version: 66.11
glider: 187
mission: 2
dive: 266
start: 11 14 112 8 51 37
data:
$ID,187
$MISSION,2
$DIVE,266
$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,450
$T_MISSION,500
$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,150
$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,-1588091.2
$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,44
$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
$GPS1,141112,084206,4700.768,-12659.858,35,1.0,35,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-77.9
$GPS2,141112,085107,4700.761,-12659.823,16,1.5,16,18.6
$SPEED_LIMITS,0.127,0.220
$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,15.6,165855,-13.4,-7.333,-18.42
$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,-0.48,-146.0,0.0,0.0,0,79,0.00,0.00,-59.65,0.000,2,0.000,0.000,114,2194,2567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.0,-2.4,10,122,11.48,2.17,-20.95,0.000,4,0.220,0.062,3031,803,3392,0,0,0,0,0,0,24.98,25.51,26.06
$GC,135,-0.48,-146.0,11.6,-15.9,18,142,0.00,2.25,0.00,0.000,6,0.000,0.050,3023,2203,3392,0,0,0,0,0,0,28.83,25.51,28.83
$GC,460,-0.48,-146.0,75.0,-14.6,79,466,0.00,2.17,0.00,0.000,4,0.000,0.048,3023,803,3394,0,0,0,0,0,0,28.83,25.60,28.83
$GC,567,-0.48,-146.0,90.1,-13.7,99,574,0.00,2.17,0.00,0.000,6,0.000,0.049,3013,2203,3395,0,0,0,0,0,0,28.83,25.65,28.83
$GC,888,-0.48,-146.0,133.9,-12.5,147,889,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2204,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1188,-0.48,-146.0,169.2,-11.4,167,1194,0.00,2.20,0.00,0.000,4,0.000,0.060,3002,3600,3396,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1235,-0.48,-146.0,174.8,-11.9,170,1240,0.15,2.15,0.00,0.000,6,0.131,0.042,3045,2202,3396,0,0,0,0,0,0,25.63,25.86,28.83
$GC,1545,-0.48,-146.0,201.3,-8.4,190,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2195,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1843,-0.48,-146.0,226.7,-8.5,205,1848,0.00,2.25,0.00,0.000,4,0.000,0.063,3037,3610,3396,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1871,-0.48,-146.0,228.4,-8.4,206,1875,0.00,2.17,0.00,0.000,6,0.000,0.043,3037,2191,3396,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2180,-0.48,-146.0,256.6,-8.9,221,2185,0.00,2.12,0.00,0.000,4,0.000,0.050,3037,803,3396,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2201,-0.48,-146.0,258.6,-8.9,222,2205,0.00,2.17,0.00,0.000,6,0.000,0.050,3028,2201,3396,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2515,-0.48,-146.0,288.2,-9.2,238,2520,0.00,2.22,0.00,0.000,4,0.000,0.063,3017,3607,3395,0,0,0,0,0,0,28.83,25.69,28.83
$GC,2553,-0.48,-146.0,292.0,-9.3,240,2559,0.00,2.15,0.00,0.000,6,0.000,0.044,3017,2201,3395,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2873,-0.48,-146.0,323.6,-10.0,256,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2197,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3173,-0.48,-146.0,353.6,-10.1,271,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2197,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3474,-0.48,-146.0,383.9,-10.1,286,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2197,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3773,-0.48,-146.0,412.8,-9.5,299,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2197,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4074,-0.48,-146.0,440.2,-8.8,309,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2197,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4374,-0.48,-146.0,466.4,-8.8,319,4379,0.00,2.25,0.00,0.000,4,0.000,0.065,3007,3605,3391,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4403,-0.48,-146.0,469.0,-8.8,320,4409,0.12,2.17,0.00,0.000,6,0.134,0.046,3042,2198,3390,0,0,0,0,0,0,25.74,25.91,28.83
$GC,4734,-0.48,-146.0,492.8,-7.1,331,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2195,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5034,-0.48,-146.0,514.2,-7.3,341,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2195,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5333,-0.48,-146.0,535.7,-7.2,351,5339,0.00,2.25,0.00,0.000,4,0.000,0.065,3034,3605,3389,0,0,0,0,0,0,28.83,25.64,28.83
$GC,5366,-0.48,-146.0,537.9,-7.2,352,5371,0.00,2.17,0.00,0.000,6,0.000,0.047,3034,2195,3389,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5689,-0.48,-146.0,561.9,-7.3,363,5695,0.00,2.25,0.00,0.000,4,0.000,0.066,3024,3600,3388,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5712,-0.48,-146.0,561.9,-7.3,363,5718,0.00,2.17,0.00,0.000,6,0.000,0.046,3024,2190,3388,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6018,-0.48,-146.0,587.6,-7.8,374,6024,0.00,2.30,0.00,0.000,4,0.000,0.066,3014,3612,3387,0,0,0,0,0,0,28.83,25.62,28.83
$GC,6041,-0.48,-146.0,587.6,-7.8,374,6048,0.00,2.17,0.00,0.000,6,0.000,0.047,3014,2202,3387,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6349,-0.48,-146.0,616.3,-8.8,385,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2201,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6648,-0.48,-146.0,643.6,-9.0,395,6654,0.00,2.30,0.00,0.000,4,0.000,0.067,3004,3610,3386,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6678,-0.48,-146.0,646.5,-9.1,396,6685,0.12,2.20,0.00,0.000,6,0.134,0.047,3039,2195,3386,0,0,0,0,0,0,25.69,25.87,28.83
$GC,7009,-0.48,-146.0,671.0,-7.1,407,7010,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2191,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7309,-0.48,-146.0,692.2,-7.1,417,7315,0.00,2.28,0.00,0.000,4,0.000,0.067,3031,3606,3385,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7332,-0.48,-146.0,692.2,-7.1,417,7338,0.00,2.17,0.00,0.000,6,0.000,0.047,3031,2200,3385,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7639,-0.48,-146.0,716.4,-7.3,428,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2199,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7939,-0.48,-146.0,737.2,-7.0,438,7945,0.00,2.30,0.00,0.000,4,0.000,0.067,3021,3610,3384,0,0,0,0,0,0,28.83,25.57,28.83
$GC,7969,-0.48,-146.0,739.5,-7.0,439,7975,0.00,2.20,0.00,0.000,6,0.000,0.049,3021,2202,3384,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8299,-0.48,-146.0,764.7,-7.5,450,8304,0.00,2.28,0.00,0.000,4,0.000,0.067,3011,3609,3384,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8321,-0.48,-146.0,764.7,-7.5,450,8328,0.00,2.20,0.00,0.000,6,0.000,0.047,3011,2192,3383,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8629,-0.48,-146.0,791.4,-8.1,461,8630,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2190,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8929,-0.48,-146.0,814.9,-7.9,471,8935,0.00,2.33,0.00,0.000,4,0.000,0.067,3001,3624,3383,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8972,-0.48,-146.0,817.3,-7.9,472,8977,0.15,2.22,0.00,0.000,6,0.124,0.047,3045,2193,3383,0,0,0,0,0,0,25.63,25.83,28.83
$GC,9285,-0.48,-146.0,836.9,-5.7,483,9290,0.00,2.28,0.00,0.000,4,0.000,0.068,3036,3603,3383,0,0,0,0,0,0,28.83,25.54,28.83
$GC,9319,-0.48,-146.0,838.8,-5.8,484,9323,0.00,2.17,0.00,0.000,6,0.000,0.049,3036,2202,3382,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9641,-0.48,-146.0,857.9,-5.7,495,9642,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2200,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9941,-0.48,-146.0,874.6,-5.4,505,9947,0.00,2.25,0.00,0.000,4,0.000,0.068,3027,3601,3382,0,0,0,0,0,0,28.83,25.51,28.83
$GC,10002,-0.48,-146.0,878.1,-5.6,507,10005,0.00,2.22,0.00,0.000,6,0.000,0.049,3027,2193,3382,0,0,0,0,0,0,28.83,25.81,28.83
$GC,10334,-0.48,-146.0,897.4,-5.8,518,10335,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2192,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10634,-0.48,-146.0,915.4,-6.1,528,10640,0.00,2.33,0.00,0.000,4,0.000,0.068,3017,3608,3381,0,0,0,0,0,0,28.83,25.50,28.83
$GC,10695,-0.48,-146.0,919.4,-6.3,530,10700,0.00,2.17,0.00,0.000,6,0.000,0.048,3017,2205,3381,0,0,0,0,0,0,28.83,25.81,28.83
$GC,11024,-0.48,-146.0,941.5,-6.8,541,11025,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2203,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11324,-0.48,-146.0,962.6,-7.3,551,11330,0.00,2.25,0.00,0.000,4,0.000,0.068,3007,3598,3379,0,0,0,0,0,0,28.83,25.49,28.83
$GC,11356,-0.48,-146.0,964.9,-7.4,552,11361,0.12,2.20,0.00,0.000,6,0.129,0.049,3042,2189,3379,0,0,0,0,0,0,25.64,25.79,28.83
$GC,11679,-0.48,-146.0,985.8,-6.5,563,11685,0.00,2.28,0.00,0.000,4,0.000,0.068,3034,3599,3379,0,0,0,0,0,0,28.83,25.48,28.83
$GC,11710,-0.48,-146.0,987.9,-6.6,564,11715,0.00,2.17,0.00,0.000,6,0.000,0.049,3034,2202,3379,0,0,0,0,0,0,28.83,25.79,28.83
$STATE,11738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11738,begin apogee
$GC,11745,-0.22,0.0,990.2,-6.9,565,11877,0.25,0.00,127.60,1.179,6,0.109,0.000,3122,2327,2794,0,0,0,0,0,0,25.79,28.83,23.38
$STATE,11880,end apogee,CONTROL_FINISHED_OK
$STATE,11881,begin climb
$GC,11883,0.48,146.0,995.0,0.0,569,12030,0.65,2.53,136.60,1.144,4,0.076,0.066,3345,3726,2198,0,0,0,0,0,0,24.45,23.39,22.49
$GC,12056,0.51,220.6,991.3,4.5,574,12132,0.00,2.40,69.12,1.117,6,0.000,0.049,3356,2325,1895,0,0,0,0,0,0,28.83,23.87,22.46
$GC,12450,0.51,220.6,947.1,10.3,588,12455,0.00,2.28,0.00,0.000,4,0.000,0.058,3366,928,1884,0,0,0,0,0,0,28.83,24.88,28.83
$GC,12482,0.51,220.6,944.1,10.4,589,12486,0.00,2.28,0.00,0.000,6,0.000,0.057,3366,2319,1884,0,0,0,0,0,0,28.83,24.95,28.83
$GC,12805,0.51,220.6,907.1,11.5,600,12810,0.00,2.35,0.00,0.000,4,0.000,0.069,3366,3739,1883,0,0,0,0,0,0,28.83,25.29,28.83
$GC,12852,0.51,220.6,903.4,11.7,601,12857,0.00,2.28,0.00,0.000,6,0.000,0.050,3376,2324,1882,0,0,0,0,0,0,28.83,25.46,28.83
$GC,13160,0.51,220.6,864.0,11.9,611,13165,0.00,2.25,0.00,0.000,4,0.000,0.059,3387,914,1882,0,0,0,0,0,0,28.83,25.50,28.83
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$STATE,22213,end climb,SURFACE_DEPTH_REACHED
$STATE,22213,begin surface coast
$FINISH,1.3,1.024284
$STATE,22253,end surface coast,CONTROL_FINISHED_OK
$STATE,22253,begin surface
$SM_CCo,22333,0.00,0.000,0,0,1214,387.57
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$TT8_MAMPS,0.026964,0.026964
$HUMID,45.35
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,16.10
$XPDR_PINGS,0
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$10V_AH,10.1,31.222
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.200,197.575,467.425,0.000,0.000,53.824,90.856,198.266,0.000,0.000,17.126,3193.760,15843.440,558.085,2867.547,400.297,0.000,1945.222,0.000,2491.059,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296768
$DATA_FILE_SIZE,70318,1227
$CAP_FILE_SIZE,186097,0
$CFSIZE,260165632,235655168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,156.3,1
$GPS,141112,150505,4702.880,-12656.438,37,0.9,37,18.6