version: 66.11
glider: 187
mission: 2
dive: 275
start: 11 16 112 20 2 15
data:
$ID,187
$MISSION,2
$DIVE,275
$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,-1588103.2
$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,40
$R_STBD_OVSHOOT,23
$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
$GPS1,161112,195244,4717.889,-12627.967,44,2.3,63,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-74.3
$GPS2,161112,200145,4718.011,-12627.927,12,4.2,31,18.6
$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,47.1,115133,-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,16,-0.48,-146.0,0.0,0.0,0,88,0.00,0.00,-69.12,0.000,2,0.000,0.000,130,2184,2812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.48,-146.0,3.4,-3.8,11,125,11.57,2.35,-11.85,0.000,4,0.225,0.075,3024,3609,3392,0,0,0,0,0,0,24.96,25.46,26.04
$GC,210,-0.48,-146.0,30.8,-18.5,31,217,0.00,2.20,0.00,0.000,6,0.000,0.043,3024,2197,3395,0,0,0,0,0,0,28.83,25.56,28.83
$GC,533,-0.48,-146.0,77.2,-14.0,92,541,0.00,2.33,0.00,0.000,4,0.000,0.061,3013,3624,3397,0,0,0,0,0,0,28.83,25.52,28.83
$GC,559,-0.48,-146.0,80.9,-13.9,96,567,0.00,2.25,0.00,0.000,6,0.000,0.043,3013,2193,3397,0,0,0,0,0,0,28.83,25.72,28.83
$GC,879,-0.48,-146.0,122.0,-11.5,156,885,0.00,2.15,0.00,0.000,4,0.000,0.050,3013,793,3397,0,0,0,0,0,0,28.83,25.66,28.83
$GC,942,-0.48,-146.0,129.0,-11.7,160,947,0.12,2.20,0.00,0.000,6,0.147,0.050,3038,2208,3397,0,0,0,0,0,0,25.52,25.67,28.83
$GC,1251,-0.48,-146.0,157.2,-9.2,180,1256,0.00,2.20,0.00,0.000,4,0.000,0.061,3030,3603,3397,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1282,-0.48,-146.0,160.0,-9.2,182,1286,0.00,2.15,0.00,0.000,6,0.000,0.043,3030,2200,3397,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1589,-0.48,-146.0,191.2,-9.7,202,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2195,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1899,-0.48,-146.0,221.9,-10.0,219,1905,0.00,2.25,0.00,0.000,4,0.000,0.063,3019,3609,3397,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1922,-0.48,-146.0,224.1,-10.1,220,1926,0.00,2.17,0.00,0.000,6,0.000,0.044,3019,2192,3397,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2234,-0.48,-146.0,258.0,-10.7,236,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2187,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2536,-0.48,-146.0,290.0,-10.6,251,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2187,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2835,-0.48,-146.0,321.0,-10.1,266,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2187,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3134,-0.48,-146.0,350.7,-9.9,281,3140,0.00,2.15,0.00,0.000,4,0.000,0.051,3019,800,3396,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3162,-0.48,-146.0,352.7,-9.9,282,3167,0.12,2.17,0.00,0.000,6,0.137,0.051,3046,2200,3395,0,0,0,0,0,0,25.65,25.77,28.83
$GC,3470,-0.48,-146.0,377.8,-7.5,297,3475,0.00,2.20,0.00,0.000,4,0.000,0.064,3037,3599,3394,0,0,0,0,0,0,28.83,25.64,28.83
$GC,3522,-0.48,-146.0,381.0,-7.6,299,3529,0.00,2.15,0.00,0.000,6,0.000,0.044,3037,2194,3395,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3840,-0.48,-146.0,407.9,-8.1,314,3845,0.00,2.25,0.00,0.000,4,0.000,0.064,3027,3606,3394,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3872,-0.48,-146.0,410.3,-8.1,315,3876,0.00,2.15,0.00,0.000,6,0.000,0.045,3027,2202,3394,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4194,-0.48,-146.0,437.5,-8.2,326,4195,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2199,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4494,-0.48,-146.0,461.2,-8.0,336,4500,0.00,2.17,0.00,0.000,4,0.000,0.053,3027,801,3393,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4528,-0.48,-146.0,463.8,-8.0,337,4532,0.00,2.17,0.00,0.000,6,0.000,0.053,3017,2199,3393,0,0,0,0,0,0,28.83,25.74,28.83
$GC,4850,-0.48,-146.0,490.6,-8.3,348,4855,0.00,2.28,0.00,0.000,4,0.000,0.066,3007,3616,3391,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4873,-0.48,-146.0,490.6,-8.3,348,4880,0.12,2.17,0.00,0.000,6,0.132,0.046,3043,2199,3391,0,0,0,0,0,0,25.70,25.88,28.83
$GC,5181,-0.48,-146.0,512.8,-6.5,359,5186,0.00,2.17,0.00,0.000,4,0.000,0.053,3043,803,3391,0,0,0,0,0,0,28.83,25.71,28.83
$GC,5203,-0.48,-146.0,512.8,-6.5,359,5210,0.00,2.20,0.00,0.000,6,0.000,0.053,3036,2198,3391,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5510,-0.48,-146.0,536.8,-7.4,370,5515,0.00,2.28,0.00,0.000,4,0.000,0.067,3026,3614,3390,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5543,-0.48,-146.0,539.1,-7.6,371,5547,0.00,2.20,0.00,0.000,6,0.000,0.047,3026,2193,3390,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5865,-0.48,-146.0,564.7,-7.8,382,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2190,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6165,-0.48,-146.0,587.7,-7.5,392,6170,0.00,2.30,0.00,0.000,4,0.000,0.066,3016,3612,3390,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6208,-0.48,-146.0,590.0,-7.5,393,6212,0.00,2.17,0.00,0.000,6,0.000,0.047,3016,2201,3389,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6520,-0.48,-146.0,617.2,-8.6,404,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2199,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6820,-0.48,-146.0,642.4,-8.2,414,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2199,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7120,-0.48,-146.0,666.1,-7.7,424,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2199,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7420,-0.48,-146.0,690.3,-8.2,434,7426,0.00,2.30,0.00,0.000,4,0.000,0.067,3006,3618,3387,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7443,-0.48,-146.0,690.3,-8.2,434,7451,0.12,2.20,0.00,0.000,6,0.131,0.047,3042,2194,3387,0,0,0,0,0,0,25.67,25.83,28.83
$GC,7750,-0.48,-146.0,712.8,-6.6,445,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2195,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8051,-0.48,-146.0,731.4,-6.0,455,8052,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2195,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8350,-0.48,-146.0,748.3,-5.5,465,8356,0.00,2.30,0.00,0.000,4,0.000,0.067,3034,3610,3386,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8383,-0.48,-146.0,750.1,-5.6,466,8388,0.00,2.20,0.00,0.000,6,0.000,0.048,3034,2205,3386,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8706,-0.48,-146.0,769.7,-6.0,477,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2203,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9006,-0.48,-146.0,788.3,-6.3,487,9012,0.00,2.25,0.00,0.000,4,0.000,0.068,3025,3600,3385,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9036,-0.48,-146.0,790.0,-6.3,488,9041,0.00,2.20,0.00,0.000,6,0.000,0.048,3025,2191,3385,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9367,-0.48,-146.0,811.8,-6.5,499,9372,0.00,2.15,0.00,0.000,4,0.000,0.055,3025,803,3385,0,0,0,0,0,0,28.83,25.62,28.83
$GC,9384,-0.48,-146.0,811.8,-6.5,499,9388,0.00,2.20,0.00,0.000,6,0.000,0.055,3017,2202,3384,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9691,-0.48,-146.0,834.3,-6.9,509,9696,0.00,2.25,0.00,0.000,4,0.000,0.067,3006,3607,3384,0,0,0,0,0,0,28.83,25.49,28.83
$GC,9760,-0.48,-146.0,838.9,-7.2,511,9766,0.12,2.20,0.00,0.000,6,0.130,0.047,3042,2189,3384,0,0,0,0,0,0,25.63,25.79,28.83
$GC,10081,-0.48,-146.0,858.3,-5.8,522,10087,0.00,2.30,0.00,0.000,4,0.000,0.067,3034,3607,3384,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10114,-0.48,-146.0,860.3,-6.0,523,10118,0.00,2.20,0.00,0.000,6,0.000,0.048,3034,2191,3384,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10436,-0.48,-146.0,883.4,-7.3,534,10438,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2188,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10736,-0.48,-146.0,905.7,-7.6,544,10742,0.00,2.33,0.00,0.000,4,0.000,0.068,3025,3614,3384,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10766,-0.48,-146.0,908.0,-7.5,545,10772,0.00,2.20,0.00,0.000,6,0.000,0.049,3025,2195,3384,0,0,0,0,0,0,28.83,25.78,28.83
$GC,11096,-0.48,-146.0,933.4,-7.6,556,11102,0.00,2.33,0.00,0.000,4,0.000,0.068,3015,3620,3383,0,0,0,0,0,0,28.83,25.44,28.83
$GC,11129,-0.48,-146.0,935.8,-7.7,557,11133,0.00,2.20,0.00,0.000,6,0.000,0.047,3014,2199,3383,0,0,0,0,0,0,28.83,25.80,28.83
$GC,11452,-0.48,-146.0,961.7,-7.8,568,11453,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2196,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11751,-0.48,-146.0,984.9,-7.8,578,11757,0.00,2.30,0.00,0.000,4,0.000,0.068,3005,3608,3384,0,0,0,0,0,0,28.83,25.44,28.83
$GC,11781,-0.48,-146.0,987.2,-7.7,579,11787,0.10,2.20,0.00,0.000,6,0.103,0.049,3042,2199,3383,0,0,0,0,0,0,25.59,25.76,28.83
$STATE,11838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11838,begin apogee
$GC,11846,-0.22,0.0,991.2,-7.2,581,11979,0.22,0.00,128.30,1.178,6,0.113,0.000,3123,2339,2793,0,0,0,0,0,0,25.84,28.83,23.33
$STATE,11982,end apogee,CONTROL_FINISHED_OK
$STATE,11982,begin climb
$GC,11984,0.48,146.0,995.1,0.0,585,12132,0.65,2.53,136.95,1.140,4,0.078,0.065,3345,3734,2197,0,0,0,0,0,0,24.42,23.37,22.42
$GC,12168,0.48,153.9,984.8,7.0,591,12182,0.00,2.40,8.65,0.946,6,0.000,0.048,3355,2326,2165,0,0,0,0,0,0,28.83,23.93,22.77
$GC,12496,0.48,153.9,952.8,9.6,602,12497,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2326,2158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12796,0.48,153.9,923.9,9.8,612,12801,0.00,2.35,0.00,0.000,4,0.000,0.068,3355,3736,2156,0,0,0,0,0,0,28.83,25.24,28.83
$GC,12828,0.48,153.9,920.7,10.1,613,12832,0.00,2.25,0.00,0.000,6,0.000,0.050,3365,2330,2156,0,0,0,0,0,0,28.83,25.41,28.83
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$STATE,23349,end climb,SURFACE_DEPTH_REACHED
$STATE,23349,begin surface coast
$FINISH,1.2,1.024357
$STATE,23391,end surface coast,CONTROL_FINISHED_OK
$STATE,23391,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.68
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,19.10
$XPDR_PINGS,4
$24V_AH,22.4,38.781
$10V_AH,10.1,32.229
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.200,206.500,506.225,0.000,0.000,54.798,78.080,195.083,1.000,0.000,33.411,3368.782,16629.312,586.047,3009.367,408.061,0.000,2049.527,0.000,2629.160,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,887.484,744.396,512.940,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296768
$DATA_FILE_SIZE,73644,1290
$CAP_FILE_SIZE,195710,0
$CFSIZE,260165632,234872832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080,261.9,1
$GPS,171112,023436,4719.226,-12624.392,31,1.5,31,18.6