version: 66.11
glider: 187
mission: 2
dive: 633
start: 2 25 113 4 25 18
data:
$ID,187
$MISSION,2
$DIVE,633
$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,-1588822
$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
$GPS1,250213,040924,4727.183,-12549.423,93,1.1,93,18.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-72.1
$GPS2,250213,042446,4727.271,-12549.285,9,1.6,18,18.6
$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,219.7,102608,-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,16,-0.47,-136.3,0.0,0.0,0,94,0.00,0.00,-75.47,0.000,2,0.000,0.000,130,2195,2837,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.47,-136.3,3.5,-3.2,13,130,11.70,2.28,-11.15,0.000,4,0.217,0.064,3032,794,3354,0,0,0,0,0,0,24.52,25.46,26.27
$GC,236,-0.47,-136.3,29.9,-13.9,38,242,0.00,2.22,0.00,0.000,6,0.000,0.054,3024,2208,3356,0,0,0,0,0,0,28.83,25.41,28.83
$GC,548,-0.47,-136.3,79.6,-15.8,99,555,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2208,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,861,-0.47,-136.3,117.5,-10.0,160,867,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2208,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1175,-0.47,-136.3,149.9,-9.7,184,1183,0.00,2.30,0.00,0.000,4,0.000,0.063,3013,3615,3356,0,0,0,0,0,0,28.83,25.36,28.83
$GC,1234,-0.47,-136.3,155.6,-9.7,190,1243,0.00,2.25,0.00,0.000,6,0.000,0.044,3013,2193,3356,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1547,-0.47,-136.3,187.3,-10.3,211,1554,0.00,2.17,0.00,0.000,4,0.000,0.051,3013,796,3356,0,0,0,0,0,0,28.83,25.50,28.83
$GC,1604,-0.47,-136.3,193.3,-10.0,217,1614,0.15,2.28,0.00,0.000,6,0.128,0.051,3047,2208,3356,0,0,0,0,0,0,25.35,25.50,28.83
$GC,1925,-0.47,-136.3,215.9,-7.2,235,1931,0.00,2.28,0.00,0.000,4,0.000,0.063,3039,3603,3356,0,0,0,0,0,0,28.83,25.34,28.83
$GC,2025,-0.47,-136.3,223.9,-8.1,240,2030,0.00,2.22,0.00,0.000,6,0.000,0.044,3039,2203,3356,0,0,0,0,0,0,28.83,25.68,28.83
$GC,2345,-0.47,-136.3,252.8,-9.0,256,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2200,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2645,-0.47,-136.3,276.5,-7.5,271,2650,0.00,2.33,0.00,0.000,4,0.000,0.063,3028,3606,3356,0,0,0,0,0,0,28.83,25.33,28.83
$GC,2686,-0.47,-136.3,279.6,-7.6,273,2690,0.00,2.22,0.00,0.000,6,0.000,0.044,3028,2201,3356,0,0,0,0,0,0,28.83,25.67,28.83
$GC,3004,-0.47,-136.3,304.6,-7.8,289,3010,0.00,2.35,0.00,0.000,4,0.000,0.063,3018,3609,3356,0,0,0,0,0,0,28.83,25.31,28.83
$GC,3047,-0.47,-136.3,307.8,-8.0,291,3051,0.00,2.22,0.00,0.000,6,0.000,0.045,3018,2189,3356,0,0,0,0,0,0,28.83,25.65,28.83
$GC,3355,-0.47,-136.3,335.7,-9.6,306,3360,0.00,2.20,0.00,0.000,4,0.000,0.051,3018,801,3356,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3403,-0.47,-136.3,339.9,-10.0,308,3408,0.12,2.25,0.00,0.000,6,0.130,0.051,3044,2201,3356,0,0,0,0,0,0,25.37,25.47,28.83
$GC,3707,-0.47,-136.3,365.5,-8.0,323,3711,0.00,2.28,0.00,0.000,4,0.000,0.064,3036,3612,3356,0,0,0,0,0,0,28.83,25.29,28.83
$GC,3782,-0.47,-136.3,371.0,-7.8,326,3787,0.00,2.28,0.00,0.000,6,0.000,0.045,3036,2188,3355,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4084,-0.47,-136.3,394.3,-7.2,341,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2186,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4406,-0.47,-136.3,417.0,-6.8,353,4410,0.00,2.35,0.00,0.000,4,0.000,0.064,3025,3605,3356,0,0,0,0,0,0,28.83,25.29,28.83
$GC,4464,-0.47,-136.3,421.4,-7.2,355,4470,0.00,2.25,0.00,0.000,6,0.000,0.044,3025,2194,3355,0,0,0,0,0,0,28.83,25.64,28.83
$GC,4794,-0.47,-136.3,447.2,-8.0,366,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2193,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5096,-0.47,-136.3,472.6,-8.5,376,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2193,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5394,-0.47,-136.3,496.8,-8.0,386,5396,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2193,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5695,-0.47,-136.3,520.5,-7.8,396,5700,0.00,2.35,0.00,0.000,4,0.000,0.065,3015,3605,3353,0,0,0,0,0,0,28.83,25.25,28.83
$GC,5763,-0.47,-136.3,525.6,-8.1,398,5768,0.00,2.25,0.00,0.000,6,0.000,0.046,3015,2201,3353,0,0,0,0,0,0,28.83,25.62,28.83
$GC,6076,-0.47,-136.3,551.2,-7.9,409,6081,0.00,2.35,0.00,0.000,4,0.000,0.065,3005,3607,3353,0,0,0,0,0,0,28.83,25.24,28.83
$GC,6114,-0.47,-136.3,553.7,-8.0,410,6119,0.12,2.28,0.00,0.000,6,0.128,0.046,3042,2189,3353,0,0,0,0,0,0,25.44,25.60,28.83
$GC,6428,-0.47,-136.3,575.1,-6.6,421,6429,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2187,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6727,-0.47,-136.3,595.9,-6.7,431,6732,0.00,2.35,0.00,0.000,4,0.000,0.066,3034,3604,3353,0,0,0,0,0,0,28.83,25.22,28.83
$GC,6765,-0.47,-136.3,598.2,-6.8,432,6769,0.00,2.25,0.00,0.000,6,0.000,0.047,3034,2201,3353,0,0,0,0,0,0,28.83,25.59,28.83
$GC,7078,-0.47,-136.3,620.6,-7.1,443,7083,0.00,2.35,0.00,0.000,4,0.000,0.067,3024,3605,3352,0,0,0,0,0,0,28.83,25.20,28.83
$GC,7125,-0.47,-136.3,622.9,-7.3,444,7129,0.00,2.25,0.00,0.000,6,0.000,0.047,3024,2202,3352,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7427,-0.47,-136.3,646.6,-7.7,454,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2200,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7728,-0.47,-136.3,669.0,-7.4,464,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2200,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8028,-0.47,-136.3,690.9,-7.1,474,8033,0.00,2.35,0.00,0.000,4,0.000,0.067,3013,3605,3351,0,0,0,0,0,0,28.83,25.18,28.83
$GC,8088,-0.47,-136.3,695.3,-7.2,476,8093,0.00,2.25,0.00,0.000,6,0.000,0.047,3013,2195,3351,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8417,-0.47,-136.3,720.3,-7.5,487,8423,0.00,2.38,0.00,0.000,4,0.000,0.066,3004,3607,3351,0,0,0,0,0,0,28.83,25.18,28.83
$GC,8456,-0.47,-136.3,722.7,-7.6,488,8463,0.15,2.28,0.00,0.000,6,0.116,0.047,3049,2189,3351,0,0,0,0,0,0,25.39,25.56,28.83
$GC,8778,-0.47,-136.3,741.4,-5.7,499,8783,0.00,2.38,0.00,0.000,4,0.000,0.067,3042,3610,3351,0,0,0,0,0,0,28.83,25.16,28.83
$GC,8816,-0.47,-136.3,743.2,-5.8,500,8820,0.00,2.28,0.00,0.000,6,0.000,0.047,3041,2194,3351,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9129,-0.47,-136.3,763.0,-6.2,511,9133,0.00,2.35,0.00,0.000,4,0.000,0.067,3031,3604,3350,0,0,0,0,0,0,28.83,25.15,28.83
$GC,9168,-0.47,-136.3,765.0,-6.3,512,9173,0.00,2.25,0.00,0.000,6,0.000,0.047,3031,2201,3350,0,0,0,0,0,0,28.83,25.54,28.83
$GC,9488,-0.47,-136.3,787.5,-6.9,523,9493,0.00,2.35,0.00,0.000,4,0.000,0.067,3021,3605,3351,0,0,0,0,0,0,28.83,25.15,28.83
$GC,9519,-0.47,-136.3,789.5,-6.9,524,9524,0.00,2.25,0.00,0.000,6,0.000,0.048,3021,2198,3351,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9848,-0.47,-136.3,814.9,-7.6,535,9849,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2196,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10148,-0.47,-136.3,836.7,-7.2,545,10154,0.00,2.38,0.00,0.000,4,0.000,0.067,3011,3607,3350,0,0,0,0,0,0,28.83,25.14,28.83
$GC,10196,-0.47,-136.3,838.7,-7.0,546,10201,0.12,2.28,0.00,0.000,6,0.120,0.048,3049,2192,3350,0,0,0,0,0,0,25.39,25.52,28.83
$GC,10499,-0.47,-136.3,856.7,-5.2,556,10504,0.00,2.38,0.00,0.000,4,0.000,0.068,3041,3610,3350,0,0,0,0,0,0,28.83,25.13,28.83
$GC,10536,-0.47,-136.3,858.4,-5.2,557,10540,0.00,2.28,0.00,0.000,6,0.000,0.048,3041,2199,3349,0,0,0,0,0,0,28.83,25.52,28.83
$GC,10850,-0.47,-136.3,875.8,-5.4,568,10851,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2197,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11149,-0.47,-136.3,891.3,-4.9,578,11154,0.00,2.35,0.00,0.000,4,0.000,0.068,3031,3598,3349,0,0,0,0,0,0,28.83,25.11,28.83
$GC,11197,-0.47,-136.3,893.0,-5.0,579,11201,0.00,2.28,0.00,0.000,6,0.000,0.048,3031,2190,3348,0,0,0,0,0,0,28.83,25.51,28.83
$GC,11500,-0.47,-136.3,911.3,-6.0,589,11501,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2188,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11799,-0.47,-136.3,929.0,-6.0,599,11800,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2188,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12099,-0.47,-136.3,947.5,-6.1,609,12104,0.00,2.38,0.00,0.000,4,0.000,0.067,3021,3604,3348,0,0,0,0,0,0,28.83,25.10,28.83
$GC,12147,-0.47,-136.3,949.3,-6.2,610,12151,0.00,2.28,0.00,0.000,6,0.000,0.048,3021,2194,3347,0,0,0,0,0,0,28.83,25.49,28.83
$GC,12450,-0.47,-136.3,969.3,-6.0,620,12451,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2193,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12749,-0.47,-136.3,989.0,-6.7,630,12754,0.00,2.38,0.00,0.000,4,0.000,0.068,3011,3608,3347,0,0,0,0,0,0,28.83,25.08,28.83
$STATE,12776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12776,begin apogee
$GC,12785,-0.22,0.0,991.0,-6.9,631,12916,0.32,0.00,127.00,1.160,6,0.103,0.000,3124,2323,2794,0,0,0,0,0,0,25.52,28.83,22.43
$STATE,12917,end apogee,CONTROL_FINISHED_OK
$STATE,12917,begin climb
$GC,12920,0.47,136.3,995.3,0.0,635,13062,0.65,2.62,134.68,1.124,4,0.068,0.067,3347,3731,2237,0,0,0,0,0,0,24.38,23.39,21.72
$GC,13101,0.48,162.4,988.6,6.0,640,13132,0.00,2.40,25.75,1.067,6,0.000,0.049,3358,2333,2132,0,0,0,0,0,0,28.83,24.07,22.04
$GC,13440,0.48,162.4,957.2,9.4,652,13446,0.00,2.33,0.00,0.000,4,0.000,0.057,3368,916,2124,0,0,0,0,0,0,28.83,25.35,28.83
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$STATE,24719,end climb,SURFACE_DEPTH_REACHED
$STATE,24719,begin surface coast
$FINISH,1.3,1.003684
$STATE,24758,end surface coast,CONTROL_FINISHED_OK
$STATE,24758,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,46.25
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,18.90
$XPDR_PINGS,2
$24V_AH,21.7,88.863
$10V_AH,9.8,68.126
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.175,198.275,496.825,91.350,0.000,138.641,375.528,0.000,0.500,0.000,19.741,3371.808,18474.562,863.436,2633.470,445.043,0.000,2047.394,0.000,2077.626,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,886.845,644.007,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297008
$DATA_FILE_SIZE,70204,1287
$CAP_FILE_SIZE,183967,0
$CFSIZE,260165632,204357632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.131, 52.1,1
$GPS,250213,112106,4725.740,-12552.624,33,1.5,33,18.6