version: 66.11
glider: 187
mission: 2
dive: 801
start: 4 15 113 16 0 43
data:
$ID,187
$MISSION,2
$DIVE,801
$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,-1589989.9
$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,42
$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
$GPS1,150413,155200,4743.065,-12530.413,41,1.8,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-77.3
$GPS2,150413,160012,4743.053,-12530.357,12,1.0,17,18.7
$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,29.1,29887,-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,-136.3,0.0,0.0,0,86,0.00,0.00,-66.18,0.000,2,0.000,0.000,115,2190,2630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.47,-136.3,3.3,-2.6,12,127,11.68,2.28,-16.30,0.000,4,0.216,0.064,3030,794,3353,0,0,0,0,0,0,24.49,25.32,26.20
$GC,267,-0.47,-136.3,35.0,-14.3,45,274,0.00,2.22,0.00,0.000,6,0.000,0.052,3022,2197,3355,0,0,0,0,0,0,28.83,25.15,28.83
$GC,582,-0.47,-136.3,84.8,-14.3,106,590,0.00,2.20,0.00,0.000,4,0.000,0.049,3022,801,3355,0,0,0,0,0,0,28.83,25.12,28.83
$GC,647,-0.47,-136.3,94.5,-13.7,118,655,0.12,2.22,0.00,0.000,6,0.139,0.050,3045,2208,3355,0,0,0,0,0,0,24.96,25.10,28.83
$GC,966,-0.47,-136.3,127.9,-9.9,170,975,0.00,2.35,0.00,0.000,4,0.000,0.062,3037,3622,3355,0,0,0,0,0,0,28.83,24.87,28.83
$GC,1066,-0.47,-136.3,137.6,-9.4,180,1075,0.00,2.30,0.00,0.000,6,0.000,0.042,3036,2189,3356,0,0,0,0,0,0,28.83,25.31,28.83
$GC,1377,-0.47,-136.3,168.8,-10.0,201,1384,0.00,2.22,0.00,0.000,4,0.000,0.050,3037,801,3356,0,0,0,0,0,0,28.83,25.04,28.83
$GC,1427,-0.47,-136.3,174.0,-10.3,206,1436,0.00,2.28,0.00,0.000,6,0.000,0.050,3029,2202,3356,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1737,-0.47,-136.3,206.5,-10.4,226,1742,0.00,2.35,0.00,0.000,4,0.000,0.062,3019,3613,3356,0,0,0,0,0,0,28.83,24.84,28.83
$GC,1764,-0.47,-136.3,208.5,-10.3,227,1768,0.00,2.28,0.00,0.000,6,0.000,0.042,3019,2198,3356,0,0,0,0,0,0,28.83,25.28,28.83
$GC,2067,-0.47,-136.3,240.5,-10.0,242,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2194,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2367,-0.47,-136.3,270.1,-9.7,257,2371,0.00,2.22,0.00,0.000,4,0.000,0.050,3019,784,3356,0,0,0,0,0,0,28.83,24.99,28.83
$GC,2416,-0.47,-136.3,274.1,-9.9,259,2425,0.08,2.30,0.00,0.000,6,0.112,0.050,3038,2198,3355,0,0,0,0,0,0,24.81,25.00,28.83
$GC,2726,-0.47,-136.3,302.0,-8.8,275,2731,0.00,2.35,0.00,0.000,4,0.000,0.063,3030,3609,3356,0,0,0,0,0,0,28.83,24.76,28.83
$GC,2767,-0.47,-136.3,305.7,-8.9,277,2771,0.00,2.25,0.00,0.000,6,0.000,0.044,3030,2206,3355,0,0,0,0,0,0,28.83,25.25,28.83
$GC,3087,-0.47,-136.3,334.8,-9.2,293,3091,0.00,2.25,0.00,0.000,4,0.000,0.050,3030,802,3355,0,0,0,0,0,0,28.83,24.98,28.83
$GC,3146,-0.47,-136.3,340.4,-9.2,296,3151,0.00,2.30,0.00,0.000,6,0.000,0.051,3029,2204,3355,0,0,0,0,0,0,28.83,24.96,28.83
$GC,3467,-0.47,-136.3,369.5,-9.1,312,3471,0.00,2.35,0.00,0.000,4,0.000,0.063,3019,3609,3356,0,0,0,0,0,0,28.83,24.72,28.83
$GC,3526,-0.47,-136.3,375.2,-9.4,315,3531,0.00,2.28,0.00,0.000,6,0.000,0.044,3018,2194,3355,0,0,0,0,0,0,28.83,25.21,28.83
$GC,3836,-0.47,-136.3,404.1,-9.2,330,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2191,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4136,-0.47,-136.3,431.4,-9.1,340,4141,0.00,2.28,0.00,0.000,4,0.000,0.050,3019,795,3355,0,0,0,0,0,0,28.83,24.93,28.83
$GC,4167,-0.47,-136.3,434.3,-9.2,341,4172,0.08,2.30,0.00,0.000,6,0.109,0.052,3039,2199,3355,0,0,0,0,0,0,24.74,24.91,28.83
$GC,4496,-0.47,-136.3,460.9,-7.9,352,4502,0.00,2.38,0.00,0.000,4,0.000,0.063,3030,3610,3354,0,0,0,0,0,0,28.83,24.66,28.83
$GC,4556,-0.47,-136.3,465.7,-7.9,354,4562,0.00,2.30,0.00,0.000,6,0.000,0.044,3030,2195,3354,0,0,0,0,0,0,28.83,25.18,28.83
$GC,4887,-0.47,-136.3,491.4,-7.8,365,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2194,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5186,-0.47,-136.3,513.8,-7.3,375,5191,0.00,2.40,0.00,0.000,4,0.000,0.064,3021,3613,3354,0,0,0,0,0,0,28.83,24.64,28.83
$GC,5216,-0.47,-136.3,516.0,-7.3,376,5221,0.00,2.30,0.00,0.000,6,0.000,0.045,3021,2202,3353,0,0,0,0,0,0,28.83,25.15,28.83
$GC,5547,-0.47,-136.3,540.2,-7.0,387,5552,0.00,2.28,0.00,0.000,4,0.000,0.053,3021,801,3353,0,0,0,0,0,0,28.83,24.87,28.83
$GC,5594,-0.47,-136.3,542.3,-6.9,388,5598,0.00,2.33,0.00,0.000,6,0.000,0.053,3013,2210,3353,0,0,0,0,0,0,28.83,24.86,28.83
$GC,5896,-0.47,-136.3,565.0,-7.3,398,5902,0.00,2.35,0.00,0.000,4,0.000,0.064,3004,3603,3353,0,0,0,0,0,0,28.83,24.61,28.83
$GC,5956,-0.47,-136.3,569.7,-7.6,400,5962,0.15,2.30,0.00,0.000,6,0.119,0.045,3048,2194,3353,0,0,0,0,0,0,24.91,25.13,28.83
$GC,6288,-0.47,-136.3,588.9,-5.8,411,6289,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2190,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6586,-0.47,-136.3,606.6,-5.7,421,6591,0.00,2.42,0.00,0.000,4,0.000,0.065,3040,3607,3352,0,0,0,0,0,0,28.83,24.58,28.83
$GC,6648,-0.47,-136.3,610.4,-6.0,423,6652,0.00,2.25,0.00,0.000,6,0.000,0.047,3040,2194,3352,0,0,0,0,0,0,28.83,25.11,28.83
$GC,6966,-0.47,-136.3,630.9,-6.4,434,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2193,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7266,-0.47,-136.3,650.4,-6.7,444,7271,0.00,2.42,0.00,0.000,4,0.000,0.065,3031,3611,3351,0,0,0,0,0,0,28.83,24.56,28.83
$GC,7314,-0.47,-136.3,652.5,-6.7,445,7318,0.00,2.33,0.00,0.000,6,0.000,0.046,3030,2193,3351,0,0,0,0,0,0,28.83,25.08,28.83
$GC,7617,-0.47,-136.3,675.5,-7.1,455,7621,0.00,2.38,0.00,0.000,4,0.000,0.065,3021,3609,3351,0,0,0,0,0,0,28.83,24.55,28.83
$GC,7654,-0.47,-136.3,677.6,-7.1,456,7658,0.00,2.33,0.00,0.000,6,0.000,0.046,3021,2193,3351,0,0,0,0,0,0,28.83,25.08,28.83
$GC,7966,-0.47,-136.3,701.3,-7.2,467,7971,0.00,2.42,0.00,0.000,4,0.000,0.065,3011,3614,3350,0,0,0,0,0,0,28.83,24.53,28.83
$GC,8035,-0.47,-136.3,705.9,-7.4,469,8041,0.12,2.30,0.00,0.000,6,0.119,0.044,3048,2200,3350,0,0,0,0,0,0,24.96,25.12,28.83
$GC,8356,-0.47,-136.3,724.9,-5.5,480,8361,0.00,2.42,0.00,0.000,4,0.000,0.066,3040,3613,3350,0,0,0,0,0,0,28.83,24.51,28.83
$GC,8424,-0.47,-136.3,728.7,-5.7,482,8428,0.00,2.33,0.00,0.000,6,0.000,0.046,3040,2197,3349,0,0,0,0,0,0,28.83,25.06,28.83
$GC,8738,-0.47,-136.3,746.9,-5.6,493,8742,0.00,2.22,0.00,0.000,4,0.000,0.054,3040,803,3349,0,0,0,0,0,0,28.83,24.77,28.83
$GC,8767,-0.47,-136.3,748.7,-5.9,494,8772,0.00,2.30,0.00,0.000,6,0.000,0.053,3032,2201,3349,0,0,0,0,0,0,28.83,24.78,28.83
$GC,9097,-0.47,-136.3,768.5,-6.0,505,9102,0.00,2.40,0.00,0.000,4,0.000,0.066,3022,3611,3349,0,0,0,0,0,0,28.83,24.49,28.83
$GC,9166,-0.47,-136.3,772.5,-6.2,507,9172,0.00,2.33,0.00,0.000,6,0.000,0.046,3022,2195,3349,0,0,0,0,0,0,28.83,25.05,28.83
$GC,9487,-0.47,-136.3,793.9,-6.5,518,9492,0.00,2.28,0.00,0.000,4,0.000,0.053,3021,808,3348,0,0,0,0,0,0,28.83,24.76,28.83
$GC,9518,-0.47,-136.3,796.1,-6.6,519,9523,0.00,2.25,0.00,0.000,6,0.000,0.054,3014,2202,3349,0,0,0,0,0,0,28.83,24.75,28.83
$GC,9837,-0.47,-136.3,819.7,-7.5,530,9842,0.00,2.38,0.00,0.000,4,0.000,0.066,3004,3603,3348,0,0,0,0,0,0,28.83,24.47,28.83
$GC,9926,-0.47,-136.3,826.8,-7.7,533,9933,0.15,2.30,0.00,0.000,6,0.113,0.046,3048,2200,3347,0,0,0,0,0,0,24.84,25.04,28.83
$GC,10257,-0.47,-136.3,845.8,-5.8,544,10258,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2198,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10558,-0.47,-136.3,864.1,-6.2,554,10559,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2198,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10857,-0.47,-136.3,881.7,-5.9,564,10858,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2198,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11157,-0.47,-136.3,899.1,-5.7,574,11162,0.00,2.40,0.00,0.000,4,0.000,0.067,3041,3603,3347,0,0,0,0,0,0,28.83,24.41,28.83
$GC,11188,-0.47,-136.3,900.9,-5.8,575,11192,0.00,2.25,0.00,0.000,6,0.000,0.047,3040,2199,3347,0,0,0,0,0,0,28.83,24.99,28.83
$GC,11517,-0.47,-136.3,920.6,-5.8,586,11518,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2197,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11817,-0.47,-136.3,937.6,-5.6,596,11822,0.00,2.42,0.00,0.000,4,0.000,0.067,3031,3609,3346,0,0,0,0,0,0,28.83,24.39,28.83
$GC,11878,-0.47,-136.3,941.1,-5.7,598,11882,0.00,2.33,0.00,0.000,6,0.000,0.049,3031,2172,3346,0,0,0,0,0,0,28.83,24.95,28.83
$STATE,12114,end dive,NO_VERTICAL_VELOCITY
$STATE,12114,begin apogee
$GC,12121,-0.22,0.0,941.8,0.0,606,12250,0.25,0.00,125.43,1.119,6,0.087,0.000,3126,2340,2794,0,0,0,0,0,0,25.55,28.83,22.77
$STATE,12251,end apogee,CONTROL_FINISHED_OK
$STATE,12251,begin climb
$GC,12255,0.47,136.3,941.7,0.0,610,12395,0.62,2.50,132.95,1.084,4,0.067,0.053,3358,920,2236,0,0,0,0,0,0,24.34,23.47,22.05
$GC,12447,0.50,206.6,935.6,4.2,616,12519,0.00,2.40,66.57,1.066,6,0.000,0.054,3358,2310,1951,0,0,0,0,0,0,28.83,24.19,22.20
$GC,12840,0.50,206.6,900.0,8.7,630,12844,0.00,2.35,0.00,0.000,4,0.000,0.069,3358,3738,1941,0,0,0,0,0,0,28.83,25.32,28.83
$GC,12905,0.50,206.6,894.9,9.2,632,12909,0.00,2.30,0.00,0.000,6,0.000,0.049,3367,2333,1940,0,0,0,0,0,0,28.83,25.53,28.83
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$STATE,23256,end climb,SURFACE_DEPTH_REACHED
$STATE,23256,begin surface coast
$FINISH,1.4,1.001237
$STATE,23313,end surface coast,CONTROL_FINISHED_OK
$STATE,23313,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,48.93
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,18.90
$XPDR_PINGS,3
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$10V_AH,9.7,84.296
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.550,246.900,439.400,0.000,0.000,25.044,42.624,262.109,0.750,0.000,18.499,3414.883,16695.361,761.990,2498.724,499.202,0.000,1995.803,0.000,2153.053,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296928
$DATA_FILE_SIZE,73583,1309
$CAP_FILE_SIZE,192451,0
$CFSIZE,260165632,189935616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.105,206.6,1
$GPS,150413,223159,4744.684,-12527.049,40,1.8,45,18.7