version: 66.11
glider: 187
mission: 2
dive: 794
start: 4 13 113 13 8 24
data:
$ID,187
$MISSION,2
$DIVE,794
$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,-1589980.9
$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,36
$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,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
$GPS1,130413,125937,4732.092,-12556.549,40,2.0,40,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-73.4
$GPS2,130413,130753,4732.094,-12556.452,19,2.1,38,18.7
$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,46.1,68132,-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,-136.3,0.0,0.0,0,86,0.00,0.00,-66.75,0.000,2,0.000,0.000,112,2195,2799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.47,-136.3,3.4,-3.4,12,121,11.62,2.22,-12.45,0.000,4,0.213,0.062,3035,788,3351,0,0,0,0,0,0,24.39,25.33,26.20
$GC,347,-0.47,-136.3,46.3,-15.5,61,354,0.00,2.25,0.00,0.000,6,0.000,0.052,3027,2204,3354,0,0,0,0,0,0,28.83,25.13,28.83
$GC,661,-0.47,-136.3,91.1,-13.0,122,668,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2204,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,978,-0.47,-136.3,126.7,-11.1,176,986,0.00,2.35,0.00,0.000,4,0.000,0.061,3016,3609,3354,0,0,0,0,0,0,28.83,24.89,28.83
$GC,997,-0.47,-136.3,129.1,-11.3,178,1008,0.00,2.30,0.00,0.000,6,0.000,0.042,3016,2182,3354,0,0,0,0,0,0,28.83,25.31,28.83
$GC,1308,-0.47,-136.3,162.0,-10.8,199,1316,0.00,2.22,0.00,0.000,4,0.000,0.050,3015,800,3354,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1359,-0.47,-136.3,167.7,-11.3,204,1367,0.10,2.28,0.00,0.000,6,0.106,0.050,3043,2201,3354,0,0,0,0,0,0,24.87,25.08,28.83
$GC,1668,-0.47,-136.3,193.8,-7.5,225,1676,0.00,2.35,0.00,0.000,4,0.000,0.061,3034,3610,3354,0,0,0,0,0,0,28.83,24.84,28.83
$GC,1718,-0.47,-136.3,197.7,-7.8,230,1727,0.00,2.28,0.00,0.000,6,0.000,0.042,3034,2193,3354,0,0,0,0,0,0,28.83,25.30,28.83
$GC,2039,-0.47,-136.3,224.6,-9.1,247,2044,0.00,2.22,0.00,0.000,4,0.000,0.050,3033,812,3354,0,0,0,0,0,0,28.83,25.04,28.83
$GC,2086,-0.47,-136.3,228.4,-9.1,249,2090,0.00,2.28,0.00,0.000,6,0.000,0.050,3026,2203,3354,0,0,0,0,0,0,28.83,25.04,28.83
$GC,2389,-0.47,-136.3,257.5,-9.4,264,2393,0.00,2.25,0.00,0.000,4,0.000,0.050,3026,808,3354,0,0,0,0,0,0,28.83,25.03,28.83
$GC,2416,-0.47,-136.3,259.4,-9.4,265,2420,0.00,2.28,0.00,0.000,6,0.000,0.050,3017,2201,3354,0,0,0,0,0,0,28.83,25.02,28.83
$GC,2718,-0.47,-136.3,288.2,-9.0,280,2723,0.00,2.38,0.00,0.000,4,0.000,0.061,3007,3613,3354,0,0,0,0,0,0,28.83,24.79,28.83
$GC,2759,-0.47,-136.3,291.7,-9.1,282,2764,0.10,2.25,0.00,0.000,6,0.099,0.041,3045,2195,3354,0,0,0,0,0,0,25.06,25.31,28.83
$GC,3079,-0.47,-136.3,314.4,-7.0,298,3083,0.00,2.33,0.00,0.000,4,0.000,0.063,3036,3609,3354,0,0,0,0,0,0,28.83,24.77,28.83
$GC,3106,-0.47,-136.3,315.8,-6.9,299,3110,0.00,2.28,0.00,0.000,6,0.000,0.043,3036,2201,3354,0,0,0,0,0,0,28.83,25.26,28.83
$GC,3409,-0.47,-136.3,341.1,-8.3,314,3413,0.00,2.25,0.00,0.000,4,0.000,0.051,3036,804,3354,0,0,0,0,0,0,28.83,24.98,28.83
$GC,3447,-0.47,-136.3,344.4,-8.4,316,3453,0.00,2.30,0.00,0.000,6,0.000,0.051,3029,2205,3354,0,0,0,0,0,0,28.83,24.97,28.83
$GC,3768,-0.47,-136.3,371.1,-8.1,332,3773,0.00,2.38,0.00,0.000,4,0.000,0.063,3019,3613,3354,0,0,0,0,0,0,28.83,24.75,28.83
$GC,3816,-0.47,-136.3,374.4,-8.1,334,3820,0.00,2.30,0.00,0.000,6,0.000,0.044,3019,2193,3354,0,0,0,0,0,0,28.83,25.23,28.83
$GC,4119,-0.47,-136.3,401.2,-8.7,349,4123,0.00,2.25,0.00,0.000,4,0.000,0.051,3019,801,3354,0,0,0,0,0,0,28.83,24.96,28.83
$GC,4156,-0.47,-136.3,404.0,-8.9,350,4161,0.12,2.30,0.00,0.000,6,0.132,0.050,3045,2203,3354,0,0,0,0,0,0,24.84,24.96,28.83
$GC,4469,-0.47,-136.3,427.3,-7.2,361,4475,0.00,2.35,0.00,0.000,4,0.000,0.063,3037,3606,3353,0,0,0,0,0,0,28.83,24.72,28.83
$GC,4518,-0.47,-136.3,429.5,-7.3,362,4528,0.00,2.30,0.00,0.000,6,0.000,0.044,3036,2185,3353,0,0,0,0,0,0,28.83,25.22,28.83
$GC,4829,-0.47,-136.3,453.5,-7.0,373,4835,0.00,2.40,0.00,0.000,4,0.000,0.063,3026,3608,3353,0,0,0,0,0,0,28.83,24.70,28.83
$GC,4859,-0.47,-136.3,455.5,-6.9,374,4865,0.00,2.25,0.00,0.000,6,0.000,0.044,3026,2211,3353,0,0,0,0,0,0,28.83,25.20,28.83
$GC,5190,-0.47,-136.3,478.9,-7.2,385,5195,0.00,2.30,0.00,0.000,4,0.000,0.052,3026,793,3353,0,0,0,0,0,0,28.83,24.93,28.83
$GC,5249,-0.47,-136.3,483.3,-7.3,387,5255,0.00,2.30,0.00,0.000,6,0.000,0.052,3018,2197,3352,0,0,0,0,0,0,28.83,24.92,28.83
$GC,5579,-0.47,-136.3,508.3,-7.7,398,5585,0.00,2.38,0.00,0.000,4,0.000,0.064,3007,3609,3352,0,0,0,0,0,0,28.83,24.66,28.83
$GC,5708,-0.47,-136.3,518.5,-8.6,402,5715,0.12,2.30,0.00,0.000,6,0.126,0.044,3044,2194,3352,0,0,0,0,0,0,25.00,25.19,28.83
$GC,6029,-0.47,-136.3,541.3,-6.9,413,6035,0.00,2.40,0.00,0.000,4,0.000,0.064,3036,3608,3352,0,0,0,0,0,0,28.83,24.64,28.83
$GC,6059,-0.47,-136.3,543.5,-7.1,414,6065,0.00,2.30,0.00,0.000,6,0.000,0.044,3036,2196,3352,0,0,0,0,0,0,28.83,25.17,28.83
$GC,6390,-0.47,-136.3,571.0,-8.2,425,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2194,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6689,-0.47,-136.3,593.5,-7.0,435,6695,0.00,2.40,0.00,0.000,4,0.000,0.065,3026,3608,3351,0,0,0,0,0,0,28.83,24.62,28.83
$GC,6727,-0.47,-136.3,595.6,-7.1,436,6731,0.00,2.30,0.00,0.000,6,0.000,0.045,3026,2202,3351,0,0,0,0,0,0,28.83,25.15,28.83
$GC,7041,-0.47,-136.3,618.9,-7.3,447,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2200,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7339,-0.47,-136.3,640.9,-7.3,457,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2200,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7639,-0.47,-136.3,663.6,-7.7,467,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2200,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7939,-0.47,-136.3,685.7,-6.8,477,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2200,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8240,-0.47,-136.3,707.5,-7.7,487,8245,0.00,2.40,0.00,0.000,4,0.000,0.066,3016,3605,3349,0,0,0,0,0,0,28.83,24.56,28.83
$GC,8299,-0.47,-136.3,712.6,-8.1,489,8305,0.00,2.30,0.00,0.000,6,0.000,0.046,3016,2200,3349,0,0,0,0,0,0,28.83,25.09,28.83
$GC,8629,-0.47,-136.3,739.5,-8.0,500,8630,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2197,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8930,-0.47,-136.3,763.3,-7.9,510,8935,0.00,2.30,0.00,0.000,4,0.000,0.054,3016,797,3348,0,0,0,0,0,0,28.83,24.78,28.83
$GC,8959,-0.47,-136.3,765.6,-7.9,511,8965,0.00,2.33,0.00,0.000,6,0.000,0.054,3016,2202,3348,0,0,0,0,0,0,28.83,24.77,28.83
$GC,9289,-0.47,-136.3,790.2,-7.4,522,9295,0.00,2.38,0.00,0.000,4,0.000,0.067,3012,3604,3348,0,0,0,0,0,0,28.83,24.53,28.83
$GC,9337,-0.47,-136.3,792.4,-7.4,523,9342,0.12,2.30,0.00,0.000,6,0.122,0.046,3048,2200,3347,0,0,0,0,0,0,24.91,25.08,28.83
$GC,9641,-0.47,-136.3,810.1,-5.2,533,9642,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2198,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9940,-0.47,-136.3,825.8,-5.3,543,9945,0.00,2.40,0.00,0.000,4,0.000,0.067,3040,3602,3347,0,0,0,0,0,0,28.83,24.49,28.83
$GC,9971,-0.47,-136.3,827.3,-5.2,544,9975,0.00,2.25,0.00,0.000,6,0.000,0.047,3041,2191,3347,0,0,0,0,0,0,28.83,25.05,28.83
$GC,10301,-0.47,-136.3,845.7,-5.4,555,10302,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2188,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10600,-0.47,-136.3,863.3,-5.9,565,10605,0.00,2.42,0.00,0.000,4,0.000,0.067,3030,3607,3347,0,0,0,0,0,0,28.83,24.46,28.83
$GC,10660,-0.47,-136.3,867.6,-6.8,567,10665,0.00,2.30,0.00,0.000,6,0.000,0.047,3030,2194,3346,0,0,0,0,0,0,28.83,25.03,28.83
$GC,10991,-0.47,-136.3,890.3,-6.7,578,10992,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2192,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11290,-0.47,-136.3,909.7,-6.4,588,11295,0.00,2.42,0.00,0.000,4,0.000,0.067,3021,3608,3346,0,0,0,0,0,0,28.83,24.46,28.83
$GC,11349,-0.47,-136.3,913.9,-6.8,590,11355,0.00,2.30,0.00,0.000,6,0.000,0.047,3021,2195,3345,0,0,0,0,0,0,28.83,25.02,28.83
$GC,11680,-0.47,-136.3,937.6,-7.1,601,11681,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2193,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11980,-0.47,-136.3,957.9,-6.7,611,11985,0.00,2.42,0.00,0.000,4,0.000,0.067,3012,3608,3345,0,0,0,0,0,0,28.83,24.44,28.83
$GC,12010,-0.47,-136.3,959.9,-6.8,612,12015,0.00,2.30,0.00,0.000,6,0.000,0.047,3012,2197,3345,0,0,0,0,0,0,28.83,25.00,28.83
$GC,12341,-0.47,-136.3,983.2,-7.0,623,12343,0.12,0.00,0.00,0.000,6,0.133,0.000,3049,2195,3345,0,0,0,0,0,0,25.92,28.83,28.83
$STATE,12486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12486,begin apogee
$GC,12494,-0.22,0.0,990.7,-5.0,628,12622,0.20,0.00,125.22,1.157,6,0.109,0.000,3122,2337,2794,0,0,0,0,0,0,25.57,28.83,22.68
$STATE,12623,end apogee,CONTROL_FINISHED_OK
$STATE,12623,begin climb
$GC,12627,0.47,136.3,994.7,0.0,632,12768,0.65,2.50,133.27,1.121,4,0.071,0.054,3358,926,2236,0,0,0,0,0,0,24.27,23.34,21.90
$GC,12801,0.48,163.9,986.6,5.9,638,12836,0.00,2.40,27.62,1.061,6,0.000,0.055,3358,2321,2123,0,0,0,0,0,0,28.83,23.87,22.02
$GC,13160,0.48,163.9,952.2,9.9,650,13165,0.00,2.38,0.00,0.000,4,0.000,0.069,3358,3733,2115,0,0,0,0,0,0,28.83,25.31,28.83
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$STATE,24965,end climb,SURFACE_DEPTH_REACHED
$STATE,24965,begin surface coast
$FINISH,1.3,1.002694
$STATE,25000,end surface coast,CONTROL_FINISHED_OK
$STATE,25000,begin surface
$SM_CCo,25080,0.00,0.000,0,0,1335,357.89
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$TT8_MAMPS,0.027713,0.027713
$HUMID,48.66
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,18.90
$XPDR_PINGS,1
$24V_AH,21.9,111.768
$10V_AH,9.8,83.606
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.275,233.175,451.925,0.000,0.000,27.654,37.656,246.953,0.250,0.000,39.802,3552.143,18146.113,769.022,2579.479,513.432,0.000,2049.569,0.000,2237.333,0.000,0.535,0.000
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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,296944
$DATA_FILE_SIZE,76807,1376
$CAP_FILE_SIZE,196420,0
$CFSIZE,260165632,190537728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,208.4,1
$GPS,130413,200800,4732.913,-12551.986,58,2.0,58,18.7