version: 66.11
glider: 187
mission: 2
dive: 334
start: 11 30 112 13 57 56
data:
$ID,187
$MISSION,2
$DIVE,334
$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,5
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$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,-1588184.8
$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,48
$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,22
$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
$GPS1,301112,134836,4714.912,-12628.527,27,1.7,27,18.6
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-69.8
$GPS2,301112,135723,4714.863,-12628.396,13,3.0,32,18.6
$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,214.2,48488,-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,-136.3,0.0,0.0,0,73,0.00,0.00,-54.00,0.000,2,0.000,0.000,104,2190,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.47,-136.3,3.3,-5.3,9,111,11.57,2.25,-16.15,0.000,4,0.220,0.063,3036,803,3352,0,0,0,0,0,0,24.96,25.51,26.10
$GC,150,-0.47,-136.3,15.7,-12.7,21,158,0.00,2.25,0.00,0.000,6,0.000,0.052,3028,2203,3354,0,0,0,0,0,0,28.83,25.50,28.83
$GC,469,-0.47,-136.3,67.9,-13.9,82,476,0.00,2.25,0.00,0.000,4,0.000,0.060,3017,3613,3356,0,0,0,0,0,0,28.83,25.52,28.83
$GC,585,-0.47,-136.3,84.1,-13.4,104,592,0.00,2.17,0.00,0.000,6,0.000,0.042,3017,2194,3357,0,0,0,0,0,0,28.83,25.75,28.83
$GC,909,-0.47,-136.3,125.9,-12.2,161,914,0.00,2.12,0.00,0.000,4,0.000,0.049,3017,801,3357,0,0,0,0,0,0,28.83,25.69,28.83
$GC,954,-0.47,-136.3,131.4,-12.0,164,960,0.12,2.17,0.00,0.000,6,0.142,0.049,3043,2206,3357,0,0,0,0,0,0,25.56,25.70,28.83
$GC,1271,-0.47,-136.3,159.5,-8.5,185,1277,0.00,2.22,0.00,0.000,4,0.000,0.061,3034,3603,3357,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1330,-0.47,-136.3,165.0,-8.8,189,1336,0.00,2.15,0.00,0.000,6,0.000,0.042,3034,2193,3357,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1645,-0.47,-136.3,194.4,-9.4,210,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2188,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1961,-0.47,-136.3,223.2,-9.4,227,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2188,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2260,-0.47,-136.3,251.9,-9.4,242,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2188,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2560,-0.47,-136.3,278.1,-8.6,257,2566,0.00,2.28,0.00,0.000,4,0.000,0.062,3023,3609,3356,0,0,0,0,0,0,28.83,25.64,28.83
$GC,2584,-0.47,-136.3,279.9,-8.7,258,2588,0.00,2.17,0.00,0.000,6,0.000,0.044,3023,2190,3356,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2896,-0.47,-136.3,309.3,-9.4,274,2901,0.00,2.15,0.00,0.000,4,0.000,0.050,3023,797,3356,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2924,-0.47,-136.3,311.2,-9.4,275,2928,0.00,2.17,0.00,0.000,6,0.000,0.051,3014,2202,3356,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3233,-0.47,-136.3,341.6,-9.6,290,3238,0.00,2.22,0.00,0.000,4,0.000,0.063,3004,3610,3355,0,0,0,0,0,0,28.83,25.62,28.83
$GC,3271,-0.47,-136.3,345.7,-9.7,292,3278,0.15,2.17,0.00,0.000,6,0.128,0.044,3047,2191,3355,0,0,0,0,0,0,25.66,25.89,28.83
$GC,3592,-0.47,-136.3,369.1,-7.1,308,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2187,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3892,-0.47,-136.3,390.1,-7.0,323,3898,0.00,2.25,0.00,0.000,4,0.000,0.064,3039,3598,3353,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3934,-0.47,-136.3,393.1,-7.3,325,3938,0.00,2.17,0.00,0.000,6,0.000,0.045,3039,2190,3353,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4257,-0.47,-136.3,416.4,-7.2,338,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2187,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4556,-0.47,-136.3,437.9,-7.2,348,4562,0.00,2.30,0.00,0.000,4,0.000,0.064,3028,3616,3352,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4594,-0.47,-136.3,440.2,-7.3,349,4599,0.00,2.20,0.00,0.000,6,0.000,0.045,3028,2189,3352,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4912,-0.47,-136.3,465.5,-7.6,360,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2187,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5212,-0.47,-136.3,488.6,-7.8,370,5217,0.00,2.30,0.00,0.000,4,0.000,0.064,3018,3607,3351,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5235,-0.47,-136.3,488.6,-7.8,370,5242,0.00,2.17,0.00,0.000,6,0.000,0.045,3018,2191,3351,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5542,-0.47,-136.3,516.8,-8.7,381,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2191,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5843,-0.47,-136.3,543.4,-8.9,391,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2191,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6142,-0.47,-136.3,569.7,-8.7,401,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2191,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6442,-0.47,-136.3,595.0,-8.4,411,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2191,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6742,-0.47,-136.3,619.3,-8.0,421,6748,0.00,2.30,0.00,0.000,4,0.000,0.066,3008,3606,3349,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6765,-0.47,-136.3,619.3,-8.0,421,6772,0.12,2.17,0.00,0.000,6,0.133,0.047,3043,2197,3349,0,0,0,0,0,0,25.63,25.82,28.83
$GC,7072,-0.47,-136.3,640.9,-6.3,432,7078,0.00,2.30,0.00,0.000,4,0.000,0.067,3035,3608,3348,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7102,-0.47,-136.3,643.0,-6.3,433,7108,0.00,2.17,0.00,0.000,6,0.000,0.047,3034,2198,3348,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7432,-0.47,-136.3,665.0,-6.7,444,7433,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2197,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7732,-0.47,-136.3,684.5,-6.4,454,7738,0.00,2.28,0.00,0.000,4,0.000,0.067,3025,3606,3347,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7765,-0.47,-136.3,686.6,-6.5,455,7769,0.00,2.20,0.00,0.000,6,0.000,0.047,3024,2191,3347,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8087,-0.47,-136.3,710.1,-7.3,466,8093,0.00,2.30,0.00,0.000,4,0.000,0.067,3014,3606,3347,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8120,-0.47,-136.3,712.5,-7.4,467,8124,0.00,2.20,0.00,0.000,6,0.000,0.047,3013,2190,3347,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8442,-0.47,-136.3,738.5,-8.0,478,8448,0.00,2.28,0.00,0.000,4,0.000,0.067,3004,3598,3346,0,0,0,0,0,0,28.83,25.45,28.83
$GC,8472,-0.47,-136.3,741.1,-8.1,479,8478,0.10,2.15,0.00,0.000,6,0.106,0.045,3041,2198,3346,0,0,0,0,0,0,25.55,25.79,28.83
$GC,8802,-0.47,-136.3,762.5,-6.4,490,8803,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2196,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9103,-0.47,-136.3,782.2,-6.6,500,9109,0.00,2.30,0.00,0.000,4,0.000,0.067,3033,3605,3346,0,0,0,0,0,0,28.83,25.42,28.83
$GC,9150,-0.47,-136.3,784.1,-6.5,501,9154,0.00,2.20,0.00,0.000,6,0.000,0.047,3033,2190,3346,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9458,-0.47,-136.3,806.7,-6.9,511,9459,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2187,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9758,-0.47,-136.3,828.4,-7.2,521,9763,0.00,2.30,0.00,0.000,4,0.000,0.067,3023,3607,3345,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9810,-0.47,-136.3,830.6,-7.1,522,9817,0.00,2.20,0.00,0.000,6,0.000,0.047,3022,2188,3345,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10117,-0.47,-136.3,854.9,-7.1,533,10118,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2188,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10418,-0.47,-136.3,876.0,-6.9,543,10424,0.00,2.30,0.00,0.000,4,0.000,0.067,3012,3605,3345,0,0,0,0,0,0,28.83,25.40,28.83
$GC,10455,-0.47,-136.3,878.1,-7.0,544,10460,0.00,2.20,0.00,0.000,6,0.000,0.048,3013,2193,3345,0,0,0,0,0,0,28.83,25.73,28.83
$GC,10773,-0.47,-136.3,902.4,-7.5,555,10775,0.10,0.00,0.00,0.000,6,0.154,0.000,3040,2190,3345,0,0,0,0,0,0,26.19,28.83,28.83
$GC,11073,-0.47,-136.3,920.7,-6.1,565,11079,0.00,2.30,0.00,0.000,4,0.000,0.068,3032,3605,3344,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11133,-0.47,-136.3,924.8,-6.4,567,11139,0.00,2.22,0.00,0.000,6,0.000,0.049,3032,2193,3344,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11462,-0.47,-136.3,947.4,-7.1,578,11464,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2191,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11763,-0.47,-136.3,969.0,-7.1,588,11769,0.00,2.30,0.00,0.000,4,0.000,0.068,3022,3605,3343,0,0,0,0,0,0,28.83,25.35,28.83
$GC,11815,-0.47,-136.3,971.1,-7.1,589,11822,0.00,2.20,0.00,0.000,6,0.000,0.048,3022,2191,3343,0,0,0,0,0,0,28.83,25.70,28.83
$STATE,12060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12060,begin apogee
$GC,12067,-0.22,0.0,991.2,-7.3,598,12194,0.30,0.00,120.78,1.178,6,0.108,0.000,3125,2333,2793,0,0,0,0,0,0,25.65,28.83,23.23
$STATE,12197,end apogee,CONTROL_FINISHED_OK
$STATE,12197,begin climb
$GC,12200,0.47,136.3,995.1,0.0,602,12334,0.62,0.00,130.68,1.138,6,0.076,0.000,3341,2333,2238,0,0,0,0,0,0,24.47,28.83,22.25
$GC,12633,0.47,136.3,965.0,8.5,617,12639,0.00,2.33,0.00,0.000,4,0.000,0.068,3341,3720,2227,0,0,0,0,0,0,28.83,24.88,28.83
$GC,12655,0.47,136.3,965.0,8.5,617,12662,0.00,2.25,0.00,0.000,6,0.000,0.049,3351,2330,2227,0,0,0,0,0,0,28.83,25.06,28.83
$GC,12963,0.47,136.3,933.7,9.4,628,12964,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2326,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13263,0.47,136.3,906.3,9.0,638,13269,0.00,2.33,0.00,0.000,4,0.000,0.069,3351,3735,2225,0,0,0,0,0,0,28.83,25.46,28.83
$GC,13300,0.47,136.3,903.4,9.1,639,13305,0.00,2.25,0.00,0.000,6,0.000,0.050,3361,2320,2224,0,0,0,0,0,0,28.83,25.63,28.83
$GC,13618,0.47,136.3,872.3,9.4,650,13623,0.00,2.25,0.00,0.000,4,0.000,0.058,3371,912,2224,0,0,0,0,0,0,28.83,25.59,28.83
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$STATE,24735,end climb,SURFACE_DEPTH_REACHED
$STATE,24735,begin surface coast
$FINISH,0.9,1.005239
$STATE,24782,end surface coast,CONTROL_FINISHED_OK
$STATE,24782,begin surface
$SM_CCo,24861,0.00,0.000,0,0,1170,398.37
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$TT8_MAMPS,0.027713,0.027713
$HUMID,45.03
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,15.70
$XPDR_PINGS,2
$24V_AH,22.2,46.476
$10V_AH,10.0,38.338
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.250,206.375,475.450,0.000,0.000,24.911,37.739,307.964,0.500,0.000,34.196,3612.501,17616.023,607.036,3096.463,445.419,0.000,2098.559,0.000,2682.292,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,953.814,730.350,395.127,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296772
$DATA_FILE_SIZE,76913,1387
$CAP_FILE_SIZE,204781,0
$CFSIZE,260165632,230252544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090, 38.6,1
$GPS,301112,205336,4713.462,-12631.544,41,0.9,41,18.6