version: 66.11
glider: 187
mission: 2
dive: 356
start: 12 7 112 1 14 14
data:
$ID,187
$MISSION,2
$DIVE,356
$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,-1588380.2
$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,43
$R_STBD_OVSHOOT,22
$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
$GPS1,071212,010626,4719.147,-12615.956,25,2.3,44,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-74.6
$GPS2,071212,011342,4719.229,-12615.927,15,2.0,33,18.6
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$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,43.6,101600,-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,-136.3,0.0,0.0,0,83,0.00,0.00,-63.92,0.000,2,0.000,0.000,122,2202,2694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.47,-136.3,3.2,-3.1,11,121,11.48,2.28,-15.55,0.000,4,0.219,0.063,3034,801,3351,0,0,0,0,0,0,24.92,25.55,26.15
$GC,324,-0.47,-136.3,42.1,-13.4,55,331,0.00,2.20,0.00,0.000,6,0.000,0.050,3025,2210,3354,0,0,0,0,0,0,28.83,25.58,28.83
$GC,642,-0.47,-136.3,82.7,-12.0,116,648,0.00,2.25,0.00,0.000,4,0.000,0.060,3015,3614,3355,0,0,0,0,0,0,28.83,25.56,28.83
$GC,879,-0.47,-136.3,111.6,-11.7,162,886,0.00,2.20,0.00,0.000,6,0.000,0.041,3015,2189,3356,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1200,-0.47,-136.3,147.2,-11.0,193,1206,0.00,2.25,0.00,0.000,4,0.000,0.060,3004,3607,3356,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1262,-0.47,-136.3,154.0,-11.2,197,1267,0.15,2.15,0.00,0.000,6,0.125,0.041,3049,2194,3356,0,0,0,0,0,0,25.64,25.86,28.83
$GC,1573,-0.47,-136.3,180.2,-7.9,217,1579,0.00,2.25,0.00,0.000,4,0.000,0.061,3040,3608,3357,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1595,-0.47,-136.3,181.6,-8.1,218,1601,0.00,2.15,0.00,0.000,6,0.000,0.041,3040,2191,3356,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1912,-0.47,-136.3,209.2,-8.3,238,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2190,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2212,-0.47,-136.3,232.7,-7.4,253,2218,0.00,2.25,0.00,0.000,4,0.000,0.062,3029,3608,3356,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2236,-0.47,-136.3,234.3,-7.6,254,2240,0.00,2.15,0.00,0.000,6,0.000,0.041,3029,2196,3356,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2548,-0.47,-136.3,261.3,-8.9,270,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2192,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2848,-0.47,-136.3,288.8,-9.2,285,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2192,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3148,-0.47,-136.3,317.0,-9.2,300,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2192,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3448,-0.47,-136.3,343.3,-8.4,315,3453,0.00,2.28,0.00,0.000,4,0.000,0.062,3019,3606,3356,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3501,-0.47,-136.3,346.9,-8.6,317,3509,0.00,2.17,0.00,0.000,6,0.000,0.043,3019,2187,3355,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3808,-0.47,-136.3,375.4,-9.1,333,3813,0.00,2.28,0.00,0.000,4,0.000,0.062,3009,3607,3354,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3831,-0.47,-136.3,377.3,-9.2,334,3836,0.12,2.15,0.00,0.000,6,0.129,0.043,3044,2203,3355,0,0,0,0,0,0,25.70,25.88,28.83
$GC,4145,-0.47,-136.3,400.2,-6.9,350,4150,0.00,2.25,0.00,0.000,4,0.000,0.063,3036,3611,3354,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4174,-0.47,-136.3,402.3,-6.9,351,4179,0.00,2.17,0.00,0.000,6,0.000,0.044,3036,2192,3354,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4504,-0.47,-136.3,426.6,-7.4,362,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2190,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4804,-0.47,-136.3,448.9,-7.4,372,4810,0.00,2.28,0.00,0.000,4,0.000,0.064,3026,3609,3353,0,0,0,0,0,0,28.83,25.55,28.83
$GC,4852,-0.47,-136.3,451.1,-7.3,373,4856,0.00,2.17,0.00,0.000,6,0.000,0.044,3025,2193,3353,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5159,-0.47,-136.3,475.4,-7.4,383,5165,0.00,2.30,0.00,0.000,4,0.000,0.064,3016,3614,3352,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5182,-0.47,-136.3,475.4,-7.4,383,5189,0.00,2.17,0.00,0.000,6,0.000,0.044,3015,2199,3353,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5489,-0.47,-136.3,502.1,-8.2,394,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2197,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5789,-0.47,-136.3,526.7,-8.2,404,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2197,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6089,-0.47,-136.3,551.9,-8.3,414,6095,0.00,2.28,0.00,0.000,4,0.000,0.065,3006,3605,3351,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6132,-0.47,-136.3,554.4,-8.4,415,6137,0.12,2.17,0.00,0.000,6,0.129,0.045,3041,2193,3352,0,0,0,0,0,0,25.65,25.83,28.83
$GC,6446,-0.47,-136.3,577.7,-7.0,426,6447,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2190,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6746,-0.47,-136.3,598.0,-6.7,436,6751,0.00,2.28,0.00,0.000,4,0.000,0.065,3034,3607,3351,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6788,-0.47,-136.3,600.1,-6.7,437,6792,0.00,2.17,0.00,0.000,6,0.000,0.044,3033,2194,3351,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7100,-0.47,-136.3,623.6,-7.2,448,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2192,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7401,-0.47,-136.3,644.9,-7.1,458,7406,0.00,2.28,0.00,0.000,4,0.000,0.066,3023,3606,3350,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7433,-0.47,-136.3,647.2,-7.2,459,7437,0.00,2.17,0.00,0.000,6,0.000,0.045,3023,2196,3350,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7756,-0.47,-136.3,673.2,-8.3,470,7757,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2193,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8056,-0.47,-136.3,697.8,-8.0,480,8057,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2193,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8357,-0.47,-136.3,721.0,-7.7,490,8363,0.00,2.30,0.00,0.000,4,0.000,0.067,3013,3606,3348,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8389,-0.47,-136.3,723.3,-7.7,491,8393,0.00,2.17,0.00,0.000,6,0.000,0.046,3013,2199,3348,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8712,-0.47,-136.3,749.0,-7.9,502,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2197,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9012,-0.47,-136.3,772.7,-7.9,512,9014,0.12,0.00,0.00,0.000,6,0.140,0.000,3049,2197,3348,0,0,0,0,0,0,26.11,28.83,28.83
$GC,9312,-0.47,-136.3,790.1,-5.6,522,9317,0.00,2.30,0.00,0.000,4,0.000,0.067,3040,3605,3347,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9334,-0.47,-136.3,790.1,-5.6,522,9341,0.00,2.17,0.00,0.000,6,0.000,0.047,3040,2201,3347,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9642,-0.47,-136.3,809.1,-5.8,533,9646,0.00,2.20,0.00,0.000,4,0.000,0.053,3040,796,3347,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9675,-0.47,-136.3,811.2,-5.9,534,9680,0.00,2.20,0.00,0.000,6,0.000,0.054,3032,2198,3347,0,0,0,0,0,0,28.83,25.58,28.83
$GC,10004,-0.47,-136.3,831.6,-6.2,545,10010,0.00,2.28,0.00,0.000,4,0.000,0.067,3022,3612,3347,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10065,-0.47,-136.3,835.7,-6.4,547,10069,0.00,2.22,0.00,0.000,6,0.000,0.046,3023,2190,3346,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10398,-0.47,-136.3,858.3,-6.8,558,10399,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2188,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10697,-0.47,-136.3,878.4,-6.7,568,10698,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2188,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10998,-0.47,-136.3,898.3,-6.4,578,11004,0.00,2.33,0.00,0.000,4,0.000,0.065,3012,3616,3346,0,0,0,0,0,0,28.83,25.39,28.83
$GC,11041,-0.47,-136.3,900.5,-6.5,579,11046,0.12,2.20,0.00,0.000,6,0.124,0.047,3049,2202,3346,0,0,0,0,0,0,25.58,25.73,28.83
$GC,11355,-0.47,-136.3,918.3,-5.3,590,11356,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2200,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11654,-0.47,-136.3,934.2,-5.2,600,11660,0.00,2.28,0.00,0.000,4,0.000,0.068,3040,3607,3345,0,0,0,0,0,0,28.83,25.34,28.83
$GC,11677,-0.47,-136.3,934.2,-5.2,600,11684,0.00,2.20,0.00,0.000,6,0.000,0.047,3040,2193,3345,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11985,-0.47,-136.3,951.2,-5.2,611,11986,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2193,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12284,-0.47,-136.3,967.4,-5.4,621,12290,0.00,2.33,0.00,0.000,4,0.000,0.068,3030,3611,3345,0,0,0,0,0,0,28.83,25.32,28.83
$GC,12317,-0.47,-136.3,969.0,-5.4,622,12321,0.00,2.22,0.00,0.000,6,0.000,0.047,3031,2197,3345,0,0,0,0,0,0,28.83,25.70,28.83
$GC,12645,-0.47,-136.3,987.9,-5.5,633,12650,0.00,2.15,0.00,0.000,4,0.000,0.054,3031,807,3344,0,0,0,0,0,0,28.83,25.51,28.83
$GC,12675,-0.47,-136.3,990.0,-5.9,634,12680,0.00,2.20,0.00,0.000,6,0.000,0.055,3029,2204,3344,0,0,0,0,0,0,28.83,25.49,28.83
$STATE,12701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12702,begin apogee
$GC,12709,-0.22,0.0,991.6,-6.0,635,12836,0.28,0.00,121.57,1.175,6,0.109,0.000,3124,2338,2793,0,0,0,0,0,0,25.70,28.83,23.15
$STATE,12839,end apogee,CONTROL_FINISHED_OK
$STATE,12839,begin climb
$GC,12842,0.47,136.3,995.0,0.0,639,12977,0.62,0.00,131.68,1.137,6,0.073,0.000,3341,2338,2238,0,0,0,0,0,0,24.45,28.83,22.17
$GC,13276,0.47,136.3,967.3,7.9,654,13281,0.00,2.28,0.00,0.000,4,0.000,0.054,3352,933,2227,0,0,0,0,0,0,28.83,24.96,28.83
$GC,13307,0.47,136.3,964.8,8.0,655,13312,0.00,2.25,0.00,0.000,6,0.000,0.055,3352,2317,2226,0,0,0,0,0,0,28.83,25.03,28.83
$GC,13630,0.47,136.3,937.0,8.5,666,13636,0.00,2.30,0.00,0.000,4,0.000,0.067,3352,3735,2224,0,0,0,0,0,0,28.83,25.37,28.83
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$STATE,25512,end climb,SURFACE_DEPTH_REACHED
$STATE,25514,begin surface coast
$FINISH,1.2,1.024827
$STATE,25561,end surface coast,CONTROL_FINISHED_OK
$STATE,25561,begin surface
$SM_CCo,25643,0.00,0.000,0,0,1470,324.78
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.68
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,15.80
$XPDR_PINGS,0
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$10V_AH,9.9,40.869
$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
$SENSOR_SECS,979.218,747.685,397.264,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296720
$DATA_FILE_SIZE,80155,1423
$CAP_FILE_SIZE,210133,0
$CFSIZE,260165632,228265984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.056,241.7,1
$GPS,071212,082259,4720.668,-12612.802,44,1.4,44,18.6