version: 66.11
glider: 187
mission: 2
dive: 352
start: 12 5 112 19 31 25
data:
$ID,187
$MISSION,2
$DIVE,352
$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,-1588209.4
$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,25
$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
$GPS1,051212,192337,4713.570,-12632.102,50,1.1,50,18.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-72.5
$GPS2,051212,193055,4713.640,-12631.974,14,1.2,14,18.6
$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,35.8,123830,-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,18,-0.47,-136.3,0.0,0.0,0,84,0.00,0.00,-63.95,0.000,2,0.000,0.000,109,2186,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.47,-136.3,3.2,-2.9,11,122,11.55,2.20,-14.93,0.000,4,0.219,0.060,3034,801,3351,0,0,0,0,0,0,24.84,25.51,26.13
$GC,326,-0.47,-136.3,42.6,-16.5,55,333,0.00,2.20,0.00,0.000,6,0.000,0.050,3026,2211,3354,0,0,0,0,0,0,28.83,25.56,28.83
$GC,643,-0.47,-136.3,89.8,-12.6,116,650,0.00,2.25,0.00,0.000,4,0.000,0.062,3016,3616,3355,0,0,0,0,0,0,28.83,25.53,28.83
$GC,674,-0.47,-136.3,94.2,-13.8,121,682,0.00,2.20,0.00,0.000,6,0.000,0.043,3015,2193,3356,0,0,0,0,0,0,28.83,25.77,28.83
$GC,993,-0.47,-136.3,134.0,-11.2,167,998,0.00,2.12,0.00,0.000,4,0.000,0.049,3016,803,3356,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1030,-0.47,-136.3,137.6,-11.2,169,1039,0.12,2.17,0.00,0.000,6,0.142,0.050,3042,2206,3356,0,0,0,0,0,0,25.55,25.70,28.83
$GC,1339,-0.47,-136.3,166.1,-8.6,190,1344,0.00,2.22,0.00,0.000,4,0.000,0.063,3033,3610,3356,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1415,-0.47,-136.3,172.9,-9.1,195,1419,0.00,2.15,0.00,0.000,6,0.000,0.043,3033,2197,3356,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1727,-0.47,-136.3,202.8,-9.7,215,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2194,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2028,-0.47,-136.3,231.9,-9.4,230,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2194,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2328,-0.47,-136.3,258.4,-8.5,245,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2193,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2627,-0.47,-136.3,283.9,-8.5,260,2633,0.00,2.30,0.00,0.000,4,0.000,0.063,3023,3617,3356,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2688,-0.47,-136.3,289.0,-8.6,263,2693,0.00,2.12,0.00,0.000,6,0.000,0.042,3023,2207,3356,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3007,-0.47,-136.3,318.4,-9.1,279,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2205,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3308,-0.47,-136.3,345.6,-8.9,294,3313,0.00,2.22,0.00,0.000,4,0.000,0.063,3012,3604,3355,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3348,-0.47,-136.3,349.4,-9.1,296,3354,0.00,2.12,0.00,0.000,6,0.000,0.044,3012,2206,3355,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3667,-0.47,-136.3,378.4,-9.0,312,3669,0.12,0.00,0.00,0.000,6,0.143,0.000,3048,2203,3354,0,0,0,0,0,0,26.10,28.83,28.83
$GC,3968,-0.47,-136.3,400.1,-7.0,327,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2203,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4268,-0.47,-136.3,421.2,-7.2,337,4273,0.00,2.25,0.00,0.000,4,0.000,0.065,3039,3610,3353,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4298,-0.47,-136.3,423.2,-7.1,338,4303,0.00,2.17,0.00,0.000,6,0.000,0.044,3040,2197,3353,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4628,-0.47,-136.3,446.6,-6.9,349,4633,0.00,2.25,0.00,0.000,4,0.000,0.064,3029,3602,3352,0,0,0,0,0,0,28.83,25.55,28.83
$GC,4658,-0.47,-136.3,448.9,-7.0,350,4664,0.00,2.15,0.00,0.000,6,0.000,0.045,3029,2202,3352,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4987,-0.47,-136.3,473.5,-7.6,361,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2200,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5287,-0.47,-136.3,495.5,-7.2,371,5293,0.00,2.28,0.00,0.000,4,0.000,0.066,3020,3613,3351,0,0,0,0,0,0,28.83,25.52,28.83
$GC,5311,-0.47,-136.3,495.5,-7.2,371,5318,0.00,2.17,0.00,0.000,6,0.000,0.045,3019,2199,3352,0,0,0,0,0,0,28.83,25.83,28.83
$GC,5618,-0.47,-136.3,521.4,-8.1,382,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2198,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5917,-0.47,-136.3,545.9,-8.0,392,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2198,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6218,-0.47,-136.3,569.5,-7.7,402,6224,0.00,2.25,0.00,0.000,4,0.000,0.066,3010,3599,3350,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6260,-0.47,-136.3,571.9,-7.7,403,6265,0.12,2.15,0.00,0.000,6,0.128,0.044,3045,2197,3350,0,0,0,0,0,0,25.67,25.84,28.83
$GC,6574,-0.47,-136.3,592.6,-6.3,414,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2195,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6874,-0.47,-136.3,612.4,-6.8,424,6880,0.00,2.25,0.00,0.000,4,0.000,0.066,3037,3598,3350,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6922,-0.47,-136.3,614.5,-6.8,425,6926,0.00,2.15,0.00,0.000,6,0.000,0.045,3037,2201,3350,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7229,-0.47,-136.3,637.0,-6.7,435,7230,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2199,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7529,-0.47,-136.3,657.6,-7.1,445,7535,0.00,2.30,0.00,0.000,4,0.000,0.067,3027,3611,3348,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7591,-0.47,-136.3,662.2,-7.4,447,7596,0.00,2.17,0.00,0.000,6,0.000,0.045,3027,2200,3348,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7914,-0.47,-136.3,688.5,-7.9,458,7920,0.00,2.28,0.00,0.000,4,0.000,0.066,3017,3610,3347,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7946,-0.47,-136.3,691.0,-7.9,459,7951,0.00,2.17,0.00,0.000,6,0.000,0.046,3017,2196,3347,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8275,-0.47,-136.3,718.1,-8.0,470,8280,0.00,2.30,0.00,0.000,4,0.000,0.067,3006,3605,3347,0,0,0,0,0,0,28.83,25.43,28.83
$GC,8304,-0.47,-136.3,720.4,-8.0,471,8311,0.12,2.20,0.00,0.000,6,0.128,0.047,3043,2190,3347,0,0,0,0,0,0,25.60,25.77,28.83
$GC,8636,-0.47,-136.3,742.3,-6.5,482,8637,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2189,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8935,-0.47,-136.3,762.8,-6.8,492,8941,0.00,2.28,0.00,0.000,4,0.000,0.067,3034,3598,3347,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8973,-0.47,-136.3,764.9,-6.9,493,8977,0.00,2.17,0.00,0.000,6,0.000,0.045,3034,2193,3347,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9291,-0.47,-136.3,787.0,-6.6,504,9292,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2190,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9590,-0.47,-136.3,805.2,-6.0,514,9596,0.00,2.28,0.00,0.000,4,0.000,0.067,3024,3602,3346,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9628,-0.47,-136.3,807.0,-5.8,515,9632,0.00,2.17,0.00,0.000,6,0.000,0.045,3024,2194,3346,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9946,-0.47,-136.3,827.2,-6.0,526,9952,0.00,2.28,0.00,0.000,4,0.000,0.067,3014,3603,3345,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9983,-0.47,-136.3,829.1,-6.0,527,9987,0.00,2.17,0.00,0.000,6,0.000,0.046,3014,2195,3345,0,0,0,0,0,0,28.83,25.76,28.83
$GC,10302,-0.47,-136.3,851.0,-6.8,538,10308,0.00,2.30,0.00,0.000,4,0.000,0.067,3004,3606,3345,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10332,-0.47,-136.3,853.2,-6.8,539,10338,0.10,2.17,0.00,0.000,6,0.101,0.046,3041,2194,3345,0,0,0,0,0,0,25.53,25.75,28.83
$GC,10662,-0.47,-136.3,871.3,-5.3,550,10667,0.00,2.28,0.00,0.000,4,0.000,0.067,3032,3604,3345,0,0,0,0,0,0,28.83,25.38,28.83
$GC,10691,-0.47,-136.3,872.9,-5.3,551,10697,0.00,2.17,0.00,0.000,6,0.000,0.046,3033,2195,3345,0,0,0,0,0,0,28.83,25.76,28.83
$GC,11022,-0.47,-136.3,893.3,-6.3,562,11028,0.00,2.28,0.00,0.000,4,0.000,0.067,3023,3605,3344,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11051,-0.47,-136.3,895.3,-6.4,563,11057,0.00,2.17,0.00,0.000,6,0.000,0.047,3023,2197,3344,0,0,0,0,0,0,28.83,25.74,28.83
$GC,11382,-0.47,-136.3,917.9,-6.8,574,11388,0.00,2.28,0.00,0.000,4,0.000,0.067,3012,3605,3344,0,0,0,0,0,0,28.83,25.35,28.83
$GC,11411,-0.47,-136.3,920.0,-6.9,575,11417,0.00,2.17,0.00,0.000,6,0.000,0.047,3013,2196,3344,0,0,0,0,0,0,28.83,25.73,28.83
$GC,11742,-0.47,-136.3,943.6,-7.0,586,11747,0.00,2.33,0.00,0.000,4,0.000,0.067,3003,3610,3344,0,0,0,0,0,0,28.83,25.34,28.83
$GC,11802,-0.47,-136.3,948.0,-7.1,588,11808,0.10,2.17,0.00,0.000,6,0.099,0.046,3040,2199,3344,0,0,0,0,0,0,25.51,25.72,28.83
$GC,12131,-0.47,-136.3,965.8,-5.4,599,12133,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2197,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12431,-0.47,-136.3,982.1,-5.6,609,12437,0.00,2.28,0.00,0.000,4,0.000,0.067,3032,3601,3344,0,0,0,0,0,0,28.83,25.33,28.83
$GC,12475,-0.47,-136.3,983.7,-5.5,610,12479,0.00,2.17,0.00,0.000,6,0.000,0.047,3032,2197,3343,0,0,0,0,0,0,28.83,25.72,28.83
$STATE,12575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12575,begin apogee
$GC,12582,-0.22,0.0,990.5,-5.8,614,12709,0.25,0.00,121.72,1.175,6,0.109,0.000,3121,2328,2793,0,0,0,0,0,0,25.78,28.83,23.15
$STATE,12712,end apogee,CONTROL_FINISHED_OK
$STATE,12712,begin climb
$GC,12715,0.47,136.3,993.9,0.0,618,12856,0.65,2.58,130.02,1.138,4,0.074,0.067,3344,3716,2237,0,0,0,0,0,0,24.46,23.34,22.16
$GC,12873,0.48,167.3,988.3,5.8,623,12910,0.00,2.35,30.73,1.082,6,0.000,0.046,3355,2331,2110,0,0,0,0,0,0,28.83,23.74,22.25
$GC,13210,0.48,167.3,954.7,9.3,635,13216,0.00,2.28,0.00,0.000,4,0.000,0.056,3365,920,2101,0,0,0,0,0,0,28.83,24.96,28.83
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$STATE,24368,end climb,SURFACE_DEPTH_REACHED
$STATE,24368,begin surface coast
$FINISH,1.3,1.010247
$STATE,24416,end surface coast,CONTROL_FINISHED_OK
$STATE,24416,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.88
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.20
$XPDR_PINGS,1
$24V_AH,22.2,48.903
$10V_AH,10.0,40.376
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.200,201.250,446.975,0.000,0.000,26.722,33.789,242.692,0.250,0.000,15.588,3558.693,17350.662,539.306,3035.761,437.070,0.000,2049.753,0.000,2702.777,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$MEM,296772
$DATA_FILE_SIZE,76877,1367
$CAP_FILE_SIZE,201014,0
$CFSIZE,260165632,228646912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,262.7,1
$GPS,061212,022059,4715.550,-12628.263,41,1.4,41,18.6