version: 66.11
glider: 187
mission: 2
dive: 337
start: 12 1 112 11 10 34
data:
$ID,187
$MISSION,2
$DIVE,337
$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,-1588188.5
$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,40
$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
$GPS1,011212,110214,4710.167,-12637.497,80,2.9,99,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-72.1
$GPS2,011212,111003,4710.165,-12637.366,13,2.6,32,18.6
$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,223.0,34229,-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,-136.3,0.0,0.0,0,74,0.00,0.00,-55.08,0.000,2,0.000,0.000,107,2191,2598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.47,-136.3,3.4,-5.1,9,117,11.68,2.25,-18.17,0.000,4,0.223,0.063,3037,798,3353,0,0,0,0,0,0,24.90,25.56,26.13
$GC,156,-0.47,-136.3,15.5,-14.4,22,163,0.00,2.22,0.00,0.000,6,0.000,0.051,3028,2203,3355,0,0,0,0,0,0,28.83,25.50,28.83
$GC,470,-0.47,-136.3,66.5,-13.6,83,478,0.00,2.28,0.00,0.000,4,0.000,0.061,3018,3610,3356,0,0,0,0,0,0,28.83,25.51,28.83
$GC,558,-0.47,-136.3,78.6,-13.9,99,565,0.00,2.20,0.00,0.000,6,0.000,0.042,3018,2194,3357,0,0,0,0,0,0,28.83,25.74,28.83
$GC,871,-0.47,-136.3,119.0,-11.5,160,878,0.00,2.20,0.00,0.000,4,0.000,0.050,3017,803,3358,0,0,0,0,0,0,28.83,25.65,28.83
$GC,930,-0.47,-136.3,124.8,-11.2,165,938,0.08,2.22,0.00,0.000,6,0.121,0.050,3045,2204,3358,0,0,0,0,0,0,25.48,25.68,28.83
$GC,1237,-0.47,-136.3,150.8,-8.2,186,1242,0.00,2.28,0.00,0.000,4,0.000,0.062,3037,3618,3358,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1275,-0.47,-136.3,153.4,-8.3,188,1282,0.00,2.17,0.00,0.000,6,0.000,0.043,3037,2197,3358,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1582,-0.47,-136.3,182.4,-8.7,209,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2196,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1892,-0.47,-136.3,210.5,-9.2,228,1897,0.00,2.12,0.00,0.000,4,0.000,0.050,3037,808,3358,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1915,-0.47,-136.3,212.4,-9.2,229,1919,0.00,2.17,0.00,0.000,6,0.000,0.050,3028,2209,3358,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2227,-0.47,-136.3,241.9,-9.3,245,2232,0.00,2.25,0.00,0.000,4,0.000,0.063,3018,3607,3357,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2295,-0.47,-136.3,247.6,-9.5,248,2299,0.00,2.15,0.00,0.000,6,0.000,0.043,3018,2201,3358,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2604,-0.47,-136.3,279.4,-10.1,263,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2200,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2902,-0.47,-136.3,309.0,-9.8,278,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2200,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3203,-0.47,-136.3,338.7,-9.7,293,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2200,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3502,-0.47,-136.3,367.4,-9.6,308,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2200,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3802,-0.47,-136.3,396.5,-9.8,323,3803,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2200,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4112,-0.47,-136.3,427.0,-9.8,334,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2200,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4412,-0.47,-136.3,455.8,-9.7,344,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2199,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4712,-0.47,-136.3,483.8,-9.4,354,4717,0.00,2.25,0.00,0.000,4,0.000,0.065,3007,3605,3353,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4742,-0.47,-136.3,486.7,-9.4,355,4748,0.12,2.17,0.00,0.000,6,0.133,0.045,3043,2202,3353,0,0,0,0,0,0,25.66,25.84,28.83
$GC,5072,-0.47,-136.3,511.9,-7.4,366,5078,0.00,2.25,0.00,0.000,4,0.000,0.066,3034,3606,3352,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5115,-0.47,-136.3,514.2,-7.4,367,5119,0.00,2.17,0.00,0.000,6,0.000,0.046,3034,2200,3352,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5427,-0.47,-136.3,538.0,-7.1,378,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2198,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5728,-0.47,-136.3,559.2,-7.2,388,5729,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2198,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6027,-0.47,-136.3,580.5,-7.3,398,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2198,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6327,-0.47,-136.3,602.5,-7.5,408,6332,0.00,2.28,0.00,0.000,4,0.000,0.066,3024,3610,3351,0,0,0,0,0,0,28.83,25.50,28.83
$GC,6375,-0.47,-136.3,604.7,-7.6,409,6379,0.00,2.20,0.00,0.000,6,0.000,0.046,3024,2192,3351,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6682,-0.47,-136.3,631.4,-8.0,419,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2190,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6982,-0.47,-136.3,655.1,-7.8,429,6987,0.00,2.30,0.00,0.000,4,0.000,0.067,3014,3608,3350,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7012,-0.47,-136.3,657.6,-7.9,430,7018,0.00,2.17,0.00,0.000,6,0.000,0.047,3014,2199,3350,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7342,-0.47,-136.3,685.1,-8.3,441,7347,0.00,2.30,0.00,0.000,4,0.000,0.066,3004,3613,3350,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7365,-0.47,-136.3,685.1,-8.3,441,7372,0.15,2.20,0.00,0.000,6,0.124,0.047,3047,2194,3349,0,0,0,0,0,0,25.58,25.78,28.83
$GC,7673,-0.47,-136.3,706.3,-6.0,452,7679,0.00,2.28,0.00,0.000,4,0.000,0.067,3040,3605,3349,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7695,-0.47,-136.3,706.3,-6.0,452,7702,0.00,2.17,0.00,0.000,6,0.000,0.047,3039,2203,3349,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8003,-0.47,-136.3,726.6,-6.1,463,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2202,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8303,-0.47,-136.3,745.0,-6.2,473,8309,0.00,2.30,0.00,0.000,4,0.000,0.067,3029,3612,3348,0,0,0,0,0,0,28.83,25.42,28.83
$GC,8362,-0.47,-136.3,748.9,-6.3,475,8368,0.00,2.20,0.00,0.000,6,0.000,0.047,3029,2207,3348,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8693,-0.47,-136.3,770.9,-6.8,486,8698,0.00,2.25,0.00,0.000,4,0.000,0.067,3020,3598,3347,0,0,0,0,0,0,28.83,25.42,28.83
$GC,8731,-0.47,-136.3,773.0,-6.7,487,8735,0.00,2.20,0.00,0.000,6,0.000,0.047,3019,2186,3347,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9048,-0.47,-136.3,797.0,-7.4,498,9054,0.00,2.33,0.00,0.000,4,0.000,0.067,3010,3606,3347,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9086,-0.47,-136.3,799.3,-7.3,499,9091,0.12,2.20,0.00,0.000,6,0.127,0.047,3045,2197,3347,0,0,0,0,0,0,25.58,25.75,28.83
$GC,9405,-0.47,-136.3,818.2,-5.5,510,9406,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2195,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9705,-0.47,-136.3,834.8,-5.7,520,9710,0.00,2.30,0.00,0.000,4,0.000,0.068,3037,3610,3346,0,0,0,0,0,0,28.83,25.38,28.83
$GC,9743,-0.47,-136.3,836.7,-6.0,521,9747,0.00,2.20,0.00,0.000,6,0.000,0.048,3037,2199,3346,0,0,0,0,0,0,28.83,25.73,28.83
$GC,10061,-0.47,-136.3,856.6,-6.1,532,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2197,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10360,-0.47,-136.3,876.3,-6.7,542,10365,0.00,2.28,0.00,0.000,4,0.000,0.068,3028,3598,3346,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10398,-0.47,-136.3,878.4,-6.7,543,10402,0.00,2.17,0.00,0.000,6,0.000,0.048,3027,2203,3346,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10716,-0.47,-136.3,901.8,-7.1,554,10717,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2201,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11016,-0.47,-136.3,922.4,-6.8,564,11021,0.00,2.28,0.00,0.000,4,0.000,0.068,3017,3601,3345,0,0,0,0,0,0,28.83,25.35,28.83
$GC,11069,-0.47,-136.3,924.6,-6.8,565,11076,0.00,2.20,0.00,0.000,6,0.000,0.049,3017,2193,3345,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11375,-0.47,-136.3,948.9,-7.3,576,11381,0.00,2.33,0.00,0.000,4,0.000,0.067,3007,3609,3344,0,0,0,0,0,0,28.83,25.34,28.83
$GC,11405,-0.47,-136.3,951.3,-7.5,577,11412,0.12,2.22,0.00,0.000,6,0.127,0.048,3043,2189,3345,0,0,0,0,0,0,25.54,25.70,28.83
$GC,11736,-0.47,-136.3,972.8,-6.6,588,11742,0.00,2.30,0.00,0.000,4,0.000,0.068,3036,3599,3345,0,0,0,0,0,0,28.83,25.33,28.83
$GC,11773,-0.47,-136.3,974.7,-6.7,589,11778,0.00,2.20,0.00,0.000,6,0.000,0.049,3035,2193,3345,0,0,0,0,0,0,28.83,25.69,28.83
$STATE,11998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11998,begin apogee
$GC,12005,-0.22,0.0,991.0,-6.7,597,12132,0.25,0.00,121.10,1.175,6,0.110,0.000,3121,2333,2794,0,0,0,0,0,0,25.75,28.83,23.22
$STATE,12136,end apogee,CONTROL_FINISHED_OK
$STATE,12136,begin climb
$GC,12138,0.47,136.3,995.3,0.0,601,12273,0.65,0.00,131.15,1.136,6,0.076,0.000,3345,2333,2238,0,0,0,0,0,0,24.47,28.83,22.23
$GC,12572,0.47,136.3,965.4,8.7,616,12577,0.00,2.33,0.00,0.000,4,0.000,0.068,3345,3722,2228,0,0,0,0,0,0,28.83,24.89,28.83
$GC,12609,0.47,136.3,962.7,8.9,617,12613,0.00,2.28,0.00,0.000,6,0.000,0.049,3356,2333,2227,0,0,0,0,0,0,28.83,25.10,28.83
$GC,12926,0.47,136.3,932.0,9.4,628,12932,0.00,2.30,0.00,0.000,4,0.000,0.069,3355,3732,2226,0,0,0,0,0,0,28.83,25.35,28.83
$GC,12956,0.47,136.3,928.8,9.6,629,12962,0.00,2.22,0.00,0.000,6,0.000,0.048,3366,2327,2225,0,0,0,0,0,0,28.83,25.53,28.83
$GC,13286,0.47,136.3,895.8,10.1,640,13287,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,2323,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13586,0.47,136.3,866.5,9.8,650,13592,0.00,2.35,0.00,0.000,4,0.000,0.068,3365,3738,2224,0,0,0,0,0,0,28.83,25.53,28.83
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$STATE,24282,end climb,SURFACE_DEPTH_REACHED
$STATE,24282,begin surface coast
$FINISH,1.0,1.024697
$STATE,24342,end surface coast,CONTROL_FINISHED_OK
$STATE,24343,begin surface
$SM_CCo,24422,0.00,0.000,0,0,1246,379.72
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.99
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,15.70
$XPDR_PINGS,1
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$10V_AH,10.0,38.679
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.125,188.850,456.950,0.000,0.000,28.653,41.894,238.547,0.250,0.000,34.482,3509.813,17393.574,584.905,2971.850,419.207,0.000,2023.250,0.000,2605.134,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296772
$DATA_FILE_SIZE,76779,1348
$CAP_FILE_SIZE,196335,0
$CFSIZE,260165632,229990400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123, 75.2,1
$GPS,011212,175906,4708.699,-12640.097,52,1.1,52,18.6