version: 66.11
glider: 187
mission: 2
dive: 541
start: 1 29 113 8 3 4
data:
$ID,187
$MISSION,2
$DIVE,541
$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,-1588677.5
$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,24
$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,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
$GPS1,290113,075236,4718.298,-12624.021,133,1.8,133,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-72.2
$GPS2,290113,080233,4718.287,-12623.916,36,1.6,36,18.6
$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,7.4,110702,-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,-136.3,0.0,0.0,0,83,0.00,0.00,-64.20,0.000,2,0.000,0.000,106,2210,2786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.47,-136.3,3.2,-2.2,11,118,11.73,2.25,-13.02,0.000,4,0.216,0.061,3034,775,3352,0,0,0,0,0,0,24.54,25.46,26.22
$GC,220,-0.47,-136.3,27.8,-14.6,35,226,0.00,2.25,0.00,0.000,6,0.000,0.051,3026,2210,3354,0,0,0,0,0,0,28.83,25.48,28.83
$GC,532,-0.47,-136.3,72.0,-15.4,96,539,0.00,2.22,0.00,0.000,4,0.000,0.050,3027,782,3354,0,0,0,0,0,0,28.83,25.55,28.83
$GC,577,-0.47,-136.3,78.1,-12.7,104,584,0.00,2.22,0.00,0.000,6,0.000,0.050,3017,2208,3354,0,0,0,0,0,0,28.83,25.57,28.83
$GC,889,-0.47,-136.3,117.7,-11.7,165,897,0.00,2.25,0.00,0.000,4,0.000,0.062,3006,3614,3354,0,0,0,0,0,0,28.83,25.48,28.83
$GC,960,-0.47,-136.3,125.9,-11.6,173,970,0.12,2.28,0.00,0.000,6,0.129,0.044,3042,2179,3355,0,0,0,0,0,0,25.58,25.75,28.83
$GC,1271,-0.47,-136.3,154.2,-8.9,194,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2178,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1570,-0.47,-136.3,178.0,-7.9,214,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2178,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1871,-0.47,-136.3,200.0,-7.3,234,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2178,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2185,-0.47,-136.3,223.7,-7.5,250,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2178,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2485,-0.47,-136.3,248.1,-8.2,265,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2178,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2786,-0.47,-136.3,271.1,-7.6,280,2790,0.00,2.20,0.00,0.000,4,0.000,0.051,3043,800,3354,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2813,-0.47,-136.3,272.7,-7.7,281,2817,0.00,2.25,0.00,0.000,6,0.000,0.051,3036,2201,3355,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3115,-0.47,-136.3,297.7,-8.2,296,3120,0.00,2.33,0.00,0.000,4,0.000,0.063,3025,3609,3354,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3164,-0.47,-136.3,301.0,-8.2,298,3173,0.00,2.25,0.00,0.000,6,0.000,0.044,3025,2196,3354,0,0,0,0,0,0,28.83,25.76,28.83
$GC,3475,-0.47,-136.3,329.8,-9.2,314,3480,0.00,2.22,0.00,0.000,4,0.000,0.051,3025,799,3354,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3515,-0.47,-136.3,333.8,-9.7,316,3520,0.00,2.28,0.00,0.000,6,0.000,0.051,3017,2211,3354,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3836,-0.47,-136.3,365.9,-10.1,332,3840,0.00,2.30,0.00,0.000,4,0.000,0.064,3007,3606,3354,0,0,0,0,0,0,28.83,25.44,28.83
$GC,3875,-0.47,-136.3,370.0,-10.2,334,3881,0.10,2.22,0.00,0.000,6,0.099,0.044,3044,2207,3354,0,0,0,0,0,0,25.53,25.75,28.83
$GC,4195,-0.47,-136.3,393.4,-6.5,350,4200,0.00,2.25,0.00,0.000,4,0.000,0.051,3045,793,3354,0,0,0,0,0,0,28.83,25.57,28.83
$GC,4226,-0.47,-136.3,394.8,-6.7,351,4234,0.00,2.25,0.00,0.000,6,0.000,0.053,3040,2194,3354,0,0,0,0,0,0,28.83,25.57,28.83
$GC,4555,-0.47,-136.3,416.2,-6.4,364,4561,0.00,2.33,0.00,0.000,4,0.000,0.065,3030,3608,3354,0,0,0,0,0,0,28.83,25.41,28.83
$GC,4615,-0.47,-136.3,420.5,-6.9,366,4621,0.00,2.25,0.00,0.000,6,0.000,0.045,3030,2192,3353,0,0,0,0,0,0,28.83,25.74,28.83
$GC,4946,-0.47,-136.3,446.7,-8.2,377,4950,0.00,2.20,0.00,0.000,4,0.000,0.052,3030,807,3353,0,0,0,0,0,0,28.83,25.55,28.83
$GC,4983,-0.47,-136.3,449.1,-8.3,378,4987,0.00,2.25,0.00,0.000,6,0.000,0.052,3021,2201,3353,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5295,-0.47,-136.3,476.5,-8.4,389,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2201,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5596,-0.47,-136.3,501.3,-8.2,399,5597,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2201,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5895,-0.47,-136.3,524.9,-7.8,409,5901,0.00,2.35,0.00,0.000,4,0.000,0.065,3011,3617,3352,0,0,0,0,0,0,28.83,25.39,28.83
$GC,5955,-0.47,-136.3,529.8,-8.0,411,5962,0.12,2.28,0.00,0.000,6,0.122,0.044,3048,2191,3352,0,0,0,0,0,0,25.58,25.74,28.83
$GC,6285,-0.47,-136.3,550.5,-6.2,422,6290,0.00,2.35,0.00,0.000,4,0.000,0.065,3040,3606,3352,0,0,0,0,0,0,28.83,25.37,28.83
$GC,6323,-0.47,-136.3,552.3,-6.2,423,6327,0.00,2.25,0.00,0.000,6,0.000,0.046,3040,2205,3352,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6636,-0.47,-136.3,572.5,-6.1,434,6641,0.00,2.33,0.00,0.000,4,0.000,0.066,3030,3605,3352,0,0,0,0,0,0,28.83,25.36,28.83
$GC,6666,-0.47,-136.3,574.6,-6.3,435,6671,0.00,2.25,0.00,0.000,6,0.000,0.046,3030,2193,3351,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6996,-0.47,-136.3,598.7,-7.5,446,7001,0.00,2.35,0.00,0.000,4,0.000,0.065,3021,3611,3351,0,0,0,0,0,0,28.83,25.36,28.83
$GC,7025,-0.47,-136.3,601.1,-7.6,447,7031,0.00,2.28,0.00,0.000,6,0.000,0.047,3021,2193,3351,0,0,0,0,0,0,28.83,25.69,28.83
$GC,7356,-0.47,-136.3,626.5,-7.6,458,7361,0.00,2.22,0.00,0.000,4,0.000,0.054,3020,803,3351,0,0,0,0,0,0,28.83,25.50,28.83
$GC,7386,-0.47,-136.3,628.8,-7.7,459,7392,0.00,2.25,0.00,0.000,6,0.000,0.054,3012,2202,3351,0,0,0,0,0,0,28.83,25.50,28.83
$GC,7716,-0.47,-136.3,655.0,-7.7,470,7722,0.12,2.33,0.00,0.000,4,0.139,0.065,3040,3610,3350,0,0,0,0,0,0,26.06,25.35,28.83
$GC,7753,-0.47,-136.3,656.9,-7.4,471,7757,0.00,2.28,0.00,0.000,6,0.000,0.047,3040,2191,3350,0,0,0,0,0,0,28.83,25.68,28.83
$GC,8067,-0.47,-136.3,675.6,-5.7,482,8068,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2188,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8366,-0.47,-136.3,693.0,-5.8,492,8372,0.00,2.38,0.00,0.000,4,0.000,0.067,3030,3612,3349,0,0,0,0,0,0,28.83,25.32,28.83
$GC,8414,-0.47,-136.3,694.8,-6.1,493,8418,0.00,2.28,0.00,0.000,6,0.000,0.047,3030,2196,3349,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8717,-0.47,-136.3,716.4,-6.8,503,8718,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2195,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9016,-0.47,-136.3,737.0,-6.8,513,9017,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2195,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9315,-0.47,-136.3,757.9,-7.1,523,9317,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2195,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9615,-0.47,-136.3,780.1,-7.5,533,9622,0.00,2.38,0.00,0.000,4,0.000,0.067,3020,3609,3348,0,0,0,0,0,0,28.83,25.29,28.83
$GC,9646,-0.47,-136.3,782.4,-7.4,534,9651,0.00,2.25,0.00,0.000,6,0.000,0.048,3020,2208,3347,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9977,-0.47,-136.3,807.4,-7.4,545,9978,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2205,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10275,-0.47,-136.3,829.2,-7.1,555,10277,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2206,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10577,-0.47,-136.3,850.0,-6.7,565,10581,0.00,2.35,0.00,0.000,4,0.000,0.067,3010,3613,3347,0,0,0,0,0,0,28.83,25.29,28.83
$GC,10624,-0.47,-136.3,852.1,-6.8,566,10629,0.12,2.30,0.00,0.000,6,0.122,0.047,3048,2190,3347,0,0,0,0,0,0,25.49,25.63,28.83
$GC,10926,-0.47,-136.3,869.1,-5.1,576,10927,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2187,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11227,-0.47,-136.3,884.0,-5.0,586,11231,0.00,2.33,0.00,0.000,4,0.000,0.068,3040,3608,3347,0,0,0,0,0,0,28.83,25.25,28.83
$GC,11264,-0.47,-136.3,885.5,-5.0,587,11268,0.00,2.30,0.00,0.000,6,0.000,0.048,3040,2189,3346,0,0,0,0,0,0,28.83,25.63,28.83
$GC,11577,-0.47,-136.3,902.6,-5.3,598,11578,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2186,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11877,-0.47,-136.3,918.4,-5.1,608,11882,0.00,2.38,0.00,0.000,4,0.000,0.067,3031,3609,3346,0,0,0,0,0,0,28.83,25.25,28.83
$GC,11906,-0.47,-136.3,920.2,-5.3,609,11912,0.00,2.25,0.00,0.000,6,0.000,0.048,3031,2206,3346,0,0,0,0,0,0,28.83,25.62,28.83
$GC,12236,-0.47,-136.3,939.0,-5.8,620,12237,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2204,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12538,-0.47,-136.3,957.1,-6.0,630,12542,0.00,2.30,0.00,0.000,4,0.000,0.068,3021,3609,3346,0,0,0,0,0,0,28.83,25.23,28.83
$GC,12576,-0.47,-136.3,959.0,-6.2,631,12582,0.00,2.30,0.00,0.000,6,0.000,0.049,3021,2189,3346,0,0,0,0,0,0,28.83,25.60,28.83
$GC,12897,-0.47,-136.3,980.8,-6.7,642,12898,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2188,3345,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13043,begin apogee
$GC,13051,-0.22,0.0,990.3,-6.3,647,13183,0.30,0.00,126.57,1.157,6,0.105,0.000,3126,2333,2793,0,0,0,0,0,0,25.63,28.83,22.49
$STATE,13184,end apogee,CONTROL_FINISHED_OK
$STATE,13184,begin climb
$GC,13187,0.47,136.3,993.6,0.0,651,13325,0.65,0.00,135.02,1.119,6,0.070,0.000,3346,2334,2238,0,0,0,0,0,0,24.36,28.83,21.73
$GC,13616,0.47,136.3,964.4,8.2,666,13622,0.00,2.33,0.00,0.000,4,0.000,0.057,3357,930,2228,0,0,0,0,0,0,28.83,25.24,28.83
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$STATE,25765,end climb,SURFACE_DEPTH_REACHED
$STATE,25765,begin surface coast
$FINISH,1.6,1.025223
$STATE,25800,end surface coast,CONTROL_FINISHED_OK
$STATE,25801,begin surface
$SM_CCo,25883,0.00,0.000,0,0,1358,352.25
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$TT8_MAMPS,0.026964,0.026964
$HUMID,46.33
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,18.90
$XPDR_PINGS,2
$24V_AH,21.7,75.572
$10V_AH,9.8,59.351
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.450,238.675,452.550,0.000,0.000,61.814,44.758,256.233,0.500,0.000,36.885,3637.314,18908.055,788.690,2663.447,469.936,0.000,2077.172,0.000,2255.358,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,967.333,722.962,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76796,1405
$CAP_FILE_SIZE,203267,0
$CFSIZE,260165632,212201472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,286.4,1
$GPS,290113,151556,4721.287,-12621.245,30,3.2,49,18.6