version: 66.11
glider: 187
mission: 2
dive: 667
start: 3 7 113 13 0 52
data:
$ID,187
$MISSION,2
$DIVE,667
$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,-1588874.1
$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,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
$GPS1,070313,125306,4725.669,-12613.746,29,1.2,29,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-79.3
$GPS2,070313,130019,4725.667,-12613.707,12,1.1,12,18.7
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,10000.000
$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,40.0,92617,-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,-136.3,0.0,0.0,0,80,0.00,0.00,-60.83,0.000,2,0.000,0.000,116,2185,2785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.47,-136.3,3.3,-3.1,11,116,11.77,2.20,-13.25,0.000,4,0.219,0.063,3033,799,3351,0,0,0,0,0,0,24.53,25.39,26.23
$GC,226,-0.47,-136.3,27.1,-13.7,37,234,0.00,2.20,0.00,0.000,6,0.000,0.052,3025,2199,3353,0,0,0,0,0,0,28.83,25.37,28.83
$GC,540,-0.47,-136.3,74.3,-14.7,98,546,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2199,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,850,-0.47,-136.3,112.8,-12.7,159,857,0.00,2.22,0.00,0.000,4,0.000,0.050,3025,790,3353,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1001,-0.47,-136.3,128.8,-10.8,180,1010,0.00,2.25,0.00,0.000,6,0.000,0.051,3016,2194,3354,0,0,0,0,0,0,28.83,25.42,28.83
$GC,1310,-0.47,-136.3,161.9,-11.0,201,1320,0.00,2.33,0.00,0.000,4,0.000,0.063,3006,3611,3353,0,0,0,0,0,0,28.83,25.26,28.83
$GC,1351,-0.47,-136.3,166.5,-11.9,205,1361,0.10,2.22,0.00,0.000,6,0.102,0.044,3044,2202,3353,0,0,0,0,0,0,25.38,25.61,28.83
$GC,1661,-0.47,-136.3,191.3,-7.2,226,1669,0.00,2.22,0.00,0.000,4,0.000,0.050,3044,803,3354,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1730,-0.47,-136.3,196.3,-7.1,233,1740,0.00,2.28,0.00,0.000,6,0.000,0.050,3037,2212,3354,0,0,0,0,0,0,28.83,25.41,28.83
$GC,2047,-0.47,-136.3,221.6,-8.1,250,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2212,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2345,-0.47,-136.3,245.5,-8.0,265,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2212,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2647,-0.47,-136.3,268.8,-7.9,280,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2212,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2946,-0.47,-136.3,293.1,-7.7,295,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2212,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3246,-0.47,-136.3,315.3,-7.3,310,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2212,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3546,-0.47,-136.3,337.9,-7.6,325,3551,0.00,2.33,0.00,0.000,4,0.000,0.064,3026,3608,3353,0,0,0,0,0,0,28.83,25.20,28.83
$GC,3587,-0.47,-136.3,341.1,-7.8,327,3591,0.00,2.25,0.00,0.000,6,0.000,0.045,3027,2198,3353,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3905,-0.47,-136.3,368.2,-8.3,343,3911,0.00,2.28,0.00,0.000,4,0.000,0.052,3026,789,3353,0,0,0,0,0,0,28.83,25.35,28.83
$GC,3945,-0.47,-136.3,371.6,-8.5,345,3951,0.00,2.30,0.00,0.000,6,0.000,0.052,3017,2204,3353,0,0,0,0,0,0,28.83,25.36,28.83
$GC,4268,-0.47,-136.3,400.8,-9.3,361,4272,0.00,2.28,0.00,0.000,4,0.000,0.064,3007,3609,3353,0,0,0,0,0,0,28.83,25.18,28.83
$GC,4317,-0.47,-136.3,405.6,-9.4,363,4322,0.08,2.25,0.00,0.000,6,0.106,0.045,3052,2195,3353,0,0,0,0,0,0,25.32,25.56,28.83
$GC,4647,-0.47,-136.3,429.3,-7.0,374,4648,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2193,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4945,-0.47,-136.3,450.8,-7.2,384,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2193,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5246,-0.47,-136.3,471.5,-6.8,394,5251,0.00,2.35,0.00,0.000,4,0.000,0.065,3045,3604,3353,0,0,0,0,0,0,28.83,25.15,28.83
$GC,5276,-0.47,-136.3,473.7,-6.9,395,5281,0.00,2.25,0.00,0.000,6,0.000,0.046,3044,2195,3352,0,0,0,0,0,0,28.83,25.54,28.83
$GC,5607,-0.47,-136.3,497.1,-6.8,406,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2194,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5906,-0.47,-136.3,516.3,-6.5,416,5911,0.00,2.22,0.00,0.000,4,0.000,0.053,3045,805,3352,0,0,0,0,0,0,28.83,25.30,28.83
$GC,5937,-0.47,-136.3,518.3,-6.4,417,5941,0.00,2.22,0.00,0.000,6,0.000,0.054,3036,2205,3352,0,0,0,0,0,0,28.83,25.31,28.83
$GC,6257,-0.47,-136.3,540.2,-6.7,428,6261,0.00,2.33,0.00,0.000,4,0.000,0.066,3026,3608,3352,0,0,0,0,0,0,28.83,25.12,28.83
$GC,6304,-0.47,-136.3,542.3,-6.8,429,6308,0.00,2.28,0.00,0.000,6,0.000,0.047,3026,2197,3352,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6605,-0.47,-136.3,565.0,-7.2,439,6611,0.00,2.35,0.00,0.000,4,0.000,0.066,3015,3604,3352,0,0,0,0,0,0,28.83,25.10,28.83
$GC,6636,-0.47,-136.3,567.3,-7.3,440,6641,0.00,2.25,0.00,0.000,6,0.000,0.047,3016,2196,3351,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6965,-0.47,-136.3,591.6,-7.3,451,6966,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2193,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7265,-0.47,-136.3,613.0,-7.1,461,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2193,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7565,-0.47,-136.3,634.4,-7.1,471,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2193,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7866,-0.47,-136.3,655.9,-7.3,481,7871,0.00,2.38,0.00,0.000,4,0.000,0.067,3007,3606,3350,0,0,0,0,0,0,28.83,25.08,28.83
$GC,7913,-0.47,-136.3,658.3,-7.5,482,7918,0.12,2.28,0.00,0.000,6,0.125,0.047,3044,2200,3350,0,0,0,0,0,0,25.33,25.48,28.83
$GC,8216,-0.47,-136.3,679.3,-6.2,492,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2198,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8517,-0.47,-136.3,698.2,-6.6,502,8521,0.00,2.38,0.00,0.000,4,0.000,0.067,3036,3610,3350,0,0,0,0,0,0,28.83,25.06,28.83
$GC,8564,-0.47,-136.3,700.2,-6.6,503,8568,0.00,2.30,0.00,0.000,6,0.000,0.047,3036,2194,3350,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8865,-0.47,-136.3,723.8,-7.5,513,8866,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2191,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9166,-0.47,-136.3,745.1,-7.0,523,9171,0.00,2.38,0.00,0.000,4,0.000,0.067,3026,3609,3349,0,0,0,0,0,0,28.83,25.04,28.83
$GC,9203,-0.47,-136.3,747.3,-7.0,524,9207,0.00,2.30,0.00,0.000,6,0.000,0.047,3026,2191,3348,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9516,-0.47,-136.3,769.3,-6.7,535,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2188,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9816,-0.47,-136.3,788.3,-6.3,545,9821,0.00,2.38,0.00,0.000,4,0.000,0.067,3017,3604,3348,0,0,0,0,0,0,28.83,25.03,28.83
$GC,9854,-0.47,-136.3,790.2,-6.3,546,9858,0.00,2.28,0.00,0.000,6,0.000,0.047,3017,2198,3347,0,0,0,0,0,0,28.83,25.45,28.83
$GC,10166,-0.47,-136.3,811.6,-6.8,557,10167,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2197,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10466,-0.47,-136.3,832.4,-6.8,567,10471,0.00,2.38,0.00,0.000,4,0.000,0.067,3007,3606,3347,0,0,0,0,0,0,28.83,25.02,28.83
$GC,10497,-0.47,-136.3,834.6,-6.9,568,10502,0.10,2.28,0.00,0.000,6,0.094,0.048,3045,2198,3347,0,0,0,0,0,0,25.23,25.44,28.83
$GC,10826,-0.47,-136.3,852.4,-5.3,579,10827,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2197,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11126,-0.47,-136.3,869.1,-5.7,589,11127,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2197,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11427,-0.47,-136.3,886.5,-5.9,599,11432,0.00,2.38,0.00,0.000,4,0.000,0.068,3038,3606,3347,0,0,0,0,0,0,28.83,24.98,28.83
$GC,11474,-0.47,-136.3,888.3,-5.9,600,11478,0.00,2.30,0.00,0.000,6,0.000,0.048,3037,2192,3347,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11777,-0.47,-136.3,907.4,-5.9,610,11778,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2191,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12077,-0.47,-136.3,923.4,-5.3,620,12082,0.00,2.38,0.00,0.000,4,0.000,0.068,3028,3600,3346,0,0,0,0,0,0,28.83,24.97,28.83
$GC,12114,-0.47,-136.3,925.1,-5.4,621,12118,0.00,2.28,0.00,0.000,6,0.000,0.048,3028,2201,3346,0,0,0,0,0,0,28.83,25.41,28.83
$GC,12427,-0.47,-136.3,943.7,-5.9,632,12432,0.00,2.38,0.00,0.000,4,0.000,0.068,3018,3604,3346,0,0,0,0,0,0,28.83,24.96,28.83
$GC,12458,-0.47,-136.3,945.4,-6.0,633,12463,0.00,2.28,0.00,0.000,6,0.000,0.048,3018,2201,3346,0,0,0,0,0,0,28.83,25.39,28.83
$GC,12787,-0.47,-136.3,965.2,-5.8,644,12788,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2198,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13087,-0.47,-136.3,983.0,-6.1,654,13088,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2199,3346,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13204,begin apogee
$GC,13212,-0.22,0.0,990.3,-6.1,658,13343,0.30,0.00,126.40,1.160,6,0.106,0.000,3121,2340,2793,0,0,0,0,0,0,25.48,28.83,22.44
$STATE,13344,end apogee,CONTROL_FINISHED_OK
$STATE,13344,begin climb
$GC,13347,0.47,136.3,993.8,0.0,662,13486,0.68,0.00,135.07,1.125,6,0.070,0.000,3351,2340,2238,0,0,0,0,0,0,24.39,28.83,21.71
$GC,13777,0.47,136.3,966.2,8.0,677,13782,0.00,2.33,0.00,0.000,4,0.000,0.057,3362,928,2228,0,0,0,0,0,0,28.83,25.30,28.83
$GC,13824,0.47,136.3,964.0,8.1,678,13829,0.00,2.30,0.00,0.000,6,0.000,0.057,3361,2320,2227,0,0,0,0,0,0,28.83,25.35,28.83
$GC,14126,0.47,136.3,936.5,8.7,688,14132,0.00,2.40,0.00,0.000,4,0.000,0.069,3361,3749,2226,0,0,0,0,0,0,28.83,25.36,28.83
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$STATE,25883,end climb,SURFACE_DEPTH_REACHED
$STATE,25883,begin surface coast
$FINISH,1.9,1.025186
$STATE,25904,end surface coast,CONTROL_FINISHED_OK
$STATE,25904,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,47.44
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,18.80
$XPDR_PINGS,3
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$10V_AH,9.8,71.460
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.200,211.900,481.675,0.000,0.000,24.952,42.627,214.918,0.750,0.000,13.229,3559.364,19111.727,777.821,2477.531,482.281,0.000,2015.408,0.000,2181.771,0.000,0.535,0.000
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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,296936
$DATA_FILE_SIZE,76783,1375
$CAP_FILE_SIZE,195088,0
$CFSIZE,260165632,201396224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091,274.2,1
$GPS,070313,201506,4727.945,-12609.728,28,2.0,28,18.7