version: 66.11
glider: 187
mission: 2
dive: 575
start: 2 8 113 5 54 27
data:
$ID,187
$MISSION,2
$DIVE,575
$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,-1588728.2
$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,34
$R_STBD_OVSHOOT,27
$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
$GPS1,080213,054623,4723.063,-12608.317,27,1.7,44,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-77.9
$GPS2,080213,055354,4723.036,-12608.295,15,1.8,20,18.6
$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,232.1,78007,-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,-136.3,0.0,0.0,0,86,0.00,0.00,-66.82,0.000,2,0.000,0.000,112,2189,2873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.47,-136.3,3.4,-2.4,12,122,11.65,2.38,-10.60,0.000,4,0.214,0.076,3026,3609,3354,0,0,0,0,0,0,24.54,25.37,26.22
$GC,145,-0.47,-136.3,16.7,-18.3,21,152,0.00,2.22,0.00,0.000,6,0.000,0.044,3026,2188,3356,0,0,0,0,0,0,28.83,25.58,28.83
$GC,456,-0.47,-136.3,63.5,-15.0,82,463,0.00,2.17,0.00,0.000,4,0.000,0.050,3026,792,3356,0,0,0,0,0,0,28.83,25.51,28.83
$GC,512,-0.47,-136.3,71.9,-14.5,92,519,0.00,2.22,0.00,0.000,6,0.000,0.052,3017,2199,3357,0,0,0,0,0,0,28.83,25.53,28.83
$GC,825,-0.47,-136.3,115.2,-12.7,153,830,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2199,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1133,-0.47,-136.3,150.7,-10.9,178,1143,0.00,2.33,0.00,0.000,4,0.000,0.062,3006,3611,3357,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1233,-0.47,-136.3,162.0,-11.0,188,1243,0.12,2.28,0.00,0.000,6,0.129,0.043,3043,2180,3357,0,0,0,0,0,0,25.57,25.75,28.83
$GC,1546,-0.47,-136.3,189.6,-8.6,209,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2179,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1859,-0.47,-136.3,215.5,-8.1,227,1864,0.00,2.35,0.00,0.000,4,0.000,0.062,3034,3607,3357,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1899,-0.47,-136.3,218.8,-8.3,229,1904,0.00,2.22,0.00,0.000,6,0.000,0.043,3034,2198,3357,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2218,-0.47,-136.3,244.2,-7.7,245,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2197,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2518,-0.47,-136.3,267.9,-7.9,260,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2197,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2820,-0.47,-136.3,292.2,-8.0,275,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2197,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3118,-0.47,-136.3,317.6,-8.4,290,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2197,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3418,-0.47,-136.3,342.9,-8.5,305,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2197,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3719,-0.47,-136.3,368.6,-8.9,320,3724,0.00,2.33,0.00,0.000,4,0.000,0.064,3024,3604,3357,0,0,0,0,0,0,28.83,25.39,28.83
$GC,3746,-0.47,-136.3,370.4,-8.8,321,3751,0.00,2.25,0.00,0.000,6,0.000,0.044,3025,2197,3357,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4048,-0.47,-136.3,399.7,-9.5,336,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2195,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4370,-0.47,-136.3,428.1,-8.5,347,4374,0.00,2.33,0.00,0.000,4,0.000,0.065,3014,3603,3356,0,0,0,0,0,0,28.83,25.38,28.83
$GC,4406,-0.47,-136.3,430.7,-8.5,348,4410,0.00,2.25,0.00,0.000,6,0.000,0.045,3014,2198,3356,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4719,-0.47,-136.3,457.0,-7.9,359,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2197,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5019,-0.47,-136.3,480.1,-7.8,369,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2197,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5319,-0.47,-136.3,503.1,-7.8,379,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2197,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5618,-0.47,-136.3,527.7,-8.5,389,5620,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2197,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5919,-0.47,-136.3,552.3,-8.1,399,5924,0.00,2.35,0.00,0.000,4,0.000,0.065,3004,3610,3353,0,0,0,0,0,0,28.83,25.34,28.83
$GC,5949,-0.47,-136.3,554.9,-8.2,400,5955,0.10,2.25,0.00,0.000,6,0.099,0.047,3043,2198,3354,0,0,0,0,0,0,25.46,25.67,28.83
$GC,6279,-0.47,-136.3,576.3,-6.3,411,6280,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2195,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6579,-0.47,-136.3,594.3,-5.9,421,6584,0.00,2.35,0.00,0.000,4,0.000,0.066,3035,3606,3354,0,0,0,0,0,0,28.83,25.32,28.83
$GC,6611,-0.47,-136.3,596.0,-5.8,422,6615,0.00,2.20,0.00,0.000,6,0.000,0.047,3034,2198,3353,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6929,-0.47,-136.3,614.6,-5.8,433,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2197,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7229,-0.47,-136.3,631.4,-5.6,443,7234,0.00,2.33,0.00,0.000,4,0.000,0.067,3025,3597,3353,0,0,0,0,0,0,28.83,25.30,28.83
$GC,7260,-0.47,-136.3,633.3,-5.8,444,7264,0.00,2.25,0.00,0.000,6,0.000,0.047,3025,2193,3353,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7589,-0.47,-136.3,655.0,-6.8,455,7590,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2191,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7888,-0.47,-136.3,677.4,-7.8,465,7894,0.00,2.25,0.00,0.000,4,0.000,0.054,3025,797,3352,0,0,0,0,0,0,28.83,25.45,28.83
$GC,7918,-0.47,-136.3,679.8,-7.9,466,7924,0.00,2.28,0.00,0.000,6,0.000,0.054,3017,2198,3352,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8249,-0.47,-136.3,706.4,-8.1,477,8250,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2198,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8549,-0.47,-136.3,729.7,-7.6,487,8550,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2198,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8848,-0.47,-136.3,751.5,-7.2,497,8850,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2198,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9150,-0.47,-136.3,772.1,-6.7,507,9154,0.00,2.20,0.00,0.000,4,0.000,0.054,3017,797,3351,0,0,0,0,0,0,28.83,25.43,28.83
$GC,9197,-0.47,-136.3,774.2,-6.7,508,9202,0.12,2.30,0.00,0.000,6,0.132,0.054,3044,2205,3351,0,0,0,0,0,0,25.33,25.42,28.83
$GC,9499,-0.47,-136.3,791.6,-5.2,518,9500,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2205,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9800,-0.47,-136.3,807.2,-5.4,528,9804,0.00,2.25,0.00,0.000,4,0.000,0.054,3044,807,3350,0,0,0,0,0,0,28.83,25.42,28.83
$GC,9829,-0.47,-136.3,809.1,-5.5,529,9834,0.00,2.25,0.00,0.000,6,0.000,0.054,3044,2197,3351,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10159,-0.47,-136.3,828.1,-5.9,540,10165,0.00,2.35,0.00,0.000,4,0.000,0.068,3035,3612,3350,0,0,0,0,0,0,28.83,25.22,28.83
$GC,10190,-0.47,-136.3,829.9,-5.9,541,10194,0.00,2.28,0.00,0.000,6,0.000,0.048,3035,2190,3350,0,0,0,0,0,0,28.83,25.61,28.83
$GC,10519,-0.47,-136.3,852.1,-6.7,552,10524,0.00,2.25,0.00,0.000,4,0.000,0.054,3035,792,3350,0,0,0,0,0,0,28.83,25.40,28.83
$GC,10558,-0.47,-136.3,854.0,-6.7,553,10564,0.00,2.33,0.00,0.000,6,0.000,0.055,3030,2212,3350,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10880,-0.47,-136.3,876.1,-6.4,564,10884,0.00,2.33,0.00,0.000,4,0.000,0.068,3021,3607,3350,0,0,0,0,0,0,28.83,25.22,28.83
$GC,10909,-0.47,-136.3,878.3,-6.5,565,10914,0.00,2.25,0.00,0.000,6,0.000,0.048,3020,2203,3349,0,0,0,0,0,0,28.83,25.60,28.83
$GC,11239,-0.47,-136.3,899.9,-6.5,576,11245,0.00,2.25,0.00,0.000,4,0.000,0.054,3020,807,3350,0,0,0,0,0,0,28.83,25.38,28.83
$GC,11288,-0.47,-136.3,901.9,-6.5,577,11297,0.00,2.30,0.00,0.000,6,0.000,0.055,3016,2210,3349,0,0,0,0,0,0,28.83,25.38,28.83
$GC,11599,-0.47,-136.3,922.9,-6.2,588,11605,0.00,2.33,0.00,0.000,4,0.000,0.067,3007,3602,3349,0,0,0,0,0,0,28.83,25.21,28.83
$GC,11668,-0.47,-136.3,926.8,-6.2,590,11675,0.12,2.28,0.00,0.000,6,0.124,0.047,3044,2195,3349,0,0,0,0,0,0,25.44,25.58,28.83
$GC,11990,-0.47,-136.3,941.9,-4.3,601,11994,0.00,2.38,0.00,0.000,4,0.000,0.068,3037,3608,3349,0,0,0,0,0,0,28.83,25.18,28.83
$GC,12027,-0.47,-136.3,943.3,-4.3,602,12031,0.00,2.30,0.00,0.000,6,0.000,0.048,3037,2191,3348,0,0,0,0,0,0,28.83,25.58,28.83
$GC,12339,-0.47,-136.3,958.5,-4.7,613,12341,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2190,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12641,-0.47,-136.3,973.9,-5.3,623,12645,0.00,2.38,0.00,0.000,4,0.000,0.068,3027,3606,3348,0,0,0,0,0,0,28.83,25.18,28.83
$GC,12687,-0.47,-136.3,975.6,-5.4,624,12691,0.00,2.28,0.00,0.000,6,0.000,0.048,3028,2201,3348,0,0,0,0,0,0,28.83,25.57,28.83
$STATE,12926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12926,begin apogee
$GC,12933,-0.22,0.0,991.3,-6.0,632,13066,0.28,0.00,127.22,1.157,6,0.104,0.000,3125,2340,2794,0,0,0,0,0,0,25.64,28.83,22.44
$STATE,13067,end apogee,CONTROL_FINISHED_OK
$STATE,13067,begin climb
$GC,13071,0.47,136.3,994.9,0.0,636,13212,0.65,2.60,134.68,1.122,4,0.069,0.067,3346,3732,2237,0,0,0,0,0,0,24.38,23.34,21.71
$GC,13254,0.48,153.7,986.9,6.3,643,13280,0.00,2.40,17.83,1.033,6,0.000,0.048,3357,2324,2166,0,0,0,0,0,0,28.83,24.03,22.06
$GC,13582,0.48,153.7,959.2,8.5,654,13587,0.00,2.30,0.00,0.000,4,0.000,0.057,3368,924,2159,0,0,0,0,0,0,28.83,25.35,28.83
$GC,13659,0.48,153.7,954.0,8.6,656,13663,0.00,2.30,0.00,0.000,6,0.000,0.057,3367,2319,2159,0,0,0,0,0,0,28.83,25.42,28.83
$GC,13961,0.48,153.7,925.7,9.0,666,13966,0.00,2.38,0.00,0.000,4,0.000,0.068,3367,3738,2157,0,0,0,0,0,0,28.83,25.45,28.83
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$STATE,25439,end climb,SURFACE_DEPTH_REACHED
$STATE,25439,begin surface coast
$FINISH,1.4,1.012933
$STATE,25482,end surface coast,CONTROL_FINISHED_OK
$STATE,25482,begin surface
$SM_CCo,25561,0.00,0.000,0,0,1317,362.31
$SM_GC,2.43,8.43,0.17,0.00,0.033,0.073,0.000,109,2194,1317,-9.48,1.02,362.31,0,0,0,0,0,0,26.00,26.09,28.83
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$TT8_MAMPS,0.026964,0.026964
$HUMID,46.92
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,18.90
$XPDR_PINGS,5
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$10V_AH,9.8,62.605
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.125,207.275,470.325,0.000,0.000,24.936,38.375,232.422,1.250,0.000,21.074,3555.435,18727.562,763.903,2500.289,454.247,0.000,2002.938,0.000,2179.851,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,944.360,691.714,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73424,1371
$CAP_FILE_SIZE,195621,0
$CFSIZE,260165632,209305600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121, 61.4,1
$GPS,080213,130136,4722.467,-12612.326,30,1.0,30,18.6