version: 66.11
glider: 187
mission: 2
dive: 365
start: 12 9 112 18 21 36
data:
$ID,187
$MISSION,2
$DIVE,365
$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,-1588393.8
$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,24
$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
$GPS1,091212,181355,4733.084,-12545.482,27,2.2,46,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-76.8
$GPS2,091212,182103,4733.089,-12545.423,16,2.3,35,18.7
$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,36.8,55903,-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,-136.3,0.0,0.0,0,71,0.00,0.00,-51.90,0.000,2,0.000,0.000,115,2188,2695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.47,-136.3,3.1,-2.0,9,110,11.62,2.40,-15.93,0.000,4,0.221,0.076,3028,3618,3351,0,0,0,0,0,0,24.90,25.48,26.18
$GC,272,-0.47,-136.3,36.7,-17.2,45,279,0.00,2.22,0.00,0.000,6,0.000,0.044,3028,2210,3355,0,0,0,0,0,0,28.83,25.69,28.83
$GC,589,-0.47,-136.3,82.0,-12.4,106,596,0.00,2.20,0.00,0.000,4,0.000,0.051,3028,786,3356,0,0,0,0,0,0,28.83,25.60,28.83
$GC,715,-0.47,-136.3,97.1,-11.2,130,723,0.00,2.25,0.00,0.000,6,0.000,0.051,3018,2202,3356,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1028,-0.47,-136.3,131.5,-10.6,177,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2202,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1329,-0.47,-136.3,161.9,-9.8,197,1334,0.00,2.22,0.00,0.000,4,0.000,0.063,3007,3608,3356,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1359,-0.47,-136.3,164.7,-9.6,199,1365,0.10,2.15,0.00,0.000,6,0.104,0.044,3044,2192,3356,0,0,0,0,0,0,25.61,25.84,28.83
$GC,1677,-0.47,-136.3,188.7,-7.4,220,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2189,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1983,-0.47,-136.3,213.4,-8.3,238,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2190,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2283,-0.47,-136.3,237.6,-8.0,253,2289,0.00,2.28,0.00,0.000,4,0.000,0.063,3035,3607,3357,0,0,0,0,0,0,28.83,25.59,28.83
$GC,2317,-0.47,-136.3,239.2,-7.9,254,2323,0.00,2.15,0.00,0.000,6,0.000,0.044,3035,2197,3356,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2623,-0.47,-136.3,265.9,-8.6,270,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2195,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2923,-0.47,-136.3,290.8,-8.0,285,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2196,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3224,-0.47,-136.3,313.2,-7.2,300,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2195,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3523,-0.47,-136.3,335.5,-7.2,315,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2196,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3823,-0.47,-136.3,357.4,-7.3,330,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2195,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4124,-0.47,-136.3,379.7,-7.3,345,4129,0.00,2.25,0.00,0.000,4,0.000,0.065,3025,3603,3354,0,0,0,0,0,0,28.83,25.55,28.83
$GC,4156,-0.47,-136.3,381.2,-7.4,346,4163,0.00,2.15,0.00,0.000,6,0.000,0.046,3025,2201,3354,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4473,-0.47,-136.3,407.5,-7.9,361,4479,0.00,2.28,0.00,0.000,4,0.000,0.066,3016,3615,3353,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4507,-0.47,-136.3,410.2,-8.2,362,4511,0.00,2.17,0.00,0.000,6,0.000,0.046,3015,2200,3353,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4829,-0.47,-136.3,439.5,-9.2,373,4834,0.00,2.17,0.00,0.000,4,0.000,0.054,3015,800,3353,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4860,-0.47,-136.3,442.4,-9.2,374,4866,0.10,2.17,0.00,0.000,6,0.111,0.053,3043,2197,3353,0,0,0,0,0,0,25.48,25.66,28.83
$GC,5190,-0.47,-136.3,465.7,-7.1,385,5195,0.00,2.28,0.00,0.000,4,0.000,0.067,3034,3606,3352,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5287,-0.47,-136.3,472.3,-7.3,388,5291,0.00,2.17,0.00,0.000,6,0.000,0.046,3034,2189,3352,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5605,-0.47,-136.3,498.2,-8.1,399,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2187,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5904,-0.47,-136.3,521.9,-7.7,409,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2187,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6204,-0.47,-136.3,544.4,-7.3,419,6210,0.00,2.30,0.00,0.000,4,0.000,0.066,3024,3607,3352,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6258,-0.47,-136.3,546.6,-7.2,420,6264,0.00,2.17,0.00,0.000,6,0.000,0.047,3024,2191,3352,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6564,-0.47,-136.3,570.7,-7.4,431,6565,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2190,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6864,-0.47,-136.3,592.5,-7.3,441,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2190,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7164,-0.47,-136.3,614.9,-7.4,451,7170,0.00,2.30,0.00,0.000,4,0.000,0.067,3014,3606,3350,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7197,-0.47,-136.3,617.3,-7.5,452,7201,0.00,2.17,0.00,0.000,6,0.000,0.047,3014,2203,3350,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7524,-0.47,-136.3,642.4,-7.6,463,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2201,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7824,-0.47,-136.3,665.3,-7.7,473,7830,0.00,2.30,0.00,0.000,4,0.000,0.067,3004,3614,3350,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7848,-0.47,-136.3,665.3,-7.7,473,7855,0.15,2.20,0.00,0.000,6,0.120,0.048,3048,2194,3350,0,0,0,0,0,0,25.57,25.75,28.83
$GC,8155,-0.47,-136.3,684.9,-5.8,484,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2194,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8455,-0.47,-136.3,700.9,-5.1,494,8460,0.00,2.30,0.00,0.000,4,0.000,0.067,3040,3606,3349,0,0,0,0,0,0,28.83,25.42,28.83
$GC,8488,-0.47,-136.3,702.6,-5.2,495,8492,0.00,2.20,0.00,0.000,6,0.000,0.048,3040,2198,3348,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8816,-0.47,-136.3,721.3,-5.7,506,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2197,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9116,-0.47,-136.3,739.3,-6.2,516,9117,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2197,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9416,-0.47,-136.3,758.1,-6.2,526,9422,0.00,2.28,0.00,0.000,4,0.000,0.068,3030,3603,3348,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9464,-0.47,-136.3,759.9,-6.1,527,9468,0.00,2.17,0.00,0.000,6,0.000,0.049,3030,2203,3347,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9771,-0.47,-136.3,780.6,-6.4,537,9776,0.00,2.28,0.00,0.000,4,0.000,0.068,3021,3607,3347,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9795,-0.47,-136.3,780.6,-6.4,537,9801,0.00,2.20,0.00,0.000,6,0.000,0.048,3021,2189,3347,0,0,0,0,0,0,28.83,25.71,28.83
$GC,10101,-0.47,-136.3,804.3,-7.5,548,10106,0.00,2.30,0.00,0.000,4,0.000,0.067,3011,3608,3347,0,0,0,0,0,0,28.83,25.38,28.83
$GC,10133,-0.47,-136.3,806.6,-7.5,549,10138,0.12,2.20,0.00,0.000,6,0.124,0.049,3047,2191,3347,0,0,0,0,0,0,25.57,25.71,28.83
$GC,10458,-0.47,-136.3,827.0,-6.3,560,10463,0.00,2.30,0.00,0.000,4,0.000,0.068,3039,3606,3346,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10490,-0.47,-136.3,829.0,-6.4,561,10494,0.00,2.20,0.00,0.000,6,0.000,0.049,3039,2192,3346,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10812,-0.47,-136.3,850.3,-6.4,572,10818,0.00,2.33,0.00,0.000,4,0.000,0.068,3029,3607,3346,0,0,0,0,0,0,28.83,25.35,28.83
$GC,10845,-0.47,-136.3,852.2,-6.4,573,10849,0.00,2.20,0.00,0.000,6,0.000,0.049,3029,2197,3346,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11173,-0.47,-136.3,873.4,-6.1,584,11178,0.00,2.28,0.00,0.000,4,0.000,0.069,3020,3604,3346,0,0,0,0,0,0,28.83,25.34,28.83
$GC,11221,-0.47,-136.3,875.3,-6.1,585,11225,0.00,2.17,0.00,0.000,6,0.000,0.049,3019,2203,3346,0,0,0,0,0,0,28.83,25.69,28.83
$GC,11527,-0.47,-136.3,894.4,-5.9,595,11529,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2201,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11827,-0.47,-136.3,912.8,-6.3,605,11829,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2201,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12128,-0.47,-136.3,928.7,-5.1,615,12134,0.00,2.33,0.00,0.000,4,0.000,0.069,3010,3610,3345,0,0,0,0,0,0,28.83,25.32,28.83
$GC,12171,-0.47,-136.3,930.3,-5.1,616,12176,0.12,2.20,0.00,0.000,6,0.125,0.050,3046,2197,3345,0,0,0,0,0,0,25.53,25.66,28.83
$GC,12484,-0.47,-136.3,944.4,-4.3,627,12489,0.00,2.30,0.00,0.000,4,0.000,0.069,3038,3607,3344,0,0,0,0,0,0,28.83,25.31,28.83
$GC,12517,-0.47,-136.3,945.9,-4.4,628,12521,0.00,2.20,0.00,0.000,6,0.000,0.050,3038,2195,3344,0,0,0,0,0,0,28.83,25.66,28.83
$GC,12840,-0.47,-136.3,963.4,-5.5,639,12841,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2193,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13140,-0.47,-136.3,980.7,-5.8,649,13145,0.00,2.30,0.00,0.000,4,0.000,0.069,3028,3607,3344,0,0,0,0,0,0,28.83,25.29,28.83
$GC,13193,-0.47,-136.3,982.6,-5.9,650,13200,0.00,2.20,0.00,0.000,6,0.000,0.050,3028,2194,3344,0,0,0,0,0,0,28.83,25.65,28.83
$STATE,13286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13287,begin apogee
$GC,13293,-0.22,0.0,990.4,-6.5,654,13421,0.28,0.00,121.88,1.176,6,0.108,0.000,3123,2335,2793,0,0,0,0,0,0,25.69,28.83,23.13
$STATE,13424,end apogee,CONTROL_FINISHED_OK
$STATE,13424,begin climb
$GC,13427,0.47,136.3,993.9,0.0,658,13562,0.62,0.00,130.68,1.140,6,0.074,0.000,3342,2335,2238,0,0,0,0,0,0,24.45,28.83,22.15
$GC,13859,0.47,136.3,964.9,8.1,673,13860,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2335,2227,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,26076,end climb,SURFACE_DEPTH_REACHED
$STATE,26076,begin surface coast
$FINISH,1.5,1.000800
$STATE,26119,end surface coast,CONTROL_FINISHED_OK
$STATE,26119,begin surface
$SM_CCo,26199,0.00,0.000,0,0,1055,426.58
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.95
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.30
$XPDR_PINGS,3
$24V_AH,22.1,50.715
$10V_AH,10.0,41.911
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.250,202.350,502.900,0.000,0.000,27.482,39.185,201.120,0.750,0.000,36.903,3756.652,18679.734,603.535,3113.402,465.489,0.000,2155.659,0.000,2790.985,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1001.731,769.962,407.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296744
$DATA_FILE_SIZE,80239,1456
$CAP_FILE_SIZE,209311,0
$CFSIZE,260165632,227450880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077,257.5,1
$GPS,101212,013936,4734.764,-12542.181,42,0.9,42,18.7