version: 66.11
glider: 187
mission: 2
dive: 355
start: 12 6 112 18 5 26
data:
$ID,187
$MISSION,2
$DIVE,355
$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,-1588377.1
$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,48
$R_STBD_OVSHOOT,28
$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
$GPS1,061212,175829,4717.913,-12620.505,45,1.2,50,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-77.2
$GPS2,061212,180454,4717.834,-12620.526,12,1.4,12,18.6
$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,51.7,107737,-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,-136.3,0.0,0.0,0,73,0.00,0.00,-53.33,0.000,2,0.000,0.000,104,2190,2734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.47,-136.3,3.2,-3.1,9,110,11.40,2.17,-14.12,0.000,4,0.213,0.060,3036,798,3352,0,0,0,0,0,0,24.87,25.53,26.15
$GC,278,-0.47,-136.3,38.4,-15.4,46,284,0.00,2.20,0.00,0.000,6,0.000,0.049,3028,2200,3354,0,0,0,0,0,0,28.83,25.57,28.83
$GC,593,-0.47,-136.3,81.4,-12.1,107,600,0.00,2.15,0.00,0.000,4,0.000,0.047,3028,804,3355,0,0,0,0,0,0,28.83,25.64,28.83
$GC,659,-0.47,-136.3,89.5,-11.3,119,667,0.00,2.17,0.00,0.000,6,0.000,0.049,3018,2206,3355,0,0,0,0,0,0,28.83,25.65,28.83
$GC,977,-0.47,-136.3,125.5,-11.3,175,983,0.00,2.25,0.00,0.000,4,0.000,0.061,3007,3612,3357,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1030,-0.47,-136.3,130.9,-11.8,178,1037,0.12,2.15,0.00,0.000,6,0.133,0.041,3042,2198,3356,0,0,0,0,0,0,25.64,25.84,28.83
$GC,1338,-0.47,-136.3,158.8,-8.5,199,1343,0.00,2.12,0.00,0.000,4,0.000,0.048,3042,803,3357,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1366,-0.47,-136.3,161.5,-8.9,201,1372,0.00,2.17,0.00,0.000,6,0.000,0.049,3035,2210,3357,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1682,-0.47,-136.3,191.0,-9.7,222,1688,0.00,2.20,0.00,0.000,4,0.000,0.062,3025,3604,3357,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1704,-0.47,-136.3,192.3,-9.6,223,1712,0.00,2.15,0.00,0.000,6,0.000,0.041,3025,2198,3357,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2027,-0.47,-136.3,225.5,-10.0,241,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2198,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2327,-0.47,-136.3,253.6,-9.2,256,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2198,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2628,-0.47,-136.3,281.4,-9.4,271,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2198,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2927,-0.47,-136.3,309.2,-9.3,286,2933,0.00,2.28,0.00,0.000,4,0.000,0.063,3014,3612,3356,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2949,-0.47,-136.3,311.0,-9.2,287,2953,0.00,2.17,0.00,0.000,6,0.000,0.043,3014,2194,3356,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3261,-0.47,-136.3,342.0,-9.5,303,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2189,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3562,-0.47,-136.3,369.0,-8.8,318,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2189,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3863,-0.47,-136.3,396.1,-8.6,333,3868,0.00,2.28,0.00,0.000,4,0.000,0.063,3004,3612,3356,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3884,-0.47,-136.3,398.0,-8.9,334,3889,0.15,2.17,0.00,0.000,6,0.125,0.044,3047,2200,3355,0,0,0,0,0,0,25.65,25.87,28.83
$GC,4217,-0.47,-136.3,422.7,-7.2,346,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2195,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4517,-0.47,-136.3,444.5,-7.1,356,4522,0.00,2.25,0.00,0.000,4,0.000,0.064,3039,3601,3354,0,0,0,0,0,0,28.83,25.55,28.83
$GC,4560,-0.47,-136.3,446.8,-7.1,357,4564,0.00,2.17,0.00,0.000,6,0.000,0.044,3039,2189,3354,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4873,-0.47,-136.3,470.3,-7.1,368,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2187,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5172,-0.47,-136.3,491.5,-7.0,378,5177,0.00,2.28,0.00,0.000,4,0.000,0.064,3028,3609,3353,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5210,-0.47,-136.3,493.8,-7.1,379,5214,0.00,2.17,0.00,0.000,6,0.000,0.044,3028,2193,3353,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5527,-0.47,-136.3,518.2,-7.5,390,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2191,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5827,-0.47,-136.3,541.6,-8.1,400,5833,0.00,2.30,0.00,0.000,4,0.000,0.064,3018,3611,3352,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5860,-0.47,-136.3,544.2,-8.2,401,5864,0.00,2.17,0.00,0.000,6,0.000,0.044,3018,2197,3353,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6183,-0.47,-136.3,571.4,-8.4,412,6184,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2194,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6482,-0.47,-136.3,596.4,-8.2,422,6488,0.00,2.28,0.00,0.000,4,0.000,0.064,3008,3607,3352,0,0,0,0,0,0,28.83,25.50,28.83
$GC,6515,-0.47,-136.3,598.9,-8.2,423,6520,0.12,2.17,0.00,0.000,6,0.129,0.044,3044,2193,3351,0,0,0,0,0,0,25.64,25.82,28.83
$GC,6839,-0.47,-136.3,621.3,-6.8,434,6844,0.00,2.28,0.00,0.000,4,0.000,0.065,3036,3609,3352,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6876,-0.47,-136.3,623.3,-6.8,435,6881,0.00,2.17,0.00,0.000,6,0.000,0.044,3035,2196,3352,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7194,-0.47,-136.3,645.6,-6.6,446,7199,0.00,2.28,0.00,0.000,4,0.000,0.064,3026,3612,3351,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7243,-0.47,-136.3,647.5,-6.5,447,7247,0.00,2.17,0.00,0.000,6,0.000,0.045,3026,2200,3351,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7549,-0.47,-136.3,669.2,-6.5,457,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2198,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7849,-0.47,-136.3,688.1,-6.2,467,7855,0.00,2.30,0.00,0.000,4,0.000,0.065,3016,3613,3350,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7887,-0.47,-136.3,690.0,-6.3,468,7891,0.00,2.20,0.00,0.000,6,0.000,0.045,3016,2194,3350,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8209,-0.47,-136.3,712.9,-7.1,479,8210,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2191,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8509,-0.47,-136.3,734.2,-7.0,489,8515,0.00,2.30,0.00,0.000,4,0.000,0.065,3006,3611,3349,0,0,0,0,0,0,28.83,25.43,28.83
$GC,8558,-0.47,-136.3,736.3,-7.1,490,8563,0.12,2.17,0.00,0.000,6,0.126,0.045,3042,2201,3349,0,0,0,0,0,0,25.60,25.77,28.83
$GC,8865,-0.47,-136.3,754.9,-5.4,500,8870,0.00,2.25,0.00,0.000,4,0.000,0.065,3034,3604,3349,0,0,0,0,0,0,28.83,25.43,28.83
$GC,8903,-0.47,-136.3,756.6,-5.3,501,8907,0.00,2.17,0.00,0.000,6,0.000,0.045,3034,2196,3349,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9221,-0.47,-136.3,774.8,-5.5,512,9226,0.00,2.28,0.00,0.000,4,0.000,0.066,3024,3607,3348,0,0,0,0,0,0,28.83,25.40,28.83
$GC,9263,-0.47,-136.3,776.4,-5.4,513,9267,0.00,2.17,0.00,0.000,6,0.000,0.045,3024,2201,3347,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9576,-0.47,-136.3,795.1,-5.8,524,9581,0.00,2.28,0.00,0.000,4,0.000,0.066,3014,3605,3348,0,0,0,0,0,0,28.83,25.40,28.83
$GC,9606,-0.47,-136.3,797.3,-6.0,525,9612,0.00,2.17,0.00,0.000,6,0.000,0.046,3014,2197,3347,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9935,-0.47,-136.3,820.7,-7.4,536,9936,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2196,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10235,-0.47,-136.3,843.4,-7.6,546,10241,0.00,2.30,0.00,0.000,4,0.000,0.065,3004,3614,3347,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10309,-0.47,-136.3,848.2,-7.7,548,10314,0.15,2.20,0.00,0.000,6,0.118,0.046,3048,2193,3347,0,0,0,0,0,0,25.55,25.73,28.83
$GC,10622,-0.47,-136.3,867.4,-5.6,559,10627,0.00,2.28,0.00,0.000,4,0.000,0.066,3040,3604,3346,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10660,-0.47,-136.3,869.2,-5.7,560,10664,0.00,2.17,0.00,0.000,6,0.000,0.046,3040,2199,3346,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10978,-0.47,-136.3,889.4,-6.2,571,10979,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2197,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11278,-0.47,-136.3,907.1,-5.8,581,11283,0.00,2.30,0.00,0.000,4,0.000,0.066,3030,3607,3347,0,0,0,0,0,0,28.83,25.36,28.83
$GC,11331,-0.47,-136.3,909.0,-5.9,582,11338,0.00,2.20,0.00,0.000,6,0.000,0.046,3030,2197,3346,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11638,-0.47,-136.3,929.6,-6.1,593,11639,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2197,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11938,-0.47,-136.3,948.0,-6.1,603,11939,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2197,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12238,-0.47,-136.3,966.8,-6.3,613,12244,0.00,2.33,0.00,0.000,4,0.000,0.067,3021,3626,3346,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12276,-0.47,-136.3,968.7,-6.2,614,12280,0.00,2.22,0.00,0.000,6,0.000,0.047,3020,2196,3346,0,0,0,0,0,0,28.83,25.70,28.83
$STATE,12590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12590,begin apogee
$GC,12597,-0.22,0.0,990.7,-6.7,625,12725,0.30,0.00,122.25,1.177,6,0.107,0.000,3124,2340,2793,0,0,0,0,0,0,25.65,28.83,23.15
$STATE,12728,end apogee,CONTROL_FINISHED_OK
$STATE,12728,begin climb
$GC,12731,0.47,136.3,994.3,0.0,629,12867,0.62,0.00,132.05,1.138,6,0.074,0.000,3341,2339,2238,0,0,0,0,0,0,24.44,28.83,22.16
$GC,13164,0.47,136.3,964.0,8.2,644,13165,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2340,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13463,0.47,136.3,939.4,8.3,654,13464,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2339,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13763,0.47,136.3,915.0,8.1,664,13769,0.00,2.28,0.00,0.000,4,0.000,0.054,3352,921,2224,0,0,0,0,0,0,28.83,25.55,28.83
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$STATE,25064,end climb,SURFACE_DEPTH_REACHED
$STATE,25064,begin surface coast
$FINISH,1.3,1.010396
$STATE,25095,end surface coast,CONTROL_FINISHED_OK
$STATE,25095,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,45.51
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,22.2,49.406
$10V_AH,10.0,40.751
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.850,187.675,452.725,0.000,0.000,28.856,37.221,184.188,0.000,0.000,13.055,3501.803,18201.422,582.229,2838.550,426.939,0.000,1992.583,0.000,2560.266,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,924.798,689.983,346.812,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296780
$DATA_FILE_SIZE,73471,1343
$CAP_FILE_SIZE,193744,0
$CFSIZE,260165632,228380672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,273.3,1
$GPS,071212,010626,4719.147,-12615.956,25,2.3,44,18.6