version: 66.11
glider: 187
mission: 2
dive: 535
start: 1 27 113 12 14 39
data:
$ID,187
$MISSION,2
$DIVE,535
$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,-1588669.9
$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,27
$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
$GPS1,270113,120636,4705.316,-12647.569,32,1.0,32,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-73.9
$GPS2,270113,121406,4705.334,-12647.518,10,1.0,15,18.6
$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,36.6,148479,-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,16,-0.47,-136.3,0.0,0.0,0,100,0.00,0.00,-80.80,0.000,2,0.000,0.000,104,2191,2815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.47,-136.3,3.3,-1.5,14,135,11.73,2.20,-12.40,0.000,4,0.216,0.063,3032,800,3352,0,0,0,0,0,0,24.55,25.46,26.22
$GC,273,-0.47,-136.3,32.7,-15.1,45,279,0.00,2.20,0.00,0.000,6,0.000,0.052,3025,2201,3354,0,0,0,0,0,0,28.83,25.51,28.83
$GC,585,-0.47,-136.3,81.7,-14.3,106,591,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2201,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,896,-0.47,-136.3,121.9,-12.5,165,904,0.00,2.28,0.00,0.000,4,0.000,0.063,3014,3603,3354,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1025,-0.47,-136.3,137.5,-11.2,178,1034,0.00,2.22,0.00,0.000,6,0.000,0.043,3014,2190,3355,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1335,-0.47,-136.3,170.9,-10.5,199,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2189,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1641,-0.47,-136.3,202.9,-10.7,219,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2189,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1940,-0.47,-136.3,234.6,-10.5,234,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2190,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2241,-0.47,-136.3,264.6,-9.6,249,2246,0.00,2.33,0.00,0.000,4,0.000,0.063,3004,3610,3355,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2280,-0.47,-136.3,268.5,-9.7,251,2287,0.15,2.22,0.00,0.000,6,0.121,0.044,3049,2203,3355,0,0,0,0,0,0,25.60,25.79,28.83
$GC,2600,-0.47,-136.3,291.9,-7.2,267,2606,0.00,2.25,0.00,0.000,4,0.000,0.051,3049,791,3355,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2640,-0.47,-136.3,295.0,-7.4,269,2646,0.00,2.28,0.00,0.000,6,0.000,0.051,3043,2207,3355,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2961,-0.47,-136.3,319.7,-7.8,285,2966,0.00,2.30,0.00,0.000,4,0.000,0.064,3032,3611,3355,0,0,0,0,0,0,28.83,25.48,28.83
$GC,3008,-0.47,-136.3,322.9,-7.9,287,3012,0.00,2.25,0.00,0.000,6,0.000,0.044,3032,2191,3354,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3311,-0.47,-136.3,349.6,-8.8,302,3316,0.00,2.20,0.00,0.000,4,0.000,0.051,3032,804,3355,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3358,-0.47,-136.3,353.2,-8.7,304,3362,0.00,2.25,0.00,0.000,6,0.000,0.052,3024,2201,3354,0,0,0,0,0,0,28.83,25.61,28.83
$GC,3662,-0.47,-136.3,380.6,-8.6,319,3666,0.00,2.28,0.00,0.000,4,0.000,0.063,3013,3624,3354,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3728,-0.47,-136.3,386.0,-8.9,322,3732,0.00,2.28,0.00,0.000,6,0.000,0.044,3013,2192,3354,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4041,-0.47,-136.3,414.8,-8.9,335,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2189,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4341,-0.47,-136.3,440.4,-8.4,345,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2189,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4640,-0.47,-136.3,466.3,-8.7,355,4646,0.00,2.35,0.00,0.000,4,0.000,0.064,3003,3608,3353,0,0,0,0,0,0,28.83,25.43,28.83
$GC,4671,-0.47,-136.3,469.2,-8.9,356,4677,0.10,2.22,0.00,0.000,6,0.102,0.045,3041,2205,3353,0,0,0,0,0,0,25.53,25.75,28.83
$GC,5000,-0.47,-136.3,492.5,-6.7,367,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2202,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5301,-0.47,-136.3,511.2,-6.1,377,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2202,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5601,-0.47,-136.3,529.3,-6.1,387,5606,0.00,2.33,0.00,0.000,4,0.000,0.066,3034,3607,3352,0,0,0,0,0,0,28.83,25.40,28.83
$GC,5638,-0.47,-136.3,531.1,-6.1,388,5643,0.00,2.25,0.00,0.000,6,0.000,0.047,3034,2198,3352,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5951,-0.47,-136.3,552.0,-6.4,399,5952,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2195,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6252,-0.47,-136.3,570.4,-6.1,409,6256,0.00,2.30,0.00,0.000,4,0.000,0.067,3024,3616,3351,0,0,0,0,0,0,28.83,25.38,28.83
$GC,6281,-0.47,-136.3,572.4,-6.2,410,6286,0.00,2.25,0.00,0.000,6,0.000,0.045,3024,2191,3351,0,0,0,0,0,0,28.83,25.73,28.83
$GC,6611,-0.47,-136.3,595.1,-6.9,421,6617,0.00,2.35,0.00,0.000,4,0.000,0.066,3014,3608,3351,0,0,0,0,0,0,28.83,25.38,28.83
$GC,6671,-0.47,-136.3,599.5,-7.2,423,6677,0.00,2.25,0.00,0.000,6,0.000,0.047,3014,2196,3351,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7001,-0.47,-136.3,624.0,-7.5,434,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2194,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7301,-0.47,-136.3,647.3,-7.8,444,7306,0.00,2.38,0.00,0.000,4,0.000,0.066,3004,3615,3350,0,0,0,0,0,0,28.83,25.36,28.83
$GC,7331,-0.47,-136.3,649.6,-7.7,445,7337,0.10,2.28,0.00,0.000,6,0.099,0.047,3042,2201,3350,0,0,0,0,0,0,25.52,25.69,28.83
$GC,7662,-0.47,-136.3,670.4,-6.3,456,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2198,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7961,-0.47,-136.3,689.3,-6.3,466,7967,0.00,2.33,0.00,0.000,4,0.000,0.067,3034,3600,3349,0,0,0,0,0,0,28.83,25.34,28.83
$GC,7991,-0.47,-136.3,691.1,-6.3,467,7997,0.00,2.22,0.00,0.000,6,0.000,0.047,3034,2209,3349,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8322,-0.47,-136.3,713.3,-6.7,478,8323,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2207,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8621,-0.47,-136.3,732.8,-6.5,488,8626,0.00,2.33,0.00,0.000,4,0.000,0.067,3025,3605,3348,0,0,0,0,0,0,28.83,25.32,28.83
$GC,8669,-0.47,-136.3,734.8,-6.5,489,8673,0.00,2.28,0.00,0.000,6,0.000,0.047,3025,2192,3348,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8972,-0.47,-136.3,756.8,-6.7,499,8973,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2190,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9271,-0.47,-136.3,776.6,-6.6,509,9276,0.00,2.35,0.00,0.000,4,0.000,0.067,3015,3605,3347,0,0,0,0,0,0,28.83,25.31,28.83
$GC,9319,-0.47,-136.3,778.7,-6.7,510,9323,0.00,2.28,0.00,0.000,6,0.000,0.047,3014,2191,3347,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9622,-0.47,-136.3,801.9,-7.3,520,9623,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2190,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9921,-0.47,-136.3,823.3,-7.1,530,9922,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2189,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10221,-0.47,-136.3,844.8,-7.2,540,10227,0.00,2.38,0.00,0.000,4,0.000,0.067,3005,3607,3347,0,0,0,0,0,0,28.83,25.29,28.83
$GC,10269,-0.47,-136.3,847.1,-7.3,541,10274,0.12,2.28,0.00,0.000,6,0.125,0.047,3042,2191,3347,0,0,0,0,0,0,25.49,25.64,28.83
$GC,10571,-0.47,-136.3,865.3,-5.3,551,10577,0.00,2.35,0.00,0.000,4,0.000,0.068,3034,3604,3347,0,0,0,0,0,0,28.83,25.28,28.83
$GC,10601,-0.47,-136.3,866.7,-5.2,552,10607,0.00,2.22,0.00,0.000,6,0.000,0.048,3034,2210,3347,0,0,0,0,0,0,28.83,25.64,28.83
$GC,10932,-0.47,-136.3,884.0,-5.1,563,10933,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2209,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11231,-0.47,-136.3,899.0,-4.9,573,11233,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2209,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11531,-0.47,-136.3,912.7,-4.8,583,11532,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2209,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11831,-0.47,-136.3,927.8,-5.0,593,11833,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2209,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12132,-0.47,-136.3,943.8,-5.5,603,12136,0.00,2.33,0.00,0.000,4,0.000,0.068,3024,3604,3346,0,0,0,0,0,0,28.83,25.26,28.83
$GC,12169,-0.47,-136.3,945.5,-5.6,604,12173,0.00,2.28,0.00,0.000,6,0.000,0.049,3024,2193,3345,0,0,0,0,0,0,28.83,25.60,28.83
$GC,12482,-0.47,-136.3,965.5,-6.3,615,12487,0.00,2.38,0.00,0.000,4,0.000,0.068,3014,3609,3345,0,0,0,0,0,0,28.83,25.24,28.83
$GC,12512,-0.47,-136.3,967.5,-6.5,616,12517,0.00,2.25,0.00,0.000,6,0.000,0.050,3014,2207,3345,0,0,0,0,0,0,28.83,25.60,28.83
$STATE,12839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12839,begin apogee
$GC,12846,-0.22,0.0,990.7,-7.0,627,12978,0.32,0.00,126.53,1.161,6,0.106,0.000,3126,2332,2793,0,0,0,0,0,0,25.57,28.83,22.52
$STATE,12979,end apogee,CONTROL_FINISHED_OK
$STATE,12979,begin climb
$GC,12983,0.47,136.3,994.9,0.0,631,13121,0.65,0.00,134.85,1.121,6,0.069,0.000,3347,2332,2238,0,0,0,0,0,0,24.37,28.83,21.75
$GC,13431,0.47,136.3,968.1,7.6,647,13437,0.00,2.35,0.00,0.000,4,0.000,0.057,3357,920,2227,0,0,0,0,0,0,28.83,25.27,28.83
$GC,13470,0.47,136.3,965.8,7.7,648,13474,0.00,2.33,0.00,0.000,6,0.000,0.057,3357,2325,2226,0,0,0,0,0,0,28.83,25.34,28.83
$GC,13782,0.47,136.3,940.7,7.7,659,13788,0.00,2.38,0.00,0.000,4,0.000,0.069,3357,3738,2224,0,0,0,0,0,0,28.83,25.45,28.83
$GC,13843,0.47,136.3,935.3,8.4,661,13848,0.00,2.28,0.00,0.000,6,0.000,0.050,3368,2329,2224,0,0,0,0,0,0,28.83,25.65,28.83
$GC,14173,0.47,136.3,906.5,8.7,672,14178,0.00,2.28,0.00,0.000,4,0.000,0.058,3379,921,2223,0,0,0,0,0,0,28.83,25.58,28.83
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$STATE,25764,end climb,SURFACE_DEPTH_REACHED
$STATE,25764,begin surface coast
$FINISH,1.3,1.014849
$STATE,25804,end surface coast,CONTROL_FINISHED_OK
$STATE,25804,begin surface
$SM_CCo,25885,0.00,0.000,0,0,1239,381.44
$SM_GC,2.49,8.40,0.20,0.00,0.031,0.073,0.000,114,2189,1239,-9.46,1.02,381.44,0,0,0,0,0,0,26.05,26.03,28.83
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$TT8_MAMPS,0.026964,0.026964
$HUMID,46.29
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$TCM_TEMP,18.90
$XPDR_PINGS,5
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$10V_AH,9.8,58.759
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$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,296912
$DATA_FILE_SIZE,76815,1370
$CAP_FILE_SIZE,197522,0
$CFSIZE,260165632,212725760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,207.1,1
$GPS,270113,192724,4707.123,-12642.800,41,1.6,41,18.6