version: 66.11
glider: 187
mission: 2
dive: 281
start: 11 18 112 12 8 32
data:
$ID,187
$MISSION,2
$DIVE,281
$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,-1588111
$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,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,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
$GPS1,181112,120024,4726.221,-12606.229,54,1.2,54,18.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-74.7
$GPS2,181112,120802,4726.225,-12606.254,15,2.0,15,18.7
$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,41.3,84289,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.48,-146.0,0.0,0.0,0,94,0.00,0.00,-74.25,0.000,2,0.000,0.000,118,2193,2822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.48,-146.0,3.6,-4.3,12,133,11.40,2.35,-12.00,0.000,4,0.218,0.073,3025,3607,3394,0,0,0,0,0,0,24.96,25.48,26.05
$GC,290,-0.48,-146.0,41.3,-13.7,46,298,0.00,2.22,0.00,0.000,6,0.000,0.043,3025,2200,3397,0,0,0,0,0,0,28.83,25.63,28.83
$GC,614,-0.48,-146.0,87.0,-12.9,107,620,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2198,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,936,-0.48,-146.0,125.6,-11.2,164,937,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2198,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1237,-0.48,-146.0,155.9,-9.7,184,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2198,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1536,-0.48,-146.0,185.6,-10.0,204,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2198,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1846,-0.48,-146.0,216.0,-9.8,222,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2198,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2148,-0.48,-146.0,244.9,-9.6,237,2154,0.00,2.15,0.00,0.000,4,0.000,0.050,3025,798,3398,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2180,-0.48,-146.0,246.9,-9.7,238,2187,0.00,2.17,0.00,0.000,6,0.000,0.050,3017,2201,3398,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2487,-0.48,-146.0,277.4,-9.6,254,2492,0.00,2.25,0.00,0.000,4,0.000,0.063,3006,3613,3398,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2520,-0.48,-146.0,279.3,-9.7,255,2527,0.12,2.17,0.00,0.000,6,0.132,0.044,3042,2192,3398,0,0,0,0,0,0,25.72,25.90,28.83
$GC,2827,-0.48,-146.0,307.7,-8.7,271,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2189,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3127,-0.48,-146.0,332.2,-8.0,286,3132,0.00,2.17,0.00,0.000,4,0.000,0.051,3042,795,3397,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3155,-0.48,-146.0,334.1,-8.2,287,3159,0.00,2.17,0.00,0.000,6,0.000,0.051,3035,2200,3397,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3462,-0.48,-146.0,360.5,-8.5,302,3467,0.00,2.22,0.00,0.000,4,0.000,0.063,3025,3607,3396,0,0,0,0,0,0,28.83,25.66,28.83
$GC,3515,-0.48,-146.0,364.1,-8.5,304,3521,0.00,2.15,0.00,0.000,6,0.000,0.044,3025,2201,3396,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3824,-0.48,-146.0,393.5,-9.3,320,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2199,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4142,-0.48,-146.0,425.4,-10.3,332,4147,0.00,2.17,0.00,0.000,4,0.000,0.052,3025,799,3395,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4180,-0.48,-146.0,428.8,-10.5,333,4184,0.00,2.17,0.00,0.000,6,0.000,0.052,3016,2199,3395,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4497,-0.48,-146.0,462.9,-10.4,344,4502,0.00,2.22,0.00,0.000,4,0.000,0.065,3006,3602,3395,0,0,0,0,0,0,28.83,25.63,28.83
$GC,4559,-0.48,-146.0,469.3,-10.5,346,4564,0.12,2.17,0.00,0.000,6,0.132,0.045,3042,2192,3395,0,0,0,0,0,0,25.72,25.89,28.83
$GC,4882,-0.48,-146.0,495.6,-7.7,357,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2188,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5182,-0.48,-146.0,518.0,-7.4,367,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2188,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5482,-0.48,-146.0,539.3,-7.0,377,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2188,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5783,-0.48,-146.0,559.6,-6.8,387,5788,0.00,2.30,0.00,0.000,4,0.000,0.065,3034,3606,3392,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5816,-0.48,-146.0,561.7,-6.9,388,5820,0.00,2.17,0.00,0.000,6,0.000,0.046,3034,2200,3393,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6143,-0.48,-146.0,585.8,-7.3,399,6149,0.00,2.25,0.00,0.000,4,0.000,0.066,3024,3604,3392,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6172,-0.48,-146.0,588.0,-7.4,400,6178,0.00,2.20,0.00,0.000,6,0.000,0.046,3024,2190,3392,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6503,-0.48,-146.0,614.0,-7.9,411,6509,0.00,2.15,0.00,0.000,4,0.000,0.053,3024,802,3392,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6532,-0.48,-146.0,616.5,-8.0,412,6538,0.00,2.20,0.00,0.000,6,0.000,0.053,3016,2203,3391,0,0,0,0,0,0,28.83,25.71,28.83
$GC,6864,-0.48,-146.0,643.1,-8.2,423,6869,0.00,2.25,0.00,0.000,4,0.000,0.065,3006,3610,3391,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6922,-0.48,-146.0,648.4,-8.6,425,6929,0.12,2.20,0.00,0.000,6,0.130,0.046,3042,2191,3390,0,0,0,0,0,0,25.68,25.86,28.83
$GC,7253,-0.48,-146.0,670.5,-6.6,436,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2189,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7553,-0.48,-146.0,691.7,-7.3,446,7559,0.00,2.28,0.00,0.000,4,0.000,0.066,3034,3603,3390,0,0,0,0,0,0,28.83,25.56,28.83
$GC,7606,-0.48,-146.0,694.0,-7.4,447,7612,0.00,2.17,0.00,0.000,6,0.000,0.047,3034,2196,3390,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7913,-0.48,-146.0,718.5,-7.3,458,7918,0.00,2.30,0.00,0.000,4,0.000,0.066,3024,3609,3390,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7961,-0.48,-146.0,720.9,-7.4,459,7965,0.00,2.17,0.00,0.000,6,0.000,0.047,3024,2205,3390,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8268,-0.48,-146.0,744.9,-7.1,469,8269,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2203,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8568,-0.48,-146.0,766.0,-7.0,479,8574,0.00,2.30,0.00,0.000,4,0.000,0.067,3014,3612,3389,0,0,0,0,0,0,28.83,25.52,28.83
$GC,8612,-0.48,-146.0,768.4,-7.1,480,8618,0.00,2.20,0.00,0.000,6,0.000,0.047,3014,2194,3389,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8928,-0.48,-146.0,794.6,-8.3,491,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2192,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9228,-0.48,-146.0,819.8,-8.5,501,9233,0.00,2.33,0.00,0.000,4,0.000,0.067,3003,3611,3388,0,0,0,0,0,0,28.83,25.50,28.83
$GC,9258,-0.48,-146.0,822.6,-8.6,502,9264,0.10,2.17,0.00,0.000,6,0.104,0.047,3041,2209,3388,0,0,0,0,0,0,25.59,25.81,28.83
$GC,9588,-0.48,-146.0,845.2,-6.5,513,9589,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2207,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9888,-0.48,-146.0,863.9,-6.2,523,9894,0.00,2.25,0.00,0.000,4,0.000,0.067,3034,3603,3387,0,0,0,0,0,0,28.83,25.49,28.83
$GC,9931,-0.48,-146.0,865.7,-6.2,524,9936,0.00,2.20,0.00,0.000,6,0.000,0.046,3034,2189,3387,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10244,-0.48,-146.0,885.7,-6.1,535,10245,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2187,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10544,-0.48,-146.0,903.8,-6.0,545,10549,0.00,2.30,0.00,0.000,4,0.000,0.067,3024,3607,3387,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10587,-0.48,-146.0,905.7,-6.0,546,10592,0.00,2.20,0.00,0.000,6,0.000,0.047,3024,2194,3386,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10900,-0.48,-146.0,927.1,-6.7,557,10905,0.00,2.30,0.00,0.000,4,0.000,0.067,3014,3610,3386,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10932,-0.48,-146.0,929.1,-6.7,558,10936,0.00,2.20,0.00,0.000,6,0.000,0.048,3014,2201,3386,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11255,-0.48,-146.0,952.1,-7.0,569,11257,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2199,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11555,-0.48,-146.0,972.2,-6.6,579,11561,0.00,2.22,0.00,0.000,4,0.000,0.055,3014,790,3386,0,0,0,0,0,0,28.83,25.58,28.83
$GC,11578,-0.48,-146.0,972.2,-6.6,579,11585,0.12,2.22,0.00,0.000,6,0.135,0.056,3041,2200,3386,0,0,0,0,0,0,25.48,25.58,28.83
$GC,11885,-0.48,-146.0,989.9,-5.3,590,11891,0.00,2.30,0.00,0.000,4,0.000,0.068,3033,3614,3386,0,0,0,0,0,0,28.83,25.42,28.83
$STATE,11912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11912,begin apogee
$GC,11921,-0.22,0.0,991.6,-5.5,591,12056,0.25,0.00,128.82,1.178,6,0.106,0.000,3121,2325,2793,0,0,0,0,0,0,25.78,28.83,23.34
$STATE,12059,end apogee,CONTROL_FINISHED_OK
$STATE,12059,begin climb
$GC,12062,0.48,146.0,995.3,0.0,595,12204,0.65,0.00,138.40,1.142,6,0.076,0.000,3345,2325,2198,0,0,0,0,0,0,24.46,28.83,22.42
$GC,12485,0.48,146.0,963.9,9.1,610,12486,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2325,2187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12785,0.48,146.0,936.0,9.6,620,12786,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2325,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13085,0.48,146.0,908.0,9.2,630,13090,0.00,2.35,0.00,0.000,4,0.000,0.069,3345,3738,2184,0,0,0,0,0,0,28.83,25.39,28.83
$GC,13128,0.48,146.0,904.8,9.5,631,13132,0.00,2.25,0.00,0.000,6,0.000,0.050,3355,2329,2184,0,0,0,0,0,0,28.83,25.57,28.83
$GC,13440,0.48,146.0,872.7,9.8,642,13442,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2325,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13740,0.48,146.0,843.5,9.8,652,13741,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2325,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14040,0.48,146.0,814.1,9.6,662,14041,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2325,2183,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23626,end climb,SURFACE_DEPTH_REACHED
$STATE,23626,begin surface coast
$FINISH,1.1,1.011999
$STATE,23704,end surface coast,CONTROL_FINISHED_OK
$STATE,23704,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.56
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.40
$XPDR_PINGS,1
$24V_AH,22.4,39.608
$10V_AH,10.1,32.915
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.775,179.175,457.350,0.000,0.000,25.682,51.962,241.946,0.250,0.000,15.923,3448.619,16837.211,574.708,2973.399,396.444,0.000,1978.519,0.000,2616.013,0.000,0.536,0.000
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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,73509,1330
$CAP_FILE_SIZE,188193,0
$CFSIZE,260165632,234360832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128,287.3,1
$GPS,181112,184653,4728.359,-12603.938,80,1.2,80,18.7