version: 66.11
glider: 187
mission: 2
dive: 756
start: 4 2 113 0 31 11
data:
$ID,187
$MISSION,2
$DIVE,756
$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,-1589920.6
$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,37
$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
$GPS1,020413,002306,4731.313,-12549.971,41,0.9,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-75.4
$GPS2,020413,003037,4731.338,-12549.887,14,1.9,14,18.7
$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,224.9,105881,-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,-136.3,0.0,0.0,0,98,0.00,0.00,-78.68,0.000,2,0.000,0.000,123,2190,2726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.47,-136.3,3.1,-1.2,14,134,11.65,2.30,-15.20,0.000,4,0.214,0.064,3035,793,3352,0,0,0,0,0,0,24.49,25.35,26.22
$GC,169,-0.47,-136.3,14.6,-13.7,25,175,0.00,2.25,0.00,0.000,6,0.000,0.052,3026,2199,3354,0,0,0,0,0,0,28.83,25.30,28.83
$GC,482,-0.47,-136.3,58.3,-14.2,86,487,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2199,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,791,-0.47,-136.3,100.6,-11.3,147,797,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2199,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1105,-0.47,-136.3,136.6,-11.9,191,1114,0.00,2.28,0.00,0.000,4,0.000,0.049,3027,793,3355,0,0,0,0,0,0,28.83,25.27,28.83
$GC,1166,-0.47,-136.3,143.5,-11.3,197,1174,0.00,2.28,0.00,0.000,6,0.000,0.050,3017,2202,3355,0,0,0,0,0,0,28.83,25.27,28.83
$GC,1476,-0.47,-136.3,175.5,-10.0,218,1484,0.00,2.25,0.00,0.000,4,0.000,0.050,3017,798,3355,0,0,0,0,0,0,28.83,25.26,28.83
$GC,1527,-0.47,-136.3,180.5,-10.0,223,1535,0.10,2.25,0.00,0.000,6,0.112,0.050,3059,2197,3355,0,0,0,0,0,0,25.01,25.27,28.83
$GC,1842,-0.47,-136.3,200.2,-5.8,244,1846,0.00,2.30,0.00,0.000,4,0.000,0.063,3051,3615,3355,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1914,-0.47,-136.3,204.6,-6.2,247,1918,0.00,2.28,0.00,0.000,6,0.000,0.041,3050,2187,3356,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2215,-0.47,-136.3,229.1,-7.6,262,2221,0.00,2.22,0.00,0.000,4,0.000,0.050,3051,804,3355,0,0,0,0,0,0,28.83,25.24,28.83
$GC,2246,-0.47,-136.3,230.7,-7.7,263,2254,0.00,2.25,0.00,0.000,6,0.000,0.050,3042,2199,3355,0,0,0,0,0,0,28.83,25.25,28.83
$GC,2555,-0.47,-136.3,254.8,-7.3,279,2561,0.00,2.35,0.00,0.000,4,0.000,0.063,3030,3623,3355,0,0,0,0,0,0,28.83,25.03,28.83
$GC,2597,-0.47,-136.3,257.7,-7.2,281,2601,0.00,2.20,0.00,0.000,6,0.000,0.044,3030,2205,3355,0,0,0,0,0,0,28.83,25.45,28.83
$GC,2917,-0.47,-136.3,282.3,-8.1,297,2921,0.00,2.25,0.00,0.000,4,0.000,0.050,3030,797,3356,0,0,0,0,0,0,28.83,25.22,28.83
$GC,2975,-0.47,-136.3,287.5,-8.4,300,2981,0.00,2.30,0.00,0.000,6,0.000,0.050,3022,2210,3355,0,0,0,0,0,0,28.83,25.21,28.83
$GC,3295,-0.47,-136.3,316.4,-9.4,316,3301,0.00,2.33,0.00,0.000,4,0.000,0.063,3012,3612,3355,0,0,0,0,0,0,28.83,25.01,28.83
$GC,3336,-0.47,-136.3,320.6,-9.9,318,3341,0.00,2.25,0.00,0.000,6,0.000,0.044,3011,2202,3355,0,0,0,0,0,0,28.83,25.43,28.83
$GC,3655,-0.47,-136.3,352.6,-10.1,334,3662,0.12,2.28,0.00,0.000,4,0.140,0.051,3047,791,3355,0,0,0,0,0,0,25.93,25.17,28.83
$GC,3716,-0.47,-136.3,358.3,-9.7,337,3721,0.00,2.28,0.00,0.000,6,0.000,0.051,3041,2198,3355,0,0,0,0,0,0,28.83,25.18,28.83
$GC,4037,-0.47,-136.3,385.8,-8.7,353,4041,0.00,2.33,0.00,0.000,4,0.000,0.064,3030,3621,3355,0,0,0,0,0,0,28.83,24.97,28.83
$GC,4103,-0.47,-136.3,390.9,-8.5,356,4108,0.00,2.30,0.00,0.000,6,0.000,0.044,3030,2192,3355,0,0,0,0,0,0,28.83,25.41,28.83
$GC,4405,-0.47,-136.3,415.4,-7.8,368,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2190,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4706,-0.47,-136.3,438.5,-7.7,378,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2190,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5005,-0.47,-136.3,462.0,-8.0,388,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2190,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5305,-0.47,-136.3,485.5,-8.1,398,5311,0.00,2.40,0.00,0.000,4,0.000,0.063,3020,3618,3353,0,0,0,0,0,0,28.83,24.94,28.83
$GC,5335,-0.47,-136.3,488.0,-8.3,399,5341,0.00,2.30,0.00,0.000,6,0.000,0.045,3020,2194,3353,0,0,0,0,0,0,28.83,25.37,28.83
$GC,5666,-0.47,-136.3,517.1,-8.9,410,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2192,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5965,-0.47,-136.3,543.3,-8.5,420,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2192,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6265,-0.47,-136.3,567.8,-8.1,430,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2192,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6566,-0.47,-136.3,591.7,-7.9,440,6571,0.00,2.38,0.00,0.000,4,0.000,0.065,3011,3604,3352,0,0,0,0,0,0,28.83,24.89,28.83
$GC,6595,-0.47,-136.3,594.2,-7.9,441,6602,0.08,2.25,0.00,0.000,6,0.102,0.046,3042,2200,3352,0,0,0,0,0,0,25.14,25.34,28.83
$GC,6926,-0.47,-136.3,615.2,-6.1,452,6931,0.00,2.38,0.00,0.000,4,0.000,0.066,3034,3611,3351,0,0,0,0,0,0,28.83,24.87,28.83
$GC,6957,-0.47,-136.3,617.2,-6.1,453,6961,0.00,2.28,0.00,0.000,6,0.000,0.047,3034,2196,3351,0,0,0,0,0,0,28.83,25.32,28.83
$GC,7286,-0.47,-136.3,639.0,-6.6,464,7291,0.00,2.25,0.00,0.000,4,0.000,0.054,3034,802,3351,0,0,0,0,0,0,28.83,25.06,28.83
$GC,7324,-0.47,-136.3,641.2,-6.7,465,7328,0.00,2.30,0.00,0.000,6,0.000,0.054,3029,2201,3351,0,0,0,0,0,0,28.83,25.06,28.83
$GC,7637,-0.47,-136.3,664.0,-6.9,476,7642,0.00,2.30,0.00,0.000,4,0.000,0.066,3019,3609,3351,0,0,0,0,0,0,28.83,24.84,28.83
$GC,7684,-0.47,-136.3,666.3,-7.1,477,7688,0.00,2.30,0.00,0.000,6,0.000,0.046,3019,2189,3351,0,0,0,0,0,0,28.83,25.31,28.83
$GC,7986,-0.47,-136.3,690.6,-7.8,487,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2187,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8287,-0.47,-136.3,714.4,-7.9,497,8292,0.00,2.40,0.00,0.000,4,0.000,0.066,3010,3613,3350,0,0,0,0,0,0,28.83,24.83,28.83
$GC,8346,-0.47,-136.3,719.4,-8.2,499,8353,0.12,2.30,0.00,0.000,6,0.124,0.047,3046,2192,3349,0,0,0,0,0,0,25.13,25.29,28.83
$GC,8676,-0.47,-136.3,741.6,-6.8,510,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2191,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8977,-0.47,-136.3,761.4,-6.4,520,8982,0.00,2.35,0.00,0.000,4,0.000,0.067,3038,3615,3349,0,0,0,0,0,0,28.83,24.80,28.83
$GC,9024,-0.47,-136.3,763.2,-6.4,521,9028,0.00,2.30,0.00,0.000,6,0.000,0.044,3038,2190,3348,0,0,0,0,0,0,28.83,25.32,28.83
$GC,9326,-0.47,-136.3,783.8,-6.2,531,9327,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2188,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9627,-0.47,-136.3,800.5,-5.3,541,9632,0.00,2.40,0.00,0.000,4,0.000,0.067,3029,3606,3348,0,0,0,0,0,0,28.83,24.78,28.83
$GC,9665,-0.47,-136.3,802.0,-5.3,542,9671,0.00,2.28,0.00,0.000,6,0.000,0.047,3029,2204,3347,0,0,0,0,0,0,28.83,25.27,28.83
$GC,9987,-0.47,-136.3,820.2,-5.6,553,9992,0.00,2.28,0.00,0.000,4,0.000,0.054,3029,800,3347,0,0,0,0,0,0,28.83,24.99,28.83
$GC,10016,-0.47,-136.3,821.9,-5.7,554,10022,0.00,2.30,0.00,0.000,6,0.000,0.054,3029,2201,3347,0,0,0,0,0,0,28.83,24.99,28.83
$GC,10348,-0.47,-136.3,840.4,-5.3,565,10352,0.00,2.33,0.00,0.000,4,0.000,0.067,3019,3612,3347,0,0,0,0,0,0,28.83,24.77,28.83
$GC,10404,-0.47,-136.3,843.4,-5.6,567,10408,0.00,2.30,0.00,0.000,6,0.000,0.047,3019,2198,3347,0,0,0,0,0,0,28.83,25.25,28.83
$GC,10718,-0.47,-136.3,863.8,-6.5,578,10722,0.00,2.22,0.00,0.000,4,0.000,0.054,3018,792,3347,0,0,0,0,0,0,28.83,24.98,28.83
$GC,10755,-0.47,-136.3,866.1,-6.7,579,10759,0.00,2.33,0.00,0.000,6,0.000,0.054,3014,2202,3347,0,0,0,0,0,0,28.83,24.97,28.83
$GC,11067,-0.47,-136.3,890.1,-7.8,590,11073,0.00,2.38,0.00,0.000,4,0.000,0.067,3004,3609,3347,0,0,0,0,0,0,28.83,24.75,28.83
$GC,11135,-0.47,-136.3,895.2,-8.0,592,11140,0.15,2.30,0.00,0.000,6,0.117,0.047,3048,2197,3347,0,0,0,0,0,0,25.04,25.23,28.83
$GC,11450,-0.47,-136.3,916.6,-6.4,603,11454,0.00,2.38,0.00,0.000,4,0.000,0.067,3041,3613,3346,0,0,0,0,0,0,28.83,24.72,28.83
$GC,11486,-0.47,-136.3,918.6,-6.5,604,11491,0.00,2.30,0.00,0.000,6,0.000,0.048,3040,2202,3347,0,0,0,0,0,0,28.83,25.22,28.83
$GC,11800,-0.47,-136.3,939.1,-6.2,615,11801,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2201,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12100,-0.47,-136.3,957.6,-6.2,625,12105,0.00,2.38,0.00,0.000,4,0.000,0.067,3032,3602,3346,0,0,0,0,0,0,28.83,24.71,28.83
$GC,12129,-0.47,-136.3,959.5,-6.1,626,12134,0.00,2.28,0.00,0.000,6,0.000,0.048,3031,2200,3346,0,0,0,0,0,0,28.83,25.21,28.83
$GC,12460,-0.47,-136.3,980.4,-6.3,637,12461,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2198,3346,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12606,begin apogee
$GC,12614,-0.22,0.0,990.5,-6.8,642,12745,0.25,0.00,125.75,1.151,6,0.106,0.000,3120,2339,2794,0,0,0,0,0,0,25.49,28.83,22.58
$STATE,12746,end apogee,CONTROL_FINISHED_OK
$STATE,12746,begin climb
$GC,12749,0.47,136.3,995.0,0.0,646,12888,0.68,0.00,135.07,1.116,6,0.070,0.000,3350,2339,2238,0,0,0,0,0,0,24.37,28.83,21.80
$GC,13181,0.47,136.3,969.1,8.1,661,13182,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,2339,2228,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25514,end climb,SURFACE_DEPTH_REACHED
$STATE,25514,begin surface coast
$FINISH,1.2,1.025076
$STATE,25561,end surface coast,CONTROL_FINISHED_OK
$STATE,25561,begin surface
$SM_CCo,25641,0.00,0.000,0,0,1328,359.61
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$TT8_MAMPS,0.027713,0.027713
$HUMID,49.09
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.00
$XPDR_PINGS,2
$24V_AH,21.8,106.360
$10V_AH,9.7,79.878
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.250,226.375,456.700,0.000,0.000,28.828,36.840,233.116,0.500,0.000,14.967,3608.106,18631.633,802.317,2528.787,512.309,0.000,2068.377,0.000,2222.865,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,960.609,719.162,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296940
$DATA_FILE_SIZE,76867,1396
$CAP_FILE_SIZE,199623,0
$CFSIZE,260165632,193839104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121, 64.2,1
$GPS,020413,073954,4730.137,-12553.833,43,0.9,43,18.7