,0.050,3026,2201,3354,0,0,0,0,0,0,28.83,25.59,28.83
$GC,2613,-0.47,-136.3,266.8,-8.7,276,2618,0.00,2.30,0.00,0.000,4,0.000,0.062,3016,3605,3354,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2672,-0.47,-136.3,272.1,-8.8,279,2678,0.00,2.20,0.00,0.000,6,0.000,0.043,3016,2206,3355,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2993,-0.47,-136.3,300.3,-8.7,295,2998,0.00,2.22,0.00,0.000,4,0.000,0.050,3016,804,3354,0,0,0,0,0,0,28.83,25.57,28.83
$GC,3060,-0.47,-136.3,305.6,-8.7,298,3065,0.12,2.25,0.00,0.000,6,0.134,0.050,3043,2201,3354,0,0,0,0,0,0,25.46,25.58,28.83
$GC,3362,-0.47,-136.3,328.3,-7.7,313,3368,0.00,2.33,0.00,0.000,4,0.000,0.063,3035,3610,3354,0,0,0,0,0,0,28.83,25.43,28.83
$GC,3411,-0.47,-136.3,331.3,-7.7,315,3415,0.00,2.25,0.00,0.000,6,0.000,0.044,3035,2196,3354,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3712,-0.47,-136.3,357.4,-8.4,330,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2193,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4014,-0.47,-136.3,382.0,-8.0,345,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2194,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4313,-0.47,-136.3,405.2,-8.0,359,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2193,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4612,-0.47,-136.3,428.6,-7.9,369,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2194,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4912,-0.47,-136.3,453.0,-8.2,379,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2194,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5212,-0.47,-136.3,478.2,-8.5,389,5218,0.00,2.25,0.00,0.000,4,0.000,0.053,3035,794,3353,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5243,-0.47,-136.3,480.7,-8.4,390,5248,0.00,2.25,0.00,0.000,6,0.000,0.054,3030,2193,3352,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5572,-0.47,-136.3,508.0,-8.2,401,5578,0.00,2.35,0.00,0.000,4,0.000,0.066,3023,3607,3352,0,0,0,0,0,0,28.83,25.34,28.83
$GC,5640,-0.47,-136.3,512.9,-8.2,403,5644,0.00,2.25,0.00,0.000,6,0.000,0.046,3023,2202,3352,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5953,-0.47,-136.3,539.8,-8.2,414,5958,0.00,2.25,0.00,0.000,4,0.000,0.053,3023,796,3352,0,0,0,0,0,0,28.83,25.49,28.83
$GC,6012,-0.47,-136.3,545.1,-8.6,416,6018,0.00,2.30,0.00,0.000,6,0.000,0.054,3016,2210,3352,0,0,0,0,0,0,28.83,25.49,28.83
$GC,6343,-0.47,-136.3,572.9,-8.1,427,6348,0.00,2.33,0.00,0.000,4,0.000,0.066,3007,3607,3351,0,0,0,0,0,0,28.83,25.34,28.83
$GC,6391,-0.47,-136.3,575.4,-8.1,428,6401,0.12,2.28,0.00,0.000,6,0.125,0.046,3044,2191,3351,0,0,0,0,0,0,25.52,25.68,28.83
$GC,6703,-0.47,-136.3,597.7,-6.8,439,6708,0.00,2.35,0.00,0.000,4,0.000,0.066,3036,3603,3351,0,0,0,0,0,0,28.83,25.33,28.83
$GC,6741,-0.47,-136.3,599.7,-6.9,440,6745,0.00,2.25,0.00,0.000,6,0.000,0.046,3036,2203,3351,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7054,-0.47,-136.3,623.7,-7.5,451,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2202,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7353,-0.47,-136.3,644.9,-6.9,461,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2202,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7654,-0.47,-136.3,664.3,-6.4,471,7659,0.00,2.35,0.00,0.000,4,0.000,0.067,3026,3609,3350,0,0,0,0,0,0,28.83,25.31,28.83
$GC,7683,-0.47,-136.3,666.3,-6.3,472,7689,0.00,2.25,0.00,0.000,6,0.000,0.047,3026,2203,3350,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8015,-0.47,-136.3,686.9,-6.0,483,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2202,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8313,-0.47,-136.3,704.0,-5.4,493,8319,0.00,2.35,0.00,0.000,4,0.000,0.067,3017,3608,3349,0,0,0,0,0,0,28.83,25.29,28.83
$GC,8345,-0.47,-136.3,705.9,-5.7,494,8349,0.00,2.22,0.00,0.000,6,0.000,0.047,3017,2187,3349,0,0,0,0,0,0,28.83,25.64,28.83
$GC,8674,-0.47,-136.3,728.5,-7.1,505,8679,0.00,2.22,0.00,0.000,4,0.000,0.054,3017,800,3349,0,0,0,0,0,0,28.83,25.45,28.83
$GC,8733,-0.47,-136.3,733.1,-7.5,507,8739,0.08,2.25,0.00,0.000,6,0.110,0.054,3038,2192,3349,0,0,0,0,0,0,25.29,25.45,28.83
$GC,9064,-0.47,-136.3,753.1,-6.0,518,9069,0.00,2.35,0.00,0.000,4,0.000,0.067,3030,3607,3349,0,0,0,0,0,0,28.83,25.27,28.83
$GC,9141,-0.47,-136.3,756.8,-6.1,520,9145,0.00,2.28,0.00,0.000,6,0.000,0.047,3030,2194,3348,0,0,0,0,0,0,28.83,25.64,28.83
$GC,9443,-0.47,-136.3,778.0,-6.7,530,9449,0.00,2.22,0.00,0.000,4,0.000,0.053,3030,808,3348,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9474,-0.47,-136.3,780.0,-6.6,531,9479,0.00,2.25,0.00,0.000,6,0.000,0.054,3030,2198,3348,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9804,-0.47,-136.3,801.2,-6.2,542,9809,0.00,2.35,0.00,0.000,4,0.000,0.067,3026,3608,3347,0,0,0,0,0,0,28.83,25.26,28.83
$GC,9851,-0.47,-136.3,803.1,-6.2,543,9855,0.00,2.28,0.00,0.000,6,0.000,0.047,3026,2196,3347,0,0,0,0,0,0,28.83,25.63,28.83
$GC,10153,-0.47,-136.3,823.7,-6.5,553,10154,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2195,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10455,-0.47,-136.3,843.2,-6.2,563,10456,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2195,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10753,-0.47,-136.3,862.7,-6.8,573,10759,0.00,2.38,0.00,0.000,4,0.000,0.067,3017,3606,3347,0,0,0,0,0,0,28.83,25.24,28.83
$GC,10823,-0.47,-136.3,866.9,-6.9,575,10829,0.00,2.28,0.00,0.000,6,0.000,0.047,3017,2202,3347,0,0,0,0,0,0,28.83,25.61,28.83
$GC,11144,-0.47,-136.3,891.5,-7.7,586,11149,0.00,2.28,0.00,0.000,4,0.000,0.054,3017,796,3347,0,0,0,0,0,0,28.83,25.40,28.83
$GC,11181,-0.47,-136.3,893.9,-7.8,587,11186,0.12,2.30,0.00,0.000,6,0.129,0.055,3044,2201,3346,0,0,0,0,0,0,25.31,25.39,28.83
$GC,11494,-0.47,-136.3,913.7,-5.9,598,11500,0.00,2.35,0.00,0.000,4,0.000,0.067,3036,3612,3346,0,0,0,0,0,0,28.83,25.21,28.83
$GC,11543,-0.47,-136.3,915.5,-5.9,599,11552,0.00,2.30,0.00,0.000,6,0.000,0.048,3036,2192,3346,0,0,0,0,0,0,28.83,25.60,28.83
$GC,11854,-0.47,-136.3,933.7,-5.1,610,11855,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2192,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12154,-0.47,-136.3,947.9,-4.4,620,12160,0.00,2.38,0.00,0.000,4,0.000,0.067,3026,3607,3346,0,0,0,0,0,0,28.83,25.18,28.83
$GC,12193,-0.47,-136.3,949.4,-4.6,621,12199,0.00,2.30,0.00,0.000,6,0.000,0.047,3026,2189,3346,0,0,0,0,0,0,28.83,25.58,28.83
$GC,12514,-0.47,-136.3,967.1,-5.4,632,12515,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2188,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12814,-0.47,-136.3,983.0,-5.3,642,12815,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2188,3345,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12962,begin apogee
$GC,12969,-0.22,0.0,991.3,-5.6,647,13100,0.28,0.00,126.97,1.159,6,0.103,0.000,3123,2331,2793,0,0,0,0,0,0,25.66,28.83,22.48
$STATE,13101,end apogee,CONTROL_FINISHED_OK
$STATE,13101,begin climb
$GC,13104,0.47,136.3,994.1,0.0,651,13246,0.68,2.55,135.15,1.123,4,0.071,0.054,3361,931,2237,0,0,0,0,0,0,24.35,23.37,21.73
$GC,13263,0.48,159.7,987.0,6.1,657,13293,0.00,2.47,23.85,1.052,6,0.000,0.054,3361,2318,2142,0,0,0,0,0,0,28.83,23.71,21.83
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$STATE,25364,end climb,SURFACE_DEPTH_REACHED
$STATE,25364,begin surface coast
$FINISH,1.3,1.021189
$STATE,25421,end surface coast,CONTROL_FINISHED_OK
$STATE,25421,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,46.77
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,19.00
$XPDR_PINGS,1
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$10V_AH,9.8,62.015
$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,296932
$DATA_FILE_SIZE,76754,1428
$CAP_FILE_SIZE,204261,0
$CFSIZE,260165632,209821696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096, 13.9,1
$GPS,060213,164835,4731.534,-12552.208,37,1.0,37,18.7